CHANGELOG.md

@@ -0,0 +1,26 @@
+Change Log
+=======
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](http://keepachangelog.com/)
+and this project adheres to [Semantic Versioning](http://semver.org/).
+
+The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
+list yields a list of all related PRs for each release.
+
+# [unreleased]
+
+# [v1.11.0]
+
+## Changed
+
+- Update rootfs base of Linux, all related OBSW changes
+- Use gpsd version 3.17 now. Includes API changes
+- Add `/usr/local/bin` to PATH. All shell scripts are there now
+- Rename GPS device to `/dev/gps0`
+
+# [v1.10.0]
+
+For all releases equal or prior to v1.10.0,
+see [milestones](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)

CMakeLists.txt

@@ -20,6 +20,9 @@ option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
 option(EIVE_SYSROOT_MAGIC "Perform sysroot magic which might not be necessary" OFF)
 option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON)
 
+set(OBSW_ADD_STAR_TRACKER 0)
+set(OBSW_DEBUG_STARTRACKER 0)
+
 if(NOT FSFW_OSAL)
 	set(FSFW_OSAL linux CACHE STRING "OS for the FSFW.")
 endif()
@@ -37,8 +40,12 @@ endif()
 include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
 pre_project_config()
 
+# Check whether the user has already installed Catch2 first. This has to come before
+# the project call. We could also exlcude doing this when the Q7S primary OBSW is built..
+find_package(Catch2 3 CONFIG QUIET)
+
 # Project Name
-project(eive-obsw ASM C CXX)
+project(eive-obsw)
 
 ################################################################################
 # Pre-Sources preparation
@@ -67,7 +74,7 @@ set(LIB_JSON_NAME nlohmann_json::nlohmann_json)
 
 # Set path names
 set(FSFW_PATH fsfw)
-set(TEST_PATH test/testtasks)
+set(TEST_PATH test)
 set(UNITTEST_PATH unittest)
 set(LINUX_PATH linux)
 set(COMMON_PATH common)
@@ -93,7 +100,8 @@ pre_source_hw_os_config()
 
 if(TGT_BSP)
     if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi"
-        OR TGT_BSP MATCHES "arm/beagleboneblack" OR TGT_BSP MATCHES "arm/egse"
+        OR TGT_BSP MATCHES "arm/beagleboneblack" OR TGT_BSP MATCHES "arm/egse" 
+        OR TGT_BSP MATCHES "arm/te0720-1cfa"
     )
         set(FSFW_CONFIG_PATH "linux/fsfwconfig")
         if(NOT BUILD_Q7S_SIMPLE_MODE)
@@ -113,6 +121,8 @@ if(TGT_BSP)
         # Used by configure file
         set(EGSE ON)
         set(FSFW_HAL_LINUX_ADD_LIBGPIOD OFF)
+        set(OBSW_ADD_STAR_TRACKER 1)
+        set(OBSW_DEBUG_STARTRACKER 1)
     endif()
     
     if(TGT_BSP MATCHES "arm/beagleboneblack")
@@ -124,6 +134,10 @@ if(TGT_BSP)
         # Used by configure file
         set(XIPHOS_Q7S ON)
     endif()
+    
+    if(TGT_BSP MATCHES "arm/te0720-1cfa")
+        set(TE0720_1CFA ON)
+    endif()
 else()
     # Required by FSFW library
     set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
@@ -150,9 +164,6 @@ set(FSFW_ADDITIONAL_INC_PATHS
     ${CMAKE_CURRENT_BINARY_DIR}
 )
 
-# Check whether the user has already installed Catch2 first
-find_package(Catch2 3)
-
 ################################################################################
 # Executable and Sources
 ################################################################################
@@ -199,8 +210,10 @@ elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
 	set(COMPILER_FLAGS "/permissive-")
 endif()
 
+if (NOT(TGT_BSP MATCHES "arm/te0720-1cfa") AND NOT(TGT_BSP MATCHES "arm/q7s"))
 # Not installed, so use FetchContent to download and provide Catch2
 if(NOT Catch2_FOUND)
+    message(STATUS "Did not find a valid Catch2 installation. Using FetchContent to install it")
     include(FetchContent)
 
     FetchContent_Declare(
@@ -215,7 +228,7 @@ if(NOT Catch2_FOUND)
     set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
     set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
 endif()
-
+endif()
 
 
 add_library(${LIB_EIVE_MISSION})

README.md

@@ -385,20 +385,7 @@ more recent disitributions anymore.
 ## <a id="arm-toolchain"></a> Installing toolchain without Vivado
 
 You can download the toolchains for Windows and Linux
-[from the EIVE cloud](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files?dir=/EIVE_IRS/Software/tools&fileid=831898).
+[from the EIVE cloud](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/tools).
-
-If `wget` is available (e.g. MinGW64), you can use the following command to download the
-toolchain for Windows
-
-```sh
-wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/rfoaistRd67yBbH/download/gcc-arm-linux-gnueabi-win.zip
-```
-
-or the following command for Linux (could be useful for CI/CD)
-
-```sh
-wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/MRaeA2XnMXpZ5Pp/download/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.xz
-```
 
 ## Installing CMake and MSYS2 on Windows
 

archive/gpio/gpioDefinitions.h

@@ -8,13 +8,13 @@ using gpioId_t = uint16_t;
 
 namespace gpio {
 
-enum Levels { LOW = 0, HIGH = 1 };
+enum class Levels : uint8_t { LOW = 0, HIGH = 1 };
 
-enum Direction { IN = 0, OUT = 1 };
+enum class Direction : uint8_t { IN = 0, OUT = 1 };
 
-enum GpioOperation { READ, WRITE };
+enum class GpioOperation { READ, WRITE };
 
-enum GpioTypes { NONE, GPIOD_REGULAR, CALLBACK };
+enum class GpioTypes { NONE, GPIOD_REGULAR, CALLBACK };
 
 static constexpr gpioId_t NO_GPIO = -1;
 }  // namespace gpio

automation/Dockerfile

@@ -16,5 +16,5 @@ RUN mkdir -p /usr/tools; \
 curl https://buggy.irs.uni-stuttgart.de/eive/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.gz \
     | tar -xz -C /usr/tools
 
-ENV Q7S_SYSROOT="/usr/rootfs/cortexa9hf-neon-xiphos-linux-gnueabi"
+ENV ZYNQ_7020_SYSROOT="/usr/rootfs/cortexa9hf-neon-xiphos-linux-gnueabi"
-ENV PATH=$PATH:"/usr/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
+ENV PATH=$PATH:"/usr/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"

automation/Jenkinsfile

@@ -5,7 +5,7 @@ pipeline {
     }
     agent {
         docker {
-            image 'eive-obsw-ci:d2'
+            image 'eive-obsw-ci:d3'
             args '--sysctl fs.mqueue.msg_max=100'
         }
     }

bsp_egse/ObjectFactory.cpp

@@ -3,7 +3,6 @@
 #include <devConf.h>
 #include <fsfw_hal/linux/uart/UartComIF.h>
 #include <fsfw_hal/linux/uart/UartCookie.h>
-#include <mission/devices/GPSHyperionHandler.h>
 
 #include "OBSWConfig.h"
 #include "busConf.h"

bsp_egse/main.cpp

@@ -3,8 +3,8 @@
 #include "InitMission.h"
 #include "OBSWConfig.h"
 #include "OBSWVersion.h"
-#include "fsfw/FSFWVersion.h"
 #include "fsfw/tasks/TaskFactory.h"
+#include "fsfw/version.h"
 
 /**
  * @brief 	    This is the main program entry point for the egse (raspberry pi 4)

bsp_hosted/fsfwconfig/devices/powerSwitcherList.h

@@ -1,57 +0,0 @@
-#ifndef FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
-#define FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
-
-#include <OBSWConfig.h>
-
-namespace pcduSwitches {
-/* Switches are uint8_t datatype and go from 0 to 255 */
-enum SwitcherList {
-  Q7S,
-  PAYLOAD_PCDU_CH1,
-  RW,
-  TCS_BOARD_8V_HEATER_IN,
-  SUS_REDUNDANT,
-  DEPLOYMENT_MECHANISM,
-  PAYLOAD_PCDU_CH6,
-  ACS_BOARD_SIDE_B,
-  PAYLOAD_CAMERA,
-  TCS_BOARD_3V3,
-  SYRLINKS,
-  STAR_TRACKER,
-  MGT,
-  SUS_NOMINAL,
-  SOLAR_CELL_EXP,
-  PLOC,
-  ACS_BOARD_SIDE_A,
-  NUMBER_OF_SWITCHES
-};
-
-static const uint8_t ON = 1;
-static const uint8_t OFF = 0;
-
-/* Output states after reboot of the PDUs */
-static const uint8_t INIT_STATE_Q7S = ON;
-static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
-static const uint8_t INIT_STATE_RW = OFF;
-#if BOARD_TE0720 == 1
-/* Because the TE0720 is not connected to the PCDU, this switch is always on */
-static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
-#else
-static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF;
-#endif
-static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF;
-static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF;
-static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF;
-static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF;
-static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF;
-static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF;
-static const uint8_t INIT_STATE_SYRLINKS = OFF;
-static const uint8_t INIT_STATE_STAR_TRACKER = OFF;
-static const uint8_t INIT_STATE_MGT = OFF;
-static const uint8_t INIT_STATE_SUS_NOMINAL = OFF;
-static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF;
-static const uint8_t INIT_STATE_PLOC = OFF;
-static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF;
-}  // namespace pcduSwitches
-
-#endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */

bsp_linux_board/CMakeLists.txt

@@ -1,6 +1,7 @@
 target_sources(${OBSW_NAME} PUBLIC
 	InitMission.cpp
 	main.cpp
+	gpioInit.cpp
 	ObjectFactory.cpp
 )
 

bsp_linux_board/InitMission.cpp

@@ -192,7 +192,7 @@ void initmission::createPstTasks(TaskFactory& factory,
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 #if OBSW_ADD_SPI_TEST_CODE == 0
   FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
-      "SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
+      "SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
   result = pst::pstSpi(spiPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;

bsp_linux_board/ObjectFactory.cpp

@@ -5,10 +5,13 @@
 #include "devices/addresses.h"
 #include "devices/gpioIds.h"
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
+#include "fsfw/power/DummyPowerSwitcher.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/tmtcpacket/pus/tm.h"
 #include "fsfw/tmtcservices/CommandingServiceBase.h"
 #include "fsfw/tmtcservices/PusServiceBase.h"
+#include "gpioInit.h"
+#include "linux/ObjectFactory.h"
 #include "linux/boardtest/LibgpiodTest.h"
 #include "linux/boardtest/SpiTestClass.h"
 #include "linux/boardtest/UartTestClass.h"
@@ -64,37 +67,55 @@ void ObjectFactory::produce(void* args) {
   GpioCookie* gpioCookie = nullptr;
   static_cast<void>(gpioCookie);
 
-  new SpiComIF(objects::SPI_COM_IF, gpioIF);
+  SpiComIF* spiComIF = new SpiComIF(objects::SPI_COM_IF, gpioIF);
+  static_cast<void>(spiComIF);
+  auto pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
+  static_cast<void>(pwrSwitcher);
 
-  std::string spiDev;
+#if OBSW_ADD_ACS_BOARD == 1 && defined(RASPBERRY_PI)
-  SpiCookie* spiCookie = nullptr;
+  createRpiAcsBoard(gpioIF, spiDev);
-  static_cast<void>(spiCookie);
+#endif
 
-#if OBSW_ADD_ACS_BOARD == 1
+#if OBSW_ADD_SUN_SENSORS == 1 || defined(OBSW_ADD_RTD_DEVICES)
-  if (gpioCookie == nullptr) {
+#ifdef RASPBERRY_PI
-    gpioCookie = new GpioCookie();
+  rpi::gpio::initSpiCsDecoder(gpioIF);
-  }
+#endif
+#endif
+
+#if OBSW_ADD_SUN_SENSORS == 1
+  createSunSensorComponents(gpioIF, spiComIF, pwrSwitcher, spi::DEV);
+#endif
+
+#if OBSW_ADD_RTD_DEVICES == 1
+  createRtdComponents(spi::DEV, gpioIF, pwrSwitcher);
+#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 +157,9 @@ 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 +173,9 @@ 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 +187,6 @@ 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_linux_board/boardconfig/rpiConfig.h.in

@@ -17,16 +17,4 @@
 
 #define RPI_ADD_UART_TEST               0
 
-/* Adapt these values accordingly */
-namespace gpio {
-static constexpr uint8_t MGM_0_BCM_PIN = 17;
-static constexpr uint8_t MGM_1_BCM_PIN = 27;
-static constexpr uint8_t MGM_2_BCM_PIN = 22;
-static constexpr uint8_t MGM_3_BCM_PIN = 23;
-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 = 13;
-static constexpr uint8_t GYRO_3_BCM_PIN = 19;
-}
-
 #endif /* BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_ */

bsp_linux_board/definitions.h

@@ -0,0 +1,37 @@
+#ifndef BSP_LINUX_BOARD_DEFINITIONS_H_
+#define BSP_LINUX_BOARD_DEFINITIONS_H_
+
+#include <cstdint>
+
+#include "OBSWConfig.h"
+
+#ifdef RASPBERRY_PI
+
+namespace spi {
+
+static constexpr char DEV[] = "/dev/spidev0.1";
+
+}
+
+/* Adapt these values accordingly */
+namespace gpio {
+static constexpr uint8_t MGM_0_BCM_PIN = 17;
+static constexpr uint8_t MGM_1_BCM_PIN = 27;
+static constexpr uint8_t MGM_2_BCM_PIN = 22;
+static constexpr uint8_t MGM_3_BCM_PIN = 23;
+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 = 13;
+static constexpr uint8_t GYRO_3_BCM_PIN = 19;
+
+static constexpr uint8_t SPI_MUX_0_BCM = 17;
+static constexpr uint8_t SPI_MUX_1_BCM = 27;
+static constexpr uint8_t SPI_MUX_2_BCM = 22;
+static constexpr uint8_t SPI_MUX_3_BCM = 23;
+static constexpr uint8_t SPI_MUX_4_BCM = 5;
+static constexpr uint8_t SPI_MUX_5_BCM = 6;
+}  // namespace gpio
+
+#endif
+
+#endif /* BSP_LINUX_BOARD_DEFINITIONS_H_ */

bsp_linux_board/gpioInit.cpp

@@ -0,0 +1,56 @@
+#include "gpioInit.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 "definitions.h"
+#include "fsfw_hal/linux/rpi/GpioRPi.h"
+
+#ifdef RASPBERRY_PI
+
+struct MuxInfo {
+  MuxInfo(gpioId_t gpioId, int bcmNum, std::string consumer)
+      : gpioId(gpioId), bcmNum(bcmNum), consumer(consumer) {}
+  gpioId_t gpioId;
+  int bcmNum;
+  std::string consumer;
+};
+
+void rpi::gpio::initSpiCsDecoder(GpioIF* gpioComIF) {
+  using namespace ::gpio;
+  ReturnValue_t result;
+
+  if (gpioComIF == nullptr) {
+    sif::debug << "initSpiCsDecoder: Invalid gpioComIF" << std::endl;
+    return;
+  }
+
+  std::array<::MuxInfo, 6> muxInfo{
+      MuxInfo(gpioIds::SPI_MUX_BIT_0, SPI_MUX_0_BCM, "SPI_MUX_0"),
+      MuxInfo(gpioIds::SPI_MUX_BIT_1, SPI_MUX_1_BCM, "SPI_MUX_1"),
+      MuxInfo(gpioIds::SPI_MUX_BIT_2, SPI_MUX_2_BCM, "SPI_MUX_2"),
+      MuxInfo(gpioIds::SPI_MUX_BIT_3, SPI_MUX_3_BCM, "SPI_MUX_3"),
+      MuxInfo(gpioIds::SPI_MUX_BIT_4, SPI_MUX_4_BCM, "SPI_MUX_4"),
+      MuxInfo(gpioIds::SPI_MUX_BIT_5, SPI_MUX_5_BCM, "SPI_MUX_5"),
+  };
+  GpioCookie* spiMuxGpios = new GpioCookie;
+
+  for (const auto& info : muxInfo) {
+    result = createRpiGpioConfig(spiMuxGpios, info.gpioId, info.bcmNum, info.consumer,
+                                 Direction::OUT, Levels::LOW);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      sif::error << "Creating Raspberry Pi SPI Mux GPIO failed with code " << result << std::endl;
+      return;
+    }
+  }
+
+  result = gpioComIF->addGpios(spiMuxGpios);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
+    return;
+  }
+}
+
+#endif

bsp_linux_board/gpioInit.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include "OBSWConfig.h"
+
+class GpioIF;
+
+#ifdef RASPBERRY_PI
+namespace rpi {
+namespace gpio {
+
+/**
+ * @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 gpio
+}  // namespace rpi
+
+#endif

bsp_linux_board/main.cpp

@@ -3,8 +3,8 @@
 #include "InitMission.h"
 #include "OBSWConfig.h"
 #include "OBSWVersion.h"
-#include "fsfw/FSFWVersion.h"
 #include "fsfw/tasks/TaskFactory.h"
+#include "fsfw/version.h"
 
 #ifdef RASPBERRY_PI
 static const char* const BOARD_NAME = "Raspberry Pi";
@@ -22,8 +22,7 @@ int main(void) {
   std::cout << "-- EIVE OBSW --" << std::endl;
   std::cout << "-- Compiled for Linux board " << BOARD_NAME << " --" << std::endl;
   std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
-            << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << FSFW_REVISION
+            << SW_REVISION << ", FSFW v" << fsfw::FSFW_VERSION << " --" << std::endl;
-            << "--" << std::endl;
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
 
   initmission::initMission();

bsp_q7s/CMakeLists.txt

@@ -22,4 +22,4 @@ add_subdirectory(comIF)
 add_subdirectory(core)
 add_subdirectory(memory)
 add_subdirectory(callbacks)
-add_subdirectory(devices)
+add_subdirectory(xadc)

bsp_q7s/boardconfig/busConf.h

@@ -84,6 +84,7 @@ static constexpr char RS485_EN_TX_DATA[] = "tx_data_enable_ltc2872";
 static constexpr char RS485_EN_RX_CLOCK[] = "rx_clock_enable_ltc2872";
 static constexpr char RS485_EN_RX_DATA[] = "rx_data_enable_ltc2872";
 static constexpr char PDEC_RESET[] = "pdec_reset";
+static constexpr char SYRLINKS_FAULT[] = "syrlinks_fault";
 
 static constexpr char PL_PCDU_ENABLE_VBAT0[] = "enable_plpcdu_vbat0";
 static constexpr char PL_PCDU_ENABLE_VBAT1[] = "enable_plpcdu_vbat1";
@@ -94,6 +95,9 @@ static constexpr char PL_PCDU_ENABLE_HPA[] = "enable_plpcdu_hpa";
 static constexpr char PL_PCDU_ENABLE_MPA[] = "enable_plpcdu_mpa";
 static constexpr char PL_PCDU_ADC_CS[] = "plpcdu_adc_chip_select";
 
+static constexpr char ENABLE_SUPV_UART[] = "enable_supv_uart";
+static constexpr char ENABLE_MPSOC_UART[] = "enable_mpsoc_uart";
+
 }  // namespace gpioNames
 }  // namespace q7s
 

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -2,6 +2,7 @@
 
 #include <bsp_q7s/core/CoreController.h>
 #include <bsp_q7s/memory/FileSystemHandler.h>
+#include <bsp_q7s/xadc/Xadc.h>
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <gps.h>
 #include <libgpsmm.h>
@@ -23,6 +24,7 @@ Q7STestTask::Q7STestTask(object_id_t objectId) : TestTask(objectId) {
   doTestSdCard = false;
   doTestScratchApi = false;
   doTestGps = false;
+  doTestXadc = true;
 }
 
 ReturnValue_t Q7STestTask::performOneShotAction() {
@@ -44,6 +46,9 @@ ReturnValue_t Q7STestTask::performPeriodicAction() {
   if (doTestGps) {
     testGpsDaemon();
   }
+  if (doTestXadc) {
+    xadcTest();
+  }
   return TestTask::performPeriodicAction();
 }
 
@@ -395,3 +400,53 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
     }
   }
 }
+
+void Q7STestTask::xadcTest() {
+  ReturnValue_t result = RETURN_OK;
+  float temperature = 0;
+  float vccPint = 0;
+  float vccPaux = 0;
+  float vccInt = 0;
+  float vccAux = 0;
+  float vccBram = 0;
+  float vccOddr = 0;
+  float vrefp = 0;
+  float vrefn = 0;
+  Xadc xadc;
+  result = xadc.getTemperature(temperature);
+  if (result == HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "Q7STestTask::xadcTest: Chip Temperature: " << temperature << " °C" << std::endl;
+  }
+  result = xadc.getVccPint(vccPint);
+  if (result == HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "Q7STestTask::xadcTest: VCC PS internal: " << vccPint << " mV" << std::endl;
+  }
+  result = xadc.getVccPaux(vccPaux);
+  if (result == HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "Q7STestTask::xadcTest: VCC PS auxilliary: " << vccPaux << " mV" << std::endl;
+  }
+  result = xadc.getVccInt(vccInt);
+  if (result == HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "Q7STestTask::xadcTest: VCC PL internal: " << vccInt << " mV" << std::endl;
+  }
+  result = xadc.getVccAux(vccAux);
+  if (result == HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "Q7STestTask::xadcTest: VCC PL auxilliary: " << vccAux << " mV" << std::endl;
+  }
+  result = xadc.getVccBram(vccBram);
+  if (result == HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "Q7STestTask::xadcTest: VCC BRAM: " << vccBram << " mV" << std::endl;
+  }
+  result = xadc.getVccOddr(vccOddr);
+  if (result == HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "Q7STestTask::xadcTest: VCC PS I/O DDR : " << vccOddr << " mV" << std::endl;
+  }
+  result = xadc.getVrefp(vrefp);
+  if (result == HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "Q7STestTask::xadcTest: Vrefp : " << vrefp << " mV" << std::endl;
+  }
+  result = xadc.getVrefn(vrefn);
+  if (result == HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "Q7STestTask::xadcTest: Vrefn : " << vrefn << " mV" << std::endl;
+  }
+}

bsp_q7s/boardtest/Q7STestTask.h

@@ -15,6 +15,7 @@ class Q7STestTask : public TestTask {
   bool doTestSdCard = false;
   bool doTestScratchApi = false;
   bool doTestGps = false;
+  bool doTestXadc = false;
 
   CoreController* coreController = nullptr;
   ReturnValue_t performOneShotAction() override;
@@ -24,6 +25,7 @@ class Q7STestTask : public TestTask {
 
   void testSdCard();
   void fileTests();
+  void xadcTest();
 
   void testScratchApi();
   void testJsonLibDirect();

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/pcduSwitchCb.cpp

@@ -10,8 +10,8 @@ void pcdu::switchCallback(GOMSPACE::Pdu pdu, uint8_t channel, bool state, void*
     return;
   }
   if (pdu == GOMSPACE::Pdu::PDU1) {
-    PDU1::SwitchChannels typedChannel = static_cast<PDU1::SwitchChannels>(channel);
+    PDU1::Channels typedChannel = static_cast<PDU1::Channels>(channel);
-    if (typedChannel == PDU1::SwitchChannels::ACS_A_SIDE) {
+    if (typedChannel == PDU1::Channels::ACS_A_SIDE) {
       if (state) {
         gpioComIF->pullHigh(gpioIds::GNSS_0_NRESET);
       } else {
@@ -20,8 +20,8 @@ void pcdu::switchCallback(GOMSPACE::Pdu pdu, uint8_t channel, bool state, void*
     }
 
   } else if (pdu == GOMSPACE::Pdu::PDU2) {
-    PDU2::SwitchChannels typedChannel = static_cast<PDU2::SwitchChannels>(channel);
+    PDU2::Channels typedChannel = static_cast<PDU2::Channels>(channel);
-    if (typedChannel == PDU2::SwitchChannels::ACS_B_SIDE) {
+    if (typedChannel == PDU2::Channels::ACS_B_SIDE) {
       if (state) {
         gpioComIF->pullHigh(gpioIds::GNSS_1_NRESET);
       } else {

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/CoreController.cpp

@@ -1,32 +1,35 @@
 #include "CoreController.h"
 
 #include <fsfw/events/EventManager.h>
+#include <fsfw/ipc/QueueFactory.h>
 
 #include "OBSWConfig.h"
 #include "OBSWVersion.h"
-#include "fsfw/FSFWVersion.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/timemanager/Stopwatch.h"
-#include "watchdogConf.h"
+#include "fsfw/version.h"
+#include "watchdog/definitions.h"
 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
 #include "fsfw/osal/common/UdpTmTcBridge.h"
 #else
 #include "fsfw/osal/common/TcpTmTcServer.h"
 #endif
-
 #include <fcntl.h>
 #include <unistd.h>
 
+#include <algorithm>
 #include <filesystem>
 
 #include "bsp_q7s/memory/SdCardManager.h"
 #include "bsp_q7s/memory/scratchApi.h"
+#include "bsp_q7s/xadc/Xadc.h"
+#include "linux/utility/utility.h"
 
 xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
 xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
 
 CoreController::CoreController(object_id_t objectId)
-    : ExtendedControllerBase(objectId, objects::NO_OBJECT, 5), opDivider(5) {
+    : ExtendedControllerBase(objectId, objects::NO_OBJECT, 5), opDivider(5), hkSet(this) {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   try {
     result = initWatchdogFifo();
@@ -50,6 +53,7 @@ CoreController::CoreController(object_id_t objectId)
   } catch (const std::filesystem::filesystem_error &e) {
     sif::error << "CoreController::CoreController: Failed with exception " << e.what() << std::endl;
   }
+  eventQueue = QueueFactory::instance()->createMessageQueue(5, EventMessage::MAX_MESSAGE_SIZE);
 }
 
 ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
@@ -57,21 +61,42 @@ ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
 }
 
 void CoreController::performControlOperation() {
+  EventMessage event;
+  for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == RETURN_OK;
+       result = eventQueue->receiveMessage(&event)) {
+    switch (event.getEvent()) {
+      case (GpsHyperion::GPS_FIX_CHANGE): {
+        gpsFix = static_cast<GpsHyperion::FixMode>(event.getParameter2());
+        break;
+      }
+    }
+  }
   performWatchdogControlOperation();
   sdStateMachine();
   performMountedSdCardOperations();
+  readHkData();
 }
 
 ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                       LocalDataPoolManager &poolManager) {
+  localDataPoolMap.emplace(core::TEMPERATURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(core::PS_VOLTAGE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(core::PL_VOLTAGE, new PoolEntry<float>({0}));
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-LocalPoolDataSetBase *CoreController::getDataSetHandle(sid_t sid) { return nullptr; }
+LocalPoolDataSetBase *CoreController::getDataSetHandle(sid_t sid) {
+  if (sid.ownerSetId == core::HK_SET_ID) {
+    return &hkSet;
+  }
+  return nullptr;
+}
 
 ReturnValue_t CoreController::initialize() {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = ExtendedControllerBase::initialize();
-
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "CoreController::initialize: Base init failed" << std::endl;
+  }
   result = scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, 0);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::warning << "CoreController::initialize: Setting up alloc failure "
@@ -82,7 +107,23 @@ ReturnValue_t CoreController::initialize() {
   sdStateMachine();
 
   triggerEvent(REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
-  return ExtendedControllerBase::initialize();
+  EventManagerIF *eventManager =
+      ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  if (eventManager == nullptr or eventQueue == nullptr) {
+    sif::warning << "CoreController::initialize: No valid event manager found or "
+                    "queue invalid"
+                 << std::endl;
+  }
+  result = eventManager->registerListener(eventQueue->getId());
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "CoreController::initialize: Registering as event listener failed" << std::endl;
+  }
+  result = eventManager->subscribeToEvent(eventQueue->getId(),
+                                          event::getEventId(GpsHyperion::GPS_FIX_CHANGE));
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "Subscribing for GPS GPS_FIX_CHANGE event failed" << std::endl;
+  }
+  return RETURN_OK;
 }
 
 ReturnValue_t CoreController::initializeAfterTaskCreation() {
@@ -104,6 +145,7 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
   setenv("PATH", updatedEnvPath.c_str(), true);
   updateProtInfo();
   initPrint();
+  ExtendedControllerBase::initializeAfterTaskCreation();
   return result;
 }
 
@@ -608,6 +650,7 @@ ReturnValue_t CoreController::incrementAllocationFailureCount() {
 }
 
 ReturnValue_t CoreController::initVersionFile() {
+  using namespace fsfw;
   std::string unameFileName = "/tmp/uname_version.txt";
   // TODO: No -v flag for now. If the kernel version is used, need to cut off first few letters
   std::string unameCmd = "uname -mnrso > " + unameFileName;
@@ -624,12 +667,11 @@ ReturnValue_t CoreController::initVersionFile() {
   std::string fullObswVersionString = "OBSW: v" + std::to_string(SW_VERSION) + "." +
                                       std::to_string(SW_SUBVERSION) + "." +
                                       std::to_string(SW_REVISION);
-  std::string fullFsfwVersionString = "FSFW: v" + std::to_string(FSFW_VERSION) + "." +
+  char versionString[16] = {};
-                                      std::to_string(FSFW_SUBVERSION) + "." +
+  fsfw::FSFW_VERSION.getVersion(versionString, sizeof(versionString));
-                                      std::to_string(FSFW_REVISION);
+  std::string fullFsfwVersionString = "FSFW: v" + std::string(versionString);
   std::string systemString = "System: " + unameLine;
-  std::string mountPrefix = SdCardManager::instance()->getCurrentMountPrefix();
+  std::string versionFilePath = currMntPrefix + VERSION_FILE;
-  std::string versionFilePath = mountPrefix + VERSION_FILE;
   std::fstream versionFile;
 
   if (not std::filesystem::exists(versionFilePath)) {
@@ -1187,24 +1229,27 @@ void CoreController::performWatchdogControlOperation() {
 }
 
 void CoreController::performMountedSdCardOperations() {
+  currMntPrefix = sdcMan->getCurrentMountPrefix();
   if (doPerformMountedSdCardOps) {
     bool sdCardMounted = false;
     sdCardMounted = sdcMan->isSdCardMounted(sdInfo.pref);
     if (sdCardMounted) {
-      std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + "/" + CONF_FOLDER;
+      std::string path = currMntPrefix + "/" + CONF_FOLDER;
       if (not std::filesystem::exists(path)) {
         std::filesystem::create_directory(path);
       }
       initVersionFile();
+      initClockFromTimeFile();
       performRebootFileHandling(false);
       doPerformMountedSdCardOps = false;
     }
   }
+  timeFileHandler();
 }
 
 void CoreController::performRebootFileHandling(bool recreateFile) {
   using namespace std;
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+  std::string path = currMntPrefix + REBOOT_FILE;
   if (not std::filesystem::exists(path) or recreateFile) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "CoreController::performRebootFileHandling: Recreating reboot file" << std::endl;
@@ -1583,7 +1628,7 @@ bool CoreController::parseRebootFile(std::string path, RebootFile &rf) {
 }
 
 void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+  std::string path = currMntPrefix + REBOOT_FILE;
   // Disable the reboot file mechanism
   parseRebootFile(path, rebootFile);
   if (tgtChip == xsc::ALL_CHIP and tgtCopy == xsc::ALL_COPY) {
@@ -1610,7 +1655,7 @@ void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
 }
 
 void CoreController::rewriteRebootFile(RebootFile file) {
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+  std::string path = currMntPrefix + REBOOT_FILE;
   std::ofstream rebootFile(path);
   if (rebootFile.is_open()) {
     // Initiate reboot file first. Reboot handling will be on on initialization
@@ -1645,3 +1690,93 @@ void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::C
   }
   rewriteRebootFile(rebootFile);
 }
+
+ReturnValue_t CoreController::timeFileHandler() {
+  if (gpsFix == GpsHyperion::FixMode::FIX_2D or gpsFix == GpsHyperion::FixMode::FIX_3D) {
+    // It is assumed that the system time is set from the GPS time
+    timeval currentTime = {};
+    ReturnValue_t result = Clock::getClock_timeval(&currentTime);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    std::ofstream timeFile(currMntPrefix + TIME_FILE);
+    timeFile << "UNIX SECONDS: " << currentTime.tv_sec << std::endl;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t CoreController::initClockFromTimeFile() {
+  using namespace GpsHyperion;
+  using namespace std;
+  std::string fileName = currMntPrefix + TIME_FILE;
+  if (std::filesystem::exists(fileName) and
+      ((gpsFix == FixMode::UNKNOWN or gpsFix == FixMode::NOT_SEEN) or
+       not utility::timeSanityCheck())) {
+    ifstream timeFile(fileName);
+    string nextWord;
+    getline(timeFile, nextWord);
+    istringstream iss(nextWord);
+    iss >> nextWord;
+    if (iss.bad() or nextWord != "UNIX") {
+      return RETURN_FAILED;
+    }
+    iss >> nextWord;
+    if (iss.bad() or nextWord != "SECONDS:") {
+      return RETURN_FAILED;
+    }
+    iss >> nextWord;
+    timeval currentTime = {};
+    char *checkPtr;
+    currentTime.tv_sec = strtol(nextWord.c_str(), &checkPtr, 10);
+    if (iss.bad() or *checkPtr) {
+      return RETURN_FAILED;
+    }
+#if OBSW_VERBOSE_LEVEL >= 1
+    time_t timeRaw = currentTime.tv_sec;
+    std::tm *time = std::gmtime(&timeRaw);
+    sif::info << "Setting system time from time files: " << std::put_time(time, "%c %Z")
+              << std::endl;
+#endif
+    return Clock::setClock(&currentTime);
+  }
+  return RETURN_OK;
+}
+
+void CoreController::readHkData() {
+  ReturnValue_t result = RETURN_OK;
+  result = hkSet.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
+  if (result != RETURN_OK) {
+    return;
+  }
+  Xadc xadc;
+  result = xadc.getTemperature(hkSet.temperature.value);
+  if (result != RETURN_OK) {
+    hkSet.temperature.setValid(false);
+  } else {
+    hkSet.temperature.setValid(true);
+  }
+  result = xadc.getVccPint(hkSet.psVoltage.value);
+  if (result != RETURN_OK) {
+    hkSet.psVoltage.setValid(false);
+  } else {
+    hkSet.psVoltage.setValid(true);
+  }
+  result = xadc.getVccInt(hkSet.plVoltage.value);
+  if (result != RETURN_OK) {
+    hkSet.plVoltage.setValid(false);
+  } else {
+    hkSet.plVoltage.setValid(true);
+  }
+#if OBSW_PRINT_CORE_HK == 1
+  hkSet.printSet();
+#endif /* OBSW_PRINT_CORE_HK == 1 */
+  result = hkSet.commit(TIMEOUT_TYPE, MUTEX_TIMEOUT);
+  if (result != RETURN_OK) {
+    return;
+  }
+}
+
+bool CoreController::isNumber(const std::string &s) {
+  return !s.empty() && std::find_if(s.begin(), s.end(),
+                                    [](unsigned char c) { return !std::isdigit(c); }) == s.end();
+}

bsp_q7s/core/CoreController.h

@@ -6,9 +6,11 @@
 
 #include <cstddef>
 
+#include "CoreDefinitions.h"
 #include "bsp_q7s/memory/SdCardManager.h"
 #include "events/subsystemIdRanges.h"
 #include "fsfw/controller/ExtendedControllerBase.h"
+#include "mission/devices/devicedefinitions/GPSDefinitions.h"
 
 class Timer;
 class SdCardManager;
@@ -52,10 +54,12 @@ class CoreController : public ExtendedControllerBase {
   static constexpr char CONF_FOLDER[] = "conf";
   static constexpr char VERSION_FILE_NAME[] = "version.txt";
   static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
+  static constexpr char TIME_FILE_NAME[] = "time.txt";
   const std::string VERSION_FILE =
       "/" + std::string(CONF_FOLDER) + "/" + std::string(VERSION_FILE_NAME);
   const std::string REBOOT_FILE =
       "/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
+  const std::string TIME_FILE = "/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
 
   static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
   static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
@@ -120,9 +124,12 @@ class CoreController : public ExtendedControllerBase {
   bool sdInitFinished() const;
 
  private:
+  static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
+  static constexpr uint32_t MUTEX_TIMEOUT = 20;
   // Designated value for rechecking FIFO open
   static constexpr int RETRY_FIFO_OPEN = -2;
   int watchdogFifoFd = 0;
+  GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::UNKNOWN;
 
   // States for SD state machine, which is used in non-blocking mode
   enum class SdStates {
@@ -148,6 +155,7 @@ class CoreController : public ExtendedControllerBase {
   static constexpr bool BLOCKING_SD_INIT = false;
 
   SdCardManager* sdcMan = nullptr;
+  MessageQueueIF* eventQueue = nullptr;
 
   struct SdInfo {
     sd::SdCard pref = sd::SdCard::NONE;
@@ -170,6 +178,7 @@ class CoreController : public ExtendedControllerBase {
     sd::SdState commandedState = sd::SdState::OFF;
   } sdInfo;
   RebootFile rebootFile = {};
+  std::string currMntPrefix;
   bool doPerformMountedSdCardOps = true;
 
   /**
@@ -181,12 +190,17 @@ class CoreController : public ExtendedControllerBase {
   std::array<bool, 4> protArray;
   PeriodicOperationDivider opDivider;
 
+  core::HkSet hkSet;
+
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
   void performMountedSdCardOperations();
   ReturnValue_t initVersionFile();
+
+  ReturnValue_t initClockFromTimeFile();
+  ReturnValue_t timeFileHandler();
   ReturnValue_t initBootCopy();
   ReturnValue_t initWatchdogFifo();
   ReturnValue_t initSdCardBlocking();
@@ -220,6 +234,8 @@ class CoreController : public ExtendedControllerBase {
   void setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy);
   bool parseRebootFile(std::string path, RebootFile& file);
   void rewriteRebootFile(RebootFile file);
+  void readHkData();
+  bool isNumber(const std::string& s);
 };
 
 #endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */

bsp_q7s/core/CoreDefinitions.h

@@ -0,0 +1,39 @@
+#ifndef BSP_Q7S_CORE_COREDEFINITIONS_H_
+#define BSP_Q7S_CORE_COREDEFINITIONS_H_
+
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
+
+namespace core {
+
+static const uint8_t HK_SET_ENTRIES = 3;
+static const uint32_t HK_SET_ID = 5;
+
+enum PoolIds { TEMPERATURE, PS_VOLTAGE, PL_VOLTAGE };
+
+/**
+ * @brief   Set storing OBC internal housekeeping data
+ */
+class HkSet : public StaticLocalDataSet<HK_SET_ENTRIES> {
+ public:
+  HkSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, HK_SET_ID) {}
+
+  HkSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, HK_SET_ID)) {}
+
+  // On-chip temperature
+  lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, PoolIds::TEMPERATURE, this);
+  // Processing system VCC
+  lp_var_t<float> psVoltage = lp_var_t<float>(sid.objectId, PoolIds::PS_VOLTAGE, this);
+  // Programmable logic VCC
+  lp_var_t<float> plVoltage = lp_var_t<float>(sid.objectId, PoolIds::PL_VOLTAGE, this);
+
+  void printSet() {
+    sif::info << "HkSet::printSet: On-chip temperature: " << this->temperature << " °C"
+              << std::endl;
+    sif::info << "HkSet::printSet: PS voltage: " << this->psVoltage << " mV" << std::endl;
+    sif::info << "HkSet::printSet: PL voltage: " << this->plVoltage << " mV" << std::endl;
+  }
+};
+
+}  // namespace core
+
+#endif /* BSP_Q7S_CORE_COREDEFINITIONS_H_ */

bsp_q7s/core/InitMission.cpp

@@ -55,14 +55,12 @@ void initmission::initTasks() {
   void (*missedDeadlineFunc)(void) = nullptr;
 #endif
 
-#if BOARD_TE0720 == 0
   PeriodicTaskIF* coreController = factory->createPeriodicTask(
       "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
   result = coreController->addComponent(objects::CORE_CONTROLLER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
   }
-#endif
 
   /* TMTC Distribution */
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
@@ -116,15 +114,32 @@ 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);
+      "ACS_CTRL", 45, 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);
+    initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
+
 #endif /* OBSW_ADD_ACS_HANDLERS */
 
-#if BOARD_TE0720 == 0
+  PeriodicTaskIF* sysTask = factory->createPeriodicTask(
+      "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  result = sysTask->addComponent(objects::ACS_BOARD_ASS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
+  }
+#if OBSW_ADD_SUS_BOARD_ASS == 1
+  result = sysTask->addComponent(objects::SUS_BOARD_ASS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
+  }
+#endif
+  result = sysTask->addComponent(objects::TCS_BOARD_ASS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
+  }
+
   // FS task, task interval does not matter because it runs in permanent loop, priority low
   // because it is a non-essential background task
   PeriodicTaskIF* fsTask = factory->createPeriodicTask(
@@ -143,7 +158,14 @@ void initmission::initTasks() {
   }
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
-#endif /* BOARD_TE0720 */
+#if OBSW_ADD_PLOC_MPSOC == 1
+  PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
+      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
+  }
+#endif /* OBSW_ADD_PLOC_MPSOC */
 
 #if OBSW_TEST_CCSDS_BRIDGE == 1
   PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
@@ -187,9 +209,7 @@ void initmission::initTasks() {
   pdecHandlerTask->startTask();
 #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
 
-#if BOARD_TE0720 == 0
   coreController->startTask();
-#endif
 
   taskStarter(pstTasks, "PST task vector");
   taskStarter(pusTasks, "PUS task vector");
@@ -201,16 +221,15 @@ void initmission::initTasks() {
   ptmeTestTask->startTask();
 #endif
 
-#if BOARD_TE0720 == 0
   fsTask->startTask();
 #if OBSW_ADD_STAR_TRACKER == 1
-  strHelperTask > startTask();
+  strHelperTask->startTask();
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
-#endif
 
 #if OBSW_ADD_ACS_HANDLERS == 1
-  acsCtrl->startTask();
+  acsTask->startTask();
 #endif
+  sysTask->startTask();
 
   sif::info << "Tasks started.." << std::endl;
 }
@@ -219,15 +238,16 @@ void initmission::createPstTasks(TaskFactory& factory,
                                  TaskDeadlineMissedFunction missedDeadlineFunc,
                                  std::vector<PeriodicTaskIF*>& taskVec) {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-#if BOARD_TE0720 == 0
   /* Polling Sequence Table Default */
 #if OBSW_ADD_SPI_TEST_CODE == 0
   FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
       "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
   result = pst::pstSpi(spiPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
+      sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
+    } else {
+      sif::error << "InitMission::initTasks: Creating SPI PST failed!" << std::endl;
     }
   } else {
     taskVec.push_back(spiPst);
@@ -238,43 +258,51 @@ void initmission::createPstTasks(TaskFactory& factory,
       "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstUart(uartPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "InitMission::initTasks: UART PST is empty" << std::endl;
+    } else {
+      sif::error << "InitMission::initTasks: Creating UART PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(uartPst);
   }
-  taskVec.push_back(uartPst);
+
   FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
       "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstGpio(gpioPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "InitMission::initTasks: GPIO PST is empty" << std::endl;
+    } else {
+      sif::error << "InitMission::initTasks: Creating GPIO PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(gpioPst);
   }
-  taskVec.push_back(gpioPst);
-
 #if OBSW_ADD_I2C_TEST_CODE == 0
   FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
       "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstI2c(i2cPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "InitMission::initTasks: I2C PST is empty" << std::endl;
+    } else {
+      sif::error << "InitMission::initTasks: Creating I2C PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(i2cPst);
   }
-  taskVec.push_back(i2cPst);
 #endif
 
   FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
       "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
   result = pst::pstGompaceCan(gomSpacePstTask);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
+    if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
+    }
   }
   taskVec.push_back(gomSpacePstTask);
-#else  /* BOARD_TE7020 == 0 */
-  FixedTimeslotTaskIF* pollingSequenceTaskTE0720 = factory.createFixedTimeslotTask(
-      "PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0, missedDeadlineFunc);
-  result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
-  }
-  taskVec.push_back(pollingSequenceTaskTE0720);
-#endif /* BOARD_TE7020 == 1 */
 }
 
 void initmission::createPusTasks(TaskFactory& factory,
@@ -381,12 +409,6 @@ void initmission::createTestTasks(TaskFactory& factory,
   }
 #endif
 
-#if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
-  result = testTask->addComponent(objects::LIBGPIOD_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
-  }
-#endif /* BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 */
   taskVec.push_back(testTask);
 
 #endif  // OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1

bsp_q7s/core/ObjectFactory.h

@@ -5,6 +5,8 @@ class LinuxLibgpioIF;
 class UartComIF;
 class SpiComIF;
 class I2cComIF;
+class PowerSwitchIF;
+class AcsBoardAssembly;
 
 namespace ObjectFactory {
 
@@ -13,21 +15,23 @@ 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 createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
+                            PowerSwitchIF* pwrSwitcher);
 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();
+void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
-void createRtdComponents(LinuxLibgpioIF* gpioComIF);
+void createPayloadComponents(LinuxLibgpioIF* gpioComIF);
 void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
 void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);
 void createTestComponents(LinuxLibgpioIF* gpioComIF);
 
+void testAcsBrdAss(AcsBoardAssembly* assAss);
+
 };  // namespace ObjectFactory
 
 #endif /* BSP_Q7S_OBJECTFACTORY_H_ */

bsp_q7s/core/obsw.cpp

@@ -6,21 +6,18 @@
 #include "InitMission.h"
 #include "OBSWConfig.h"
 #include "OBSWVersion.h"
-#include "fsfw/FSFWVersion.h"
 #include "fsfw/tasks/TaskFactory.h"
-#include "watchdogConf.h"
+#include "fsfw/version.h"
+#include "watchdog/definitions.h"
 
 static int OBSW_ALREADY_RUNNING = -2;
 
 int obsw::obsw() {
+  using namespace fsfw;
   std::cout << "-- EIVE OBSW --" << std::endl;
-#if BOARD_TE0720 == 0
   std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
-#else
-  std::cout << "-- Compiled for Linux (TE0720) --" << std::endl;
-#endif
   std::cout << "-- OBSW v" << SW_VERSION << "." << SW_SUBVERSION << "." << SW_REVISION << ", FSFW v"
-            << FSFW_VERSION << "." << FSFW_SUBVERSION << "." << FSFW_REVISION << "--" << std::endl;
+            << FSFW_VERSION << "--" << std::endl;
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
 
 #if Q7S_CHECK_FOR_ALREADY_RUNNING_IMG == 1

bsp_q7s/memory/CMakeLists.txt

@@ -2,4 +2,5 @@ target_sources(${OBSW_NAME} PRIVATE
     FileSystemHandler.cpp
     SdCardManager.cpp
     scratchApi.cpp
+    FilesystemHelper.cpp
 )

bsp_q7s/memory/FileSystemHandler.h

@@ -6,6 +6,7 @@
 
 #include "OBSWConfig.h"
 #include "SdCardManager.h"
+#include "eive/definitions.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/memory/HasFileSystemIF.h"
 #include "fsfw/objectmanager/SystemObject.h"

bsp_q7s/memory/FilesystemHelper.cpp

@@ -0,0 +1,40 @@
+#include "FilesystemHelper.h"
+
+#include <filesystem>
+#include <fstream>
+
+#include "bsp_q7s/memory/SdCardManager.h"
+#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+
+FilesystemHelper::FilesystemHelper() {}
+
+FilesystemHelper::~FilesystemHelper() {}
+
+ReturnValue_t FilesystemHelper::checkPath(std::string path) {
+  SdCardManager* sdcMan = SdCardManager::instance();
+  if (sdcMan == nullptr) {
+    sif::warning << "FilesystemHelper::checkPath: Invalid SD card manager" << std::endl;
+    return RETURN_FAILED;
+  }
+  if (path.substr(0, sizeof(SdCardManager::SD_0_MOUNT_POINT)) ==
+      std::string(SdCardManager::SD_0_MOUNT_POINT)) {
+    if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
+      sif::warning << "FilesystemHelper::checkPath: SD card 0 not mounted" << std::endl;
+      return SD_NOT_MOUNTED;
+    }
+  } else if (path.substr(0, sizeof(SdCardManager::SD_1_MOUNT_POINT)) ==
+             std::string(SdCardManager::SD_1_MOUNT_POINT)) {
+    if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
+      sif::warning << "FilesystemHelper::checkPath: SD card 1 not mounted" << std::endl;
+      return SD_NOT_MOUNTED;
+    }
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t FilesystemHelper::fileExists(std::string file) {
+  if (not std::filesystem::exists(file)) {
+    return FILE_NOT_EXISTS;
+  }
+  return RETURN_OK;
+}

bsp_q7s/memory/FilesystemHelper.h

@@ -0,0 +1,49 @@
+#ifndef BSP_Q7S_MEMORY_FILESYSTEMHELPER_H_
+#define BSP_Q7S_MEMORY_FILESYSTEMHELPER_H_
+
+#include <string>
+
+#include "commonClassIds.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+/**
+ * @brief   This class implements often used functions concerning the file system management.
+ *
+ * @author  J. Meier
+ */
+class FilesystemHelper : public HasReturnvaluesIF {
+ public:
+  static const uint8_t INTERFACE_ID = CLASS_ID::FILE_SYSTEM_HELPER;
+
+  //! [EXPORT] : [COMMENT] SD card specified with path string not mounted
+  static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA0);
+  //! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
+  static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA1);
+
+  FilesystemHelper();
+  virtual ~FilesystemHelper();
+
+  /**
+   * @brief   In case the path points to a directory on the sd card the function checks if the
+   *          appropriate SD card is mounted.
+   *
+   * @param path  Path to check
+   *
+   * @return  RETURN_OK if path points to SD card and the appropriate SD card is mounted or if
+   *          path does not point to SD card.
+   *          Return error code if path points to SD card and the corresponding SD card is not
+   *          mounted.
+   */
+  static ReturnValue_t checkPath(std::string path);
+
+  /**
+   * @brief   Checks if the file exists on the filesystem.
+   *
+   * param file   File to check
+   *
+   * @return  RETURN_OK if fiel exists, otherwise return error code.
+   */
+  static ReturnValue_t fileExists(std::string file);
+};
+
+#endif /* BSP_Q7S_MEMORY_FILESYSTEMHELPER_H_ */

bsp_q7s/memory/SdCardManager.cpp

@@ -1,6 +1,5 @@
 #include "SdCardManager.h"
 
-#include "OBSWConfig.h"
 #include <fsfw/ipc/MutexGuard.h>
 #include <fsfw/timemanager/Countdown.h>
 #include <unistd.h>
@@ -10,6 +9,7 @@
 #include <fstream>
 #include <memory>
 
+#include "OBSWConfig.h"
 #include "common/config/commonObjects.h"
 #include "fsfw/ipc/MutexFactory.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"

bsp_q7s/xadc/CMakeLists.txt

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

bsp_q7s/xadc/Xadc.cpp

@@ -0,0 +1,144 @@
+#include "Xadc.h"
+
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <sstream>
+
+#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+
+Xadc::Xadc() {}
+
+Xadc::~Xadc() {}
+
+ReturnValue_t Xadc::getTemperature(float& temperature) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  int raw = 0;
+  int offset = 0;
+  float scale = 0;
+  result = readValFromFile<int>(xadc::file::tempRaw.c_str(), raw);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = readValFromFile<int>(xadc::file::tempOffset.c_str(), offset);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = readValFromFile<float>(xadc::file::tempScale.c_str(), scale);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  temperature = (raw + offset) * scale / 1000;
+  return result;
+}
+
+ReturnValue_t Xadc::getVccPint(float& vccPint) {
+  ReturnValue_t result =
+      readVoltageFromSysfs(xadc::file::vccpintRaw, xadc::file::vccpintScale, vccPint);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Xadc::getVccPaux(float& vccPaux) {
+  ReturnValue_t result =
+      readVoltageFromSysfs(xadc::file::vccpauxRaw, xadc::file::vccpauxScale, vccPaux);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Xadc::getVccInt(float& vccInt) {
+  ReturnValue_t result =
+      readVoltageFromSysfs(xadc::file::vccintRaw, xadc::file::vccintScale, vccInt);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Xadc::getVccAux(float& vccAux) {
+  ReturnValue_t result =
+      readVoltageFromSysfs(xadc::file::vccauxRaw, xadc::file::vccauxScale, vccAux);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Xadc::getVccBram(float& vccBram) {
+  ReturnValue_t result =
+      readVoltageFromSysfs(xadc::file::vccbramRaw, xadc::file::vccbramScale, vccBram);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Xadc::getVccOddr(float& vccOddr) {
+  ReturnValue_t result =
+      readVoltageFromSysfs(xadc::file::vccoddrRaw, xadc::file::vccoddrScale, vccOddr);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Xadc::getVrefp(float& vrefp) {
+  ReturnValue_t result = readVoltageFromSysfs(xadc::file::vrefpRaw, xadc::file::vrefpScale, vrefp);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Xadc::getVrefn(float& vrefn) {
+  ReturnValue_t result = readVoltageFromSysfs(xadc::file::vrefnRaw, xadc::file::vrefnScale, vrefn);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Xadc::readVoltageFromSysfs(std::string rawFile, std::string scaleFile,
+                                         float& voltage) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  float raw = 0;
+  float scale = 0;
+  result = readValFromFile(rawFile.c_str(), raw);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = readValFromFile(scaleFile.c_str(), scale);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  voltage = calculateVoltage(raw, scale);
+  return result;
+}
+
+float Xadc::calculateVoltage(int raw, float scale) { return static_cast<float>(raw * scale); }
+
+template <typename T>
+ReturnValue_t Xadc::readValFromFile(const char* filename, T& val) {
+  FILE* fp;
+  fp = fopen(filename, "r");
+  if (fp == nullptr) {
+    sif::warning << "Xadc::readValFromFile: Failed to open file " << filename << std::endl;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  char valstring[MAX_STR_LENGTH] = "";
+  char* returnVal = fgets(valstring, MAX_STR_LENGTH, fp);
+  if (returnVal == nullptr) {
+    sif::warning << "Xadc::readValFromFile: Failed to read string from file " << filename
+                 << std::endl;
+    fclose(fp);
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  std::istringstream valSstream(valstring);
+  valSstream >> val;
+  fclose(fp);
+  return HasReturnvaluesIF::RETURN_OK;
+}

bsp_q7s/xadc/Xadc.h

@@ -0,0 +1,108 @@
+#ifndef BSP_Q7S_XADC_XADC_H_
+#define BSP_Q7S_XADC_XADC_H_
+
+#include <string>
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+namespace xadc {
+using namespace std;
+static const string iioPath = "/sys/bus/iio/devices/iio:device1";
+namespace file {
+static const string tempOffset = iioPath + "/in_temp0_offset";
+static const string tempRaw = iioPath + "/in_temp0_raw";
+static const string tempScale = iioPath + "/in_temp0_scale";
+static const string vccintRaw = iioPath + "/in_voltage0_vccint_raw";
+static const string vccintScale = iioPath + "/in_voltage0_vccint_scale";
+static const string vccauxRaw = iioPath + "/in_voltage1_vccaux_raw";
+static const string vccauxScale = iioPath + "/in_voltage1_vccaux_scale";
+static const string vccbramRaw = iioPath + "/in_voltage2_vccbram_raw";
+static const string vccbramScale = iioPath + "/in_voltage2_vccbram_scale";
+static const string vccpintRaw = iioPath + "/in_voltage3_vccpint_raw";
+static const string vccpintScale = iioPath + "/in_voltage3_vccpint_scale";
+static const string vccpauxRaw = iioPath + "/in_voltage4_vccpaux_raw";
+static const string vccpauxScale = iioPath + "/in_voltage4_vccpaux_scale";
+static const string vccoddrRaw = iioPath + "/in_voltage5_vccoddr_raw";
+static const string vccoddrScale = iioPath + "/in_voltage5_vccoddr_scale";
+static const string vrefpRaw = iioPath + "/in_voltage6_vrefp_raw";
+static const string vrefpScale = iioPath + "/in_voltage6_vrefp_scale";
+static const string vrefnRaw = iioPath + "/in_voltage7_vrefn_raw";
+static const string vrefnScale = iioPath + "/in_voltage7_vrefn_scale";
+}  // namespace file
+}  // namespace xadc
+
+/**
+ * @brief   Class providing access to the data generated by the analog mixed signal module (XADC).
+ *
+ * @details Details about the XADC peripheral of the Zynq-7020 can be found in the UG480 "7-Series
+ *          FPGAs and Zynq-7000 SoC XADC Dual 12-Bit 1 MSPS Analog-to-Digital Converter" user guide
+ *          from Xilinx.
+ *
+ * @author  J. Meier
+ */
+class Xadc {
+ public:
+  /**
+   * @brief Constructor
+   */
+  Xadc();
+  virtual ~Xadc();
+
+  /**
+   * @brief Returns on-chip temperature degree celcius
+   */
+  ReturnValue_t getTemperature(float& temperature);
+
+  /**
+   * @brief Returns PS internal logic supply voltage in millivolts
+   */
+  ReturnValue_t getVccPint(float& vccPint);
+
+  /**
+   * @brief Returns PS auxiliary supply voltage in millivolts
+   */
+  ReturnValue_t getVccPaux(float& vccPaux);
+
+  /**
+   * @brief Returns PL internal supply voltage in millivolts
+   */
+  ReturnValue_t getVccInt(float& vccInt);
+
+  /**
+   * @brief Returns PL auxiliary supply voltage in millivolts
+   */
+  ReturnValue_t getVccAux(float& vccAux);
+
+  /**
+   * @brief Returns PL block RAM supply voltage in millivolts
+   */
+  ReturnValue_t getVccBram(float& vccBram);
+
+  /**
+   * @brief Returns the PS DDR I/O supply voltage
+   */
+  ReturnValue_t getVccOddr(float& vcOddr);
+
+  /**
+   * @brief Returns XADC reference input voltage relative to GND in millivolts
+   */
+  ReturnValue_t getVrefp(float& vrefp);
+
+  /**
+   * @brief Returns negative reference input voltage. Should normally be 0 V.
+   */
+  ReturnValue_t getVrefn(float& vrefn);
+
+ private:
+  // Maximum length of the string representation of a value in a xadc sysfs file
+  static const uint8_t MAX_STR_LENGTH = 15;
+
+  ReturnValue_t readVoltageFromSysfs(std::string rawFile, std::string scaleFile, float& voltage);
+
+  float calculateVoltage(int raw, float scale);
+
+  template <typename T>
+  ReturnValue_t readValFromFile(const char* filename, T& val);
+};
+
+#endif /* BSP_Q7S_XADC_XADC_H_ */

bsp_te0720_1cfa/CMakeLists.txt

@@ -0,0 +1,7 @@
+target_sources(${OBSW_NAME} PUBLIC
+	InitMission.cpp
+	main.cpp
+	ObjectFactory.cpp
+)
+
+add_subdirectory(boardconfig)

bsp_te0720_1cfa/InitMission.cpp

@@ -0,0 +1,188 @@
+#include "InitMission.h"
+
+#include <fsfw/objectmanager/ObjectManager.h>
+#include <fsfw/objectmanager/ObjectManagerIF.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/tasks/FixedTimeslotTaskIF.h>
+#include <fsfw/tasks/PeriodicTaskIF.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <mission/utility/InitMission.h>
+
+#include <iostream>
+
+#include "OBSWConfig.h"
+#include "ObjectFactory.h"
+#include "objects/systemObjectList.h"
+#include "pollingsequence/pollingSequenceFactory.h"
+
+ServiceInterfaceStream sif::debug("DEBUG");
+ServiceInterfaceStream sif::info("INFO");
+ServiceInterfaceStream sif::warning("WARNING");
+ServiceInterfaceStream sif::error("ERROR");
+
+ObjectManagerIF* objectManager = nullptr;
+
+void initmission::initMission() {
+  sif::info << "Building global objects.." << std::endl;
+  /* Instantiate global object manager and also create all objects */
+  ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
+  sif::info << "Initializing all objects.." << std::endl;
+  ObjectManager::instance()->initialize();
+
+  /* This function creates and starts all tasks */
+  initTasks();
+}
+
+void initmission::initTasks() {
+  TaskFactory* factory = TaskFactory::instance();
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  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 = factory->createPeriodicTask(
+      "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  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;
+  }
+
+  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
+      "TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Add component TMTC Bridge failed" << std::endl;
+  }
+  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
+      "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Add component TMTC Polling failed" << std::endl;
+  }
+
+  /* PUS Services */
+  std::vector<PeriodicTaskIF*> pusTasks;
+  createPusTasks(*factory, missedDeadlineFunc, pusTasks);
+
+  std::vector<PeriodicTaskIF*> pstTasks;
+  FixedTimeslotTaskIF* pst = factory->createFixedTimeslotTask(
+      "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
+  result = pst::pstUart(pst);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
+  }
+  pstTasks.push_back(pst);
+
+  PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
+      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
+  }
+  pstTasks.push_back(mpsocHelperTask);
+
+  auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
+    for (const auto& task : taskVector) {
+      if (task != nullptr) {
+        task->startTask();
+      } else {
+        sif::error << "Task in vector " << name << " is invalid!" << std::endl;
+      }
+    }
+  };
+
+  sif::info << "Starting tasks.." << std::endl;
+  tmtcDistributor->startTask();
+  tmtcBridgeTask->startTask();
+  tmtcPollingTask->startTask();
+
+  taskStarter(pstTasks, "PST Tasks");
+  taskStarter(pusTasks, "PUS Tasks");
+
+  sif::info << "Tasks started.." << std::endl;
+}
+
+void initmission::createPusTasks(TaskFactory& factory,
+                                 TaskDeadlineMissedFunction missedDeadlineFunc,
+                                 std::vector<PeriodicTaskIF*>& taskVec) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
+      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+  taskVec.push_back(pusVerification);
+
+  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
+      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
+  }
+  result = pusEvents->addComponent(objects::EVENT_MANAGER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
+  }
+  taskVec.push_back(pusEvents);
+
+  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
+      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  }
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
+  }
+  taskVec.push_back(pusHighPrio);
+
+  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
+      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
+  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);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
+  }
+  taskVec.push_back(pusMedPrio);
+
+  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);
+  }
+  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
+  }
+  taskVec.push_back(pusLowPrio);
+}

bsp_te0720_1cfa/InitMission.h

@@ -0,0 +1,21 @@
+#ifndef BSP_LINUX_INITMISSION_H_
+#define BSP_LINUX_INITMISSION_H_
+
+#include <vector>
+
+#include "fsfw/tasks/Typedef.h"
+
+class PeriodicTaskIF;
+class TaskFactory;
+
+namespace initmission {
+void initMission();
+void initTasks();
+
+void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
+                    std::vector<PeriodicTaskIF*>& taskVec);
+void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
+                    std::vector<PeriodicTaskIF*>& taskVec);
+};  // namespace initmission
+
+#endif /* BSP_LINUX_INITMISSION_H_ */

bsp_te0720_1cfa/ObjectFactory.cpp

@@ -0,0 +1,151 @@
+#include "ObjectFactory.h"
+
+#include <devConf.h>
+#include "fsfw_hal/linux/uart/UartComIF.h"
+#include "fsfw_hal/linux/i2c/I2cComIF.h"
+#include "fsfw_hal/linux/uart/UartCookie.h"
+
+#include "OBSWConfig.h"
+#include "busConf.h"
+#include "devConf.h"
+#include "fsfw/datapoollocal/LocalDataPoolManager.h"
+#include "fsfw/tmtcpacket/pus/tm.h"
+#include "fsfw/tmtcservices/CommandingServiceBase.h"
+#include "fsfw/tmtcservices/PusServiceBase.h"
+#include "fsfw_hal/linux/i2c/I2cCookie.h"
+#include "linux/devices/ploc/PlocMPSoCHandler.h"
+#include "linux/devices/ploc/PlocMPSoCHelper.h"
+#include "mission/devices/Tmp1075Handler.h"
+#include "mission/core/GenericFactory.h"
+#include "mission/utility/TmFunnel.h"
+#include "test/gpio/DummyGpioIF.h"
+#include "objects/systemObjectList.h"
+#include "devices/addresses.h"
+#include "devices/gpioIds.h"
+#include "tmtc/apid.h"
+#include "tmtc/pusIds.h"
+
+void Factory::setStaticFrameworkObjectIds() {
+  PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
+  PusServiceBase::packetDestination = objects::TM_FUNNEL;
+
+  CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
+  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+
+  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
+  TmFunnel::storageDestination = objects::NO_OBJECT;
+
+  VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
+  TmPacketBase::timeStamperId = objects::TIME_STAMPER;
+}
+
+void ObjectFactory::produce(void* args) {
+  Factory::setStaticFrameworkObjectIds();
+  ObjectFactory::produceGenericObjects();
+
+#if OBSW_ADD_PLOC_MPSOC == 1
+  UartCookie* mpsocUartCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, te0720_1cfa::MPSOC_UART,
+                                               uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
+  mpsocUartCookie->setNoFixedSizeReply();
+  PlocMPSoCHelper* plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
+  new UartComIF(objects::UART_COM_IF);
+  auto dummyGpioIF = new DummyGpioIF();
+  PlocMPSoCHandler* plocMPSoCHandler = new PlocMPSoCHandler(
+      objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocUartCookie, plocMpsocHelper,
+      Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF), objects::PLOC_SUPERVISOR_HANDLER);
+  plocMPSoCHandler->setStartUpImmediately();
+#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
+
+#if OBSW_TEST_LIBGPIOD == 1
+#if OBSW_TEST_GPIO_OPEN_BYLABEL == 1
+  /* Configure MIO0 as input */
+  GpiodRegular* testGpio = new GpiodRegular("MIO0", Direction::OUT, 0, "/amba_pl/gpio@41200000", 0);
+#elif OBSW_TEST_GPIO_OPEN_BY_LINE_NAME
+  GpiodRegularByLineName* testGpio =
+      new GpiodRegularByLineName("test-name", "gpio-test", Direction::OUT, 0);
+#else
+  /* Configure MIO0 as input */
+  GpiodRegular* testGpio = new GpiodRegular("gpiochip0", 0, "MIO0", gpio::IN, 0);
+#endif /* OBSW_TEST_GPIO_LABEL == 1 */
+  GpioCookie* gpioCookie = new GpioCookie;
+  gpioCookie->addGpio(gpioIds::TEST_ID_0, testGpio);
+  new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
+#endif
+
+#if OBSW_TEST_SUS == 1
+  GpioCookie* gpioCookieSus = new GpioCookie;
+  GpiodRegular* chipSelectSus = new GpiodRegular(
+      std::string("gpiochip1"), 9, std::string("Chip Select Sus Sensor"), Direction::OUT, 1);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_0, chipSelectSus);
+  gpioComIF->addGpios(gpioCookieSus);
+
+  SpiCookie* spiCookieSus =
+      new SpiCookie(addresses::SUS_0, std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE,
+                    spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
+
+  new SusHandler(objects::SUS_0, objects::SPI_COM_IF, spiCookieSus, gpioComIF, gpioIds::CS_SUS_0);
+#endif
+
+#if OBSW_TEST_CCSDS_BRIDGE == 1
+  GpioCookie* gpioCookieCcsdsIp = new GpioCookie;
+  GpiodRegular* papbBusyN =
+      new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_VC0"));
+  gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_BUSY_N, papbBusyN);
+  GpiodRegular* papbEmpty =
+      new GpiodRegular(std::string("gpiochip0"), 1, std::string("PAPBEmpty_VC0"));
+  gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_EMPTY, papbEmpty);
+  gpioComIF->addGpios(gpioCookieCcsdsIp);
+
+  new CCSDSIPCoreBridge(objects::CCSDS_IP_CORE_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR,
+                        objects::TM_STORE, objects::TC_STORE, gpioComIF, std::string("/dev/uio0"),
+                        gpioIds::PAPB_BUSY_N, gpioIds::PAPB_EMPTY);
+#endif
+
+#if OBSW_TEST_RAD_SENSOR == 1
+  GpioCookie* gpioCookieRadSensor = new GpioCookie;
+  GpiodRegular* chipSelectRadSensor = new GpiodRegular(
+      std::string("gpiochip1"), 0, std::string("Chip select radiation sensor"), Direction::OUT, 1);
+  gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
+  gpioComIF->addGpios(gpioCookieRadSensor);
+
+  SpiCookie* spiCookieRadSensor =
+      new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string("/dev/spidev1.0"),
+                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
+
+  RadiationSensorHandler* radSensor =
+      new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
+  radSensor->setStartUpImmediately();
+#endif
+
+#if OBSW_TEST_TE7020_HEATER == 1
+  /* Configuration for MIO0 on TE0720-03-1CFA */
+  GpiodRegular* heaterGpio =
+      new GpiodRegular(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0);
+  GpioCookie* gpioCookie = new GpioCookie;
+  gpioCookie->addGpio(gpioIds::HEATER_0, heaterGpio);
+  new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER,
+                    pcduSwitches::TCS_BOARD_8V_HEATER_IN);
+#endif
+
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  /* Configuration for MIO0 on TE0720-03-1CFA */
+  UartCookie* plocSupervisorCookie =
+      new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, std::string("/dev/ttyPS1"),
+                     UartModes::NON_CANONICAL, 115200, PLOC_SPV::MAX_PACKET_SIZE * 20);
+  plocSupervisorCookie->setNoFixedSizeReply();
+  PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
+      objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
+  plocSupervisor->setStartUpImmediately();
+#endif
+
+new I2cComIF(objects::I2C_COM_IF);
+
+I2cCookie* i2cCookieTmp1075tcs1 =
+  new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
+I2cCookie* i2cCookieTmp1075tcs2 =
+  new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
+
+/* Temperature sensors */
+new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
+new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
+}

bsp_te0720_1cfa/ObjectFactory.h

@@ -0,0 +1,8 @@
+#ifndef BSP_LINUX_OBJECTFACTORY_H_
+#define BSP_LINUX_OBJECTFACTORY_H_
+
+namespace ObjectFactory {
+void produce(void* args);
+};  // namespace ObjectFactory
+
+#endif /* BSP_LINUX_OBJECTFACTORY_H_ */

bsp_te0720_1cfa/boardconfig/CMakeLists.txt

@@ -0,0 +1,7 @@
+target_sources(${OBSW_NAME} PRIVATE
+	print.c
+)
+
+target_include_directories(${OBSW_NAME} PUBLIC
+	${CMAKE_CURRENT_SOURCE_DIR}
+)

bsp_te0720_1cfa/boardconfig/busConf.h

@@ -0,0 +1,11 @@
+#ifndef BSP_EGSE_BOARDCONFIG_BUSCONF_H_
+#define BSP_EGSE_BOARDCONFIG_BUSCONF_H_
+
+namespace te0720_1cfa {
+static constexpr char MPSOC_UART[] = "/dev/ttyPS1";
+namespace baudrate {
+
+}
+}
+
+#endif /* BSP_EGSE_BOARDCONFIG_BUSCONF_H_ */

bsp_te0720_1cfa/boardconfig/etl_profile.h

@@ -0,0 +1,38 @@
+///\file
+
+/******************************************************************************
+The MIT License(MIT)
+
+Embedded Template Library.
+https://github.com/ETLCPP/etl
+https://www.etlcpp.com
+
+Copyright(c) 2019 jwellbelove
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files(the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and / or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions :
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+******************************************************************************/
+#ifndef __ETL_PROFILE_H__
+#define __ETL_PROFILE_H__
+
+#define ETL_CHECK_PUSH_POP
+
+#define ETL_CPP11_SUPPORTED 1
+#define ETL_NO_NULLPTR_SUPPORT 0
+
+#endif

bsp_te0720_1cfa/boardconfig/gcov.h

@@ -0,0 +1,15 @@
+#ifndef LINUX_GCOV_H_
+#define LINUX_GCOV_H_
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+
+#ifdef GCOV
+extern "C" void __gcov_flush();
+#else
+void __gcov_flush() {
+  sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
+               "coverage information is desired.\n"
+            << std::flush;
+}
+#endif
+
+#endif /* LINUX_GCOV_H_ */

bsp_te0720_1cfa/boardconfig/print.c

@@ -0,0 +1,10 @@
+#include <bsp_te0720_1cfa/boardconfig/print.h>
+#include <stdio.h>
+
+void printChar(const char* character, bool errStream) {
+  if (errStream) {
+    putc(*character, stderr);
+    return;
+  }
+  putc(*character, stdout);
+}

bsp_te0720_1cfa/boardconfig/print.h

@@ -0,0 +1,8 @@
+#ifndef HOSTED_BOARDCONFIG_PRINT_H_
+#define HOSTED_BOARDCONFIG_PRINT_H_
+
+#include <stdbool.h>
+
+void printChar(const char* character, bool errStream);
+
+#endif /* HOSTED_BOARDCONFIG_PRINT_H_ */

bsp_te0720_1cfa/main.cpp

@@ -0,0 +1,29 @@
+#include <iostream>
+
+#include "InitMission.h"
+#include "OBSWConfig.h"
+#include "OBSWVersion.h"
+#include "fsfw/version.h"
+#include "fsfw/tasks/TaskFactory.h"
+
+/**
+ * @brief 	    This is the main program entry point for the obsw running on the trenz electronic
+ *              te0720-1cfa.
+ * @return
+ */
+int main(void) {
+  using namespace fsfw;
+  std::cout << "-- EIVE OBSW --" << std::endl;
+  std::cout << "-- Compiled for Trenz TE0720-1CFA"
+            << " --" << std::endl;
+  std::cout << "-- OBSW v" << SW_VERSION << "." << SW_SUBVERSION << "." << SW_REVISION << ", FSFW v"
+              << FSFW_VERSION << "--" << std::endl;
+  std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
+
+  initmission::initMission();
+
+  for (;;) {
+    /* Suspend main thread by sleeping it. */
+    TaskFactory::delayTask(5000);
+  }
+}

cmake/HardwareOsPreConfig.cmake

@@ -59,6 +59,8 @@ if(TGT_BSP)
 		set(BSP_PATH "bsp_q7s")
   elseif(TGT_BSP MATCHES "arm/egse")
     set(BSP_PATH "bsp_egse")
+  elseif(TGT_BSP MATCHES "arm/te0720-1cfa")
+    set(BSP_PATH "bsp_te0720_1cfa")
 	else() 
 		message(WARNING "CMake not configured for this target!")
 		message(FATAL_ERROR "Target: ${TGT_BSP}!")

cmake/PreProjectConfig.cmake

@@ -12,9 +12,9 @@ endif()
 
 # Disable compiler checks for cross-compiling.
 if(FSFW_OSAL MATCHES linux AND TGT_BSP)
-	if(TGT_BSP MATCHES "arm/q7s")
+	if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/te0720-1cfa")
 		set(CMAKE_TOOLCHAIN_FILE 
-			"${CMAKE_SCRIPT_PATH}/Q7SCrossCompileConfig.cmake"
+			"${CMAKE_SCRIPT_PATH}/Zynq7020CrossCompileConfig.cmake"
 			PARENT_SCOPE
 		)
 	elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse")

cmake/Zynq7020CrossCompileConfig.cmake

@@ -1,16 +1,16 @@
-if(DEFINED ENV{Q7S_SYSROOT})
+if(DEFINED ENV{ZYNQ_7020_SYSROOT})
-	set(ENV{Q7S_ROOTFS} $ENV{Q7S_SYSROOT})
+	set(ENV{ZYNQ_7020_ROOTFS} $ENV{ZYNQ_7020_SYSROOT})
 endif()
 # CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
-if(NOT DEFINED ENV{Q7S_ROOTFS})
+if(NOT DEFINED ENV{ZYNQ_7020_ROOTFS})
     # Sysroot has not been cached yet and was not set in environment either
     if(NOT DEFINED SYSROOT_PATH)
         message(FATAL_ERROR 
-            "Define the Q7S_ROOTFS variable to point to the Q7S rootfs."
+            "Define the ZYNQ_7020_ROOTFS variable to point to the Zynq-7020 rootfs."
         )
     endif()
 else()
-	set(SYSROOT_PATH "$ENV{Q7S_ROOTFS}" CACHE PATH "Q7S root filesystem path")
+	set(SYSROOT_PATH "$ENV{ZYNQ_7020_ROOTFS}" CACHE PATH "Zynq-7020 root filesystem path")
 endif()
 
 if(NOT DEFINED ENV{CROSS_COMPILE})
@@ -87,18 +87,21 @@ set(C_FLAGS
     -mfloat-abi=hard
     ${COMMON_FLAGS}
     -lgpiod
-    -lxiphos
 )
 
+if (TGT_BSP MATCHES "arm/q7s")
+	set(C_FLAGS ${C_FLAGS} -lxiphos)
+endif()
+
 string (REPLACE ";" " " C_FLAGS "${C_FLAGS}")
 
 set(CMAKE_C_FLAGS 
     ${C_FLAGS}
-	CACHE STRING "C flags for Q7S"
+	CACHE STRING "C flags for Zynq-7020"
 )
 set(CMAKE_CXX_FLAGS 
 	"${CMAKE_C_FLAGS}"
-	CACHE STRING "CPP flags for Q7S"
+	CACHE STRING "CPP flags for Zynq-7020"
 )
 
 # search for programs in the build host directories

cmake/scripts/Q7S/q7s-env.sh

@@ -2,6 +2,6 @@
 export PATH=$PATH:"$HOME/EIVE/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
 export CROSS_COMPILE="arm-linux-gnueabihf"
 
-export Q7S_SYSROOT="$HOME/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"
+export ZYNQ_7020_SYSROOT="$HOME/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"
 export CONSOLE_PREFIX="[Q7S ENV]"
 /bin/bash

cmake/scripts/Q7S/win-q7s-env.sh

@@ -0,0 +1,49 @@
+#!/bin/sh
+# Run with: source win-q7s-env.sh [OPTIONS]
+function help () {
+	echo "source win-q7s-env.sh [options] -t|--toolchain=<toolchain path> -s|--sysroot=<sysroot path>"
+}
+
+TOOLCHAIN_PATH="/c/Xilinx/Vitis/2019.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
+SYSROOT="/c/Users/${USER}/eive-software/cortexa9hf-neon-xiphos-linux-gnueabi"
+
+for i in "$@"; do
+  case $i in
+    -t=*|--toolchain=*)
+      TOOLCHAIN_PATH="${i#*=}"
+      shift
+      ;;
+    -s=*|--sysroot=*)
+      SYSROOT="${i#*=}"
+      shift
+      ;;
+	-h|--help)
+	  help
+	  shift
+      ;;
+    -*|--*)
+      echo "Unknown option $i"
+	  help
+      return
+      ;;
+    *)
+      ;;
+  esac
+done
+
+if [ -d "$TOOLCHAIN_PATH" ]; then
+	export PATH=$PATH:"/c/Xilinx/Vitis/2019.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
+	export CROSS_COMPILE="arm-linux-gnueabihf"
+	echo "Set toolchain path to /c/Xilinx/Vitis/2019.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
+else 
+	echo "Toolchain path $TOOLCHAIN_PATH does not exist"
+	return
+fi
+
+if [ -d "$SYSROOT" ]; then
+	export ZYNQ_7020_SYSROOT=$SYSROOT
+	echo "Set sysroot path to $SYSROOT"
+else 
+	echo "Sysroot path $SYSROOT does not exist"
+	return
+fi

cmake/scripts/cmake-build-cfg.py

@@ -12,6 +12,7 @@ import os
 import sys
 import argparse
 import shutil
+import stat
 
 
 def main():
@@ -102,7 +103,7 @@ def main():
             build_path = source_location + os.path.sep + build_folder
             remove_old_dir = False
         if remove_old_dir:
-            shutil.rmtree(build_path)
+            rm_build_dir(build_path)
     os.chdir(source_location)
     os.mkdir(build_folder)
     print(f"Navigating into build directory: {build_path}")
@@ -117,6 +118,14 @@ def main():
     print(f"\" {cmake_command} \"")
     os.system(cmake_command)
     print("-- CMake configuration done. --")
+    
+    
+def rm_build_dir(path: str):
+    # On windows the permissions of the build directory may have been set to read-only. If this
+    # is the case the permissions are changed before trying to delete the directory.
+    if not os.access(path, os.W_OK):
+        os.chmod(path, stat.S_IWUSR)
+    shutil.rmtree(path)
 
 
 def determine_source_location() -> str:

cmake/scripts/te0720-1cfa/make-debug-cfg.sh

@@ -0,0 +1,34 @@
+#!/bin/sh
+counter=0
+cfg_script_name="cmake-build-cfg.py"
+while [ ${counter} -lt 5 ]
+do
+    cd ..
+    if [ -f ${cfg_script_name} ];then
+        break
+    fi
+    counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+    echo "${cfg_script_name} not found in upper directories!"
+    exit 1
+fi
+
+
+os_fsfw="linux"
+tgt_bsp="arm/te0720-1cfa"
+build_generator="make"
+build_dir="build-Debug-te0720-1cfa"
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
+	-l"${build_dir}"
+# set +x

cmake/scripts/te0720-1cfa/win-env-te0720-1cfa.sh

@@ -5,7 +5,7 @@ function help () {
 }
 
 TOOLCHAIN_PATH="/c/Xilinx/Vitis/2019.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
-SYSROOT="/c/Users/${USER}/eive-software/cortexa9hf-neon-xiphos-linux-gnueabi"
+SYSROOT="/c/Users/${USER}/eive-software/sysroots-petalinux-2019-2/cortexa9t2hf-neon-xilinx-linux-gnueabi"
 
 for i in "$@"; do
   case $i in
@@ -41,7 +41,7 @@ else
 fi
 
 if [ -d "$SYSROOT" ]; then
-	export Q7S_SYSROOT=$SYSROOT
+	export ZYNQ_7020_SYSROOT=$SYSROOT
 	echo "Set sysroot path to $SYSROOT"
 else 
 	echo "Sysroot path $SYSROOT does not exist"

common/config/commonClassIds.h

@@ -13,7 +13,8 @@ enum commonClassIds: uint8_t {
 	IMTQ_HANDLER, //IMTQ
 	RW_HANDLER, //RWHA
 	STR_HANDLER, //STRH
-	PLOC_MPSOC_HANDLER, //PLMP
+	DWLPWRON_CMD, //DWLPWRON
+	MPSOC_TM, //MPTM
 	PLOC_SUPERVISOR_HANDLER, //PLSV
 	SUS_HANDLER, //SUSS
 	CCSDS_IP_CORE_BRIDGE, //IPCI
@@ -27,7 +28,10 @@ enum commonClassIds: uint8_t {
     RATE_SETTER, //RS
     ARCSEC_JSON_BASE, //JSONBASE
     NVM_PARAM_BASE, //NVMB
+    FILE_SYSTEM_HELPER, //FSHLP
+    PLOC_MPSOC_HELPER, // PLMPHLP
 	SA_DEPL_HANDLER, //SADPL
+	MPSOC_RETURN_VALUES_IF, //MPSOCRTVIF
 	COMMON_CLASS_ID_END // [EXPORT] : [END]
 };
 

common/config/commonObjects.h

@@ -42,6 +42,7 @@ enum commonObjects: uint32_t {
     IMTQ_HANDLER = 0x44140014,
     PLOC_MPSOC_HANDLER = 0x44330015,
     PLOC_SUPERVISOR_HANDLER = 0x44330016,
+    PLOC_SUPERVISOR_HELPER = 0x44330017,
 
     /**
      * Not yet specified which pt1000 will measure which device/location in the satellite.
@@ -89,8 +90,14 @@ enum commonObjects: uint32_t {
     PLOC_UPDATER = 0x44330000,
     PLOC_MEMORY_DUMPER = 0x44330001,
     STR_HELPER = 0x44330002,
-    AXI_PTME_CONFIG = 44330003,
+    PLOC_MPSOC_HELPER = 0x44330003,
-    PTME_CONFIG = 44330004,
+    AXI_PTME_CONFIG = 44330004,
+    PTME_CONFIG = 44330005,
+
+    // 0x73 ('s') for assemblies and system/subsystem components
+    ACS_BOARD_ASS = 0x73000001,
+    SUS_BOARD_ASS = 0x73000002,
+    TCS_BOARD_ASS = 0x73000003
 };
 }
 

common/config/commonSubsystemIds.h

@@ -6,20 +6,30 @@
 namespace SUBSYSTEM_ID {
 enum: uint8_t {
 	COMMON_SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
-	PCDU_HANDLER = 108,
+	ACS_SUBSYSTEM = 112,
-	HEATER_HANDLER = 109,
+	PCDU_HANDLER = 113,
-	SA_DEPL_HANDLER = 110,
+	HEATER_HANDLER = 114,
-	PLOC_MPSOC_HANDLER = 111,
+	SA_DEPL_HANDLER = 115,
-	IMTQ_HANDLER = 112,
+	PLOC_MPSOC_HANDLER = 116,
-	RW_HANDLER = 113,
+	IMTQ_HANDLER = 117,
-	STR_HANDLER = 114,
+	RW_HANDLER = 118,
-	PLOC_SUPERVISOR_HANDLER = 115,
+	STR_HANDLER = 119,
-	FILE_SYSTEM = 116,
+	PLOC_SUPERVISOR_HANDLER = 120,
-	PLOC_UPDATER = 117,
+	FILE_SYSTEM = 121,
-	PLOC_MEMORY_DUMPER = 118,
+	PLOC_UPDATER = 122,
-	PDEC_HANDLER = 119,
+	PLOC_MEMORY_DUMPER = 123,
-	STR_HELPER = 120,
+	PDEC_HANDLER = 124,
-	PL_PCDU_HANDLER = 121,
+	STR_HELPER = 125,
+	PLOC_MPSOC_HELPER = 126,
+	PL_PCDU_HANDLER = 127,
+	ACS_BOARD_ASS = 128,
+	SUS_BOARD_ASS = 129,
+	TCS_BOARD_ASS = 130,
+	GPS_HANDLER = 131,
+	P60_DOCK_HANDLER = 132,
+	PDU1_HANDLER = 133,
+	PDU2_HANDLER = 134,
+	ACU_HANDLER = 135,
 	COMMON_SUBSYSTEM_ID_END
 };
 }

common/config/devConf.h

@@ -3,6 +3,7 @@
 
 #include <cstdint>
 #include <fsfw_hal/linux/spi/spiDefinitions.h>
+#include <fsfw_hal/linux/uart/UartCookie.h>
 
 /**
  * SPI configuration will be contained here to let the device handlers remain independent
@@ -28,6 +29,7 @@ static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
  * the decoder and buffer circuits. Thus frequency is here defined to 1 MHz.
  */
 static const uint32_t SUS_MAX1227_SPI_FREQ = 976'000;
+static constexpr spi::SpiModes SUS_MAX_1227_MODE = spi::SpiModes::MODE_3;
 
 static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 976'000;
 static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3;
@@ -48,11 +50,11 @@ static constexpr spi::SpiModes RTD_MODE = spi::SpiModes::MODE_3;
 namespace uart {
 
 static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024;
-static constexpr uint32_t SYRLINKS_BAUD = 38400;
+static constexpr UartBaudRate SYRLINKS_BAUD = UartBaudRate::RATE_38400;
-static constexpr uint32_t GNSS_BAUD = 9600;
+static constexpr UartBaudRate GNSS_BAUD = UartBaudRate::RATE_9600;
-static constexpr uint32_t PLOC_MPSOC_BAUD = 921600;
+static constexpr UartBaudRate PLOC_MPSOC_BAUD = UartBaudRate::RATE_115200;
-static constexpr uint32_t PLOC_SUPERVISOR_BAUD = 115200;
+static constexpr UartBaudRate PLOC_SUPERVISOR_BAUD = UartBaudRate::RATE_115200;
-static constexpr uint32_t STAR_TRACKER_BAUD = 921600;
+static constexpr UartBaudRate STAR_TRACKER_BAUD = UartBaudRate::RATE_921600;
 
 }
 

common/config/devices/gpioIds.h

@@ -119,7 +119,11 @@ enum gpioId_t {
   PLPCDU_ENB_TX,
   PLPCDU_ENB_HPA,
   PLPCDU_ENB_MPA,
-  PLPCDU_ADC_CS
+  PLPCDU_ADC_CS,
+
+  ENABLE_MPSOC_UART,
+  ENABLE_SUPV_UART
+
 };
 }
 

common/config/devices/powerSwitcherList.h

@@ -1,60 +1,6 @@
 #ifndef FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
 #define FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
 
-#include "OBSWConfig.h"
+#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
-
-#include <cstdint>
-
-namespace pcduSwitches {
-	/* Switches are uint8_t datatype and go from 0 to 255 */
-	enum SwitcherList: uint8_t {
-	    Q7S,
-        PAYLOAD_PCDU_CH1,
-        RW,
-        TCS_BOARD_8V_HEATER_IN,
-        SUS_REDUNDANT,
-        DEPLOYMENT_MECHANISM,
-        PAYLOAD_PCDU_CH6,
-        ACS_BOARD_SIDE_B,
-        PAYLOAD_CAMERA,
-        TCS_BOARD_3V3,
-        SYRLINKS,
-        STAR_TRACKER,
-        MGT,
-        SUS_NOMINAL,
-        SOLAR_CELL_EXP,
-        PLOC,
-        ACS_BOARD_SIDE_A,
-        NUMBER_OF_SWITCHES
-	};
-
-	static const uint8_t ON = 1;
-	static const uint8_t OFF = 0;
-
-	/* Output states after reboot of the PDUs */
-	static const uint8_t INIT_STATE_Q7S = ON;
-	static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
-	static const uint8_t INIT_STATE_RW = OFF;
-#if BOARD_TE0720 == 1
-	/* Because the TE0720 is not connected to the PCDU, this switch is always on */
-	static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
-#else
-	static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF;
-#endif
-	static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF;
-	static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF;
-	static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF;
-	static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF;
-	static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF;
-	static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF;
-	static const uint8_t INIT_STATE_SYRLINKS = OFF;
-	static const uint8_t INIT_STATE_STAR_TRACKER = OFF;
-	static const uint8_t INIT_STATE_MGT = OFF;
-	static const uint8_t INIT_STATE_SUS_NOMINAL = OFF;
-	static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF;
-	static const uint8_t INIT_STATE_PLOC = OFF;
-	static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF;
-}
-
 
 #endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */

common/config/eive/definitions.h

@@ -0,0 +1,25 @@
+#ifndef COMMON_CONFIG_DEFINITIONS_H_
+#define COMMON_CONFIG_DEFINITIONS_H_
+
+#include <cstdint>
+
+namespace config {
+
+static constexpr uint32_t PL_PCDU_TRANSITION_TIMEOUT_MS = 20 * 60 * 1000;
+static constexpr uint32_t LONGEST_MODE_TIMEOUT_SECONDS = PL_PCDU_TRANSITION_TIMEOUT_MS / 1000;
+
+/* Add mission configuration flags here */
+static constexpr uint32_t OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE = 50;
+static constexpr uint32_t PLOC_UPDATER_QUEUE_SIZE = 50;
+static constexpr uint32_t STR_IMG_HELPER_QUEUE_SIZE = 50;
+
+static constexpr uint8_t LIVE_TM = 0;
+
+/* Limits for filename and path checks */
+static constexpr uint32_t MAX_PATH_SIZE = 100;
+static constexpr uint32_t MAX_FILENAME_SIZE = 50;
+
+}
+
+
+#endif /* COMMON_CONFIG_DEFINITIONS_H_ */

fsfw

@@ -1 +1 @@
-Subproject commit 47d158156b9efa0edbca9b3a1694f4132b0b30e5
+Subproject commit 613dbe9592c30d9acf4cdb95d81d9f216f07374b

generators/.gitignore

@@ -1 +1,2 @@
 .~lock*
+/venv

generators/.run/events.run.xml

@@ -12,7 +12,7 @@
     <option name="ADD_CONTENT_ROOTS" value="true" />
     <option name="ADD_SOURCE_ROOTS" value="true" />
     <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
-    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/fsfwgen.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/gen.py" />
     <option name="PARAMETERS" value="events" />
     <option name="SHOW_COMMAND_LINE" value="false" />
     <option name="EMULATE_TERMINAL" value="false" />

generators/.run/objects.run.xml

@@ -12,7 +12,7 @@
     <option name="ADD_CONTENT_ROOTS" value="true" />
     <option name="ADD_SOURCE_ROOTS" value="true" />
     <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
-    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/fsfwgen.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/gen.py" />
     <option name="PARAMETERS" value="objects" />
     <option name="SHOW_COMMAND_LINE" value="false" />
     <option name="EMULATE_TERMINAL" value="false" />

generators/.run/returnvalues.run.xml

@@ -12,7 +12,7 @@
     <option name="ADD_CONTENT_ROOTS" value="true" />
     <option name="ADD_SOURCE_ROOTS" value="true" />
     <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
-    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/fsfwgen.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/gen.py" />
     <option name="PARAMETERS" value="returnvalues" />
     <option name="SHOW_COMMAND_LINE" value="false" />
     <option name="EMULATE_TERMINAL" value="false" />

generators/bsp_q7s_events.csv

@@ -77,65 +77,110 @@
 8901;0x22c5;CLOCK_SET_FAILURE;LOW;;fsfw/src/fsfw/pus/Service9TimeManagement.h
 9700;0x25e4;TEST;INFO;;fsfw/src/fsfw/pus/Service17Test.h
 10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;;fsfw/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
-10900;0x2a94;GPIO_PULL_HIGH_FAILED;LOW;;mission/devices/HeaterHandler.h
+11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
-10901;0x2a95;GPIO_PULL_LOW_FAILED;LOW;;mission/devices/HeaterHandler.h
+11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a swithc state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
-10902;0x2a96;SWITCH_ALREADY_ON;LOW;;mission/devices/HeaterHandler.h
+11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
-10903;0x2a97;SWITCH_ALREADY_OFF;LOW;;mission/devices/HeaterHandler.h
+11400;0x2c88;GPIO_PULL_HIGH_FAILED;LOW;;mission/devices/HeaterHandler.h
-10904;0x2a98;MAIN_SWITCH_TIMEOUT;LOW;;mission/devices/HeaterHandler.h
+11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;;mission/devices/HeaterHandler.h
-11000;0x2af8;MAIN_SWITCH_ON_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
+11402;0x2c8a;SWITCH_ALREADY_ON;LOW;;mission/devices/HeaterHandler.h
-11001;0x2af9;MAIN_SWITCH_OFF_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
+11403;0x2c8b;SWITCH_ALREADY_OFF;LOW;;mission/devices/HeaterHandler.h
-11002;0x2afa;DEPLOYMENT_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11404;0x2c8c;MAIN_SWITCH_TIMEOUT;LOW;;mission/devices/HeaterHandler.h
-11003;0x2afb;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11500;0x2cec;MAIN_SWITCH_ON_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
-11004;0x2afc;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11501;0x2ced;MAIN_SWITCH_OFF_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
-11101;0x2b5d;MEMORY_READ_RPT_CRC_FAILURE;LOW;;mission/devices/PlocMPSoCHandler.h
+11502;0x2cee;DEPLOYMENT_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
-11102;0x2b5e;ACK_FAILURE;LOW;;mission/devices/PlocMPSoCHandler.h
+11503;0x2cef;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
-11103;0x2b5f;EXE_FAILURE;LOW;;mission/devices/PlocMPSoCHandler.h
+11504;0x2cf0;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
-11104;0x2b60;CRC_FAILURE_EVENT;LOW;;mission/devices/PlocMPSoCHandler.h
+11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/devices/ploc/PlocMPSoCHandler.h
-11201;0x2bc1;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/devices/ploc/PlocMPSoCHandler.h
-11202;0x2bc2;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/devices/ploc/PlocMPSoCHandler.h
-11203;0x2bc3;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/devices/ploc/PlocMPSoCHandler.h
-11204;0x2bc4;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11605;0x2d55;MPSOC_HANDLER_SEQ_CNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/devices/ploc/PlocMPSoCHandler.h
-11205;0x2bc5;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/devices/ploc/PlocMPSoCHandler.h
-11206;0x2bc6;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
-11207;0x2bc7;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
-11208;0x2bc8;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/devices/IMTQHandler.h
+11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
-11301;0x2c25;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/RwHandler.h
+11704;0x2db8;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
-11401;0x2c89;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
+11705;0x2db9;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
-11402;0x2c8a;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
+11706;0x2dba;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
-11501;0x2ced;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;bsp_q7s/devices/PlocSupervisorHandler.h
+11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
-11502;0x2cee;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;bsp_q7s/devices/PlocSupervisorHandler.h
+11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/devices/IMTQHandler.h
-11503;0x2cef;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report;bsp_q7s/devices/PlocSupervisorHandler.h
+11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/RwHandler.h
-11504;0x2cf0;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;bsp_q7s/devices/PlocSupervisorHandler.h
+11901;0x2e7d;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
-11600;0x2d50;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
+11902;0x2e7e;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
-11601;0x2d51;REBOOT_SW;MEDIUM; Software reboot occured. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
+12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/devices/ploc/PlocSupervisorHandler.h
-11603;0x2d53;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h
+12002;0x2ee2;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux/devices/ploc/PlocSupervisorHandler.h
-11700;0x2db4;UPDATE_FILE_NOT_EXISTS;LOW;;bsp_q7s/devices/PlocUpdater.h
+12003;0x2ee3;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report;linux/devices/ploc/PlocSupervisorHandler.h
-11701;0x2db5;ACTION_COMMANDING_FAILED;LOW;Failed to send command to supervisor handler P1: Return value of CommandActionHelper::commandAction P2: Action ID of command to send;bsp_q7s/devices/PlocUpdater.h
+12004;0x2ee4;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux/devices/ploc/PlocSupervisorHandler.h
-11702;0x2db6;UPDATE_AVAILABLE_FAILED;LOW;Supervisor handler replied action message indicating a command execution failure of the update available command;bsp_q7s/devices/PlocUpdater.h
+12100;0x2f44;SANITIZATION_FAILED;LOW;;bsp_q7s/memory/SdCardManager.h
-11703;0x2db7;UPDATE_TRANSFER_FAILED;LOW;Supervisor handler failed to transfer an update space packet. P1: Parameter holds the number of update packets already sent (inclusive the failed packet);bsp_q7s/devices/PlocUpdater.h
+12101;0x2f45;MOUNTED_SD_CARD;INFO;;bsp_q7s/memory/SdCardManager.h
-11704;0x2db8;UPDATE_VERIFY_FAILED;LOW;Supervisor failed to execute the update verify command.;bsp_q7s/devices/PlocUpdater.h
+12200;0x2fa8;UPDATE_FILE_NOT_EXISTS;LOW;;linux/devices/ploc/PlocUpdater.h
-11705;0x2db9;UPDATE_FINISHED;INFO;MPSoC update successful completed;bsp_q7s/devices/PlocUpdater.h
+12201;0x2fa9;ACTION_COMMANDING_FAILED;LOW;Failed to send command to supervisor handler P1: Return value of CommandActionHelper::commandAction P2: Action ID of command to send;linux/devices/ploc/PlocUpdater.h
-11800;0x2e18;SEND_MRAM_DUMP_FAILED;LOW;Failed to send mram dump command to supervisor handler P1: Return value of commandAction function P2: Start address of MRAM to dump with this command;bsp_q7s/devices/PlocMemoryDumper.h
+12202;0x2faa;UPDATE_AVAILABLE_FAILED;LOW;Supervisor handler replied action message indicating a command execution failure of the update available command;linux/devices/ploc/PlocUpdater.h
-11801;0x2e19;MRAM_DUMP_FAILED;LOW;Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command;bsp_q7s/devices/PlocMemoryDumper.h
+12203;0x2fab;UPDATE_TRANSFER_FAILED;LOW;Supervisor handler failed to transfer an update space packet. P1: Parameter holds the number of update packets already sent (inclusive the failed packet);linux/devices/ploc/PlocUpdater.h
-11802;0x2e1a;MRAM_DUMP_FINISHED;LOW;MRAM dump finished successfully;bsp_q7s/devices/PlocMemoryDumper.h
+12204;0x2fac;UPDATE_VERIFY_FAILED;LOW;Supervisor failed to execute the update verify command.;linux/devices/ploc/PlocUpdater.h
-11901;0x2e7d;INVALID_TC_FRAME;HIGH;;linux/obc/PdecHandler.h
+12205;0x2fad;UPDATE_FINISHED;INFO;MPSoC update successful completed;linux/devices/ploc/PlocUpdater.h
-11902;0x2e7e;INVALID_FAR;HIGH;Read invalid FAR from PDEC after startup;linux/obc/PdecHandler.h
+12300;0x300c;SEND_MRAM_DUMP_FAILED;LOW;Failed to send mram dump command to supervisor handler P1: Return value of commandAction function P2: Start address of MRAM to dump with this command;linux/devices/ploc/PlocMemoryDumper.h
-11903;0x2e7f;CARRIER_LOCK;INFO;Carrier lock detected;linux/obc/PdecHandler.h
+12301;0x300d;MRAM_DUMP_FAILED;LOW;Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command;linux/devices/ploc/PlocMemoryDumper.h
-11904;0x2e80;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);linux/obc/PdecHandler.h
+12302;0x300e;MRAM_DUMP_FINISHED;LOW;MRAM dump finished successfully;linux/devices/ploc/PlocMemoryDumper.h
-12000;0x2ee0;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h
+12401;0x3071;INVALID_TC_FRAME;HIGH;;linux/obc/PdecHandler.h
-12001;0x2ee1;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h
+12402;0x3072;INVALID_FAR;HIGH;Read invalid FAR from PDEC after startup;linux/obc/PdecHandler.h
-12002;0x2ee2;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h
+12403;0x3073;CARRIER_LOCK;INFO;Carrier lock detected;linux/obc/PdecHandler.h
-12003;0x2ee3;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrHelper.h
+12404;0x3074;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);linux/obc/PdecHandler.h
-12004;0x2ee4;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrHelper.h
+12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h
-12005;0x2ee5;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrHelper.h
+12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h
-12006;0x2ee6;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrHelper.h
+12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h
-12007;0x2ee7;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrHelper.h
+12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrHelper.h
-12008;0x2ee8;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrHelper.h
+12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrHelper.h
-12009;0x2ee9;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
+12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrHelper.h
-12010;0x2eea;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
+12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrHelper.h
-12011;0x2eeb;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;linux/devices/startracker/StrHelper.h
+12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrHelper.h
-12012;0x2eec;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrHelper.h
+12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrHelper.h
-12013;0x2eed;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrHelper.h
+12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
-12014;0x2eee;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrHelper.h
+12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
-12015;0x2eef;STR_HELPER_SENDING_PACKET_FAILED;LOW;;linux/devices/startracker/StrHelper.h
+12511;0x30df;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;linux/devices/startracker/StrHelper.h
-12016;0x2ef0;STR_HELPER_REQUESTING_MSG_FAILED;LOW;;linux/devices/startracker/StrHelper.h
+12512;0x30e0;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrHelper.h
+12513;0x30e1;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrHelper.h
+12514;0x30e2;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrHelper.h
+12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;;linux/devices/startracker/StrHelper.h
+12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;;linux/devices/startracker/StrHelper.h
+12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/devices/ploc/PlocMPSoCHelper.h
+12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/devices/ploc/PlocMPSoCHelper.h
+12602;0x313a;SENDING_COMMAND_FAILED;LOW;;linux/devices/ploc/PlocMPSoCHelper.h
+12603;0x313b;MPSOC_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
+12604;0x313c;MPSOC_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
+12605;0x313d;MISSING_ACK;LOW;Did not receive acknowledgement report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
+12606;0x313e;MISSING_EXE;LOW;Did not receive execution report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
+12607;0x313f;ACK_FAILURE_REPORT;LOW;Received acknowledgement failure report P1: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
+12608;0x3140;EXE_FAILURE_REPORT;LOW;Received execution failure report P1: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
+12609;0x3141;ACK_INVALID_APID;LOW;Expected acknowledgement report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
+12610;0x3142;EXE_INVALID_APID;LOW;Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
+12611;0x3143;MPSOC_HELPER_SEQ_CNT_MISMATCH;LOW;Received sequence count does not match expected sequence count P1: Expected sequence count P2: Received sequence count;linux/devices/ploc/PlocMPSoCHelper.h
+12700;0x319c;TRANSITION_BACK_TO_OFF;MEDIUM;Could not transition properly and went back to ALL OFF;mission/devices/PayloadPcduHandler.h
+12701;0x319d;NEG_V_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12702;0x319e;U_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12703;0x319f;I_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12704;0x31a0;U_X8_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12705;0x31a1;I_X8_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12706;0x31a2;U_TX_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12707;0x31a3;I_TX_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12708;0x31a4;U_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12709;0x31a5;I_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12710;0x31a6;U_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12711;0x31a7;I_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12800;0x3200;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/AcsBoardAssembly.h
+12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/AcsBoardAssembly.h
+12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/AcsBoardAssembly.h
+12803;0x3203;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/AcsBoardAssembly.h
+12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/SusAssembly.h
+12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/SusAssembly.h
+12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/SusAssembly.h
+12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/SusAssembly.h
+13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;;mission/system/TcsBoardAssembly.h
+13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission/devices/devicedefinitions/GPSDefinitions.h
+13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/devices/P60DockHandler.h
+13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission/devices/P60DockHandler.h
+13202;0x3392;BATT_MODE_CHANGED;MEDIUM;Battery mode has changed. P1: Old mode. P2: New mode;mission/devices/P60DockHandler.h
+13600;0x3520;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
+13601;0x3521;REBOOT_SW;MEDIUM; Software reboot occured. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
+13602;0x3522;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
+13603;0x3523;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h

generators/bsp_q7s_objects.csv

@@ -40,8 +40,10 @@
 0x44330000;PLOC_UPDATER
 0x44330001;PLOC_MEMORY_DUMPER
 0x44330002;STR_HELPER
+0x44330003;PLOC_MPSOC_HELPER
 0x44330015;PLOC_MPSOC_HANDLER
 0x44330016;PLOC_SUPERVISOR_HANDLER
+0x44330017;PLOC_SUPERVISOR_HELPER
 0x444100A2;SOLAR_ARRAY_DEPL_HANDLER
 0x444100A4;HEATER_HANDLER
 0x44420004;TMP1075_HANDLER_1
@@ -107,6 +109,9 @@
 0x5400CAFE;DUMMY_INTERFACE
 0x54123456;LIBGPIOD_TEST
 0x54694269;TEST_TASK
+0x73000001;ACS_BOARD_ASS
+0x73000002;SUS_BOARD_ASS
+0x73000003;TCS_BOARD_ASS
 0x73000100;TM_FUNNEL
 0x73500000;CCSDS_IP_CORE_BRIDGE
 0xFFFFFFFF;NO_OBJECT

generators/events/event_parser.py

@@ -82,7 +82,10 @@ def parse_events(
         handle_csv_export(
             file_name=CSV_FILENAME, event_list=event_list, file_separator=FILE_SEPARATOR
         )
-        copy_file(filename=CSV_FILENAME, destination=CSV_COPY_DEST, delete_existing_file=True)
+        LOGGER.info(f"Copying CSV file to {CSV_COPY_DEST}")
+        copy_file(
+            filename=CSV_FILENAME, destination=CSV_COPY_DEST, delete_existing_file=True
+        )
 
     if generate_cpp:
         handle_cpp_export(
@@ -93,7 +96,7 @@ def parse_events(
             header_file_name=CPP_H_FILENAME,
         )
         if COPY_CPP_FILE:
-            LOGGER.info(f"EventParser: Copying file to {CPP_COPY_DESTINATION}")
+            LOGGER.info(f"EventParser: Copying CPP translation file to {CPP_COPY_DESTINATION}")
             copy_file(CPP_FILENAME, CPP_COPY_DESTINATION)
             copy_file(CPP_H_FILENAME, CPP_COPY_DESTINATION)
 

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 141 translations.
+ * @brief    Auto-generated event translation file. Contains 186 translations.
  * @details
- * Generated on: 2022-03-04 15:13:02
+ * Generated on: 2022-04-08 14:13:35
  */
 #include "translateEvents.h"
 
@@ -84,6 +84,9 @@ const char *CLOCK_SET_STRING = "CLOCK_SET";
 const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
 const char *TEST_STRING = "TEST";
 const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
+const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
+const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
+const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
 const char *GPIO_PULL_HIGH_FAILED_STRING = "GPIO_PULL_HIGH_FAILED";
 const char *GPIO_PULL_LOW_FAILED_STRING = "GPIO_PULL_LOW_FAILED";
 const char *SWITCH_ALREADY_ON_STRING = "SWITCH_ALREADY_ON";
@@ -97,7 +100,9 @@ const char *DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING = "DEPL_SA2_GPIO_SWTICH_ON_FAI
 const char *MEMORY_READ_RPT_CRC_FAILURE_STRING = "MEMORY_READ_RPT_CRC_FAILURE";
 const char *ACK_FAILURE_STRING = "ACK_FAILURE";
 const char *EXE_FAILURE_STRING = "EXE_FAILURE";
-const char *CRC_FAILURE_EVENT_STRING = "CRC_FAILURE_EVENT";
+const char *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE";
+const char *MPSOC_HANDLER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQ_CNT_MISMATCH";
+const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -113,9 +118,8 @@ const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_
 const char *SUPV_ACK_FAILURE_STRING = "SUPV_ACK_FAILURE";
 const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
 const char *SUPV_CRC_FAILURE_EVENT_STRING = "SUPV_CRC_FAILURE_EVENT";
-const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
+const char *SANITIZATION_FAILED_STRING = "SANITIZATION_FAILED";
-const char *REBOOT_SW_STRING = "REBOOT_SW";
+const char *MOUNTED_SD_CARD_STRING = "MOUNTED_SD_CARD";
-const char *REBOOT_HW_STRING = "REBOOT_HW";
 const char *UPDATE_FILE_NOT_EXISTS_STRING = "UPDATE_FILE_NOT_EXISTS";
 const char *ACTION_COMMANDING_FAILED_STRING = "ACTION_COMMANDING_FAILED";
 const char *UPDATE_AVAILABLE_FAILED_STRING = "UPDATE_AVAILABLE_FAILED";
@@ -146,6 +150,43 @@ const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
 const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
 const char *STR_HELPER_SENDING_PACKET_FAILED_STRING = "STR_HELPER_SENDING_PACKET_FAILED";
 const char *STR_HELPER_REQUESTING_MSG_FAILED_STRING = "STR_HELPER_REQUESTING_MSG_FAILED";
+const char *MPSOC_FLASH_WRITE_FAILED_STRING = "MPSOC_FLASH_WRITE_FAILED";
+const char *MPSOC_FLASH_WRITE_SUCCESSFUL_STRING = "MPSOC_FLASH_WRITE_SUCCESSFUL";
+const char *SENDING_COMMAND_FAILED_STRING = "SENDING_COMMAND_FAILED";
+const char *MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING = "MPSOC_HELPER_REQUESTING_REPLY_FAILED";
+const char *MPSOC_HELPER_READING_REPLY_FAILED_STRING = "MPSOC_HELPER_READING_REPLY_FAILED";
+const char *MISSING_ACK_STRING = "MISSING_ACK";
+const char *MISSING_EXE_STRING = "MISSING_EXE";
+const char *ACK_FAILURE_REPORT_STRING = "ACK_FAILURE_REPORT";
+const char *EXE_FAILURE_REPORT_STRING = "EXE_FAILURE_REPORT";
+const char *ACK_INVALID_APID_STRING = "ACK_INVALID_APID";
+const char *EXE_INVALID_APID_STRING = "EXE_INVALID_APID";
+const char *MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HELPER_SEQ_CNT_MISMATCH";
+const char *TRANSITION_BACK_TO_OFF_STRING = "TRANSITION_BACK_TO_OFF";
+const char *NEG_V_OUT_OF_BOUNDS_STRING = "NEG_V_OUT_OF_BOUNDS";
+const char *U_DRO_OUT_OF_BOUNDS_STRING = "U_DRO_OUT_OF_BOUNDS";
+const char *I_DRO_OUT_OF_BOUNDS_STRING = "I_DRO_OUT_OF_BOUNDS";
+const char *U_X8_OUT_OF_BOUNDS_STRING = "U_X8_OUT_OF_BOUNDS";
+const char *I_X8_OUT_OF_BOUNDS_STRING = "I_X8_OUT_OF_BOUNDS";
+const char *U_TX_OUT_OF_BOUNDS_STRING = "U_TX_OUT_OF_BOUNDS";
+const char *I_TX_OUT_OF_BOUNDS_STRING = "I_TX_OUT_OF_BOUNDS";
+const char *U_MPA_OUT_OF_BOUNDS_STRING = "U_MPA_OUT_OF_BOUNDS";
+const char *I_MPA_OUT_OF_BOUNDS_STRING = "I_MPA_OUT_OF_BOUNDS";
+const char *U_HPA_OUT_OF_BOUNDS_STRING = "U_HPA_OUT_OF_BOUNDS";
+const char *I_HPA_OUT_OF_BOUNDS_STRING = "I_HPA_OUT_OF_BOUNDS";
+const char *TRANSITION_OTHER_SIDE_FAILED_STRING = "TRANSITION_OTHER_SIDE_FAILED";
+const char *NOT_ENOUGH_DEVICES_DUAL_MODE_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE";
+const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
+const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
+const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
+const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
+const char *P60_BOOT_COUNT_STRING = "P60_BOOT_COUNT";
+const char *BATT_MODE_STRING = "BATT_MODE";
+const char *BATT_MODE_CHANGED_STRING = "BATT_MODE_CHANGED";
+const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
+const char *REBOOT_SW_STRING = "REBOOT_SW";
+const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
+const char *REBOOT_HW_STRING = "REBOOT_HW";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -307,130 +348,212 @@ const char *translateEvents(Event event) {
       return TEST_STRING;
     case (10600):
       return CHANGE_OF_SETUP_PARAMETER_STRING;
-    case (10900):
+    case (11300):
-      return GPIO_PULL_HIGH_FAILED_STRING;
+      return SWITCH_CMD_SENT_STRING;
-    case (10901):
-      return GPIO_PULL_LOW_FAILED_STRING;
-    case (10902):
-      return SWITCH_ALREADY_ON_STRING;
-    case (10903):
-      return SWITCH_ALREADY_OFF_STRING;
-    case (10904):
-      return MAIN_SWITCH_TIMEOUT_STRING;
-    case (11000):
-      return MAIN_SWITCH_ON_TIMEOUT_STRING;
-    case (11001):
-      return MAIN_SWITCH_OFF_TIMEOUT_STRING;
-    case (11002):
-      return DEPLOYMENT_FAILED_STRING;
-    case (11003):
-      return DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING;
-    case (11004):
-      return DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING;
-    case (11101):
-      return MEMORY_READ_RPT_CRC_FAILURE_STRING;
-    case (11102):
-      return ACK_FAILURE_STRING;
-    case (11103):
-      return EXE_FAILURE_STRING;
-    case (11104):
-      return CRC_FAILURE_EVENT_STRING;
-    case (11201):
-      return SELF_TEST_I2C_FAILURE_STRING;
-    case (11202):
-      return SELF_TEST_SPI_FAILURE_STRING;
-    case (11203):
-      return SELF_TEST_ADC_FAILURE_STRING;
-    case (11204):
-      return SELF_TEST_PWM_FAILURE_STRING;
-    case (11205):
-      return SELF_TEST_TC_FAILURE_STRING;
-    case (11206):
-      return SELF_TEST_MTM_RANGE_FAILURE_STRING;
-    case (11207):
-      return SELF_TEST_COIL_CURRENT_FAILURE_STRING;
-    case (11208):
-      return INVALID_ERROR_BYTE_STRING;
     case (11301):
-      return ERROR_STATE_STRING;
+      return SWITCH_HAS_CHANGED_STRING;
+    case (11302):
+      return SWITCHING_Q7S_DENIED_STRING;
+    case (11400):
+      return GPIO_PULL_HIGH_FAILED_STRING;
     case (11401):
-      return BOOTING_FIRMWARE_FAILED_STRING;
+      return GPIO_PULL_LOW_FAILED_STRING;
     case (11402):
-      return BOOTING_BOOTLOADER_FAILED_STRING;
+      return SWITCH_ALREADY_ON_STRING;
+    case (11403):
+      return SWITCH_ALREADY_OFF_STRING;
+    case (11404):
+      return MAIN_SWITCH_TIMEOUT_STRING;
+    case (11500):
+      return MAIN_SWITCH_ON_TIMEOUT_STRING;
     case (11501):
-      return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
+      return MAIN_SWITCH_OFF_TIMEOUT_STRING;
     case (11502):
-      return SUPV_ACK_FAILURE_STRING;
+      return DEPLOYMENT_FAILED_STRING;
     case (11503):
-      return SUPV_EXE_FAILURE_STRING;
+      return DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING;
     case (11504):
-      return SUPV_CRC_FAILURE_EVENT_STRING;
+      return DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING;
-    case (11600):
-      return ALLOC_FAILURE_STRING;
     case (11601):
-      return REBOOT_SW_STRING;
+      return MEMORY_READ_RPT_CRC_FAILURE_STRING;
+    case (11602):
+      return ACK_FAILURE_STRING;
     case (11603):
-      return REBOOT_HW_STRING;
+      return EXE_FAILURE_STRING;
-    case (11700):
+    case (11604):
-      return UPDATE_FILE_NOT_EXISTS_STRING;
+      return MPSOC_HANDLER_CRC_FAILURE_STRING;
+    case (11605):
+      return MPSOC_HANDLER_SEQ_CNT_MISMATCH_STRING;
+    case (11606):
+      return MPSOC_SHUTDOWN_FAILED_STRING;
     case (11701):
-      return ACTION_COMMANDING_FAILED_STRING;
+      return SELF_TEST_I2C_FAILURE_STRING;
     case (11702):
-      return UPDATE_AVAILABLE_FAILED_STRING;
+      return SELF_TEST_SPI_FAILURE_STRING;
     case (11703):
-      return UPDATE_TRANSFER_FAILED_STRING;
+      return SELF_TEST_ADC_FAILURE_STRING;
     case (11704):
-      return UPDATE_VERIFY_FAILED_STRING;
+      return SELF_TEST_PWM_FAILURE_STRING;
     case (11705):
-      return UPDATE_FINISHED_STRING;
+      return SELF_TEST_TC_FAILURE_STRING;
-    case (11800):
+    case (11706):
-      return SEND_MRAM_DUMP_FAILED_STRING;
+      return SELF_TEST_MTM_RANGE_FAILURE_STRING;
+    case (11707):
+      return SELF_TEST_COIL_CURRENT_FAILURE_STRING;
+    case (11708):
+      return INVALID_ERROR_BYTE_STRING;
     case (11801):
-      return MRAM_DUMP_FAILED_STRING;
+      return ERROR_STATE_STRING;
-    case (11802):
-      return MRAM_DUMP_FINISHED_STRING;
     case (11901):
-      return INVALID_TC_FRAME_STRING;
+      return BOOTING_FIRMWARE_FAILED_STRING;
     case (11902):
-      return INVALID_FAR_STRING;
+      return BOOTING_BOOTLOADER_FAILED_STRING;
-    case (11903):
-      return CARRIER_LOCK_STRING;
-    case (11904):
-      return BIT_LOCK_PDEC_STRING;
-    case (12000):
-      return IMAGE_UPLOAD_FAILED_STRING;
     case (12001):
-      return IMAGE_DOWNLOAD_FAILED_STRING;
+      return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
     case (12002):
-      return IMAGE_UPLOAD_SUCCESSFUL_STRING;
+      return SUPV_ACK_FAILURE_STRING;
     case (12003):
-      return IMAGE_DOWNLOAD_SUCCESSFUL_STRING;
+      return SUPV_EXE_FAILURE_STRING;
     case (12004):
+      return SUPV_CRC_FAILURE_EVENT_STRING;
+    case (12100):
+      return SANITIZATION_FAILED_STRING;
+    case (12101):
+      return MOUNTED_SD_CARD_STRING;
+    case (12200):
+      return UPDATE_FILE_NOT_EXISTS_STRING;
+    case (12201):
+      return ACTION_COMMANDING_FAILED_STRING;
+    case (12202):
+      return UPDATE_AVAILABLE_FAILED_STRING;
+    case (12203):
+      return UPDATE_TRANSFER_FAILED_STRING;
+    case (12204):
+      return UPDATE_VERIFY_FAILED_STRING;
+    case (12205):
+      return UPDATE_FINISHED_STRING;
+    case (12300):
+      return SEND_MRAM_DUMP_FAILED_STRING;
+    case (12301):
+      return MRAM_DUMP_FAILED_STRING;
+    case (12302):
+      return MRAM_DUMP_FINISHED_STRING;
+    case (12401):
+      return INVALID_TC_FRAME_STRING;
+    case (12402):
+      return INVALID_FAR_STRING;
+    case (12403):
+      return CARRIER_LOCK_STRING;
+    case (12404):
+      return BIT_LOCK_PDEC_STRING;
+    case (12500):
+      return IMAGE_UPLOAD_FAILED_STRING;
+    case (12501):
+      return IMAGE_DOWNLOAD_FAILED_STRING;
+    case (12502):
+      return IMAGE_UPLOAD_SUCCESSFUL_STRING;
+    case (12503):
+      return IMAGE_DOWNLOAD_SUCCESSFUL_STRING;
+    case (12504):
       return FLASH_WRITE_SUCCESSFUL_STRING;
-    case (12005):
+    case (12505):
       return FLASH_READ_SUCCESSFUL_STRING;
-    case (12006):
+    case (12506):
       return FLASH_READ_FAILED_STRING;
-    case (12007):
+    case (12507):
       return FIRMWARE_UPDATE_SUCCESSFUL_STRING;
-    case (12008):
+    case (12508):
       return FIRMWARE_UPDATE_FAILED_STRING;
-    case (12009):
+    case (12509):
       return STR_HELPER_READING_REPLY_FAILED_STRING;
-    case (12010):
+    case (12510):
       return STR_HELPER_COM_ERROR_STRING;
-    case (12011):
+    case (12511):
       return STR_HELPER_NO_REPLY_STRING;
-    case (12012):
+    case (12512):
       return STR_HELPER_DEC_ERROR_STRING;
-    case (12013):
+    case (12513):
       return POSITION_MISMATCH_STRING;
-    case (12014):
+    case (12514):
       return STR_HELPER_FILE_NOT_EXISTS_STRING;
-    case (12015):
+    case (12515):
       return STR_HELPER_SENDING_PACKET_FAILED_STRING;
-    case (12016):
+    case (12516):
       return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
+    case (12600):
+      return MPSOC_FLASH_WRITE_FAILED_STRING;
+    case (12601):
+      return MPSOC_FLASH_WRITE_SUCCESSFUL_STRING;
+    case (12602):
+      return SENDING_COMMAND_FAILED_STRING;
+    case (12603):
+      return MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING;
+    case (12604):
+      return MPSOC_HELPER_READING_REPLY_FAILED_STRING;
+    case (12605):
+      return MISSING_ACK_STRING;
+    case (12606):
+      return MISSING_EXE_STRING;
+    case (12607):
+      return ACK_FAILURE_REPORT_STRING;
+    case (12608):
+      return EXE_FAILURE_REPORT_STRING;
+    case (12609):
+      return ACK_INVALID_APID_STRING;
+    case (12610):
+      return EXE_INVALID_APID_STRING;
+    case (12611):
+      return MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING;
+    case (12700):
+      return TRANSITION_BACK_TO_OFF_STRING;
+    case (12701):
+      return NEG_V_OUT_OF_BOUNDS_STRING;
+    case (12702):
+      return U_DRO_OUT_OF_BOUNDS_STRING;
+    case (12703):
+      return I_DRO_OUT_OF_BOUNDS_STRING;
+    case (12704):
+      return U_X8_OUT_OF_BOUNDS_STRING;
+    case (12705):
+      return I_X8_OUT_OF_BOUNDS_STRING;
+    case (12706):
+      return U_TX_OUT_OF_BOUNDS_STRING;
+    case (12707):
+      return I_TX_OUT_OF_BOUNDS_STRING;
+    case (12708):
+      return U_MPA_OUT_OF_BOUNDS_STRING;
+    case (12709):
+      return I_MPA_OUT_OF_BOUNDS_STRING;
+    case (12710):
+      return U_HPA_OUT_OF_BOUNDS_STRING;
+    case (12711):
+      return I_HPA_OUT_OF_BOUNDS_STRING;
+    case (12800):
+      return TRANSITION_OTHER_SIDE_FAILED_STRING;
+    case (12801):
+      return NOT_ENOUGH_DEVICES_DUAL_MODE_STRING;
+    case (12802):
+      return POWER_STATE_MACHINE_TIMEOUT_STRING;
+    case (12803):
+      return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
+    case (13000):
+      return CHILDREN_LOST_MODE_STRING;
+    case (13100):
+      return GPS_FIX_CHANGE_STRING;
+    case (13200):
+      return P60_BOOT_COUNT_STRING;
+    case (13201):
+      return BATT_MODE_STRING;
+    case (13202):
+      return BATT_MODE_CHANGED_STRING;
+    case (13600):
+      return ALLOC_FAILURE_STRING;
+    case (13601):
+      return REBOOT_SW_STRING;
+    case (13602):
+      return REBOOT_MECHANISM_TRIGGERED_STRING;
+    case (13603):
+      return REBOOT_HW_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

generators/fsfwgen

@@ -1 +1 @@
-Subproject commit c5ef1783a3b082c0e88561bd91bc3ee0f459fafc
+Subproject commit 5ad9fb94af3312d29863527106396395f7b808a5

generators/gen.py

@@ -31,7 +31,11 @@ def main():
         LOGGER.info("Generating returnvalue data")
         time.sleep(0.05)
         parse_returnvalues()
-    pass
+    elif args.type == "all":
+        LOGGER.info("Generating all data")
+        parse_objects()
+        parse_events()
+        parse_returnvalues()
 
 
 if __name__ == "__main__":

generators/objects/objects.py

@@ -118,5 +118,5 @@ def handle_file_export(list_items):
         copy_file(
             filename=CSV_OBJECT_FILENAME,
             destination=CSV_COPY_DEST,
-            delete_existing_file=True
+            delete_existing_file=True,
         )

generators/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 112 translations.
+ * Contains 117 translations.
- * Generated on: 2022-03-04 15:13:13
+ * Generated on: 2022-04-08 14:13:35
  */
 #include "translateObjects.h"
 
@@ -48,8 +48,10 @@ const char *RAD_SENSOR_STRING = "RAD_SENSOR";
 const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
 const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
 const char *STR_HELPER_STRING = "STR_HELPER";
+const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
 const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
 const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
+const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
 const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
 const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
 const char *TMP1075_HANDLER_1_STRING = "TMP1075_HANDLER_1";
@@ -115,6 +117,9 @@ const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
 const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
 const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
 const char *TEST_TASK_STRING = "TEST_TASK";
+const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
+const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
+const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
 const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
@@ -205,10 +210,14 @@ const char *translateObject(object_id_t object) {
       return PLOC_MEMORY_DUMPER_STRING;
     case 0x44330002:
       return STR_HELPER_STRING;
+    case 0x44330003:
+      return PLOC_MPSOC_HELPER_STRING;
     case 0x44330015:
       return PLOC_MPSOC_HANDLER_STRING;
     case 0x44330016:
       return PLOC_SUPERVISOR_HANDLER_STRING;
+    case 0x44330017:
+      return PLOC_SUPERVISOR_HELPER_STRING;
     case 0x444100A2:
       return SOLAR_ARRAY_DEPL_HANDLER_STRING;
     case 0x444100A4:
@@ -339,6 +348,12 @@ const char *translateObject(object_id_t object) {
       return LIBGPIOD_TEST_STRING;
     case 0x54694269:
       return TEST_TASK_STRING;
+    case 0x73000001:
+      return ACS_BOARD_ASS_STRING;
+    case 0x73000002:
+      return SUS_BOARD_ASS_STRING;
+    case 0x73000003:
+      return TCS_BOARD_ASS_STRING;
     case 0x73000100:
       return TM_FUNNEL_STRING;
     case 0x73500000:

generators/returnvalues/returnvalues_parser.py

@@ -1,14 +1,7 @@
-#! /usr/bin/python3
+#! /usr/bin/env python3
 # -*- coding: utf-8 -*-
-"""
+"""Part of the MIB export tools for the EIVE project by.
-:file:      returnvalues_parser.py
+Returnvalue exporter.
-:brief:     Part of the MOD export tools for the SOURCE project by KSat.
-TODO: Integrate into Parser Structure instead of calling this file (no cpp file generated yet)
-:details:
-Return Value exporter.
-To use MySQLdb, run pip install mysqlclient or install in IDE. On Windows, Build Tools
-installation might be necessary.
-:data:      21.11.2019
 """
 from fsfwgen.core import get_console_logger
 from fsfwgen.utility.file_management import copy_file
@@ -87,7 +80,7 @@ def parse_returnvalues():
             copy_file(
                 filename=CSV_RETVAL_FILENAME,
                 destination=CSV_COPY_DEST,
-                delete_existing_file=True
+                delete_existing_file=True,
             )
     if EXPORT_TO_SQL:
         LOGGER.info("ReturnvalueParser: Exporting to SQL")

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)
+add_subdirectory(obc)
+
+target_sources(${OBSW_NAME} PUBLIC
+    ObjectFactory.cpp
+)

linux/ObjectFactory.cpp

@@ -0,0 +1,286 @@
+#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/Max31865PT1000Handler.h>
+#include <mission/devices/SusHandler.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 "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 */
+}
+
+void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
+                                        PowerSwitchIF* pwrSwitcher) {
+  using namespace gpio;
+  GpioCookie* rtdGpioCookie = new GpioCookie;
+
+  GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_3, gpioRtdIc0);
+  GpioCallback* gpioRtdIc1 = new GpioCallback("Chip select RTD IC1", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_4, gpioRtdIc1);
+  GpioCallback* gpioRtdIc2 = new GpioCallback("Chip select RTD IC2", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_5, gpioRtdIc2);
+  GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_6, gpioRtdIc3);
+  GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_7, gpioRtdIc4);
+  GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_8, gpioRtdIc5);
+  GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_9, gpioRtdIc6);
+  GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_10, gpioRtdIc7);
+  GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_11, gpioRtdIc8);
+  GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_12, gpioRtdIc9);
+  GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", Direction::OUT, Levels::HIGH,
+                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_13, gpioRtdIc10);
+  GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", Direction::OUT, Levels::HIGH,
+                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_14, gpioRtdIc11);
+  GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", Direction::OUT, Levels::HIGH,
+                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_15, gpioRtdIc12);
+  GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", Direction::OUT, Levels::HIGH,
+                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_16, gpioRtdIc13);
+  GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", Direction::OUT, Levels::HIGH,
+                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_17, gpioRtdIc14);
+  GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", Direction::OUT, Levels::HIGH,
+                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_18, gpioRtdIc15);
+
+  gpioComIF->addGpios(rtdGpioCookie);
+
+#if OBSW_ADD_RTD_DEVICES == 1
+  static constexpr uint8_t NUMBER_RTDS = 16;
+  std::array<std::pair<address_t, gpioId_t>, NUMBER_RTDS> cookieArgs = {{
+      {addresses::RTD_IC_3, gpioIds::RTD_IC_3},
+      {addresses::RTD_IC_4, gpioIds::RTD_IC_4},
+      {addresses::RTD_IC_5, gpioIds::RTD_IC_5},
+      {addresses::RTD_IC_6, gpioIds::RTD_IC_6},
+      {addresses::RTD_IC_7, gpioIds::RTD_IC_7},
+      {addresses::RTD_IC_8, gpioIds::RTD_IC_8},
+      {addresses::RTD_IC_9, gpioIds::RTD_IC_9},
+      {addresses::RTD_IC_10, gpioIds::RTD_IC_10},
+      {addresses::RTD_IC_11, gpioIds::RTD_IC_11},
+      {addresses::RTD_IC_12, gpioIds::RTD_IC_12},
+      {addresses::RTD_IC_13, gpioIds::RTD_IC_13},
+      {addresses::RTD_IC_14, gpioIds::RTD_IC_14},
+      {addresses::RTD_IC_15, gpioIds::RTD_IC_15},
+      {addresses::RTD_IC_16, gpioIds::RTD_IC_16},
+      {addresses::RTD_IC_17, gpioIds::RTD_IC_17},
+      {addresses::RTD_IC_18, gpioIds::RTD_IC_18},
+  }};
+  std::array<object_id_t, NUMBER_RTDS> rtdIds = {
+      objects::RTD_IC_3,  objects::RTD_IC_4,  objects::RTD_IC_5,  objects::RTD_IC_6,
+      objects::RTD_IC_7,  objects::RTD_IC_8,  objects::RTD_IC_9,  objects::RTD_IC_10,
+      objects::RTD_IC_11, objects::RTD_IC_12, objects::RTD_IC_13, objects::RTD_IC_14,
+      objects::RTD_IC_15, objects::RTD_IC_16, objects::RTD_IC_17, objects::RTD_IC_18};
+  std::array<SpiCookie*, NUMBER_RTDS> rtdCookies = {};
+  std::array<Max31865PT1000Handler*, NUMBER_RTDS> rtds = {};
+  RtdFdir* rtdFdir = nullptr;
+  for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
+    rtdCookies[idx] =
+        new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second, spiDev,
+                      Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
+    rtds[idx] = new Max31865PT1000Handler(rtdIds[idx], objects::SPI_COM_IF, rtdCookies[idx]);
+    rtds[idx]->setParent(objects::TCS_BOARD_ASS);
+    rtdFdir = new RtdFdir(rtdIds[idx]);
+    rtds[idx]->setCustomFdir(rtdFdir);
+    rtds[idx]->setDeviceIdx(idx + 3);
+  }
+
+#if OBSW_TEST_RTD == 1
+  for (auto& rtd : rtds) {
+    if (rtd != nullptr) {
+      rtd->setStartUpImmediately();
+      rtd->setInstantNormal(true);
+    }
+  }
+#endif  // OBSW_TEST_RTD == 1
+  TcsBoardHelper helper(rtdIds);
+  TcsBoardAssembly* tcsBoardAss =
+      new TcsBoardAssembly(objects::TCS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
+                           pcdu::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
+  static_cast<void>(tcsBoardAss);
+#endif  // OBSW_ADD_RTD_DEVICES == 1
+}

linux/ObjectFactory.h

@@ -0,0 +1,15 @@
+#pragma once
+
+#include <string>
+
+class GpioIF;
+class SpiComIF;
+class PowerSwitchIF;
+
+namespace ObjectFactory {
+
+void createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF, PowerSwitchIF* pwrSwitcher,
+                               std::string spiDev);
+void createRtdComponents(std::string spiDev, GpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
+
+}  // namespace ObjectFactory

linux/boardtest/SpiTestClass.cpp

@@ -339,6 +339,8 @@ void SpiTestClass::performMax1227Test() {
   std::string deviceName = "";
 #elif defined(EGSE)
   std::string deviceName = "";
+#elif defined(TE0720_1CFA)
+  std::string deviceName = "";
 #endif
   int fd = 0;
   UnixFileGuard fileHelper(deviceName, &fd, O_RDWR, "SpiComIF::initializeInterface");
@@ -406,7 +408,7 @@ void SpiTestClass::max1227RadSensorTest(int fd) {
     transfer(fd, gpioIds::CS_RAD_SENSOR);
     usleep(65);
     spiTransferStruct[0].len = 24;
-    std::memcpy(sendBuffer.data(), sendBuffer.data() + 1, 24);
+    std::memmove(sendBuffer.data(), sendBuffer.data() + 1, 24);
     transfer(fd, gpioIds::CS_RAD_SENSOR);
     int16_t tempRaw = ((recvBuffer[22] & 0x0f) << 8) | recvBuffer[23];
     float temp = max1227::getTemperature(tempRaw);

linux/boardtest/SpiTestClass.h

@@ -3,9 +3,14 @@
 
 #include "OBSWConfig.h"
 
-#if defined(XIPHOS_Q7S)
+#ifdef XIPHOS_Q7S
 #include "busConf.h"
 #endif
+
+#ifdef RASPBERRY_PI
+#include <bsp_linux_board/definitions.h>
+#endif
+
 #include <fsfw_hal/common/gpio/GpioIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
 #include <test/testtasks/TestTask.h>

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/csp/CspComIF.cpp

@@ -141,11 +141,12 @@ ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort, const u
                                     int cmdLen, uint16_t querySize) {
   uint32_t timeout_ms = 1000;
   uint16_t bytesRead = 0;
-  int32_t expectedSize = (int32_t)querySize;
+  int32_t expectedSize = static_cast<int32_t>(querySize);
   vectorBufferIter iter = cspDeviceMap.find(cspAddress);
   if (iter == cspDeviceMap.end()) {
     sif::error << "CSP device with address " << cspAddress << " no found in"
                << " device map" << std::endl;
+    return RETURN_FAILED;
   }
   uint8_t* replyBuffer = iter->second.data();
 

linux/devices/CMakeLists.txt

@@ -4,4 +4,5 @@ if(EIVE_BUILD_GPSD_GPS_HANDLER)
     )
 endif()
 
+add_subdirectory(ploc)
 add_subdirectory(startracker)

linux/devices/GPSHyperionLinuxController.cpp

@@ -3,19 +3,24 @@
 #include "OBSWConfig.h"
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/timemanager/Clock.h"
+#include "linux/utility/utility.h"
+#include "mission/utility/compileTime.h"
 
 #if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
 #include <filesystem>
 #include <fstream>
 #endif
 #include <cmath>
+#include <ctime>
 
 GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                                                        bool debugHyperionGps)
     : ExtendedControllerBase(objectId, objects::NO_OBJECT),
       gpsSet(this),
       myGpsmm(GPSD_SHARED_MEMORY, nullptr),
-      debugHyperionGps(debugHyperionGps) {}
+      debugHyperionGps(debugHyperionGps) {
+  timeUpdateCd.resetTimer();
+}
 
 GPSHyperionLinuxController::~GPSHyperionLinuxController() {}
 
@@ -29,6 +34,16 @@ LocalPoolDataSetBase *GPSHyperionLinuxController::getDataSetHandle(sid_t sid) {
 
 ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
                                                            uint32_t *msToReachTheMode) {
+  if (not modeCommanded) {
+    if (mode == MODE_ON or mode == MODE_OFF) {
+      // 5h time to reach fix
+      *msToReachTheMode = MAX_SECONDS_TO_REACH_FIX;
+      maxTimeToReachFix.resetTimer();
+      modeCommanded = true;
+    } else if (mode == MODE_NORMAL) {
+      return HasModesIF::INVALID_MODE;
+    }
+  }
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -66,9 +81,7 @@ ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(
   localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
   localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
   localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
-#if OBSW_ENABLE_PERIODIC_HK == 1
+  poolManager.subscribeForPeriodicPacket(gpsSet.getSid(), false, 30.0, false);
-  poolManager.subscribeForPeriodicPacket(gpsSet.getSid(), true, 2.0, false);
-#endif
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -104,17 +117,35 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
   gps = myGpsmm.read();
   if (gps == nullptr) {
     sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed" << std::endl;
+    return;
   }
   PoolReadGuard pg(&gpsSet);
   if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
     sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading dataset failed" << std::endl;
 #endif
+    return;
   }
 
+  bool validFix = false;
+  static_cast<void>(validFix);
   // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
-  gpsSet.fixMode.value = gps->fix.mode;
+  int newFixMode = gps->fix.mode;
+  if (newFixMode == 2 or newFixMode == 3) {
+    validFix = true;
+  }
+  if (gpsSet.fixMode.value != newFixMode) {
+    triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFixMode);
+  }
+  gpsSet.fixMode.value = newFixMode;
   if (gps->fix.mode == 0 or gps->fix.mode == 1) {
+    if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
+      // We are supposed to be on and functioning, but not fix was found
+      if (mode == MODE_ON or mode == MODE_NORMAL) {
+        mode = MODE_OFF;
+      }
+      modeCommanded = false;
+    }
     gpsSet.setValidity(false, true);
   } else if (gps->satellites_used > 0) {
     gpsSet.setValidity(true, true);
@@ -153,6 +184,34 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
   timeval time = {};
   time.tv_sec = gpsSet.unixSeconds.value;
   time.tv_usec = gps->fix.time.tv_nsec / 1000;
+  std::time_t t = std::time(nullptr);
+  if (time.tv_sec == t) {
+    timeIsConstantCounter++;
+  } else {
+    timeIsConstantCounter = 0;
+  }
+  if (timeInit and validFix) {
+    if (not utility::timeSanityCheck()) {
+#if OBSW_VERBOSE_LEVEL >= 1
+      time_t timeRaw = time.tv_sec;
+      std::tm *timeTm = std::gmtime(&timeRaw);
+      sif::info << "Setting invalid system time from GPS data directly: "
+                << std::put_time(timeTm, "%c %Z") << std::endl;
+#endif
+      // For some reason, the clock needs to be somewhat correct for NTP to work. Really dumb..
+      Clock::setClock(&time);
+    }
+    timeInit = false;
+  }
+  // If the received time does not change anymore for whatever reason, do not set it here
+  // to avoid stale times. Also, don't do it too often often to avoid jumping times
+  if (timeIsConstantCounter < 20 and timeUpdateCd.hasTimedOut()) {
+    // Update the system time here for now. NTP seems to be unable to do so for whatever reason.
+    // Further tests have shown that the time seems to be set by NTPD after some time..
+    // Clock::setClock(&time);
+    timeUpdateCd.resetTimer();
+  }
+
   Clock::TimeOfDay_t timeOfDay = {};
   Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
   gpsSet.year = timeOfDay.year;
@@ -173,6 +232,9 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
     std::cout << "Longitude: " << gps->fix.longitude << std::endl;
     std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
     std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
+    std::time_t t = std::time(nullptr);
+    std::tm tm = *std::gmtime(&t);
+    std::cout << "C Time: " << std::put_time(&tm, "%c") << std::endl;
   }
 }
 #endif

linux/devices/GPSHyperionLinuxController.h

@@ -1,6 +1,7 @@
 #ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
 #define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
 
+#include "commonSubsystemIds.h"
 #include "fsfw/FSFW.h"
 #include "fsfw/controller/ExtendedControllerBase.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
@@ -21,6 +22,8 @@
  */
 class GPSHyperionLinuxController : public ExtendedControllerBase {
  public:
+  static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 60 * 5;
+
   GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                              bool debugHyperionGps = false);
   virtual ~GPSHyperionLinuxController();
@@ -46,8 +49,13 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
 
  private:
   GpsPrimaryDataset gpsSet;
+  Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
+  bool modeCommanded = true;
+  bool timeInit = true;
   gpsmm myGpsmm;
   bool debugHyperionGps = false;
+  uint32_t timeIsConstantCounter = 0;
+  Countdown timeUpdateCd = Countdown(60);
 
   void readGpsDataFromGpsd();
 };

linux/devices/devicedefinitions/MPSoCReturnValuesIF.h

@@ -0,0 +1,32 @@
+#ifndef MPSOC_RETURN_VALUES_IF_H_
+#define MPSOC_RETURN_VALUES_IF_H_
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+class MPSoCReturnValuesIF {
+ public:
+  static const uint8_t INTERFACE_ID = CLASS_ID::MPSOC_RETURN_VALUES_IF;
+
+  //! [EXPORT] : [COMMENT] Space Packet received from PLOC has invalid CRC
+  static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
+  //! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC
+  static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
+  //! [EXPORT] : [COMMENT] Received execution failure reply from PLOC
+  static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
+  //! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC
+  static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
+  //! [EXPORT] : [COMMENT] Received command with invalid length
+  static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xA4);
+  //! [EXPORT] : [COMMENT] Filename of file in OBC filesystem is too long
+  static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA5);
+  //! [EXPORT] : [COMMENT] MPSoC helper is currently executing a command
+  static const ReturnValue_t MPSOC_HELPER_EXECUTING = MAKE_RETURN_CODE(0xA6);
+  //! [EXPORT] : [COMMENT] Filename of MPSoC file is to long (max. 256 bytes)
+  static const ReturnValue_t MPSOC_FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA7);
+  //! [EXPORT] : [COMMENT] Command has invalid parameter
+  static const ReturnValue_t INVALID_PARAMETER = MAKE_RETURN_CODE(0xA8);
+  //! [EXPORT] : [COMMENT] Received command has file string with invalid length
+  static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA9);
+};
+
+#endif /* MPSOC_RETURN_VALUES_IF_H_ */

linux/devices/devicedefinitions/PlocMPSoCDefinitions.h

@@ -0,0 +1,668 @@
+#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_
+#define MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_
+
+#include "MPSoCReturnValuesIF.h"
+#include "OBSWConfig.h"
+#include "eive/definitions.h"
+#include "fsfw/globalfunctions/CRC.h"
+#include "fsfw/serialize/SerializeAdapter.h"
+#include "fsfw/tmtcpacket/SpacePacket.h"
+
+namespace mpsoc {
+
+static const DeviceCommandId_t NONE = 0;
+static const DeviceCommandId_t TC_MEM_WRITE = 1;
+static const DeviceCommandId_t TC_MEM_READ = 2;
+static const DeviceCommandId_t ACK_REPORT = 3;
+static const DeviceCommandId_t EXE_REPORT = 5;
+static const DeviceCommandId_t TM_MEMORY_READ_REPORT = 6;
+static const DeviceCommandId_t TC_FLASHFOPEN = 7;
+static const DeviceCommandId_t TC_FLASHFCLOSE = 8;
+static const DeviceCommandId_t TC_FLASHWRITE = 9;
+static const DeviceCommandId_t TC_FLASHDELETE = 10;
+static const DeviceCommandId_t TC_REPLAY_START = 11;
+static const DeviceCommandId_t TC_REPLAY_STOP = 12;
+static const DeviceCommandId_t TC_REPLAY_WRITE_SEQUENCE = 13;
+static const DeviceCommandId_t TC_DOWNLINK_PWR_ON = 14;
+static const DeviceCommandId_t TC_DOWNLINK_PWR_OFF = 15;
+static const DeviceCommandId_t TC_MODE_REPLAY = 16;
+static const DeviceCommandId_t TC_CAM_CMD_SEND = 17;
+static const DeviceCommandId_t TC_MODE_IDLE = 18;
+static const DeviceCommandId_t TM_CAM_CMD_RPT = 19;
+
+// Will reset the sequence count of the OBSW
+static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 50;
+
+static const uint16_t SIZE_ACK_REPORT = 14;
+static const uint16_t SIZE_EXE_REPORT = 14;
+static const uint16_t SIZE_TM_MEM_READ_REPORT = 18;
+static const uint16_t SIZE_TM_CAM_CMD_RPT = 18;
+
+/**
+ * SpacePacket apids of PLOC telecommands and telemetry.
+ */
+namespace apid {
+static const uint16_t TC_REPLAY_START = 0x110;
+static const uint16_t TC_REPLAY_STOP = 0x111;
+static const uint16_t TC_REPLAY_WRITE_SEQUENCE = 0x112;
+static const uint16_t TC_DOWNLINK_PWR_ON = 0x113;
+static const uint16_t TC_MEM_WRITE = 0x114;
+static const uint16_t TC_MEM_READ = 0x115;
+static const uint16_t TC_FLASHWRITE = 0x117;
+static const uint16_t TC_FLASHFOPEN = 0x119;
+static const uint16_t TC_FLASHFCLOSE = 0x11A;
+static const uint16_t TC_FLASHDELETE = 0x11C;
+static const uint16_t TC_MODE_REPLAY = 0x11F;
+static const uint16_t TC_MODE_IDLE = 0x11E;
+static const uint16_t TC_DOWNLINK_PWR_OFF = 0x124;
+static const uint16_t TC_CAM_CMD_SEND = 0x12C;
+static const uint16_t TM_MEMORY_READ_REPORT = 0x404;
+static const uint16_t ACK_SUCCESS = 0x400;
+static const uint16_t ACK_FAILURE = 0x401;
+static const uint16_t EXE_SUCCESS = 0x402;
+static const uint16_t EXE_FAILURE = 0x403;
+static const uint16_t TM_CAM_CMD_RPT = 0x407;
+}  // namespace apid
+
+/** Offset from first byte in space packet to first byte of data field */
+static const uint8_t DATA_FIELD_OFFSET = 6;
+static const size_t MEM_READ_RPT_LEN_OFFSET = 10;
+static const char NULL_TERMINATOR = '\0';
+static const uint8_t MIN_SPACE_PACKET_LENGTH = 7;
+static const uint8_t SPACE_PACKET_HEADER_SIZE = 6;
+
+/**
+ * The size of payload data which will be forwarded to the requesting object. e.g. PUS Service
+ * 8.
+ */
+static const uint8_t SIZE_MEM_READ_RPT_FIX = 6;
+
+static const size_t MAX_FILENAME_SIZE = 256;
+
+/**
+ * PLOC space packet length for fixed size packets. This is the size of the whole packet data
+ * field. For the length field in the space packet this size will be substracted by one.
+ */
+static const uint16_t LENGTH_TC_MEM_WRITE = 12;
+static const uint16_t LENGTH_TC_MEM_READ = 8;
+
+static const size_t MAX_REPLY_SIZE = SpacePacket::PACKET_MAX_SIZE * 3;
+static const size_t MAX_COMMAND_SIZE = SpacePacket::PACKET_MAX_SIZE;
+static const size_t MAX_DATA_SIZE = 1016;
+
+/**
+ * The replay write sequence command has a maximum delay for the execution report which amounts to
+ * 30 seconds. (80 cycles * 0.5 seconds = 40 seconds).
+ */
+static const uint16_t TC_WRITE_SEQ_EXECUTION_DELAY = 80;
+// Requires approx. 2 seconds for execution. 8 => 4 seconds
+static const uint16_t TC_DOWNLINK_PWR_ON_EXECUTION_DELAY = 8;
+
+/**
+ * @brief   Abstract base class for TC space packet of MPSoC.
+ */
+class TcBase : public SpacePacket, public MPSoCReturnValuesIF {
+ public:
+  // Initial length field of space packet. Will always be updated when packet is created.
+  static const uint16_t INIT_LENGTH = 1;
+
+  /**
+   * @brief    Constructor
+   *
+   * @param sequenceCount Sequence count of space packet which will be incremented with each
+   *        sent and received packets.
+   */
+  TcBase(uint16_t apid, uint16_t sequenceCount)
+      : SpacePacket(INIT_LENGTH, true, apid, sequenceCount) {}
+
+  /**
+   * @brief   Function to initialize the space packet
+   *
+   * @param commandData       Pointer to command specific data
+   * @param commandDataLen    Length of command data
+   *
+   * @return  RETURN_OK if packet creation was successful, otherwise error return value
+   */
+  virtual ReturnValue_t createPacket(const uint8_t* commandData, size_t commandDataLen) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = initPacket(commandData, commandDataLen);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    result = addCrc();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    return result;
+  }
+
+ protected:
+  /**
+   * @brief   Must be overwritten by the child class to define the command specific parameters
+   *
+   * @param commandData       Pointer to received command data
+   * @param commandDataLen    Length of received command data
+   */
+  virtual ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  /**
+   * @brief   Calculates and adds the CRC
+   */
+  ReturnValue_t addCrc() {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    size_t serializedSize = 0;
+    uint32_t full_size = getFullSize();
+    uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
+    result = SerializeAdapter::serialize<uint16_t>(
+        &crc, this->localData.byteStream + full_size - CRC_SIZE, &serializedSize, sizeof(crc),
+        SerializeIF::Endianness::BIG);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      sif::debug << "TcBase::addCrc: Failed to serialize crc field" << std::endl;
+    }
+    return result;
+  }
+};
+
+/**
+ * @brief   Class for handling tm replies of the PLOC MPSoC.
+ */
+class TmPacket : public SpacePacket, public MPSoCReturnValuesIF {
+ public:
+  /**
+   * @brief   Constructor creates idle packet and sets length field to maximum allowed size.
+   */
+  TmPacket() : SpacePacket(PACKET_MAX_SIZE) {}
+
+  ReturnValue_t checkCrc() {
+    uint8_t* crcPtr = this->getPacketData() + this->getPacketDataLength() - 1;
+    uint16_t receivedCrc = *(crcPtr) << 8 | *(crcPtr + 1);
+    uint16_t recalculatedCrc =
+        CRC::crc16ccitt(this->localData.byteStream, this->getFullSize() - CRC_SIZE);
+    if (recalculatedCrc != receivedCrc) {
+      return CRC_FAILURE;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+/**
+ * @brief   This class helps to build the memory read command for the PLOC.
+ */
+class TcMemRead : public TcBase {
+ public:
+  /**
+   * @brief   Constructor
+   */
+  TcMemRead(uint16_t sequenceCount) : TcBase(apid::TC_MEM_READ, sequenceCount) {
+    this->setPacketDataLength(PACKET_LENGTH);
+  }
+
+  uint16_t getMemLen() const { return memLen; }
+
+ protected:
+  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = lengthCheck(commandDataLen);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    std::memcpy(this->localData.fields.buffer, commandData, MEM_ADDRESS_SIZE);
+    std::memcpy(this->localData.fields.buffer + MEM_ADDRESS_SIZE, commandData + MEM_ADDRESS_SIZE,
+                MEM_LEN_SIZE);
+    size_t size = sizeof(memLen);
+    const uint8_t* memLenPtr = commandData + MEM_ADDRESS_SIZE;
+    result =
+        SerializeAdapter::deSerialize(&memLen, &memLenPtr, &size, SerializeIF::Endianness::BIG);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    return result;
+  }
+
+ private:
+  static const size_t COMMAND_LENGTH = 6;
+  static const size_t MEM_ADDRESS_SIZE = 4;
+  static const size_t MEM_LEN_SIZE = 2;
+  static const uint16_t PACKET_LENGTH = 7;
+
+  uint16_t memLen = 0;
+
+  ReturnValue_t lengthCheck(size_t commandDataLen) {
+    if (commandDataLen != COMMAND_LENGTH) {
+      return INVALID_LENGTH;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+/**
+ * @brief   This class helps to generate the space packet to write data to a memory address within
+ *          the PLOC.
+ */
+class TcMemWrite : public TcBase {
+ public:
+  /**
+   * @brief   Constructor
+   */
+  TcMemWrite(uint16_t sequenceCount) : TcBase(apid::TC_MEM_WRITE, sequenceCount) {}
+
+ protected:
+  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = lengthCheck(commandDataLen);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    std::memcpy(this->localData.fields.buffer, commandData, commandDataLen);
+    uint16_t memLen =
+        *(commandData + MEM_ADDRESS_SIZE) << 8 | *(commandData + MEM_ADDRESS_SIZE + 1);
+    this->setPacketDataLength(memLen * 4 + FIX_LENGTH - 1);
+    return result;
+  }
+
+ private:
+  // Min length consists of 4 byte address, 2 byte mem length field, 4 byte data (1 word)
+  static const size_t MIN_COMMAND_DATA_LENGTH = 10;
+  static const size_t MEM_ADDRESS_SIZE = 4;
+  static const size_t FIX_LENGTH = 8;
+
+  ReturnValue_t lengthCheck(size_t commandDataLen) {
+    if (commandDataLen < MIN_COMMAND_DATA_LENGTH) {
+      sif::warning << "TcMemWrite: Command has invalid length " << commandDataLen << std::endl;
+      return INVALID_LENGTH;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+/**
+ * @brief   Class to help creation of flash fopen command.
+ */
+class FlashFopen : public TcBase {
+ public:
+  FlashFopen(uint16_t sequenceCount) : TcBase(apid::TC_FLASHFOPEN, sequenceCount) {}
+
+  static const char APPEND = 'a';
+  static const char WRITE = 'w';
+  static const char READ = 'r';
+
+  ReturnValue_t createPacket(std::string filename, char accessMode_) {
+    accessMode = accessMode_;
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    size_t nameSize = filename.size();
+    std::memcpy(this->getPacketData(), filename.c_str(), nameSize);
+    *(this->getPacketData() + nameSize) = NULL_TERMINATOR;
+    std::memcpy(this->getPacketData() + nameSize + sizeof(NULL_TERMINATOR), &accessMode,
+                sizeof(accessMode));
+    this->setPacketDataLength(nameSize + sizeof(NULL_TERMINATOR) + sizeof(accessMode) + CRC_SIZE -
+                              1);
+    result = addCrc();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    return result;
+  }
+
+ private:
+  char accessMode = APPEND;
+};
+
+/**
+ * @brief   Class to help creation of flash fclose command.
+ */
+class FlashFclose : public TcBase {
+ public:
+  FlashFclose(uint16_t sequenceCount) : TcBase(apid::TC_FLASHFCLOSE, sequenceCount) {}
+
+  ReturnValue_t createPacket(std::string filename) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    size_t nameSize = filename.size();
+    std::memcpy(this->getPacketData(), filename.c_str(), nameSize);
+    *(this->getPacketData() + nameSize) = NULL_TERMINATOR;
+    this->setPacketDataLength(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE - 1);
+    result = addCrc();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    return result;
+  }
+};
+
+/**
+ * @brief   Class to build flash write space packet.
+ */
+class TcFlashWrite : public TcBase {
+ public:
+  TcFlashWrite(uint16_t sequenceCount) : TcBase(apid::TC_FLASHWRITE, sequenceCount) {}
+
+  ReturnValue_t createPacket(const uint8_t* writeData, uint32_t writeLen_) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    writeLen = writeLen_;
+    if (writeLen > MAX_DATA_SIZE) {
+      sif::debug << "FlashWrite::createPacket: Command data too big" << std::endl;
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    size_t serializedSize = 0;
+    result =
+        SerializeAdapter::serialize<uint32_t>(&writeLen, this->getPacketData(), &serializedSize,
+                                              sizeof(writeLen), SerializeIF::Endianness::BIG);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    std::memcpy(this->getPacketData() + sizeof(writeLen), writeData, writeLen);
+    this->setPacketDataLength(static_cast<uint16_t>(writeLen + CRC_SIZE - 1));
+    result = addCrc();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+ private:
+  uint32_t writeLen = 0;
+};
+
+/**
+ * @brief   Class to help creation of flash delete command.
+ */
+class TcFlashDelete : public TcBase {
+ public:
+  TcFlashDelete(uint16_t sequenceCount) : TcBase(apid::TC_FLASHDELETE, sequenceCount) {}
+
+  ReturnValue_t createPacket(std::string filename) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    size_t nameSize = filename.size();
+    std::memcpy(this->getPacketData(), filename.c_str(), nameSize);
+    *(this->getPacketData() + nameSize) = NULL_TERMINATOR;
+    this->setPacketDataLength(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE - 1);
+    result = addCrc();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    return result;
+  }
+};
+
+/**
+ * @brief   Class to build replay stop space packet.
+ */
+class TcReplayStop : public TcBase {
+ public:
+  TcReplayStop(uint16_t sequenceCount) : TcBase(apid::TC_REPLAY_STOP, sequenceCount) {}
+
+  ReturnValue_t createPacket() {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = addCrc();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    this->setPacketDataLength(static_cast<uint16_t>(CRC_SIZE - 1));
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+/**
+ * @brief   This class helps to build the replay start command.
+ */
+class TcReplayStart : public TcBase {
+ public:
+  /**
+   * @brief   Constructor
+   */
+  TcReplayStart(uint16_t sequenceCount) : TcBase(apid::TC_REPLAY_START, sequenceCount) {}
+
+ protected:
+  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = lengthCheck(commandDataLen);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    result = checkData(*commandData);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    std::memcpy(this->localData.fields.buffer, commandData, commandDataLen);
+    this->setPacketDataLength(commandDataLen + CRC_SIZE - 1);
+    return result;
+  }
+
+ private:
+  static const size_t COMMAND_DATA_LENGTH = 1;
+  static const uint8_t REPEATING = 0;
+  static const uint8_t ONCE = 1;
+
+  ReturnValue_t lengthCheck(size_t commandDataLen) {
+    if (commandDataLen != COMMAND_DATA_LENGTH) {
+      sif::warning << "TcReplayStart: Command has invalid length " << commandDataLen << std::endl;
+      return INVALID_LENGTH;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  ReturnValue_t checkData(uint8_t replay) {
+    if (replay != REPEATING && replay != ONCE) {
+      sif::warning << "TcReplayStart::checkData: Invalid replay value" << std::endl;
+      return INVALID_PARAMETER;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+/**
+ * @brief   This class helps to build downlink power on command.
+ */
+class TcDownlinkPwrOn : public TcBase {
+ public:
+  /**
+   * @brief   Constructor
+   */
+  TcDownlinkPwrOn(uint16_t sequenceCount) : TcBase(apid::TC_DOWNLINK_PWR_ON, sequenceCount) {}
+
+ protected:
+  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = lengthCheck(commandDataLen);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    result = modeCheck(*commandData);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    result = laneRateCheck(*(commandData + 1));
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    std::memcpy(this->localData.fields.buffer, commandData, commandDataLen);
+    std::memcpy(this->localData.fields.buffer + commandDataLen, &MAX_AMPLITUDE,
+                sizeof(MAX_AMPLITUDE));
+    this->setPacketDataLength(commandDataLen + sizeof(MAX_AMPLITUDE) + CRC_SIZE - 1);
+    return result;
+  }
+
+ private:
+  static const uint8_t INTERFACE_ID = CLASS_ID::DWLPWRON_CMD;
+
+  //! [EXPORT] : [COMMENT] Received command has invalid JESD mode (valid modes are 0 - 5)
+  static const ReturnValue_t INVALID_MODE = MAKE_RETURN_CODE(0xE0);
+  //! [EXPORT] : [COMMENT] Received command has invalid lane rate (valid lane rate are 0 - 9)
+  static const ReturnValue_t INVALID_LANE_RATE = MAKE_RETURN_CODE(0xE1);
+
+  static const size_t COMMAND_DATA_LENGTH = 2;
+  static const uint8_t MAX_MODE = 5;
+  static const uint8_t MAX_LANE_RATE = 9;
+  static const uint16_t MAX_AMPLITUDE = 0;
+
+  ReturnValue_t lengthCheck(size_t commandDataLen) {
+    if (commandDataLen != COMMAND_DATA_LENGTH) {
+      sif::warning << "TcDownlinkPwrOn: Command has invalid length " << commandDataLen << std::endl;
+      return INVALID_LENGTH;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  ReturnValue_t modeCheck(uint8_t mode) {
+    if (mode > MAX_MODE) {
+      sif::warning << "TcDwonlinkPwrOn::modeCheck: Invalid JESD mode" << std::endl;
+      return INVALID_MODE;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  ReturnValue_t laneRateCheck(uint8_t laneRate) {
+    if (laneRate > MAX_LANE_RATE) {
+      sif::warning << "TcReplayStart::laneRateCheck: Invalid lane rate" << std::endl;
+      return INVALID_LANE_RATE;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+/**
+ * @brief   Class to build replay stop space packet.
+ */
+class TcDownlinkPwrOff : public TcBase {
+ public:
+  TcDownlinkPwrOff(uint16_t sequenceCount) : TcBase(apid::TC_DOWNLINK_PWR_OFF, sequenceCount) {}
+
+  ReturnValue_t createPacket() {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = addCrc();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    this->setPacketDataLength(static_cast<uint16_t>(CRC_SIZE - 1));
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+/**
+ * @brief   This class helps to build the replay start command.
+ */
+class TcReplayWriteSeq : public TcBase {
+ public:
+  /**
+   * @brief   Constructor
+   */
+  TcReplayWriteSeq(uint16_t sequenceCount)
+      : TcBase(apid::TC_REPLAY_WRITE_SEQUENCE, sequenceCount) {}
+
+ protected:
+  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = lengthCheck(commandDataLen);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    std::memcpy(this->localData.fields.buffer, commandData, commandDataLen);
+    *(this->localData.fields.buffer + commandDataLen) = NULL_TERMINATOR;
+    this->setPacketDataLength(commandDataLen + sizeof(NULL_TERMINATOR) + CRC_SIZE - 1);
+    return result;
+  }
+
+ private:
+  static const size_t USE_DECODING_LENGTH = 1;
+
+  ReturnValue_t lengthCheck(size_t commandDataLen) {
+    if (commandDataLen > USE_DECODING_LENGTH + MAX_FILENAME_SIZE) {
+      sif::warning << "TcReplayWriteSeq: Command has invalid length " << commandDataLen
+                   << std::endl;
+      return INVALID_LENGTH;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+class FlashWritePusCmd : public MPSoCReturnValuesIF {
+ public:
+  FlashWritePusCmd(){};
+
+  ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) {
+    if (commandDataLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE + MAX_FILENAME_SIZE)) {
+      return INVALID_LENGTH;
+    }
+    obcFile = std::string(reinterpret_cast<const char*>(commandData));
+    if (obcFile.size() > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE)) {
+      return FILENAME_TOO_LONG;
+    }
+    mpsocFile = std::string(
+        reinterpret_cast<const char*>(commandData + obcFile.size() + SIZE_NULL_TERMINATOR));
+    if (mpsocFile.size() > MAX_FILENAME_SIZE) {
+      return MPSOC_FILENAME_TOO_LONG;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  std::string getObcFile() { return obcFile; }
+
+  std::string getMPSoCFile() { return mpsocFile; }
+
+ private:
+  static const size_t SIZE_NULL_TERMINATOR = 1;
+  std::string obcFile = "";
+  std::string mpsocFile = "";
+};
+
+/**
+ * @brief   Class to build replay stop space packet.
+ */
+class TcModeReplay : public TcBase {
+ public:
+  TcModeReplay(uint16_t sequenceCount) : TcBase(apid::TC_MODE_REPLAY, sequenceCount) {}
+
+  ReturnValue_t createPacket() {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = addCrc();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    this->setPacketDataLength(static_cast<uint16_t>(CRC_SIZE - 1));
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+/**
+ * @brief   Class to build mode idle command
+ */
+class TcModeIdle : public TcBase {
+ public:
+  TcModeIdle(uint16_t sequenceCount) : TcBase(apid::TC_MODE_IDLE, sequenceCount) {}
+
+  ReturnValue_t createPacket() {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = addCrc();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    this->setPacketDataLength(static_cast<uint16_t>(CRC_SIZE - 1));
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+class TcCamcmdSend : public TcBase {
+public:
+  TcCamcmdSend(uint16_t sequenceCount) : TcBase(apid::TC_CAM_CMD_SEND, sequenceCount) {}
+
+protected:
+    ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
+      if (commandDataLen > MAX_DATA_LENGTH) {
+        return INVALID_LENGTH;
+      }
+      std::memcpy(this->getPacketData(), commandData, commandDataLen);
+      *(this->getPacketData() + commandDataLen) = CARRIAGE_RETURN;
+      uint16_t trueLength = commandDataLen + sizeof(CARRIAGE_RETURN) + CRC_SIZE;
+      this->setPacketDataLength(trueLength - 1);
+      return HasReturnvaluesIF::RETURN_OK;
+    }
+private:
+    static const uint8_t MAX_DATA_LENGTH = 10;
+    static const uint8_t CARRIAGE_RETURN = 0xD;
+
+};
+
+}  // namespace mpsoc
+
+#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_ */

linux/devices/devicedefinitions/PlocSupervisorDefinitions.h

@@ -8,7 +8,7 @@
 #include <fsfw/timemanager/Clock.h>
 #include <fsfw/tmtcpacket/SpacePacket.h>
 
-namespace PLOC_SPV {
+namespace supv {
 
 /** Command IDs */
 static const DeviceCommandId_t NONE = 0;
@@ -1541,6 +1541,6 @@ class LatchupStatusReport : public StaticLocalDataSet<LATCHUP_RPT_SET_ENTRIES> {
   lp_var_t<uint32_t> isSet =
       lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_RPT_TIME_IS_SET, this);
 };
-}  // namespace PLOC_SPV
+}  // namespace supv
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_PLOCSVPDEFINITIONS_H_ */