bsp_q7s/core/InitMission.cpp

@@ -116,12 +116,16 @@ void initmission::initTasks() {
 #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
 
 #if OBSW_ADD_ACS_HANDLERS == 1
-  PeriodicTaskIF* acsCtrl = factory->createPeriodicTask(
+  PeriodicTaskIF* acsTask = factory->createPeriodicTask(
       "ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
-  result = acsCtrl->addComponent(objects::GPS_CONTROLLER);
+  result = acsTask->addComponent(objects::GPS_CONTROLLER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("ACS_CTRL", objects::GPS_CONTROLLER);
   }
+  result = acsTask->addComponent(objects::ACS_BOARD_ASS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("ACS_ASS", objects::GPS_CONTROLLER);
+  }
 #endif /* OBSW_ADD_ACS_HANDLERS */
 
 #if BOARD_TE0720 == 0
@@ -209,7 +213,7 @@ void initmission::initTasks() {
 #endif
 
 #if OBSW_ADD_ACS_HANDLERS == 1
-  acsCtrl->startTask();
+  acsTask->startTask();
 #endif
 
   sif::info << "Tasks started.." << std::endl;

bsp_q7s/core/ObjectFactory.cpp

@@ -83,6 +83,7 @@
 #include "mission/devices/devicedefinitions/RwDefinitions.h"
 #include "mission/devices/devicedefinitions/SusDefinitions.h"
 #include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
+#include "mission/system/AcsBoardAssembly.h"
 #include "mission/tmtc/CCSDSHandler.h"
 #include "mission/tmtc/VirtualChannel.h"
 #include "mission/utility/TmFunnel.h"
@@ -124,18 +125,19 @@ void ObjectFactory::produce(void* args) {
   UartComIF* uartComIF = nullptr;
   SpiComIF* spiComIF = nullptr;
   I2cComIF* i2cComIF = nullptr;
+  PowerSwitchIF* pwrSwitcher = nullptr;
   createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF, &i2cComIF);
   createTmpComponents();
 #if BOARD_TE0720 == 0
   new CoreController(objects::CORE_CONTROLLER);
 
   gpioCallbacks::disableAllDecoder();
-  createPcduComponents(gpioComIF);
+  createPcduComponents(gpioComIF, &pwrSwitcher);
   createRadSensorComponent(gpioComIF);
   createSunSensorComponents(gpioComIF, spiComIF);
 
 #if OBSW_ADD_ACS_BOARD == 1
-  createAcsBoardComponents(gpioComIF, uartComIF);
+  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
 #endif
 
   createHeaterComponents();
@@ -260,7 +262,7 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
 #endif
 }
 
-void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF) {
+void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
   CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
   CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
   CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
@@ -275,7 +277,7 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF) {
       new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
   pdu2handler->assignChannelHookFunction(&pcdu::switchCallback, gpioComIF);
   ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
-  new PCDUHandler(objects::PCDU_HANDLER, 50);
+  auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
 
   /**
    * Setting PCDU devices to mode normal immediately after start up because PCDU is always
@@ -285,6 +287,9 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF) {
   pdu1handler->setModeNormal();
   pdu2handler->setModeNormal();
   acuhandler->setModeNormal();
+  if (pwrSwitcher != nullptr) {
+    *pwrSwitcher = pcduHandler;
+  }
 }
 
 void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
@@ -473,7 +478,8 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComI
 #endif /* OBSW_ADD_SUN_SENSORS == 1 */
 }
 
-void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF) {
+void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
+                                             PowerSwitchIF* pwrSwitcher) {
   using namespace gpio;
   GpioCookie* gpioCookieAcsBoard = new GpioCookie();
 
@@ -580,6 +586,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
                     MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
   auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
                                               spiCookie, spi::LIS3_TRANSITION_DELAY);
+  static_cast<void>(mgmLis3Handler);
 #if OBSW_TEST_ACS == 1
   mgmLis3Handler->setStartUpImmediately();
   mgmLis3Handler->setToGoToNormalMode(true);
@@ -593,6 +600,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
                     RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
   auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
                                                spiCookie, spi::RM3100_TRANSITION_DELAY);
+  static_cast<void>(mgmRm3100Handler);
 #if OBSW_TEST_ACS == 1
   mgmRm3100Handler->setStartUpImmediately();
   mgmRm3100Handler->setToGoToNormalMode(true);
@@ -604,13 +612,14 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   spiCookie =
       new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
                     MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-  auto mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
+  mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
                                          spiCookie, spi::LIS3_TRANSITION_DELAY);
+  static_cast<void>(mgmLis3Handler);
 #if OBSW_TEST_ACS == 1
-  mgmLis3Handler2->setStartUpImmediately();
+  mgmLis3Handler->setStartUpImmediately();
-  mgmLis3Handler2->setToGoToNormalMode(true);
+  mgmLis3Handler->setToGoToNormalMode(true);
 #if OBSW_DEBUG_ACS == 1
-  mgmLis3Handler2->enablePeriodicPrintouts(true, 10);
+  mgmLis3Handler->enablePeriodicPrintouts(true, 10);
 #endif
 #endif
 
@@ -634,6 +643,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
                             spi::DEFAULT_ADIS16507_SPEED);
   auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
                                               spiCookie, ADIS1650X::Type::ADIS16505);
+  static_cast<void>(adisHandler);
 #if OBSW_TEST_ACS == 1
   adisHandler->setStartUpImmediately();
   adisHandler->setToGoToNormalModeImmediately();
@@ -648,6 +658,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
                     spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
   auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
                                                spiCookie, spi::L3G_TRANSITION_DELAY);
+  static_cast<void>(gyroL3gHandler);
 #if OBSW_TEST_ACS == 1
   gyroL3gHandler->setStartUpImmediately();
   gyroL3gHandler->setToGoToNormalMode(true);
@@ -692,6 +703,14 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   auto gpsHandler0 =
       new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
   gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
+
+  AcsBoardHelper acsBoardHelper = AcsBoardHelper(
+      objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
+      objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
+      objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
+  auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
+                                     acsBoardHelper, gpioComIF);
+  static_cast<void>(acsAss);
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }
 

bsp_q7s/core/ObjectFactory.h

@@ -5,6 +5,7 @@ class LinuxLibgpioIF;
 class UartComIF;
 class SpiComIF;
 class I2cComIF;
+class PowerSwitchIF;
 
 namespace ObjectFactory {
 
@@ -13,13 +14,13 @@ void produce(void* args);
 
 void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
                                    SpiComIF** spiComIF, I2cComIF** i2cComIF);
-
+void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
 void createTmpComponents();
-void createPcduComponents(LinuxLibgpioIF* gpioComIF);
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
 void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
-void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF);
+void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
+                              PowerSwitchIF* pwrSwitcher);
 void createHeaterComponents();
 void createSolarArrayDeploymentComponents();
 void createSyrlinksComponents();

common/config/commonObjects.h

@@ -91,6 +91,9 @@ enum commonObjects: uint32_t {
     STR_HELPER = 0x44330002,
     AXI_PTME_CONFIG = 44330003,
     PTME_CONFIG = 44330004,
+
+    // 0x73 ('s') for assemblies and system/subsystem components
+    ACS_BOARD_ASS = 0x73000001
 };
 }
 

linux/fsfwconfig/OBSWConfig.h.in

@@ -48,7 +48,7 @@ debugging. */
 #define OBSW_ADD_PLOC_MPSOC                         0
 #define OBSW_ADD_SUN_SENSORS                        0
 #define OBSW_ADD_ACS_BOARD                          1
-#define OBSW_ADD_ACS_HANDLERS                       0
+#define OBSW_ADD_ACS_HANDLERS                       1
 #define OBSW_ADD_RW                                 0
 #define OBSW_ADD_RTD_DEVICES                        0
 #define OBSW_ADD_TMP_DEVICES                        0
@@ -56,7 +56,6 @@ debugging. */
 #define OBSW_ADD_PL_PCDU                            0
 #define OBSW_ADD_SYRLINKS                           0
 #define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
-#define OBSW_SYRLINKS_SIMULATED										  1
 #define OBSW_STAR_TRACKER_GROUND_CONFIG             1
 #define OBSW_ENABLE_PERIODIC_HK                     0
 

linux/fsfwconfig/events/translateEvents.cpp

@@ -148,7 +148,7 @@ const char *STR_HELPER_SENDING_PACKET_FAILED_STRING = "STR_HELPER_SENDING_PACKET
 const char *STR_HELPER_REQUESTING_MSG_FAILED_STRING = "STR_HELPER_REQUESTING_MSG_FAILED";
 
 const char *translateEvents(Event event) {
-  switch((event & 0xFFFF)) {
+  switch ((event & 0xFFFF)) {
     case (2200):
       return STORE_SEND_WRITE_FAILED_STRING;
     case (2201):