.gitmodules

@@ -1,6 +1,3 @@
-[submodule "etl"]
-	path = thirdparty/etl
-	url = https://github.com/ETLCPP/etl.git
 [submodule "arduino"]
 	path = arduino
 	url = https://egit.irs.uni-stuttgart.de/eive/eive_arduino_interface.git

CMakeLists.txt

@@ -9,24 +9,16 @@
 ################################################################################
 cmake_minimum_required(VERSION 3.13)
 
-# set(CMAKE_VERBOSE TRUE)
 set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 0)
 set(OBSW_VERSION_MINOR_IF_GIT_FAILS 0)
 set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
 
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+# set(CMAKE_VERBOSE TRUE)
 
-option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
-option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
 option(EIVE_HARDCODED_TOOLCHAIN_FILE "\
 For Linux Board Target BSPs, a default toolchain file will be set. Should be set to OFF \
 if a different toolchain file is set externally" 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.")
@@ -39,13 +31,35 @@ if(TGT_BSP)
     elseif(TGT_BSP MATCHES "arm/q7s")
         option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" ON)
     endif()
+    option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON)
+else()
+    option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" OFF)
 endif()
 
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 # Perform steps like loading toolchain files where applicable.
 include(PreProjectConfig)
-include(EiveHelpers)
 pre_project_config()
 
+# Project Name
+project(eive-obsw)
+
+# Specify the C++ standard
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED True)
+
+include(EiveHelpers)
+
+option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
+option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
+
+set(OBSW_ADD_STAR_TRACKER 0)
+set(OBSW_DEBUG_STARTRACKER 0)
+
+################################################################################
+# Pre-Sources preparation
+################################################################################
+
 # Version handling
 set(GIT_VER_HANDLING_OK FALSE)
 if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
@@ -77,21 +91,6 @@ if(NOT GIT_VER_HANDLING_OK)
     set(OBSW_VERSION_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
 endif()
 
-# Check whether the user has already installed Catch2 first. This has to come before
-# the project call. We could also exclude doing this when the Q7S primary OBSW is built..
-find_package(Catch2 3 CONFIG QUIET)
-
-# Project Name
-project(eive-obsw)
-
-################################################################################
-# Pre-Sources preparation
-################################################################################
-
-# Specify the C++ standard
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED True)
-
 # Set names and variables
 set(OBSW_NAME ${CMAKE_PROJECT_NAME})
 set(WATCHDOG_NAME eive-watchdog)
@@ -250,30 +249,8 @@ 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(
-        Catch2
-        GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-        GIT_TAG        v3.0.0-preview4
-    )
-
-    FetchContent_MakeAvailable(Catch2)
-    #fixes regression -preview4, to be confirmed in later releases
-    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
-    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})
 
-
 # Add main executable
 add_executable(${OBSW_NAME})
 if(EIVE_CREATE_UNIQUE_OBSW_BIN)
@@ -301,12 +278,13 @@ target_include_directories(${WATCHDOG_NAME} PUBLIC
 # unittests
 add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
 
+if(EIVE_ADD_ETL_LIB)
+endif()
+
 if(EIVE_ADD_JSON_LIB)
     add_subdirectory(${LIB_JSON_PATH})
 endif()
  
-
- 
 if(EIVE_ADD_LINUX_FILES)
     add_subdirectory(${LIB_ARCSEC_PATH})
     add_subdirectory(${LINUX_PATH})
@@ -316,26 +294,52 @@ if(ADD_CSP_LIB)
     add_subdirectory(${LIB_CSP_PATH})
 endif()
 
-
 add_subdirectory(${COMMON_PATH})
 
-
-
 add_subdirectory(${LIB_LWGPS_PATH})
 add_subdirectory(${FSFW_PATH})
 add_subdirectory(${LIB_EIVE_MISSION_PATH})
 add_subdirectory(${TEST_PATH})
 
-
 add_subdirectory(${UNITTEST_PATH})
 
+# This should have already been downloaded by the FSFW
+# Still include it to be safe
+include(FetchContent)
+FetchContent_Declare(
+    etl
+    GIT_REPOSITORY https://github.com/ETLCPP/etl
+    GIT_TAG        ${FSFW_ETL_LIB_VERSION}
+)
+FetchContent_MakeAvailable(etl)
+
+# Use same Catch2 version as framework
+if (NOT(TGT_BSP MATCHES "arm/te0720-1cfa") AND NOT(TGT_BSP MATCHES "arm/q7s"))
+    # Check whether the user has already installed Catch2 first
+    find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
+    # Not installed, so use FetchContent to download and provide Catch2
+    if(NOT Catch2_FOUND)
+        message(STATUS "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent")
+        include(FetchContent)
+
+        FetchContent_Declare(
+            Catch2
+            GIT_REPOSITORY https://github.com/catchorg/Catch2.git
+            GIT_TAG        ${FSFW_CATCH2_LIB_VERSION}
+        )
+
+        FetchContent_MakeAvailable(Catch2)
+        #fixes regression -preview4, to be confirmed in later releases
+        set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
+        set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
+        set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
+    endif()
+endif()
 
 ################################################################################
 # Post-Sources preparation
 ################################################################################
 
-
-
 # Add libraries
 target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
     ${LIB_FSFW_NAME}
@@ -374,7 +378,7 @@ endif()
 
 if(EIVE_ADD_ETL_LIB)
     target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        ${LIB_ETL_NAME}
+        etl
     )
 endif()
 

bsp_hosted/fsfwconfig/OBSWConfig.h.in

@@ -8,6 +8,8 @@
 
 #include "commonConfig.h"
 
+#define OBSW_PRINT_MISSED_DEADLINES                 1
+
 #define OBSW_ADD_TEST_CODE                          1
 
 /* These defines should be disabled for mission code but are useful for
@@ -20,6 +22,12 @@ debugging. */
 // Set to 1 if telecommands are received via the PDEC IP Core
 #define OBSW_TC_FROM_PDEC                           0
 
+#define OBSW_SYRLINKS_SIMULATED                     0
+
+#define OBSW_INITIALIZE_SWITCHES                    0
+
+#define OBSW_TCP_SERVER_WIRETAPPING                 0
+
 #ifdef __cplusplus
 
 #include "objects/systemObjectList.h"

bsp_hosted/main.cpp

@@ -1,7 +1,7 @@
 #include <iostream>
 
 #include "InitMission.h"
-#include "OBSWVersion.h"
+#include "commonConfig.h"
 #include "fsfw/FSFWVersion.h"
 #include "fsfw/tasks/TaskFactory.h"
 #ifdef WIN32
@@ -19,9 +19,9 @@ static const char* COMPILE_PRINTOUT = "unknown OS";
 int main(void) {
   std::cout << "-- EIVE OBSW --" << std::endl;
   std::cout << "-- Compiled for " << COMPILE_PRINTOUT << " --" << std::endl;
-  std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
+  std::cout << "-- OBSW "
-            << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "."
+            << " v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
-            << FSFW_REVISION << "--" << std::endl;
+            << std::endl;
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
 
   initmission::initMission();

bsp_q7s/core/ObjectFactory.cpp

@@ -168,6 +168,9 @@ void ObjectFactory::produce(void* args) {
   imtqHandler->setStartUpImmediately();
   imtqHandler->setToGoToNormal(true);
 #endif
+#if OBSW_DEBUG_IMTQ == 1
+  imtqHandler->setDebugMode(true);
+#endif
 #endif
   createReactionWheelComponents(gpioComIF);
 
@@ -177,6 +180,9 @@ void ObjectFactory::produce(void* args) {
       new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
   bpxHandler->setStartUpImmediately();
   bpxHandler->setToGoToNormalMode(true);
+#if OBSW_DEBUG_BPX_BATT == 1
+  bpxHandler->setDebugMode(true);
+#endif
 #endif
 
   new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
@@ -266,6 +272,12 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
   if (pwrSwitcher != nullptr) {
     *pwrSwitcher = pcduHandler;
   }
+#if OBSW_DEBUG_P60DOCK == 1
+  p60dockhandler->setDebugMode(true);
+#endif
+#if OBSW_DEBUG_ACU == 1
+  acuhandler->setDebugMode(true);
+#endif
 }
 
 void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
@@ -632,6 +644,9 @@ void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
   auto syrlinksHandler = new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF,
                                                syrlinksUartCookie, pcdu::PDU1_CH1_SYRLINKS_12V);
   syrlinksHandler->setPowerSwitcher(pwrSwitcher);
+#if OBSW_DEBUG_SYRLINKS == 1
+  syrlinksHandler->setDebugMode(true);
+#endif
 }
 
 void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
@@ -732,32 +747,35 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
 
   auto rwHandler1 =
       new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF, gpioIds::EN_RW1);
+  rw1SpiCookie->setCallbackArgs(rwHandler1);
 #if OBSW_DEBUG_RW == 1
   rwHandler1->setStartUpImmediately();
+  rwHandler1->setDebugMode(true);
 #endif
-  rw1SpiCookie->setCallbackArgs(rwHandler1);
-  rwHandler1->setStartUpImmediately();
 
   auto rwHandler2 =
       new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2);
+  rw2SpiCookie->setCallbackArgs(rwHandler2);
 #if OBSW_DEBUG_RW == 1
   rwHandler2->setStartUpImmediately();
+  rwHandler2->setDebugMode(true);
 #endif
-  rw2SpiCookie->setCallbackArgs(rwHandler2);
 
   auto rwHandler3 =
       new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3);
+  rw3SpiCookie->setCallbackArgs(rwHandler3);
 #if OBSW_DEBUG_RW == 1
   rwHandler3->setStartUpImmediately();
+  rwHandler3->setDebugMode(true);
 #endif
-  rw3SpiCookie->setCallbackArgs(rwHandler3);
 
   auto rwHandler4 =
       new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4);
+  rw4SpiCookie->setCallbackArgs(rwHandler4);
 #if OBSW_DEBUG_RW == 1
   rwHandler4->setStartUpImmediately();
+  rwHandler4->setDebugMode(true);
 #endif
-  rw4SpiCookie->setCallbackArgs(rwHandler4);
 
 #endif /* OBSW_ADD_RW == 1 */
 }

common/config/commonConfig.h.in

@@ -4,6 +4,10 @@
 #include <cstdint>
 #include "fsfw/version.h"
 
+/* These defines should be disabled for mission code but are useful for
+debugging. */
+#define OBSW_VERBOSE_LEVEL                  1
+
 #define OBSW_ADD_LWGPS_TEST                 0   
 
 // Disable this for mission code. It allows exchanging TMTC packets via the Ethernet port

linux/ObjectFactory.cpp

@@ -267,6 +267,9 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
     rtdFdir = new RtdFdir(rtdIds[idx]);
     rtds[idx]->setCustomFdir(rtdFdir);
     rtds[idx]->setDeviceIdx(idx + 3);
+#if OBSW_DEBUG_RTD == 1
+    rtds[idx]->setDebugMode(true);
+#endif
   }
 
 #if OBSW_TEST_RTD == 1

linux/fsfwconfig/OBSWConfig.h.in

@@ -15,10 +15,6 @@
 #include "commonConfig.h"
 #include "OBSWVersion.h"
                              
-/* These defines should be disabled for mission code but are useful for
-debugging. */
-#define OBSW_VERBOSE_LEVEL                          1
-                             
 #define Q7S_EM                                      0
 
 /*******************************************************************/
@@ -185,7 +181,7 @@ debugging. */
 
 #endif // RASPBERRY_PI
 
-#define TCP_SERVER_WIRETAPPING                      0
+#define OBSW_TCP_SERVER_WIRETAPPING                 0
 
 /*******************************************************************/
 /** CMake Defines                                                  */

mission/core/GenericFactory.cpp

@@ -111,9 +111,9 @@ void ObjectFactory::produceGenericObjects() {
   tcpServer->setSpacePacketParsingOptions({common::PUS_PACKET_ID});
   sif::info << "Created TCP server for TMTC commanding with listener port "
             << tcpServer->getTcpPort() << std::endl;
-#if TCP_SERVER_WIRETAPPING == 1
+#if OBSW_TCP_SERVER_WIRETAPPING == 1
   tcpServer->enableWiretapping(true);
-#endif /* TCP_SERVER_WIRETAPPING == 1 */
+#endif /* OBSW_TCP_SERVER_WIRETAPPING == 1 */
 #endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
   tmtcBridge->setMaxNumberOfPacketsStored(70);
 #endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */

mission/devices/ACUHandler.cpp

@@ -23,7 +23,8 @@ void ACUHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pack
   parseHkTableReply(packet);
   handleDeviceTM(&acuHkTableDataset, id, true);
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_ACU == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     acuHkTableDataset.read();
     float temperatureC_1 = acuHkTableDataset.temperature1.value * 0.1;
     float temperatureC_2 = acuHkTableDataset.temperature2.value * 0.1;
@@ -38,6 +39,7 @@ void ACUHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pack
     acuHkTableDataset.commit();
 #endif
   }
+}
 
 LocalPoolDataSetBase *ACUHandler::getDataSetHandle(sid_t sid) {
   if (sid == acuHkTableDataset.getSid()) {
@@ -317,3 +319,5 @@ void ACUHandler::printChannelStats() {
             << static_cast<unsigned int>(acuHkTableDataset.currentInChannel5.value) << std::setw(15)
             << std::right << acuHkTableDataset.voltageInChannel5.value << std::endl;
 }
+
+void ACUHandler::setDebugMode(bool enable) { this->debugMode = enable; }

mission/devices/ACUHandler.h

@@ -15,6 +15,8 @@ class ACUHandler : public GomspaceDeviceHandler {
   ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
   virtual ~ACUHandler();
 
+  void setDebugMode(bool enable);
+
   virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                 LocalDataPoolManager& poolManager) override;
 
@@ -37,6 +39,7 @@ class ACUHandler : public GomspaceDeviceHandler {
   static const DeviceCommandId_t PRINT_CHANNEL_STATS = 51;
 
   ACU::HkTableDataset acuHkTableDataset;
+  bool debugMode = false;
 
   /**
    * @brief   Function extracts the hk table information from the received csp packet and stores

mission/devices/BpxBatteryHandler.cpp

@@ -197,7 +197,7 @@ ReturnValue_t BpxBatteryHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       if (result != HasReturnvaluesIF::RETURN_OK) {
         return result;
       }
-#if OBSW_DEBUG_BPX_BATT == 1
+      if (debugMode) {
         sif::info << "BPX Battery HK output:" << std::endl;
         sif::info << "Charge current [mA]: " << hkSet.chargeCurrent << std::endl;
         sif::info << "Discharge current [mA]: " << hkSet.dischargeCurrent << std::endl;
@@ -209,7 +209,7 @@ ReturnValue_t BpxBatteryHandler::interpretDeviceReply(DeviceCommandId_t id, cons
         sif::info << "Battery Temperature 4 [C]: " << hkSet.battTemp4 << std::endl;
         sif::info << "Battery Reboot Counter: " << hkSet.rebootCounter << std::endl;
         sif::info << "Battery Boot Cause: " << static_cast<int>(hkSet.bootcause.value) << std::endl;
-#endif
+      }
       break;
     }
     case (BpxBattery::PING): {
@@ -277,3 +277,5 @@ ReturnValue_t BpxBatteryHandler::initializeLocalDataPool(localpool::DataPool& lo
 void BpxBatteryHandler::setToGoToNormalMode(bool enable) {
   this->goToNormalModeImmediately = enable;
 }
+
+void BpxBatteryHandler::setDebugMode(bool enable) { this->debugMode = enable; }

mission/devices/BpxBatteryHandler.h

@@ -11,6 +11,7 @@ class BpxBatteryHandler : public DeviceHandlerBase {
   virtual ~BpxBatteryHandler();
 
   void setToGoToNormalMode(bool enable);
+  void setDebugMode(bool enable);
 
  protected:
   enum class States {
@@ -20,6 +21,7 @@ class BpxBatteryHandler : public DeviceHandlerBase {
 
   States state = States::CHECK_COM;
   bool commandExecuted = false;
+  bool debugMode = false;
   bool goToNormalModeImmediately = false;
   uint8_t sentPingByte = BpxBattery::DEFAULT_PING_SENT_BYTE;
   BpxBatteryHk hkSet;

mission/devices/IMTQHandler.cpp

@@ -687,7 +687,8 @@ void IMTQHandler::fillEngHkDataset(const uint8_t* packet) {
   offset += 2;
   engHkDataset.mcuTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "IMTQ digital voltage: " << engHkDataset.digitalVoltageMv << " mV" << std::endl;
     sif::info << "IMTQ analog voltage: " << engHkDataset.analogVoltageMv << " mV" << std::endl;
     sif::info << "IMTQ digital current: " << engHkDataset.digitalCurrentmA << " mA" << std::endl;
@@ -701,6 +702,7 @@ void IMTQHandler::fillEngHkDataset(const uint8_t* packet) {
     sif::info << "IMTQ coil MCU temperature: " << engHkDataset.mcuTemperature << " °C" << std::endl;
 #endif
   }
+}
 
 void IMTQHandler::setToGoToNormal(bool enable) { this->goToNormalMode = enable; }
 
@@ -755,7 +757,8 @@ void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
   calMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24) |
                                              (*(packet + offset + 2) << 16) |
                                              (*(packet + offset + 1) << 8) | (*(packet + offset));
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "IMTQ calibrated MTM measurement X: " << calMtmMeasurementSet.mtmXnT << " nT"
               << std::endl;
     sif::info << "IMTQ calibrated MTM measurement Y: " << calMtmMeasurementSet.mtmYnT << " nT"
@@ -766,6 +769,7 @@ void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
               << (unsigned int)calMtmMeasurementSet.coilActuationStatus.value << std::endl;
 #endif
   }
+}
 
 void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
   PoolReadGuard rg(&rawMtmMeasurementSet);
@@ -785,14 +789,19 @@ void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
   rawMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24) |
                                              (*(packet + offset + 2) << 16) |
                                              (*(packet + offset + 1) << 8) | (*(packet + offset));
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
+  if (debugMode) {
-  sif::info << "IMTQ raw MTM measurement X: " << rawMtmMeasurementSet.mtmXnT << " nT" << std::endl;
+#if OBSW_VERBOSE_LEVEL >= 1
-  sif::info << "IMTQ raw MTM measurement Y: " << rawMtmMeasurementSet.mtmYnT << " nT" << std::endl;
+    sif::info << "IMTQ raw MTM measurement X: " << rawMtmMeasurementSet.mtmXnT << " nT"
-  sif::info << "IMTQ raw MTM measurement Z: " << rawMtmMeasurementSet.mtmZnT << " nT" << std::endl;
+              << std::endl;
+    sif::info << "IMTQ raw MTM measurement Y: " << rawMtmMeasurementSet.mtmYnT << " nT"
+              << std::endl;
+    sif::info << "IMTQ raw MTM measurement Z: " << rawMtmMeasurementSet.mtmZnT << " nT"
+              << std::endl;
     sif::info << "IMTQ coil actuation status during MTM measurement: "
               << (unsigned int)rawMtmMeasurementSet.coilActuationStatus.value << std::endl;
 #endif
   }
+}
 
 void IMTQHandler::handleSelfTestReply(const uint8_t* packet) {
   uint16_t offset = 2;
@@ -954,7 +963,8 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) {
   posXselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
   offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "IMTQ self test (INIT) err: "
               << static_cast<unsigned int>(posXselfTestDataset.initErr.value) << std::endl;
     sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posXselfTestDataset.initRawMagX
@@ -984,12 +994,12 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) {
 
     sif::info << "IMTQ self test (+X) err: "
               << static_cast<unsigned int>(posXselfTestDataset.err.value) << std::endl;
-  sif::info << "IMTQ self test (+X) raw magnetic field X: " << posXselfTestDataset.rawMagX << " nT"
+    sif::info << "IMTQ self test (+X) raw magnetic field X: " << posXselfTestDataset.rawMagX
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (+X) raw magnetic field Y: " << posXselfTestDataset.rawMagY << " nT"
+    sif::info << "IMTQ self test (+X) raw magnetic field Y: " << posXselfTestDataset.rawMagY
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (+X) raw magnetic field Z: " << posXselfTestDataset.rawMagZ << " nT"
+    sif::info << "IMTQ self test (+X) raw magnetic field Z: " << posXselfTestDataset.rawMagZ
-            << std::endl;
+              << " nT" << std::endl;
     sif::info << "IMTQ self test (+X) calibrated magnetic field X: " << posXselfTestDataset.calMagX
               << " nT" << std::endl;
     sif::info << "IMTQ self test (+X) calibrated magnetic field Y: " << posXselfTestDataset.calMagY
@@ -1037,6 +1047,7 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) {
               << posXselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
 #endif
   }
+}
 
 void IMTQHandler::handleNegativeXSelfTestReply(const uint8_t* packet) {
   PoolReadGuard rg(&posXselfTestDataset);
@@ -1164,7 +1175,8 @@ void IMTQHandler::handleNegativeXSelfTestReply(const uint8_t* packet) {
   negXselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
   offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "IMTQ self test (INIT) err: "
               << static_cast<unsigned int>(negXselfTestDataset.initErr.value) << std::endl;
     sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negXselfTestDataset.initRawMagX
@@ -1194,12 +1206,12 @@ void IMTQHandler::handleNegativeXSelfTestReply(const uint8_t* packet) {
 
     sif::info << "IMTQ self test (-X) err: "
               << static_cast<unsigned int>(negXselfTestDataset.err.value) << std::endl;
-  sif::info << "IMTQ self test (-X) raw magnetic field X: " << negXselfTestDataset.rawMagX << " nT"
+    sif::info << "IMTQ self test (-X) raw magnetic field X: " << negXselfTestDataset.rawMagX
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (-X) raw magnetic field Y: " << negXselfTestDataset.rawMagY << " nT"
+    sif::info << "IMTQ self test (-X) raw magnetic field Y: " << negXselfTestDataset.rawMagY
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (-X) raw magnetic field Z: " << negXselfTestDataset.rawMagZ << " nT"
+    sif::info << "IMTQ self test (-X) raw magnetic field Z: " << negXselfTestDataset.rawMagZ
-            << std::endl;
+              << " nT" << std::endl;
     sif::info << "IMTQ self test (-X) calibrated magnetic field X: " << negXselfTestDataset.calMagX
               << " nT" << std::endl;
     sif::info << "IMTQ self test (-X) calibrated magnetic field Y: " << negXselfTestDataset.calMagY
@@ -1247,6 +1259,7 @@ void IMTQHandler::handleNegativeXSelfTestReply(const uint8_t* packet) {
               << negXselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
 #endif
   }
+}
 
 void IMTQHandler::handlePositiveYSelfTestReply(const uint8_t* packet) {
   PoolReadGuard rg(&posXselfTestDataset);
@@ -1374,7 +1387,8 @@ void IMTQHandler::handlePositiveYSelfTestReply(const uint8_t* packet) {
   posYselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
   offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "IMTQ self test (INIT) err: "
               << static_cast<unsigned int>(posYselfTestDataset.initErr.value) << std::endl;
     sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posYselfTestDataset.initRawMagX
@@ -1404,12 +1418,12 @@ void IMTQHandler::handlePositiveYSelfTestReply(const uint8_t* packet) {
 
     sif::info << "IMTQ self test (+Y) err: "
               << static_cast<unsigned int>(posYselfTestDataset.err.value) << std::endl;
-  sif::info << "IMTQ self test (+Y) raw magnetic field X: " << posYselfTestDataset.rawMagX << " nT"
+    sif::info << "IMTQ self test (+Y) raw magnetic field X: " << posYselfTestDataset.rawMagX
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (+Y) raw magnetic field Y: " << posYselfTestDataset.rawMagY << " nT"
+    sif::info << "IMTQ self test (+Y) raw magnetic field Y: " << posYselfTestDataset.rawMagY
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (+Y) raw magnetic field Z: " << posYselfTestDataset.rawMagZ << " nT"
+    sif::info << "IMTQ self test (+Y) raw magnetic field Z: " << posYselfTestDataset.rawMagZ
-            << std::endl;
+              << " nT" << std::endl;
     sif::info << "IMTQ self test (+Y) calibrated magnetic field X: " << posYselfTestDataset.calMagX
               << " nT" << std::endl;
     sif::info << "IMTQ self test (+Y) calibrated magnetic field Y: " << posYselfTestDataset.calMagY
@@ -1457,6 +1471,7 @@ void IMTQHandler::handlePositiveYSelfTestReply(const uint8_t* packet) {
               << posYselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
 #endif
   }
+}
 
 void IMTQHandler::handleNegativeYSelfTestReply(const uint8_t* packet) {
   PoolReadGuard rg(&posXselfTestDataset);
@@ -1584,7 +1599,8 @@ void IMTQHandler::handleNegativeYSelfTestReply(const uint8_t* packet) {
   negYselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
   offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "IMTQ self test (INIT) err: "
               << static_cast<unsigned int>(negYselfTestDataset.initErr.value) << std::endl;
     sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negYselfTestDataset.initRawMagX
@@ -1614,12 +1630,12 @@ void IMTQHandler::handleNegativeYSelfTestReply(const uint8_t* packet) {
 
     sif::info << "IMTQ self test (-Y) err: "
               << static_cast<unsigned int>(negYselfTestDataset.err.value) << std::endl;
-  sif::info << "IMTQ self test (-Y) raw magnetic field X: " << negYselfTestDataset.rawMagX << " nT"
+    sif::info << "IMTQ self test (-Y) raw magnetic field X: " << negYselfTestDataset.rawMagX
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (-Y) raw magnetic field Y: " << negYselfTestDataset.rawMagY << " nT"
+    sif::info << "IMTQ self test (-Y) raw magnetic field Y: " << negYselfTestDataset.rawMagY
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (-Y) raw magnetic field Z: " << negYselfTestDataset.rawMagZ << " nT"
+    sif::info << "IMTQ self test (-Y) raw magnetic field Z: " << negYselfTestDataset.rawMagZ
-            << std::endl;
+              << " nT" << std::endl;
     sif::info << "IMTQ self test (-Y) calibrated magnetic field X: " << negYselfTestDataset.calMagX
               << " nT" << std::endl;
     sif::info << "IMTQ self test (-Y) calibrated magnetic field Y: " << negYselfTestDataset.calMagY
@@ -1667,6 +1683,7 @@ void IMTQHandler::handleNegativeYSelfTestReply(const uint8_t* packet) {
               << negYselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
 #endif
   }
+}
 
 void IMTQHandler::handlePositiveZSelfTestReply(const uint8_t* packet) {
   PoolReadGuard rg(&posXselfTestDataset);
@@ -1794,7 +1811,8 @@ void IMTQHandler::handlePositiveZSelfTestReply(const uint8_t* packet) {
   posZselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
   offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "IMTQ self test (INIT) err: "
               << static_cast<unsigned int>(posZselfTestDataset.initErr.value) << std::endl;
     sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posZselfTestDataset.initRawMagX
@@ -1824,12 +1842,12 @@ void IMTQHandler::handlePositiveZSelfTestReply(const uint8_t* packet) {
 
     sif::info << "IMTQ self test (+Z) err: "
               << static_cast<unsigned int>(posZselfTestDataset.err.value) << std::endl;
-  sif::info << "IMTQ self test (+Z) raw magnetic field X: " << posZselfTestDataset.rawMagX << " nT"
+    sif::info << "IMTQ self test (+Z) raw magnetic field X: " << posZselfTestDataset.rawMagX
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (+Z) raw magnetic field Y: " << posZselfTestDataset.rawMagY << " nT"
+    sif::info << "IMTQ self test (+Z) raw magnetic field Y: " << posZselfTestDataset.rawMagY
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (+Z) raw magnetic field Z: " << posZselfTestDataset.rawMagZ << " nT"
+    sif::info << "IMTQ self test (+Z) raw magnetic field Z: " << posZselfTestDataset.rawMagZ
-            << std::endl;
+              << " nT" << std::endl;
     sif::info << "IMTQ self test (+Z) calibrated magnetic field X: " << posZselfTestDataset.calMagX
               << " nT" << std::endl;
     sif::info << "IMTQ self test (+Z) calibrated magnetic field Y: " << posZselfTestDataset.calMagY
@@ -1877,6 +1895,7 @@ void IMTQHandler::handlePositiveZSelfTestReply(const uint8_t* packet) {
               << posZselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
 #endif
   }
+}
 
 void IMTQHandler::handleNegativeZSelfTestReply(const uint8_t* packet) {
   PoolReadGuard rg(&posXselfTestDataset);
@@ -2004,7 +2023,8 @@ void IMTQHandler::handleNegativeZSelfTestReply(const uint8_t* packet) {
   negZselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
   offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "IMTQ self test (INIT) err: "
               << static_cast<unsigned int>(negZselfTestDataset.initErr.value) << std::endl;
     sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negZselfTestDataset.initRawMagX
@@ -2034,12 +2054,12 @@ void IMTQHandler::handleNegativeZSelfTestReply(const uint8_t* packet) {
 
     sif::info << "IMTQ self test (-Z) err: "
               << static_cast<unsigned int>(negZselfTestDataset.err.value) << std::endl;
-  sif::info << "IMTQ self test (-Z) raw magnetic field X: " << negZselfTestDataset.rawMagX << " nT"
+    sif::info << "IMTQ self test (-Z) raw magnetic field X: " << negZselfTestDataset.rawMagX
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (-Z) raw magnetic field Y: " << negZselfTestDataset.rawMagY << " nT"
+    sif::info << "IMTQ self test (-Z) raw magnetic field Y: " << negZselfTestDataset.rawMagY
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (-Z) raw magnetic field Z: " << negZselfTestDataset.rawMagZ << " nT"
+    sif::info << "IMTQ self test (-Z) raw magnetic field Z: " << negZselfTestDataset.rawMagZ
-            << std::endl;
+              << " nT" << std::endl;
     sif::info << "IMTQ self test (-Z) calibrated magnetic field X: " << negZselfTestDataset.calMagX
               << " nT" << std::endl;
     sif::info << "IMTQ self test (-Z) calibrated magnetic field Y: " << negZselfTestDataset.calMagY
@@ -2087,6 +2107,9 @@ void IMTQHandler::handleNegativeZSelfTestReply(const uint8_t* packet) {
               << negZselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
 #endif
   }
+}
+
+void IMTQHandler::setDebugMode(bool enable) { this->debugMode = enable; }
 
 void IMTQHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) {
   std::string stepString("");

mission/devices/IMTQHandler.h

@@ -21,6 +21,8 @@ class IMTQHandler : public DeviceHandlerBase {
    */
   void setToGoToNormal(bool enable);
 
+  void setDebugMode(bool enable);
+
  protected:
   void doStartUp() override;
   void doShutDown() override;
@@ -99,6 +101,7 @@ class IMTQHandler : public DeviceHandlerBase {
 
   uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE];
   bool goToNormalMode = false;
+  bool debugMode = false;
 
   enum class CommunicationStep {
     GET_ENG_HK_DATA,

mission/devices/Max31865PT1000Handler.cpp

@@ -399,12 +399,12 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
       // calculate approximation
       float approxTemp = adcCode / 32.0 - 256.0;
 
-#if OBSW_DEBUG_RTD == 1
+      if (debugMode) {
 #if OBSW_VERBOSE_LEVEL >= 1
         if (debugDivider->checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "Max31865: ObjID " << std::hex << this->getObjectId() << " | RTD " << std::dec
+          sif::info << "Max31865: ObjID " << std::hex << this->getObjectId() << " | RTD "
-                  << static_cast<int>(deviceIdx) << ": R[Ohm] " << rtdValue
+                    << std::dec << static_cast<int>(deviceIdx) << ": R[Ohm] " << rtdValue
                     << " Ohms | Approx T[C]: " << approxTemp << std::endl;
 #else
           sif::printInfo("Max31685: Measured resistance is %f Ohms\n", rtdValue);
@@ -412,7 +412,8 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
 #endif
         }
 #endif
-#endif
+      }
+
       PoolReadGuard pg(&sensorDataset);
       if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
         // Configuration error
@@ -530,3 +531,5 @@ void Max31865PT1000Handler::modeChanged() {
 }
 
 void Max31865PT1000Handler::setDeviceIdx(uint8_t idx) { deviceIdx = idx; }
+
+void Max31865PT1000Handler::setDebugMode(bool enable) { this->debugMode = enable; }

mission/devices/Max31865PT1000Handler.h

@@ -33,6 +33,8 @@ class Max31865PT1000Handler : public DeviceHandlerBase {
   Max31865PT1000Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie);
   virtual ~Max31865PT1000Handler();
 
+  void setDebugMode(bool enable);
+
   // Configuration in 8 digit code:
   // 1. 1 for V_BIAS enabled, 0 for disabled
   // 2. 1 for Auto-conversion, 0 for off
@@ -85,6 +87,7 @@ class Max31865PT1000Handler : public DeviceHandlerBase {
  private:
   uint8_t switchId = 0;
   bool instantNormal = false;
+  bool debugMode = false;
   bool warningSwitch = true;
 
   enum class InternalState {

mission/devices/P60DockHandler.cpp

@@ -24,50 +24,6 @@ void P60DockHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *
    * P60DockHandler itself.
    */
   handleDeviceTM(&coreHk, id, true);
-
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_P60DOCK == 1
-  p60dockHkTableDataset.read();
-  sif::info << "P60 Dock: ACU VCC switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateAcuVcc.value)
-            << std::endl;
-  sif::info << "P60 Dock: PDU1 VCC switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu1Vcc.value)
-            << std::endl;
-  sif::info << "P60 Dock: PDU2 VCC switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu2Vcc.value)
-            << std::endl;
-  sif::info << "P60 Dock: ACU VBAT switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateAcuVbat.value)
-            << std::endl;
-  sif::info << "P60 Dock: PDU1 VBAT switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu1Vbat.value)
-            << std::endl;
-  sif::info << "P60 Dock: PDU2 VBAT switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu2Vbat.value)
-            << std::endl;
-  sif::info << "P60 Dock: Stack VBAT switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStackVbat.value)
-            << std::endl;
-  sif::info << "P60 Dock: Stack 3V3 switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStack3V3.value)
-            << std::endl;
-  sif::info << "P60 Dock: Stack 5V switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStack5V.value)
-            << std::endl;
-
-  float temperatureC = p60dockHkTableDataset.temperature1.value * 0.1;
-  sif::info << "P60 Dock: Temperature 1: " << temperatureC << " °C" << std::endl;
-  temperatureC = p60dockHkTableDataset.temperature2.value * 0.1;
-  sif::info << "P60 Dock: Temperature 2: " << temperatureC << " °C" << std::endl;
-  sif::info << "P60 Dock: Watchdog Timer seconds left before reboot: "
-            << p60dockHkTableDataset.wdtGndLeft << " seconds" << std::endl;
-  sif::info << "P60 Dock: CSP 1, pings left before reboot: "
-            << (int)p60dockHkTableDataset.wdtCspLeft1.value << std::endl;
-  sif::info << "P60 Dock: CSP 2, pings left before reboot: "
-            << (int)p60dockHkTableDataset.wdtCspLeft1.value << std::endl;
-
-  p60dockHkTableDataset.commit();
-#endif
 }
 
 void P60DockHandler::parseHkTableReply(const uint8_t *packet) {
@@ -362,3 +318,5 @@ void P60DockHandler::printHkTableLatchups() {
   genericPrintoutHandler("X3 VBAT", hk::X3_IDLE_VBAT);
   genericPrintoutHandler("X3 VCC", hk::X3_IDLE_VCC);
 }
+
+void P60DockHandler::setDebugMode(bool enable) { this->debugMode = enable; }

mission/devices/P60DockHandler.h

@@ -24,6 +24,8 @@ class P60DockHandler : public GomspaceDeviceHandler {
   P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
   virtual ~P60DockHandler();
 
+  void setDebugMode(bool enable);
+
   virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                 LocalDataPoolManager& poolManager) override;
 
@@ -50,6 +52,7 @@ class P60DockHandler : public GomspaceDeviceHandler {
   P60Dock::CoreHkSet coreHk;
   P60Dock::HkTableDataset auxHk;
   bool firstHk = true;
+  bool debugMode = false;
   static constexpr uint8_t MAX_CHANNEL_STR_WIDTH = 16;
 
   PoolEntry<int16_t> hkCurrents = PoolEntry<int16_t>(P60Dock::hk::CHNLS_LEN);

mission/devices/PayloadPcduHandler.cpp

@@ -2,7 +2,9 @@
 
 #include <fsfw/src/fsfw/datapool/PoolReadGuard.h>
 
-#ifdef FSFW_OSAL_LINUX
+#include "OBSWConfig.h"
+
+#ifdef XIPHOS_Q7S
 #include <fsfw_hal/linux/UnixFileGuard.h>
 #include <fsfw_hal/linux/spi/SpiComIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
@@ -663,7 +665,7 @@ ReturnValue_t PayloadPcduHandler::handleDoubleParamUpdate(std::string key,
   return params.writeJsonFile();
 }
 
-#ifdef FSFW_OSAL_LINUX
+#ifdef XIPHOS_Q7S
 ReturnValue_t PayloadPcduHandler::extConvAsTwoCallback(SpiComIF* comIf, SpiCookie* cookie,
                                                        const uint8_t* sendData, size_t sendLen,
                                                        void* args) {

mission/devices/PayloadPcduHandler.h

@@ -68,10 +68,9 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   void setToGoToNormalModeImmediately(bool enable);
   void enablePeriodicPrintout(bool enable, uint8_t divider);
 
+#ifdef XIPHOS_Q7S
   static ReturnValue_t extConvAsTwoCallback(SpiComIF* comIf, SpiCookie* cookie,
                                             const uint8_t* sendData, size_t sendLen, void* args);
-
-#ifdef FSFW_OSAL_LINUX
   static ReturnValue_t transferAsTwo(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
                                      size_t sendLen, bool tempOnly);
 #endif

mission/devices/RwHandler.cpp

@@ -341,13 +341,16 @@ void RwHandler::handleResetStatusReply(const uint8_t* packet) {
     lastResetStatusSet.lastResetStatus = resetStatus;
   }
   lastResetStatusSet.currentResetStatus = resetStatus;
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "RwHandler::handleResetStatusReply: Last reset status: "
               << static_cast<unsigned int>(lastResetStatusSet.lastResetStatus.value) << std::endl;
     sif::info << "RwHandler::handleResetStatusReply: Current reset status: "
-            << static_cast<unsigned int>(lastResetStatusSet.currentResetStatus.value) << std::endl;
+              << static_cast<unsigned int>(lastResetStatusSet.currentResetStatus.value)
+              << std::endl;
 #endif
   }
+}
 
 void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
   PoolReadGuard rg(&statusSet);
@@ -371,28 +374,32 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
     sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state" << std::endl;
   }
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "RwHandler::handleGetRwStatusReply: Current speed is: " << statusSet.currSpeed
               << " * 0.1 RPM" << std::endl;
-  sif::info << "RwHandler::handleGetRwStatusReply: Reference speed is: " << statusSet.referenceSpeed
+    sif::info << "RwHandler::handleGetRwStatusReply: Reference speed is: "
-            << " * 0.1 RPM" << std::endl;
+              << statusSet.referenceSpeed << " * 0.1 RPM" << std::endl;
     sif::info << "RwHandler::handleGetRwStatusReply: State is: "
               << (unsigned int)statusSet.state.value << std::endl;
     sif::info << "RwHandler::handleGetRwStatusReply: clc mode is: "
               << (unsigned int)statusSet.clcMode.value << std::endl;
 #endif
   }
+}
 
 void RwHandler::handleTemperatureReply(const uint8_t* packet) {
   PoolReadGuard rg(&temperatureSet);
   uint8_t offset = 2;
   temperatureSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                                       *(packet + offset + 1) << 8 | *(packet + offset);
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "RwHandler::handleTemperatureReply: Temperature: "
               << temperatureSet.temperatureCelcius << " °C" << std::endl;
 #endif
   }
+}
 
 void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
   PoolReadGuard rg(&tmDataset);
@@ -468,7 +475,8 @@ void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
   offset += 4;
   tmDataset.spiTotalNumOfErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                                   *(packet + offset + 1) << 8 | *(packet + offset);
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "RwHandler::handleGetTelemetryReply: Last reset status: "
               << static_cast<unsigned int>(tmDataset.lastResetStatus.value) << std::endl;
     sif::info << "RwHandler::handleGetTelemetryReply: MCU temperature: " << tmDataset.mcuTemperature
@@ -518,3 +526,6 @@ void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
               << tmDataset.spiTotalNumOfErrors << std::endl;
 #endif
   }
+}
+
+void RwHandler::setDebugMode(bool enable) { this->debugMode = enable; }

mission/devices/RwHandler.h

@@ -30,6 +30,9 @@ class RwHandler : public DeviceHandlerBase {
    */
   RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, LinuxLibgpioIF* gpioComIF,
             gpioId_t enableGpio);
+
+  void setDebugMode(bool enable);
+
   virtual ~RwHandler();
 
   static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
@@ -86,6 +89,7 @@ class RwHandler : public DeviceHandlerBase {
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   gpioId_t enableGpio = gpio::NO_GPIO;
+  bool debugMode = false;
 
   RwDefinitions::TemperatureSet temperatureSet;
   RwDefinitions::StatusSet statusSet;

mission/devices/SyrlinksHkHandler.cpp

@@ -166,12 +166,12 @@ ReturnValue_t SyrlinksHkHandler::buildCommandFromCommand(DeviceCommandId_t devic
       return RETURN_OK;
     }
     case (syrlinks::ENABLE_DEBUG): {
-      debug = true;
+      debugMode = true;
       rawPacketLen = 0;
       return RETURN_OK;
     }
     case (syrlinks::DISABLE_DEBUG): {
-      debug = false;
+      debugMode = false;
       rawPacketLen = 0;
       return RETURN_OK;
     }
@@ -363,7 +363,7 @@ ReturnValue_t SyrlinksHkHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       tempBasebandBoard = calcTempVal(rawTempBasebandBoard);
       temperatureSet.temperatureBasebandBoard = tempBasebandBoard;
       PoolReadGuard rg(&temperatureSet);
-      if (debug) {
+      if (debugMode) {
         sif::info << "Syrlinks temperature baseband board: " << tempBasebandBoard << "  °C"
                   << std::endl;
       }
@@ -394,7 +394,7 @@ ReturnValue_t SyrlinksHkHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       tempPowerAmplifier = calcTempVal(rawTempPowerAmplifier);
       PoolReadGuard rg(&temperatureSet);
       temperatureSet.temperaturePowerAmplifier = tempPowerAmplifier;
-      if (debug) {
+      if (debugMode) {
         sif::info << "Syrlinks temperature power amplifier board: " << tempPowerAmplifier << "  °C"
                   << std::endl;
       }
@@ -540,8 +540,8 @@ void SyrlinksHkHandler::parseRxStatusRegistersReply(const uint8_t* packet) {
   offset += 6;
   rxDataset.rxDataRate = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_SYRLINKS == 1
+  if (debugMode) {
-  if (debug) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "Syrlinks RX Status: 0x" << std::hex << (unsigned int)rxDataset.rxStatus.value
               << std::endl;
     sif::info << "Syrlinks RX Sensitivity: " << std::dec << rxDataset.rxSensitivity << std::endl;
@@ -551,14 +551,14 @@ void SyrlinksHkHandler::parseRxStatusRegistersReply(const uint8_t* packet) {
     sif::info << "Syrlinks RX Demod Eb: " << rxDataset.rxDemodEb << std::endl;
     sif::info << "Syrlinks RX Demod N0: " << rxDataset.rxDemodN0 << std::endl;
     sif::info << "Syrlinks RX Datarate: " << (unsigned int)rxDataset.rxDataRate.value << std::endl;
-  }
 #endif
   }
+}
 
 void SyrlinksHkHandler::parseLclConfigReply(const uint8_t* packet) {
   uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
   uint8_t lclConfig = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
-  if (debug) {
+  if (debugMode) {
     sif::info << "SyrlinksHkHandler::parseRxStatusRegistersReply: Lcl config: "
               << static_cast<unsigned int>(lclConfig) << std::endl;
   }
@@ -568,24 +568,20 @@ void SyrlinksHkHandler::parseTxStatusReply(const uint8_t* packet) {
   PoolReadGuard readHelper(&txDataset);
   uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
   txDataset.txStatus = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
-#if OBSW_DEBUG_SYRLINKS == 1
+  if (debugMode) {
-  if (debug) {
     sif::info << "Syrlinks TX Status: 0x" << std::hex << (unsigned int)txDataset.txStatus.value
               << std::endl;
   }
-#endif
 }
 
 void SyrlinksHkHandler::parseTxWaveformReply(const uint8_t* packet) {
   PoolReadGuard readHelper(&txDataset);
   uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
   txDataset.txWaveform = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
-#if OBSW_DEBUG_SYRLINKS == 1
+  if (debugMode) {
-  if (debug) {
     sif::info << "Syrlinks TX Waveform: 0x" << std::hex << (unsigned int)txDataset.txWaveform.value
               << std::endl;
   }
-#endif
 }
 
 void SyrlinksHkHandler::parseAgcLowByte(const uint8_t* packet) {
@@ -593,11 +589,9 @@ void SyrlinksHkHandler::parseAgcLowByte(const uint8_t* packet) {
   uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
   txDataset.txAgcValue = agcValueHighByte << 8 |
                          convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
-#if OBSW_DEBUG_SYRLINKS == 1
+  if (debugMode) {
-  if (debug) {
     sif::info << "Syrlinks TX AGC Value: " << txDataset.txAgcValue << std::endl;
   }
-#endif
 }
 
 void SyrlinksHkHandler::parseAgcHighByte(const uint8_t* packet) {
@@ -654,3 +648,5 @@ void SyrlinksHkHandler::prepareCommand(std::string command, DeviceCommandId_t co
   rememberCommandId = commandId;
   rawPacket = commandBuffer;
 }
+
+void SyrlinksHkHandler::setDebugMode(bool enable) { this->debugMode = enable; }

mission/devices/SyrlinksHkHandler.h

@@ -28,6 +28,8 @@ class SyrlinksHkHandler : public DeviceHandlerBase {
    */
   void setModeNormal();
 
+  void setDebugMode(bool enable);
+
  protected:
   void doStartUp() override;
   void doShutDown() override;
@@ -95,6 +97,7 @@ class SyrlinksHkHandler : public DeviceHandlerBase {
 
   const power::Switch_t powerSwitch = power::NO_SWITCH;
 
+  bool debugMode = false;
   uint8_t agcValueHighByte = 0;
   uint16_t rawTempPowerAmplifier = 0;
   uint16_t rawTempBasebandBoard = 0;
@@ -107,8 +110,6 @@ class SyrlinksHkHandler : public DeviceHandlerBase {
 
   StartupState startupState = StartupState::OFF;
 
-  bool debug = false;
-
   /**
    * This object is used to store the id of the next command to execute. This controls the
    * read out of multiple registers which can not be fetched with one single command.

thirdparty/etl

@@ -1 +0,0 @@
-Subproject commit c308dc427b7a34e54f33860fb2e244564b2740b4