CHANGELOG.md

@@ -14,6 +14,9 @@ list yields a list of all related PRs for each release.
 
 ## Added
 
+- `RwAssembly` added to system components. Assembly works in principle,
+  issues making 4 consecutives RWs communicate at once..
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/224
 - Adds a yocto helper script which is able to install the release build binaries
   (OBSW and Watchdog) into the `q7s-yocto` repository as long as the `q7s-package`
   or `q7s-yocto` repo was cloned in the same directory the EIVE OBSW repo.

bsp_hosted/InitMission.cpp

@@ -131,6 +131,7 @@ void initmission::initTasks() {
 
   PeriodicTaskIF* testTask = factory->createPeriodicTask(
       "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  static_cast<void>(testTask);
 #if OBSW_ADD_TEST_CODE == 1
   result = testTask->addComponent(objects::TEST_TASK);
   if (result != HasReturnvaluesIF::RETURN_OK) {

bsp_q7s/CMakeLists.txt

@@ -25,7 +25,9 @@ add_subdirectory(core)
 if(EIVE_Q7S_EM)
     add_subdirectory(em)
 else()
-    add_subdirectory(fm)
+    target_sources(${OBSW_NAME} PUBLIC
+        fmObjectFactory.cpp
+    )
 endif()
 
 add_subdirectory(memory)

bsp_q7s/boardconfig/etl_profile.h

@@ -34,5 +34,6 @@ SOFTWARE.
 
 #define ETL_CPP11_SUPPORTED 1
 #define ETL_NO_NULLPTR_SUPPORT 0
+#define ETL_HAS_ERROR_ON_STRING_TRUNCATION 1
 
 #endif

bsp_q7s/callbacks/q7sGpioCallbacks.cpp

@@ -48,7 +48,7 @@ void q7s::gpioCallbacks::initSpiCsDecoder(GpioIF* gpioComIF) {
 
   result = gpioComIF->addGpios(spiMuxGpios);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
+    sif::error << "initSpiCsDecoder: Failed to add SPI MUX bit GPIOs" << std::endl;
     return;
   }
 }

bsp_q7s/callbacks/rwSpiCallback.cpp

@@ -1,5 +1,7 @@
 #include "rwSpiCallback.h"
 
+#include <fsfw/timemanager/Stopwatch.h>
+
 #include "devices/gpioIds.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw_hal/linux/UnixFileGuard.h"
@@ -8,8 +10,25 @@
 
 namespace rwSpiCallback {
 
+namespace {
+static bool MODE_SET = false;
+
+ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpioId_t gpioId,
+                      MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs,
+                      int& fd);
+/**
+ * @brief   This function closes a spi session. Pulls the chip select to high an releases the
+ *          mutex.
+ * @param gpioId    Gpio ID of chip select
+ * @param gpioIF    Pointer to gpio interface to drive the chip select
+ * @param mutex     The spi mutex
+ */
+void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
+}  // namespace
+
 ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
                           size_t sendLen, void* args) {
+  // Stopwatch watch;
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 
   RwHandler* handler = reinterpret_cast<RwHandler*>(args);
@@ -18,7 +37,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
-  uint8_t writeBuffer[2];
+  uint8_t writeBuffer[2] = {};
   uint8_t writeSize = 0;
 
   gpioId_t gpioId = cookie->getChipSelectPin();
@@ -32,37 +51,30 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   }
 
   int fileDescriptor = 0;
-  std::string device = cookie->getSpiDevice();
-  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback");
-  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
-    return SpiComIF::OPENING_FILE_FAILED;
-  }
-  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
-  uint32_t spiSpeed = 0;
-  cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
-  comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
-
-  result = mutex->lockMutex(timeoutType, timeoutMs);
+  const std::string& dev = comIf->getSpiDev();
+  result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
     return result;
   }
 
-  /** Sending frame start sign */
-  writeBuffer[0] = 0x7E;
-  writeSize = 1;
+  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+  uint32_t spiSpeed = 0;
+  cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
+  // We are in protected section, so we can use the static variable here without issues.
+  // We don't need to set the speed because a SPI core is used, but the mode has to be set once
+  // correctly for all RWs
+  if (not MODE_SET) {
+    comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+    MODE_SET = true;
+  }
 
-  // Pull SPI CS low. For now, no support for active high given
-  if (gpioId != gpio::NO_GPIO) {
-    if (gpioIF->pullLow(gpioId) != HasReturnvaluesIF::RETURN_OK) {
-      sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
-    }
-  }
+  /** Sending frame start sign */
+  writeBuffer[0] = FLAG_BYTE;
+  writeSize = 1;
 
   if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-    closeSpi(gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
     return RwHandler::SPI_WRITE_FAILURE;
   }
 
@@ -87,33 +99,39 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     }
     if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
       sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-      closeSpi(gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
       return RwHandler::SPI_WRITE_FAILURE;
     }
     idx++;
   }
 
   /** Sending frame end sign */
-  writeBuffer[0] = 0x7E;
+  writeBuffer[0] = FLAG_BYTE;
   writeSize = 1;
 
   if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-    closeSpi(gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
     return RwHandler::SPI_WRITE_FAILURE;
   }
 
   uint8_t* rxBuf = nullptr;
   result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    closeSpi(gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
     return result;
   }
 
   size_t replyBufferSize = cookie->getMaxBufferSize();
 
-  /** There must be a delay of at least 20 ms after sending the command */
+  // There must be a delay of at least 20 ms after sending the command.
+  // Delay for 70 ms here and release the SPI bus for that duration.
+  closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
   usleep(RwDefinitions::SPI_REPLY_DELAY);
+  result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
 
   /**
    * The reaction wheel responds with empty frames while preparing the reply data.
@@ -123,13 +141,13 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   for (int idx = 0; idx < 10; idx++) {
     if (read(fileDescriptor, &byteRead, 1) != 1) {
       sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-      closeSpi(gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
       return RwHandler::SPI_READ_FAILURE;
     }
     if (idx == 0) {
       if (byteRead != FLAG_BYTE) {
         sif::error << "Invalid data, expected start marker" << std::endl;
-        closeSpi(gpioId, gpioIF, mutex);
+        closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
         return RwHandler::NO_START_MARKER;
       }
     }
@@ -140,7 +158,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
     if (idx == 9) {
       sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
-      closeSpi(gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
       return RwHandler::NO_REPLY;
     }
   }
@@ -180,7 +198,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
         continue;
       } else {
         sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
-        closeSpi(gpioId, gpioIF, mutex);
+        closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
         result = RwHandler::INVALID_SUBSTITUTE;
         break;
       }
@@ -201,8 +219,9 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
         result = RwHandler::SPI_READ_FAILURE;
         break;
       }
-      if (byteRead != 0x7E) {
-        sif::error << "rwSpiCallback::spiCallback: Missing end sign 0x7E" << std::endl;
+      if (byteRead != FLAG_BYTE) {
+        sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
+                   << std::endl;
         decodedFrameLen--;
         result = RwHandler::MISSING_END_SIGN;
         break;
@@ -213,12 +232,40 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
   cookie->setTransferSize(decodedFrameLen);
 
-  closeSpi(gpioId, gpioIF, mutex);
+  closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
 
   return result;
 }
 
-void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
+namespace {
+
+ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpioId_t gpioId,
+                      MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs,
+                      int& fd) {
+  ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
+    return result;
+  }
+
+  fd = open(devname.c_str(), flags);
+  if (fd < 0) {
+    sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
+    return SpiComIF::OPENING_FILE_FAILED;
+  }
+
+  // Pull SPI CS low. For now, no support for active high given
+  if (gpioId != gpio::NO_GPIO) {
+    result = gpioIF->pullLow(gpioId);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
+      return result;
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
+  close(fd);
   if (gpioId != gpio::NO_GPIO) {
     if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
       sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
@@ -229,4 +276,7 @@ void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
     ;
   }
 }
+
+}  // namespace
+
 }  // namespace rwSpiCallback

bsp_q7s/callbacks/rwSpiCallback.h

@@ -33,14 +33,5 @@ static constexpr uint8_t FLAG_BYTE = 0x7E;
 ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
                           size_t sendLen, void* args);
 
-/**
- * @brief   This function closes a spi session. Pulls the chip select to high an releases the
- *          mutex.
- * @param gpioId    Gpio ID of chip select
- * @param gpioIF    Pointer to gpio interface to drive the chip select
- * @param mutex     The spi mutex
- */
-void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
-
 }  // namespace rwSpiCallback
 #endif /* BSP_Q7S_RW_SPI_CALLBACK_H_ */

bsp_q7s/core/CMakeLists.txt

@@ -1,6 +1,7 @@
 target_sources(${OBSW_NAME} PRIVATE
     CoreController.cpp
     InitMission.cpp
+    ObjectFactory.cpp
 )
 
 target_sources(${SIMPLE_OBSW_NAME} PRIVATE

bsp_q7s/core/InitMission.cpp

@@ -130,6 +130,12 @@ void initmission::initTasks() {
     initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
   }
 #endif /* OBSW_ADD_ACS_HANDLERS */
+#if OBSW_ADD_RW == 1
+  result = sysTask->addComponent(objects::RW_ASS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
+  }
+#endif
 
 #if OBSW_ADD_SUS_BOARD_ASS == 1
   result = sysTask->addComponent(objects::SUS_BOARD_ASS);
@@ -258,7 +264,7 @@ void initmission::createPstTasks(TaskFactory& factory,
   /* Polling Sequence Table Default */
 #if OBSW_ADD_SPI_TEST_CODE == 0
   FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
-      "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+      "MAIN_SPI", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
   result = pst::pstSpi(spiPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -271,8 +277,23 @@ void initmission::createPstTasks(TaskFactory& factory,
   }
 #endif
 
+#if OBSW_ADD_RW == 1
+  FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
+      "RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
+  result = pst::pstSpiRw(rwPstTask);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
+    } else {
+      sif::error << "InitMission::initTasks: Creating SPI PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(rwPstTask);
+  }
+#endif
+
   FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
-      "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+      "UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstUart(uartPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -285,7 +306,7 @@ void initmission::createPstTasks(TaskFactory& factory,
   }
 
   FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
-      "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+      "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.2, missedDeadlineFunc);
   result = pst::pstGpio(gpioPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -298,7 +319,7 @@ void initmission::createPstTasks(TaskFactory& factory,
   }
 #if OBSW_ADD_I2C_TEST_CODE == 0
   FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-      "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+      "I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstI2c(i2cPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {

bsp_q7s/core/ObjectFactory.cpp

@@ -1,5 +1,4 @@
-#include <mission/system/fdir/GomspacePowerFdir.h>
-#include <mission/system/fdir/SyrlinksFdir.h>
+#include "ObjectFactory.h"
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
@@ -8,7 +7,6 @@
 #include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
 #include "bsp_q7s/callbacks/rwSpiCallback.h"
 #include "bsp_q7s/core/CoreController.h"
-#include "bsp_q7s/core/ObjectFactory.h"
 #include "bsp_q7s/memory/FileSystemHandler.h"
 #include "busConf.h"
 #include "ccsdsConfig.h"
@@ -38,9 +36,12 @@
 #include "linux/obc/PdecHandler.h"
 #include "linux/obc/Ptme.h"
 #include "linux/obc/PtmeConfig.h"
+#include "mission/system/RwAssembly.h"
 #include "mission/system/fdir/AcsBoardFdir.h"
+#include "mission/system/fdir/GomspacePowerFdir.h"
 #include "mission/system/fdir/RtdFdir.h"
 #include "mission/system/fdir/SusFdir.h"
+#include "mission/system/fdir/SyrlinksFdir.h"
 #include "tmtc/apid.h"
 #include "tmtc/pusIds.h"
 #if OBSW_TEST_LIBGPIOD == 1
@@ -91,11 +92,10 @@
 #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;
@@ -119,86 +119,7 @@ void Factory::setStaticFrameworkObjectIds() {
   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 PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
-}
+void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
 
 void ObjectFactory::createTmpComponents() {
   I2cCookie* i2cCookieTmp1075tcs1 =
@@ -216,8 +137,10 @@ void ObjectFactory::createTmpComponents() {
 }
 
 void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
-                                                  SpiComIF** spiComIF, I2cComIF** i2cComIF) {
-  if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
+                                                  SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
+                                                  SpiComIF** spiRWComIF) {
+  if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr or
+      spiRWComIF == nullptr) {
     sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
                << std::endl;
   }
@@ -227,8 +150,8 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
   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);
-
+  *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, *gpioComIF);
+  *spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, *gpioComIF);
   /* Adding gpios for chip select decoding to the gpioComIf */
   q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF);
 }
@@ -286,12 +209,12 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
   gpio = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_RADFET, consumer.str(), Direction::OUT,
                                     Levels::LOW);
   gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
-  gpioComIF->addGpios(gpioCookieRadSensor);
+  gpioChecker(gpioComIF->addGpios(gpioCookieRadSensor), "RAD sensor");
 
-  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,
+  SpiCookie* spiCookieRadSensor =
+      new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, RAD_SENSOR::READ_SIZE,
+                    spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
+  auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,
                                               spiCookieRadSensor, gpioComIF);
   static_cast<void>(radSensor);
   // The radiation sensor ADC is powered by the 5V stack connector which should always be on
@@ -402,16 +325,16 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), Direction::OUT,
                                     Levels::LOW);
   gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
-  gpioComIF->addGpios(gpioCookieAcsBoard);
+  gpioChecker(gpioComIF->addGpios(gpioCookieAcsBoard), "ACS Board");
   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,
+      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+  auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
                                               spiCookie, spi::LIS3_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
   mgmLis3Handler->setCustomFdir(fdir);
@@ -424,10 +347,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   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);
+      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+  auto mgmRm3100Handler =
+      new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+                           spi::RM3100_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
   mgmRm3100Handler->setCustomFdir(fdir);
   mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
@@ -440,9 +364,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   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,
+      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+  mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
                                          spiCookie, spi::LIS3_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
   mgmLis3Handler->setCustomFdir(fdir);
@@ -456,9 +380,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   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,
+      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+  mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF,
                                           spiCookie, spi::RM3100_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
   mgmRm3100Handler->setCustomFdir(fdir);
@@ -472,11 +396,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #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);
+  spiCookie =
+      new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
+                    spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
+  auto adisHandler =
+      new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+                               ADIS1650X::Type::ADIS16505);
   fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
   adisHandler->setCustomFdir(fdir);
   adisHandler->setParent(objects::ACS_BOARD_ASS);
@@ -489,11 +414,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   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,
+  spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, 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);
+  auto gyroL3gHandler = new GyroHandlerL3GD20H(
+      objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
   gyroL3gHandler->setCustomFdir(fdir);
   gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
@@ -506,10 +430,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   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 =
+      new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
+                    spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
+  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_MAIN_COM_IF,
                                          spiCookie, ADIS1650X::Type::ADIS16505);
   fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
   adisHandler->setCustomFdir(fdir);
@@ -519,10 +443,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   adisHandler->setToGoToNormalModeImmediately();
 #endif
   // Gyro 3 Side B
-  spiCookie =
-      new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
+  spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
                             spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
+  gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF,
                                           spiCookie, spi::L3G_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
   gyroL3gHandler->setCustomFdir(fdir);
@@ -649,7 +572,7 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
                                                     consumer.str(), Direction::OUT, Levels::HIGH);
   auto mpsocGpioCookie = new GpioCookie;
   mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
-  gpioComIF->addGpios(mpsocGpioCookie);
+  gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC");
   auto mpsocCookie =
       new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
                      mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
@@ -678,7 +601,8 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
   static_cast<void>(consumer);
 }
 
-void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
+void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
+                                                  PowerSwitchIF* pwrSwitcher) {
   using namespace gpio;
   GpioCookie* gpioCookieRw = new GpioCookie;
   GpioCallback* csRw1 =
@@ -720,50 +644,38 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
                                     Levels::LOW);
   gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
 
-  gpioComIF->addGpios(gpioCookieRw);
+  gpioChecker(gpioComIF->addGpios(gpioCookieRw), "RWs");
 
 #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);
+  std::array<std::pair<address_t, gpioId_t>, 4> rwCookieParams = {
+      {{addresses::RW1, gpioIds::CS_RW1},
+       {addresses::RW2, gpioIds::CS_RW2},
+       {addresses::RW3, gpioIds::CS_RW3},
+       {addresses::RW4, gpioIds::CS_RW4}}};
+  std::array<SpiCookie*, 4> rwCookies = {};
+  std::array<object_id_t, 4> rwIds = {objects::RW1, objects::RW2, objects::RW3, objects::RW4};
+  std::array<gpioId_t, 4> rwGpioIds = {gpioIds::EN_RW1, gpioIds::EN_RW2, gpioIds::EN_RW3,
+                                       gpioIds::EN_RW4};
+  std::array<RwHandler*, 4> rws = {};
+  for (uint8_t idx = 0; idx < rwCookies.size(); idx++) {
+    rwCookies[idx] = new SpiCookie(rwCookieParams[idx].first, rwCookieParams[idx].second,
+                                   RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED,
+                                   &rwSpiCallback::spiCallback, nullptr);
+    rws[idx] = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF,
+                             rwGpioIds[idx]);
+    rwCookies[idx]->setCallbackArgs(rws[idx]);
+#if OBSW_TEST_RW == 1
+    rws[idx]->setStartUpImmediately();
+#endif
+#if OBSW_DEBUG_RW == 1
+    rws[idx]->setDebugMode(true);
+#endif
+  }
 
-  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
+  RwHelper rwHelper(rwIds);
+  auto* rwAss = new RwAssembly(objects::RW_ASS, objects::NO_OBJECT, pwrSwitcher,
+                               pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
+  static_cast<void>(rwAss);
 #endif /* OBSW_ADD_RW == 1 */
 }
 
@@ -802,7 +714,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
   gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
 
-  gpioComIF->addGpios(gpioCookiePtmeIp);
+  gpioChecker(gpioComIF->addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
 
   // Creating virtual channel interfaces
   VcInterfaceIF* vc0 =
@@ -856,7 +768,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
                                     Levels::LOW);
   gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
 
-  gpioComIF->addGpios(gpioCookiePdec);
+  gpioChecker(gpioComIF->addGpios(gpioCookiePdec), "PDEC");
 
   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);
@@ -877,7 +789,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
                                     Direction::OUT, Levels::LOW);
   gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
 
-  gpioComIF->addGpios(gpioRS485Chip);
+  gpioChecker(gpioComIF->addGpios(gpioRS485Chip), "RS485 Transceiver");
 }
 
 void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
@@ -922,14 +834,14 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
   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,
+  gpioChecker(gpioComIF->addGpios(plPcduGpios), "PL PCDU");
+  SpiCookie* spiCookie =
+      new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS, 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,
+      objects::PLPCDU_HANDLER, objects::SPI_MAIN_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);
@@ -956,6 +868,50 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 #endif
 }
 
+void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
+  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);
+}
+
+void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
+  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
+}
+
+void ObjectFactory::createBpxBatteryComponent() {
+  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
+}
+
+void ObjectFactory::createMiscComponents() {
+  new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
+  new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
+}
+
 void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
   CommandMessage msg;
   ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,

bsp_q7s/core/ObjectFactory.h

@@ -1,6 +1,10 @@
 #ifndef BSP_Q7S_OBJECTFACTORY_H_
 #define BSP_Q7S_OBJECTFACTORY_H_
 
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+#include <string>
+
 class LinuxLibgpioIF;
 class UartComIF;
 class SpiComIF;
@@ -14,7 +18,8 @@ void setStatics();
 void produce(void* args);
 
 void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
-                                   SpiComIF** spiComIF, I2cComIF** i2cComIF);
+                                   SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
+                                   SpiComIF** spiRwComIF);
 void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
                             PowerSwitchIF* pwrSwitcher);
@@ -23,11 +28,16 @@ void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
                               PowerSwitchIF* pwrSwitcher);
 void createHeaterComponents();
+void createImtqComponents(PowerSwitchIF* pwrSwitcher);
+void createBpxBatteryComponent();
+void createStrComponents(PowerSwitchIF* pwrSwitcher);
 void createSolarArrayDeploymentComponents();
 void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
 void createPayloadComponents(LinuxLibgpioIF* gpioComIF);
-void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
+void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
 void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);
+void createMiscComponents();
+
 void createTestComponents(LinuxLibgpioIF* gpioComIF);
 
 void testAcsBrdAss(AcsBoardAssembly* assAss);

bsp_q7s/em/emObjectFactory.cpp

@@ -1,126 +1,13 @@
-#include <mission/system/fdir/GomspacePowerFdir.h>
-#include <mission/system/fdir/SyrlinksFdir.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/core/ObjectFactory.h"
-#include "bsp_q7s/memory/FileSystemHandler.h"
 #include "busConf.h"
-#include "ccsdsConfig.h"
+#include "commonObjects.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/PlocSupvHelper.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/SusAssembly.h"
-#include "mission/system/TcsBoardAssembly.h"
-#include "mission/system/fdir/AcsBoardFdir.h"
-#include "mission/system/fdir/RtdFdir.h"
-#include "mission/system/fdir/SusFdir.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 "linux/ObjectFactory.h"
+#include "linux/callbacks/gpioCallbacks.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/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/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();
@@ -128,24 +15,25 @@ void ObjectFactory::produce(void* args) {
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   UartComIF* uartComIF = nullptr;
-  SpiComIF* spiComIF = nullptr;
+  SpiComIF* spiMainComIF = nullptr;
   I2cComIF* i2cComIF = nullptr;
   PowerSwitchIF* pwrSwitcher = nullptr;
-  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF, &i2cComIF);
+  SpiComIF* spiRwComIF = nullptr;
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
   createTmpComponents();
   new CoreController(objects::CORE_CONTROLLER);
 
   gpioCallbacks::disableAllDecoder(gpioComIF);
   createPcduComponents(gpioComIF, &pwrSwitcher);
   createRadSensorComponent(gpioComIF);
-  createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
+  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
 
 #if OBSW_ADD_ACS_BOARD == 1
   createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
 #endif
   createHeaterComponents();
   createSolarArrayDeploymentComponents();
-  createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher);
+  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
 #if OBSW_ADD_SYRLINKS == 1
   createSyrlinksComponents(pwrSwitcher);
 #endif /* OBSW_ADD_SYRLINKS == 1 */
@@ -153,45 +41,16 @@ void ObjectFactory::produce(void* args) {
   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);
+  createImtqComponents(pwrSwitcher);
 #endif
-#if OBSW_DEBUG_IMTQ == 1
-  imtqHandler->setDebugMode(true);
-#endif
-#endif
-  createReactionWheelComponents(gpioComIF);
+  createReactionWheelComponents(gpioComIF, pwrSwitcher);
 
 #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);
+  createBpxBatteryComponent();
 #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);
-
+  createStrComponents(pwrSwitcher);
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 #if OBSW_USE_CCSDS_IP_CORE == 1
   createCcsdsComponents(gpioComIF);
@@ -200,770 +59,6 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_TEST_CODE == 1
   createTestComponents(gpioComIF);
 #endif /* OBSW_ADD_TEST_CODE == 1 */
-  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);
-
-  auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
-  P60DockHandler* p60dockhandler =
-      new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie, p60Fdir);
-
-  auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
-  PDU1Handler* pdu1handler =
-      new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
-
-  auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
-  PDU2Handler* pdu2handler =
-      new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
-
-  auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
-  ACUHandler* acuhandler =
-      new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir);
-  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 syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HK_HANDLER);
-  auto syrlinksHandler =
-      new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
-                            pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
-  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::LOW);
-  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::LOW);
-  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_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
-  supervisorCookie->setNoFixedSizeReply();
-  auto supvHelper = new PlocSupvHelper(objects::PLOC_SUPERVISOR_HELPER);
-  new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
-                            supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
-                            pcdu::PDU1_CH6_PLOC_12V, supvHelper);
-#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;
-  }
+
+  createMiscComponents();
 }

bsp_q7s/fm/CMakeLists.txt

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

bsp_q7s/fmObjectFactory.cpp

@@ -0,0 +1,64 @@
+#include "OBSWConfig.h"
+#include "bsp_q7s/core/CoreController.h"
+#include "bsp_q7s/core/ObjectFactory.h"
+#include "busConf.h"
+#include "commonObjects.h"
+#include "devConf.h"
+#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
+#include "linux/ObjectFactory.h"
+#include "linux/callbacks/gpioCallbacks.h"
+#include "mission/core/GenericFactory.h"
+
+void ObjectFactory::produce(void* args) {
+  ObjectFactory::setStatics();
+  ObjectFactory::produceGenericObjects();
+
+  LinuxLibgpioIF* gpioComIF = nullptr;
+  UartComIF* uartComIF = nullptr;
+  SpiComIF* spiMainComIF = nullptr;
+  I2cComIF* i2cComIF = nullptr;
+  PowerSwitchIF* pwrSwitcher = nullptr;
+  SpiComIF* spiRwComIF = nullptr;
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
+  createTmpComponents();
+  new CoreController(objects::CORE_CONTROLLER);
+
+  gpioCallbacks::disableAllDecoder(gpioComIF);
+  createPcduComponents(gpioComIF, &pwrSwitcher);
+  createRadSensorComponent(gpioComIF);
+  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
+
+#if OBSW_ADD_ACS_BOARD == 1
+  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
+#endif
+  createHeaterComponents();
+  createSolarArrayDeploymentComponents();
+  createPlPcduComponents(gpioComIF, spiMainComIF, 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
+  createImtqComponents(pwrSwitcher);
+#endif
+  createReactionWheelComponents(gpioComIF, pwrSwitcher);
+
+#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
+  createBpxBatteryComponent();
+#endif
+
+#if OBSW_ADD_STAR_TRACKER == 1
+  createStrComponents(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 */
+
+  createMiscComponents();
+}

common/config/commonObjects.h

@@ -107,7 +107,8 @@ enum commonObjects: uint32_t {
     // 0x73 ('s') for assemblies and system/subsystem components
     ACS_BOARD_ASS = 0x73000001,
     SUS_BOARD_ASS = 0x73000002,
-    TCS_BOARD_ASS = 0x73000003
+    TCS_BOARD_ASS = 0x73000003,
+    RW_ASS = 0x73000004
 };
 }
 

fsfw

@@ -1 +1 @@
-Subproject commit d72b212fa629029924d9862e3e862d0388911f8e
+Subproject commit dafcaa60079ba8e57753d389e6a569ee3eb0b7cb

generators/bsp_q7s_events.csv

@@ -1,199 +1,200 @@
-2200;0x0898;STORE_SEND_WRITE_FAILED;LOW;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2201;0x0899;STORE_WRITE_FAILED;LOW;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2202;0x089a;STORE_SEND_READ_FAILED;LOW;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2203;0x089b;STORE_READ_FAILED;LOW;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2204;0x089c;UNEXPECTED_MSG;LOW;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2205;0x089d;STORING_FAILED;LOW;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2206;0x089e;TM_DUMP_FAILED;LOW;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2207;0x089f;STORE_INIT_FAILED;LOW;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2208;0x08a0;STORE_INIT_EMPTY;INFO;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2209;0x08a1;STORE_CONTENT_CORRUPTED;LOW;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2210;0x08a2;STORE_INITIALIZE;INFO;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2211;0x08a3;INIT_DONE;INFO;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2212;0x08a4;DUMP_FINISHED;INFO;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2213;0x08a5;DELETION_FINISHED;INFO;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2214;0x08a6;DELETION_FAILED;LOW;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2215;0x08a7;AUTO_CATALOGS_SENDING_FAILED;INFO;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2600;0x0a28;GET_DATA_FAILED;LOW;;fsfw\src\fsfw\storagemanager\StorageManagerIF.h
-2601;0x0a29;STORE_DATA_FAILED;LOW;;fsfw\src\fsfw\storagemanager\StorageManagerIF.h
-2800;0x0af0;DEVICE_BUILDING_COMMAND_FAILED;LOW;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2801;0x0af1;DEVICE_SENDING_COMMAND_FAILED;LOW;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2802;0x0af2;DEVICE_REQUESTING_REPLY_FAILED;LOW;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2803;0x0af3;DEVICE_READING_REPLY_FAILED;LOW;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2804;0x0af4;DEVICE_INTERPRETING_REPLY_FAILED;LOW;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2805;0x0af5;DEVICE_MISSED_REPLY;LOW;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2806;0x0af6;DEVICE_UNKNOWN_REPLY;LOW;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2807;0x0af7;DEVICE_UNREQUESTED_REPLY;LOW;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2808;0x0af8;INVALID_DEVICE_COMMAND;LOW;Indicates a SW bug in child class.;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2809;0x0af9;MONITORING_LIMIT_EXCEEDED;LOW;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2810;0x0afa;MONITORING_AMBIGUOUS;HIGH;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2811;0x0afb;DEVICE_WANTS_HARD_REBOOT;HIGH;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-4201;0x1069;FUSE_CURRENT_HIGH;LOW;;fsfw\src\fsfw\power\Fuse.h
-4202;0x106a;FUSE_WENT_OFF;LOW;;fsfw\src\fsfw\power\Fuse.h
-4204;0x106c;POWER_ABOVE_HIGH_LIMIT;LOW;;fsfw\src\fsfw\power\Fuse.h
-4205;0x106d;POWER_BELOW_LOW_LIMIT;LOW;;fsfw\src\fsfw\power\Fuse.h
-4300;0x10cc;SWITCH_WENT_OFF;LOW;;fsfw\src\fsfw\power\PowerSwitchIF.h
-5000;0x1388;HEATER_ON;INFO;;fsfw\src\fsfw\thermal\Heater.h
-5001;0x1389;HEATER_OFF;INFO;;fsfw\src\fsfw\thermal\Heater.h
-5002;0x138a;HEATER_TIMEOUT;LOW;;fsfw\src\fsfw\thermal\Heater.h
-5003;0x138b;HEATER_STAYED_ON;LOW;;fsfw\src\fsfw\thermal\Heater.h
-5004;0x138c;HEATER_STAYED_OFF;LOW;;fsfw\src\fsfw\thermal\Heater.h
-5200;0x1450;TEMP_SENSOR_HIGH;LOW;;fsfw\src\fsfw\thermal\AbstractTemperatureSensor.h
-5201;0x1451;TEMP_SENSOR_LOW;LOW;;fsfw\src\fsfw\thermal\AbstractTemperatureSensor.h
-5202;0x1452;TEMP_SENSOR_GRADIENT;LOW;;fsfw\src\fsfw\thermal\AbstractTemperatureSensor.h
-5901;0x170d;COMPONENT_TEMP_LOW;LOW;;fsfw\src\fsfw\thermal\ThermalComponentIF.h
-5902;0x170e;COMPONENT_TEMP_HIGH;LOW;;fsfw\src\fsfw\thermal\ThermalComponentIF.h
-5903;0x170f;COMPONENT_TEMP_OOL_LOW;LOW;;fsfw\src\fsfw\thermal\ThermalComponentIF.h
-5904;0x1710;COMPONENT_TEMP_OOL_HIGH;LOW;;fsfw\src\fsfw\thermal\ThermalComponentIF.h
-5905;0x1711;TEMP_NOT_IN_OP_RANGE;LOW;;fsfw\src\fsfw\thermal\ThermalComponentIF.h
-7101;0x1bbd;FDIR_CHANGED_STATE;INFO;;fsfw\src\fsfw\fdir\FailureIsolationBase.h
-7102;0x1bbe;FDIR_STARTS_RECOVERY;MEDIUM;;fsfw\src\fsfw\fdir\FailureIsolationBase.h
-7103;0x1bbf;FDIR_TURNS_OFF_DEVICE;MEDIUM;;fsfw\src\fsfw\fdir\FailureIsolationBase.h
-7201;0x1c21;MONITOR_CHANGED_STATE;LOW;;fsfw\src\fsfw\monitoring\MonitoringIF.h
-7202;0x1c22;VALUE_BELOW_LOW_LIMIT;LOW;;fsfw\src\fsfw\monitoring\MonitoringIF.h
-7203;0x1c23;VALUE_ABOVE_HIGH_LIMIT;LOW;;fsfw\src\fsfw\monitoring\MonitoringIF.h
-7204;0x1c24;VALUE_OUT_OF_RANGE;LOW;;fsfw\src\fsfw\monitoring\MonitoringIF.h
-7400;0x1ce8;CHANGING_MODE;INFO;;fsfw\src\fsfw\modes\HasModesIF.h
-7401;0x1ce9;MODE_INFO;INFO;;fsfw\src\fsfw\modes\HasModesIF.h
-7402;0x1cea;FALLBACK_FAILED;HIGH;;fsfw\src\fsfw\modes\HasModesIF.h
-7403;0x1ceb;MODE_TRANSITION_FAILED;LOW;;fsfw\src\fsfw\modes\HasModesIF.h
-7404;0x1cec;CANT_KEEP_MODE;HIGH;;fsfw\src\fsfw\modes\HasModesIF.h
-7405;0x1ced;OBJECT_IN_INVALID_MODE;LOW;;fsfw\src\fsfw\modes\HasModesIF.h
-7406;0x1cee;FORCING_MODE;MEDIUM;;fsfw\src\fsfw\modes\HasModesIF.h
-7407;0x1cef;MODE_CMD_REJECTED;LOW;;fsfw\src\fsfw\modes\HasModesIF.h
-7506;0x1d52;HEALTH_INFO;INFO;;fsfw\src\fsfw\health\HasHealthIF.h
-7507;0x1d53;CHILD_CHANGED_HEALTH;INFO;;fsfw\src\fsfw\health\HasHealthIF.h
-7508;0x1d54;CHILD_PROBLEMS;LOW;;fsfw\src\fsfw\health\HasHealthIF.h
-7509;0x1d55;OVERWRITING_HEALTH;LOW;;fsfw\src\fsfw\health\HasHealthIF.h
-7510;0x1d56;TRYING_RECOVERY;MEDIUM;;fsfw\src\fsfw\health\HasHealthIF.h
-7511;0x1d57;RECOVERY_STEP;MEDIUM;;fsfw\src\fsfw\health\HasHealthIF.h
-7512;0x1d58;RECOVERY_DONE;MEDIUM;;fsfw\src\fsfw\health\HasHealthIF.h
-7900;0x1edc;RF_AVAILABLE;INFO;A RF available signal was detected. P1: raw RFA state, P2: 0;fsfw\src\fsfw\datalinklayer\DataLinkLayer.h
-7901;0x1edd;RF_LOST;INFO;A previously found RF available signal was lost. P1: raw RFA state, P2: 0;fsfw\src\fsfw\datalinklayer\DataLinkLayer.h
-7902;0x1ede;BIT_LOCK;INFO;A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0;fsfw\src\fsfw\datalinklayer\DataLinkLayer.h
-7903;0x1edf;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;fsfw\src\fsfw\datalinklayer\DataLinkLayer.h
-7905;0x1ee1;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;fsfw\src\fsfw\datalinklayer\DataLinkLayer.h
-8900;0x22c4;CLOCK_SET;INFO;;fsfw\src\fsfw\pus\Service9TimeManagement.h
-8901;0x22c5;CLOCK_SET_FAILURE;LOW;;fsfw\src\fsfw\pus\Service9TimeManagement.h
-9700;0x25e4;TEST;INFO;;fsfw\src\fsfw\pus\Service17Test.h
-10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;;fsfw\hal\src\fsfw_hal\devicehandlers\MgmLIS3MDLHandler.h
-11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission\devices\devicedefinitions\powerDefinitions.h
-11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a swithc state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission\devices\devicedefinitions\powerDefinitions.h
-11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission\devices\devicedefinitions\powerDefinitions.h
-11303;0x2c27;FDIR_REACTION_IGNORED;MEDIUM;;mission\devices\devicedefinitions\powerDefinitions.h
-11400;0x2c88;GPIO_PULL_HIGH_FAILED;LOW;;mission\devices\HeaterHandler.h
-11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;;mission\devices\HeaterHandler.h
-11402;0x2c8a;SWITCH_ALREADY_ON;LOW;;mission\devices\HeaterHandler.h
-11403;0x2c8b;SWITCH_ALREADY_OFF;LOW;;mission\devices\HeaterHandler.h
-11404;0x2c8c;MAIN_SWITCH_TIMEOUT;LOW;;mission\devices\HeaterHandler.h
-11500;0x2cec;MAIN_SWITCH_ON_TIMEOUT;LOW;;mission\devices\SolarArrayDeploymentHandler.h
-11501;0x2ced;MAIN_SWITCH_OFF_TIMEOUT;LOW;;mission\devices\SolarArrayDeploymentHandler.h
-11502;0x2cee;DEPLOYMENT_FAILED;HIGH;;mission\devices\SolarArrayDeploymentHandler.h
-11503;0x2cef;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;mission\devices\SolarArrayDeploymentHandler.h
-11504;0x2cf0;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;mission\devices\SolarArrayDeploymentHandler.h
-11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux\devices\ploc\PlocMPSoCHandler.h
-11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux\devices\ploc\PlocMPSoCHandler.h
-11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux\devices\ploc\PlocMPSoCHandler.h
-11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux\devices\ploc\PlocMPSoCHandler.h
-11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux\devices\ploc\PlocMPSoCHandler.h
-11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux\devices\ploc\PlocMPSoCHandler.h
-11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission\devices\IMTQHandler.h
-11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission\devices\IMTQHandler.h
-11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission\devices\IMTQHandler.h
-11704;0x2db8;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission\devices\IMTQHandler.h
-11705;0x2db9;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission\devices\IMTQHandler.h
-11706;0x2dba;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission\devices\IMTQHandler.h
-11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission\devices\IMTQHandler.h
-11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission\devices\IMTQHandler.h
-11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission\devices\RwHandler.h
-11901;0x2e7d;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux\devices\startracker\StarTrackerHandler.h
-11902;0x2e7e;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux\devices\startracker\StarTrackerHandler.h
-12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux\devices\ploc\PlocSupervisorHandler.h
-12002;0x2ee2;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux\devices\ploc\PlocSupervisorHandler.h
-12003;0x2ee3;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report P1: ID of command for which the execution failed P2: Status code sent by the supervisor handler;linux\devices\ploc\PlocSupervisorHandler.h
-12004;0x2ee4;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux\devices\ploc\PlocSupervisorHandler.h
-12005;0x2ee5;SUPV_MPSOC_SHUWDOWN_BUILD_FAILED;LOW;Failed to build the command to shutdown the MPSoC;linux\devices\ploc\PlocSupervisorHandler.h
-12100;0x2f44;SANITIZATION_FAILED;LOW;;bsp_q7s\memory\SdCardManager.h
-12101;0x2f45;MOUNTED_SD_CARD;INFO;;bsp_q7s\memory\SdCardManager.h
-12300;0x300c;SEND_MRAM_DUMP_FAILED;LOW;Failed to send mram dump command to supervisor handler P1: Return value of commandAction function P2: Start address of MRAM to dump with this command;linux\devices\ploc\PlocMemoryDumper.h
-12301;0x300d;MRAM_DUMP_FAILED;LOW;Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command;linux\devices\ploc\PlocMemoryDumper.h
-12302;0x300e;MRAM_DUMP_FINISHED;LOW;MRAM dump finished successfully;linux\devices\ploc\PlocMemoryDumper.h
-12401;0x3071;INVALID_TC_FRAME;HIGH;;linux\obc\PdecHandler.h
-12402;0x3072;INVALID_FAR;HIGH;Read invalid FAR from PDEC after startup;linux\obc\PdecHandler.h
-12403;0x3073;CARRIER_LOCK;INFO;Carrier lock detected;linux\obc\PdecHandler.h
-12404;0x3074;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);linux\obc\PdecHandler.h
-12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux\devices\startracker\StrHelper.h
-12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux\devices\startracker\StrHelper.h
-12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux\devices\startracker\StrHelper.h
-12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux\devices\startracker\StrHelper.h
-12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux\devices\startracker\StrHelper.h
-12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux\devices\startracker\StrHelper.h
-12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux\devices\startracker\StrHelper.h
-12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux\devices\startracker\StrHelper.h
-12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux\devices\startracker\StrHelper.h
-12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux\devices\startracker\StrHelper.h
-12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux\devices\startracker\StrHelper.h
-12511;0x30df;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;linux\devices\startracker\StrHelper.h
-12512;0x30e0;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux\devices\startracker\StrHelper.h
-12513;0x30e1;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux\devices\startracker\StrHelper.h
-12514;0x30e2;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux\devices\startracker\StrHelper.h
-12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;;linux\devices\startracker\StrHelper.h
-12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;;linux\devices\startracker\StrHelper.h
-12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux\devices\ploc\PlocMPSoCHelper.h
-12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux\devices\ploc\PlocMPSoCHelper.h
-12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;;linux\devices\ploc\PlocMPSoCHelper.h
-12603;0x313b;MPSOC_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of MPSoC helper;linux\devices\ploc\PlocMPSoCHelper.h
-12604;0x313c;MPSOC_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of MPSoC helper;linux\devices\ploc\PlocMPSoCHelper.h
-12605;0x313d;MPSOC_MISSING_ACK;LOW;Did not receive acknowledgment report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux\devices\ploc\PlocMPSoCHelper.h
-12606;0x313e;MPSOC_MISSING_EXE;LOW;Did not receive execution report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux\devices\ploc\PlocMPSoCHelper.h
-12607;0x313f;MPSOC_ACK_FAILURE_REPORT;LOW;Received acknowledgment failure report P1: Internal state of MPSoC;linux\devices\ploc\PlocMPSoCHelper.h
-12608;0x3140;MPSOC_EXE_FAILURE_REPORT;LOW;Received execution failure report P1: Internal state of MPSoC;linux\devices\ploc\PlocMPSoCHelper.h
-12609;0x3141;MPSOC_ACK_INVALID_APID;LOW;Expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux\devices\ploc\PlocMPSoCHelper.h
-12610;0x3142;MPSOC_EXE_INVALID_APID;LOW;Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux\devices\ploc\PlocMPSoCHelper.h
-12611;0x3143;MPSOC_HELPER_SEQ_CNT_MISMATCH;LOW;Received sequence count does not match expected sequence count P1: Expected sequence count P2: Received sequence count;linux\devices\ploc\PlocMPSoCHelper.h
-12700;0x319c;TRANSITION_BACK_TO_OFF;MEDIUM;Could not transition properly and went back to ALL OFF;mission\devices\PayloadPcduHandler.h
-12701;0x319d;NEG_V_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12702;0x319e;U_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12703;0x319f;I_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12704;0x31a0;U_X8_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12705;0x31a1;I_X8_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12706;0x31a2;U_TX_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12707;0x31a3;I_TX_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12708;0x31a4;U_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12709;0x31a5;I_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12710;0x31a6;U_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12711;0x31a7;I_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12800;0x3200;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission\system\AcsBoardAssembly.h
-12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission\system\AcsBoardAssembly.h
-12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission\system\AcsBoardAssembly.h
-12803;0x3203;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission\system\AcsBoardAssembly.h
-12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission\system\SusAssembly.h
-12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission\system\SusAssembly.h
-12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission\system\SusAssembly.h
-12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission\system\SusAssembly.h
-13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;;mission\system\TcsBoardAssembly.h
-13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission\devices\devicedefinitions\GPSDefinitions.h
-13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission\devices\P60DockHandler.h
-13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission\devices\P60DockHandler.h
-13202;0x3392;BATT_MODE_CHANGED;MEDIUM;Battery mode has changed. P1: Old mode. P2: New mode;mission\devices\P60DockHandler.h
-13600;0x3520;SUPV_UPDATE_FAILED;LOW;update failed;linux\devices\ploc\PlocSupvHelper.h
-13601;0x3521;SUPV_UPDATE_SUCCESSFUL;LOW;update successful;linux\devices\ploc\PlocSupvHelper.h
-13602;0x3522;TERMINATED_UPDATE_PROCEDURE;LOW;Terminated update procedure by command;linux\devices\ploc\PlocSupvHelper.h
-13603;0x3523;SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL;LOW;Requesting event buffer was successful;linux\devices\ploc\PlocSupvHelper.h
-13604;0x3524;SUPV_EVENT_BUFFER_REQUEST_FAILED;LOW;Requesting event buffer failed;linux\devices\ploc\PlocSupvHelper.h
-13605;0x3525;SUPV_EVENT_BUFFER_REQUEST_TERMINATED;LOW;Terminated event buffer request by command P1: Number of packets read before process was terminated;linux\devices\ploc\PlocSupvHelper.h
-13606;0x3526;SUPV_SENDING_COMMAND_FAILED;LOW;;linux\devices\ploc\PlocSupvHelper.h
-13607;0x3527;SUPV_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of supervisor helper;linux\devices\ploc\PlocSupvHelper.h
-13608;0x3528;SUPV_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of supervisor helper;linux\devices\ploc\PlocSupvHelper.h
-13609;0x3529;SUPV_MISSING_ACK;LOW;Did not receive acknowledgement report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux\devices\ploc\PlocSupvHelper.h
-13610;0x352a;SUPV_MISSING_EXE;LOW;Supervisor did not receive execution report P1: Number of bytes missing P2: Internal state of supervisor helper;linux\devices\ploc\PlocSupvHelper.h
-13611;0x352b;SUPV_ACK_FAILURE_REPORT;LOW;Supervisor received acknowledgment failure report P1: Internal state of supervisor helper;linux\devices\ploc\PlocSupvHelper.h
-13612;0x352c;SUPV_EXE_FAILURE_REPORT;LOW;Execution report failure P1:;linux\devices\ploc\PlocSupvHelper.h
-13613;0x352d;SUPV_ACK_INVALID_APID;LOW;Supervisor expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux\devices\ploc\PlocSupvHelper.h
-13614;0x352e;SUPV_EXE_INVALID_APID;LOW;Supervisor helper expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux\devices\ploc\PlocSupvHelper.h
-13615;0x352f;ACK_RECEPTION_FAILURE;LOW;Failed to receive acknowledgment report P1: Return value P2: Apid of command for which the reception of the acknowledgment report failed;linux\devices\ploc\PlocSupvHelper.h
-13616;0x3530;EXE_RECEPTION_FAILURE;LOW;Failed to receive execution report P1: Return value P2: Apid of command for which the reception of the execution report failed;linux\devices\ploc\PlocSupvHelper.h
-13700;0x3584;ALLOC_FAILURE;MEDIUM;;bsp_q7s\core\CoreController.h
-13701;0x3585;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s\core\CoreController.h
-13702;0x3586;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s\core\CoreController.h
-13703;0x3587;REBOOT_HW;MEDIUM;;bsp_q7s\core\CoreController.h
+2200;0x0898;STORE_SEND_WRITE_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2201;0x0899;STORE_WRITE_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2202;0x089a;STORE_SEND_READ_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2203;0x089b;STORE_READ_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2204;0x089c;UNEXPECTED_MSG;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2205;0x089d;STORING_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2206;0x089e;TM_DUMP_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2207;0x089f;STORE_INIT_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2208;0x08a0;STORE_INIT_EMPTY;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2209;0x08a1;STORE_CONTENT_CORRUPTED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2210;0x08a2;STORE_INITIALIZE;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2211;0x08a3;INIT_DONE;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2212;0x08a4;DUMP_FINISHED;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2213;0x08a5;DELETION_FINISHED;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2214;0x08a6;DELETION_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2215;0x08a7;AUTO_CATALOGS_SENDING_FAILED;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2600;0x0a28;GET_DATA_FAILED;LOW;;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+2601;0x0a29;STORE_DATA_FAILED;LOW;;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+2800;0x0af0;DEVICE_BUILDING_COMMAND_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2801;0x0af1;DEVICE_SENDING_COMMAND_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2802;0x0af2;DEVICE_REQUESTING_REPLY_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2803;0x0af3;DEVICE_READING_REPLY_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2804;0x0af4;DEVICE_INTERPRETING_REPLY_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2805;0x0af5;DEVICE_MISSED_REPLY;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2806;0x0af6;DEVICE_UNKNOWN_REPLY;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2807;0x0af7;DEVICE_UNREQUESTED_REPLY;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2808;0x0af8;INVALID_DEVICE_COMMAND;LOW;Indicates a SW bug in child class.;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2809;0x0af9;MONITORING_LIMIT_EXCEEDED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2810;0x0afa;MONITORING_AMBIGUOUS;HIGH;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2811;0x0afb;DEVICE_WANTS_HARD_REBOOT;HIGH;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+4201;0x1069;FUSE_CURRENT_HIGH;LOW;;fsfw/src/fsfw/power/Fuse.h
+4202;0x106a;FUSE_WENT_OFF;LOW;;fsfw/src/fsfw/power/Fuse.h
+4204;0x106c;POWER_ABOVE_HIGH_LIMIT;LOW;;fsfw/src/fsfw/power/Fuse.h
+4205;0x106d;POWER_BELOW_LOW_LIMIT;LOW;;fsfw/src/fsfw/power/Fuse.h
+4300;0x10cc;SWITCH_WENT_OFF;LOW;;fsfw/src/fsfw/power/PowerSwitchIF.h
+5000;0x1388;HEATER_ON;INFO;;fsfw/src/fsfw/thermal/Heater.h
+5001;0x1389;HEATER_OFF;INFO;;fsfw/src/fsfw/thermal/Heater.h
+5002;0x138a;HEATER_TIMEOUT;LOW;;fsfw/src/fsfw/thermal/Heater.h
+5003;0x138b;HEATER_STAYED_ON;LOW;;fsfw/src/fsfw/thermal/Heater.h
+5004;0x138c;HEATER_STAYED_OFF;LOW;;fsfw/src/fsfw/thermal/Heater.h
+5200;0x1450;TEMP_SENSOR_HIGH;LOW;;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
+5201;0x1451;TEMP_SENSOR_LOW;LOW;;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
+5202;0x1452;TEMP_SENSOR_GRADIENT;LOW;;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
+5901;0x170d;COMPONENT_TEMP_LOW;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5902;0x170e;COMPONENT_TEMP_HIGH;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5903;0x170f;COMPONENT_TEMP_OOL_LOW;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5904;0x1710;COMPONENT_TEMP_OOL_HIGH;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5905;0x1711;TEMP_NOT_IN_OP_RANGE;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+7101;0x1bbd;FDIR_CHANGED_STATE;INFO;;fsfw/src/fsfw/fdir/FailureIsolationBase.h
+7102;0x1bbe;FDIR_STARTS_RECOVERY;MEDIUM;;fsfw/src/fsfw/fdir/FailureIsolationBase.h
+7103;0x1bbf;FDIR_TURNS_OFF_DEVICE;MEDIUM;;fsfw/src/fsfw/fdir/FailureIsolationBase.h
+7201;0x1c21;MONITOR_CHANGED_STATE;LOW;;fsfw/src/fsfw/monitoring/MonitoringIF.h
+7202;0x1c22;VALUE_BELOW_LOW_LIMIT;LOW;;fsfw/src/fsfw/monitoring/MonitoringIF.h
+7203;0x1c23;VALUE_ABOVE_HIGH_LIMIT;LOW;;fsfw/src/fsfw/monitoring/MonitoringIF.h
+7204;0x1c24;VALUE_OUT_OF_RANGE;LOW;;fsfw/src/fsfw/monitoring/MonitoringIF.h
+7400;0x1ce8;CHANGING_MODE;INFO;;fsfw/src/fsfw/modes/HasModesIF.h
+7401;0x1ce9;MODE_INFO;INFO;;fsfw/src/fsfw/modes/HasModesIF.h
+7402;0x1cea;FALLBACK_FAILED;HIGH;;fsfw/src/fsfw/modes/HasModesIF.h
+7403;0x1ceb;MODE_TRANSITION_FAILED;LOW;;fsfw/src/fsfw/modes/HasModesIF.h
+7404;0x1cec;CANT_KEEP_MODE;HIGH;;fsfw/src/fsfw/modes/HasModesIF.h
+7405;0x1ced;OBJECT_IN_INVALID_MODE;LOW;;fsfw/src/fsfw/modes/HasModesIF.h
+7406;0x1cee;FORCING_MODE;MEDIUM;;fsfw/src/fsfw/modes/HasModesIF.h
+7407;0x1cef;MODE_CMD_REJECTED;LOW;;fsfw/src/fsfw/modes/HasModesIF.h
+7506;0x1d52;HEALTH_INFO;INFO;;fsfw/src/fsfw/health/HasHealthIF.h
+7507;0x1d53;CHILD_CHANGED_HEALTH;INFO;;fsfw/src/fsfw/health/HasHealthIF.h
+7508;0x1d54;CHILD_PROBLEMS;LOW;;fsfw/src/fsfw/health/HasHealthIF.h
+7509;0x1d55;OVERWRITING_HEALTH;LOW;;fsfw/src/fsfw/health/HasHealthIF.h
+7510;0x1d56;TRYING_RECOVERY;MEDIUM;;fsfw/src/fsfw/health/HasHealthIF.h
+7511;0x1d57;RECOVERY_STEP;MEDIUM;;fsfw/src/fsfw/health/HasHealthIF.h
+7512;0x1d58;RECOVERY_DONE;MEDIUM;;fsfw/src/fsfw/health/HasHealthIF.h
+7900;0x1edc;RF_AVAILABLE;INFO;A RF available signal was detected. P1: raw RFA state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
+7901;0x1edd;RF_LOST;INFO;A previously found RF available signal was lost. P1: raw RFA state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
+7902;0x1ede;BIT_LOCK;INFO;A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
+7903;0x1edf;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
+7905;0x1ee1;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
+8900;0x22c4;CLOCK_SET;INFO;;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8901;0x22c5;CLOCK_SET_FAILURE;LOW;;fsfw/src/fsfw/pus/Service9TimeManagement.h
+9700;0x25e4;TEST;INFO;;fsfw/src/fsfw/pus/Service17Test.h
+10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;;fsfw/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
+11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
+11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a swithc state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
+11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
+11303;0x2c27;FDIR_REACTION_IGNORED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
+11400;0x2c88;GPIO_PULL_HIGH_FAILED;LOW;;mission/devices/HeaterHandler.h
+11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;;mission/devices/HeaterHandler.h
+11402;0x2c8a;SWITCH_ALREADY_ON;LOW;;mission/devices/HeaterHandler.h
+11403;0x2c8b;SWITCH_ALREADY_OFF;LOW;;mission/devices/HeaterHandler.h
+11404;0x2c8c;MAIN_SWITCH_TIMEOUT;LOW;;mission/devices/HeaterHandler.h
+11500;0x2cec;MAIN_SWITCH_ON_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
+11501;0x2ced;MAIN_SWITCH_OFF_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
+11502;0x2cee;DEPLOYMENT_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11503;0x2cef;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11504;0x2cf0;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/devices/ploc/PlocMPSoCHandler.h
+11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/devices/ploc/PlocMPSoCHandler.h
+11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/devices/ploc/PlocMPSoCHandler.h
+11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/devices/ploc/PlocMPSoCHandler.h
+11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/devices/ploc/PlocMPSoCHandler.h
+11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/devices/ploc/PlocMPSoCHandler.h
+11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11704;0x2db8;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11705;0x2db9;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11706;0x2dba;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/devices/IMTQHandler.h
+11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/devicedefinitions/RwDefinitions.h
+11802;0x2e1a;RESET_OCCURED;HIGH;;mission/devices/devicedefinitions/RwDefinitions.h
+11901;0x2e7d;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
+11902;0x2e7e;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
+12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/devices/ploc/PlocSupervisorHandler.h
+12002;0x2ee2;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux/devices/ploc/PlocSupervisorHandler.h
+12003;0x2ee3;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report P1: ID of command for which the execution failed P2: Status code sent by the supervisor handler;linux/devices/ploc/PlocSupervisorHandler.h
+12004;0x2ee4;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux/devices/ploc/PlocSupervisorHandler.h
+12005;0x2ee5;SUPV_MPSOC_SHUWDOWN_BUILD_FAILED;LOW;Failed to build the command to shutdown the MPSoC;linux/devices/ploc/PlocSupervisorHandler.h
+12100;0x2f44;SANITIZATION_FAILED;LOW;;bsp_q7s/memory/SdCardManager.h
+12101;0x2f45;MOUNTED_SD_CARD;INFO;;bsp_q7s/memory/SdCardManager.h
+12300;0x300c;SEND_MRAM_DUMP_FAILED;LOW;Failed to send mram dump command to supervisor handler P1: Return value of commandAction function P2: Start address of MRAM to dump with this command;linux/devices/ploc/PlocMemoryDumper.h
+12301;0x300d;MRAM_DUMP_FAILED;LOW;Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command;linux/devices/ploc/PlocMemoryDumper.h
+12302;0x300e;MRAM_DUMP_FINISHED;LOW;MRAM dump finished successfully;linux/devices/ploc/PlocMemoryDumper.h
+12401;0x3071;INVALID_TC_FRAME;HIGH;;linux/obc/PdecHandler.h
+12402;0x3072;INVALID_FAR;HIGH;Read invalid FAR from PDEC after startup;linux/obc/PdecHandler.h
+12403;0x3073;CARRIER_LOCK;INFO;Carrier lock detected;linux/obc/PdecHandler.h
+12404;0x3074;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);linux/obc/PdecHandler.h
+12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h
+12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h
+12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h
+12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrHelper.h
+12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrHelper.h
+12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrHelper.h
+12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrHelper.h
+12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrHelper.h
+12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrHelper.h
+12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
+12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
+12511;0x30df;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;linux/devices/startracker/StrHelper.h
+12512;0x30e0;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrHelper.h
+12513;0x30e1;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrHelper.h
+12514;0x30e2;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrHelper.h
+12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;;linux/devices/startracker/StrHelper.h
+12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;;linux/devices/startracker/StrHelper.h
+12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/devices/ploc/PlocMPSoCHelper.h
+12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/devices/ploc/PlocMPSoCHelper.h
+12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;;linux/devices/ploc/PlocMPSoCHelper.h
+12603;0x313b;MPSOC_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
+12604;0x313c;MPSOC_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
+12605;0x313d;MPSOC_MISSING_ACK;LOW;Did not receive acknowledgment report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
+12606;0x313e;MPSOC_MISSING_EXE;LOW;Did not receive execution report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
+12607;0x313f;MPSOC_ACK_FAILURE_REPORT;LOW;Received acknowledgment failure report P1: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
+12608;0x3140;MPSOC_EXE_FAILURE_REPORT;LOW;Received execution failure report P1: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
+12609;0x3141;MPSOC_ACK_INVALID_APID;LOW;Expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
+12610;0x3142;MPSOC_EXE_INVALID_APID;LOW;Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
+12611;0x3143;MPSOC_HELPER_SEQ_CNT_MISMATCH;LOW;Received sequence count does not match expected sequence count P1: Expected sequence count P2: Received sequence count;linux/devices/ploc/PlocMPSoCHelper.h
+12700;0x319c;TRANSITION_BACK_TO_OFF;MEDIUM;Could not transition properly and went back to ALL OFF;mission/devices/PayloadPcduHandler.h
+12701;0x319d;NEG_V_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12702;0x319e;U_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12703;0x319f;I_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12704;0x31a0;U_X8_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12705;0x31a1;I_X8_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12706;0x31a2;U_TX_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12707;0x31a3;I_TX_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12708;0x31a4;U_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12709;0x31a5;I_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12710;0x31a6;U_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12711;0x31a7;I_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12800;0x3200;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/AcsBoardAssembly.h
+12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/AcsBoardAssembly.h
+12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/AcsBoardAssembly.h
+12803;0x3203;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/AcsBoardAssembly.h
+12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/SusAssembly.h
+12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/SusAssembly.h
+12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/SusAssembly.h
+12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/SusAssembly.h
+13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;;mission/system/TcsBoardAssembly.h
+13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission/devices/devicedefinitions/GPSDefinitions.h
+13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/devices/P60DockHandler.h
+13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission/devices/P60DockHandler.h
+13202;0x3392;BATT_MODE_CHANGED;MEDIUM;Battery mode has changed. P1: Old mode. P2: New mode;mission/devices/P60DockHandler.h
+13600;0x3520;SUPV_UPDATE_FAILED;LOW;update failed;linux/devices/ploc/PlocSupvHelper.h
+13601;0x3521;SUPV_UPDATE_SUCCESSFUL;LOW;update successful;linux/devices/ploc/PlocSupvHelper.h
+13602;0x3522;TERMINATED_UPDATE_PROCEDURE;LOW;Terminated update procedure by command;linux/devices/ploc/PlocSupvHelper.h
+13603;0x3523;SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL;LOW;Requesting event buffer was successful;linux/devices/ploc/PlocSupvHelper.h
+13604;0x3524;SUPV_EVENT_BUFFER_REQUEST_FAILED;LOW;Requesting event buffer failed;linux/devices/ploc/PlocSupvHelper.h
+13605;0x3525;SUPV_EVENT_BUFFER_REQUEST_TERMINATED;LOW;Terminated event buffer request by command P1: Number of packets read before process was terminated;linux/devices/ploc/PlocSupvHelper.h
+13606;0x3526;SUPV_SENDING_COMMAND_FAILED;LOW;;linux/devices/ploc/PlocSupvHelper.h
+13607;0x3527;SUPV_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
+13608;0x3528;SUPV_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
+13609;0x3529;SUPV_MISSING_ACK;LOW;Did not receive acknowledgement report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocSupvHelper.h
+13610;0x352a;SUPV_MISSING_EXE;LOW;Supervisor did not receive execution report P1: Number of bytes missing P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
+13611;0x352b;SUPV_ACK_FAILURE_REPORT;LOW;Supervisor received acknowledgment failure report P1: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
+13612;0x352c;SUPV_EXE_FAILURE_REPORT;LOW;Execution report failure P1:;linux/devices/ploc/PlocSupvHelper.h
+13613;0x352d;SUPV_ACK_INVALID_APID;LOW;Supervisor expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
+13614;0x352e;SUPV_EXE_INVALID_APID;LOW;Supervisor helper expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
+13615;0x352f;ACK_RECEPTION_FAILURE;LOW;Failed to receive acknowledgment report P1: Return value P2: Apid of command for which the reception of the acknowledgment report failed;linux/devices/ploc/PlocSupvHelper.h
+13616;0x3530;EXE_RECEPTION_FAILURE;LOW;Failed to receive execution report P1: Return value P2: Apid of command for which the reception of the execution report failed;linux/devices/ploc/PlocSupvHelper.h
+13700;0x3584;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
+13701;0x3585;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
+13702;0x3586;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
+13703;0x3587;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h

generators/bsp_q7s_objects.csv

@@ -111,6 +111,7 @@
 0x73000001;ACS_BOARD_ASS
 0x73000002;SUS_BOARD_ASS
 0x73000003;TCS_BOARD_ASS
+0x73000004;RW_ASS
 0x73000100;TM_FUNNEL
 0x73500000;CCSDS_IP_CORE_BRIDGE
 0xFFFFFFFF;NO_OBJECT

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 199 translations.
+ * @brief    Auto-generated event translation file. Contains 200 translations.
  * @details
- * Generated on: 2022-05-06 19:43:59
+ * Generated on: 2022-05-08 13:11:24
  */
 #include "translateEvents.h"
 
@@ -113,6 +113,7 @@ const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE";
 const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE";
 const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
 const char *ERROR_STATE_STRING = "ERROR_STATE";
+const char *RESET_OCCURED_STRING = "RESET_OCCURED";
 const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
 const char *BOOTING_BOOTLOADER_FAILED_STRING = "BOOTING_BOOTLOADER_FAILED";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
@@ -419,6 +420,8 @@ const char *translateEvents(Event event) {
       return INVALID_ERROR_BYTE_STRING;
     case (11801):
       return ERROR_STATE_STRING;
+    case (11802):
+      return RESET_OCCURED_STRING;
     case (11901):
       return BOOTING_FIRMWARE_FAILED_STRING;
     case (11902):

generators/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 116 translations.
- * Generated on: 2022-05-06 19:43:55
+ * Contains 117 translations.
+ * Generated on: 2022-05-08 13:11:24
  */
 #include "translateObjects.h"
 
@@ -119,6 +119,7 @@ const char *TEST_TASK_STRING = "TEST_TASK";
 const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
 const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
 const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
+const char *RW_ASS_STRING = "RW_ASS";
 const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
@@ -351,6 +352,8 @@ const char *translateObject(object_id_t object) {
       return SUS_BOARD_ASS_STRING;
     case 0x73000003:
       return TCS_BOARD_ASS_STRING;
+    case 0x73000004:
+      return RW_ASS_STRING;
     case 0x73000100:
       return TM_FUNNEL_STRING;
     case 0x73500000:

linux/ObjectFactory.cpp

@@ -62,104 +62,103 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
   gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
 
-  gpioComIF->addGpios(gpioCookieSus);
+  gpioChecker(gpioComIF->addGpios(gpioCookieSus), "Sun Sensors");
 
 #if OBSW_ADD_SUN_SENSORS == 1
   SusFdir* fdir = nullptr;
   std::array<SusHandler*, 12> susHandlers = {};
-  SpiCookie* spiCookie =
-      new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, spiDev, SUS::MAX_CMD_SIZE,
+  SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE,
                                        spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[0] =
-      new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_COM_IF, spiCookie);
+      new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
   susHandlers[0]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[0]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[1] =
-      new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SPI_COM_IF, spiCookie);
+      new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
   susHandlers[1]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[1]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[2] =
-      new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SPI_COM_IF, spiCookie);
+      new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
   susHandlers[2]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[2]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[3] =
-      new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SPI_COM_IF, spiCookie);
+      new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
   susHandlers[3]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[3]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[4] =
-      new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SPI_COM_IF, spiCookie);
+      new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
   susHandlers[4]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[4]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[5] =
-      new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SPI_COM_IF, spiCookie);
+      new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
   susHandlers[5]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[5]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[6] =
-      new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_COM_IF, spiCookie);
+      new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
   susHandlers[6]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[6]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[7] =
-      new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SPI_COM_IF, spiCookie);
+      new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
   susHandlers[7]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[7]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[8] =
-      new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SPI_COM_IF, spiCookie);
+      new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
   susHandlers[8]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[8]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[9] =
-      new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SPI_COM_IF, spiCookie);
+      new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
   susHandlers[9]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[9]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[10] =
-      new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SPI_COM_IF, spiCookie);
+      new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
   susHandlers[10]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[10]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[11] =
-      new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SPI_COM_IF, spiCookie);
+      new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
   susHandlers[11]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[11]->setCustomFdir(fdir);
@@ -243,7 +242,7 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
                                                &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
   rtdGpioCookie->addGpio(gpioIds::RTD_IC_18, gpioRtdIc15);
 
-  gpioComIF->addGpios(rtdGpioCookie);
+  gpioChecker(gpioComIF->addGpios(rtdGpioCookie), "RTDs");
 
 #if OBSW_ADD_RTD_DEVICES == 1
   static constexpr uint8_t NUMBER_RTDS = 16;
@@ -286,9 +285,9 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
   RtdFdir* rtdFdir = nullptr;
   for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
     rtdCookies[idx] =
-        new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second, spiDev,
+        new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second,
                       Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
-    rtds[idx] = new Max31865PT1000Handler(rtdIds[idx], objects::SPI_COM_IF, rtdCookies[idx]);
+    rtds[idx] = new Max31865PT1000Handler(rtdIds[idx], objects::SPI_MAIN_COM_IF, rtdCookies[idx]);
     rtds[idx]->setParent(objects::TCS_BOARD_ASS);
     rtdFdir = new RtdFdir(rtdIds[idx]);
     rtds[idx]->setCustomFdir(rtdFdir);
@@ -313,3 +312,9 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
   static_cast<void>(tcsBoardAss);
 #endif  // OBSW_ADD_RTD_DEVICES == 1
 }
+
+void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "ObjectFactory: Adding GPIOs failed for " << output << std::endl;
+  }
+}

linux/ObjectFactory.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
 #include <string>
 
 class GpioIF;
@@ -12,4 +14,6 @@ void createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF, PowerSwitc
                                std::string spiDev);
 void createRtdComponents(std::string spiDev, GpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
 
+void gpioChecker(ReturnValue_t result, std::string output);
+
 }  // namespace ObjectFactory

linux/devices/ploc/PlocMPSoCHandler.h

@@ -108,7 +108,7 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
   MessageQueueIF* eventQueue = nullptr;
   MessageQueueIF* commandActionHelperQueue = nullptr;
 
-  SourceSequenceCounter sequenceCount = 0;
+  SourceSequenceCounter sequenceCount;
 
   uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
 

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 199 translations.
+ * @brief    Auto-generated event translation file. Contains 200 translations.
  * @details
- * Generated on: 2022-05-06 19:43:59
+ * Generated on: 2022-05-08 13:11:24
  */
 #include "translateEvents.h"
 
@@ -113,6 +113,7 @@ const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE";
 const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE";
 const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
 const char *ERROR_STATE_STRING = "ERROR_STATE";
+const char *RESET_OCCURED_STRING = "RESET_OCCURED";
 const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
 const char *BOOTING_BOOTLOADER_FAILED_STRING = "BOOTING_BOOTLOADER_FAILED";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
@@ -419,6 +420,8 @@ const char *translateEvents(Event event) {
       return INVALID_ERROR_BYTE_STRING;
     case (11801):
       return ERROR_STATE_STRING;
+    case (11802):
+      return RESET_OCCURED_STRING;
     case (11901):
       return BOOTING_FIRMWARE_FAILED_STRING;
     case (11902):

linux/fsfwconfig/objects/systemObjectList.h

@@ -47,8 +47,9 @@ enum sourceObjects : uint32_t {
   CSP_COM_IF = 0x49050001,
   I2C_COM_IF = 0x49040002,
   UART_COM_IF = 0x49030003,
-  SPI_COM_IF = 0x49020004,
+  SPI_MAIN_COM_IF = 0x49020004,
   GPIO_IF = 0x49010005,
+  SPI_RW_COM_IF = 0x49020005,
 
   /* Custom device handler */
   PCDU_HANDLER = 0x442000A1,

linux/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 116 translations.
- * Generated on: 2022-05-06 19:43:55
+ * Contains 117 translations.
+ * Generated on: 2022-05-08 13:11:24
  */
 #include "translateObjects.h"
 
@@ -119,6 +119,7 @@ const char *TEST_TASK_STRING = "TEST_TASK";
 const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
 const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
 const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
+const char *RW_ASS_STRING = "RW_ASS";
 const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
@@ -351,6 +352,8 @@ const char *translateObject(object_id_t object) {
       return SUS_BOARD_ASS_STRING;
     case 0x73000003:
       return TCS_BOARD_ASS_STRING;
+    case 0x73000004:
+      return RW_ASS_STRING;
     case 0x73000100:
       return TM_FUNNEL_STRING;
     case 0x73500000:

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -29,6 +29,36 @@ ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence) {
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
+ReturnValue_t pst::pstSpiRw(FixedTimeslotTaskIF *thisSequence) {
+  uint32_t length = thisSequence->getPeriodMs();
+  static_cast<void>(length);
+  thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+
+  thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+
+  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_WRITE);
+
+  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::SEND_READ);
+
+  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
+  return thisSequence->checkSequence();
+}
+
 ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
   static_cast<void>(length);
@@ -452,32 +482,6 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   }
 #endif /* OBSW_ADD_SUN_SENSORS == 1 */
 
-#if OBSW_ADD_RW == 1
-  thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW1, length * 0.5, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW1, length * 0.65, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ);
-
-  thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW2, length * 0.5, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW2, length * 0.65, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
-
-  thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW3, length * 0.5, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW3, length * 0.65, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
-
-  thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW4, length * 0.5, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW4, length * 0.65, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif
-
 #if OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1
   bool enableAside = true;
   bool enableBside = true;

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h

@@ -46,6 +46,8 @@ ReturnValue_t pstUart(FixedTimeslotTaskIF* thisSequence);
 
 ReturnValue_t pstSpi(FixedTimeslotTaskIF* thisSequence);
 
+ReturnValue_t pstSpiRw(FixedTimeslotTaskIF* thisSequence);
+
 ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);
 
 /**

linux/obc/PdecHandler.cpp

@@ -6,7 +6,6 @@
 #include <cstring>
 #include <sstream>
 
-#include "OBSWConfig.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"

mission/devices/GyroADIS1650XHandler.cpp

@@ -408,7 +408,7 @@ ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *
       int retval = 0;
       // Prepare transfer
       int fileDescriptor = 0;
-      std::string device = cookie->getSpiDevice();
+      std::string device = comIf->getSpiDev();
       UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
       if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
         return SpiComIF::OPENING_FILE_FAILED;

mission/devices/PayloadPcduHandler.cpp

@@ -697,8 +697,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   int retval = 0;
   // Prepare transfer
   int fileDescriptor = 0;
-  std::string device = cookie->getSpiDevice();
-  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
+  UnixFileGuard fileHelper(comIf->getSpiDev(), &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
   if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
     return SpiComIF::OPENING_FILE_FAILED;
   }

mission/devices/RwHandler.cpp

@@ -2,22 +2,22 @@
 
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/globalfunctions/CRC.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
 
 #include "OBSWConfig.h"
 
 RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                     LinuxLibgpioIF* gpioComIF, gpioId_t enableGpio)
+                     GpioIF* gpioComIF, gpioId_t enableGpio)
     : DeviceHandlerBase(objectId, comIF, comCookie),
       gpioComIF(gpioComIF),
       enableGpio(enableGpio),
-      temperatureSet(this),
       statusSet(this),
       lastResetStatusSet(this),
       tmDataset(this) {
-  if (comCookie == NULL) {
+  if (comCookie == nullptr) {
     sif::error << "RwHandler: Invalid com cookie" << std::endl;
   }
-  if (gpioComIF == NULL) {
+  if (gpioComIF == nullptr) {
     sif::error << "RwHandler: Invalid gpio communication interface" << std::endl;
   }
 }
@@ -46,11 +46,6 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
       *id = RwDefinitions::GET_LAST_RESET_STATUS;
       internalState = InternalState::READ_TEMPERATURE;
       break;
-    case InternalState::CLEAR_RESET_STATUS:
-      *id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
-      /** After reset status is cleared, reset status will be polled again for verification */
-      internalState = InternalState::GET_RESET_STATUS;
-      break;
     case InternalState::READ_TEMPERATURE:
       *id = RwDefinitions::GET_TEMPERATURE;
       internalState = InternalState::GET_RW_SATUS;
@@ -59,6 +54,11 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
       *id = RwDefinitions::GET_RW_STATUS;
       internalState = InternalState::GET_RESET_STATUS;
       break;
+    case InternalState::CLEAR_RESET_STATUS:
+      *id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
+      /** After reset status is cleared, reset status will be polled again for verification */
+      internalState = InternalState::GET_RESET_STATUS;
+      break;
     default:
       sif::debug << "RwHandler::buildNormalDeviceCommand: Invalid internal step" << std::endl;
       break;
@@ -133,7 +133,7 @@ void RwHandler::fillCommandAndReplyMap() {
                                    RwDefinitions::SIZE_GET_RW_STATUS);
   this->insertInCommandAndReplyMap(RwDefinitions::INIT_RW_CONTROLLER, 1, nullptr,
                                    RwDefinitions::SIZE_INIT_RW);
-  this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, &temperatureSet,
+  this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, nullptr,
                                    RwDefinitions::SIZE_GET_TEMPERATURE_REPLY);
   this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr,
                                    RwDefinitions::SIZE_SET_SPEED_REPLY);
@@ -239,8 +239,6 @@ ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_
   return RETURN_OK;
 }
 
-void RwHandler::setNormalDatapoolEntriesInvalid() {}
-
 uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }
 
 ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -279,7 +277,6 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
   localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(RwDefinitions::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(RwDefinitions::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
-  poolManager.subscribeForPeriodicPacket(temperatureSet.getSid(), false, 30.0, false);
   poolManager.subscribeForPeriodicPacket(statusSet.getSid(), false, 5.0, true);
   poolManager.subscribeForPeriodicPacket(tmDataset.getSid(), false, 30.0, false);
   return RETURN_OK;
@@ -335,16 +332,18 @@ void RwHandler::prepareSetSpeedCmd(const uint8_t* commandData, size_t commandDat
 void RwHandler::handleResetStatusReply(const uint8_t* packet) {
   PoolReadGuard rg(&lastResetStatusSet);
   uint8_t offset = 2;
-  uint8_t resetStatus = *(packet + offset);
-  if (resetStatus != RwDefinitions::CLEARED) {
+  uint8_t resetStatus = packet[offset];
+  if (resetStatus != 0) {
     internalState = InternalState::CLEAR_RESET_STATUS;
-    lastResetStatusSet.lastResetStatus = resetStatus;
+    lastResetStatusSet.lastNonClearedResetStatus = resetStatus;
+    triggerEvent(RwDefinitions::RESET_OCCURED, resetStatus, 0);
   }
   lastResetStatusSet.currentResetStatus = resetStatus;
   if (debugMode) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "RwHandler::handleResetStatusReply: Last reset status: "
-              << static_cast<unsigned int>(lastResetStatusSet.lastResetStatus.value) << std::endl;
+              << static_cast<unsigned int>(lastResetStatusSet.lastNonClearedResetStatus.value)
+              << std::endl;
     sif::info << "RwHandler::handleResetStatusReply: Current reset status: "
               << static_cast<unsigned int>(lastResetStatusSet.currentResetStatus.value)
               << std::endl;
@@ -353,24 +352,33 @@ void RwHandler::handleResetStatusReply(const uint8_t* packet) {
 }
 
 void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
-  PoolReadGuard rg(&statusSet);
+  PoolReadGuard rg0(&statusSet);
+  PoolReadGuard rg1(&tmDataset);
   uint8_t offset = 2;
   statusSet.currSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                         *(packet + offset + 1) << 8 | *(packet + offset);
+  tmDataset.rwCurrSpeed = statusSet.currSpeed;
+  tmDataset.rwCurrSpeed.setValid(true);
   offset += 4;
   statusSet.referenceSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                              *(packet + offset + 1) << 8 | *(packet + offset);
+  tmDataset.rwRefSpeed = statusSet.referenceSpeed;
+  tmDataset.rwRefSpeed.setValid(true);
   offset += 4;
   statusSet.state = *(packet + offset);
+  tmDataset.rwState = statusSet.state;
+  tmDataset.rwState.setValid(true);
   offset += 1;
   statusSet.clcMode = *(packet + offset);
+  tmDataset.rwClcMode = statusSet.clcMode;
+  tmDataset.rwClcMode.setValid(true);
+
+  statusSet.setValidity(true, true);
 
   if (statusSet.state == RwDefinitions::STATE_ERROR) {
-    /**
-     * This requires the commanding of the init reaction wheel controller command to recover
-     * form error state which must be handled by the FDIR instance.
-     */
-    triggerEvent(ERROR_STATE);
+    // This requires the commanding of the init reaction wheel controller command to recover
+    // from error state which must be handled by the FDIR instance.
+    triggerEvent(RwDefinitions::ERROR_STATE, statusSet.state.value, 0);
     sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state" << std::endl;
   }
 
@@ -389,14 +397,14 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
 }
 
 void RwHandler::handleTemperatureReply(const uint8_t* packet) {
-  PoolReadGuard rg(&temperatureSet);
+  PoolReadGuard rg(&statusSet);
   uint8_t offset = 2;
-  temperatureSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
+  statusSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                                  *(packet + offset + 1) << 8 | *(packet + offset);
   if (debugMode) {
 #if OBSW_VERBOSE_LEVEL >= 1
-    sif::info << "RwHandler::handleTemperatureReply: Temperature: "
-              << temperatureSet.temperatureCelcius << " °C" << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: Temperature: " << statusSet.temperatureCelcius
+              << " °C" << std::endl;
 #endif
   }
 }

mission/devices/RwHandler.h

@@ -2,10 +2,12 @@
 #define MISSION_DEVICES_RWHANDLER_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
+#include <fsfw_hal/common/gpio/gpioDefinitions.h>
 #include <mission/devices/devicedefinitions/RwDefinitions.h>
 #include <string.h>
 
+class GpioIF;
+
 /**
  * @brief	This is the device handler for the reaction wheel from nano avionics.
  *
@@ -28,7 +30,7 @@ class RwHandler : public DeviceHandlerBase {
    * @param enablePin 	GPIO connected to the enable pin of the reaction wheels. Must be pulled
    * 						to high to enable the device.
    */
-  RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, LinuxLibgpioIF* gpioComIF,
+  RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, GpioIF* gpioComIF,
             gpioId_t enableGpio);
 
   void setDebugMode(bool enable);
@@ -64,14 +66,11 @@ class RwHandler : public DeviceHandlerBase {
   ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
                              size_t* foundLen) override;
   ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
-  void setNormalDatapoolEntriesInvalid() override;
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
 
  private:
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::RW_HANDLER;
-
   //! [EXPORT] : [COMMENT] Action Message with invalid speed was received. Valid speeds must be in
   //! the range of [-65000; 1000] or [1000; 65000]
   static const ReturnValue_t INVALID_SPEED = MAKE_RETURN_CODE(0xA0);
@@ -84,14 +83,10 @@ class RwHandler : public DeviceHandlerBase {
   //! [EXPORT] : [COMMENT] Reaction wheel reply has invalid crc
   static const ReturnValue_t CRC_ERROR = MAKE_RETURN_CODE(0xA4);
 
-  //! [EXPORT] : [COMMENT] Reaction wheel signals an error state
-  static const Event ERROR_STATE = MAKE_EVENT(1, severity::HIGH);
-
-  LinuxLibgpioIF* gpioComIF = nullptr;
+  GpioIF* gpioComIF = nullptr;
   gpioId_t enableGpio = gpio::NO_GPIO;
   bool debugMode = false;
 
-  RwDefinitions::TemperatureSet temperatureSet;
   RwDefinitions::StatusSet statusSet;
   RwDefinitions::LastResetSatus lastResetStatusSet;
   RwDefinitions::TmDataset tmDataset;

mission/devices/devicedefinitions/RwDefinitions.h

@@ -9,6 +9,13 @@
 
 namespace RwDefinitions {
 
+static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::RW_HANDLER;
+
+//! [EXPORT] : [COMMENT] Reaction wheel signals an error state
+static constexpr Event ERROR_STATE = MAKE_EVENT(1, severity::HIGH);
+
+static constexpr Event RESET_OCCURED = event::makeEvent(SUBSYSTEM_ID, 2, severity::LOW);
+
 static const uint32_t SPI_REPLY_DELAY = 70000;  // us
 
 enum PoolIds : lp_id_t {
@@ -48,14 +55,13 @@ enum PoolIds : lp_id_t {
 
 enum States : uint8_t { STATE_ERROR, IDLE, COASTING, RUNNING_SPEED_STABLE, RUNNING_SPEED_CHANGING };
 
-enum LastResetStatus : uint8_t {
-  CLEARED = 0,
-  PIN_RESET = 1,
-  POR_PDR_BOR_RESET = 2,
-  SOFTWARE_RESET = 4,
-  INDEPENDENT_WATCHDOG_RESET = 8,
-  WINDOW_WATCHDOG_RESET = 16,
-  LOW_POWER_RESET = 32
+enum LastResetStatusBitPos : uint8_t {
+  PIN_RESET = 0,
+  POR_PDR_BOR_RESET = 1,
+  SOFTWARE_RESET = 2,
+  INDEPENDENT_WATCHDOG_RESET = 3,
+  WINDOW_WATCHDOG_RESET = 4,
+  LOW_POWER_RESET = 5
 };
 
 static const DeviceCommandId_t RESET_MCU = 1;
@@ -91,25 +97,11 @@ static const size_t MAX_CMD_SIZE = 9;
 static const size_t MAX_REPLY_SIZE = 2 * SIZE_GET_TELEMETRY_REPLY;
 
 static const uint8_t LAST_RESET_ENTRIES = 2;
-static const uint8_t TEMPERATURE_SET_ENTRIES = 1;
-static const uint8_t STATUS_SET_ENTRIES = 4;
+static const uint8_t STATUS_SET_ENTRIES = 5;
 static const uint8_t TM_SET_ENTRIES = 24;
 
 /**
- * @brief   This dataset can be used to store the temperature of a reaction wheel.
- */
-class TemperatureSet : public StaticLocalDataSet<TEMPERATURE_SET_ENTRIES> {
- public:
-  TemperatureSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TEMPERATURE_SET_ID) {}
-
-  TemperatureSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TEMPERATURE_SET_ID)) {}
-
-  lp_var_t<int32_t> temperatureCelcius =
-      lp_var_t<int32_t>(sid.objectId, PoolIds::TEMPERATURE_C, this);
-};
-
-/**
- * @brief   This dataset can be used to store the reaction wheel status.
+ * @brief   This dataset can be used to store the data periodically polled from the RW
  */
 class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
  public:
@@ -117,6 +109,8 @@ class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
 
   StatusSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, STATUS_SET_ID)) {}
 
+  lp_var_t<int32_t> temperatureCelcius =
+      lp_var_t<int32_t>(sid.objectId, PoolIds::TEMPERATURE_C, this);
   lp_var_t<int32_t> currSpeed = lp_var_t<int32_t>(sid.objectId, PoolIds::CURR_SPEED, this);
   lp_var_t<int32_t> referenceSpeed =
       lp_var_t<int32_t>(sid.objectId, PoolIds::REFERENCE_SPEED, this);
@@ -133,8 +127,10 @@ class LastResetSatus : public StaticLocalDataSet<LAST_RESET_ENTRIES> {
 
   LastResetSatus(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, LAST_RESET_ID)) {}
 
-  lp_var_t<uint8_t> lastResetStatus =
+  // If a reset occurs, the status code will be cached into this variable
+  lp_var_t<uint8_t> lastNonClearedResetStatus =
       lp_var_t<uint8_t>(sid.objectId, PoolIds::LAST_RESET_STATUS, this);
+  // This will always contain the last polled reset status
   lp_var_t<uint8_t> currentResetStatus =
       lp_var_t<uint8_t>(sid.objectId, PoolIds::CURRRENT_RESET_STATUS, this);
 };

mission/devices/devicedefinitions/powerDefinitions.h

@@ -10,7 +10,7 @@ static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_HANDLER;
 //! [EXPORT] : [COMMENT] Indicates that a FSFW object requested setting a switch
 //! P1: 1 if on was requested, 0 for off | P2: Switch Index
 static constexpr Event SWITCH_CMD_SENT = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
-//! [EXPORT] : [COMMENT] Indicated that a swithc state has changed
+//! [EXPORT] : [COMMENT] Indicated that a switch state has changed
 //! P1: New switch state, 1 for on, 0 for off | P2: Switch Index
 static constexpr Event SWITCH_HAS_CHANGED = event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
 static constexpr Event SWITCHING_Q7S_DENIED = event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);

mission/system/CMakeLists.txt

@@ -5,6 +5,7 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
     PayloadSubsystem.cpp
 
     AcsBoardAssembly.cpp
+    RwAssembly.cpp
     SusAssembly.cpp
     DualLanePowerStateMachine.cpp
     PowerStateMachineBase.cpp

mission/system/RwAssembly.cpp

@@ -0,0 +1,191 @@
+#include "RwAssembly.h"
+
+RwAssembly::RwAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
+                       power::Switch_t switcher, RwHelper helper)
+    : AssemblyBase(objectId, parentId), helper(helper), switcher(pwrSwitcher, switcher) {
+  ModeListEntry entry;
+  for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
+    entry.setObject(helper.rwIds[idx]);
+    entry.setMode(MODE_OFF);
+    entry.setSubmode(SUBMODE_NONE);
+    entry.setInheritSubmode(false);
+    modeTable.insert(entry);
+  }
+}
+
+void RwAssembly::performChildOperation() {
+  auto state = switcher.getState();
+  if (state != PowerSwitcher::WAIT_OFF and state != PowerSwitcher::WAIT_ON) {
+    AssemblyBase::performChildOperation();
+    return;
+  }
+  switcher.doStateMachine();
+  if (state == PowerSwitcher::WAIT_OFF and switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
+    // Indicator that a transition to off is finished
+    AssemblyBase::handleModeReached();
+  } else if (state == PowerSwitcher::WAIT_ON and
+             switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
+    // Indicator that mode commanding can be performed now
+    AssemblyBase::startTransition(targetMode, targetSubmode);
+  }
+}
+
+ReturnValue_t RwAssembly::commandChildren(Mode_t mode, Submode_t submode) {
+  ReturnValue_t result = RETURN_OK;
+  modeTransitionFailedSwitch = true;
+  // Initialize the mode table to ensure all devices are in a defined state
+  for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
+    modeTable[idx].setMode(MODE_OFF);
+    modeTable[idx].setSubmode(SUBMODE_NONE);
+  }
+  if (recoveryState != RecoveryState::RECOVERY_STARTED) {
+    if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
+      result = handleNormalOrOnModeCmd(mode, submode);
+    }
+  }
+  HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
+  executeTable(tableIter);
+  return result;
+}
+
+ReturnValue_t RwAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
+  int devsInCorrectMode = 0;
+  try {
+    for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
+      if (childrenMap.at(helper.rwIds[idx]).mode == wantedMode) {
+        devsInCorrectMode++;
+      }
+    }
+  } catch (const std::out_of_range& e) {
+    sif::error << "RwAssembly: Invalid children map: " << e.what() << std::endl;
+  }
+  if (devsInCorrectMode < 3) {
+    if (warningSwitch) {
+      sif::warning << "RwAssembly::checkChildrenStateOn: Only " << devsInCorrectMode
+                   << " devices in correct mode" << std::endl;
+      warningSwitch = false;
+    }
+    return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t RwAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
+  if (mode == MODE_ON or mode == MODE_OFF or mode == DeviceHandlerIF::MODE_NORMAL) {
+    return RETURN_OK;
+  }
+  return HasModesIF::INVALID_MODE;
+}
+
+void RwAssembly::startTransition(Mode_t mode, Submode_t submode) {
+  if (mode != MODE_OFF) {
+    switcher.turnOn(true);
+    switcher.doStateMachine();
+    if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
+      AssemblyBase::startTransition(mode, submode);
+    } else {
+      // Need to wait with mode commanding until power switcher is done
+      targetMode = mode;
+      targetSubmode = submode;
+    }
+  } else {
+    // Perform regular mode commanding first
+    AssemblyBase::startTransition(mode, submode);
+  }
+}
+
+void RwAssembly::handleModeReached() {
+  if (targetMode == MODE_OFF) {
+    switcher.turnOff(true);
+    switcher.doStateMachine();
+    // Need to wait with call to AssemblyBase::handleModeReached until power switcher is done
+    if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
+      AssemblyBase::handleModeReached();
+    }
+  } else {
+    AssemblyBase::handleModeReached();
+  }
+}
+
+void RwAssembly::handleChildrenLostMode(ReturnValue_t result) {
+  AssemblyBase::handleChildrenLostMode(result);
+}
+
+ReturnValue_t RwAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
+  ReturnValue_t result = RETURN_OK;
+  bool needsSecondStep = false;
+  Mode_t devMode = 0;
+  object_id_t objId = 0;
+  try {
+    for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
+      devMode = childrenMap.at(helper.rwIds[idx]).mode;
+      objId = helper.rwIds[idx];
+      if (mode == devMode) {
+        modeTable[idx].setMode(mode);
+      } else if (mode == DeviceHandlerIF::MODE_NORMAL) {
+        if (isUseable(objId, devMode)) {
+          if (devMode == MODE_ON) {
+            modeTable[idx].setMode(mode);
+            modeTable[idx].setSubmode(SUBMODE_NONE);
+          } else {
+            modeTable[idx].setMode(MODE_ON);
+            modeTable[idx].setSubmode(SUBMODE_NONE);
+            if (internalState != STATE_SECOND_STEP) {
+              needsSecondStep = true;
+            }
+          }
+        }
+      } else if (mode == MODE_ON) {
+        if (isUseable(objId, devMode)) {
+          modeTable[idx].setMode(MODE_ON);
+          modeTable[idx].setSubmode(SUBMODE_NONE);
+        }
+      }
+    }
+  } catch (const std::out_of_range& e) {
+    sif::error << "TcsBoardAssembly: Invalid children map: " << e.what() << std::endl;
+  }
+  if (needsSecondStep) {
+    result = NEED_SECOND_STEP;
+  }
+  return result;
+}
+
+bool RwAssembly::isUseable(object_id_t object, Mode_t mode) {
+  if (healthHelper.healthTable->isFaulty(object)) {
+    return false;
+  }
+
+  // Check if device is already in target mode
+  if (childrenMap[object].mode == mode) {
+    return true;
+  }
+
+  if (healthHelper.healthTable->isCommandable(object)) {
+    return true;
+  }
+  return false;
+}
+
+ReturnValue_t RwAssembly::initialize() {
+  ReturnValue_t result = RETURN_OK;
+  for (const auto& obj : helper.rwIds) {
+    result = registerChild(obj);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+  }
+  return SubsystemBase::initialize();
+}
+
+void RwAssembly::handleModeTransitionFailed(ReturnValue_t result) {
+  if (targetMode == MODE_OFF) {
+    AssemblyBase::handleModeTransitionFailed(result);
+  } else {
+    if (modeTransitionFailedSwitch) {
+      // To avoid transitioning back to off
+      triggerEvent(MODE_TRANSITION_FAILED, result);
+      modeTransitionFailedSwitch = false;
+    }
+  }
+}

mission/system/RwAssembly.h

@@ -0,0 +1,51 @@
+#ifndef MISSION_SYSTEM_RWASS_H_
+#define MISSION_SYSTEM_RWASS_H_
+
+#include <fsfw/devicehandlers/AssemblyBase.h>
+#include <fsfw/power/PowerSwitcher.h>
+
+struct RwHelper {
+  RwHelper(std::array<object_id_t, 4> rwIds) : rwIds(rwIds) {}
+
+  std::array<object_id_t, 4> rwIds = {};
+};
+
+class RwAssembly : public AssemblyBase {
+ public:
+  RwAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
+             power::Switch_t switcher, RwHelper helper);
+
+ private:
+  static constexpr uint8_t NUMBER_RWS = 4;
+  RwHelper helper;
+  PowerSwitcher switcher;
+  bool warningSwitch = true;
+  bool modeTransitionFailedSwitch = true;
+  FixedArrayList<ModeListEntry, NUMBER_RWS> modeTable;
+
+  ReturnValue_t initialize() override;
+
+  ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
+  /**
+   * Check whether it makes sense to send mode commands to the device
+   * @param object
+   * @param mode
+   * @return
+   */
+  bool isUseable(object_id_t object, Mode_t mode);
+
+  // AssemblyBase implementation
+  void performChildOperation() override;
+  ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
+  ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
+  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+  void startTransition(Mode_t mode, Submode_t submode) override;
+  void handleModeReached() override;
+
+  // These two overrides prevent a transition of the whole assembly back to off just because
+  // some devices are not working
+  void handleChildrenLostMode(ReturnValue_t result) override;
+  void handleModeTransitionFailed(ReturnValue_t result) override;
+};
+
+#endif /* MISSION_SYSTEM_RWASS_H_ */

mission/system/TcsBoardAssembly.cpp

@@ -32,7 +32,6 @@ void TcsBoardAssembly::performChildOperation() {
              switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
     // Indicator that mode commanding can be performed now
     AssemblyBase::startTransition(targetMode, targetSubmode);
-    // AssemblyBase::performChildOperation();
   }
 }
 

mission/system/TcsBoardAssembly.h

@@ -21,8 +21,6 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
 
   ReturnValue_t initialize() override;
 
-  void performChildOperation() override;
-
  private:
   static constexpr uint8_t NUMBER_RTDS = 16;
   PowerSwitcher switcher;
@@ -44,6 +42,7 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
   MessageQueueId_t getEventReceptionQueue() override;
 
   // AssemblyBase implementation
+  void performChildOperation() override;
   ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
   ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
   ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;

tmtc

@@ -1 +1 @@
-Subproject commit fcce78b447aecd7bc1a65af1e44b51e1ca9d7437
+Subproject commit bc02c9d6076dc3f6e0b37a67be04a445245fdd1e

unittest/controller/testAcsController.cpp

@@ -2,18 +2,16 @@
 #include <mission/controller/ThermalController.h>
 
 #include <catch2/catch_test_macros.hpp>
+#include <fstream>
+#include <iostream>
+#include <stdexcept>
 
 #include "../testEnvironment.h"
-#include <fstream>
-#include <stdexcept>
-#include <iostream>
 #include "rapidcsv.h"
 
-
 TEST_CASE("ACS Controller", "[AcsController]") {
-
   SECTION("SectionTest") {
-    //acsCtrl.performOperation();
+    // acsCtrl.performOperation();
     CHECK(1 == 1);
 
     try {
@@ -21,7 +19,7 @@ TEST_CASE("ACS Controller", "[AcsController]") {
         std::ifstream file("unittest/meineTestDaten.txt");
         if (file.good()) {
           std::string line;
-          while(std::getline(file, line)) {
+          while (std::getline(file, line)) {
             std::cout << "ACS CTRL Test test file: " << line << std::endl;
           }
         }
@@ -36,12 +34,8 @@ TEST_CASE("ACS Controller", "[AcsController]") {
       sif::warning << "CSV file test exception occured: " << e.what() << std::endl;
     }
 
-
     REQUIRE(2 == 2);
   }
 
-  SECTION("SectionTest2") {
-
-  }
-
+  SECTION("SectionTest2") {}
 }