CMakeLists.txt

@@ -29,6 +29,7 @@ if(TGT_BSP)
         option(LINUX_CROSS_COMPILE ON)
         option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" OFF)
     elseif(TGT_BSP MATCHES "arm/q7s")
+        option(EIVE_Q7S_EM "Build configuration for the EM" OFF)
         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)
@@ -53,8 +54,26 @@ 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)
+if(EIVE_Q7S_EM)
+    set(OBSW_Q7S_EM 1 CACHE STRING "Q7S EM configuration")
+    set(INIT_VAL 0)
+else()
+    set(OBSW_Q7S_EM 0 CACHE STRING "Q7S EM configuration")
+    set(INIT_VAL 1)
+endif()
+set(OBSW_ADD_MGT ${INIT_VAL} CACHE STRING "Add MGT module" )
+set(OBSW_ADD_BPX_BATTERY_HANDLER ${INIT_VAL} CACHE STRING "Add MGT module")
+set(OBSW_ADD_STAR_TRACKER ${INIT_VAL} CACHE STRING "Add Startracker module")
+set(OBSW_ADD_SUN_SENSORS ${INIT_VAL} CACHE STRING "Add sun sensor module")
+set(OBSW_ADD_SUS_BOARD_ASS ${INIT_VAL} CACHE STRING "Add sun sensor board assembly")
+set(OBSW_ADD_ACS_BOARD ${INIT_VAL} CACHE STRING "Add ACS board module")
+set(OBSW_ADD_ACS_HANDLERS ${INIT_VAL} CACHE STRING "Add ACS handlers")
+set(OBSW_ADD_RTD_DEVICES ${INIT_VAL} CACHE STRING "Add RTD devices")
+set(OBSW_ADD_RAD_SENSORS ${INIT_VAL} CACHE STRING "Add Rad Sensor module")
+set(OBSW_ADD_PL_PCDU ${INIT_VAL} CACHE STRING "Add Payload PCDU modukle")
+set(OBSW_ADD_SYRLINKS ${INIT_VAL} CACHE STRING "Add Syrlinks module")
+set(OBSW_ADD_TMP_DEVICES ${INIT_VAL} CACHE STRING "Add TMP devices")
+set(OBSW_ADD_GOMSPACE_PCDU ${INIT_VAL} CACHE STRING "Add GomSpace PCDU modules")
 
 ################################################################################
 # Pre-Sources preparation
@@ -188,7 +207,7 @@ endif()
 # Configuration files
 configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
 configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
-configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
+configure_file(${BSP_PATH}/OBSWConfig.h.in OBSWConfig.h)
 if(TGT_BSP MATCHES "arm/q7s")
     configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
 elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse")

bsp_hosted/OBSWConfig.h.in

@@ -0,0 +1,122 @@
+/**
+ * @brief   This file can be used to add preprocessor define for conditional
+ *          code inclusion exclusion or various other project constants and
+ *          properties in one place.
+ */
+#ifndef FSFWCONFIG_OBSWCONFIG_H_
+#define FSFWCONFIG_OBSWCONFIG_H_
+
+#include "commonConfig.h"
+#include "OBSWVersion.h"
+    
+/*******************************************************************/
+/** All of the following flags should be enabled for mission code  */
+/*******************************************************************/
+
+#define OBSW_ENABLE_TIMERS                          1
+#define OBSW_ADD_STAR_TRACKER                       0
+#define OBSW_ADD_PLOC_SUPERVISOR                    0
+#define OBSW_ADD_PLOC_MPSOC                         0
+#define OBSW_ADD_SUN_SENSORS                        0
+#define OBSW_ADD_MGT                                0
+#define OBSW_ADD_ACS_BOARD                          0
+#define OBSW_ADD_ACS_HANDLERS                       0
+#define OBSW_ADD_GPS_0                              0
+#define OBSW_ADD_GPS_1                              0
+#define OBSW_ADD_RW                                 0
+#define OBSW_ADD_BPX_BATTERY_HANDLER                0
+#define OBSW_ADD_RTD_DEVICES                        0
+#define OBSW_ADD_PL_PCDU                            0
+#define OBSW_ADD_TMP_DEVICES                        0
+#define OBSW_ADD_RAD_SENSORS                        0
+#define OBSW_ADD_SYRLINKS                           0
+#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
+
+// This is a really tricky switch.. It initializes the PCDU switches to their default states
+// at powerup. I think it would be better
+// to leave it off for now. It makes testing a lot more difficult and it might mess with
+// something the operators might want to do by giving the software too much intelligence
+// at the wrong place. The system component might command all the Switches accordingly anyway
+#define OBSW_INITIALIZE_SWITCHES                    0
+#define OBSW_ENABLE_PERIODIC_HK                     0
+
+/*******************************************************************/
+/** All of the following flags should be disabled for mission code */
+/*******************************************************************/
+
+// Can be used to switch device to NORMAL mode immediately
+#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
+#define OBSW_PRINT_MISSED_DEADLINES                 1
+
+#define OBSW_SYRLINKS_SIMULATED                     1
+#define OBSW_ADD_TEST_CODE                          0
+#define OBSW_ADD_TEST_TASK                          0
+#define OBSW_ADD_TEST_PST                           0
+// If this is enabled, all other SPI code should be disabled
+#define OBSW_ADD_SPI_TEST_CODE                      0
+// If this is enabled, all other I2C code should be disabled
+#define OBSW_ADD_I2C_TEST_CODE                      0
+#define OBSW_ADD_UART_TEST_CODE                     0
+
+#define OBSW_TEST_ACS                               0
+#define OBSW_DEBUG_ACS                              0
+#define OBSW_TEST_SUS                               0
+#define OBSW_DEBUG_SUS                              0
+#define OBSW_TEST_RTD                               0
+#define OBSW_DEBUG_RTD                              0
+#define OBSW_TEST_RAD_SENSOR                        0
+#define OBSW_DEBUG_RAD_SENSOR                       0
+#define OBSW_TEST_PL_PCDU                           0
+#define OBSW_DEBUG_PL_PCDU                          0
+#define OBSW_TEST_BPX_BATT                          0
+#define OBSW_DEBUG_BPX_BATT                         0
+#define OBSW_TEST_IMTQ                              0
+#define OBSW_DEBUG_IMTQ                             0
+#define OBSW_TEST_RW                                0
+#define OBSW_DEBUG_RW                               0
+
+#define OBSW_TEST_LIBGPIOD                          0
+#define OBSW_TEST_PLOC_HANDLER                      0
+#define OBSW_TEST_CCSDS_BRIDGE                      0
+#define OBSW_TEST_CCSDS_PTME                        0
+#define OBSW_TEST_TE7020_HEATER                     0
+#define OBSW_TEST_GPIO_OPEN_BY_LABEL                0
+#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME            0
+#define OBSW_DEBUG_P60DOCK                          0
+
+#define OBSW_PRINT_CORE_HK                          0
+#define OBSW_DEBUG_PDU1                             0
+#define OBSW_DEBUG_PDU2                             0
+#define OBSW_DEBUG_GPS                              0
+#define OBSW_DEBUG_ACU                              0
+#define OBSW_DEBUG_SYRLINKS                         0
+
+#define OBSW_DEBUG_PDEC_HANDLER                     0
+#define OBSW_DEBUG_PLOC_SUPERVISOR                  0
+#define OBSW_DEBUG_PLOC_MPSOC                       0
+#define OBSW_DEBUG_STARTRACKER                      0
+#define OBSW_TCP_SERVER_WIRETAPPING                 0
+
+/*******************************************************************/
+/** CMake Defines                                                  */
+/*******************************************************************/
+#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
+
+#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
+#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
+
+#ifdef RASPBERRY_PI
+#include "rpiConfig.h"
+#elif defined(XIPHOS_Q7S)
+#include "q7sConfig.h"
+#endif
+
+#ifdef __cplusplus
+
+#include "objects/systemObjectList.h"
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
+#endif
+
+#endif /* FSFWCONFIG_OBSWCONFIG_H_ */

bsp_hosted/bsp_hosted.mk

@@ -1,11 +0,0 @@
-# add main and others
-CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
-CSRC += $(wildcard $(CURRENTPATH)/*.c)
-
-CSRC += $(wildcard $(CURRENTPATH)/boardconfig/*.c)
-
-CXXSRC += $(wildcard $(CURRENTPATH)/comIF/*.cpp)
-CSRC += $(wildcard $(CURRENTPATH)/comIF/*.c)
-
-INCLUDES += $(CURRENTPATH)/boardconfig
-INCLUDES += $(CURRENTPATH)/fsfwconfig

bsp_linux_board/OBSWConfig.h.in

@@ -0,0 +1,122 @@
+/**
+ * @brief   This file can be used to add preprocessor define for conditional
+ *          code inclusion exclusion or various other project constants and
+ *          properties in one place.
+ */
+#ifndef FSFWCONFIG_OBSWCONFIG_H_
+#define FSFWCONFIG_OBSWCONFIG_H_
+
+#include "commonConfig.h"
+#include "OBSWVersion.h"
+     
+/*******************************************************************/
+/** All of the following flags should be enabled for mission code  */
+/*******************************************************************/
+
+#define OBSW_ENABLE_TIMERS                          1
+#define OBSW_ADD_STAR_TRACKER                       0
+#define OBSW_ADD_PLOC_SUPERVISOR                    0
+#define OBSW_ADD_PLOC_MPSOC                         0
+#define OBSW_ADD_SUN_SENSORS                        0
+#define OBSW_ADD_MGT                                0
+#define OBSW_ADD_ACS_BOARD                          0
+#define OBSW_ADD_ACS_HANDLERS                       0
+#define OBSW_ADD_GPS_0                              0
+#define OBSW_ADD_GPS_1                              0
+#define OBSW_ADD_RW                                 0
+#define OBSW_ADD_BPX_BATTERY_HANDLER                0
+#define OBSW_ADD_RTD_DEVICES                        0
+#define OBSW_ADD_PL_PCDU                            0
+#define OBSW_ADD_TMP_DEVICES                        0
+#define OBSW_ADD_RAD_SENSORS                        0
+#define OBSW_ADD_SYRLINKS                           0
+#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
+
+// This is a really tricky switch.. It initializes the PCDU switches to their default states
+// at powerup. I think it would be better
+// to leave it off for now. It makes testing a lot more difficult and it might mess with
+// something the operators might want to do by giving the software too much intelligence
+// at the wrong place. The system component might command all the Switches accordingly anyway
+#define OBSW_INITIALIZE_SWITCHES                    0
+#define OBSW_ENABLE_PERIODIC_HK                     0
+
+/*******************************************************************/
+/** All of the following flags should be disabled for mission code */
+/*******************************************************************/
+
+// Can be used to switch device to NORMAL mode immediately
+#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
+#define OBSW_PRINT_MISSED_DEADLINES                 1
+
+#define OBSW_SYRLINKS_SIMULATED                     1
+#define OBSW_ADD_TEST_CODE                          0
+#define OBSW_ADD_TEST_TASK                          0
+#define OBSW_ADD_TEST_PST                           0
+// If this is enabled, all other SPI code should be disabled
+#define OBSW_ADD_SPI_TEST_CODE                      0
+// If this is enabled, all other I2C code should be disabled
+#define OBSW_ADD_I2C_TEST_CODE                      0
+#define OBSW_ADD_UART_TEST_CODE                     0
+
+#define OBSW_TEST_ACS                               0
+#define OBSW_DEBUG_ACS                              0
+#define OBSW_TEST_SUS                               0
+#define OBSW_DEBUG_SUS                              0
+#define OBSW_TEST_RTD                               0
+#define OBSW_DEBUG_RTD                              0
+#define OBSW_TEST_RAD_SENSOR                        0
+#define OBSW_DEBUG_RAD_SENSOR                       0
+#define OBSW_TEST_PL_PCDU                           0
+#define OBSW_DEBUG_PL_PCDU                          0
+#define OBSW_TEST_BPX_BATT                          0
+#define OBSW_DEBUG_BPX_BATT                         0
+#define OBSW_TEST_IMTQ                              0
+#define OBSW_DEBUG_IMTQ                             0
+#define OBSW_TEST_RW                                0
+#define OBSW_DEBUG_RW                               0
+
+#define OBSW_TEST_LIBGPIOD                          0
+#define OBSW_TEST_PLOC_HANDLER                      0
+#define OBSW_TEST_CCSDS_BRIDGE                      0
+#define OBSW_TEST_CCSDS_PTME                        0
+#define OBSW_TEST_TE7020_HEATER                     0
+#define OBSW_TEST_GPIO_OPEN_BY_LABEL                0
+#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME            0
+#define OBSW_DEBUG_P60DOCK                          0
+
+#define OBSW_PRINT_CORE_HK                          0
+#define OBSW_DEBUG_PDU1                             0
+#define OBSW_DEBUG_PDU2                             0
+#define OBSW_DEBUG_GPS                              0
+#define OBSW_DEBUG_ACU                              0
+#define OBSW_DEBUG_SYRLINKS                         0
+
+#define OBSW_DEBUG_PDEC_HANDLER                     0
+#define OBSW_DEBUG_PLOC_SUPERVISOR                  0
+#define OBSW_DEBUG_PLOC_MPSOC                       0
+#define OBSW_DEBUG_STARTRACKER                      0
+#define OBSW_TCP_SERVER_WIRETAPPING                 0
+
+/*******************************************************************/
+/** CMake Defines                                                  */
+/*******************************************************************/
+#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
+
+#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
+#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
+
+#ifdef RASPBERRY_PI
+#include "rpiConfig.h"
+#elif defined(XIPHOS_Q7S)
+#include "q7sConfig.h"
+#endif
+
+#ifdef __cplusplus
+
+#include "objects/systemObjectList.h"
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
+#endif
+
+#endif /* FSFWCONFIG_OBSWCONFIG_H_ */

bsp_q7s/CMakeLists.txt

@@ -13,6 +13,7 @@ add_subdirectory(simple)
 
 target_sources(${OBSW_NAME} PUBLIC
 	main.cpp
+    obsw.cpp
 )
 
 add_subdirectory(boardtest)
@@ -20,6 +21,13 @@ add_subdirectory(boardtest)
 add_subdirectory(boardconfig)
 add_subdirectory(comIF)
 add_subdirectory(core)
+
+if(EIVE_Q7S_EM)
+    add_subdirectory(em)
+else()
+    add_subdirectory(fm)
+endif()
+
 add_subdirectory(memory)
 add_subdirectory(callbacks)
 add_subdirectory(xadc)

bsp_q7s/OBSWConfig.h.in

@@ -0,0 +1,126 @@
+/**
+ * @brief   This file can be used to add preprocessor define for conditional
+ *          code inclusion exclusion or various other project constants and
+ *          properties in one place.
+ */
+#ifndef FSFWCONFIG_OBSWCONFIG_H_
+#define FSFWCONFIG_OBSWCONFIG_H_
+
+#include "commonConfig.h"
+#include "q7sConfig.h"
+#include "OBSWVersion.h"
+
+/*******************************************************************/
+/** All of the following flags should be enabled for mission code  */
+/*******************************************************************/
+
+#define OBSW_USE_CCSDS_IP_CORE                      1
+// Set to 1 if all telemetry should be sent to the PTME IP Core
+#define OBSW_TM_TO_PTME                             0
+// Set to 1 if telecommands are received via the PDEC IP Core
+#define OBSW_TC_FROM_PDEC                           0
+
+#define OBSW_ENABLE_TIMERS                          1
+#define OBSW_ADD_GOMSPACE_PCDU                      @OBSW_ADD_GOMSPACE_PCDU@
+#define OBSW_ADD_MGT                                @OBSW_ADD_MGT@
+#define OBSW_ADD_BPX_BATTERY_HANDLER                @OBSW_ADD_BPX_BATTERY_HANDLER@
+#define OBSW_ADD_STAR_TRACKER                       @OBSW_ADD_STAR_TRACKER@
+#define OBSW_ADD_PLOC_SUPERVISOR                    0
+#define OBSW_ADD_PLOC_MPSOC                         0
+#define OBSW_ADD_SUN_SENSORS                        @OBSW_ADD_SUN_SENSORS@
+#define OBSW_ADD_SUS_BOARD_ASS                      @OBSW_ADD_SUS_BOARD_ASS@
+#define OBSW_ADD_ACS_BOARD                          @OBSW_ADD_ACS_BOARD@
+#define OBSW_ADD_ACS_HANDLERS                       @OBSW_ADD_ACS_HANDLERS@
+#define OBSW_ADD_RW                                 0
+#define OBSW_ADD_RTD_DEVICES                        @OBSW_ADD_RTD_DEVICES@
+#define OBSW_ADD_TMP_DEVICES                        @OBSW_ADD_TMP_DEVICES@
+#define OBSW_ADD_RAD_SENSORS                        @OBSW_ADD_RAD_SENSORS@
+#define OBSW_ADD_PL_PCDU                            @OBSW_ADD_PL_PCDU@
+#define OBSW_ADD_SYRLINKS                           @OBSW_ADD_SYRLINKS@
+#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
+
+// This is a really tricky switch.. It initializes the PCDU switches to their default states
+// at powerup. I think it would be better
+// to leave it off for now. It makes testing a lot more difficult and it might mess with
+// something the operators might want to do by giving the software too much intelligence
+// at the wrong place. The system component might command all the Switches accordingly anyway
+#define OBSW_INITIALIZE_SWITCHES                    0
+#define OBSW_ENABLE_PERIODIC_HK                     0
+
+/*******************************************************************/
+/** All of the following flags should be disabled for mission code */
+/*******************************************************************/
+
+// Can be used to switch device to NORMAL mode immediately
+#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
+#define OBSW_PRINT_MISSED_DEADLINES                 1
+
+#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
+#define OBSW_SYRLINKS_SIMULATED                     1
+#define OBSW_ADD_TEST_CODE                          0
+#define OBSW_ADD_TEST_TASK                          0
+#define OBSW_ADD_TEST_PST                           0
+// If this is enabled, all other SPI code should be disabled
+#define OBSW_ADD_SPI_TEST_CODE                      0
+// If this is enabled, all other I2C code should be disabled
+#define OBSW_ADD_I2C_TEST_CODE                      0
+#define OBSW_ADD_UART_TEST_CODE                     0
+
+#define OBSW_TEST_ACS                               0
+#define OBSW_DEBUG_ACS                              0
+#define OBSW_TEST_SUS                               0
+#define OBSW_DEBUG_SUS                              0
+#define OBSW_TEST_RTD                               0
+#define OBSW_DEBUG_RTD                              0
+#define OBSW_TEST_RAD_SENSOR                        0
+#define OBSW_DEBUG_RAD_SENSOR                       0
+#define OBSW_TEST_PL_PCDU                           0
+#define OBSW_DEBUG_PL_PCDU                          0
+#define OBSW_TEST_BPX_BATT                          0
+#define OBSW_DEBUG_BPX_BATT                         0
+#define OBSW_TEST_IMTQ                              0
+#define OBSW_DEBUG_IMTQ                             0
+#define OBSW_TEST_RW                                0
+#define OBSW_DEBUG_RW                               0
+
+#define OBSW_TEST_LIBGPIOD                          0
+#define OBSW_TEST_PLOC_HANDLER                      0
+#define OBSW_TEST_CCSDS_BRIDGE                      0
+#define OBSW_TEST_CCSDS_PTME                        0
+#define OBSW_TEST_TE7020_HEATER                     0
+#define OBSW_TEST_GPIO_OPEN_BY_LABEL                0
+#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME            0
+#define OBSW_DEBUG_P60DOCK                          0
+
+#define OBSW_PRINT_CORE_HK                          0
+#define OBSW_DEBUG_PDU1                             0
+#define OBSW_DEBUG_PDU2                             0
+#define OBSW_DEBUG_GPS                              0
+#define OBSW_DEBUG_ACU                              0
+#define OBSW_DEBUG_SYRLINKS                         0
+
+#define OBSW_DEBUG_PDEC_HANDLER                     0
+#define OBSW_DEBUG_PLOC_SUPERVISOR                  0
+#define OBSW_DEBUG_PLOC_MPSOC                       0
+#define OBSW_DEBUG_STARTRACKER                      0
+
+#define OBSW_TCP_SERVER_WIRETAPPING                 0
+
+/*******************************************************************/
+/** CMake Defines                                                  */
+/*******************************************************************/
+#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
+
+#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
+#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
+
+
+#ifdef __cplusplus
+
+#include "objects/systemObjectList.h"
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
+#endif
+
+#endif /* FSFWCONFIG_OBSWCONFIG_H_ */

bsp_q7s/boardconfig/q7sConfig.h.in

@@ -3,6 +3,8 @@
 
 #include <cstdint>
 
+#define OBSW_Q7S_EM                                 @OBSW_Q7S_EM@
+
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/

bsp_q7s/core/CMakeLists.txt

@@ -1,8 +1,6 @@
 target_sources(${OBSW_NAME} PRIVATE
     CoreController.cpp
-    obsw.cpp
     InitMission.cpp
-    ObjectFactory.cpp
 )
 
 target_sources(${SIMPLE_OBSW_NAME} PRIVATE

bsp_q7s/core/InitMission.cpp

@@ -1,10 +1,10 @@
-#include "InitMission.h"
+#include "bsp_q7s/core/InitMission.h"
 
 #include <iostream>
 #include <vector>
 
 #include "OBSWConfig.h"
-#include "ObjectFactory.h"
+#include "bsp_q7s/core/ObjectFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/platform.h"
@@ -294,6 +294,7 @@ void initmission::createPstTasks(TaskFactory& factory,
   }
 #endif
 
+#if OBSW_ADD_GOMSPACE_PCDU == 1
   FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
       "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
   result = pst::pstGompaceCan(gomSpacePstTask);
@@ -303,6 +304,7 @@ void initmission::createPstTasks(TaskFactory& factory,
     }
   }
   taskVec.push_back(gomSpacePstTask);
+#endif
 }
 
 void initmission::createPusTasks(TaskFactory& factory,

bsp_q7s/core/ParameterHandler.cpp

@@ -1,5 +0,0 @@
-#include "ParameterHandler.h"
-
-ParameterHandler::ParameterHandler(std::string mountPrefix) : mountPrefix(mountPrefix) {}
-
-void ParameterHandler::setMountPrefix(std::string prefix) { mountPrefix = prefix; }

bsp_q7s/core/ParameterHandler.h

@@ -1,20 +0,0 @@
-#ifndef BSP_Q7S_CORE_PARAMETERHANDLER_H_
-#define BSP_Q7S_CORE_PARAMETERHANDLER_H_
-
-#include <nlohmann/json.hpp>
-#include <string>
-
-class ParameterHandler {
- public:
-  ParameterHandler(std::string mountPrefix);
-
-  void setMountPrefix(std::string prefix);
-
-  void setUpDummyParameter();
-
- private:
-  std::string mountPrefix;
-  DummyParameter dummyParam;
-};
-
-#endif /* BSP_Q7S_CORE_PARAMETERHANDLER_H_ */

bsp_q7s/em/CMakeLists.txt

@@ -0,0 +1,7 @@
+target_sources(${OBSW_NAME} PRIVATE
+    ObjectFactory.cpp
+)
+
+target_sources(${SIMPLE_OBSW_NAME} PRIVATE
+    InitMission.cpp
+)

bsp_q7s/em/ObjectFactory.cpp

@@ -1,4 +1,4 @@
-#include "ObjectFactory.h"
+#include "bsp_q7s/core/ObjectFactory.h"
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"

bsp_q7s/fm/CMakeLists.txt

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

bsp_q7s/fm/ObjectFactory.cpp

@@ -0,0 +1,980 @@
+#include "bsp_q7s/core/ObjectFactory.h"
+
+#include "OBSWConfig.h"
+#include "bsp_q7s/boardtest/Q7STestTask.h"
+#include "bsp_q7s/callbacks/gnssCallback.h"
+#include "bsp_q7s/callbacks/pcduSwitchCb.h"
+#include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
+#include "bsp_q7s/callbacks/rwSpiCallback.h"
+#include "bsp_q7s/core/CoreController.h"
+#include "bsp_q7s/memory/FileSystemHandler.h"
+#include "busConf.h"
+#include "ccsdsConfig.h"
+#include "devConf.h"
+#include "devices/addresses.h"
+#include "devices/gpioIds.h"
+#include "devices/powerSwitcherList.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "linux/ObjectFactory.h"
+#include "linux/boardtest/I2cTestClass.h"
+#include "linux/boardtest/SpiTestClass.h"
+#include "linux/boardtest/UartTestClass.h"
+#include "linux/callbacks/gpioCallbacks.h"
+#include "linux/csp/CspComIF.h"
+#include "linux/csp/CspCookie.h"
+#include "linux/devices/GPSHyperionLinuxController.h"
+#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
+#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
+#include "linux/devices/ploc/PlocMPSoCHandler.h"
+#include "linux/devices/ploc/PlocMPSoCHelper.h"
+#include "linux/devices/ploc/PlocMemoryDumper.h"
+#include "linux/devices/ploc/PlocSupervisorHandler.h"
+#include "linux/devices/ploc/PlocUpdater.h"
+#include "linux/devices/startracker/StarTrackerHandler.h"
+#include "linux/devices/startracker/StrHelper.h"
+#include "linux/obc/AxiPtmeConfig.h"
+#include "linux/obc/PapbVcInterface.h"
+#include "linux/obc/PdecHandler.h"
+#include "linux/obc/Ptme.h"
+#include "linux/obc/PtmeConfig.h"
+#include "mission/system/AcsBoardFdir.h"
+#include "mission/system/RtdFdir.h"
+#include "mission/system/SusAssembly.h"
+#include "mission/system/SusFdir.h"
+#include "mission/system/TcsBoardAssembly.h"
+#include "tmtc/apid.h"
+#include "tmtc/pusIds.h"
+
+#if OBSW_TEST_LIBGPIOD == 1
+#include "linux/boardtest/LibgpiodTest.h"
+#endif
+
+#include <sstream>
+
+#include "fsfw/datapoollocal/LocalDataPoolManager.h"
+#include "fsfw/tmtcpacket/pus/tm.h"
+#include "fsfw/tmtcservices/CommandingServiceBase.h"
+#include "fsfw/tmtcservices/PusServiceBase.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
+#include "fsfw_hal/common/gpio/gpioDefinitions.h"
+#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
+#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
+#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
+#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
+#include "fsfw_hal/linux/i2c/I2cComIF.h"
+#include "fsfw_hal/linux/i2c/I2cCookie.h"
+#include "fsfw_hal/linux/spi/SpiComIF.h"
+#include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "fsfw_hal/linux/uart/UartComIF.h"
+#include "fsfw_hal/linux/uart/UartCookie.h"
+#include "mission/core/GenericFactory.h"
+#include "mission/devices/ACUHandler.h"
+#include "mission/devices/BpxBatteryHandler.h"
+#include "mission/devices/GyroADIS1650XHandler.h"
+#include "mission/devices/HeaterHandler.h"
+#include "mission/devices/IMTQHandler.h"
+#include "mission/devices/Max31865PT1000Handler.h"
+#include "mission/devices/P60DockHandler.h"
+#include "mission/devices/PCDUHandler.h"
+#include "mission/devices/PDU1Handler.h"
+#include "mission/devices/PDU2Handler.h"
+#include "mission/devices/PayloadPcduHandler.h"
+#include "mission/devices/RadiationSensorHandler.h"
+#include "mission/devices/RwHandler.h"
+#include "mission/devices/SolarArrayDeploymentHandler.h"
+#include "mission/devices/SusHandler.h"
+#include "mission/devices/SyrlinksHkHandler.h"
+#include "mission/devices/Tmp1075Handler.h"
+#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
+#include "mission/devices/devicedefinitions/Max31865Definitions.h"
+#include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
+#include "mission/devices/devicedefinitions/RwDefinitions.h"
+#include "mission/devices/devicedefinitions/SusDefinitions.h"
+#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
+#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
+#include "mission/system/AcsBoardAssembly.h"
+#include "mission/tmtc/CCSDSHandler.h"
+#include "mission/tmtc/VirtualChannel.h"
+#include "mission/utility/TmFunnel.h"
+
+ResetArgs resetArgsGnss0;
+ResetArgs resetArgsGnss1;
+
+void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
+
+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;
+
+  DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
+  //  DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
+
+#if OBSW_TM_TO_PTME == 1
+  TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
+#else
+  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
+#endif /* OBSW_TM_TO_PTME == 1 */
+  // No storage object for now.
+  TmFunnel::storageDestination = objects::NO_OBJECT;
+
+  LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
+
+  VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
+  TmPacketBase::timeStamperId = objects::TIME_STAMPER;
+}
+
+void ObjectFactory::produce(void* args) {
+  ObjectFactory::setStatics();
+  ObjectFactory::produceGenericObjects();
+
+  LinuxLibgpioIF* gpioComIF = nullptr;
+  UartComIF* uartComIF = nullptr;
+  SpiComIF* spiComIF = nullptr;
+  I2cComIF* i2cComIF = nullptr;
+  PowerSwitchIF* pwrSwitcher = nullptr;
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF, &i2cComIF);
+  createTmpComponents();
+  new CoreController(objects::CORE_CONTROLLER);
+
+  gpioCallbacks::disableAllDecoder(gpioComIF);
+  createPcduComponents(gpioComIF, &pwrSwitcher);
+  createRadSensorComponent(gpioComIF);
+  createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
+
+#if OBSW_ADD_ACS_BOARD == 1
+  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
+#endif
+
+  createHeaterComponents();
+  createSolarArrayDeploymentComponents();
+  createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher);
+#if OBSW_ADD_SYRLINKS == 1
+  createSyrlinksComponents(pwrSwitcher);
+#endif /* OBSW_ADD_SYRLINKS == 1 */
+  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher);
+  createPayloadComponents(gpioComIF);
+
+#if OBSW_ADD_MGT == 1
+  I2cCookie* imtqI2cCookie =
+      new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
+  auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
+                                     pcdu::Switches::PDU1_CH3_MGT_5V);
+  imtqHandler->setPowerSwitcher(pwrSwitcher);
+  static_cast<void>(imtqHandler);
+#if OBSW_TEST_IMTQ == 1
+  imtqHandler->setStartUpImmediately();
+  imtqHandler->setToGoToNormal(true);
+#endif
+#if OBSW_DEBUG_IMTQ == 1
+  imtqHandler->setDebugMode(true);
+#endif
+#endif
+  createReactionWheelComponents(gpioComIF);
+
+#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
+  I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV);
+  BpxBatteryHandler* bpxHandler =
+      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);
+
+#if OBSW_ADD_STAR_TRACKER == 1
+  UartCookie* starTrackerCookie =
+      new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
+                     startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
+  starTrackerCookie->setNoFixedSizeReply();
+  StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
+  auto starTracker =
+      new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
+                             strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
+  starTracker->setPowerSwitcher(pwrSwitcher);
+
+#endif /* OBSW_ADD_STAR_TRACKER == 1 */
+
+#if OBSW_USE_CCSDS_IP_CORE == 1
+  createCcsdsComponents(gpioComIF);
+#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
+
+  /* Test Task */
+#if OBSW_ADD_TEST_CODE == 1
+  createTestComponents(gpioComIF);
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+
+  new PlocUpdater(objects::PLOC_UPDATER);
+  new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
+}
+
+void ObjectFactory::createTmpComponents() {
+  I2cCookie* i2cCookieTmp1075tcs1 =
+      new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
+  I2cCookie* i2cCookieTmp1075tcs2 =
+      new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
+
+  /* Temperature sensors */
+  Tmp1075Handler* tmp1075Handler_1 =
+      new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
+  (void)tmp1075Handler_1;
+  Tmp1075Handler* tmp1075Handler_2 =
+      new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
+  (void)tmp1075Handler_2;
+}
+
+void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
+                                                  SpiComIF** spiComIF, I2cComIF** i2cComIF) {
+  if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
+    sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
+               << std::endl;
+  }
+  *gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
+
+  /* Communication interfaces */
+  new CspComIF(objects::CSP_COM_IF);
+  *i2cComIF = new I2cComIF(objects::I2C_COM_IF);
+  *uartComIF = new UartComIF(objects::UART_COM_IF);
+  *spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
+
+  /* Adding gpios for chip select decoding to the gpioComIf */
+  q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF);
+}
+
+void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
+  CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
+  CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
+  CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
+  CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
+  /* Device Handler */
+  P60DockHandler* p60dockhandler =
+      new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie);
+  PDU1Handler* pdu1handler =
+      new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie);
+  PDU2Handler* pdu2handler =
+      new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
+  ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
+  auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
+
+  /**
+   * Setting PCDU devices to mode normal immediately after start up because PCDU is always
+   * running.
+   */
+  p60dockhandler->setModeNormal();
+  pdu1handler->setModeNormal();
+  pdu2handler->setModeNormal();
+  acuhandler->setModeNormal();
+  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) {
+  using namespace gpio;
+  GpioCookie* gpioCookieRadSensor = new GpioCookie;
+  std::stringstream consumer;
+  consumer << "0x" << std::hex << objects::RAD_SENSOR;
+  GpiodRegularByLineName* gpio = new GpiodRegularByLineName(
+      q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), Direction::OUT, Levels::HIGH);
+  gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio);
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_RADFET, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
+  gpioComIF->addGpios(gpioCookieRadSensor);
+
+  SpiCookie* spiCookieRadSensor = new SpiCookie(
+      addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string(q7s::SPI_DEFAULT_DEV),
+      RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
+  auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF,
+                                              spiCookieRadSensor, gpioComIF);
+  static_cast<void>(radSensor);
+  // The radiation sensor ADC is powered by the 5V stack connector which should always be on
+  radSensor->setStartUpImmediately();
+  // It's a simple sensor, so just to to normal mode immediately
+  radSensor->setToGoToNormalModeImmediately();
+#if OBSW_DEBUG_RAD_SENSOR == 1
+  radSensor->enablePeriodicDataPrint(true);
+#endif
+}
+
+void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
+                                             PowerSwitchIF* pwrSwitcher) {
+  using namespace gpio;
+  GpioCookie* gpioCookieAcsBoard = new GpioCookie();
+
+  std::stringstream consumer;
+  GpiodRegularByLineName* gpio = nullptr;
+  consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), Direction::OUT,
+                                    Levels::HIGH);
+  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GYRO_1_L3G_HANDLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), Direction::OUT,
+                                    Levels::HIGH);
+  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), Direction::OUT,
+                                    Levels::HIGH);
+  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GYRO_3_L3G_HANDLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), Direction::OUT,
+                                    Levels::HIGH);
+  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::MGM_0_LIS3_HANDLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), Direction::OUT,
+                                    Levels::HIGH);
+  gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::MGM_1_RM3100_HANDLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), Direction::OUT,
+                                    Levels::HIGH);
+  gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(), Direction::OUT,
+                                    Levels::HIGH);
+  gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::MGM_3_RM3100_HANDLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), Direction::OUT,
+                                    Levels::HIGH);
+  gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
+  // GNSS reset pins are active low
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), Direction::OUT,
+                                    Levels::HIGH);
+  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), Direction::OUT,
+                                    Levels::HIGH);
+  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
+  // Enable pins must be pulled low for regular operations
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
+
+  // Enable pins for GNSS
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_ENABLE, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_1_ENABLE, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio);
+
+  // Select pin. 0 for GPS side A, 1 for GPS side B
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
+  gpioComIF->addGpios(gpioCookieAcsBoard);
+  AcsBoardFdir* fdir = nullptr;
+  static_cast<void>(fdir);
+
+#if OBSW_ADD_ACS_HANDLERS == 1
+  std::string spiDev = q7s::SPI_DEFAULT_DEV;
+  SpiCookie* 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 = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
+                                              spiCookie, spi::LIS3_TRANSITION_DELAY);
+  fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
+  mgmLis3Handler->setCustomFdir(fdir);
+  static_cast<void>(mgmLis3Handler);
+#if OBSW_TEST_ACS == 1
+  mgmLis3Handler->setStartUpImmediately();
+  mgmLis3Handler->setToGoToNormalMode(true);
+#endif
+#if OBSW_DEBUG_ACS == 1
+  mgmLis3Handler->enablePeriodicPrintouts(true, 10);
+#endif
+
+  spiCookie =
+      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
+                    RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+  auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
+                                               spiCookie, spi::RM3100_TRANSITION_DELAY);
+  fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
+  mgmRm3100Handler->setCustomFdir(fdir);
+  mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
+  static_cast<void>(mgmRm3100Handler);
+#if OBSW_TEST_ACS == 1
+  mgmRm3100Handler->setStartUpImmediately();
+  mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
+#if OBSW_DEBUG_ACS == 1
+  mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
+#endif
+
+  spiCookie =
+      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
+                    MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+  mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
+                                         spiCookie, spi::LIS3_TRANSITION_DELAY);
+  fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
+  mgmLis3Handler->setCustomFdir(fdir);
+  mgmLis3Handler->setParent(objects::ACS_BOARD_ASS);
+  static_cast<void>(mgmLis3Handler);
+#if OBSW_TEST_ACS == 1
+  mgmLis3Handler->setStartUpImmediately();
+  mgmLis3Handler->setToGoToNormalMode(true);
+#endif
+#if OBSW_DEBUG_ACS == 1
+  mgmLis3Handler->enablePeriodicPrintouts(true, 10);
+#endif
+  spiCookie =
+      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
+                    RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+  mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
+                                          spiCookie, spi::RM3100_TRANSITION_DELAY);
+  fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
+  mgmRm3100Handler->setCustomFdir(fdir);
+  mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
+#if OBSW_TEST_ACS == 1
+  mgmRm3100Handler->setStartUpImmediately();
+  mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
+#if OBSW_DEBUG_ACS == 1
+  mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
+#endif
+
+  // Commented until ACS board V2 in in clean room again
+  // Gyro 0 Side A
+  spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
+                            ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
+                            spi::DEFAULT_ADIS16507_SPEED);
+  auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
+                                              spiCookie, ADIS1650X::Type::ADIS16505);
+  fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
+  adisHandler->setCustomFdir(fdir);
+  adisHandler->setParent(objects::ACS_BOARD_ASS);
+  static_cast<void>(adisHandler);
+#if OBSW_TEST_ACS == 1
+  adisHandler->setStartUpImmediately();
+  adisHandler->setToGoToNormalModeImmediately();
+#endif
+#if OBSW_DEBUG_ACS == 1
+  adisHandler->enablePeriodicPrintouts(true, 10);
+#endif
+
+  // Gyro 1 Side A
+  spiCookie =
+      new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
+                                               spiCookie, spi::L3G_TRANSITION_DELAY);
+  fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
+  gyroL3gHandler->setCustomFdir(fdir);
+  gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
+  static_cast<void>(gyroL3gHandler);
+#if OBSW_TEST_ACS == 1
+  gyroL3gHandler->setStartUpImmediately();
+  gyroL3gHandler->setToGoToNormalMode(true);
+#endif
+#if OBSW_DEBUG_ACS == 1
+  gyroL3gHandler->enablePeriodicPrintouts(true, 10);
+#endif
+
+  // Gyro 2 Side B
+  spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
+                            ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
+                            spi::DEFAULT_ADIS16507_SPEED);
+  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
+                                         spiCookie, ADIS1650X::Type::ADIS16505);
+  fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
+  adisHandler->setCustomFdir(fdir);
+  adisHandler->setParent(objects::ACS_BOARD_ASS);
+#if OBSW_TEST_ACS == 1
+  adisHandler->setStartUpImmediately();
+  adisHandler->setToGoToNormalModeImmediately();
+#endif
+  // Gyro 3 Side B
+  spiCookie =
+      new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
+                                          spiCookie, spi::L3G_TRANSITION_DELAY);
+  fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
+  gyroL3gHandler->setCustomFdir(fdir);
+  gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
+#if OBSW_TEST_ACS == 1
+  gyroL3gHandler->setStartUpImmediately();
+  gyroL3gHandler->setToGoToNormalMode(true);
+#endif
+#if OBSW_DEBUG_ACS == 1
+  gyroL3gHandler->enablePeriodicPrintouts(true, 10);
+#endif
+
+  bool debugGps = false;
+#if OBSW_DEBUG_GPS == 1
+  debugGps = true;
+#endif
+  resetArgsGnss1.gnss1 = true;
+  resetArgsGnss1.gpioComIF = gpioComIF;
+  resetArgsGnss1.waitPeriodMs = 100;
+  resetArgsGnss0.gnss1 = false;
+  resetArgsGnss0.gpioComIF = gpioComIF;
+  resetArgsGnss0.waitPeriodMs = 100;
+  auto gpsHandler0 =
+      new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
+  gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
+
+  AcsBoardHelper acsBoardHelper = AcsBoardHelper(
+      objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
+      objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
+      objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
+  auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
+                                     acsBoardHelper, gpioComIF);
+  static_cast<void>(acsAss);
+#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
+}
+
+void ObjectFactory::createHeaterComponents() {
+  using namespace gpio;
+  GpioCookie* heaterGpiosCookie = new GpioCookie;
+  GpiodRegularByLineName* gpio = nullptr;
+
+  std::stringstream consumer;
+  consumer << "0x" << std::hex << objects::HEATER_HANDLER;
+  /* Pin H2-11 on stack connector */
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_0, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpio);
+  /* Pin H2-12 on stack connector */
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_1, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpio);
+
+  /* Pin H2-13 on stack connector */
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_2, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpio);
+
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_3, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpio);
+
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_4, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpio);
+
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_5, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpio);
+
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_6, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpio);
+
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_7, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
+
+  new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
+                    objects::PCDU_HANDLER, pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
+}
+
+void ObjectFactory::createSolarArrayDeploymentComponents() {
+  using namespace gpio;
+  GpioCookie* solarArrayDeplCookie = new GpioCookie;
+  GpiodRegularByLineName* gpio = nullptr;
+
+  std::stringstream consumer;
+  consumer << "0x" << std::hex << objects::SOLAR_ARRAY_DEPL_HANDLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_0, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpio);
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio);
+
+  // TODO: Find out burn time. For now set to 1000 ms.
+  new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
+                                  solarArrayDeplCookie, objects::PCDU_HANDLER,
+                                  pcdu::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
+                                  gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
+}
+
+void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
+  UartCookie* syrlinksUartCookie =
+      new UartCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
+                     syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+  syrlinksUartCookie->setParityEven();
+
+  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) {
+  using namespace gpio;
+  std::stringstream consumer;
+#if OBSW_ADD_PLOC_MPSOC == 1
+  consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
+  auto gpioConfigMPSoC = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_MPSOC_UART,
+                                                    consumer.str(), Direction::OUT, Levels::HIGH);
+  auto mpsocGpioCookie = new GpioCookie;
+  mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
+  gpioComIF->addGpios(mpsocGpioCookie);
+  auto mpsocCookie =
+      new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
+                     mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+  mpsocCookie->setNoFixedSizeReply();
+  auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
+  new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
+                       plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
+                       objects::PLOC_SUPERVISOR_HANDLER);
+#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
+
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER;
+  auto gpioConfigSupv = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_SUPV_UART, consumer.str(),
+                                                   Direction::OUT, Levels::HIGH);
+  auto supvGpioCookie = new GpioCookie;
+  supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
+  gpioComIF->addGpios(supvGpioCookie);
+  auto supervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
+                                         q7s::UART_PLOC_SUPERVSIOR_DEV, uart::PLOC_SUPERVISOR_BAUD,
+                                         supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
+  supervisorCookie->setNoFixedSizeReply();
+  new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
+                            supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
+                            pcdu::PDU1_CH6_PLOC_12V);
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
+  static_cast<void>(consumer);
+}
+
+void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
+  using namespace gpio;
+  GpioCookie* gpioCookieRw = new GpioCookie;
+  GpioCallback* csRw1 =
+      new GpioCallback("Chip select reaction wheel 1", Direction::OUT, Levels::HIGH,
+                       &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
+  GpioCallback* csRw2 =
+      new GpioCallback("Chip select reaction wheel 2", Direction::OUT, Levels::HIGH,
+                       &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
+  GpioCallback* csRw3 =
+      new GpioCallback("Chip select reaction wheel 3", Direction::OUT, Levels::HIGH,
+                       &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
+  GpioCallback* csRw4 =
+      new GpioCallback("Chip select reaction wheel 4", Direction::OUT, Levels::HIGH,
+                       &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
+
+  std::stringstream consumer;
+  GpiodRegularByLineName* gpio = nullptr;
+  consumer << "0x" << std::hex << objects::RW1;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookieRw->addGpio(gpioIds::EN_RW1, gpio);
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::RW2;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookieRw->addGpio(gpioIds::EN_RW2, gpio);
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::RW3;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookieRw->addGpio(gpioIds::EN_RW3, gpio);
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::RW4;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
+
+  gpioComIF->addGpios(gpioCookieRw);
+
+#if OBSW_ADD_RW == 1
+  auto rw1SpiCookie =
+      new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
+                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
+  auto rw2SpiCookie =
+      new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
+                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
+  auto rw3SpiCookie =
+      new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
+                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
+  auto rw4SpiCookie =
+      new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
+                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
+
+  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
+
+  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
+
+  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
+
+  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
+
+#endif /* OBSW_ADD_RW == 1 */
+}
+
+void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
+  using namespace gpio;
+  // GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
+  GpioCookie* gpioCookiePtmeIp = new GpioCookie;
+  GpiodRegularByLineName* gpio = nullptr;
+  std::stringstream consumer;
+  consumer.str("PAPB VC0");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str());
+  gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
+  consumer.str("PAPB VC0");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str());
+  gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
+  consumer.str("PAPB VC 1");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str());
+  gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
+  consumer.str("");
+  consumer.str("PAPB VC 1");
+  gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
+  consumer.str("");
+  consumer.str("PAPB VC 2");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str());
+  gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
+  consumer.str("");
+  consumer.str("PAPB VC 2");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str());
+  gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
+  consumer.str("");
+  consumer.str("PAPB VC 3");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str());
+  gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
+  consumer.str("");
+  consumer.str("PAPB VC 3");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
+  gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
+
+  gpioComIF->addGpios(gpioCookiePtmeIp);
+
+  // Creating virtual channel interfaces
+  VcInterfaceIF* vc0 =
+      new PapbVcInterface(gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
+                          q7s::uiomapids::PTME_VC0);
+  VcInterfaceIF* vc1 =
+      new PapbVcInterface(gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME,
+                          q7s::uiomapids::PTME_VC1);
+  VcInterfaceIF* vc2 =
+      new PapbVcInterface(gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME,
+                          q7s::uiomapids::PTME_VC2);
+  VcInterfaceIF* vc3 =
+      new PapbVcInterface(gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME,
+                          q7s::uiomapids::PTME_VC3);
+
+  // Creating ptme object and adding virtual channel interfaces
+  Ptme* ptme = new Ptme(objects::PTME);
+  ptme->addVcInterface(ccsds::VC0, vc0);
+  ptme->addVcInterface(ccsds::VC1, vc1);
+  ptme->addVcInterface(ccsds::VC2, vc2);
+  ptme->addVcInterface(ccsds::VC3, vc3);
+
+  AxiPtmeConfig* axiPtmeConfig =
+      new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
+  PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
+#if OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT == 1
+  // Set to high value when not sending via syrlinks
+  static const uint32_t TRANSMITTER_TIMEOUT = 86400000;  // 1 day
+#else
+  static const uint32_t TRANSMITTER_TIMEOUT = 900000;  // 15 minutes
+#endif
+  CCSDSHandler* ccsdsHandler = new CCSDSHandler(
+      objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
+      gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA, TRANSMITTER_TIMEOUT);
+
+  VirtualChannel* vc = nullptr;
+  vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
+  ccsdsHandler->addVirtualChannel(ccsds::VC0, vc);
+  vc = new VirtualChannel(ccsds::VC1, common::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
+  ccsdsHandler->addVirtualChannel(ccsds::VC1, vc);
+  vc = new VirtualChannel(ccsds::VC2, common::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
+  ccsdsHandler->addVirtualChannel(ccsds::VC2, vc);
+  vc = new VirtualChannel(ccsds::VC3, common::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
+  ccsdsHandler->addVirtualChannel(ccsds::VC3, vc);
+
+  GpioCookie* gpioCookiePdec = new GpioCookie;
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::PDEC_HANDLER;
+  // GPIO also low after linux boot (specified by device-tree)
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
+
+  gpioComIF->addGpios(gpioCookiePdec);
+
+  new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
+                  q7s::UIO_PDEC_CONFIG_MEMORY, q7s::UIO_PDEC_RAM, q7s::UIO_PDEC_REGISTERS);
+
+  GpioCookie* gpioRS485Chip = new GpioCookie;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
+                                    Direction::OUT, Levels::LOW);
+  gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_CLOCK, gpio);
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_DATA, "RS485 Transceiver",
+                                    Direction::OUT, Levels::LOW);
+  gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_DATA, gpio);
+
+  // Default configuration enables RX channels (RXEN = LOW)
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_CLOCK, "RS485 Transceiver",
+                                    Direction::OUT, Levels::LOW);
+  gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_CLOCK, gpio);
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_DATA, "RS485 Transceiver",
+                                    Direction::OUT, Levels::LOW);
+  gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
+
+  gpioComIF->addGpios(gpioRS485Chip);
+}
+
+void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
+                                           PowerSwitchIF* pwrSwitcher) {
+  using namespace gpio;
+  // Create all GPIO components first
+  GpioCookie* plPcduGpios = new GpioCookie;
+  GpiodRegularByLineName* gpio = nullptr;
+  std::string consumer;
+  // Switch pins are active high
+  consumer = "PLPCDU_ENB_VBAT_0";
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_VBAT0, consumer, Direction::OUT,
+                                    gpio::Levels::LOW);
+  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_VBAT0, gpio);
+  consumer = "PLPCDU_ENB_VBAT_1";
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_VBAT1, consumer, Direction::OUT,
+                                    gpio::Levels::LOW);
+  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_VBAT1, gpio);
+  consumer = "PLPCDU_ENB_DRO";
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_DRO, consumer, Direction::OUT,
+                                    gpio::Levels::LOW);
+  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_DRO, gpio);
+  consumer = "PLPCDU_ENB_X8";
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_X8, consumer, Direction::OUT,
+                                    gpio::Levels::LOW);
+  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_X8, gpio);
+  consumer = "PLPCDU_ENB_TX";
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_TX, consumer, Direction::OUT,
+                                    gpio::Levels::LOW);
+  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_TX, gpio);
+  consumer = "PLPCDU_ENB_MPA";
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_MPA, consumer, Direction::OUT,
+                                    gpio::Levels::LOW);
+  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_MPA, gpio);
+  consumer = "PLPCDU_ENB_HPA";
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_HPA, consumer, Direction::OUT,
+                                    gpio::Levels::LOW);
+  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_HPA, gpio);
+
+  // Chip select pin is active low
+  consumer = "PLPCDU_ADC_CS";
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ADC_CS, consumer, Direction::OUT,
+                                    gpio::Levels::HIGH);
+  plPcduGpios->addGpio(gpioIds::PLPCDU_ADC_CS, gpio);
+  gpioComIF->addGpios(plPcduGpios);
+  SpiCookie* spiCookie = new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS,
+                                       q7s::SPI_DEFAULT_DEV, plpcdu::MAX_ADC_REPLY_SIZE,
+                                       spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
+  // Create device handler components
+  auto plPcduHandler = new PayloadPcduHandler(
+      objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie, gpioComIF, SdCardManager::instance(),
+      pwrSwitcher, pcdu::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
+      pcdu::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8, false);
+  spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
+//  plPcduHandler->enablePeriodicPrintout(true, 5);
+//  static_cast<void>(plPcduHandler);
+#if OBSW_TEST_PL_PCDU == 1
+  plPcduHandler->setStartUpImmediately();
+#endif
+#if OBSW_DEBUG_PL_PCDU == 1
+  plPcduHandler->setToGoToNormalModeImmediately(true);
+  plPcduHandler->enablePeriodicPrintout(true, 10);
+#endif
+}
+
+void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
+  new Q7STestTask(objects::TEST_TASK);
+#if OBSW_ADD_SPI_TEST_CODE == 1
+  new SpiTestClass(objects::SPI_TEST, gpioComIF);
+#endif
+#if OBSW_ADD_I2C_TEST_CODE == 1
+  new I2cTestClass(objects::I2C_TEST, q7s::I2C_DEFAULT_DEV);
+#endif
+#if OBSW_ADD_UART_TEST_CODE == 1
+  new UartTestClass(objects::UART_TEST);
+#endif
+}
+
+void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
+  CommandMessage msg;
+  ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
+                              duallane::A_SIDE);
+  ReturnValue_t result = MessageQueueSenderIF::sendMessage(acsAss->getCommandQueue(), &msg);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "Sending mode command failed" << std::endl;
+  }
+}

bsp_q7s/main.cpp

@@ -1,7 +1,7 @@
 #include "q7sConfig.h"
 
 #if Q7S_SIMPLE_MODE == 0
-#include "core/obsw.h"
+#include "obsw.h"
 #else
 #include "simple/simple.h"
 #endif

bsp_q7s/obsw.cpp

@@ -3,9 +3,9 @@
 #include <filesystem>
 #include <iostream>
 
-#include "InitMission.h"
 #include "OBSWConfig.h"
 #include "commonConfig.h"
+#include "core/InitMission.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/version.h"
 #include "watchdog/definitions.h"

bsp_te0720_1cfa/OBSWConfig.h.in

@@ -6,69 +6,19 @@
 #ifndef FSFWCONFIG_OBSWCONFIG_H_
 #define FSFWCONFIG_OBSWCONFIG_H_
 
-#cmakedefine RASPBERRY_PI
-#cmakedefine XIPHOS_Q7S
-#cmakedefine BEAGLEBONEBLACK
-#cmakedefine EGSE
-#cmakedefine TE0720_1CFA
-
 #include "commonConfig.h"
 #include "OBSWVersion.h"
     
-#define Q7S_EM                                      0
-
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/
 
-//! Timers can mess up the code when debugging
-//! All of this should be enabled for mission code!
-#if defined XIPHOS_Q7S
-
-#define Q7S_EM                                      0
-
-#define OBSW_USE_CCSDS_IP_CORE                      1
-// Set to 1 if all telemetry should be sent to the PTME IP Core
-#define OBSW_TM_TO_PTME                             0
-// Set to 1 if telecommands are received via the PDEC IP Core
-#define OBSW_TC_FROM_PDEC                           0
-
-#define OBSW_ENABLE_TIMERS                          1
-#define OBSW_ADD_MGT                                1
-#define OBSW_ADD_BPX_BATTERY_HANDLER                1
-#define OBSW_ADD_STAR_TRACKER                       @OBSW_ADD_STAR_TRACKER@
-#define OBSW_ADD_PLOC_SUPERVISOR                    0
-#define OBSW_ADD_PLOC_MPSOC                         0
-#define OBSW_ADD_SUN_SENSORS                        1
-#define OBSW_ADD_SUS_BOARD_ASS                      1
-#define OBSW_ADD_ACS_BOARD                          1
-#define OBSW_ADD_ACS_HANDLERS                       1
-#define OBSW_ADD_RW                                 0
-#define OBSW_ADD_RTD_DEVICES                        1
-#define OBSW_ADD_TMP_DEVICES                        1
-#define OBSW_ADD_RAD_SENSORS                        1
-#define OBSW_ADD_PL_PCDU                            1
-#define OBSW_ADD_SYRLINKS                           1
-#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
-#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
-
-#endif // XIPHOS_Q7S
-
-// This is a really tricky switch.. It initializes the PCDU switches to their default states
-// at powerup. I think it would be better
-// to leave it off for now. It makes testing a lot more difficult and it might mess with
-// something the operators might want to do by giving the software too much intelligence
-// at the wrong place. The system component might command all the Switches accordingly anyway
-#define OBSW_INITIALIZE_SWITCHES                    0
-#define OBSW_ENABLE_PERIODIC_HK                     0
-
-#ifdef TE0720_1CFA
-
 #define OBSW_USE_CCSDS_IP_CORE                      0
 // Set to 1 if all telemetry should be sent to the PTME IP Core
 #define OBSW_TM_TO_PTME                             0
 // Set to 1 if telecommands are received via the PDEC IP Core
 #define OBSW_TC_FROM_PDEC                           0
+
 #define OBSW_ENABLE_TIMERS                          1
 #define OBSW_ADD_MGT                                0
 #define OBSW_ADD_BPX_BATTERY_HANDLER                0
@@ -91,7 +41,13 @@
 #define OBSW_PRINT_CORE_HK                          0
 #define OBSW_INITIALIZE_SWITCHES                    0
 
-#endif
+// This is a really tricky switch.. It initializes the PCDU switches to their default states
+// at powerup. I think it would be better
+// to leave it off for now. It makes testing a lot more difficult and it might mess with
+// something the operators might want to do by giving the software too much intelligence
+// at the wrong place. The system component might command all the Switches accordingly anyway
+#define OBSW_INITIALIZE_SWITCHES                    0
+#define OBSW_ENABLE_PERIODIC_HK                     0
 
 /*******************************************************************/
 /** All of the following flags should be disabled for mission code */
@@ -146,43 +102,10 @@
 
 #define OBSW_DEBUG_PDEC_HANDLER                     0
 
-#ifdef TE0720_1CFA
 #define OBSW_DEBUG_PLOC_SUPERVISOR                  1
 #define OBSW_DEBUG_PLOC_MPSOC                       1
-#else 
-#define OBSW_DEBUG_PLOC_SUPERVISOR                  0
-#define OBSW_DEBUG_PLOC_MPSOC                       0
-#endif 
 
-#ifdef EGSE
-#define OBSW_DEBUG_STARTRACKER                      1
-#else
 #define OBSW_DEBUG_STARTRACKER                      0
-#endif
-
-#ifdef RASPBERRY_PI
-
-#define OBSW_ENABLE_TIMERS                          1
-#define OBSW_ADD_STAR_TRACKER                       0
-#define OBSW_ADD_PLOC_SUPERVISOR                    0
-#define OBSW_ADD_PLOC_MPSOC                         0
-#define OBSW_ADD_SUN_SENSORS                        0
-#define OBSW_ADD_MGT                                0
-#define OBSW_ADD_ACS_BOARD                          0
-#define OBSW_ADD_ACS_HANDLERS                       0
-#define OBSW_ADD_GPS_0                              0
-#define OBSW_ADD_GPS_1                              0
-#define OBSW_ADD_RW                                 0
-#define OBSW_ADD_BPX_BATTERY_HANDLER                0
-#define OBSW_ADD_RTD_DEVICES                        0
-#define OBSW_ADD_PL_PCDU                            0
-#define OBSW_ADD_TMP_DEVICES                        0
-#define OBSW_ADD_RAD_SENSORS                        0
-#define OBSW_ADD_SYRLINKS                           0
-#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
-
-#endif // RASPBERRY_PI
-
 #define OBSW_TCP_SERVER_WIRETAPPING                 0
 
 /*******************************************************************/
@@ -193,12 +116,6 @@
 #cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
 #cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
 
-#ifdef RASPBERRY_PI
-#include "rpiConfig.h"
-#elif defined(XIPHOS_Q7S)
-#include "q7sConfig.h"
-#endif
-
 #ifdef __cplusplus
 
 #include "objects/systemObjectList.h"

cmake/PreProjectConfig.cmake

@@ -1,3 +1,6 @@
+function(obsw_module_config)
+endfunction()
+
 function(pre_source_hw_os_config)
 
 # FreeRTOS

common/config/commonConfig.h.in

@@ -4,6 +4,12 @@
 #include <cstdint>
 #include "fsfw/version.h"
 
+#cmakedefine RASPBERRY_PI
+#cmakedefine XIPHOS_Q7S
+#cmakedefine BEAGLEBONEBLACK
+#cmakedefine EGSE
+#cmakedefine TE0720_1CFA
+
 /* These defines should be disabled for mission code but are useful for
 debugging. */
 #define OBSW_VERBOSE_LEVEL                  1

linux/fsfwconfig/FSFWConfig.h.in

@@ -76,9 +76,4 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
 #define FSFW_HAL_I2C_WIRETAPPING                0
 #define FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV   0
 
-#define FSFW_HAL_L3GD20_GYRO_DEBUG              0
-#define FSFW_HAL_RM3100_MGM_DEBUG               0
-#define FSFW_HAL_LIS3MDL_MGM_DEBUG              0
-#define FSFW_HAL_ADIS1650X_GYRO_DEBUG           0
-
 #endif /* CONFIG_FSFWCONFIG_H_ */

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -510,8 +510,6 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
 
 ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
-#ifndef TE0720_1CFA
-#if Q7S_EM != 1
   // PCDU handlers receives two messages and both must be handled
   thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
 
@@ -543,8 +541,6 @@ ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
     sif::error << "GomSpace PST initialization failed" << std::endl;
     return HasReturnvaluesIF::RETURN_FAILED;
   }
-#endif /* Q7S_EM == 0 */
-#endif
   static_cast<void>(length);
   return HasReturnvaluesIF::RETURN_OK;
 }

misc/eclipse/.cproject

@@ -589,7 +589,7 @@
 		<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689">
 			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-debug">
 				<macros>
-					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="${HOME}/Xilinx/eive-compile-rootfs"/>
+					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"/>
 					<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
 				</macros>
 				<externalSettings/>
@@ -603,7 +603,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null" parent="org.eclipse.cdt.build.core.emptycfg">
+				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689." name="/" resourcePath="">
 						<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1439714522" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1064018737" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
@@ -758,7 +758,7 @@
 		<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1939781894">
 			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1939781894" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-release">
 				<macros>
-					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_TEXT" value="${HOME}/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"/>
+					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_TEXT" value="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"/>
 					<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
 				</macros>
 				<externalSettings/>
@@ -1482,6 +1482,175 @@
 			</storageModule>
 			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
 		</cconfiguration>
+		<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561">
+			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-debug-em">
+				<macros>
+					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"/>
+					<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
+				</macros>
+				<externalSettings/>
+				<extensions>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+				</extensions>
+			</storageModule>
+			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561" name="eive-q7s-debug-em" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
+					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561." name="/" resourcePath="">
+						<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1640701365" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.564607779" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
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+								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.demangle.1993012856" name="Demangle names (--demangle|-C)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.demangle" value="true" valueType="boolean"/>
+								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.linenumbers.402738823" name="Display line numbers (--line-numbers|-l)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.linenumbers" value="true" valueType="boolean"/>
+								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.wide.646452266" name="Wide lines (--wide|-w)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.wide" value="true" valueType="boolean"/>
+							</tool>
+							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.printsize.1800220133" name="GNU Arm Cross Print Size" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.printsize">
+								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format.1281210873" name="Size format" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format"/>
+							</tool>
+						</toolChain>
+					</folderInfo>
+					<sourceEntries>
+						<entry excluding="build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+					</sourceEntries>
+				</configuration>
+			</storageModule>
+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+			<storageModule moduleId="ilg.gnumcueclipse.managedbuild.packs"/>
+		</cconfiguration>
 	</storageModule>
 	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
 		<project id="eive_obsw.null.1109622296" name="eive_obsw"/>

tmtc

@@ -1 +1 @@
-Subproject commit 76da8042a4601087e99fa856af241afe9e43695d
+Subproject commit 168b662288175f9db77a5796a02f38cb66911092