CMakeLists.txt

@@ -20,6 +20,9 @@ option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
 option(EIVE_SYSROOT_MAGIC "Perform sysroot magic which might not be necessary" OFF)
 option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON)
 
+set(OBSW_ADD_STAR_TRACKER 0)
+set(OBSW_DEBUG_STARTRACKER 0)
+
 if(NOT FSFW_OSAL)
 	set(FSFW_OSAL linux CACHE STRING "OS for the FSFW.")
 endif()
@@ -71,7 +74,7 @@ set(LIB_JSON_NAME nlohmann_json::nlohmann_json)
 
 # Set path names
 set(FSFW_PATH fsfw)
-set(TEST_PATH test/testtasks)
+set(TEST_PATH test)
 set(UNITTEST_PATH unittest)
 set(LINUX_PATH linux)
 set(COMMON_PATH common)
@@ -98,6 +101,7 @@ pre_source_hw_os_config()
 if(TGT_BSP)
     if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi"
         OR TGT_BSP MATCHES "arm/beagleboneblack" OR TGT_BSP MATCHES "arm/egse" 
+        OR TGT_BSP MATCHES "arm/te0720-1cfa"
     )
         set(FSFW_CONFIG_PATH "linux/fsfwconfig")
         if(NOT BUILD_Q7S_SIMPLE_MODE)
@@ -117,6 +121,8 @@ if(TGT_BSP)
         # Used by configure file
         set(EGSE ON)
         set(FSFW_HAL_LINUX_ADD_LIBGPIOD OFF)
+        set(OBSW_ADD_STAR_TRACKER 1)
+        set(OBSW_DEBUG_STARTRACKER 1)
     endif()
     
     if(TGT_BSP MATCHES "arm/beagleboneblack")
@@ -128,6 +134,10 @@ if(TGT_BSP)
         # Used by configure file
         set(XIPHOS_Q7S ON)
     endif()
+    
+    if(TGT_BSP MATCHES "arm/te0720-1cfa")
+        set(TE0720_1CFA ON)
+    endif()
 else()
     # Required by FSFW library
     set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
@@ -200,7 +210,7 @@ elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
 	set(COMPILER_FLAGS "/permissive-")
 endif()
 
-
+if (NOT(TGT_BSP MATCHES "arm/te0720-1cfa") AND NOT(TGT_BSP MATCHES "arm/q7s"))
 # Not installed, so use FetchContent to download and provide Catch2
 if(NOT Catch2_FOUND)
     message(STATUS "Did not find a valid Catch2 installation. Using FetchContent to install it")
@@ -218,7 +228,7 @@ if(NOT Catch2_FOUND)
     set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
     set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
 endif()
-
+endif()
 
 
 add_library(${LIB_EIVE_MISSION})

README.md

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

automation/Dockerfile

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

automation/Jenkinsfile

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

bsp_egse/ObjectFactory.cpp

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

bsp_egse/main.cpp

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

bsp_linux_board/CMakeLists.txt

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

bsp_linux_board/InitMission.cpp

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

bsp_linux_board/ObjectFactory.cpp

@@ -6,10 +6,13 @@
 #include "devices/addresses.h"
 #include "devices/gpioIds.h"
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
+#include "fsfw/power/DummyPowerSwitcher.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/tmtcpacket/pus/tm.h"
 #include "fsfw/tmtcservices/CommandingServiceBase.h"
 #include "fsfw/tmtcservices/PusServiceBase.h"
+#include "gpioInit.h"
+#include "linux/ObjectFactory.h"
 #include "linux/boardtest/LibgpiodTest.h"
 #include "linux/boardtest/SpiTestClass.h"
 #include "linux/boardtest/UartTestClass.h"
@@ -65,37 +68,55 @@ void ObjectFactory::produce(void* args) {
   GpioCookie* gpioCookie = nullptr;
   static_cast<void>(gpioCookie);
 
-  new SpiComIF(objects::SPI_COM_IF, gpioIF);
+  SpiComIF* spiComIF = new SpiComIF(objects::SPI_COM_IF, gpioIF);
+  static_cast<void>(spiComIF);
+  auto pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
+  static_cast<void>(pwrSwitcher);
 
-  std::string spiDev;
+#if OBSW_ADD_ACS_BOARD == 1 && defined(RASPBERRY_PI)
-  SpiCookie* spiCookie = nullptr;
+  createRpiAcsBoard(gpioIF, spiDev);
-  static_cast<void>(spiCookie);
+#endif
 
-#if OBSW_ADD_ACS_BOARD == 1
+#if OBSW_ADD_SUN_SENSORS == 1 || defined(OBSW_ADD_RTD_DEVICES)
-  if (gpioCookie == nullptr) {
+#ifdef RASPBERRY_PI
-    gpioCookie = new GpioCookie();
+  rpi::gpio::initSpiCsDecoder(gpioIF);
-  }
+#endif
+#endif
+
+#if OBSW_ADD_SUN_SENSORS == 1
+  createSunSensorComponents(gpioIF, spiComIF, pwrSwitcher, spi::DEV);
+#endif
+
+#if OBSW_ADD_RTD_DEVICES == 1
+  createRtdComponents(spi::DEV, gpioIF, pwrSwitcher);
+#endif
+
+#if OBSW_ADD_TEST_CODE == 1
+  createTestTasks();
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+}
+
+void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
+  GpioCookie* gpioCookie = new GpioCookie();
   // TODO: Missing pin for Gyro 2
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN, "MGM_0_LIS3",
-                            gpio::Direction::OUT, 1);
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
-                            "MGM_1_RM3100", gpio::Direction::OUT, 1);
+                            "MGM_1_RM3100", gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN, "MGM_2_LIS3",
-                            gpio::Direction::OUT, 1);
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
-                            "MGM_3_RM3100", gpio::Direction::OUT, 1);
+                            "MGM_3_RM3100", gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
-                            "GYRO_0_ADIS", gpio::Direction::OUT, 1);
+                            "GYRO_0_ADIS", gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN, "GYRO_1_L3G",
-                            gpio::Direction::OUT, 1);
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
-                            "GYRO_2_ADIS", gpio::Direction::OUT, 1);
+                            "GYRO_2_ADIS", gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN, "GYRO_3_L3G",
-                            gpio::Direction::OUT, 1);
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
   gpioIF->addGpios(gpioCookie);
-
+  SpiCookie* spiCookie =
-  spiDev = "/dev/spidev0.1";
-  spiCookie =
       new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
                     MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
   auto mgmLis3Handler =
@@ -137,9 +158,9 @@ void ObjectFactory::produce(void* args) {
 
   spiCookie =
       new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
-                    ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+                    ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  auto adisHandler =
+  auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
-      new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
+                                              spiCookie, ADIS1650X::Type::ADIS16505);
   adisHandler->setStartUpImmediately();
   spiCookie =
       new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
@@ -153,9 +174,9 @@ void ObjectFactory::produce(void* args) {
 
   spiCookie =
       new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
-                    ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+                    ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  adisHandler =
+  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
-      new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
+                                         spiCookie, ADIS1650X::Type::ADIS16505);
   adisHandler->setStartUpImmediately();
 
   spiCookie =
@@ -167,12 +188,6 @@ void ObjectFactory::produce(void* args) {
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
   gyroL3gHandler->setToGoToNormalMode(true);
 #endif
-
-#endif /* RPI_TEST_ACS_BOARD == 1 */
-
-#if OBSW_ADD_TEST_CODE == 1
-  createTestTasks();
-#endif /* OBSW_ADD_TEST_CODE == 1 */
 }
 
 void ObjectFactory::createTestTasks() {

bsp_linux_board/ObjectFactory.h

@@ -1,10 +1,15 @@
 #ifndef BSP_LINUX_OBJECTFACTORY_H_
 #define BSP_LINUX_OBJECTFACTORY_H_
 
+#include <string>
+
+class GpioIF;
+
 namespace ObjectFactory {
 void setStatics();
 void produce(void* args);
 
+void createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev);
 void createTestTasks();
 };  // namespace ObjectFactory
 

bsp_linux_board/boardconfig/rpiConfig.h.in

@@ -17,16 +17,4 @@
 
 #define RPI_ADD_UART_TEST               0
 
-/* Adapt these values accordingly */
-namespace gpio {
-static constexpr uint8_t MGM_0_BCM_PIN = 17;
-static constexpr uint8_t MGM_1_BCM_PIN = 27;
-static constexpr uint8_t MGM_2_BCM_PIN = 22;
-static constexpr uint8_t MGM_3_BCM_PIN = 23;
-static constexpr uint8_t GYRO_0_BCM_PIN = 5;
-static constexpr uint8_t GYRO_1_BCM_PIN = 6;
-static constexpr uint8_t GYRO_2_BCM_PIN = 13;
-static constexpr uint8_t GYRO_3_BCM_PIN = 19;
-}
-
 #endif /* BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_ */

bsp_linux_board/definitions.h

@@ -0,0 +1,37 @@
+#ifndef BSP_LINUX_BOARD_DEFINITIONS_H_
+#define BSP_LINUX_BOARD_DEFINITIONS_H_
+
+#include <cstdint>
+
+#include "OBSWConfig.h"
+
+#ifdef RASPBERRY_PI
+
+namespace spi {
+
+static constexpr char DEV[] = "/dev/spidev0.1";
+
+}
+
+/* Adapt these values accordingly */
+namespace gpio {
+static constexpr uint8_t MGM_0_BCM_PIN = 17;
+static constexpr uint8_t MGM_1_BCM_PIN = 27;
+static constexpr uint8_t MGM_2_BCM_PIN = 22;
+static constexpr uint8_t MGM_3_BCM_PIN = 23;
+static constexpr uint8_t GYRO_0_BCM_PIN = 5;
+static constexpr uint8_t GYRO_1_BCM_PIN = 6;
+static constexpr uint8_t GYRO_2_BCM_PIN = 13;
+static constexpr uint8_t GYRO_3_BCM_PIN = 19;
+
+static constexpr uint8_t SPI_MUX_0_BCM = 17;
+static constexpr uint8_t SPI_MUX_1_BCM = 27;
+static constexpr uint8_t SPI_MUX_2_BCM = 22;
+static constexpr uint8_t SPI_MUX_3_BCM = 23;
+static constexpr uint8_t SPI_MUX_4_BCM = 5;
+static constexpr uint8_t SPI_MUX_5_BCM = 6;
+}  // namespace gpio
+
+#endif
+
+#endif /* BSP_LINUX_BOARD_DEFINITIONS_H_ */

bsp_linux_board/gpioInit.cpp

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

bsp_linux_board/gpioInit.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include "OBSWConfig.h"
+
+class GpioIF;
+
+#ifdef RASPBERRY_PI
+namespace rpi {
+namespace gpio {
+
+/**
+ * @brief   This function initializes the GPIOs used to control the SN74LVC138APWR decoders on
+ *          the TCS Board and the interface board.
+ */
+void initSpiCsDecoder(GpioIF* gpioComIF);
+
+}  // namespace gpio
+}  // namespace rpi
+
+#endif

bsp_linux_board/main.cpp

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

bsp_q7s/CMakeLists.txt

@@ -22,5 +22,4 @@ add_subdirectory(comIF)
 add_subdirectory(core)
 add_subdirectory(memory)
 add_subdirectory(callbacks)
-add_subdirectory(devices)
 add_subdirectory(xadc)

bsp_q7s/boardconfig/busConf.h

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

bsp_q7s/callbacks/CMakeLists.txt

@@ -2,5 +2,5 @@ target_sources(${OBSW_NAME} PRIVATE
 	rwSpiCallback.cpp
 	gnssCallback.cpp
 	pcduSwitchCb.cpp
-	gpioCallbacks.cpp
+	q7sGpioCallbacks.cpp
 )

bsp_q7s/callbacks/gpioCallbacks.cpp

@@ -1,487 +0,0 @@
-#include "gpioCallbacks.h"
-
-#include <devices/gpioIds.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
-#include <fsfw_hal/common/gpio/GpioCookie.h>
-#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
-
-#include "busConf.h"
-
-namespace gpioCallbacks {
-
-GpioIF* gpioComInterface;
-
-void initSpiCsDecoder(GpioIF* gpioComIF) {
-  using namespace gpio;
-  ReturnValue_t result;
-
-  if (gpioComIF == nullptr) {
-    sif::debug << "initSpiCsDecoder: Invalid gpioComIF" << std::endl;
-    return;
-  }
-
-  gpioComInterface = gpioComIF;
-
-  GpioCookie* spiMuxGpios = new GpioCookie;
-
-  GpiodRegularByLineName* spiMuxBit = nullptr;
-  /** Setting mux bit 1 to low will disable IC21 on the interface board */
-  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_0_PIN, "SPI Mux Bit 1",
-                                         Direction::OUT, Levels::HIGH);
-  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_0, spiMuxBit);
-  /** Setting mux bit 2 to low disables IC1 on the TCS board */
-  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 2",
-                                         Direction::OUT, Levels::HIGH);
-  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit);
-  /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */
-  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 3",
-                                         Direction::OUT, Levels::LOW);
-  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit);
-
-  /** The following gpios can take arbitrary initial values */
-  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 4",
-                                         Direction::OUT, Levels::LOW);
-  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
-  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 5",
-                                         Direction::OUT, Levels::LOW);
-  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit);
-  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 6",
-                                         Direction::OUT, Levels::LOW);
-  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
-  GpiodRegularByLineName* enRwDecoder = new GpiodRegularByLineName(
-      q7s::gpioNames::EN_RW_CS, "EN_RW_CS", Direction::OUT, Levels::HIGH);
-  spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
-
-  result = gpioComInterface->addGpios(spiMuxGpios);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
-    return;
-  }
-}
-
-void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
-                          void* args) {
-  using namespace gpio;
-  if (gpioComInterface == nullptr) {
-    sif::debug << "spiCsDecoderCallback: No gpioComIF specified. Call initSpiCsDecoder "
-               << "to specify gpioComIF" << std::endl;
-    return;
-  }
-
-  /* Reading is not supported by the callback function */
-  if (gpioOp == gpio::GpioOperation::READ) {
-    return;
-  }
-
-  if (value == Levels::HIGH) {
-    switch (gpioId) {
-      case (gpioIds::RTD_IC_3): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_4): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_5): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_6): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_7): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_8): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_9): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_10): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_11): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_12): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_13): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_14): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_15): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_16): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_17): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_18): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_0): {
-        disableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_1): {
-        disableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_2): {
-        disableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_3): {
-        disableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_4): {
-        disableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_5): {
-        disableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_6): {
-        disableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_7): {
-        disableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_8): {
-        disableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_9): {
-        disableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_10): {
-        disableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_11): {
-        disableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_RW1): {
-        disableRwDecoder();
-        break;
-      }
-      case (gpioIds::CS_RW2): {
-        disableRwDecoder();
-        break;
-      }
-      case (gpioIds::CS_RW3): {
-        disableRwDecoder();
-        break;
-      }
-      case (gpioIds::CS_RW4): {
-        disableRwDecoder();
-        break;
-      }
-      default:
-        sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
-    }
-  } else if (value == Levels::LOW) {
-    switch (gpioId) {
-      case (gpioIds::RTD_IC_3): {
-        selectY7();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_4): {
-        selectY6();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_5): {
-        selectY5();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_6): {
-        selectY4();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_7): {
-        selectY3();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_8): {
-        selectY2();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_9): {
-        selectY1();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_10): {
-        selectY0();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_11): {
-        selectY7();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_12): {
-        selectY6();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_13): {
-        selectY5();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_14): {
-        selectY4();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_15): {
-        selectY3();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_16): {
-        selectY2();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_17): {
-        selectY1();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_18): {
-        selectY0();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_0): {
-        selectY0();
-        enableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_1): {
-        selectY1();
-        enableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_2): {
-        selectY2();
-        enableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_3): {
-        selectY3();
-        enableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_4): {
-        selectY4();
-        enableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_5): {
-        selectY5();
-        enableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_6): {
-        selectY0();
-        enableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_7): {
-        selectY1();
-        enableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_8): {
-        selectY2();
-        enableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_9): {
-        selectY3();
-        enableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_10): {
-        selectY4();
-        enableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_11): {
-        selectY5();
-        enableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_RW1): {
-        selectY0();
-        enableRwDecoder();
-        break;
-      }
-      case (gpioIds::CS_RW2): {
-        selectY1();
-        enableRwDecoder();
-        break;
-      }
-      case (gpioIds::CS_RW3): {
-        selectY2();
-        enableRwDecoder();
-        break;
-      }
-      case (gpioIds::CS_RW4): {
-        selectY3();
-        enableRwDecoder();
-        break;
-      }
-      default:
-        sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
-    }
-  } else {
-    sif::debug << "spiCsDecoderCallback: Invalid value. Must be 0 or 1" << std::endl;
-  }
-}
-
-void enableDecoderTcsIc1() {
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-}
-
-void enableDecoderTcsIc2() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
-}
-
-void enableDecoderInterfaceBoardIc1() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-}
-
-void enableDecoderInterfaceBoardIc2() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
-}
-
-void disableDecoderTcsIc1() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-}
-
-void disableDecoderTcsIc2() {
-  // DO NOT CHANGE THE ORDER HERE
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
-}
-
-void disableDecoderInterfaceBoardIc1() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-}
-
-void disableDecoderInterfaceBoardIc2() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-}
-
-void enableRwDecoder() { gpioComInterface->pullHigh(gpioIds::EN_RW_CS); }
-
-void disableRwDecoder() { gpioComInterface->pullLow(gpioIds::EN_RW_CS); }
-
-void selectY0() {
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY1() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY2() {
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY3() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY4() {
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY5() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY6() {
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY7() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
-}
-
-void disableAllDecoder() {
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullLow(gpioIds::EN_RW_CS);
-}
-
-}  // namespace gpioCallbacks

bsp_q7s/callbacks/q7sGpioCallbacks.cpp

@@ -0,0 +1,54 @@
+#include "q7sGpioCallbacks.h"
+
+#include <devices/gpioIds.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
+
+#include "busConf.h"
+
+void q7s::gpioCallbacks::initSpiCsDecoder(GpioIF* gpioComIF) {
+  using namespace gpio;
+  ReturnValue_t result;
+
+  if (gpioComIF == nullptr) {
+    sif::debug << "initSpiCsDecoder: Invalid gpioComIF" << std::endl;
+    return;
+  }
+
+  GpioCookie* spiMuxGpios = new GpioCookie;
+
+  GpiodRegularByLineName* spiMuxBit = nullptr;
+  /** Setting mux bit 1 to low will disable IC21 on the interface board */
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_0_PIN, "SPI Mux Bit 1",
+                                         Direction::OUT, Levels::HIGH);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_0, spiMuxBit);
+  /** Setting mux bit 2 to low disables IC1 on the TCS board */
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 2",
+                                         Direction::OUT, Levels::HIGH);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit);
+  /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 3",
+                                         Direction::OUT, Levels::LOW);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit);
+
+  /** The following gpios can take arbitrary initial values */
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 4",
+                                         Direction::OUT, Levels::LOW);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 5",
+                                         Direction::OUT, Levels::LOW);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit);
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 6",
+                                         Direction::OUT, Levels::LOW);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
+  GpiodRegularByLineName* enRwDecoder = new GpiodRegularByLineName(
+      q7s::gpioNames::EN_RW_CS, "EN_RW_CS", Direction::OUT, Levels::HIGH);
+  spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
+
+  result = gpioComIF->addGpios(spiMuxGpios);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
+    return;
+  }
+}

bsp_q7s/callbacks/q7sGpioCallbacks.h

@@ -0,0 +1,15 @@
+#pragma once
+
+class GpioIF;
+
+namespace q7s {
+namespace gpioCallbacks {
+
+/**
+ * @brief   This function initializes the GPIOs used to control the SN74LVC138APWR decoders on
+ *          the TCS Board and the interface board.
+ */
+void initSpiCsDecoder(GpioIF* gpioComIF);
+
+}  // namespace gpioCallbacks
+}  // namespace q7s

bsp_q7s/core/CoreController.cpp

@@ -1,6 +1,7 @@
 #include "CoreController.h"
 
 #include <fsfw/events/EventManager.h>
+#include <fsfw/ipc/QueueFactory.h>
 
 #include "OBSWConfig.h"
 #include "OBSWVersion.h"
@@ -16,11 +17,13 @@
 #include <fcntl.h>
 #include <unistd.h>
 
+#include <algorithm>
 #include <filesystem>
 
 #include "bsp_q7s/memory/SdCardManager.h"
 #include "bsp_q7s/memory/scratchApi.h"
 #include "bsp_q7s/xadc/Xadc.h"
+#include "linux/utility/utility.h"
 
 xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
 xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
@@ -50,6 +53,7 @@ CoreController::CoreController(object_id_t objectId)
   } catch (const std::filesystem::filesystem_error &e) {
     sif::error << "CoreController::CoreController: Failed with exception " << e.what() << std::endl;
   }
+  eventQueue = QueueFactory::instance()->createMessageQueue(5, EventMessage::MAX_MESSAGE_SIZE);
 }
 
 ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
@@ -57,6 +61,16 @@ ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
 }
 
 void CoreController::performControlOperation() {
+  EventMessage event;
+  for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == RETURN_OK;
+       result = eventQueue->receiveMessage(&event)) {
+    switch (event.getEvent()) {
+      case (GpsHyperion::GPS_FIX_CHANGE): {
+        gpsFix = static_cast<GpsHyperion::FixMode>(event.getParameter2());
+        break;
+      }
+    }
+  }
   performWatchdogControlOperation();
   sdStateMachine();
   performMountedSdCardOperations();
@@ -79,8 +93,10 @@ LocalPoolDataSetBase *CoreController::getDataSetHandle(sid_t sid) {
 }
 
 ReturnValue_t CoreController::initialize() {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = ExtendedControllerBase::initialize();
-
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "CoreController::initialize: Base init failed" << std::endl;
+  }
   result = scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, 0);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::warning << "CoreController::initialize: Setting up alloc failure "
@@ -91,7 +107,23 @@ ReturnValue_t CoreController::initialize() {
   sdStateMachine();
 
   triggerEvent(REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
-  return ExtendedControllerBase::initialize();
+  EventManagerIF *eventManager =
+      ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  if (eventManager == nullptr or eventQueue == nullptr) {
+    sif::warning << "CoreController::initialize: No valid event manager found or "
+                    "queue invalid"
+                 << std::endl;
+  }
+  result = eventManager->registerListener(eventQueue->getId());
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "CoreController::initialize: Registering as event listener failed" << std::endl;
+  }
+  result = eventManager->subscribeToEvent(eventQueue->getId(),
+                                          event::getEventId(GpsHyperion::GPS_FIX_CHANGE));
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "Subscribing for GPS GPS_FIX_CHANGE event failed" << std::endl;
+  }
+  return RETURN_OK;
 }
 
 ReturnValue_t CoreController::initializeAfterTaskCreation() {
@@ -639,8 +671,7 @@ ReturnValue_t CoreController::initVersionFile() {
   fsfw::FSFW_VERSION.getVersion(versionString, sizeof(versionString));
   std::string fullFsfwVersionString = "FSFW: v" + std::string(versionString);
   std::string systemString = "System: " + unameLine;
-  std::string mountPrefix = SdCardManager::instance()->getCurrentMountPrefix();
+  std::string versionFilePath = currMntPrefix + VERSION_FILE;
-  std::string versionFilePath = mountPrefix + VERSION_FILE;
   std::fstream versionFile;
 
   if (not std::filesystem::exists(versionFilePath)) {
@@ -1198,24 +1229,27 @@ void CoreController::performWatchdogControlOperation() {
 }
 
 void CoreController::performMountedSdCardOperations() {
+  currMntPrefix = sdcMan->getCurrentMountPrefix();
   if (doPerformMountedSdCardOps) {
     bool sdCardMounted = false;
     sdCardMounted = sdcMan->isSdCardMounted(sdInfo.pref);
     if (sdCardMounted) {
-      std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + "/" + CONF_FOLDER;
+      std::string path = currMntPrefix + "/" + CONF_FOLDER;
       if (not std::filesystem::exists(path)) {
         std::filesystem::create_directory(path);
       }
       initVersionFile();
+      initClockFromTimeFile();
       performRebootFileHandling(false);
       doPerformMountedSdCardOps = false;
     }
   }
+  timeFileHandler();
 }
 
 void CoreController::performRebootFileHandling(bool recreateFile) {
   using namespace std;
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+  std::string path = currMntPrefix + REBOOT_FILE;
   if (not std::filesystem::exists(path) or recreateFile) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "CoreController::performRebootFileHandling: Recreating reboot file" << std::endl;
@@ -1594,7 +1628,7 @@ bool CoreController::parseRebootFile(std::string path, RebootFile &rf) {
 }
 
 void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+  std::string path = currMntPrefix + REBOOT_FILE;
   // Disable the reboot file mechanism
   parseRebootFile(path, rebootFile);
   if (tgtChip == xsc::ALL_CHIP and tgtCopy == xsc::ALL_COPY) {
@@ -1621,7 +1655,7 @@ void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
 }
 
 void CoreController::rewriteRebootFile(RebootFile file) {
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+  std::string path = currMntPrefix + REBOOT_FILE;
   std::ofstream rebootFile(path);
   if (rebootFile.is_open()) {
     // Initiate reboot file first. Reboot handling will be on on initialization
@@ -1657,6 +1691,57 @@ void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::C
   rewriteRebootFile(rebootFile);
 }
 
+ReturnValue_t CoreController::timeFileHandler() {
+  if (gpsFix == GpsHyperion::FixMode::FIX_2D or gpsFix == GpsHyperion::FixMode::FIX_3D) {
+    // It is assumed that the system time is set from the GPS time
+    timeval currentTime = {};
+    ReturnValue_t result = Clock::getClock_timeval(&currentTime);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    std::ofstream timeFile(currMntPrefix + TIME_FILE);
+    timeFile << "UNIX SECONDS: " << currentTime.tv_sec << std::endl;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t CoreController::initClockFromTimeFile() {
+  using namespace GpsHyperion;
+  using namespace std;
+  std::string fileName = currMntPrefix + TIME_FILE;
+  if (std::filesystem::exists(fileName) and
+      ((gpsFix == FixMode::UNKNOWN or gpsFix == FixMode::NOT_SEEN) or
+       not utility::timeSanityCheck())) {
+    ifstream timeFile(fileName);
+    string nextWord;
+    getline(timeFile, nextWord);
+    istringstream iss(nextWord);
+    iss >> nextWord;
+    if (iss.bad() or nextWord != "UNIX") {
+      return RETURN_FAILED;
+    }
+    iss >> nextWord;
+    if (iss.bad() or nextWord != "SECONDS:") {
+      return RETURN_FAILED;
+    }
+    iss >> nextWord;
+    timeval currentTime = {};
+    char *checkPtr;
+    currentTime.tv_sec = strtol(nextWord.c_str(), &checkPtr, 10);
+    if (iss.bad() or *checkPtr) {
+      return RETURN_FAILED;
+    }
+#if OBSW_VERBOSE_LEVEL >= 1
+    time_t timeRaw = currentTime.tv_sec;
+    std::tm *time = std::gmtime(&timeRaw);
+    sif::info << "Setting system time from time files: " << std::put_time(time, "%c %Z")
+              << std::endl;
+#endif
+    return Clock::setClock(&currentTime);
+  }
+  return RETURN_OK;
+}
+
 void CoreController::readHkData() {
   ReturnValue_t result = RETURN_OK;
   result = hkSet.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
@@ -1690,3 +1775,8 @@ void CoreController::readHkData() {
     return;
   }
 }
+
+bool CoreController::isNumber(const std::string &s) {
+  return !s.empty() && std::find_if(s.begin(), s.end(),
+                                    [](unsigned char c) { return !std::isdigit(c); }) == s.end();
+}

bsp_q7s/core/CoreController.h

@@ -10,6 +10,7 @@
 #include "bsp_q7s/memory/SdCardManager.h"
 #include "events/subsystemIdRanges.h"
 #include "fsfw/controller/ExtendedControllerBase.h"
+#include "mission/devices/devicedefinitions/GPSDefinitions.h"
 
 class Timer;
 class SdCardManager;
@@ -53,10 +54,12 @@ class CoreController : public ExtendedControllerBase {
   static constexpr char CONF_FOLDER[] = "conf";
   static constexpr char VERSION_FILE_NAME[] = "version.txt";
   static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
+  static constexpr char TIME_FILE_NAME[] = "time.txt";
   const std::string VERSION_FILE =
       "/" + std::string(CONF_FOLDER) + "/" + std::string(VERSION_FILE_NAME);
   const std::string REBOOT_FILE =
       "/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
+  const std::string TIME_FILE = "/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
 
   static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
   static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
@@ -126,6 +129,7 @@ class CoreController : public ExtendedControllerBase {
   // Designated value for rechecking FIFO open
   static constexpr int RETRY_FIFO_OPEN = -2;
   int watchdogFifoFd = 0;
+  GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::UNKNOWN;
 
   // States for SD state machine, which is used in non-blocking mode
   enum class SdStates {
@@ -151,6 +155,7 @@ class CoreController : public ExtendedControllerBase {
   static constexpr bool BLOCKING_SD_INIT = false;
 
   SdCardManager* sdcMan = nullptr;
+  MessageQueueIF* eventQueue = nullptr;
 
   struct SdInfo {
     sd::SdCard pref = sd::SdCard::NONE;
@@ -173,6 +178,7 @@ class CoreController : public ExtendedControllerBase {
     sd::SdState commandedState = sd::SdState::OFF;
   } sdInfo;
   RebootFile rebootFile = {};
+  std::string currMntPrefix;
   bool doPerformMountedSdCardOps = true;
 
   /**
@@ -192,6 +198,9 @@ class CoreController : public ExtendedControllerBase {
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
   void performMountedSdCardOperations();
   ReturnValue_t initVersionFile();
+
+  ReturnValue_t initClockFromTimeFile();
+  ReturnValue_t timeFileHandler();
   ReturnValue_t initBootCopy();
   ReturnValue_t initWatchdogFifo();
   ReturnValue_t initSdCardBlocking();
@@ -226,6 +235,7 @@ class CoreController : public ExtendedControllerBase {
   bool parseRebootFile(std::string path, RebootFile& file);
   void rewriteRebootFile(RebootFile file);
   void readHkData();
+  bool isNumber(const std::string& s);
 };
 
 #endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */

bsp_q7s/core/InitMission.cpp

@@ -55,14 +55,12 @@ void initmission::initTasks() {
   void (*missedDeadlineFunc)(void) = nullptr;
 #endif
 
-#if BOARD_TE0720 == 0
   PeriodicTaskIF* coreController = factory->createPeriodicTask(
       "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
   result = coreController->addComponent(objects::CORE_CONTROLLER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
   }
-#endif
 
   /* TMTC Distribution */
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
@@ -129,18 +127,19 @@ void initmission::initTasks() {
       "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
   result = sysTask->addComponent(objects::ACS_BOARD_ASS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("ACS_ASS", objects::ACS_BOARD_ASS);
+    initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
   }
+#if OBSW_ADD_SUS_BOARD_ASS == 1
   result = sysTask->addComponent(objects::SUS_BOARD_ASS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("SUS_ASS", objects::SUS_BOARD_ASS);
+    initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
   }
+#endif
   result = sysTask->addComponent(objects::TCS_BOARD_ASS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
   }
 
-#if BOARD_TE0720 == 0
   // FS task, task interval does not matter because it runs in permanent loop, priority low
   // because it is a non-essential background task
   PeriodicTaskIF* fsTask = factory->createPeriodicTask(
@@ -159,7 +158,14 @@ void initmission::initTasks() {
   }
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
-#endif /* BOARD_TE0720 */
+#if OBSW_ADD_PLOC_MPSOC == 1
+  PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
+      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
+  }
+#endif /* OBSW_ADD_PLOC_MPSOC */
 
 #if OBSW_TEST_CCSDS_BRIDGE == 1
   PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
@@ -203,9 +209,7 @@ void initmission::initTasks() {
   pdecHandlerTask->startTask();
 #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
 
-#if BOARD_TE0720 == 0
   coreController->startTask();
-#endif
 
   taskStarter(pstTasks, "PST task vector");
   taskStarter(pusTasks, "PUS task vector");
@@ -217,12 +221,10 @@ void initmission::initTasks() {
   ptmeTestTask->startTask();
 #endif
 
-#if BOARD_TE0720 == 0
   fsTask->startTask();
 #if OBSW_ADD_STAR_TRACKER == 1
-  strHelperTask > startTask();
+  strHelperTask->startTask();
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
-#endif
 
 #if OBSW_ADD_ACS_HANDLERS == 1
   acsTask->startTask();
@@ -236,15 +238,16 @@ void initmission::createPstTasks(TaskFactory& factory,
                                  TaskDeadlineMissedFunction missedDeadlineFunc,
                                  std::vector<PeriodicTaskIF*>& taskVec) {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-#if BOARD_TE0720 == 0
   /* Polling Sequence Table Default */
 #if OBSW_ADD_SPI_TEST_CODE == 0
   FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
       "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
   result = pst::pstSpi(spiPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
+      sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
+    } else {
+      sif::error << "InitMission::initTasks: Creating SPI PST failed!" << std::endl;
     }
   } else {
     taskVec.push_back(spiPst);
@@ -255,43 +258,51 @@ void initmission::createPstTasks(TaskFactory& factory,
       "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstUart(uartPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "InitMission::initTasks: UART PST is empty" << std::endl;
+    } else {
+      sif::error << "InitMission::initTasks: Creating UART PST failed!" << std::endl;
     }
+  } else {
     taskVec.push_back(uartPst);
+  }
+
   FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
       "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstGpio(gpioPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "InitMission::initTasks: GPIO PST is empty" << std::endl;
+    } else {
+      sif::error << "InitMission::initTasks: Creating GPIO PST failed!" << std::endl;
     }
+  } else {
     taskVec.push_back(gpioPst);
-
+  }
 #if OBSW_ADD_I2C_TEST_CODE == 0
   FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
       "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstI2c(i2cPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "InitMission::initTasks: I2C PST is empty" << std::endl;
+    } else {
+      sif::error << "InitMission::initTasks: Creating I2C PST failed!" << std::endl;
     }
+  } else {
     taskVec.push_back(i2cPst);
+  }
 #endif
 
   FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
       "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
   result = pst::pstGompaceCan(gomSpacePstTask);
   if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
       sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
     }
-  taskVec.push_back(gomSpacePstTask);
-#else  /* BOARD_TE7020 == 0 */
-  FixedTimeslotTaskIF* pollingSequenceTaskTE0720 = factory.createFixedTimeslotTask(
-      "PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0, missedDeadlineFunc);
-  result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
   }
-  taskVec.push_back(pollingSequenceTaskTE0720);
+  taskVec.push_back(gomSpacePstTask);
-#endif /* BOARD_TE7020 == 1 */
 }
 
 void initmission::createPusTasks(TaskFactory& factory,
@@ -398,12 +409,6 @@ void initmission::createTestTasks(TaskFactory& factory,
   }
 #endif
 
-#if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
-  result = testTask->addComponent(objects::LIBGPIOD_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
-  }
-#endif /* BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 */
   taskVec.push_back(testTask);
 
 #endif  // OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1

bsp_q7s/core/ObjectFactory.cpp

@@ -1,27 +1,12 @@
 #include "ObjectFactory.h"
 
-#include <fsfw/ipc/QueueFactory.h>
-#include <linux/obc/AxiPtmeConfig.h>
-#include <linux/obc/PapbVcInterface.h>
-#include <linux/obc/PdecHandler.h>
-#include <linux/obc/Ptme.h>
-#include <linux/obc/PtmeConfig.h>
-#include <mission/system/AcsBoardFdir.h>
-#include <mission/system/RtdFdir.h>
-#include <mission/system/SusAssembly.h>
-#include <mission/system/SusFdir.h>
-#include <mission/system/TcsBoardAssembly.h>
-
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
 #include "bsp_q7s/callbacks/gnssCallback.h"
-#include "bsp_q7s/callbacks/gpioCallbacks.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/devices/PlocMemoryDumper.h"
-#include "bsp_q7s/devices/PlocSupervisorHandler.h"
-#include "bsp_q7s/devices/PlocUpdater.h"
 #include "bsp_q7s/memory/FileSystemHandler.h"
 #include "busConf.h"
 #include "ccsdsConfig.h"
@@ -29,15 +14,34 @@
 #include "devices/addresses.h"
 #include "devices/gpioIds.h"
 #include "devices/powerSwitcherList.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "linux/ObjectFactory.h"
 #include "linux/boardtest/I2cTestClass.h"
 #include "linux/boardtest/SpiTestClass.h"
 #include "linux/boardtest/UartTestClass.h"
+#include "linux/callbacks/gpioCallbacks.h"
 #include "linux/csp/CspComIF.h"
 #include "linux/csp/CspCookie.h"
 #include "linux/devices/GPSHyperionLinuxController.h"
+#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
+#include "linux/devices/ploc/PlocMPSoCHandler.h"
+#include "linux/devices/ploc/PlocMPSoCHelper.h"
+#include "linux/devices/ploc/PlocMemoryDumper.h"
+#include "linux/devices/ploc/PlocSupervisorHandler.h"
+#include "linux/devices/ploc/PlocUpdater.h"
 #include "linux/devices/startracker/StarTrackerHandler.h"
 #include "linux/devices/startracker/StrHelper.h"
+#include "linux/obc/AxiPtmeConfig.h"
+#include "linux/obc/PapbVcInterface.h"
+#include "linux/obc/PdecHandler.h"
+#include "linux/obc/Ptme.h"
+#include "linux/obc/PtmeConfig.h"
+#include "mission/system/AcsBoardFdir.h"
+#include "mission/system/RtdFdir.h"
+#include "mission/system/SusAssembly.h"
+#include "mission/system/SusFdir.h"
+#include "mission/system/TcsBoardAssembly.h"
 #include "tmtc/apid.h"
 #include "tmtc/pusIds.h"
 
@@ -52,6 +56,7 @@
 #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"
@@ -74,7 +79,6 @@
 #include "mission/devices/PDU1Handler.h"
 #include "mission/devices/PDU2Handler.h"
 #include "mission/devices/PayloadPcduHandler.h"
-#include "mission/devices/PlocMPSoCHandler.h"
 #include "mission/devices/RadiationSensorHandler.h"
 #include "mission/devices/RwHandler.h"
 #include "mission/devices/SolarArrayDeploymentHandler.h"
@@ -83,7 +87,6 @@
 #include "mission/devices/Tmp1075Handler.h"
 #include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
-#include "mission/devices/devicedefinitions/PlocMPSoCDefinitions.h"
 #include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
 #include "mission/devices/devicedefinitions/RwDefinitions.h"
 #include "mission/devices/devicedefinitions/SusDefinitions.h"
@@ -106,8 +109,8 @@ void Factory::setStaticFrameworkObjectIds() {
   CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
   CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
 
-  // DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
+  DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
-  DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
+  //  DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
 
 #if OBSW_TM_TO_PTME == 1
   TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
@@ -134,13 +137,12 @@ void ObjectFactory::produce(void* args) {
   PowerSwitchIF* pwrSwitcher = nullptr;
   createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF, &i2cComIF);
   createTmpComponents();
-#if BOARD_TE0720 == 0
   new CoreController(objects::CORE_CONTROLLER);
 
-  gpioCallbacks::disableAllDecoder();
+  gpioCallbacks::disableAllDecoder(gpioComIF);
   createPcduComponents(gpioComIF, &pwrSwitcher);
   createRadSensorComponent(gpioComIF);
-  createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher);
+  createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
 
 #if OBSW_ADD_ACS_BOARD == 1
   createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
@@ -148,11 +150,12 @@ void ObjectFactory::produce(void* args) {
 
   createHeaterComponents();
   createSolarArrayDeploymentComponents();
-  createPlPcduComponents(gpioComIF, spiComIF);
+  createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher);
 #if OBSW_ADD_SYRLINKS == 1
   createSyrlinksComponents();
 #endif /* OBSW_ADD_SYRLINKS == 1 */
-  createRtdComponents(gpioComIF, pwrSwitcher);
+  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher);
+  createPayloadComponents(gpioComIF);
 
 #if OBSW_ADD_MGT == 1
   I2cCookie* imtqI2cCookie =
@@ -160,8 +163,8 @@ void ObjectFactory::produce(void* args) {
   auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
   static_cast<void>(imtqHandler);
 #if OBSW_DEBUG_IMTQ == 1
-  imtqHandler->setToGoToNormal(true);
   imtqHandler->setStartUpImmediately();
+  imtqHandler->setToGoToNormal(true);
 #else
   (void)imtqHandler;
 #endif
@@ -180,39 +183,19 @@ void ObjectFactory::produce(void* args) {
 #endif
 #endif
 
-#if OBSW_ADD_PLOC_MPSOC == 1
-  UartCookie* plocMpsocCookie =
-      new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
-                     UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD, PLOC_MPSOC::MAX_REPLY_SIZE);
-  new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocMpsocCookie);
-#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
-
-#if OBSW_ADD_PLOC_SUPERVISOR == 1
-  UartCookie* plocSupervisorCookie = new UartCookie(
-      objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV, UartModes::NON_CANONICAL,
-      uart::PLOC_SUPERVISOR_BAUD, PLOC_SPV::MAX_PACKET_SIZE * 20);
-  plocSupervisorCookie->setNoFixedSizeReply();
-  PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
-      objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
-  plocSupervisor->setStartUpImmediately();
-#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
-
   new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
 
 #if OBSW_ADD_STAR_TRACKER == 1
   UartCookie* starTrackerCookie =
       new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, UartModes::NON_CANONICAL,
-                     uart::STAR_TRACKER_BAUD, StarTracker::MAX_FRAME_SIZE * 2 + 2);
+                     uart::STAR_TRACKER_BAUD, startracker::MAX_FRAME_SIZE * 2 + 2);
   starTrackerCookie->setNoFixedSizeReply();
   StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
-  StarTrackerHandler* starTrackerHandler = new StarTrackerHandler(
+  new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie, strHelper,
-      objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie, strHelper);
+                         pcduSwitches::PDU1_CH2_STAR_TRACKER_5V);
-  starTrackerHandler->setStartUpImmediately();
 
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
-#endif /* TE7020 == 0 */
-
 #if OBSW_USE_CCSDS_IP_CORE == 1
   createCcsdsComponents(gpioComIF);
 #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
@@ -227,17 +210,10 @@ void ObjectFactory::produce(void* args) {
 }
 
 void ObjectFactory::createTmpComponents() {
-#if BOARD_TE0720 == 1
-  I2cCookie* i2cCookieTmp1075tcs1 =
-      new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
-  I2cCookie* i2cCookieTmp1075tcs2 =
-      new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
-#else
   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);
-#endif
 
   /* Temperature sensors */
   Tmp1075Handler* tmp1075Handler_1 =
@@ -262,10 +238,8 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
   *uartComIF = new UartComIF(objects::UART_COM_IF);
   *spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
 
-#if BOARD_TE0720 == 0
   /* Adding gpios for chip select decoding to the gpioComIf */
-  gpioCallbacks::initSpiCsDecoder(*gpioComIF);
+  q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF);
-#endif
 }
 
 void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
@@ -278,10 +252,8 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
       new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie);
   PDU1Handler* pdu1handler =
       new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie);
-  pdu1handler->assignChannelHookFunction(&pcdu::switchCallback, gpioComIF);
   PDU2Handler* pdu2handler =
       new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
-  pdu2handler->assignChannelHookFunction(&pcdu::switchCallback, gpioComIF);
   ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
   auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
 
@@ -326,161 +298,6 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
 #endif
 }
 
-void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
-                                              PowerSwitchIF* pwrSwitcher) {
-  using namespace gpio;
-  GpioCookie* gpioCookieSus = new GpioCookie();
-  GpioCallback* susgpio = nullptr;
-
-  susgpio = new GpioCallback("Chip select SUS 0", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_0, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 1", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 2", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 3", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 4", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 5", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 6", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 7", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 8", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 9", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 10", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 11", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
-
-  gpioComIF->addGpios(gpioCookieSus);
-
-  SusFdir* fdir = nullptr;
-  std::array<SusHandler*, 12> susHandlers = {};
-#if OBSW_ADD_SUN_SENSORS == 1
-  SpiCookie* spiCookie =
-      new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
-                    spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[0] = new SusHandler(objects::SUS_0, 0, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_0);
-  susHandlers[0]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[0]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[1] = new SusHandler(objects::SUS_1, 1, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_1);
-  susHandlers[1]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[1]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[2] = new SusHandler(objects::SUS_2, 2, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_2);
-  susHandlers[2]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[2]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, std::string(q7s::SPI_DEFAULT_DEV),
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[3] = new SusHandler(objects::SUS_3, 3, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_3);
-  susHandlers[3]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[3]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, std::string(q7s::SPI_DEFAULT_DEV),
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[4] = new SusHandler(objects::SUS_4, 4, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_4);
-  susHandlers[4]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[4]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, std::string(q7s::SPI_DEFAULT_DEV),
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[5] = new SusHandler(objects::SUS_5, 5, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_5);
-  susHandlers[5]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[5]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[6] = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_6);
-  susHandlers[6]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[6]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[7] = new SusHandler(objects::SUS_7, 7, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_7);
-  susHandlers[7]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[7]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[8] = new SusHandler(objects::SUS_8, 8, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_8);
-  susHandlers[8]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[8]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[9] = new SusHandler(objects::SUS_9, 9, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_9);
-  susHandlers[9]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[9]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[10] = new SusHandler(objects::SUS_10, 10, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_10);
-  susHandlers[10]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[10]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[11] = new SusHandler(objects::SUS_11, 11, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_11);
-  susHandlers[11]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[11]->setCustomFdir(fdir);
-
-  for (auto& sus : susHandlers) {
-    if (sus != nullptr) {
-#if OBSW_TEST_SUS == 1
-      sus->setStartUpImmediately();
-      sus->setToGoToNormalMode(true);
-#endif
-#if OBSW_DEBUG_SUS == 1
-      sus->enablePeriodicPrintout(true, 3);
-#endif
-    }
-  }
-  std::array<object_id_t, 12> susIds = {objects::SUS_0, objects::SUS_1,  objects::SUS_2,
-                                        objects::SUS_3, objects::SUS_4,  objects::SUS_5,
-                                        objects::SUS_6, objects::SUS_7,  objects::SUS_8,
-                                        objects::SUS_9, objects::SUS_10, objects::SUS_11};
-  SusAssHelper susAssHelper = SusAssHelper(susIds);
-  auto susAss =
-      new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper);
-  static_cast<void>(susAss);
-#endif /* OBSW_ADD_SUN_SENSORS == 1 */
-}
-
 void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
                                              PowerSwitchIF* pwrSwitcher) {
   using namespace gpio;
@@ -739,15 +556,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
                                      acsBoardHelper, gpioComIF);
   static_cast<void>(acsAss);
-#if OBSW_TEST_ACS_BOARD_ASS == 1
-  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;
-  }
-#endif
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }
 
@@ -820,119 +628,49 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
 void ObjectFactory::createSyrlinksComponents() {
   UartCookie* syrlinksUartCookie =
       new UartCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, UartModes::NON_CANONICAL,
-                     uart::SYRLINKS_BAUD, SYRLINKS::MAX_REPLY_SIZE);
+                     uart::SYRLINKS_BAUD, syrlinks::MAX_REPLY_SIZE);
   syrlinksUartCookie->setParityEven();
 
-  new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie);
+  new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
+                        pcduSwitches::PDU1_CH1_SYRLINKS_12V);
 }
 
-void ObjectFactory::createRtdComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher) {
+void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
   using namespace gpio;
-  GpioCookie* rtdGpioCookie = new GpioCookie;
+  std::stringstream consumer;
+#if OBSW_ADD_PLOC_MPSOC == 1
+  consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
+  auto gpioConfigMPSoC = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_MPSOC_UART,
+                                                    consumer.str(), Direction::OUT, Levels::HIGH);
+  auto mpsocGpioCookie = new GpioCookie;
+  mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
+  gpioComIF->addGpios(mpsocGpioCookie);
+  auto mpsocCookie =
+      new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
+                     UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
+  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 */
 
-  GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", Direction::OUT, Levels::HIGH,
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
-                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER;
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_3, gpioRtdIc0);
+  auto gpioConfigSupv = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_SUPV_UART, consumer.str(),
-  GpioCallback* gpioRtdIc1 = new GpioCallback("Chip select RTD IC1", Direction::OUT, Levels::HIGH,
+                                                   Direction::OUT, Levels::HIGH);
-                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  auto supvGpioCookie = new GpioCookie;
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_4, gpioRtdIc1);
+  supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
-  GpioCallback* gpioRtdIc2 = new GpioCallback("Chip select RTD IC2", Direction::OUT, Levels::HIGH,
+  gpioComIF->addGpios(supvGpioCookie);
-                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  auto supervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_5, gpioRtdIc2);
+                                         q7s::UART_PLOC_SUPERVSIOR_DEV, UartModes::NON_CANONICAL,
-  GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", Direction::OUT, Levels::HIGH,
+                                         uart::PLOC_SUPERVISOR_BAUD, supv::MAX_PACKET_SIZE * 20);
-                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  supervisorCookie->setNoFixedSizeReply();
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_6, gpioRtdIc3);
+  new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
-  GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", Direction::OUT, Levels::HIGH,
+                            supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
-                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+                            pcduSwitches::PDU1_CH6_PLOC_12V);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_7, gpioRtdIc4);
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
-  GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", Direction::OUT, Levels::HIGH,
+  static_cast<void>(consumer);
-                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_8, gpioRtdIc5);
-  GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", Direction::OUT, Levels::HIGH,
-                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_9, gpioRtdIc6);
-  GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", Direction::OUT, Levels::HIGH,
-                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_10, gpioRtdIc7);
-  GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", Direction::OUT, Levels::HIGH,
-                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_11, gpioRtdIc8);
-  GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", Direction::OUT, Levels::HIGH,
-                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_12, gpioRtdIc9);
-  GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", Direction::OUT, Levels::HIGH,
-                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_13, gpioRtdIc10);
-  GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", Direction::OUT, Levels::HIGH,
-                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_14, gpioRtdIc11);
-  GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", Direction::OUT, Levels::HIGH,
-                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_15, gpioRtdIc12);
-  GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", Direction::OUT, Levels::HIGH,
-                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_16, gpioRtdIc13);
-  GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", Direction::OUT, Levels::HIGH,
-                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_17, gpioRtdIc14);
-  GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", Direction::OUT, Levels::HIGH,
-                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_18, gpioRtdIc15);
-
-  gpioComIF->addGpios(rtdGpioCookie);
-
-  static constexpr uint8_t NUMBER_RTDS = 16;
-#if OBSW_ADD_RTD_DEVICES == 1
-  std::array<std::pair<address_t, gpioId_t>, NUMBER_RTDS> cookieArgs = {{
-      {addresses::RTD_IC_3, gpioIds::RTD_IC_3},
-      {addresses::RTD_IC_4, gpioIds::RTD_IC_4},
-      {addresses::RTD_IC_5, gpioIds::RTD_IC_5},
-      {addresses::RTD_IC_6, gpioIds::RTD_IC_6},
-      {addresses::RTD_IC_7, gpioIds::RTD_IC_7},
-      {addresses::RTD_IC_8, gpioIds::RTD_IC_8},
-      {addresses::RTD_IC_9, gpioIds::RTD_IC_9},
-      {addresses::RTD_IC_10, gpioIds::RTD_IC_10},
-      {addresses::RTD_IC_11, gpioIds::RTD_IC_11},
-      {addresses::RTD_IC_12, gpioIds::RTD_IC_12},
-      {addresses::RTD_IC_13, gpioIds::RTD_IC_13},
-      {addresses::RTD_IC_14, gpioIds::RTD_IC_14},
-      {addresses::RTD_IC_15, gpioIds::RTD_IC_15},
-      {addresses::RTD_IC_16, gpioIds::RTD_IC_16},
-      {addresses::RTD_IC_17, gpioIds::RTD_IC_17},
-      {addresses::RTD_IC_18, gpioIds::RTD_IC_18},
-  }};
-  std::array<object_id_t, NUMBER_RTDS> rtdIds = {
-      objects::RTD_IC_3,  objects::RTD_IC_4,  objects::RTD_IC_5,  objects::RTD_IC_6,
-      objects::RTD_IC_7,  objects::RTD_IC_8,  objects::RTD_IC_9,  objects::RTD_IC_10,
-      objects::RTD_IC_11, objects::RTD_IC_12, objects::RTD_IC_13, objects::RTD_IC_14,
-      objects::RTD_IC_15, objects::RTD_IC_16, objects::RTD_IC_17, objects::RTD_IC_18};
-  std::array<SpiCookie*, NUMBER_RTDS> rtdCookies = {};
-  std::array<Max31865PT1000Handler*, NUMBER_RTDS> rtds = {};
-  RtdFdir* rtdFdir = nullptr;
-  for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
-    rtdCookies[idx] =
-        new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second, q7s::SPI_DEFAULT_DEV,
-                      Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
-    rtds[idx] = new Max31865PT1000Handler(rtdIds[idx], objects::SPI_COM_IF, rtdCookies[idx]);
-    rtds[idx]->setParent(objects::TCS_BOARD_ASS);
-    rtdFdir = new RtdFdir(rtdIds[idx]);
-    rtds[idx]->setCustomFdir(rtdFdir);
-  }
-
-#if OBSW_TEST_RTD == 1
-  for (auto& rtd : rtds) {
-    if (rtd != nullptr) {
-      rtd->setStartUpImmediately();
-      rtd->setInstantNormal(true);
-    }
-  }
-#endif  // OBSW_TEST_RTD == 1
-  TcsBoardHelper helper(rtdIds);
-  TcsBoardAssembly* tcsBoardAss =
-      new TcsBoardAssembly(objects::TCS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
-                           pcduSwitches::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
-  static_cast<void>(tcsBoardAss);
-#endif  // OBSW_ADD_RTD_DEVICES == 1
 }
 
 void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
@@ -1086,9 +824,15 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
   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);
+      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);
@@ -1113,7 +857,6 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
   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);
 
-#if BOARD_TE0720 == 0
   GpioCookie* gpioRS485Chip = new GpioCookie;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
                                     Direction::OUT, Levels::LOW);
@@ -1131,10 +874,10 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
   gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
 
   gpioComIF->addGpios(gpioRS485Chip);
-#endif /* BOARD_TE0720 == 0 */
 }
 
-void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF) {
+void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
+                                           PowerSwitchIF* pwrSwitcher) {
   using namespace gpio;
   // Create all GPIO components first
   GpioCookie* plPcduGpios = new GpioCookie;
@@ -1180,116 +923,24 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
                                        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 =
+  auto plPcduHandler = new PayloadPcduHandler(
-      new PayloadPcduHandler(objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie, gpioComIF,
+      objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie, gpioComIF, SdCardManager::instance(),
-                             SdCardManager::instance(), false);
+      pwrSwitcher, pcduSwitches::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
+      pcduSwitches::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8, false);
   spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
-  static_cast<void>(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, 5);
+  plPcduHandler->enablePeriodicPrintout(true, 10);
 #endif
 }
 
 void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
-#if BOARD_TE0720 == 0
   new Q7STestTask(objects::TEST_TASK);
-#endif
-
-#if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
-#if OBSW_TEST_GPIO_OPEN_BYLABEL == 1
-  /* Configure MIO0 as input */
-  GpiodRegular* testGpio = new GpiodRegular("MIO0", Direction::OUT, 0, "/amba_pl/gpio@41200000", 0);
-#elif OBSW_TEST_GPIO_OPEN_BY_LINE_NAME
-  GpiodRegularByLineName* testGpio =
-      new GpiodRegularByLineName("test-name", "gpio-test", Direction::OUT, 0);
-#else
-  /* Configure MIO0 as input */
-  GpiodRegular* testGpio = new GpiodRegular("gpiochip0", 0, "MIO0", gpio::IN, 0);
-#endif /* OBSW_TEST_GPIO_LABEL == 1 */
-  GpioCookie* gpioCookie = new GpioCookie;
-  gpioCookie->addGpio(gpioIds::TEST_ID_0, testGpio);
-  new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
-#endif
-
-#if BOARD_TE0720 == 1 && OBSW_TEST_SUS == 1
-  GpioCookie* gpioCookieSus = new GpioCookie;
-  GpiodRegular* chipSelectSus = new GpiodRegular(
-      std::string("gpiochip1"), 9, std::string("Chip Select Sus Sensor"), Direction::OUT, 1);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_0, chipSelectSus);
-  gpioComIF->addGpios(gpioCookieSus);
-
-  SpiCookie* spiCookieSus =
-      new SpiCookie(addresses::SUS_0, std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE,
-                    spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
-
-  new SusHandler(objects::SUS_0, objects::SPI_COM_IF, spiCookieSus, gpioComIF, gpioIds::CS_SUS_0);
-#endif
-
-#if BOARD_TE0720 == 1 && OBSW_TEST_CCSDS_BRIDGE == 1
-  GpioCookie* gpioCookieCcsdsIp = new GpioCookie;
-  GpiodRegular* papbBusyN =
-      new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_VC0"));
-  gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_BUSY_N, papbBusyN);
-  GpiodRegular* papbEmpty =
-      new GpiodRegular(std::string("gpiochip0"), 1, std::string("PAPBEmpty_VC0"));
-  gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_EMPTY, papbEmpty);
-  gpioComIF->addGpios(gpioCookieCcsdsIp);
-
-  new CCSDSIPCoreBridge(objects::CCSDS_IP_CORE_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR,
-                        objects::TM_STORE, objects::TC_STORE, gpioComIF, std::string("/dev/uio0"),
-                        gpioIds::PAPB_BUSY_N, gpioIds::PAPB_EMPTY);
-#endif
-
-#if BOARD_TE0720 == 1 && OBSW_TEST_RAD_SENSOR == 1
-  GpioCookie* gpioCookieRadSensor = new GpioCookie;
-  GpiodRegular* chipSelectRadSensor = new GpiodRegular(
-      std::string("gpiochip1"), 0, std::string("Chip select radiation sensor"), Direction::OUT, 1);
-  gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
-  gpioComIF->addGpios(gpioCookieRadSensor);
-
-  SpiCookie* spiCookieRadSensor =
-      new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string("/dev/spidev1.0"),
-                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
-
-  RadiationSensorHandler* radSensor =
-      new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
-  radSensor->setStartUpImmediately();
-#endif
-
-#if BOARD_TE0720 == 1 && OBSW_ADD_PLOC_MPSOC == 1
-  UartCookie* plocUartCookie =
-      new UartCookie(std::string("/dev/ttyPS1"), 115200, PLOC_MPSOC::MAX_REPLY_SIZE);
-  /* Testing PlocMPSoCHandler on TE0720-03-1CFA */
-  PlocMPSoCHandler* mpsocPlocHandler =
-      new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocUartCookie);
-  mpsocPlocHandler->setStartUpImmediately();
-#endif
-
-#if BOARD_TE0720 == 1 && OBSW_TEST_TE7020_HEATER == 1
-  /* Configuration for MIO0 on TE0720-03-1CFA */
-  GpiodRegular* heaterGpio =
-      new GpiodRegular(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0);
-  GpioCookie* gpioCookie = new GpioCookie;
-  gpioCookie->addGpio(gpioIds::HEATER_0, heaterGpio);
-  new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER,
-                    pcduSwitches::TCS_BOARD_8V_HEATER_IN);
-#endif
-
-#if BOARD_TE0720 == 1 && OBSW_ADD_PLOC_SUPERVISOR == 1
-  /* Configuration for MIO0 on TE0720-03-1CFA */
-  UartCookie* plocSupervisorCookie =
-      new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, std::string("/dev/ttyPS1"),
-                     UartModes::NON_CANONICAL, 115200, PLOC_SPV::MAX_PACKET_SIZE * 20);
-  plocSupervisorCookie->setNoFixedSizeReply();
-  PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
-      objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
-  plocSupervisor->setStartUpImmediately();
-#endif
-
 #if OBSW_ADD_SPI_TEST_CODE == 1
   new SpiTestClass(objects::SPI_TEST, gpioComIF);
 #endif
@@ -1300,3 +951,13 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
   new UartTestClass(objects::UART_TEST);
 #endif
 }
+
+void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
+  CommandMessage msg;
+  ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
+                              duallane::A_SIDE);
+  ReturnValue_t result = MessageQueueSenderIF::sendMessage(acsAss->getCommandQueue(), &msg);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "Sending mode command failed" << std::endl;
+  }
+}

bsp_q7s/core/ObjectFactory.h

@@ -6,6 +6,7 @@ class UartComIF;
 class SpiComIF;
 class I2cComIF;
 class PowerSwitchIF;
+class AcsBoardAssembly;
 
 namespace ObjectFactory {
 
@@ -15,21 +16,22 @@ void produce(void* args);
 void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
                                    SpiComIF** spiComIF, I2cComIF** i2cComIF);
 void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
-void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
+void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
+                            PowerSwitchIF* pwrSwitcher);
 void createTmpComponents();
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
-void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
-                               PowerSwitchIF* pwrSwitcher);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
                               PowerSwitchIF* pwrSwitcher);
 void createHeaterComponents();
 void createSolarArrayDeploymentComponents();
 void createSyrlinksComponents();
-void createRtdComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
+void createPayloadComponents(LinuxLibgpioIF* gpioComIF);
 void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
 void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);
 void createTestComponents(LinuxLibgpioIF* gpioComIF);
 
+void testAcsBrdAss(AcsBoardAssembly* assAss);
+
 };  // namespace ObjectFactory
 
 #endif /* BSP_Q7S_OBJECTFACTORY_H_ */

bsp_q7s/core/obsw.cpp

@@ -15,11 +15,7 @@ static int OBSW_ALREADY_RUNNING = -2;
 int obsw::obsw() {
   using namespace fsfw;
   std::cout << "-- EIVE OBSW --" << std::endl;
-#if BOARD_TE0720 == 0
   std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
-#else
-  std::cout << "-- Compiled for Linux (TE0720) --" << std::endl;
-#endif
   std::cout << "-- OBSW v" << SW_VERSION << "." << SW_SUBVERSION << "." << SW_REVISION << ", FSFW v"
             << FSFW_VERSION << "--" << std::endl;
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;

bsp_q7s/memory/CMakeLists.txt

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

bsp_q7s/memory/FileSystemHandler.h

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

bsp_q7s/memory/FilesystemHelper.cpp

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

bsp_q7s/memory/FilesystemHelper.h

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

bsp_te0720_1cfa/CMakeLists.txt

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

bsp_te0720_1cfa/InitMission.cpp

@@ -0,0 +1,188 @@
+#include "InitMission.h"
+
+#include <fsfw/objectmanager/ObjectManager.h>
+#include <fsfw/objectmanager/ObjectManagerIF.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/tasks/FixedTimeslotTaskIF.h>
+#include <fsfw/tasks/PeriodicTaskIF.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <mission/utility/InitMission.h>
+
+#include <iostream>
+
+#include "OBSWConfig.h"
+#include "ObjectFactory.h"
+#include "objects/systemObjectList.h"
+#include "pollingsequence/pollingSequenceFactory.h"
+
+ServiceInterfaceStream sif::debug("DEBUG");
+ServiceInterfaceStream sif::info("INFO");
+ServiceInterfaceStream sif::warning("WARNING");
+ServiceInterfaceStream sif::error("ERROR");
+
+ObjectManagerIF* objectManager = nullptr;
+
+void initmission::initMission() {
+  sif::info << "Building global objects.." << std::endl;
+  /* Instantiate global object manager and also create all objects */
+  ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
+  sif::info << "Initializing all objects.." << std::endl;
+  ObjectManager::instance()->initialize();
+
+  /* This function creates and starts all tasks */
+  initTasks();
+}
+
+void initmission::initTasks() {
+  TaskFactory* factory = TaskFactory::instance();
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  if (factory == nullptr) {
+    /* Should never happen ! */
+    return;
+  }
+#if OBSW_PRINT_MISSED_DEADLINES == 1
+  void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
+#else
+  void (*missedDeadlineFunc)(void) = nullptr;
+#endif
+
+  /* TMTC Distribution */
+  PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
+      "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+  result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+  result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+
+  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
+      "TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Add component TMTC Bridge failed" << std::endl;
+  }
+  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
+      "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Add component TMTC Polling failed" << std::endl;
+  }
+
+  /* PUS Services */
+  std::vector<PeriodicTaskIF*> pusTasks;
+  createPusTasks(*factory, missedDeadlineFunc, pusTasks);
+
+  std::vector<PeriodicTaskIF*> pstTasks;
+  FixedTimeslotTaskIF* pst = factory->createFixedTimeslotTask(
+      "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+  result = pst::pstUart(pst);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
+  }
+  pstTasks.push_back(pst);
+
+  PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
+      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
+  }
+  pstTasks.push_back(mpsocHelperTask);
+
+  auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
+    for (const auto& task : taskVector) {
+      if (task != nullptr) {
+        task->startTask();
+      } else {
+        sif::error << "Task in vector " << name << " is invalid!" << std::endl;
+      }
+    }
+  };
+
+  sif::info << "Starting tasks.." << std::endl;
+  tmtcDistributor->startTask();
+  tmtcBridgeTask->startTask();
+  tmtcPollingTask->startTask();
+
+  taskStarter(pstTasks, "PST Tasks");
+  taskStarter(pusTasks, "PUS Tasks");
+
+  sif::info << "Tasks started.." << std::endl;
+}
+
+void initmission::createPusTasks(TaskFactory& factory,
+                                 TaskDeadlineMissedFunction missedDeadlineFunc,
+                                 std::vector<PeriodicTaskIF*>& taskVec) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
+      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+  taskVec.push_back(pusVerification);
+
+  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
+      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
+  }
+  result = pusEvents->addComponent(objects::EVENT_MANAGER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
+  }
+  taskVec.push_back(pusEvents);
+
+  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
+      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  }
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
+  }
+  taskVec.push_back(pusHighPrio);
+
+  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
+      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
+  }
+  taskVec.push_back(pusMedPrio);
+
+  PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
+      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
+  result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
+  }
+  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
+  }
+  taskVec.push_back(pusLowPrio);
+}

bsp_te0720_1cfa/InitMission.h

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

bsp_te0720_1cfa/ObjectFactory.cpp

@@ -0,0 +1,152 @@
+#include "ObjectFactory.h"
+
+#include <devConf.h>
+#include "fsfw_hal/linux/uart/UartComIF.h"
+#include "fsfw_hal/linux/i2c/I2cComIF.h"
+#include "fsfw_hal/linux/uart/UartCookie.h"
+
+#include "OBSWConfig.h"
+#include "busConf.h"
+#include "devConf.h"
+#include "fsfw/datapoollocal/LocalDataPoolManager.h"
+#include "fsfw/tmtcpacket/pus/tm.h"
+#include "fsfw/tmtcservices/CommandingServiceBase.h"
+#include "fsfw/tmtcservices/PusServiceBase.h"
+#include "fsfw_hal/linux/i2c/I2cCookie.h"
+#include "linux/devices/ploc/PlocMPSoCHandler.h"
+#include "linux/devices/ploc/PlocMPSoCHelper.h"
+#include "mission/devices/Tmp1075Handler.h"
+#include "mission/core/GenericFactory.h"
+#include "mission/utility/TmFunnel.h"
+#include "test/gpio/DummyGpioIF.h"
+#include "objects/systemObjectList.h"
+#include "devices/addresses.h"
+#include "devices/gpioIds.h"
+#include "tmtc/apid.h"
+#include "tmtc/pusIds.h"
+
+void Factory::setStaticFrameworkObjectIds() {
+  PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
+  PusServiceBase::packetDestination = objects::TM_FUNNEL;
+
+  CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
+  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+
+  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
+  TmFunnel::storageDestination = objects::NO_OBJECT;
+
+  VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
+  TmPacketBase::timeStamperId = objects::TIME_STAMPER;
+}
+
+void ObjectFactory::produce(void* args) {
+  Factory::setStaticFrameworkObjectIds();
+  ObjectFactory::produceGenericObjects();
+
+#if OBSW_ADD_PLOC_MPSOC == 1
+  UartCookie* mpsocUartCookie =
+      new UartCookie(objects::PLOC_MPSOC_HANDLER, te0720_1cfa::MPSOC_UART, UartModes::NON_CANONICAL,
+                     uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
+  mpsocUartCookie->setNoFixedSizeReply();
+  PlocMPSoCHelper* plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
+  new UartComIF(objects::UART_COM_IF);
+  auto dummyGpioIF = new DummyGpioIF();
+  PlocMPSoCHandler* plocMPSoCHandler =
+      new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocUartCookie,
+                           plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF));
+  plocMPSoCHandler->setStartUpImmediately();
+#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
+
+#if OBSW_TEST_LIBGPIOD == 1
+#if OBSW_TEST_GPIO_OPEN_BYLABEL == 1
+  /* Configure MIO0 as input */
+  GpiodRegular* testGpio = new GpiodRegular("MIO0", Direction::OUT, 0, "/amba_pl/gpio@41200000", 0);
+#elif OBSW_TEST_GPIO_OPEN_BY_LINE_NAME
+  GpiodRegularByLineName* testGpio =
+      new GpiodRegularByLineName("test-name", "gpio-test", Direction::OUT, 0);
+#else
+  /* Configure MIO0 as input */
+  GpiodRegular* testGpio = new GpiodRegular("gpiochip0", 0, "MIO0", gpio::IN, 0);
+#endif /* OBSW_TEST_GPIO_LABEL == 1 */
+  GpioCookie* gpioCookie = new GpioCookie;
+  gpioCookie->addGpio(gpioIds::TEST_ID_0, testGpio);
+  new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
+#endif
+
+#if OBSW_TEST_SUS == 1
+  GpioCookie* gpioCookieSus = new GpioCookie;
+  GpiodRegular* chipSelectSus = new GpiodRegular(
+      std::string("gpiochip1"), 9, std::string("Chip Select Sus Sensor"), Direction::OUT, 1);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_0, chipSelectSus);
+  gpioComIF->addGpios(gpioCookieSus);
+
+  SpiCookie* spiCookieSus =
+      new SpiCookie(addresses::SUS_0, std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE,
+                    spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
+
+  new SusHandler(objects::SUS_0, objects::SPI_COM_IF, spiCookieSus, gpioComIF, gpioIds::CS_SUS_0);
+#endif
+
+#if OBSW_TEST_CCSDS_BRIDGE == 1
+  GpioCookie* gpioCookieCcsdsIp = new GpioCookie;
+  GpiodRegular* papbBusyN =
+      new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_VC0"));
+  gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_BUSY_N, papbBusyN);
+  GpiodRegular* papbEmpty =
+      new GpiodRegular(std::string("gpiochip0"), 1, std::string("PAPBEmpty_VC0"));
+  gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_EMPTY, papbEmpty);
+  gpioComIF->addGpios(gpioCookieCcsdsIp);
+
+  new CCSDSIPCoreBridge(objects::CCSDS_IP_CORE_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR,
+                        objects::TM_STORE, objects::TC_STORE, gpioComIF, std::string("/dev/uio0"),
+                        gpioIds::PAPB_BUSY_N, gpioIds::PAPB_EMPTY);
+#endif
+
+#if OBSW_TEST_RAD_SENSOR == 1
+  GpioCookie* gpioCookieRadSensor = new GpioCookie;
+  GpiodRegular* chipSelectRadSensor = new GpiodRegular(
+      std::string("gpiochip1"), 0, std::string("Chip select radiation sensor"), Direction::OUT, 1);
+  gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
+  gpioComIF->addGpios(gpioCookieRadSensor);
+
+  SpiCookie* spiCookieRadSensor =
+      new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string("/dev/spidev1.0"),
+                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
+
+  RadiationSensorHandler* radSensor =
+      new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
+  radSensor->setStartUpImmediately();
+#endif
+
+#if OBSW_TEST_TE7020_HEATER == 1
+  /* Configuration for MIO0 on TE0720-03-1CFA */
+  GpiodRegular* heaterGpio =
+      new GpiodRegular(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0);
+  GpioCookie* gpioCookie = new GpioCookie;
+  gpioCookie->addGpio(gpioIds::HEATER_0, heaterGpio);
+  new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER,
+                    pcduSwitches::TCS_BOARD_8V_HEATER_IN);
+#endif
+
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  /* Configuration for MIO0 on TE0720-03-1CFA */
+  UartCookie* plocSupervisorCookie =
+      new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, std::string("/dev/ttyPS1"),
+                     UartModes::NON_CANONICAL, 115200, PLOC_SPV::MAX_PACKET_SIZE * 20);
+  plocSupervisorCookie->setNoFixedSizeReply();
+  PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
+      objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
+  plocSupervisor->setStartUpImmediately();
+#endif
+
+new I2cComIF(objects::I2C_COM_IF);
+
+I2cCookie* i2cCookieTmp1075tcs1 =
+  new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
+I2cCookie* i2cCookieTmp1075tcs2 =
+  new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
+
+/* Temperature sensors */
+new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
+new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
+}

bsp_te0720_1cfa/ObjectFactory.h

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

bsp_te0720_1cfa/boardconfig/CMakeLists.txt

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

bsp_te0720_1cfa/boardconfig/busConf.h

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

bsp_te0720_1cfa/boardconfig/etl_profile.h

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

bsp_te0720_1cfa/boardconfig/gcov.h

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

bsp_te0720_1cfa/boardconfig/print.c

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

bsp_te0720_1cfa/boardconfig/print.h

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

bsp_te0720_1cfa/main.cpp

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

cmake/HardwareOsPreConfig.cmake

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

cmake/PreProjectConfig.cmake

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

cmake/Zynq7020CrossCompileConfig.cmake

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

cmake/scripts/Q7S/q7s-env.sh

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

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

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

cmake/scripts/cmake-build-cfg.py

@@ -12,6 +12,7 @@ import os
 import sys
 import argparse
 import shutil
+import stat
 
 
 def main():
@@ -102,7 +103,7 @@ def main():
             build_path = source_location + os.path.sep + build_folder
             remove_old_dir = False
         if remove_old_dir:
-            shutil.rmtree(build_path)
+            rm_build_dir(build_path)
     os.chdir(source_location)
     os.mkdir(build_folder)
     print(f"Navigating into build directory: {build_path}")
@@ -119,6 +120,14 @@ def main():
     print("-- CMake configuration done. --")
     
     
+def rm_build_dir(path: str):
+    # On windows the permissions of the build directory may have been set to read-only. If this
+    # is the case the permissions are changed before trying to delete the directory.
+    if not os.access(path, os.W_OK):
+        os.chmod(path, stat.S_IWUSR)
+    shutil.rmtree(path)
+
+
 def determine_source_location() -> str:
     index = 0
     while not os.path.isdir("fsfw"):

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

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

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

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

common/config/commonClassIds.h

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

common/config/commonObjects.h

@@ -42,6 +42,7 @@ enum commonObjects: uint32_t {
     IMTQ_HANDLER = 0x44140014,
     PLOC_MPSOC_HANDLER = 0x44330015,
     PLOC_SUPERVISOR_HANDLER = 0x44330016,
+    PLOC_SUPERVISOR_HELPER = 0x44330017,
 
     /**
      * Not yet specified which pt1000 will measure which device/location in the satellite.
@@ -89,8 +90,9 @@ enum commonObjects: uint32_t {
     PLOC_UPDATER = 0x44330000,
     PLOC_MEMORY_DUMPER = 0x44330001,
     STR_HELPER = 0x44330002,
-    AXI_PTME_CONFIG = 44330003,
+    PLOC_MPSOC_HELPER = 0x44330003,
-    PTME_CONFIG = 44330004,
+    AXI_PTME_CONFIG = 44330004,
+    PTME_CONFIG = 44330005,
 
     // 0x73 ('s') for assemblies and system/subsystem components
     ACS_BOARD_ASS = 0x73000001,

common/config/commonSubsystemIds.h

@@ -6,23 +6,26 @@
 namespace SUBSYSTEM_ID {
 enum: uint8_t {
 	COMMON_SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
-	PCDU_HANDLER = 108,
+	ACS_SUBSYSTEM = 112,
-	HEATER_HANDLER = 109,
+	PCDU_HANDLER = 113,
-	SA_DEPL_HANDLER = 110,
+	HEATER_HANDLER = 114,
-	PLOC_MPSOC_HANDLER = 111,
+	SA_DEPL_HANDLER = 115,
-	IMTQ_HANDLER = 112,
+	PLOC_MPSOC_HANDLER = 116,
-	RW_HANDLER = 113,
+	IMTQ_HANDLER = 117,
-	STR_HANDLER = 114,
+	RW_HANDLER = 118,
-	PLOC_SUPERVISOR_HANDLER = 115,
+	STR_HANDLER = 119,
-	FILE_SYSTEM = 116,
+	PLOC_SUPERVISOR_HANDLER = 120,
-	PLOC_UPDATER = 117,
+	FILE_SYSTEM = 121,
-	PLOC_MEMORY_DUMPER = 118,
+	PLOC_UPDATER = 122,
-	PDEC_HANDLER = 119,
+	PLOC_MEMORY_DUMPER = 123,
-	STR_HELPER = 120,
+	PDEC_HANDLER = 124,
-	PL_PCDU_HANDLER = 121,
+	STR_HELPER = 125,
-	ACS_BOARD_ASS = 122,
+	PLOC_MPSOC_HELPER = 126,
-	SUS_BOARD_ASS = 123,
+	PL_PCDU_HANDLER = 127,
-	TCS_BOARD_ASS = 124,
+	ACS_BOARD_ASS = 128,
+	SUS_BOARD_ASS = 129,
+	TCS_BOARD_ASS = 130,
+	GPS_HANDLER = 131,
 	COMMON_SUBSYSTEM_ID_END
 };
 }

common/config/devConf.h

@@ -51,7 +51,7 @@ namespace uart {
 static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024;
 static constexpr uint32_t SYRLINKS_BAUD = 38400;
 static constexpr uint32_t GNSS_BAUD = 9600;
-static constexpr uint32_t PLOC_MPSOC_BAUD = 921600;
+static constexpr uint32_t PLOC_MPSOC_BAUD = 115200;
 static constexpr uint32_t PLOC_SUPERVISOR_BAUD = 115200;
 static constexpr uint32_t STAR_TRACKER_BAUD = 921600;
 

common/config/devices/gpioIds.h

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

common/config/devices/powerSwitcherList.h

@@ -3,12 +3,15 @@
 
 #include "OBSWConfig.h"
 
+#include <fsfw/power/definitions.h>
+
 #include <array>
 #include <cstdint>
 
 namespace pcduSwitches {
+
 /* Switches are uint8_t datatype and go from 0 to 255 */
-enum Switches: uint8_t {
+enum Switches: power::Switch_t {
   PDU1_CH0_TCS_BOARD_3V3,
   PDU1_CH1_SYRLINKS_12V,
   PDU1_CH2_STAR_TRACKER_5V,
@@ -39,7 +42,7 @@ static const uint8_t OFF = 0;
 const std::array<uint8_t, NUMBER_OF_SWITCHES> INIT_SWITCH_STATES = {
     // PDU 1
 // Because the TE0720 is not connected to the PCDU, this switch is always on
-#if BOARD_TE0720 == 1
+#ifdef TE0720_1CFA
     ON,
 #else
     OFF,

common/config/eive/definitions.h

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

fsfw

@@ -1 +1 @@
-Subproject commit e6130263ef144c5b1f6eafef734a0150a92d6cda
+Subproject commit 5bda877d97b41e82bf36d939c9f367cef611446a

generators/bsp_q7s_events.csv

@@ -77,91 +77,106 @@
 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
-10800;0x2a30;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
+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
-10801;0x2a31;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
+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
-10802;0x2a32;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
+11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
-10900;0x2a94;GPIO_PULL_HIGH_FAILED;LOW;;mission/devices/HeaterHandler.h
+11400;0x2c88;GPIO_PULL_HIGH_FAILED;LOW;;mission/devices/HeaterHandler.h
-10901;0x2a95;GPIO_PULL_LOW_FAILED;LOW;;mission/devices/HeaterHandler.h
+11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;;mission/devices/HeaterHandler.h
-10902;0x2a96;SWITCH_ALREADY_ON;LOW;;mission/devices/HeaterHandler.h
+11402;0x2c8a;SWITCH_ALREADY_ON;LOW;;mission/devices/HeaterHandler.h
-10903;0x2a97;SWITCH_ALREADY_OFF;LOW;;mission/devices/HeaterHandler.h
+11403;0x2c8b;SWITCH_ALREADY_OFF;LOW;;mission/devices/HeaterHandler.h
-10904;0x2a98;MAIN_SWITCH_TIMEOUT;LOW;;mission/devices/HeaterHandler.h
+11404;0x2c8c;MAIN_SWITCH_TIMEOUT;LOW;;mission/devices/HeaterHandler.h
-11000;0x2af8;MAIN_SWITCH_ON_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
+11500;0x2cec;MAIN_SWITCH_ON_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
-11001;0x2af9;MAIN_SWITCH_OFF_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
+11501;0x2ced;MAIN_SWITCH_OFF_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
-11002;0x2afa;DEPLOYMENT_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11502;0x2cee;DEPLOYMENT_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
-11003;0x2afb;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11503;0x2cef;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
-11004;0x2afc;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11504;0x2cf0;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
-11101;0x2b5d;MEMORY_READ_RPT_CRC_FAILURE;LOW;;mission/devices/PlocMPSoCHandler.h
+11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/devices/ploc/PlocMPSoCHandler.h
-11102;0x2b5e;ACK_FAILURE;LOW;;mission/devices/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
-11103;0x2b5f;EXE_FAILURE;LOW;;mission/devices/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
-11104;0x2b60;CRC_FAILURE_EVENT;LOW;;mission/devices/PlocMPSoCHandler.h
+11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/devices/ploc/PlocMPSoCHandler.h
-11201;0x2bc1;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11605;0x2d55;MPSOC_HANDLER_SEQ_CNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/devices/ploc/PlocMPSoCHandler.h
-11202;0x2bc2;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+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
-11203;0x2bc3;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+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
-11204;0x2bc4;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+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
-11205;0x2bc5;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+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
-11206;0x2bc6;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+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
-11207;0x2bc7;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+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
-11208;0x2bc8;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/devices/IMTQHandler.h
+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
-11301;0x2c25;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/RwHandler.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
-11401;0x2c89;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.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
-11402;0x2c8a;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
+11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/RwHandler.h
-11501;0x2ced;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;bsp_q7s/devices/PlocSupervisorHandler.h
+11901;0x2e7d;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
-11502;0x2cee;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;bsp_q7s/devices/PlocSupervisorHandler.h
+11902;0x2e7e;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
-11503;0x2cef;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report;bsp_q7s/devices/PlocSupervisorHandler.h
+12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/devices/ploc/PlocSupervisorHandler.h
-11504;0x2cf0;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;bsp_q7s/devices/PlocSupervisorHandler.h
+12002;0x2ee2;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux/devices/ploc/PlocSupervisorHandler.h
-11600;0x2d50;SANITIZATION_FAILED;LOW;;bsp_q7s/memory/SdCardManager.h
+12003;0x2ee3;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report;linux/devices/ploc/PlocSupervisorHandler.h
-11601;0x2d51;MOUNTED_SD_CARD;INFO;;bsp_q7s/memory/SdCardManager.h
+12004;0x2ee4;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux/devices/ploc/PlocSupervisorHandler.h
-11700;0x2db4;UPDATE_FILE_NOT_EXISTS;LOW;;bsp_q7s/devices/PlocUpdater.h
+12100;0x2f44;SANITIZATION_FAILED;LOW;;bsp_q7s/memory/SdCardManager.h
-11701;0x2db5;ACTION_COMMANDING_FAILED;LOW;Failed to send command to supervisor handler P1: Return value of CommandActionHelper::commandAction P2: Action ID of command to send;bsp_q7s/devices/PlocUpdater.h
+12101;0x2f45;MOUNTED_SD_CARD;INFO;;bsp_q7s/memory/SdCardManager.h
-11702;0x2db6;UPDATE_AVAILABLE_FAILED;LOW;Supervisor handler replied action message indicating a command execution failure of the update available command;bsp_q7s/devices/PlocUpdater.h
+12200;0x2fa8;UPDATE_FILE_NOT_EXISTS;LOW;;linux/devices/ploc/PlocUpdater.h
-11703;0x2db7;UPDATE_TRANSFER_FAILED;LOW;Supervisor handler failed to transfer an update space packet. P1: Parameter holds the number of update packets already sent (inclusive the failed packet);bsp_q7s/devices/PlocUpdater.h
+12201;0x2fa9;ACTION_COMMANDING_FAILED;LOW;Failed to send command to supervisor handler P1: Return value of CommandActionHelper::commandAction P2: Action ID of command to send;linux/devices/ploc/PlocUpdater.h
-11704;0x2db8;UPDATE_VERIFY_FAILED;LOW;Supervisor failed to execute the update verify command.;bsp_q7s/devices/PlocUpdater.h
+12202;0x2faa;UPDATE_AVAILABLE_FAILED;LOW;Supervisor handler replied action message indicating a command execution failure of the update available command;linux/devices/ploc/PlocUpdater.h
-11705;0x2db9;UPDATE_FINISHED;INFO;MPSoC update successful completed;bsp_q7s/devices/PlocUpdater.h
+12203;0x2fab;UPDATE_TRANSFER_FAILED;LOW;Supervisor handler failed to transfer an update space packet. P1: Parameter holds the number of update packets already sent (inclusive the failed packet);linux/devices/ploc/PlocUpdater.h
-11800;0x2e18;SEND_MRAM_DUMP_FAILED;LOW;Failed to send mram dump command to supervisor handler P1: Return value of commandAction function P2: Start address of MRAM to dump with this command;bsp_q7s/devices/PlocMemoryDumper.h
+12204;0x2fac;UPDATE_VERIFY_FAILED;LOW;Supervisor failed to execute the update verify command.;linux/devices/ploc/PlocUpdater.h
-11801;0x2e19;MRAM_DUMP_FAILED;LOW;Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command;bsp_q7s/devices/PlocMemoryDumper.h
+12205;0x2fad;UPDATE_FINISHED;INFO;MPSoC update successful completed;linux/devices/ploc/PlocUpdater.h
-11802;0x2e1a;MRAM_DUMP_FINISHED;LOW;MRAM dump finished successfully;bsp_q7s/devices/PlocMemoryDumper.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
-11901;0x2e7d;INVALID_TC_FRAME;HIGH;;linux/obc/PdecHandler.h
+12301;0x300d;MRAM_DUMP_FAILED;LOW;Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command;linux/devices/ploc/PlocMemoryDumper.h
-11902;0x2e7e;INVALID_FAR;HIGH;Read invalid FAR from PDEC after startup;linux/obc/PdecHandler.h
+12302;0x300e;MRAM_DUMP_FINISHED;LOW;MRAM dump finished successfully;linux/devices/ploc/PlocMemoryDumper.h
-11903;0x2e7f;CARRIER_LOCK;INFO;Carrier lock detected;linux/obc/PdecHandler.h
+12401;0x3071;INVALID_TC_FRAME;HIGH;;linux/obc/PdecHandler.h
-11904;0x2e80;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);linux/obc/PdecHandler.h
+12402;0x3072;INVALID_FAR;HIGH;Read invalid FAR from PDEC after startup;linux/obc/PdecHandler.h
-12000;0x2ee0;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h
+12403;0x3073;CARRIER_LOCK;INFO;Carrier lock detected;linux/obc/PdecHandler.h
-12001;0x2ee1;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h
+12404;0x3074;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);linux/obc/PdecHandler.h
-12002;0x2ee2;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h
+12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h
-12003;0x2ee3;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrHelper.h
+12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h
-12004;0x2ee4;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrHelper.h
+12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h
-12005;0x2ee5;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrHelper.h
+12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrHelper.h
-12006;0x2ee6;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrHelper.h
+12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrHelper.h
-12007;0x2ee7;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrHelper.h
+12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrHelper.h
-12008;0x2ee8;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrHelper.h
+12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrHelper.h
-12009;0x2ee9;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
+12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrHelper.h
-12010;0x2eea;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
+12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrHelper.h
-12011;0x2eeb;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;linux/devices/startracker/StrHelper.h
+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
-12012;0x2eec;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrHelper.h
+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
-12013;0x2eed;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrHelper.h
+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
-12014;0x2eee;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;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
-12015;0x2eef;STR_HELPER_SENDING_PACKET_FAILED;LOW;;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
-12016;0x2ef0;STR_HELPER_REQUESTING_MSG_FAILED;LOW;;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
-12100;0x2f44;TRANSITION_BACK_TO_OFF;MEDIUM;Could not transition properly and went back to ALL OFF;mission/devices/PayloadPcduHandler.h
+12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;;linux/devices/startracker/StrHelper.h
-12101;0x2f45;NEG_V_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;;linux/devices/startracker/StrHelper.h
-12102;0x2f46;U_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/devices/ploc/PlocMPSoCHelper.h
-12103;0x2f47;I_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/devices/ploc/PlocMPSoCHelper.h
-12104;0x2f48;U_X8_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12602;0x313a;SENDING_COMMAND_FAILED;LOW;;linux/devices/ploc/PlocMPSoCHelper.h
-12105;0x2f49;I_X8_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.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
-12106;0x2f4a;U_TX_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.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
-12107;0x2f4b;I_TX_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12605;0x313d;MISSING_ACK;LOW;Did not receive acknowledgement report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
-12108;0x2f4c;U_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12606;0x313e;MISSING_EXE;LOW;Did not receive execution report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
-12109;0x2f4d;I_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12607;0x313f;ACK_FAILURE_REPORT;LOW;Received acknowledgement failure report P1: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
-12110;0x2f4e;U_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12608;0x3140;EXE_FAILURE_REPORT;LOW;Received execution failure report P1: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
-12111;0x2f4f;I_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12609;0x3141;ACK_INVALID_APID;LOW;Expected acknowledgement report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
-12200;0x2fa8;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/AcsBoardAssembly.h
+12610;0x3142;EXE_INVALID_APID;LOW;Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
-12201;0x2fa9;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/AcsBoardAssembly.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
-12202;0x2faa;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/AcsBoardAssembly.h
+12700;0x319c;TRANSITION_BACK_TO_OFF;MEDIUM;Could not transition properly and went back to ALL OFF;mission/devices/PayloadPcduHandler.h
-12203;0x2fab;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
+12701;0x319d;NEG_V_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
-12300;0x300c;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/SusAssembly.h
+12702;0x319e;U_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
-12301;0x300d;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/SusAssembly.h
+12703;0x319f;I_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
-12302;0x300e;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/SusAssembly.h
+12704;0x31a0;U_X8_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
-12303;0x300f;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
+12705;0x31a1;I_X8_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
-12400;0x3070;CHILDREN_LOST_MODE;MEDIUM;;mission/system/TcsBoardAssembly.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
 13600;0x3520;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
 13601;0x3521;REBOOT_SW;MEDIUM; Software reboot occured. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
 13602;0x3522;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h

generators/bsp_q7s_objects.csv

@@ -40,8 +40,10 @@
 0x44330000;PLOC_UPDATER
 0x44330001;PLOC_MEMORY_DUMPER
 0x44330002;STR_HELPER
+0x44330003;PLOC_MPSOC_HELPER
 0x44330015;PLOC_MPSOC_HANDLER
 0x44330016;PLOC_SUPERVISOR_HANDLER
+0x44330017;PLOC_SUPERVISOR_HELPER
 0x444100A2;SOLAR_ARRAY_DEPL_HANDLER
 0x444100A4;HEATER_HANDLER
 0x44420004;TMP1075_HANDLER_1

generators/bsp_q7s_returnvalues.csv

@@ -1,12 +1,12 @@
 0x0;OK;System-wide code for ok.;RETURN_OK;HasReturnvaluesIF.h;HasReturnvaluesIF
 0x1;Failed;Unspecified system-wide code for failed.;RETURN_FAILED;HasReturnvaluesIF.h;HasReturnvaluesIF
-0x61a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;0xA0;mission/tmtc/CCSDSHandler.h;CCSDS_HANDLER
+0x62a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;0xA0;mission/tmtc/CCSDSHandler.h;CCSDS_HANDLER
-0x5e00;GOMS_PacketTooLong;;0;mission/devices/GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
+0x5f00;GOMS_PacketTooLong;;0;mission/devices/GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
-0x5e01;GOMS_InvalidTableId;;1;mission/devices/GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
+0x5f01;GOMS_InvalidTableId;;1;mission/devices/GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
-0x5e02;GOMS_InvalidAddress;;2;mission/devices/GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
+0x5f02;GOMS_InvalidAddress;;2;mission/devices/GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
-0x5e03;GOMS_InvalidParamSize;;3;mission/devices/GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
+0x5f03;GOMS_InvalidParamSize;;3;mission/devices/GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
-0x5e04;GOMS_InvalidPayloadSize;;4;mission/devices/GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
+0x5f04;GOMS_InvalidPayloadSize;;4;mission/devices/GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
-0x5e05;GOMS_UnknownReplyId;;5;mission/devices/GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
+0x5f05;GOMS_UnknownReplyId;;5;mission/devices/GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
 0x55b0;RWHA_SpiWriteFailure;;0xB0;mission/devices/RwHandler.h;RW_HANDLER
 0x55b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;0xB1;mission/devices/RwHandler.h;RW_HANDLER
 0x55b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;0xB2;mission/devices/RwHandler.h;RW_HANDLER
@@ -24,8 +24,8 @@
 0x52a3;HEATER_InvalidSwitchNr;;0xA3;mission/devices/HeaterHandler.h;HEATER_HANDLER
 0x52a4;HEATER_MainSwitchSetTimeout;;0xA4;mission/devices/HeaterHandler.h;HEATER_HANDLER
 0x52a5;HEATER_CommandAlreadyWaiting;;0xA5;mission/devices/HeaterHandler.h;HEATER_HANDLER
-0x59a0;SUSS_ErrorUnlockMutex;;0xA0;mission/devices/SusHandler.h;SUS_HANDLER
+0x5aa0;SUSS_ErrorUnlockMutex;;0xA0;mission/devices/SusHandler.h;SUS_HANDLER
-0x59a1;SUSS_ErrorLockMutex;;0xA1;mission/devices/SusHandler.h;SUS_HANDLER
+0x5aa1;SUSS_ErrorLockMutex;;0xA1;mission/devices/SusHandler.h;SUS_HANDLER
 0x54a0;IMTQ_InvalidCommandCode;;0xA0;mission/devices/IMTQHandler.h;IMTQ_HANDLER
 0x54a1;IMTQ_ParameterMissing;;0xA1;mission/devices/IMTQHandler.h;IMTQ_HANDLER
 0x54a2;IMTQ_ParameterInvalid;;0xA2;mission/devices/IMTQHandler.h;IMTQ_HANDLER
@@ -43,16 +43,12 @@
 0x53a6;SYRLINKS_BadCrcAck;;0xA6;mission/devices/SyrlinksHkHandler.h;SYRLINKS_HANDLER
 0x53a7;SYRLINKS_ReplyWrongSize;;0xA7;mission/devices/SyrlinksHkHandler.h;SYRLINKS_HANDLER
 0x53a8;SYRLINKS_MissingStartFrameCharacter;;0xA8;mission/devices/SyrlinksHkHandler.h;SYRLINKS_HANDLER
-0x65a0;SADPL_CommandNotSupported;;0xA0;mission/devices/SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
+0x68a0;SADPL_CommandNotSupported;;0xA0;mission/devices/SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
-0x65a1;SADPL_DeploymentAlreadyExecuting;;0xA1;mission/devices/SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
+0x68a1;SADPL_DeploymentAlreadyExecuting;;0xA1;mission/devices/SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
-0x65a2;SADPL_MainSwitchTimeoutFailure;;0xA2;mission/devices/SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
+0x68a2;SADPL_MainSwitchTimeoutFailure;;0xA2;mission/devices/SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
-0x65a3;SADPL_SwitchingDeplSa1Failed;;0xA3;mission/devices/SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
+0x68a3;SADPL_SwitchingDeplSa1Failed;;0xA3;mission/devices/SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
-0x65a4;SADPL_SwitchingDeplSa2Failed;;0xA4;mission/devices/SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
+0x68a4;SADPL_SwitchingDeplSa2Failed;;0xA4;mission/devices/SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
-0x57a0;PLMP_CrcFailure;;0xA0;mission/devices/PlocMPSoCHandler.h;PLOC_MPSOC_HANDLER
+0x65a0;NVMB_KeyNotExists;Specified key does not exist in json file;0xA0;mission/memory/NVMParameterBase.h;NVM_PARAM_BASE
-0x57a1;PLMP_ReceivedAckFailure;;0xA1;mission/devices/PlocMPSoCHandler.h;PLOC_MPSOC_HANDLER
-0x57a2;PLMP_ReceivedExeFailure;;0xA2;mission/devices/PlocMPSoCHandler.h;PLOC_MPSOC_HANDLER
-0x57a3;PLMP_InvalidApid;;0xA3;mission/devices/PlocMPSoCHandler.h;PLOC_MPSOC_HANDLER
-0x64a0;NVMB_KeyNotExists;Specified key does not exist in json file;0xA0;mission/memory/NVMParameterBase.h;NVM_PARAM_BASE
 0x4300; HSPI_HalTimeoutRetval;;0;fsfw/hal/src/fsfw_hal/stm32h7/spi/spiDefinitions.h;HAL_SPI
 0x4301; HSPI_HalBusyRetval;;1;fsfw/hal/src/fsfw_hal/stm32h7/spi/spiDefinitions.h;HAL_SPI
 0x4302; HSPI_HalErrorRetval;;2;fsfw/hal/src/fsfw_hal/stm32h7/spi/spiDefinitions.h;HAL_SPI
@@ -448,45 +444,47 @@
 0x1401; SE_BufferTooShort;;1;fsfw/src/fsfw/serialize/SerializeIF.h;SERIALIZE_IF
 0x1402; SE_StreamTooShort;;2;fsfw/src/fsfw/serialize/SerializeIF.h;SERIALIZE_IF
 0x1403; SE_TooManyElements;;3;fsfw/src/fsfw/serialize/SerializeIF.h;SERIALIZE_IF
-0x58a0;PLSV_CrcFailure;Space Packet received from PLOC supervisor has invalid CRC;0xA0;bsp_q7s/devices/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x66a0;FSHLP_SdNotMounted;SD card specified with path string not mounted;0xA0;bsp_q7s/memory/FilesystemHelper.h;FILE_SYSTEM_HELPER
-0x58a1;PLSV_ReceivedAckFailure;Received ACK failure reply from PLOC supervisor;0xA1;bsp_q7s/devices/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x66a1;FSHLP_FileNotExists;Specified file does not exist on filesystem;0xA1;bsp_q7s/memory/FilesystemHelper.h;FILE_SYSTEM_HELPER
-0x58a2;PLSV_ReceivedExeFailure;Received execution failure reply from PLOC supervisor;0xA2;bsp_q7s/devices/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x7000; SDMA_OpOngoing;;0;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
-0x58a3;PLSV_InvalidApid;Received space packet with invalid APID from PLOC supervisor;0xA3;bsp_q7s/devices/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x7001; SDMA_AlreadyOn;;1;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
-0x58a4;PLSV_GetTimeFailure;Failed to read current system time;0xA4;bsp_q7s/devices/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x7002; SDMA_AlreadyMounted;;2;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
-0x58a5;PLSV_InvalidUartComIf;Invalid communication interface specified;0xA5;bsp_q7s/devices/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x7003; SDMA_AlreadyOff;;3;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
-0x58a6;PLSV_InvalidWatchdog;Received command with invalid watchdog parameter. Valid watchdogs are 0 for PS, 1 for PL and 2 for INT;0xA6;bsp_q7s/devices/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x700a; SDMA_StatusFileNexists;;10;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
-0x58a7;PLSV_InvalidWatchdogTimeout;Received watchdog timeout config command with invalid timeout. Valid timeouts must be in the range between 1000 and 360000 ms.;0xA7;bsp_q7s/devices/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x700b; SDMA_StatusFileFormatInvalid;;11;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
-0x58a8;PLSV_InvalidLatchupId;Received latchup config command with invalid latchup ID;0xA8;bsp_q7s/devices/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x700c; SDMA_MountError;;12;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
-0x58a9;PLSV_SweepPeriodTooSmall;Received set adc sweep period command with invalid sweep period. Must be larger than 21.;0xA9;bsp_q7s/devices/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x700d; SDMA_UnmountError;;13;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
-0x58aa;PLSV_InvalidTestParam;Receive auto EM test command with invalid test param. Valid params are 1 and 2.;0xAA;bsp_q7s/devices/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x700e; SDMA_SystemCallError;;14;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
-0x58ab;PLSV_MramPacketParsingFailure;Returned when scanning for MRAM dump packets failed.;0xAB;bsp_q7s/devices/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x700f; SDMA_PopenCallError;;15;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
-0x58ac;PLSV_InvalidMramAddresses;Returned when the start and stop addresses of the MRAM dump or MRAM  wipe commands are invalid (e.g. start address bigger than stop address);0xAC;bsp_q7s/devices/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x7100; SCBU_KeyNotFound;;0;bsp_q7s/memory/scratchApi.h;SCRATCH_BUFFER
-0x58ad;PLSV_NoMramPacket;Expect reception of an MRAM dump packet but received space packet with other apid.;0xAD;bsp_q7s/devices/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x59a0;PLSV_CrcFailure;Space Packet received from PLOC supervisor has invalid CRC;0xA0;linux/devices/ploc/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x58ae;PLSV_PathDoesNotExist;Path to PLOC directory on SD card does not exist;0xAE;bsp_q7s/devices/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x59a1;PLSV_ReceivedAckFailure;Received ACK failure reply from PLOC supervisor;0xA1;linux/devices/ploc/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x58af;PLSV_MramFileNotExists;MRAM dump file does not exists. The file should actually already have been created with the reception of the first dump packet.;0xAF;bsp_q7s/devices/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x59a2;PLSV_ReceivedExeFailure;Received execution failure reply from PLOC supervisor;0xA2;linux/devices/ploc/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x5fa0;PLMEMDUMP_MramAddressTooHigh;The capacity of the MRAM amounts to 512 kB. Thus the maximum address must not be higher than 0x7d000.;0xA0;bsp_q7s/devices/PlocMemoryDumper.h;PLOC_MEMORY_DUMPER
+0x59a3;PLSV_InvalidApid;Received space packet with invalid APID from PLOC supervisor;0xA3;linux/devices/ploc/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x5fa1;PLMEMDUMP_MramInvalidAddressCombination;The specified end address is lower than the start address;0xA1;bsp_q7s/devices/PlocMemoryDumper.h;PLOC_MEMORY_DUMPER
+0x59a4;PLSV_GetTimeFailure;Failed to read current system time;0xA4;linux/devices/ploc/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x5ca0;PLUD_UpdaterBusy;Updater is already performing an update;0xA0;bsp_q7s/devices/PlocUpdater.h;PLOC_UPDATER
+0x59a5;PLSV_InvalidWatchdog;Received command with invalid watchdog parameter. Valid watchdogs are 0 for PS, 1 for PL and 2 for INT;0xA5;linux/devices/ploc/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x5ca1;PLUD_NameTooLong;Received update command with invalid path string (too long).;0xA1;bsp_q7s/devices/PlocUpdater.h;PLOC_UPDATER
+0x59a6;PLSV_InvalidWatchdogTimeout;Received watchdog timeout config command with invalid timeout. Valid timeouts must be in the range between 1000 and 360000 ms.;0xA6;linux/devices/ploc/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x5ca2;PLUD_SdNotMounted;Received command to initiate update but SD card with update image not mounted.;0xA2;bsp_q7s/devices/PlocUpdater.h;PLOC_UPDATER
+0x59a7;PLSV_InvalidLatchupId;Received latchup config command with invalid latchup ID;0xA7;linux/devices/ploc/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x5ca3;PLUD_FileNotExists;Update file received with update command does not exist.;0xA3;bsp_q7s/devices/PlocUpdater.h;PLOC_UPDATER
+0x59a8;PLSV_SweepPeriodTooSmall;Received set adc sweep period command with invalid sweep period. Must be larger than 21.;0xA8;linux/devices/ploc/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x6c00; SDMA_OpOngoing;;0;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
+0x59a9;PLSV_InvalidTestParam;Receive auto EM test command with invalid test param. Valid params are 1 and 2.;0xA9;linux/devices/ploc/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x6c01; SDMA_AlreadyOn;;1;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
+0x59aa;PLSV_MramPacketParsingFailure;Returned when scanning for MRAM dump packets failed.;0xAA;linux/devices/ploc/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x6c02; SDMA_AlreadyMounted;;2;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
+0x59ab;PLSV_InvalidMramAddresses;Returned when the start and stop addresses of the MRAM dump or MRAM  wipe commands are invalid (e.g. start address bigger than stop address);0xAB;linux/devices/ploc/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x6c03; SDMA_AlreadyOff;;3;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
+0x59ac;PLSV_NoMramPacket;Expect reception of an MRAM dump packet but received space packet with other apid.;0xAC;linux/devices/ploc/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x6c0a; SDMA_StatusFileNexists;;10;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
+0x59ad;PLSV_PathDoesNotExist;Path to PLOC directory on SD card does not exist;0xAD;linux/devices/ploc/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x6c0b; SDMA_StatusFileFormatInvalid;;11;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
+0x59ae;PLSV_MramFileNotExists;MRAM dump file does not exists. The file should actually already have been created with the reception of the first dump packet.;0xAE;linux/devices/ploc/PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x6c0c; SDMA_MountError;;12;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
+0x67a0; PLMPHLP_FileClosedAccidentally;File accidentally close;0xA0;linux/devices/ploc/PlocMPSoCHelper.h;PLOC_MPSOC_HELPER
-0x6c0d; SDMA_UnmountError;;13;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
+0x60a0;PLMEMDUMP_MramAddressTooHigh;The capacity of the MRAM amounts to 512 kB. Thus the maximum address must not be higher than 0x7d000.;0xA0;linux/devices/ploc/PlocMemoryDumper.h;PLOC_MEMORY_DUMPER
-0x6c0e; SDMA_SystemCallError;;14;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
+0x60a1;PLMEMDUMP_MramInvalidAddressCombination;The specified end address is lower than the start address;0xA1;linux/devices/ploc/PlocMemoryDumper.h;PLOC_MEMORY_DUMPER
-0x6c0f; SDMA_PopenCallError;;15;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
+0x5da0;PLUD_UpdaterBusy;Updater is already performing an update;0xA0;linux/devices/ploc/PlocUpdater.h;PLOC_UPDATER
-0x6d00; SCBU_KeyNotFound;;0;bsp_q7s/memory/scratchApi.h;SCRATCH_BUFFER
+0x5da1;PLUD_NameTooLong;Received update command with invalid path string (too long).;0xA1;linux/devices/ploc/PlocUpdater.h;PLOC_UPDATER
+0x5da2;PLUD_SdNotMounted;Received command to initiate update but SD card with update image not mounted.;0xA2;linux/devices/ploc/PlocUpdater.h;PLOC_UPDATER
+0x5da3;PLUD_FileNotExists;Update file received with update command does not exist.;0xA3;linux/devices/ploc/PlocUpdater.h;PLOC_UPDATER
 0x56a0;STRH_TemperatureReqFailed;Status in temperature reply signals error;0xA0;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
 0x56a1;STRH_PingFailed;Ping command failed;0xA1;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
 0x56a2;STRH_VersionReqFailed;Status in version reply signals error;0xA2;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
-0x6301;JSONBASE_JsonFileNotExists;Specified json file does not exist;1;linux/devices/startracker/ArcsecJsonParamBase.h;ARCSEC_JSON_BASE
+0x6401;JSONBASE_JsonFileNotExists;Specified json file does not exist;1;linux/devices/startracker/ArcsecJsonParamBase.h;ARCSEC_JSON_BASE
-0x6302;JSONBASE_SetNotExists;Requested set does not exist in json file;2;linux/devices/startracker/ArcsecJsonParamBase.h;ARCSEC_JSON_BASE
+0x6402;JSONBASE_SetNotExists;Requested set does not exist in json file;2;linux/devices/startracker/ArcsecJsonParamBase.h;ARCSEC_JSON_BASE
-0x6303;JSONBASE_ParamNotExists;Requested parameter does not exist in json file;3;linux/devices/startracker/ArcsecJsonParamBase.h;ARCSEC_JSON_BASE
+0x6403;JSONBASE_ParamNotExists;Requested parameter does not exist in json file;3;linux/devices/startracker/ArcsecJsonParamBase.h;ARCSEC_JSON_BASE
 0x56a3;STRH_InterfaceReqFailed;Status in interface reply signals error;0xA3;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
 0x56a4;STRH_PowerReqFailed;Status in power reply signals error;0xA4;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
 0x56a5;STRH_SetParamFailed;Status of reply to parameter set command signals error;0xA5;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
@@ -509,33 +507,45 @@
 0x56b6;STRH_StartrackerAlreadyBooted;Star tracker is already in firmware mode;0xB6;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
 0x56b7;STRH_StartrackerRunningFirmware;Star tracker is in firmware mode but must be in bootloader mode to execute this command;0xB7;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
 0x56b8;STRH_StartrackerRunningBootloader;Star tracker is in bootloader mode but must be in firmware mode to execute this command;0xB8;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
-0x5da0;STRHLP_SdNotMounted;SD card specified in path string not mounted;0xA0;linux/devices/startracker/StrHelper.h;STR_HELPER
+0x5ea0;STRHLP_SdNotMounted;SD card specified in path string not mounted;0xA0;linux/devices/startracker/StrHelper.h;STR_HELPER
-0x5da1;STRHLP_FileNotExists;Specified file does not exist on filesystem;0xA1;linux/devices/startracker/StrHelper.h;STR_HELPER
+0x5ea1;STRHLP_FileNotExists;Specified file does not exist on filesystem;0xA1;linux/devices/startracker/StrHelper.h;STR_HELPER
-0x5da2;STRHLP_PathNotExists;Specified path does not exist;0xA2;linux/devices/startracker/StrHelper.h;STR_HELPER
+0x5ea2;STRHLP_PathNotExists;Specified path does not exist;0xA2;linux/devices/startracker/StrHelper.h;STR_HELPER
-0x5da3;STRHLP_FileCreationFailed;Failed to create download image or read flash file;0xA3;linux/devices/startracker/StrHelper.h;STR_HELPER
+0x5ea3;STRHLP_FileCreationFailed;Failed to create download image or read flash file;0xA3;linux/devices/startracker/StrHelper.h;STR_HELPER
-0x5da4;STRHLP_RegionMismatch;Region in flash write/read reply does not match expected region;0xA4;linux/devices/startracker/StrHelper.h;STR_HELPER
+0x5ea4;STRHLP_RegionMismatch;Region in flash write/read reply does not match expected region;0xA4;linux/devices/startracker/StrHelper.h;STR_HELPER
-0x5da5;STRHLP_AddressMismatch;Address in flash write/read reply does not match expected address;0xA5;linux/devices/startracker/StrHelper.h;STR_HELPER
+0x5ea5;STRHLP_AddressMismatch;Address in flash write/read reply does not match expected address;0xA5;linux/devices/startracker/StrHelper.h;STR_HELPER
-0x5da6;STRHLP_LengthMismatch;Length in flash write/read reply does not match expected length;0xA6;linux/devices/startracker/StrHelper.h;STR_HELPER
+0x5ea6;STRHLP_LengthMismatch;Length in flash write/read reply does not match expected length;0xA6;linux/devices/startracker/StrHelper.h;STR_HELPER
-0x5da7;STRHLP_StatusError;Status field in reply signals error;0xA7;linux/devices/startracker/StrHelper.h;STR_HELPER
+0x5ea7;STRHLP_StatusError;Status field in reply signals error;0xA7;linux/devices/startracker/StrHelper.h;STR_HELPER
-0x5da8;STRHLP_InvalidTypeId;Reply has invalid type ID (should be of action reply type);0xA8;linux/devices/startracker/StrHelper.h;STR_HELPER
+0x5ea8;STRHLP_InvalidTypeId;Reply has invalid type ID (should be of action reply type);0xA8;linux/devices/startracker/StrHelper.h;STR_HELPER
-0x5aa0;IPCI_PapbBusy;;0xA0;linux/obc/PapbVcInterface.h;CCSDS_IP_CORE_BRIDGE
+0x69a0;MPSOCRTVIF_CrcFailure;Space Packet received from PLOC has invalid CRC;0xA0;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
-0x5ba0;PTME_UnknownVcId;;0xA0;linux/obc/Ptme.h;PTME
+0x69a1;MPSOCRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC;0xA1;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
-0x60a0;PDEC_AbandonedCltu;;0xA0;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x69a2;MPSOCRTVIF_ReceivedExeFailure;Received execution failure reply from PLOC;0xA2;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
-0x60a1;PDEC_FrameDirty;;0xA1;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x69a3;MPSOCRTVIF_InvalidApid;Received space packet with invalid APID from PLOC;0xA3;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
-0x60a2;PDEC_FrameIllegalMultipleReasons;;0xA2;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x69a4;MPSOCRTVIF_InvalidLength;Received command with invalid length;0xA4;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
-0x60a3;PDEC_AdDiscardedLockout;;0xA3;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x69a5;MPSOCRTVIF_FilenameTooLong;Filename of file in OBC filesystem is too long;0xA5;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
-0x60a4;PDEC_AdDiscardedWait;;0xA4;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x69a6;MPSOCRTVIF_MpsocHelperExecuting;MPSoC helper is currently executing a command;0xA6;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
-0x60a5;PDEC_AdDiscardedNsVs;;0xA5;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x69a7;MPSOCRTVIF_MpsocFilenameTooLong;Filename of MPSoC file is to long (max. 256 bytes);0xA7;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
-0x60b0;PDEC_CommandNotImplemented;Received action message with unknown action id;0xB0;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x69a8;MPSOCRTVIF_InvalidParameter;Command has invalid parameter;0xA8;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
-0x60a6;PDEC_NoReport;;0xA6;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x69a9;MPSOCRTVIF_NameTooLong;Received command has file string with invalid length;0xA9;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
-0x60a7;PDEC_ErrorVersionNumber;;0xA7;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x57e0;DWLPWRON_InvalidMode;Received command has invalid JESD mode (valid modes are 0 - 5);0xE0;linux/devices/devicedefinitions/PlocMPSoCDefinitions.h;DWLPWRON_CMD
-0x60a8;PDEC_IllegalCombination;;0xA8;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x57e1;DWLPWRON_InvalidLaneRate;Received command has invalid lane rate (valid lane rate are 0 - 9);0xE1;linux/devices/devicedefinitions/PlocMPSoCDefinitions.h;DWLPWRON_CMD
-0x60a9;PDEC_InvalidScId;;0xA9;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x5ba0;IPCI_PapbBusy;;0xA0;linux/obc/PapbVcInterface.h;CCSDS_IP_CORE_BRIDGE
-0x60aa;PDEC_InvalidVcIdMsb;;0xAA;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x5ca0;PTME_UnknownVcId;;0xA0;linux/obc/Ptme.h;PTME
-0x60ab;PDEC_InvalidVcIdLsb;;0xAB;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x61a0;PDEC_AbandonedCltu;;0xA0;linux/obc/PdecHandler.h;PDEC_HANDLER
-0x60ac;PDEC_NsNotZero;;0xAC;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x61a1;PDEC_FrameDirty;;0xA1;linux/obc/PdecHandler.h;PDEC_HANDLER
-0x60ae;PDEC_InvalidBcCc;;0xAE;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x61a2;PDEC_FrameIllegalMultipleReasons;;0xA2;linux/obc/PdecHandler.h;PDEC_HANDLER
-0x62a0;RS_RateNotSupported;The commanded rate is not supported by the current FPGA design;0xA0;linux/obc/PtmeConfig.h;RATE_SETTER
+0x61a3;PDEC_AdDiscardedLockout;;0xA3;linux/obc/PdecHandler.h;PDEC_HANDLER
-0x62a1;RS_BadBitRate;Bad bitrate has been commanded (e.g. 0);0xA1;linux/obc/PtmeConfig.h;RATE_SETTER
+0x61a4;PDEC_AdDiscardedWait;;0xA4;linux/obc/PdecHandler.h;PDEC_HANDLER
-0x62a2;RS_ClkInversionFailed;Failed to invert clock and thus change the time the data is updated with respect to the tx clock;0xA2;linux/obc/PtmeConfig.h;RATE_SETTER
+0x61a5;PDEC_AdDiscardedNsVs;;0xA5;linux/obc/PdecHandler.h;PDEC_HANDLER
-0x62a3;RS_TxManipulatorConfigFailed;Failed to change configuration bit of tx clock manipulator;0xA3;linux/obc/PtmeConfig.h;RATE_SETTER
+0x61b0;PDEC_CommandNotImplemented;Received action message with unknown action id;0xB0;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x61a6;PDEC_NoReport;;0xA6;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x61a7;PDEC_ErrorVersionNumber;;0xA7;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x61a8;PDEC_IllegalCombination;;0xA8;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x61a9;PDEC_InvalidScId;;0xA9;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x61aa;PDEC_InvalidVcIdMsb;;0xAA;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x61ab;PDEC_InvalidVcIdLsb;;0xAB;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x61ac;PDEC_NsNotZero;;0xAC;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x61ae;PDEC_InvalidBcCc;;0xAE;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x63a0;RS_RateNotSupported;The commanded rate is not supported by the current FPGA design;0xA0;linux/obc/PtmeConfig.h;RATE_SETTER
+0x63a1;RS_BadBitRate;Bad bitrate has been commanded (e.g. 0);0xA1;linux/obc/PtmeConfig.h;RATE_SETTER
+0x63a2;RS_ClkInversionFailed;Failed to invert clock and thus change the time the data is updated with respect to the tx clock;0xA2;linux/obc/PtmeConfig.h;RATE_SETTER
+0x63a3;RS_TxManipulatorConfigFailed;Failed to change configuration bit of tx clock manipulator;0xA3;linux/obc/PtmeConfig.h;RATE_SETTER

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 168 translations.
+ * @brief    Auto-generated event translation file. Contains 183 translations.
  * @details
- * Generated on: 2022-03-22 20:43:04
+ * Generated on: 2022-04-08 11:21:58
  */
 #include "translateEvents.h"
 
@@ -100,7 +100,9 @@ const char *DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING = "DEPL_SA2_GPIO_SWTICH_ON_FAI
 const char *MEMORY_READ_RPT_CRC_FAILURE_STRING = "MEMORY_READ_RPT_CRC_FAILURE";
 const char *ACK_FAILURE_STRING = "ACK_FAILURE";
 const char *EXE_FAILURE_STRING = "EXE_FAILURE";
-const char *CRC_FAILURE_EVENT_STRING = "CRC_FAILURE_EVENT";
+const char *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE";
+const char *MPSOC_HANDLER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQ_CNT_MISMATCH";
+const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -148,6 +150,18 @@ const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
 const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
 const char *STR_HELPER_SENDING_PACKET_FAILED_STRING = "STR_HELPER_SENDING_PACKET_FAILED";
 const char *STR_HELPER_REQUESTING_MSG_FAILED_STRING = "STR_HELPER_REQUESTING_MSG_FAILED";
+const char *MPSOC_FLASH_WRITE_FAILED_STRING = "MPSOC_FLASH_WRITE_FAILED";
+const char *MPSOC_FLASH_WRITE_SUCCESSFUL_STRING = "MPSOC_FLASH_WRITE_SUCCESSFUL";
+const char *SENDING_COMMAND_FAILED_STRING = "SENDING_COMMAND_FAILED";
+const char *MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING = "MPSOC_HELPER_REQUESTING_REPLY_FAILED";
+const char *MPSOC_HELPER_READING_REPLY_FAILED_STRING = "MPSOC_HELPER_READING_REPLY_FAILED";
+const char *MISSING_ACK_STRING = "MISSING_ACK";
+const char *MISSING_EXE_STRING = "MISSING_EXE";
+const char *ACK_FAILURE_REPORT_STRING = "ACK_FAILURE_REPORT";
+const char *EXE_FAILURE_REPORT_STRING = "EXE_FAILURE_REPORT";
+const char *ACK_INVALID_APID_STRING = "ACK_INVALID_APID";
+const char *EXE_INVALID_APID_STRING = "EXE_INVALID_APID";
+const char *MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HELPER_SEQ_CNT_MISMATCH";
 const char *TRANSITION_BACK_TO_OFF_STRING = "TRANSITION_BACK_TO_OFF";
 const char *NEG_V_OUT_OF_BOUNDS_STRING = "NEG_V_OUT_OF_BOUNDS";
 const char *U_DRO_OUT_OF_BOUNDS_STRING = "U_DRO_OUT_OF_BOUNDS";
@@ -165,6 +179,7 @@ const char *NOT_ENOUGH_DEVICES_DUAL_MODE_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE"
 const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
 const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
 const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
+const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
 const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
 const char *REBOOT_SW_STRING = "REBOOT_SW";
 const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
@@ -330,168 +345,198 @@ const char *translateEvents(Event event) {
       return TEST_STRING;
     case (10600):
       return CHANGE_OF_SETUP_PARAMETER_STRING;
-    case (10800):
+    case (11300):
       return SWITCH_CMD_SENT_STRING;
-    case (10801):
-      return SWITCH_HAS_CHANGED_STRING;
-    case (10802):
-      return SWITCHING_Q7S_DENIED_STRING;
-    case (10900):
-      return GPIO_PULL_HIGH_FAILED_STRING;
-    case (10901):
-      return GPIO_PULL_LOW_FAILED_STRING;
-    case (10902):
-      return SWITCH_ALREADY_ON_STRING;
-    case (10903):
-      return SWITCH_ALREADY_OFF_STRING;
-    case (10904):
-      return MAIN_SWITCH_TIMEOUT_STRING;
-    case (11000):
-      return MAIN_SWITCH_ON_TIMEOUT_STRING;
-    case (11001):
-      return MAIN_SWITCH_OFF_TIMEOUT_STRING;
-    case (11002):
-      return DEPLOYMENT_FAILED_STRING;
-    case (11003):
-      return DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING;
-    case (11004):
-      return DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING;
-    case (11101):
-      return MEMORY_READ_RPT_CRC_FAILURE_STRING;
-    case (11102):
-      return ACK_FAILURE_STRING;
-    case (11103):
-      return EXE_FAILURE_STRING;
-    case (11104):
-      return CRC_FAILURE_EVENT_STRING;
-    case (11201):
-      return SELF_TEST_I2C_FAILURE_STRING;
-    case (11202):
-      return SELF_TEST_SPI_FAILURE_STRING;
-    case (11203):
-      return SELF_TEST_ADC_FAILURE_STRING;
-    case (11204):
-      return SELF_TEST_PWM_FAILURE_STRING;
-    case (11205):
-      return SELF_TEST_TC_FAILURE_STRING;
-    case (11206):
-      return SELF_TEST_MTM_RANGE_FAILURE_STRING;
-    case (11207):
-      return SELF_TEST_COIL_CURRENT_FAILURE_STRING;
-    case (11208):
-      return INVALID_ERROR_BYTE_STRING;
     case (11301):
-      return ERROR_STATE_STRING;
+      return SWITCH_HAS_CHANGED_STRING;
+    case (11302):
+      return SWITCHING_Q7S_DENIED_STRING;
+    case (11400):
+      return GPIO_PULL_HIGH_FAILED_STRING;
     case (11401):
-      return BOOTING_FIRMWARE_FAILED_STRING;
+      return GPIO_PULL_LOW_FAILED_STRING;
     case (11402):
-      return BOOTING_BOOTLOADER_FAILED_STRING;
+      return SWITCH_ALREADY_ON_STRING;
+    case (11403):
+      return SWITCH_ALREADY_OFF_STRING;
+    case (11404):
+      return MAIN_SWITCH_TIMEOUT_STRING;
+    case (11500):
+      return MAIN_SWITCH_ON_TIMEOUT_STRING;
     case (11501):
-      return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
+      return MAIN_SWITCH_OFF_TIMEOUT_STRING;
     case (11502):
-      return SUPV_ACK_FAILURE_STRING;
+      return DEPLOYMENT_FAILED_STRING;
     case (11503):
-      return SUPV_EXE_FAILURE_STRING;
+      return DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING;
     case (11504):
-      return SUPV_CRC_FAILURE_EVENT_STRING;
+      return DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING;
-    case (11600):
-      return SANITIZATION_FAILED_STRING;
     case (11601):
-      return MOUNTED_SD_CARD_STRING;
+      return MEMORY_READ_RPT_CRC_FAILURE_STRING;
-    case (11700):
+    case (11602):
-      return UPDATE_FILE_NOT_EXISTS_STRING;
+      return ACK_FAILURE_STRING;
+    case (11603):
+      return EXE_FAILURE_STRING;
+    case (11604):
+      return MPSOC_HANDLER_CRC_FAILURE_STRING;
+    case (11605):
+      return MPSOC_HANDLER_SEQ_CNT_MISMATCH_STRING;
+    case (11606):
+      return MPSOC_SHUTDOWN_FAILED_STRING;
     case (11701):
-      return ACTION_COMMANDING_FAILED_STRING;
+      return SELF_TEST_I2C_FAILURE_STRING;
     case (11702):
-      return UPDATE_AVAILABLE_FAILED_STRING;
+      return SELF_TEST_SPI_FAILURE_STRING;
     case (11703):
-      return UPDATE_TRANSFER_FAILED_STRING;
+      return SELF_TEST_ADC_FAILURE_STRING;
     case (11704):
-      return UPDATE_VERIFY_FAILED_STRING;
+      return SELF_TEST_PWM_FAILURE_STRING;
     case (11705):
-      return UPDATE_FINISHED_STRING;
+      return SELF_TEST_TC_FAILURE_STRING;
-    case (11800):
+    case (11706):
-      return SEND_MRAM_DUMP_FAILED_STRING;
+      return SELF_TEST_MTM_RANGE_FAILURE_STRING;
+    case (11707):
+      return SELF_TEST_COIL_CURRENT_FAILURE_STRING;
+    case (11708):
+      return INVALID_ERROR_BYTE_STRING;
     case (11801):
-      return MRAM_DUMP_FAILED_STRING;
+      return ERROR_STATE_STRING;
-    case (11802):
-      return MRAM_DUMP_FINISHED_STRING;
     case (11901):
-      return INVALID_TC_FRAME_STRING;
+      return BOOTING_FIRMWARE_FAILED_STRING;
     case (11902):
-      return INVALID_FAR_STRING;
+      return BOOTING_BOOTLOADER_FAILED_STRING;
-    case (11903):
-      return CARRIER_LOCK_STRING;
-    case (11904):
-      return BIT_LOCK_PDEC_STRING;
-    case (12000):
-      return IMAGE_UPLOAD_FAILED_STRING;
     case (12001):
-      return IMAGE_DOWNLOAD_FAILED_STRING;
+      return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
     case (12002):
-      return IMAGE_UPLOAD_SUCCESSFUL_STRING;
+      return SUPV_ACK_FAILURE_STRING;
     case (12003):
-      return IMAGE_DOWNLOAD_SUCCESSFUL_STRING;
+      return SUPV_EXE_FAILURE_STRING;
     case (12004):
-      return FLASH_WRITE_SUCCESSFUL_STRING;
+      return SUPV_CRC_FAILURE_EVENT_STRING;
-    case (12005):
-      return FLASH_READ_SUCCESSFUL_STRING;
-    case (12006):
-      return FLASH_READ_FAILED_STRING;
-    case (12007):
-      return FIRMWARE_UPDATE_SUCCESSFUL_STRING;
-    case (12008):
-      return FIRMWARE_UPDATE_FAILED_STRING;
-    case (12009):
-      return STR_HELPER_READING_REPLY_FAILED_STRING;
-    case (12010):
-      return STR_HELPER_COM_ERROR_STRING;
-    case (12011):
-      return STR_HELPER_NO_REPLY_STRING;
-    case (12012):
-      return STR_HELPER_DEC_ERROR_STRING;
-    case (12013):
-      return POSITION_MISMATCH_STRING;
-    case (12014):
-      return STR_HELPER_FILE_NOT_EXISTS_STRING;
-    case (12015):
-      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
-    case (12016):
-      return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
     case (12100):
-      return TRANSITION_BACK_TO_OFF_STRING;
+      return SANITIZATION_FAILED_STRING;
     case (12101):
-      return NEG_V_OUT_OF_BOUNDS_STRING;
+      return MOUNTED_SD_CARD_STRING;
-    case (12102):
-      return U_DRO_OUT_OF_BOUNDS_STRING;
-    case (12103):
-      return I_DRO_OUT_OF_BOUNDS_STRING;
-    case (12104):
-      return U_X8_OUT_OF_BOUNDS_STRING;
-    case (12105):
-      return I_X8_OUT_OF_BOUNDS_STRING;
-    case (12106):
-      return U_TX_OUT_OF_BOUNDS_STRING;
-    case (12107):
-      return I_TX_OUT_OF_BOUNDS_STRING;
-    case (12108):
-      return U_MPA_OUT_OF_BOUNDS_STRING;
-    case (12109):
-      return I_MPA_OUT_OF_BOUNDS_STRING;
-    case (12110):
-      return U_HPA_OUT_OF_BOUNDS_STRING;
-    case (12111):
-      return I_HPA_OUT_OF_BOUNDS_STRING;
     case (12200):
-      return TRANSITION_OTHER_SIDE_FAILED_STRING;
+      return UPDATE_FILE_NOT_EXISTS_STRING;
     case (12201):
-      return NOT_ENOUGH_DEVICES_DUAL_MODE_STRING;
+      return ACTION_COMMANDING_FAILED_STRING;
     case (12202):
-      return POWER_STATE_MACHINE_TIMEOUT_STRING;
+      return UPDATE_AVAILABLE_FAILED_STRING;
     case (12203):
+      return UPDATE_TRANSFER_FAILED_STRING;
+    case (12204):
+      return UPDATE_VERIFY_FAILED_STRING;
+    case (12205):
+      return UPDATE_FINISHED_STRING;
+    case (12300):
+      return SEND_MRAM_DUMP_FAILED_STRING;
+    case (12301):
+      return MRAM_DUMP_FAILED_STRING;
+    case (12302):
+      return MRAM_DUMP_FINISHED_STRING;
+    case (12401):
+      return INVALID_TC_FRAME_STRING;
+    case (12402):
+      return INVALID_FAR_STRING;
+    case (12403):
+      return CARRIER_LOCK_STRING;
+    case (12404):
+      return BIT_LOCK_PDEC_STRING;
+    case (12500):
+      return IMAGE_UPLOAD_FAILED_STRING;
+    case (12501):
+      return IMAGE_DOWNLOAD_FAILED_STRING;
+    case (12502):
+      return IMAGE_UPLOAD_SUCCESSFUL_STRING;
+    case (12503):
+      return IMAGE_DOWNLOAD_SUCCESSFUL_STRING;
+    case (12504):
+      return FLASH_WRITE_SUCCESSFUL_STRING;
+    case (12505):
+      return FLASH_READ_SUCCESSFUL_STRING;
+    case (12506):
+      return FLASH_READ_FAILED_STRING;
+    case (12507):
+      return FIRMWARE_UPDATE_SUCCESSFUL_STRING;
+    case (12508):
+      return FIRMWARE_UPDATE_FAILED_STRING;
+    case (12509):
+      return STR_HELPER_READING_REPLY_FAILED_STRING;
+    case (12510):
+      return STR_HELPER_COM_ERROR_STRING;
+    case (12511):
+      return STR_HELPER_NO_REPLY_STRING;
+    case (12512):
+      return STR_HELPER_DEC_ERROR_STRING;
+    case (12513):
+      return POSITION_MISMATCH_STRING;
+    case (12514):
+      return STR_HELPER_FILE_NOT_EXISTS_STRING;
+    case (12515):
+      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+    case (12516):
+      return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
+    case (12600):
+      return MPSOC_FLASH_WRITE_FAILED_STRING;
+    case (12601):
+      return MPSOC_FLASH_WRITE_SUCCESSFUL_STRING;
+    case (12602):
+      return SENDING_COMMAND_FAILED_STRING;
+    case (12603):
+      return MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING;
+    case (12604):
+      return MPSOC_HELPER_READING_REPLY_FAILED_STRING;
+    case (12605):
+      return MISSING_ACK_STRING;
+    case (12606):
+      return MISSING_EXE_STRING;
+    case (12607):
+      return ACK_FAILURE_REPORT_STRING;
+    case (12608):
+      return EXE_FAILURE_REPORT_STRING;
+    case (12609):
+      return ACK_INVALID_APID_STRING;
+    case (12610):
+      return EXE_INVALID_APID_STRING;
+    case (12611):
+      return MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING;
+    case (12700):
+      return TRANSITION_BACK_TO_OFF_STRING;
+    case (12701):
+      return NEG_V_OUT_OF_BOUNDS_STRING;
+    case (12702):
+      return U_DRO_OUT_OF_BOUNDS_STRING;
+    case (12703):
+      return I_DRO_OUT_OF_BOUNDS_STRING;
+    case (12704):
+      return U_X8_OUT_OF_BOUNDS_STRING;
+    case (12705):
+      return I_X8_OUT_OF_BOUNDS_STRING;
+    case (12706):
+      return U_TX_OUT_OF_BOUNDS_STRING;
+    case (12707):
+      return I_TX_OUT_OF_BOUNDS_STRING;
+    case (12708):
+      return U_MPA_OUT_OF_BOUNDS_STRING;
+    case (12709):
+      return I_MPA_OUT_OF_BOUNDS_STRING;
+    case (12710):
+      return U_HPA_OUT_OF_BOUNDS_STRING;
+    case (12711):
+      return I_HPA_OUT_OF_BOUNDS_STRING;
+    case (12800):
+      return TRANSITION_OTHER_SIDE_FAILED_STRING;
+    case (12801):
+      return NOT_ENOUGH_DEVICES_DUAL_MODE_STRING;
+    case (12802):
+      return POWER_STATE_MACHINE_TIMEOUT_STRING;
+    case (12803):
       return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
-    case (12400):
+    case (13000):
       return CHILDREN_LOST_MODE_STRING;
+    case (13100):
+      return GPS_FIX_CHANGE_STRING;
     case (13600):
       return ALLOC_FAILURE_STRING;
     case (13601):

generators/fsfwgen

@@ -1 +1 @@
-Subproject commit a3ea5dd2e7223c52e4f494e170850609b7b3a572
+Subproject commit 5ad9fb94af3312d29863527106396395f7b808a5

generators/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 115 translations.
+ * Contains 117 translations.
- * Generated on: 2022-03-22 20:43:04
+ * Generated on: 2022-04-08 11:21:58
  */
 #include "translateObjects.h"
 
@@ -48,8 +48,10 @@ const char *RAD_SENSOR_STRING = "RAD_SENSOR";
 const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
 const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
 const char *STR_HELPER_STRING = "STR_HELPER";
+const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
 const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
 const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
+const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
 const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
 const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
 const char *TMP1075_HANDLER_1_STRING = "TMP1075_HANDLER_1";
@@ -208,10 +210,14 @@ const char *translateObject(object_id_t object) {
       return PLOC_MEMORY_DUMPER_STRING;
     case 0x44330002:
       return STR_HELPER_STRING;
+    case 0x44330003:
+      return PLOC_MPSOC_HELPER_STRING;
     case 0x44330015:
       return PLOC_MPSOC_HANDLER_STRING;
     case 0x44330016:
       return PLOC_SUPERVISOR_HANDLER_STRING;
+    case 0x44330017:
+      return PLOC_SUPERVISOR_HELPER_STRING;
     case 0x444100A2:
       return SOLAR_ARRAY_DEPL_HANDLER_STRING;
     case 0x444100A4:

linux/CMakeLists.txt

@@ -1,6 +1,11 @@
 add_subdirectory(csp)
 add_subdirectory(utility)
+add_subdirectory(callbacks)
 add_subdirectory(boardtest)
 add_subdirectory(devices)
 add_subdirectory(fsfwconfig)
 add_subdirectory(obc)
+
+target_sources(${OBSW_NAME} PUBLIC
+    ObjectFactory.cpp
+)

linux/ObjectFactory.cpp

@@ -0,0 +1,286 @@
+#include "ObjectFactory.h"
+
+#include <fsfw/power/PowerSwitchIF.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
+#include <fsfw_hal/common/gpio/gpioDefinitions.h>
+#include <fsfw_hal/linux/spi/SpiComIF.h>
+#include <fsfw_hal/linux/spi/SpiCookie.h>
+#include <linux/callbacks/gpioCallbacks.h>
+#include <mission/devices/Max31865PT1000Handler.h>
+#include <mission/devices/SusHandler.h>
+#include <mission/system/RtdFdir.h>
+#include <mission/system/SusAssembly.h>
+#include <mission/system/SusFdir.h>
+#include <mission/system/TcsBoardAssembly.h>
+
+#include "OBSWConfig.h"
+#include "devConf.h"
+#include "devices/addresses.h"
+#include "devices/gpioIds.h"
+
+void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
+                                              PowerSwitchIF* pwrSwitcher, std::string spiDev) {
+  using namespace gpio;
+  GpioCookie* gpioCookieSus = new GpioCookie();
+  GpioCallback* susgpio = nullptr;
+
+  susgpio = new GpioCallback("Chip select SUS 0", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_0, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 1", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 2", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 3", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 4", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 5", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 6", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 7", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 8", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 9", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 10", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 11", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
+
+  gpioComIF->addGpios(gpioCookieSus);
+
+#if OBSW_ADD_SUN_SENSORS == 1
+  SusFdir* fdir = nullptr;
+  std::array<SusHandler*, 12> susHandlers = {};
+  SpiCookie* spiCookie =
+      new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, spiDev, SUS::MAX_CMD_SIZE,
+                    spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[0] = new SusHandler(objects::SUS_0, 0, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_0);
+  susHandlers[0]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[0]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[1] = new SusHandler(objects::SUS_1, 1, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_1);
+  susHandlers[1]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[1]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[2] = new SusHandler(objects::SUS_2, 2, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_2);
+  susHandlers[2]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[2]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[3] = new SusHandler(objects::SUS_3, 3, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_3);
+  susHandlers[3]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[3]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[4] = new SusHandler(objects::SUS_4, 4, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_4);
+  susHandlers[4]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[4]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[5] = new SusHandler(objects::SUS_5, 5, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_5);
+  susHandlers[5]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[5]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[6] = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_6);
+  susHandlers[6]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[6]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[7] = new SusHandler(objects::SUS_7, 7, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_7);
+  susHandlers[7]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[7]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[8] = new SusHandler(objects::SUS_8, 8, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_8);
+  susHandlers[8]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[8]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[9] = new SusHandler(objects::SUS_9, 9, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_9);
+  susHandlers[9]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[9]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[10] = new SusHandler(objects::SUS_10, 10, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_10);
+  susHandlers[10]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[10]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[11] = new SusHandler(objects::SUS_11, 11, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_11);
+  susHandlers[11]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[11]->setCustomFdir(fdir);
+
+  for (auto& sus : susHandlers) {
+    if (sus != nullptr) {
+#if OBSW_TEST_SUS == 1
+      sus->setStartUpImmediately();
+      sus->setToGoToNormalMode(true);
+#endif
+#if OBSW_DEBUG_SUS == 1
+      sus->enablePeriodicPrintout(true, 3);
+#endif
+    }
+  }
+  std::array<object_id_t, 12> susIds = {objects::SUS_0, objects::SUS_1,  objects::SUS_2,
+                                        objects::SUS_3, objects::SUS_4,  objects::SUS_5,
+                                        objects::SUS_6, objects::SUS_7,  objects::SUS_8,
+                                        objects::SUS_9, objects::SUS_10, objects::SUS_11};
+  SusAssHelper susAssHelper = SusAssHelper(susIds);
+  auto susAss =
+      new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper);
+  static_cast<void>(susAss);
+#endif /* OBSW_ADD_SUN_SENSORS == 1 */
+}
+
+void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
+                                        PowerSwitchIF* pwrSwitcher) {
+  using namespace gpio;
+  GpioCookie* rtdGpioCookie = new GpioCookie;
+
+  GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_3, gpioRtdIc0);
+  GpioCallback* gpioRtdIc1 = new GpioCallback("Chip select RTD IC1", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_4, gpioRtdIc1);
+  GpioCallback* gpioRtdIc2 = new GpioCallback("Chip select RTD IC2", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_5, gpioRtdIc2);
+  GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_6, gpioRtdIc3);
+  GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_7, gpioRtdIc4);
+  GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_8, gpioRtdIc5);
+  GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_9, gpioRtdIc6);
+  GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_10, gpioRtdIc7);
+  GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_11, gpioRtdIc8);
+  GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_12, gpioRtdIc9);
+  GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", Direction::OUT, Levels::HIGH,
+                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_13, gpioRtdIc10);
+  GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", Direction::OUT, Levels::HIGH,
+                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_14, gpioRtdIc11);
+  GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", Direction::OUT, Levels::HIGH,
+                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_15, gpioRtdIc12);
+  GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", Direction::OUT, Levels::HIGH,
+                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_16, gpioRtdIc13);
+  GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", Direction::OUT, Levels::HIGH,
+                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_17, gpioRtdIc14);
+  GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", Direction::OUT, Levels::HIGH,
+                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_18, gpioRtdIc15);
+
+  gpioComIF->addGpios(rtdGpioCookie);
+
+#if OBSW_ADD_RTD_DEVICES == 1
+  static constexpr uint8_t NUMBER_RTDS = 16;
+  std::array<std::pair<address_t, gpioId_t>, NUMBER_RTDS> cookieArgs = {{
+      {addresses::RTD_IC_3, gpioIds::RTD_IC_3},
+      {addresses::RTD_IC_4, gpioIds::RTD_IC_4},
+      {addresses::RTD_IC_5, gpioIds::RTD_IC_5},
+      {addresses::RTD_IC_6, gpioIds::RTD_IC_6},
+      {addresses::RTD_IC_7, gpioIds::RTD_IC_7},
+      {addresses::RTD_IC_8, gpioIds::RTD_IC_8},
+      {addresses::RTD_IC_9, gpioIds::RTD_IC_9},
+      {addresses::RTD_IC_10, gpioIds::RTD_IC_10},
+      {addresses::RTD_IC_11, gpioIds::RTD_IC_11},
+      {addresses::RTD_IC_12, gpioIds::RTD_IC_12},
+      {addresses::RTD_IC_13, gpioIds::RTD_IC_13},
+      {addresses::RTD_IC_14, gpioIds::RTD_IC_14},
+      {addresses::RTD_IC_15, gpioIds::RTD_IC_15},
+      {addresses::RTD_IC_16, gpioIds::RTD_IC_16},
+      {addresses::RTD_IC_17, gpioIds::RTD_IC_17},
+      {addresses::RTD_IC_18, gpioIds::RTD_IC_18},
+  }};
+  std::array<object_id_t, NUMBER_RTDS> rtdIds = {
+      objects::RTD_IC_3,  objects::RTD_IC_4,  objects::RTD_IC_5,  objects::RTD_IC_6,
+      objects::RTD_IC_7,  objects::RTD_IC_8,  objects::RTD_IC_9,  objects::RTD_IC_10,
+      objects::RTD_IC_11, objects::RTD_IC_12, objects::RTD_IC_13, objects::RTD_IC_14,
+      objects::RTD_IC_15, objects::RTD_IC_16, objects::RTD_IC_17, objects::RTD_IC_18};
+  std::array<SpiCookie*, NUMBER_RTDS> rtdCookies = {};
+  std::array<Max31865PT1000Handler*, NUMBER_RTDS> rtds = {};
+  RtdFdir* rtdFdir = nullptr;
+  for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
+    rtdCookies[idx] =
+        new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second, spiDev,
+                      Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
+    rtds[idx] = new Max31865PT1000Handler(rtdIds[idx], objects::SPI_COM_IF, rtdCookies[idx]);
+    rtds[idx]->setParent(objects::TCS_BOARD_ASS);
+    rtdFdir = new RtdFdir(rtdIds[idx]);
+    rtds[idx]->setCustomFdir(rtdFdir);
+    rtds[idx]->setDeviceIdx(idx + 3);
+  }
+
+#if OBSW_TEST_RTD == 1
+  for (auto& rtd : rtds) {
+    if (rtd != nullptr) {
+      rtd->setStartUpImmediately();
+      rtd->setInstantNormal(true);
+    }
+  }
+#endif  // OBSW_TEST_RTD == 1
+  TcsBoardHelper helper(rtdIds);
+  TcsBoardAssembly* tcsBoardAss =
+      new TcsBoardAssembly(objects::TCS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
+                           pcduSwitches::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
+  static_cast<void>(tcsBoardAss);
+#endif  // OBSW_ADD_RTD_DEVICES == 1
+}

linux/ObjectFactory.h

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

linux/boardtest/SpiTestClass.cpp

@@ -339,6 +339,8 @@ void SpiTestClass::performMax1227Test() {
   std::string deviceName = "";
 #elif defined(EGSE)
   std::string deviceName = "";
+#elif defined(TE0720_1CFA)
+  std::string deviceName = "";
 #endif
   int fd = 0;
   UnixFileGuard fileHelper(deviceName, &fd, O_RDWR, "SpiComIF::initializeInterface");

linux/boardtest/SpiTestClass.h

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

linux/callbacks/CMakeLists.txt

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

linux/callbacks/gpioCallbacks.cpp

@@ -0,0 +1,431 @@
+#include "gpioCallbacks.h"
+
+#include "devices/gpioIds.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
+#include "fsfw_hal/common/gpio/GpioIF.h"
+
+void gpioCallbacks::spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp,
+                                         gpio::Levels value, void* args) {
+  GpioIF* gpioIF = reinterpret_cast<GpioIF*>(args);
+  if (gpioIF == nullptr) {
+    sif::debug << "spiCsDecoderCallback: No gpioComIF specified. Call initSpiCsDecoder "
+               << "to specify gpioComIF" << std::endl;
+    return;
+  }
+
+  /* Reading is not supported by the callback function */
+  if (gpioOp == gpio::GpioOperation::READ) {
+    return;
+  }
+
+  if (value == gpio::Levels::HIGH) {
+    switch (gpioId) {
+      case (gpioIds::RTD_IC_3): {
+        disableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_4): {
+        disableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_5): {
+        disableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_6): {
+        disableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_7): {
+        disableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_8): {
+        disableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_9): {
+        disableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_10): {
+        disableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_11): {
+        disableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_12): {
+        disableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_13): {
+        disableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_14): {
+        disableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_15): {
+        disableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_16): {
+        disableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_17): {
+        disableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_18): {
+        disableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_0): {
+        disableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_1): {
+        disableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_2): {
+        disableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_3): {
+        disableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_4): {
+        disableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_5): {
+        disableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_6): {
+        disableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_7): {
+        disableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_8): {
+        disableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_9): {
+        disableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_10): {
+        disableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_11): {
+        disableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_RW1): {
+        disableRwDecoder(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_RW2): {
+        disableRwDecoder(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_RW3): {
+        disableRwDecoder(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_RW4): {
+        disableRwDecoder(gpioIF);
+        break;
+      }
+      default:
+        sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
+    }
+  } else if (value == gpio::Levels::LOW) {
+    switch (gpioId) {
+      case (gpioIds::RTD_IC_3): {
+        selectY7(gpioIF);
+        enableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_4): {
+        selectY6(gpioIF);
+        enableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_5): {
+        selectY5(gpioIF);
+        enableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_6): {
+        selectY4(gpioIF);
+        enableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_7): {
+        selectY3(gpioIF);
+        enableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_8): {
+        selectY2(gpioIF);
+        enableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_9): {
+        selectY1(gpioIF);
+        enableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_10): {
+        selectY0(gpioIF);
+        enableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_11): {
+        selectY7(gpioIF);
+        enableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_12): {
+        selectY6(gpioIF);
+        enableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_13): {
+        selectY5(gpioIF);
+        enableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_14): {
+        selectY4(gpioIF);
+        enableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_15): {
+        selectY3(gpioIF);
+        enableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_16): {
+        selectY2(gpioIF);
+        enableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_17): {
+        selectY1(gpioIF);
+        enableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_18): {
+        selectY0(gpioIF);
+        enableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_0): {
+        selectY0(gpioIF);
+        enableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_1): {
+        selectY1(gpioIF);
+        enableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_2): {
+        selectY2(gpioIF);
+        enableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_3): {
+        selectY3(gpioIF);
+        enableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_4): {
+        selectY4(gpioIF);
+        enableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_5): {
+        selectY5(gpioIF);
+        enableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_6): {
+        selectY0(gpioIF);
+        enableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_7): {
+        selectY1(gpioIF);
+        enableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_8): {
+        selectY2(gpioIF);
+        enableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_9): {
+        selectY3(gpioIF);
+        enableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_10): {
+        selectY4(gpioIF);
+        enableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_11): {
+        selectY5(gpioIF);
+        enableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_RW1): {
+        selectY0(gpioIF);
+        enableRwDecoder(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_RW2): {
+        selectY1(gpioIF);
+        enableRwDecoder(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_RW3): {
+        selectY2(gpioIF);
+        enableRwDecoder(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_RW4): {
+        selectY3(gpioIF);
+        enableRwDecoder(gpioIF);
+        break;
+      }
+      default:
+        sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
+    }
+  } else {
+    sif::debug << "spiCsDecoderCallback: Invalid value. Must be 0 or 1" << std::endl;
+  }
+}
+
+void gpioCallbacks::enableDecoderTcsIc1(GpioIF* gpioIF) {
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_0);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_1);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
+}
+
+void gpioCallbacks::enableDecoderTcsIc2(GpioIF* gpioIF) {
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_2);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_0);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_1);
+}
+
+void gpioCallbacks::enableDecoderInterfaceBoardIc1(GpioIF* gpioIF) {
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_0);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_1);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
+}
+
+void gpioCallbacks::enableDecoderInterfaceBoardIc2(GpioIF* gpioIF) {
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_0);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_1);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_2);
+}
+
+void gpioCallbacks::disableDecoderTcsIc1(GpioIF* gpioIF) {
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_0);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_1);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
+}
+
+void gpioCallbacks::disableDecoderTcsIc2(GpioIF* gpioIF) {
+  // DO NOT CHANGE THE ORDER HERE
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_0);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_1);
+}
+
+void gpioCallbacks::disableDecoderInterfaceBoardIc1(GpioIF* gpioIF) {
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_0);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_1);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
+}
+
+void gpioCallbacks::disableDecoderInterfaceBoardIc2(GpioIF* gpioIF) {
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_0);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_1);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
+}
+
+void gpioCallbacks::enableRwDecoder(GpioIF* gpioIF) { gpioIF->pullHigh(gpioIds::EN_RW_CS); }
+
+void gpioCallbacks::disableRwDecoder(GpioIF* gpioIF) { gpioIF->pullLow(gpioIds::EN_RW_CS); }
+
+void gpioCallbacks::selectY0(GpioIF* gpioIF) {
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_3);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_4);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_5);
+}
+
+void gpioCallbacks::selectY1(GpioIF* gpioIF) {
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_3);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_4);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_5);
+}
+
+void gpioCallbacks::selectY2(GpioIF* gpioIF) {
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_3);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_4);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_5);
+}
+
+void gpioCallbacks::selectY3(GpioIF* gpioIF) {
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_3);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_4);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_5);
+}
+
+void gpioCallbacks::selectY4(GpioIF* gpioIF) {
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_3);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_4);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_5);
+}
+
+void gpioCallbacks::selectY5(GpioIF* gpioIF) {
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_3);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_4);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_5);
+}
+
+void gpioCallbacks::selectY6(GpioIF* gpioIF) {
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_3);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_4);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_5);
+}
+
+void gpioCallbacks::selectY7(GpioIF* gpioIF) {
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_3);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_4);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_5);
+}
+
+void gpioCallbacks::disableAllDecoder(GpioIF* gpioIF) {
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_0);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_1);
+  gpioIF->pullLow(gpioIds::EN_RW_CS);
+}

linux/callbacks/gpioCallbacks.h

@@ -1,16 +1,10 @@
-#ifndef LINUX_GPIO_GPIOCALLBACKS_H_
+#pragma once
-#define LINUX_GPIO_GPIOCALLBACKS_H_
 
-#include <fsfw_hal/common/gpio/GpioIF.h>
 #include <fsfw_hal/common/gpio/gpioDefinitions.h>
 
-namespace gpioCallbacks {
+class GpioIF;
 
-/**
+namespace gpioCallbacks {
- * @brief   This function initializes the GPIOs used to control the SN74LVC138APWR decoders on
- *          the TCS Board and the interface board.
- */
-void initSpiCsDecoder(GpioIF* gpioComIF);
 
 /**
  * @brief   This function implements the decoding to multiply gpios by using the decoder
@@ -23,51 +17,50 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Lev
  * @brief   This function sets mux bits 1-3 to a state which will only enable the decoder
  *          on the TCS board which is named to IC1 in the schematic.
  */
-void enableDecoderTcsIc1();
+void enableDecoderTcsIc1(GpioIF* gpioIF);
 
 /**
  * @brief   This function sets mux bits 1-3 to a state which will only enable the decoder
  *          on the TCS board which is named to IC2 in the schematic.
  */
-void enableDecoderTcsIc2();
+void enableDecoderTcsIc2(GpioIF* gpioIF);
 
 /**
  * @brief   This function sets mux bits 1-3 to a state which will only enable the decoder
  *          on the inteface board board which is named to IC21 in the schematic.
  */
-void enableDecoderInterfaceBoardIc1();
+void enableDecoderInterfaceBoardIc1(GpioIF* gpioIF);
 
 /**
  * @brief   This function sets mux bits 1-3 to a state which will only enable the decoder
  *          on the inteface board board which is named to IC22 in the schematic.
  */
-void enableDecoderInterfaceBoardIc2();
+void enableDecoderInterfaceBoardIc2(GpioIF* gpioIF);
 
-void disableDecoderTcsIc1();
+void disableDecoderTcsIc1(GpioIF* gpioIF);
-void disableDecoderTcsIc2();
+void disableDecoderTcsIc2(GpioIF* gpioIF);
-void disableDecoderInterfaceBoardIc1();
+void disableDecoderInterfaceBoardIc1(GpioIF* gpioIF);
-void disableDecoderInterfaceBoardIc2();
+void disableDecoderInterfaceBoardIc2(GpioIF* gpioIF);
 
 /**
  * @brief   Enables the reaction wheel chip select decoder (IC3).
  */
-void enableRwDecoder();
+void enableRwDecoder(GpioIF* gpioIF);
-void disableRwDecoder();
+void disableRwDecoder(GpioIF* gpioIF);
 
 /**
  * @brief   This function disables all decoder.
  */
-void disableAllDecoder();
+void disableAllDecoder(GpioIF* gpioIF);
 
 /** The following functions enable the appropriate channel of the currently enabled decoder */
-void selectY0();
+void selectY0(GpioIF* gpioIF);
-void selectY1();
+void selectY1(GpioIF* gpioIF);
-void selectY2();
+void selectY2(GpioIF* gpioIF);
-void selectY3();
+void selectY3(GpioIF* gpioIF);
-void selectY4();
+void selectY4(GpioIF* gpioIF);
-void selectY5();
+void selectY5(GpioIF* gpioIF);
-void selectY6();
+void selectY6(GpioIF* gpioIF);
-void selectY7();
+void selectY7(GpioIF* gpioIF);
-}  // namespace gpioCallbacks
 
-#endif /* LINUX_GPIO_GPIOCALLBACKS_H_ */
+}  // namespace gpioCallbacks

linux/devices/CMakeLists.txt

@@ -4,7 +4,11 @@ if(EIVE_BUILD_GPSD_GPS_HANDLER)
     )
 endif()
 
+<<<<<<< HEAD
 target_sources(${OBSW_NAME} PRIVATE
 	ScexUartReader.cpp
 )
+=======
+add_subdirectory(ploc)
+>>>>>>> origin/develop
 add_subdirectory(startracker)

linux/devices/GPSHyperionLinuxController.cpp

@@ -3,19 +3,24 @@
 #include "OBSWConfig.h"
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/timemanager/Clock.h"
+#include "linux/utility/utility.h"
+#include "mission/utility/compileTime.h"
 
 #if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
 #include <filesystem>
 #include <fstream>
 #endif
 #include <cmath>
+#include <ctime>
 
 GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                                                        bool debugHyperionGps)
     : ExtendedControllerBase(objectId, objects::NO_OBJECT),
       gpsSet(this),
       myGpsmm(GPSD_SHARED_MEMORY, nullptr),
-      debugHyperionGps(debugHyperionGps) {}
+      debugHyperionGps(debugHyperionGps) {
+  timeUpdateCd.resetTimer();
+}
 
 GPSHyperionLinuxController::~GPSHyperionLinuxController() {}
 
@@ -76,9 +81,7 @@ ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(
   localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
   localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
   localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
-#if OBSW_ENABLE_PERIODIC_HK == 1
+  poolManager.subscribeForPeriodicPacket(gpsSet.getSid(), false, 30.0, false);
-  poolManager.subscribeForPeriodicPacket(gpsSet.getSid(), true, 2.0, false);
-#endif
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -124,8 +127,17 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
     return;
   }
 
+  bool validFix = false;
+  static_cast<void>(validFix);
   // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
-  gpsSet.fixMode.value = gps->fix.mode;
+  int newFixMode = gps->fix.mode;
+  if (newFixMode == 2 or newFixMode == 3) {
+    validFix = true;
+  }
+  if (gpsSet.fixMode.value != newFixMode) {
+    triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFixMode);
+  }
+  gpsSet.fixMode.value = newFixMode;
   if (gps->fix.mode == 0 or gps->fix.mode == 1) {
     if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
       // We are supposed to be on and functioning, but not fix was found
@@ -172,6 +184,34 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
   timeval time = {};
   time.tv_sec = gpsSet.unixSeconds.value;
   time.tv_usec = gps->fix.time.tv_nsec / 1000;
+  std::time_t t = std::time(nullptr);
+  if (time.tv_sec == t) {
+    timeIsConstantCounter++;
+  } else {
+    timeIsConstantCounter = 0;
+  }
+  if (timeInit and validFix) {
+    if (not utility::timeSanityCheck()) {
+#if OBSW_VERBOSE_LEVEL >= 1
+      time_t timeRaw = time.tv_sec;
+      std::tm *timeTm = std::gmtime(&timeRaw);
+      sif::info << "Setting invalid system time from GPS data directly: "
+                << std::put_time(timeTm, "%c %Z") << std::endl;
+#endif
+      // For some reason, the clock needs to be somewhat correct for NTP to work. Really dumb..
+      Clock::setClock(&time);
+    }
+    timeInit = false;
+  }
+  // If the received time does not change anymore for whatever reason, do not set it here
+  // to avoid stale times. Also, don't do it too often often to avoid jumping times
+  if (timeIsConstantCounter < 20 and timeUpdateCd.hasTimedOut()) {
+    // Update the system time here for now. NTP seems to be unable to do so for whatever reason.
+    // Further tests have shown that the time seems to be set by NTPD after some time..
+    // Clock::setClock(&time);
+    timeUpdateCd.resetTimer();
+  }
+
   Clock::TimeOfDay_t timeOfDay = {};
   Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
   gpsSet.year = timeOfDay.year;
@@ -192,6 +232,9 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
     std::cout << "Longitude: " << gps->fix.longitude << std::endl;
     std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
     std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
+    std::time_t t = std::time(nullptr);
+    std::tm tm = *std::gmtime(&t);
+    std::cout << "C Time: " << std::put_time(&tm, "%c") << std::endl;
   }
 }
 #endif

linux/devices/GPSHyperionLinuxController.h

@@ -1,6 +1,7 @@
 #ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
 #define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
 
+#include "commonSubsystemIds.h"
 #include "fsfw/FSFW.h"
 #include "fsfw/controller/ExtendedControllerBase.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
@@ -22,6 +23,7 @@
 class GPSHyperionLinuxController : public ExtendedControllerBase {
  public:
   static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 60 * 5;
+
   GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                              bool debugHyperionGps = false);
   virtual ~GPSHyperionLinuxController();
@@ -49,8 +51,11 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   GpsPrimaryDataset gpsSet;
   Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
   bool modeCommanded = true;
+  bool timeInit = true;
   gpsmm myGpsmm;
   bool debugHyperionGps = false;
+  uint32_t timeIsConstantCounter = 0;
+  Countdown timeUpdateCd = Countdown(60);
 
   void readGpsDataFromGpsd();
 };

linux/devices/devicedefinitions/MPSoCReturnValuesIF.h

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

linux/devices/devicedefinitions/PlocMPSoCDefinitions.h

@@ -0,0 +1,620 @@
+#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_
+#define MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_
+
+#include "MPSoCReturnValuesIF.h"
+#include "OBSWConfig.h"
+#include "eive/definitions.h"
+#include "fsfw/globalfunctions/CRC.h"
+#include "fsfw/serialize/SerializeAdapter.h"
+#include "fsfw/tmtcpacket/SpacePacket.h"
+
+namespace mpsoc {
+
+static const DeviceCommandId_t NONE = 0;
+static const DeviceCommandId_t TC_MEM_WRITE = 1;
+static const DeviceCommandId_t TC_MEM_READ = 2;
+static const DeviceCommandId_t ACK_REPORT = 3;
+static const DeviceCommandId_t EXE_REPORT = 5;
+static const DeviceCommandId_t TM_MEMORY_READ_REPORT = 6;
+static const DeviceCommandId_t TC_FLASHFOPEN = 7;
+static const DeviceCommandId_t TC_FLASHFCLOSE = 8;
+static const DeviceCommandId_t TC_FLASHWRITE = 9;
+static const DeviceCommandId_t TC_FLASHDELETE = 10;
+static const DeviceCommandId_t TC_REPLAY_START = 11;
+static const DeviceCommandId_t TC_REPLAY_STOP = 12;
+static const DeviceCommandId_t TC_REPLAY_WRITE_SEQUENCE = 13;
+static const DeviceCommandId_t TC_DOWNLINK_PWR_ON = 14;
+static const DeviceCommandId_t TC_DOWNLINK_PWR_OFF = 15;
+static const DeviceCommandId_t TC_MODE_REPLAY = 16;
+
+// Will reset the sequence count of the OBSW
+static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 50;
+
+static const uint16_t SIZE_ACK_REPORT = 14;
+static const uint16_t SIZE_EXE_REPORT = 14;
+static const uint16_t SIZE_TM_MEM_READ_REPORT = 18;
+
+/**
+ * SpacePacket apids of PLOC telecommands and telemetry.
+ */
+namespace apid {
+static const uint16_t TC_REPLAY_START = 0x110;
+static const uint16_t TC_REPLAY_STOP = 0x111;
+static const uint16_t TC_REPLAY_WRITE_SEQUENCE = 0x112;
+static const uint16_t TC_DOWNLINK_PWR_ON = 0x113;
+static const uint16_t TC_MEM_WRITE = 0x114;
+static const uint16_t TC_MEM_READ = 0x115;
+static const uint16_t TC_FLASHWRITE = 0x117;
+static const uint16_t TC_FLASHFOPEN = 0x119;
+static const uint16_t TC_FLASHFCLOSE = 0x11A;
+static const uint16_t TC_FLASHDELETE = 0x11C;
+static const uint16_t TC_MODE_REPLAY = 0x11F;
+static const uint16_t TC_DOWNLINK_PWR_OFF = 0x124;
+static const uint16_t TM_MEMORY_READ_REPORT = 0x404;
+static const uint16_t ACK_SUCCESS = 0x400;
+static const uint16_t ACK_FAILURE = 0x401;
+static const uint16_t EXE_SUCCESS = 0x402;
+static const uint16_t EXE_FAILURE = 0x403;
+}  // namespace apid
+
+/** Offset from first byte in space packet to first byte of data field */
+static const uint8_t DATA_FIELD_OFFSET = 6;
+static const size_t MEM_READ_RPT_LEN_OFFSET = 10;
+static const char NULL_TERMINATOR = '\0';
+
+/**
+ * The size of payload data which will be forwarded to the requesting object. e.g. PUS Service
+ * 8.
+ */
+static const uint8_t SIZE_MEM_READ_RPT_FIX = 6;
+
+static const size_t MAX_FILENAME_SIZE = 256;
+
+/**
+ * PLOC space packet length for fixed size packets. This is the size of the whole packet data
+ * field. For the length field in the space packet this size will be substracted by one.
+ */
+static const uint16_t LENGTH_TC_MEM_WRITE = 12;
+static const uint16_t LENGTH_TC_MEM_READ = 8;
+
+static const size_t MAX_REPLY_SIZE = SpacePacket::PACKET_MAX_SIZE * 3;
+static const size_t MAX_COMMAND_SIZE = SpacePacket::PACKET_MAX_SIZE;
+static const size_t MAX_DATA_SIZE = 1016;
+
+/**
+ * The replay write sequence command has a maximum delay for the execution report which amounts to
+ * 30 seconds. (80 cycles * 0.5 seconds = 40 seconds).
+ */
+static const uint16_t TC_WRITE_SEQ_EXECUTION_DELAY = 80;
+// Requires approx. 2 seconds for execution. 8 => 4 seconds
+static const uint16_t TC_DOWNLINK_PWR_ON_EXECUTION_DELAY = 8;
+
+/**
+ * @brief   Abstract base class for TC space packet of MPSoC.
+ */
+class TcBase : public SpacePacket, public MPSoCReturnValuesIF {
+ public:
+  // Initial length field of space packet. Will always be updated when packet is created.
+  static const uint16_t INIT_LENGTH = 1;
+
+  /**
+   * @brief    Constructor
+   *
+   * @param sequenceCount Sequence count of space packet which will be incremented with each
+   *        sent and received packets.
+   */
+  TcBase(uint16_t apid, uint16_t sequenceCount)
+      : SpacePacket(INIT_LENGTH, true, apid, sequenceCount) {}
+
+  /**
+   * @brief   Function to initialize the space packet
+   *
+   * @param commandData       Pointer to command specific data
+   * @param commandDataLen    Length of command data
+   *
+   * @return  RETURN_OK if packet creation was successful, otherwise error return value
+   */
+  virtual ReturnValue_t createPacket(const uint8_t* commandData, size_t commandDataLen) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = initPacket(commandData, commandDataLen);
+    if (result != HasReturnvaluesIF::HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    result = addCrc();
+    if (result != HasReturnvaluesIF::HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    return result;
+  }
+
+ protected:
+  /**
+   * @brief   Must be overwritten by the child class to define the command specific parameters
+   *
+   * @param commandData       Pointer to received command data
+   * @param commandDataLen    Length of received command data
+   */
+  virtual ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  /**
+   * @brief   Calculates and adds the CRC
+   */
+  ReturnValue_t addCrc() {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    size_t serializedSize = 0;
+    uint32_t full_size = getFullSize();
+    uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
+    result = SerializeAdapter::serialize<uint16_t>(
+        &crc, this->localData.byteStream + full_size - CRC_SIZE, &serializedSize, sizeof(crc),
+        SerializeIF::Endianness::BIG);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      sif::debug << "TcBase::addCrc: Failed to serialize crc field" << std::endl;
+    }
+    return result;
+  }
+};
+
+/**
+ * @brief   Class for handling tm replies of the PLOC MPSoC.
+ */
+class TmPacket : public SpacePacket, public MPSoCReturnValuesIF {
+ public:
+  /**
+   * @brief   Constructor creates idle packet and sets length field to maximum allowed size.
+   */
+  TmPacket() : SpacePacket(PACKET_MAX_SIZE) {}
+
+  ReturnValue_t checkCrc() {
+    uint8_t* crcPtr = this->getPacketData() + this->getPacketDataLength() - 1;
+    uint16_t receivedCrc = *(crcPtr) << 8 | *(crcPtr + 1);
+    uint16_t recalculatedCrc =
+        CRC::crc16ccitt(this->localData.byteStream, this->getFullSize() - CRC_SIZE);
+    if (recalculatedCrc != receivedCrc) {
+      return CRC_FAILURE;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+/**
+ * @brief   This class helps to build the memory read command for the PLOC.
+ */
+class TcMemRead : public TcBase {
+ public:
+  /**
+   * @brief   Constructor
+   */
+  TcMemRead(uint16_t sequenceCount) : TcBase(apid::TC_MEM_READ, sequenceCount) {
+    this->setPacketDataLength(PACKET_LENGTH);
+  }
+
+  uint16_t getMemLen() const { return memLen; }
+
+ protected:
+  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = lengthCheck(commandDataLen);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    std::memcpy(this->localData.fields.buffer, commandData, MEM_ADDRESS_SIZE);
+    std::memcpy(this->localData.fields.buffer + MEM_ADDRESS_SIZE, commandData + MEM_ADDRESS_SIZE,
+                MEM_LEN_SIZE);
+    size_t size = sizeof(memLen);
+    const uint8_t* memLenPtr = commandData + MEM_ADDRESS_SIZE;
+    result =
+        SerializeAdapter::deSerialize(&memLen, &memLenPtr, &size, SerializeIF::Endianness::BIG);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    return result;
+  }
+
+ private:
+  static const size_t COMMAND_LENGTH = 6;
+  static const size_t MEM_ADDRESS_SIZE = 4;
+  static const size_t MEM_LEN_SIZE = 2;
+  static const uint16_t PACKET_LENGTH = 7;
+
+  uint16_t memLen = 0;
+
+  ReturnValue_t lengthCheck(size_t commandDataLen) {
+    if (commandDataLen != COMMAND_LENGTH) {
+      return INVALID_LENGTH;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+/**
+ * @brief   This class helps to generate the space packet to write data to a memory address within
+ *          the PLOC.
+ */
+class TcMemWrite : public TcBase {
+ public:
+  /**
+   * @brief   Constructor
+   */
+  TcMemWrite(uint16_t sequenceCount) : TcBase(apid::TC_MEM_WRITE, sequenceCount) {}
+
+ protected:
+  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = lengthCheck(commandDataLen);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    std::memcpy(this->localData.fields.buffer, commandData, commandDataLen);
+    uint16_t memLen =
+        *(commandData + MEM_ADDRESS_SIZE) << 8 | *(commandData + MEM_ADDRESS_SIZE + 1);
+    this->setPacketDataLength(memLen * 4 + FIX_LENGTH - 1);
+    return result;
+  }
+
+ private:
+  // Min length consists of 4 byte address, 2 byte mem length field, 4 byte data (1 word)
+  static const size_t MIN_COMMAND_DATA_LENGTH = 10;
+  static const size_t MEM_ADDRESS_SIZE = 4;
+  static const size_t FIX_LENGTH = 8;
+
+  ReturnValue_t lengthCheck(size_t commandDataLen) {
+    if (commandDataLen < MIN_COMMAND_DATA_LENGTH) {
+      sif::warning << "TcMemWrite: Command has invalid length " << commandDataLen << std::endl;
+      return INVALID_LENGTH;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+/**
+ * @brief   Class to help creation of flash fopen command.
+ */
+class FlashFopen : public TcBase {
+ public:
+  FlashFopen(uint16_t sequenceCount) : TcBase(apid::TC_FLASHFOPEN, sequenceCount) {}
+
+  static const char APPEND = 'a';
+  static const char WRITE = 'w';
+  static const char READ = 'r';
+
+  ReturnValue_t createPacket(std::string filename, char accessMode_) {
+    accessMode = accessMode_;
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    size_t nameSize = filename.size();
+    std::memcpy(this->getPacketData(), filename.c_str(), nameSize);
+    *(this->getPacketData() + nameSize) = NULL_TERMINATOR;
+    std::memcpy(this->getPacketData() + nameSize + sizeof(NULL_TERMINATOR), &accessMode,
+                sizeof(accessMode));
+    this->setPacketDataLength(nameSize + sizeof(NULL_TERMINATOR) + sizeof(accessMode) + CRC_SIZE -
+                              1);
+    result = addCrc();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    return result;
+  }
+
+ private:
+  char accessMode = APPEND;
+};
+
+/**
+ * @brief   Class to help creation of flash fclose command.
+ */
+class FlashFclose : public TcBase {
+ public:
+  FlashFclose(uint16_t sequenceCount) : TcBase(apid::TC_FLASHFCLOSE, sequenceCount) {}
+
+  ReturnValue_t createPacket(std::string filename) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    size_t nameSize = filename.size();
+    std::memcpy(this->getPacketData(), filename.c_str(), nameSize);
+    *(this->getPacketData() + nameSize) = NULL_TERMINATOR;
+    this->setPacketDataLength(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE - 1);
+    result = addCrc();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    return result;
+  }
+};
+
+/**
+ * @brief   Class to build flash write space packet.
+ */
+class TcFlashWrite : public TcBase {
+ public:
+  TcFlashWrite(uint16_t sequenceCount) : TcBase(apid::TC_FLASHWRITE, sequenceCount) {}
+
+  ReturnValue_t createPacket(const uint8_t* writeData, uint32_t writeLen_) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    writeLen = writeLen_;
+    if (writeLen > MAX_DATA_SIZE) {
+      sif::debug << "FlashWrite::createPacket: Command data too big" << std::endl;
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    size_t serializedSize = 0;
+    result =
+        SerializeAdapter::serialize<uint32_t>(&writeLen, this->getPacketData(), &serializedSize,
+                                              sizeof(writeLen), SerializeIF::Endianness::BIG);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    std::memcpy(this->getPacketData() + sizeof(writeLen), writeData, writeLen);
+    this->setPacketDataLength(static_cast<uint16_t>(writeLen + CRC_SIZE - 1));
+    result = addCrc();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+ private:
+  uint32_t writeLen = 0;
+};
+
+/**
+ * @brief   Class to help creation of flash delete command.
+ */
+class TcFlashDelete : public TcBase {
+ public:
+  TcFlashDelete(uint16_t sequenceCount) : TcBase(apid::TC_FLASHDELETE, sequenceCount) {}
+
+  ReturnValue_t createPacket(std::string filename) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    size_t nameSize = filename.size();
+    std::memcpy(this->getPacketData(), filename.c_str(), nameSize);
+    *(this->getPacketData() + nameSize) = NULL_TERMINATOR;
+    this->setPacketDataLength(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE - 1);
+    result = addCrc();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    return result;
+  }
+};
+
+/**
+ * @brief   Class to build replay stop space packet.
+ */
+class TcReplayStop : public TcBase {
+ public:
+  TcReplayStop(uint16_t sequenceCount) : TcBase(apid::TC_REPLAY_STOP, sequenceCount) {}
+
+  ReturnValue_t createPacket() {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = addCrc();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    this->setPacketDataLength(static_cast<uint16_t>(CRC_SIZE - 1));
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+/**
+ * @brief   This class helps to build the replay start command.
+ */
+class TcReplayStart : public TcBase {
+ public:
+  /**
+   * @brief   Constructor
+   */
+  TcReplayStart(uint16_t sequenceCount) : TcBase(apid::TC_REPLAY_START, sequenceCount) {}
+
+ protected:
+  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = lengthCheck(commandDataLen);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    result = checkData(*commandData);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    std::memcpy(this->localData.fields.buffer, commandData, commandDataLen);
+    this->setPacketDataLength(commandDataLen + CRC_SIZE - 1);
+    return result;
+  }
+
+ private:
+  static const size_t COMMAND_DATA_LENGTH = 1;
+  static const uint8_t REPEATING = 0;
+  static const uint8_t ONCE = 1;
+
+  ReturnValue_t lengthCheck(size_t commandDataLen) {
+    if (commandDataLen != COMMAND_DATA_LENGTH) {
+      sif::warning << "TcReplayStart: Command has invalid length " << commandDataLen << std::endl;
+      return INVALID_LENGTH;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  ReturnValue_t checkData(uint8_t replay) {
+    if (replay != REPEATING && replay != ONCE) {
+      sif::warning << "TcReplayStart::checkData: Invalid replay value" << std::endl;
+      return INVALID_PARAMETER;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+/**
+ * @brief   This class helps to build downlink power on command.
+ */
+class TcDownlinkPwrOn : public TcBase {
+ public:
+  /**
+   * @brief   Constructor
+   */
+  TcDownlinkPwrOn(uint16_t sequenceCount) : TcBase(apid::TC_DOWNLINK_PWR_ON, sequenceCount) {}
+
+ protected:
+  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = lengthCheck(commandDataLen);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    result = modeCheck(*commandData);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    result = laneRateCheck(*(commandData + 1));
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    std::memcpy(this->localData.fields.buffer, commandData, commandDataLen);
+    std::memcpy(this->localData.fields.buffer + commandDataLen, &MAX_AMPLITUDE,
+                sizeof(MAX_AMPLITUDE));
+    this->setPacketDataLength(commandDataLen + sizeof(MAX_AMPLITUDE) + CRC_SIZE - 1);
+    return result;
+  }
+
+ private:
+  static const uint8_t INTERFACE_ID = CLASS_ID::DWLPWRON_CMD;
+
+  //! [EXPORT] : [COMMENT] Received command has invalid JESD mode (valid modes are 0 - 5)
+  static const ReturnValue_t INVALID_MODE = MAKE_RETURN_CODE(0xE0);
+  //! [EXPORT] : [COMMENT] Received command has invalid lane rate (valid lane rate are 0 - 9)
+  static const ReturnValue_t INVALID_LANE_RATE = MAKE_RETURN_CODE(0xE1);
+
+  static const size_t COMMAND_DATA_LENGTH = 2;
+  static const uint8_t MAX_MODE = 5;
+  static const uint8_t MAX_LANE_RATE = 9;
+  static const uint16_t MAX_AMPLITUDE = 0;
+
+  ReturnValue_t lengthCheck(size_t commandDataLen) {
+    if (commandDataLen != COMMAND_DATA_LENGTH) {
+      sif::warning << "TcDownlinkPwrOn: Command has invalid length " << commandDataLen << std::endl;
+      return INVALID_LENGTH;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  ReturnValue_t modeCheck(uint8_t mode) {
+    if (mode > MAX_MODE) {
+      sif::warning << "TcDwonlinkPwrOn::modeCheck: Invalid JESD mode" << std::endl;
+      return INVALID_MODE;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  ReturnValue_t laneRateCheck(uint8_t laneRate) {
+    if (laneRate > MAX_LANE_RATE) {
+      sif::warning << "TcReplayStart::laneRateCheck: Invalid lane rate" << std::endl;
+      return INVALID_LANE_RATE;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+/**
+ * @brief   Class to build replay stop space packet.
+ */
+class TcDownlinkPwrOff : public TcBase {
+ public:
+  TcDownlinkPwrOff(uint16_t sequenceCount) : TcBase(apid::TC_DOWNLINK_PWR_OFF, sequenceCount) {}
+
+  ReturnValue_t createPacket() {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = addCrc();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    this->setPacketDataLength(static_cast<uint16_t>(CRC_SIZE - 1));
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+/**
+ * @brief   This class helps to build the replay start command.
+ */
+class TcReplayWriteSeq : public TcBase {
+ public:
+  /**
+   * @brief   Constructor
+   */
+  TcReplayWriteSeq(uint16_t sequenceCount)
+      : TcBase(apid::TC_REPLAY_WRITE_SEQUENCE, sequenceCount) {}
+
+ protected:
+  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = lengthCheck(commandDataLen);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    std::memcpy(this->localData.fields.buffer, commandData, commandDataLen);
+    *(this->localData.fields.buffer + commandDataLen) = NULL_TERMINATOR;
+    this->setPacketDataLength(commandDataLen + sizeof(NULL_TERMINATOR) + CRC_SIZE - 1);
+    return result;
+  }
+
+ private:
+  static const size_t USE_DECODING_LENGTH = 1;
+
+  ReturnValue_t lengthCheck(size_t commandDataLen) {
+    if (commandDataLen > USE_DECODING_LENGTH + MAX_FILENAME_SIZE) {
+      sif::warning << "TcReplayWriteSeq: Command has invalid length " << commandDataLen
+                   << std::endl;
+      return INVALID_LENGTH;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+class FlashWritePusCmd : public MPSoCReturnValuesIF {
+ public:
+  FlashWritePusCmd(){};
+
+  ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) {
+    if (commandDataLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE + MAX_FILENAME_SIZE)) {
+      return INVALID_LENGTH;
+    }
+    obcFile = std::string(reinterpret_cast<const char*>(commandData));
+    if (obcFile.size() > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE)) {
+      return FILENAME_TOO_LONG;
+    }
+    mpsocFile = std::string(
+        reinterpret_cast<const char*>(commandData + obcFile.size() + SIZE_NULL_TERMINATOR));
+    if (mpsocFile.size() > MAX_FILENAME_SIZE) {
+      return MPSOC_FILENAME_TOO_LONG;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  std::string getObcFile() { return obcFile; }
+
+  std::string getMPSoCFile() { return mpsocFile; }
+
+ private:
+  static const size_t SIZE_NULL_TERMINATOR = 1;
+  std::string obcFile = "";
+  std::string mpsocFile = "";
+};
+
+/**
+ * @brief   Class to build replay stop space packet.
+ */
+class TcModeReplay : public TcBase {
+ public:
+  TcModeReplay(uint16_t sequenceCount) : TcBase(apid::TC_MODE_REPLAY, sequenceCount) {}
+
+  ReturnValue_t createPacket() {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = addCrc();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    this->setPacketDataLength(static_cast<uint16_t>(CRC_SIZE - 1));
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+}  // namespace mpsoc
+
+#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_ */

linux/devices/devicedefinitions/PlocSupervisorDefinitions.h

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

linux/devices/ploc/CMakeLists.txt

@@ -2,4 +2,6 @@ target_sources(${OBSW_NAME} PRIVATE
     PlocSupervisorHandler.cpp
     PlocUpdater.cpp
     PlocMemoryDumper.cpp
+    PlocMPSoCHandler.cpp
+    PlocMPSoCHelper.cpp
 )

linux/devices/ploc/PlocMPSoCHandler.cpp

@@ -0,0 +1,881 @@
+#include "PlocMPSoCHandler.h"
+
+#include "OBSWConfig.h"
+#include "fsfw/datapool/PoolReadGuard.h"
+#include "fsfw/globalfunctions/CRC.h"
+#include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
+
+PlocMPSoCHandler::PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid,
+                                   CookieIF* comCookie, PlocMPSoCHelper* plocMPSoCHelper,
+                                   Gpio uartIsolatorSwitch, object_id_t supervisorHandler)
+    : DeviceHandlerBase(objectId, uartComIFid, comCookie),
+      plocMPSoCHelper(plocMPSoCHelper),
+      uartIsolatorSwitch(uartIsolatorSwitch),
+      supervisorHandler(supervisorHandler),
+      commandActionHelper(this) {
+  if (comCookie == nullptr) {
+    sif::error << "PlocMPSoCHandler: Invalid communication cookie" << std::endl;
+  }
+  eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
+  commandActionHelperQueue =
+      QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
+}
+
+PlocMPSoCHandler::~PlocMPSoCHandler() {}
+
+ReturnValue_t PlocMPSoCHandler::initialize() {
+  ReturnValue_t result = RETURN_OK;
+  result = DeviceHandlerBase::initialize();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  uartComIf = dynamic_cast<UartComIF*>(communicationInterface);
+  if (uartComIf == nullptr) {
+    sif::warning << "PlocMPSoCHandler::initialize: Invalid uart com if" << std::endl;
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+
+  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  if (manager == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "PlocMPSoCHandler::initialize: Invalid event manager" << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+    ;
+  }
+  result = manager->registerListener(eventQueue->getId());
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = manager->subscribeToEventRange(
+      eventQueue->getId(), event::getEventId(PlocMPSoCHelper::MPSOC_FLASH_WRITE_FAILED),
+      event::getEventId(PlocMPSoCHelper::MPSOC_FLASH_WRITE_SUCCESSFUL));
+  if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "PlocMPSoCHandler::initialize: Failed to subscribe to events from "
+                    " ploc mpsoc helper"
+                 << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+
+  result = plocMPSoCHelper->setComIF(communicationInterface);
+  if (result != RETURN_OK) {
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  plocMPSoCHelper->setComCookie(comCookie);
+  plocMPSoCHelper->setSequenceCount(&sequenceCount);
+  result = commandActionHelper.initialize();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  return result;
+}
+
+void PlocMPSoCHandler::performOperationHook() {
+  EventMessage event;
+  for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == RETURN_OK;
+       result = eventQueue->receiveMessage(&event)) {
+    switch (event.getMessageId()) {
+      case EventMessage::EVENT_MESSAGE:
+        handleEvent(&event);
+        break;
+      default:
+        sif::debug << "PlocMPSoCHandler::performOperationHook: Did not subscribe to this event"
+                   << " message" << std::endl;
+        break;
+    }
+  }
+  CommandMessage message;
+  for (ReturnValue_t result = commandActionHelperQueue->receiveMessage(&message);
+       result == RETURN_OK; result = commandActionHelperQueue->receiveMessage(&message)) {
+    result = commandActionHelper.handleReply(&message);
+    if (result == RETURN_OK) {
+      continue;
+    }
+  }
+}
+
+ReturnValue_t PlocMPSoCHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                                              const uint8_t* data, size_t size) {
+  ReturnValue_t result = RETURN_OK;
+
+  if (plocMPSoCHelperExecuting) {
+    return MPSoCReturnValuesIF::MPSOC_HELPER_EXECUTING;
+  }
+
+  switch (actionId) {
+    case mpsoc::TC_FLASHWRITE: {
+      if (size > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
+        return MPSoCReturnValuesIF::FILENAME_TOO_LONG;
+      }
+      mpsoc::FlashWritePusCmd flashWritePusCmd;
+      result = flashWritePusCmd.extractFields(data, size);
+      if (result != RETURN_OK) {
+        return result;
+      }
+      result = plocMPSoCHelper->startFlashWrite(flashWritePusCmd.getObcFile(),
+                                                flashWritePusCmd.getMPSoCFile());
+      if (result != RETURN_OK) {
+        return result;
+      }
+      plocMPSoCHelperExecuting = true;
+      return EXECUTION_FINISHED;
+    }
+    case (mpsoc::OBSW_RESET_SEQ_COUNT): {
+      sequenceCount = 0;
+      return EXECUTION_FINISHED;
+    }
+    default:
+      break;
+  }
+  return DeviceHandlerBase::executeAction(actionId, commandedBy, data, size);
+}
+
+void PlocMPSoCHandler::doStartUp() {
+  switch (powerState) {
+    case PowerState::OFF:
+      commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
+      powerState = PowerState::BOOTING;
+      break;
+    case PowerState::ON:
+      setMode(_MODE_TO_ON);
+      uartIsolatorSwitch.pullHigh();
+      break;
+    default:
+      break;
+  }
+}
+
+void PlocMPSoCHandler::doShutDown() {
+  switch (powerState) {
+    case PowerState::ON:
+      uartIsolatorSwitch.pullLow();
+      commandActionHelper.commandAction(supervisorHandler, supv::SHUTDOWN_MPSOC);
+      powerState = PowerState::SHUTDOWN;
+      break;
+    case PowerState::OFF:
+      setMode(_MODE_POWER_DOWN);
+      break;
+    default:
+      break;
+  }
+}
+
+ReturnValue_t PlocMPSoCHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t PlocMPSoCHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t PlocMPSoCHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                        const uint8_t* commandData,
+                                                        size_t commandDataLen) {
+  ReturnValue_t result = RETURN_OK;
+  switch (deviceCommand) {
+    case (mpsoc::TC_MEM_WRITE): {
+      result = prepareTcMemWrite(commandData, commandDataLen);
+      break;
+    }
+    case (mpsoc::TC_MEM_READ): {
+      result = prepareTcMemRead(commandData, commandDataLen);
+      break;
+    }
+    case (mpsoc::TC_FLASHDELETE): {
+      result = prepareTcFlashDelete(commandData, commandDataLen);
+      break;
+    }
+    case (mpsoc::TC_REPLAY_START): {
+      result = prepareTcReplayStart(commandData, commandDataLen);
+      break;
+    }
+    case (mpsoc::TC_REPLAY_STOP): {
+      result = prepareTcReplayStop();
+      break;
+    }
+    case (mpsoc::TC_DOWNLINK_PWR_ON): {
+      result = prepareTcDownlinkPwrOn(commandData, commandDataLen);
+      break;
+    }
+    case (mpsoc::TC_DOWNLINK_PWR_OFF): {
+      result = prepareTcDownlinkPwrOff();
+      break;
+    }
+    case (mpsoc::TC_REPLAY_WRITE_SEQUENCE): {
+      result = prepareTcReplayWriteSequence(commandData, commandDataLen);
+      break;
+    }
+    case (mpsoc::TC_MODE_REPLAY): {
+      result = prepareTcModeReplay();
+      break;
+    }
+    default:
+      sif::debug << "PlocMPSoCHandler::buildCommandFromCommand: Command not implemented"
+                 << std::endl;
+      result = DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+      break;
+  }
+
+  if (result == RETURN_OK) {
+    /**
+     * Flushing the receive buffer to make sure there are no data left from a faulty reply.
+     */
+    uartComIf->flushUartRxBuffer(comCookie);
+  }
+
+  return result;
+}
+
+void PlocMPSoCHandler::fillCommandAndReplyMap() {
+  this->insertInCommandMap(mpsoc::TC_MEM_WRITE);
+  this->insertInCommandMap(mpsoc::TC_MEM_READ);
+  this->insertInCommandMap(mpsoc::TC_FLASHDELETE);
+  this->insertInCommandMap(mpsoc::TC_REPLAY_START);
+  this->insertInCommandMap(mpsoc::TC_REPLAY_STOP);
+  this->insertInCommandMap(mpsoc::TC_DOWNLINK_PWR_ON);
+  this->insertInCommandMap(mpsoc::TC_DOWNLINK_PWR_OFF);
+  this->insertInCommandMap(mpsoc::TC_REPLAY_WRITE_SEQUENCE);
+  this->insertInCommandMap(mpsoc::TC_MODE_REPLAY);
+  this->insertInReplyMap(mpsoc::ACK_REPORT, 1, nullptr, mpsoc::SIZE_ACK_REPORT);
+  this->insertInReplyMap(mpsoc::EXE_REPORT, 3, nullptr, mpsoc::SIZE_EXE_REPORT);
+  this->insertInReplyMap(mpsoc::TM_MEMORY_READ_REPORT, 2, nullptr, mpsoc::SIZE_TM_MEM_READ_REPORT);
+}
+
+ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remainingSize,
+                                             DeviceCommandId_t* foundId, size_t* foundLen) {
+  ReturnValue_t result = RETURN_OK;
+
+  uint16_t apid = (*(start) << 8 | *(start + 1)) & APID_MASK;
+
+  switch (apid) {
+    case (mpsoc::apid::ACK_SUCCESS):
+      *foundLen = mpsoc::SIZE_ACK_REPORT;
+      *foundId = mpsoc::ACK_REPORT;
+      break;
+    case (mpsoc::apid::ACK_FAILURE):
+      *foundLen = mpsoc::SIZE_ACK_REPORT;
+      *foundId = mpsoc::ACK_REPORT;
+      break;
+    case (mpsoc::apid::TM_MEMORY_READ_REPORT):
+      *foundLen = tmMemReadReport.rememberRequestedSize;
+      *foundId = mpsoc::TM_MEMORY_READ_REPORT;
+      break;
+    case (mpsoc::apid::EXE_SUCCESS):
+      *foundLen = mpsoc::SIZE_EXE_REPORT;
+      *foundId = mpsoc::EXE_REPORT;
+      break;
+    case (mpsoc::apid::EXE_FAILURE):
+      *foundLen = mpsoc::SIZE_EXE_REPORT;
+      *foundId = mpsoc::EXE_REPORT;
+      break;
+    default: {
+      sif::debug << "PlocMPSoCHandler::scanForReply: Reply has invalid apid" << std::endl;
+      *foundLen = remainingSize;
+      return MPSoCReturnValuesIF::INVALID_APID;
+    }
+  }
+  sequenceCount++;
+  uint16_t recvSeqCnt = (*(start + 2) << 8 | *(start + 3)) & PACKET_SEQUENCE_COUNT_MASK;
+  if (recvSeqCnt != sequenceCount) {
+    triggerEvent(MPSOC_HANDLER_SEQ_CNT_MISMATCH, sequenceCount, recvSeqCnt);
+    sequenceCount = recvSeqCnt;
+  }
+  return result;
+}
+
+ReturnValue_t PlocMPSoCHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
+  ReturnValue_t result = RETURN_OK;
+
+  switch (id) {
+    case mpsoc::ACK_REPORT: {
+      result = handleAckReport(packet);
+      break;
+    }
+    case (mpsoc::TM_MEMORY_READ_REPORT): {
+      result = handleMemoryReadReport(packet);
+      break;
+    }
+    case (mpsoc::EXE_REPORT): {
+      result = handleExecutionReport(packet);
+      break;
+    }
+    default: {
+      sif::debug << "PlocMPSoCHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
+      return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
+    }
+  }
+
+  return result;
+}
+
+void PlocMPSoCHandler::setNormalDatapoolEntriesInvalid() {}
+
+uint32_t PlocMPSoCHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }
+
+ReturnValue_t PlocMPSoCHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                                        LocalDataPoolManager& poolManager) {
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void PlocMPSoCHandler::handleEvent(EventMessage* eventMessage) {
+  object_id_t objectId = eventMessage->getReporter();
+  switch (objectId) {
+    case objects::PLOC_MPSOC_HELPER: {
+      plocMPSoCHelperExecuting = false;
+      break;
+    }
+    default:
+      sif::debug << "PlocMPSoCHandler::handleEvent: Did not subscribe to this event" << std::endl;
+      break;
+  }
+}
+
+ReturnValue_t PlocMPSoCHandler::prepareTcMemWrite(const uint8_t* commandData,
+                                                  size_t commandDataLen) {
+  ReturnValue_t result = RETURN_OK;
+  sequenceCount++;
+  mpsoc::TcMemWrite tcMemWrite(sequenceCount);
+  result = tcMemWrite.createPacket(commandData, commandDataLen);
+  if (result != RETURN_OK) {
+    sequenceCount--;
+    return result;
+  }
+  copyToCommandBuffer(&tcMemWrite);
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocMPSoCHandler::prepareTcMemRead(const uint8_t* commandData,
+                                                 size_t commandDataLen) {
+  ReturnValue_t result = RETURN_OK;
+  sequenceCount++;
+  mpsoc::TcMemRead tcMemRead(sequenceCount);
+  result = tcMemRead.createPacket(commandData, commandDataLen);
+  if (result != RETURN_OK) {
+    sequenceCount--;
+    return result;
+  }
+  copyToCommandBuffer(&tcMemRead);
+  tmMemReadReport.rememberRequestedSize = tcMemRead.getMemLen() * 4 + TmMemReadReport::FIX_SIZE;
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocMPSoCHandler::prepareTcFlashDelete(const uint8_t* commandData,
+                                                     size_t commandDataLen) {
+  if (commandDataLen > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
+    return MPSoCReturnValuesIF::NAME_TOO_LONG;
+  }
+  ReturnValue_t result = RETURN_OK;
+  sequenceCount++;
+  mpsoc::TcFlashDelete tcFlashDelete(sequenceCount);
+  result = tcFlashDelete.createPacket(
+      std::string(reinterpret_cast<const char*>(commandData), commandDataLen));
+  if (result != RETURN_OK) {
+    sequenceCount--;
+    return result;
+  }
+  copyToCommandBuffer(&tcFlashDelete);
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocMPSoCHandler::prepareTcReplayStart(const uint8_t* commandData,
+                                                     size_t commandDataLen) {
+  ReturnValue_t result = RETURN_OK;
+  sequenceCount++;
+  mpsoc::TcReplayStart tcReplayStart(sequenceCount);
+  result = tcReplayStart.createPacket(commandData, commandDataLen);
+  if (result != RETURN_OK) {
+    sequenceCount--;
+    return result;
+  }
+  copyToCommandBuffer(&tcReplayStart);
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocMPSoCHandler::prepareTcReplayStop() {
+  ReturnValue_t result = RETURN_OK;
+  sequenceCount++;
+  mpsoc::TcReplayStop tcReplayStop(sequenceCount);
+  result = tcReplayStop.createPacket();
+  if (result != RETURN_OK) {
+    sequenceCount--;
+    return result;
+  }
+  copyToCommandBuffer(&tcReplayStop);
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocMPSoCHandler::prepareTcDownlinkPwrOn(const uint8_t* commandData,
+                                                       size_t commandDataLen) {
+  ReturnValue_t result = RETURN_OK;
+  sequenceCount++;
+  mpsoc::TcDownlinkPwrOn tcDownlinkPwrOn(sequenceCount);
+  result = tcDownlinkPwrOn.createPacket(commandData, commandDataLen);
+  if (result != RETURN_OK) {
+    sequenceCount--;
+    return result;
+  }
+  copyToCommandBuffer(&tcDownlinkPwrOn);
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocMPSoCHandler::prepareTcDownlinkPwrOff() {
+  ReturnValue_t result = RETURN_OK;
+  sequenceCount++;
+  mpsoc::TcDownlinkPwrOff tcDownlinkPwrOff(sequenceCount);
+  result = tcDownlinkPwrOff.createPacket();
+  if (result != RETURN_OK) {
+    sequenceCount--;
+    return result;
+  }
+  copyToCommandBuffer(&tcDownlinkPwrOff);
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocMPSoCHandler::prepareTcReplayWriteSequence(const uint8_t* commandData,
+                                                             size_t commandDataLen) {
+  ReturnValue_t result = RETURN_OK;
+  sequenceCount++;
+  mpsoc::TcReplayWriteSeq tcReplayWriteSeq(sequenceCount);
+  result = tcReplayWriteSeq.createPacket(commandData, commandDataLen);
+  if (result != RETURN_OK) {
+    sequenceCount--;
+    return result;
+  }
+  copyToCommandBuffer(&tcReplayWriteSeq);
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocMPSoCHandler::prepareTcModeReplay() {
+  ReturnValue_t result = RETURN_OK;
+  sequenceCount++;
+  mpsoc::TcModeReplay tcModeReplay(sequenceCount);
+  result = tcModeReplay.createPacket();
+  if (result != RETURN_OK) {
+    sequenceCount--;
+    return result;
+  }
+  memcpy(commandBuffer, tcModeReplay.getWholeData(), tcModeReplay.getFullSize());
+  rawPacket = commandBuffer;
+  rawPacketLen = tcModeReplay.getFullSize();
+  nextReplyId = mpsoc::ACK_REPORT;
+  return RETURN_OK;
+}
+
+void PlocMPSoCHandler::copyToCommandBuffer(mpsoc::TcBase* tc) {
+  if (tc == nullptr) {
+    sif::debug << "PlocMPSoCHandler::copyToCommandBuffer: Invalid TC" << std::endl;
+  }
+  memcpy(commandBuffer, tc->getWholeData(), tc->getFullSize());
+  rawPacket = commandBuffer;
+  rawPacketLen = tc->getFullSize();
+  nextReplyId = mpsoc::ACK_REPORT;
+}
+
+ReturnValue_t PlocMPSoCHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
+  uint16_t receivedCrc = *(start + foundLen - 2) << 8 | *(start + foundLen - 1);
+  uint16_t recalculatedCrc = CRC::crc16ccitt(start, foundLen - 2);
+  if (receivedCrc != recalculatedCrc) {
+    return MPSoCReturnValuesIF::CRC_FAILURE;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocMPSoCHandler::handleAckReport(const uint8_t* data) {
+  ReturnValue_t result = RETURN_OK;
+
+  result = verifyPacket(data, mpsoc::SIZE_ACK_REPORT);
+  if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
+    sif::warning << "PlocMPSoCHandler::handleAckReport: CRC failure" << std::endl;
+    nextReplyId = mpsoc::NONE;
+    replyRawReplyIfnotWiretapped(data, mpsoc::SIZE_ACK_REPORT);
+    triggerEvent(MPSOC_HANDLER_CRC_FAILURE);
+    sendFailureReport(mpsoc::ACK_REPORT, MPSoCReturnValuesIF::CRC_FAILURE);
+    disableAllReplies();
+    return IGNORE_REPLY_DATA;
+  }
+
+  uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
+
+  switch (apid) {
+    case mpsoc::apid::ACK_FAILURE: {
+      // TODO: Interpretation of status field in acknowledgment report
+      sif::debug << "PlocMPSoCHandler::handleAckReport: Received Ack failure report" << std::endl;
+      DeviceCommandId_t commandId = getPendingCommand();
+      uint16_t status = getStatus(data);
+      if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
+        triggerEvent(ACK_FAILURE, commandId, status);
+      }
+      sendFailureReport(mpsoc::ACK_REPORT, MPSoCReturnValuesIF::RECEIVED_ACK_FAILURE);
+      disableAllReplies();
+      nextReplyId = mpsoc::NONE;
+      result = IGNORE_REPLY_DATA;
+      break;
+    }
+    case mpsoc::apid::ACK_SUCCESS: {
+      setNextReplyId();
+      break;
+    }
+    default: {
+      sif::debug << "PlocMPSoCHandler::handleAckReport: Invalid APID in Ack report" << std::endl;
+      result = RETURN_FAILED;
+      break;
+    }
+  }
+
+  return result;
+}
+
+ReturnValue_t PlocMPSoCHandler::handleExecutionReport(const uint8_t* data) {
+  ReturnValue_t result = RETURN_OK;
+
+  result = verifyPacket(data, mpsoc::SIZE_EXE_REPORT);
+  if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
+    sif::warning << "PlocMPSoCHandler::handleExecutionReport: CRC failure" << std::endl;
+    nextReplyId = mpsoc::NONE;
+    return result;
+  }
+
+  uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
+
+  switch (apid) {
+    case (mpsoc::apid::EXE_SUCCESS): {
+      break;
+    }
+    case (mpsoc::apid::EXE_FAILURE): {
+      // TODO: Interpretation of status field in execution report
+      sif::warning << "PlocMPSoCHandler::handleExecutionReport: Received execution failure report"
+                   << std::endl;
+      DeviceCommandId_t commandId = getPendingCommand();
+      if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
+        uint16_t status = getStatus(data);
+        triggerEvent(EXE_FAILURE, commandId, status);
+      } else {
+        sif::debug << "PlocMPSoCHandler::handleExecutionReport: Unknown command id" << std::endl;
+      }
+      printStatus(data);
+      sendFailureReport(mpsoc::EXE_REPORT, MPSoCReturnValuesIF::RECEIVED_EXE_FAILURE);
+      disableExeReportReply();
+      result = IGNORE_REPLY_DATA;
+      break;
+    }
+    default: {
+      sif::warning << "PlocMPSoCHandler::handleExecutionReport: Unknown APID" << std::endl;
+      result = RETURN_FAILED;
+      break;
+    }
+  }
+  nextReplyId = mpsoc::NONE;
+  return result;
+}
+
+ReturnValue_t PlocMPSoCHandler::handleMemoryReadReport(const uint8_t* data) {
+  ReturnValue_t result = RETURN_OK;
+  result = verifyPacket(data, tmMemReadReport.rememberRequestedSize);
+  if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
+    sif::warning << "PlocMPSoCHandler::handleMemoryReadReport: Memory read report has invalid crc"
+                 << std::endl;
+  }
+  uint16_t memLen =
+      *(data + mpsoc::MEM_READ_RPT_LEN_OFFSET) << 8 | *(data + mpsoc::MEM_READ_RPT_LEN_OFFSET + 1);
+  /** Send data to commanding queue */
+  handleDeviceTM(data + mpsoc::DATA_FIELD_OFFSET, mpsoc::SIZE_MEM_READ_RPT_FIX + memLen * 4,
+                 mpsoc::TM_MEMORY_READ_REPORT);
+  nextReplyId = mpsoc::EXE_REPORT;
+  return result;
+}
+
+ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
+                                                      uint8_t expectedReplies, bool useAlternateId,
+                                                      DeviceCommandId_t alternateReplyID) {
+  ReturnValue_t result = RETURN_OK;
+
+  uint8_t enabledReplies = 0;
+
+  switch (command->first) {
+    case mpsoc::TC_MEM_WRITE:
+    case mpsoc::TC_FLASHDELETE:
+    case mpsoc::TC_REPLAY_START:
+    case mpsoc::TC_REPLAY_STOP:
+    case mpsoc::TC_DOWNLINK_PWR_ON:
+    case mpsoc::TC_DOWNLINK_PWR_OFF:
+    case mpsoc::TC_REPLAY_WRITE_SEQUENCE:
+    case mpsoc::TC_MODE_REPLAY:
+      enabledReplies = 2;
+      break;
+    case mpsoc::TC_MEM_READ: {
+      enabledReplies = 3;
+      result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
+                                                        mpsoc::TM_MEMORY_READ_REPORT);
+      if (result != RETURN_OK) {
+        sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
+                   << mpsoc::TM_MEMORY_READ_REPORT << " not in replyMap" << std::endl;
+      }
+      break;
+    }
+    case mpsoc::OBSW_RESET_SEQ_COUNT:
+      break;
+    default:
+      sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Unknown command id" << std::endl;
+      break;
+  }
+
+  /**
+   * Every command causes at least one acknowledgment and one execution report. Therefore both
+   * replies will be enabled here.
+   */
+  result =
+      DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, mpsoc::ACK_REPORT);
+  if (result != RETURN_OK) {
+    sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id " << mpsoc::ACK_REPORT
+               << " not in replyMap" << std::endl;
+  }
+
+  result =
+      DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, mpsoc::EXE_REPORT);
+  if (result != RETURN_OK) {
+    sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id " << mpsoc::EXE_REPORT
+               << " not in replyMap" << std::endl;
+  }
+
+  switch (command->first) {
+    case mpsoc::TC_REPLAY_WRITE_SEQUENCE: {
+      DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
+      // Overwrite delay cycles because replay write sequence command can required up to
+      // 30 seconds for execution
+      iter->second.delayCycles = mpsoc::TC_WRITE_SEQ_EXECUTION_DELAY;
+      break;
+    }
+    case mpsoc::TC_DOWNLINK_PWR_ON: {
+      DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
+      //
+      iter->second.delayCycles = mpsoc::TC_DOWNLINK_PWR_ON;
+      break;
+    }
+    default:
+      break;
+  }
+
+  return RETURN_OK;
+}
+
+void PlocMPSoCHandler::setNextReplyId() {
+  switch (getPendingCommand()) {
+    case mpsoc::TC_MEM_READ:
+      nextReplyId = mpsoc::TM_MEMORY_READ_REPORT;
+      break;
+    default:
+      /* If no telemetry is expected the next reply is always the execution report */
+      nextReplyId = mpsoc::EXE_REPORT;
+      break;
+  }
+}
+size_t PlocMPSoCHandler::getNextReplyLength(DeviceCommandId_t commandId) {
+  size_t replyLen = 0;
+
+  if (nextReplyId == mpsoc::NONE) {
+    return replyLen;
+  }
+
+  DeviceReplyIter iter = deviceReplyMap.find(nextReplyId);
+
+  if (iter != deviceReplyMap.end()) {
+    if (iter->second.delayCycles == 0) {
+      /* Reply inactive */
+      return replyLen;
+    }
+    switch (nextReplyId) {
+      case mpsoc::TM_MEMORY_READ_REPORT: {
+        replyLen = tmMemReadReport.rememberRequestedSize;
+        break;
+      }
+      default: {
+        replyLen = iter->second.replyLen;
+        break;
+      }
+    }
+  } else {
+    sif::debug << "PlocMPSoCHandler::getNextReplyLength: No entry for reply with reply id "
+               << std::hex << nextReplyId << " in deviceReplyMap" << std::endl;
+  }
+
+  return replyLen;
+}
+
+MessageQueueIF* PlocMPSoCHandler::getCommandQueuePtr() { return commandActionHelperQueue; }
+
+void PlocMPSoCHandler::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) { return; }
+
+void PlocMPSoCHandler::stepFailedReceived(ActionId_t actionId, uint8_t step,
+                                          ReturnValue_t returnCode) {
+  switch (actionId) {
+    case supv::START_MPSOC:
+      sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to start MPSoC" << std::endl;
+      powerState = PowerState::OFF;
+      break;
+    case supv::SHUTDOWN_MPSOC:
+      triggerEvent(MPSOC_SHUTDOWN_FAILED);
+      sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to shutdown MPSoC" << std::endl;
+      // TODO: Setting state to on or off here?
+      powerState = PowerState::ON;
+      break;
+    default:
+      sif::debug << "PlocMPSoCHandler::stepFailedReceived: Received unexpected action reply"
+                 << std::endl;
+      break;
+  }
+}
+
+void PlocMPSoCHandler::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
+  return;
+}
+
+void PlocMPSoCHandler::completionSuccessfulReceived(ActionId_t actionId) {
+  if (actionId != supv::EXE_REPORT) {
+    sif::debug << "PlocMPSoCHandler::completionSuccessfulReceived: Did not expect this action "
+               << "ID" << std::endl;
+    return;
+  }
+  switch (powerState) {
+    case PowerState::BOOTING: {
+      powerState = PowerState::ON;
+      break;
+    }
+    case PowerState::SHUTDOWN: {
+      powerState = PowerState::OFF;
+      break;
+    }
+    default: {
+      break;
+    }
+  }
+}
+
+void PlocMPSoCHandler::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
+  handleActionCommandFailure(actionId);
+}
+
+void PlocMPSoCHandler::handleDeviceTM(const uint8_t* data, size_t dataSize,
+                                      DeviceCommandId_t replyId) {
+  ReturnValue_t result = RETURN_OK;
+
+  if (wiretappingMode == RAW) {
+    /* Data already sent in doGetRead() */
+    return;
+  }
+
+  DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
+  if (iter == deviceReplyMap.end()) {
+    sif::debug << "PlocMPSoCHandler::handleDeviceTM: Unknown reply id" << std::endl;
+    return;
+  }
+  MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
+
+  if (queueId == NO_COMMANDER) {
+    return;
+  }
+
+  result = actionHelper.reportData(queueId, replyId, data, dataSize);
+  if (result != RETURN_OK) {
+    sif::debug << "PlocMPSoCHandler::handleDeviceTM: Failed to report data" << std::endl;
+  }
+}
+
+void PlocMPSoCHandler::disableAllReplies() {
+  DeviceReplyMap::iterator iter;
+
+  /* Disable ack reply */
+  iter = deviceReplyMap.find(mpsoc::ACK_REPORT);
+  DeviceReplyInfo* info = &(iter->second);
+  info->delayCycles = 0;
+  info->command = deviceCommandMap.end();
+
+  DeviceCommandId_t commandId = getPendingCommand();
+
+  /* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
+  switch (commandId) {
+    case mpsoc::TC_MEM_WRITE:
+      break;
+    case mpsoc::TC_MEM_READ: {
+      iter = deviceReplyMap.find(mpsoc::TM_MEMORY_READ_REPORT);
+      info = &(iter->second);
+      info->delayCycles = 0;
+      info->command = deviceCommandMap.end();
+      break;
+    }
+    default: {
+      sif::debug << "PlocMPSoCHandler::disableAllReplies: Unknown command id" << commandId
+                 << std::endl;
+      break;
+    }
+  }
+
+  /* We always need to disable the execution report reply here */
+  disableExeReportReply();
+  nextReplyId = mpsoc::NONE;
+}
+
+void PlocMPSoCHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {
+  DeviceReplyIter iter = deviceReplyMap.find(replyId);
+  if (iter == deviceReplyMap.end()) {
+    sif::debug << "PlocMPSoCHandler::sendFailureReport: Reply not in reply map" << std::endl;
+    return;
+  }
+  DeviceCommandInfo* info = &(iter->second.command->second);
+  if (info == nullptr) {
+    sif::debug << "PlocMPSoCHandler::sendFailureReport: Reply has no active command" << std::endl;
+    return;
+  }
+  if (info->sendReplyTo != NO_COMMANDER) {
+    actionHelper.finish(false, info->sendReplyTo, iter->first, status);
+  }
+  info->isExecuting = false;
+}
+
+void PlocMPSoCHandler::disableExeReportReply() {
+  DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
+  DeviceReplyInfo* info = &(iter->second);
+  info->delayCycles = 0;
+  info->command = deviceCommandMap.end();
+  /* Expected replies is set to one here. The value will be set to 0 in replyToReply() */
+  info->command->second.expectedReplies = 0;
+}
+
+void PlocMPSoCHandler::printStatus(const uint8_t* data) {
+  uint16_t status = *(data + STATUS_OFFSET) << 8 | *(data + STATUS_OFFSET + 1);
+  sif::info << "Verification report status: 0x" << std::hex << status << std::endl;
+}
+
+uint16_t PlocMPSoCHandler::getStatus(const uint8_t* data) {
+  return *(data + STATUS_OFFSET) << 8 | *(data + STATUS_OFFSET + 1);
+}
+
+void PlocMPSoCHandler::handleActionCommandFailure(ActionId_t actionId) {
+  switch (actionId) {
+    case supv::ACK_REPORT:
+    case supv::EXE_REPORT:
+      break;
+    default:
+      sif::debug << "PlocMPSoCHandler::handleActionCommandFailure: Did not expect this action ID "
+                 << std::endl;
+      return;
+  }
+  switch (powerState) {
+    case PowerState::BOOTING: {
+      sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to boot MPSoC"
+                   << std::endl;
+      powerState = PowerState::OFF;
+      break;
+    }
+    case PowerState::SHUTDOWN: {
+      sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to shutdown MPSoC"
+                   << std::endl;
+      powerState = PowerState::ON;
+      break;
+    }
+    default:
+      break;
+  }
+  return;
+}

linux/devices/ploc/PlocMPSoCHandler.h

@@ -0,0 +1,246 @@
+#ifndef BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
+#define BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
+
+#include <string>
+
+#include "PlocMPSoCHelper.h"
+#include "fsfw/action/CommandActionHelper.h"
+#include "fsfw/action/CommandsActionsIF.h"
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/tmtcservices/SourceSequenceCounter.h"
+#include "fsfw_hal/linux/gpio/Gpio.h"
+#include "fsfw_hal/linux/uart/UartComIF.h"
+#include "linux/devices/devicedefinitions/MPSoCReturnValuesIF.h"
+#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
+
+/**
+ * @brief	This is the device handler for the MPSoC of the payload computer.
+ *
+ * @details The PLOC uses the space packet protocol for communication. Each command will be
+ *          answered with at least one acknowledgment and one execution report.
+ *          Flight manual:
+ * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/PLOC_MPSoC ICD:
+ * https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_TAS-ILH-IRS/ICD-PLOC/ILH&fileid=1030263
+ *
+ * @note The sequence count in the space packets must be incremented with each received and sent
+ *       packet otherwise the MPSoC will reply with an acknowledgment failure report.
+ *
+ * @author	J. Meier
+ */
+class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
+ public:
+  /**
+   * @brief Constructor
+   *
+   * @param ojectId             Object ID of the MPSoC handler
+   * @param uartcomIFid         Object ID of the UART communication interface
+   * @param comCookie           UART communication cookie
+   * @param plocMPSoCHelper     Pointer to MPSoC helper object
+   * @param uartIsolatorSwitch  Gpio object representing the GPIO connected to the UART isolator
+   *                            module in the programmable logic
+   * @param supervisorHandler   Object ID of the supervisor handler
+   */
+  PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
+                   PlocMPSoCHelper* plocMPSoCHelper, Gpio uartIsolatorSwitch,
+                   object_id_t supervisorHandler);
+  virtual ~PlocMPSoCHandler();
+  virtual ReturnValue_t initialize() override;
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size) override;
+  void performOperationHook() override;
+  MessageQueueIF* getCommandQueuePtr() override;
+  void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
+  void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
+  void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
+  void completionSuccessfulReceived(ActionId_t actionId) override;
+  void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
+
+ protected:
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
+  void fillCommandAndReplyMap() override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
+                                        size_t commandDataLen) override;
+  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;
+  ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
+                                      uint8_t expectedReplies = 1, bool useAlternateId = false,
+                                      DeviceCommandId_t alternateReplyID = 0) override;
+  size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
+
+ private:
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
+
+  //! [EXPORT] : [COMMENT] PLOC crc failure in telemetry packet
+  static const Event MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
+  //! [EXPORT] : [COMMENT] 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
+  static const Event ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
+  //! [EXPORT] : [COMMENT] 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
+  static const Event EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
+  //! [EXPORT] : [COMMENT] PLOC reply has invalid crc
+  static const Event MPSOC_HANDLER_CRC_FAILURE = MAKE_EVENT(4, severity::LOW);
+  //! [EXPORT] : [COMMENT] Packet sequence count in received space packet does not match expected
+  //! count P1: Expected sequence count P2: Received sequence count
+  static const Event MPSOC_HANDLER_SEQ_CNT_MISMATCH = MAKE_EVENT(5, severity::LOW);
+  //! [EXPORT] : [COMMENT] Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and
+  //! thus also to shutdown the supervisor.
+  static const Event MPSOC_SHUTDOWN_FAILED = MAKE_EVENT(6, severity::HIGH);
+
+  static const uint16_t APID_MASK = 0x7FF;
+  static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
+  static const uint8_t STATUS_OFFSET = 10;
+
+  MessageQueueIF* eventQueue = nullptr;
+  MessageQueueIF* commandActionHelperQueue = nullptr;
+
+  SourceSequenceCounter sequenceCount;
+
+  uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
+
+  /**
+   * This variable is used to store the id of the next reply to receive. This is necessary
+   * because the PLOC sends as reply to each command at least one acknowledgment and execution
+   * report.
+   */
+  DeviceCommandId_t nextReplyId = mpsoc::NONE;
+
+  UartComIF* uartComIf = nullptr;
+
+  PlocMPSoCHelper* plocMPSoCHelper = nullptr;
+  Gpio uartIsolatorSwitch;
+  object_id_t supervisorHandler = 0;
+  CommandActionHelper commandActionHelper;
+
+  // Used to block incoming commands when MPSoC helper class is currently executing a command
+  bool plocMPSoCHelperExecuting = false;
+
+  class TmMemReadReport {
+   public:
+    static const uint8_t FIX_SIZE = 14;
+    size_t rememberRequestedSize = 0;
+  };
+
+  TmMemReadReport tmMemReadReport;
+
+  enum class PowerState { OFF, BOOTING, SHUTDOWN, ON };
+
+  PowerState powerState = PowerState::OFF;
+
+  /**
+   * @brief   Handles events received from the PLOC MPSoC helper
+   */
+  void handleEvent(EventMessage* eventMessage);
+
+  ReturnValue_t prepareTcMemWrite(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t prepareTcMemRead(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t prepareTcFlashDelete(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t prepareTcReplayStart(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t prepareTcReplayStop();
+  ReturnValue_t prepareTcDownlinkPwrOn(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t prepareTcDownlinkPwrOff();
+  ReturnValue_t prepareTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen);
+
+  /**
+   * @brief   Copies space packet into command buffer
+   */
+  void copyToCommandBuffer(mpsoc::TcBase* tc);
+
+  /**
+   * @brief   This function checks the crc of the received PLOC reply.
+   *
+   * @param start Pointer to the first byte of the reply.
+   * @param foundLen  Pointer to the length of the whole packet.
+   *
+   * @return  RETURN_OK if CRC is ok, otherwise CRC_FAILURE.
+   */
+  ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen);
+
+  /**
+   * @brief   This function handles the acknowledgment report.
+   *
+   * @param data  Pointer to the data holding the acknowledgment report.
+   *
+   * @return  RETURN_OK if successful, otherwise an error code.
+   */
+  ReturnValue_t handleAckReport(const uint8_t* data);
+
+  /**
+   * @brief   This function handles the data of a execution report.
+   *
+   * @param data  Pointer to the received data packet.
+   *
+   * @return  RETURN_OK if successful, otherwise an error code.
+   */
+  ReturnValue_t handleExecutionReport(const uint8_t* data);
+
+  /**
+   * @brief   This function handles the memory read report.
+   *
+   * @param data  Pointer to the data buffer holding the memory read report.
+   *
+   * @return  RETURN_OK if successful, otherwise an error code.
+   */
+  ReturnValue_t handleMemoryReadReport(const uint8_t* data);
+
+  /**
+   * @brief   Depending on the current active command, this function sets the reply id of the
+   *          next reply after a successful acknowledgment report has been received. This is
+   *          required by the function getNextReplyLength() to identify the length of the next
+   *          reply to read.
+   */
+  void setNextReplyId();
+
+  /**
+   * @brief   This function handles action message replies in case the telemetry has been
+   *          requested by another object.
+   *
+   * @param data  Pointer to the telemetry data.
+   * @param dataSize  Size of telemetry in bytes.
+   * @param replyId   Id of the reply. This will be added to the ActionMessage.
+   */
+  void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
+
+  /**
+   * @brief   In case an acknowledgment failure reply has been received this function disables
+   *          all previously enabled commands and resets the exepected replies variable of an
+   *          active command.
+   */
+  void disableAllReplies();
+
+  /**
+   * @brief   This function sends a failure report if the active action was commanded by an other
+   *          object.
+   *
+   * @param replyId   The id of the reply which signals a failure.
+   * @param status    A status byte which gives information about the failure type.
+   */
+  void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
+
+  /**
+   * @brief   This function disables the execution report reply. Within this function also the
+   *          the variable expectedReplies of an active command will be set to 0.
+   */
+  void disableExeReportReply();
+
+  void printStatus(const uint8_t* data);
+
+  ReturnValue_t prepareTcModeReplay();
+
+  uint16_t getStatus(const uint8_t* data);
+
+  void handleActionCommandFailure(ActionId_t actionId);
+};
+
+#endif /* BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_ */

linux/devices/ploc/PlocMPSoCHelper.cpp

@@ -0,0 +1,321 @@
+#include "PlocMPSoCHelper.h"
+
+#include <filesystem>
+#include <fstream>
+
+#include "OBSWConfig.h"
+#ifdef XIPHOS_Q7S
+#include "bsp_q7s/memory/FilesystemHelper.h"
+#endif
+
+#include "mission/utility/Timestamp.h"
+
+PlocMPSoCHelper::PlocMPSoCHelper(object_id_t objectId) : SystemObject(objectId) {}
+
+PlocMPSoCHelper::~PlocMPSoCHelper() {}
+
+ReturnValue_t PlocMPSoCHelper::initialize() {
+#ifdef XIPHOS_Q7S
+  sdcMan = SdCardManager::instance();
+  if (sdcMan == nullptr) {
+    sif::warning << "PlocMPSoCHelper::initialize: Invalid SD Card Manager" << std::endl;
+    return RETURN_FAILED;
+  }
+#endif
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocMPSoCHelper::performOperation(uint8_t operationCode) {
+  ReturnValue_t result = RETURN_OK;
+  semaphore.acquire();
+  while (true) {
+    switch (internalState) {
+      case InternalState::IDLE: {
+        semaphore.acquire();
+        break;
+      }
+      case InternalState::FLASH_WRITE: {
+        result = performFlashWrite();
+        if (result == RETURN_OK) {
+          triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL);
+        } else {
+          triggerEvent(MPSOC_FLASH_WRITE_FAILED);
+        }
+        internalState = InternalState::IDLE;
+        break;
+      }
+      default:
+        sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl;
+        break;
+    }
+  }
+}
+
+ReturnValue_t PlocMPSoCHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
+  uartComIF = dynamic_cast<UartComIF*>(communicationInterface_);
+  if (uartComIF == nullptr) {
+    sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
+    return RETURN_FAILED;
+  }
+  return RETURN_OK;
+}
+
+void PlocMPSoCHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
+
+void PlocMPSoCHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
+  sequenceCount = sequenceCount_;
+}
+
+ReturnValue_t PlocMPSoCHelper::startFlashWrite(std::string obcFile, std::string mpsocFile) {
+  ReturnValue_t result = RETURN_OK;
+#ifdef XIPHOS_Q7S
+  result = FilesystemHelper::checkPath(obcFile);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = FilesystemHelper::fileExists(mpsocFile);
+  if (result != RETURN_OK) {
+    return result;
+  }
+#endif
+#ifdef TE0720_1CFA
+  if (not std::filesystem::exists(obcFile)) {
+    sif::warning << "PlocMPSoCHelper::startFlashWrite: File " << obcFile << "does not exist"
+                 << std::endl;
+    return RETURN_FAILED;
+  }
+#endif
+
+  flashWrite.obcFile = obcFile;
+  flashWrite.mpsocFile = mpsocFile;
+  internalState = InternalState::FLASH_WRITE;
+  result = resetHelper();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocMPSoCHelper::resetHelper() {
+  ReturnValue_t result = RETURN_OK;
+  semaphore.release();
+  terminate = false;
+  result = uartComIF->flushUartRxBuffer(comCookie);
+  return result;
+}
+
+void PlocMPSoCHelper::stopProcess() { terminate = true; }
+
+ReturnValue_t PlocMPSoCHelper::performFlashWrite() {
+  ReturnValue_t result = RETURN_OK;
+  result = flashfopen();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  uint8_t tempData[mpsoc::MAX_DATA_SIZE];
+  std::ifstream file(flashWrite.obcFile, std::ifstream::binary);
+  // Set position of next character to end of file input stream
+  file.seekg(0, file.end);
+  // tellg returns position of character in input stream
+  size_t remainingSize = file.tellg();
+  size_t dataLength = 0;
+  size_t bytesRead = 0;
+  while (remainingSize > 0) {
+    if (terminate) {
+      return RETURN_OK;
+    }
+    if (remainingSize > mpsoc::MAX_DATA_SIZE) {
+      dataLength = mpsoc::MAX_DATA_SIZE;
+    } else {
+      dataLength = remainingSize;
+    }
+    if (file.is_open()) {
+      file.seekg(bytesRead, file.beg);
+      file.read(reinterpret_cast<char*>(tempData), dataLength);
+      bytesRead += dataLength;
+      remainingSize -= dataLength;
+    } else {
+      return FILE_CLOSED_ACCIDENTALLY;
+    }
+    (*sequenceCount)++;
+    mpsoc::TcFlashWrite tc(*sequenceCount);
+    tc.createPacket(tempData, dataLength);
+    result = handlePacketTransmission(tc);
+    if (result != RETURN_OK) {
+      return result;
+    }
+  }
+  result = flashfclose();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocMPSoCHelper::flashfopen() {
+  ReturnValue_t result = RETURN_OK;
+  (*sequenceCount)++;
+  mpsoc::FlashFopen flashFopen(*sequenceCount);
+  result = flashFopen.createPacket(flashWrite.mpsocFile, mpsoc::FlashFopen::APPEND);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = handlePacketTransmission(flashFopen);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocMPSoCHelper::flashfclose() {
+  ReturnValue_t result = RETURN_OK;
+  (*sequenceCount)++;
+  mpsoc::FlashFclose flashFclose(*sequenceCount);
+  result = flashFclose.createPacket(flashWrite.mpsocFile);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = handlePacketTransmission(flashFclose);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocMPSoCHelper::handlePacketTransmission(mpsoc::TcBase& tc) {
+  ReturnValue_t result = RETURN_OK;
+  result = sendCommand(tc);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = handleAck();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = handleExe();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocMPSoCHelper::sendCommand(mpsoc::TcBase& tc) {
+  ReturnValue_t result = RETURN_OK;
+  result = uartComIF->sendMessage(comCookie, tc.getWholeData(), tc.getFullSize());
+  if (result != RETURN_OK) {
+    sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
+    triggerEvent(SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocMPSoCHelper::handleAck() {
+  ReturnValue_t result = RETURN_OK;
+  mpsoc::TmPacket tmPacket;
+  result = handleTmReception(&tmPacket, mpsoc::SIZE_ACK_REPORT);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  uint16_t apid = tmPacket.getAPID();
+  if (apid != mpsoc::apid::ACK_SUCCESS) {
+    handleAckApidFailure(apid);
+    return RETURN_FAILED;
+  }
+  return RETURN_OK;
+}
+
+void PlocMPSoCHelper::handleAckApidFailure(uint16_t apid) {
+  if (apid == mpsoc::apid::ACK_FAILURE) {
+    triggerEvent(ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState));
+    sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Received acknowledgement failure "
+                 << "report" << std::endl;
+  } else {
+    triggerEvent(ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
+    sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
+                 << "but received space packet with apid " << std::hex << apid << std::endl;
+  }
+}
+
+ReturnValue_t PlocMPSoCHelper::handleExe() {
+  ReturnValue_t result = RETURN_OK;
+  mpsoc::TmPacket tmPacket;
+  result = handleTmReception(&tmPacket, mpsoc::SIZE_EXE_REPORT);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  uint16_t apid = tmPacket.getAPID();
+  if (apid != mpsoc::apid::EXE_SUCCESS) {
+    handleExeApidFailure(apid);
+    return RETURN_FAILED;
+  }
+  return RETURN_OK;
+}
+
+void PlocMPSoCHelper::handleExeApidFailure(uint16_t apid) {
+  if (apid == mpsoc::apid::EXE_FAILURE) {
+    triggerEvent(EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
+    sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Received execution failure "
+                 << "report" << std::endl;
+  } else {
+    triggerEvent(EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
+    sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Expected execution report "
+                 << "but received space packet with apid " << std::hex << apid << std::endl;
+  }
+}
+
+ReturnValue_t PlocMPSoCHelper::handleTmReception(mpsoc::TmPacket* tmPacket, size_t remainingBytes) {
+  ReturnValue_t result = RETURN_OK;
+  size_t readBytes = 0;
+  size_t currentBytes = 0;
+  for (int retries = 0; retries < RETRIES; retries++) {
+    result = receive(tmPacket->getWholeData() + readBytes, &currentBytes, remainingBytes);
+    if (result != RETURN_OK) {
+      return result;
+    }
+    readBytes += currentBytes;
+    remainingBytes = remainingBytes - currentBytes;
+    if (remainingBytes == 0) {
+      break;
+    }
+  }
+  if (remainingBytes != 0) {
+    sif::warning << "PlocMPSoCHelper::handleTmReception: Failed to receive reply" << std::endl;
+    triggerEvent(MISSING_EXE, remainingBytes, static_cast<uint32_t>(internalState));
+    return RETURN_FAILED;
+  }
+  result = tmPacket->checkCrc();
+  if (result != RETURN_OK) {
+    sif::warning << "PlocMPSoCHelper::handleTmReception: CRC check failed" << std::endl;
+    return result;
+  }
+  (*sequenceCount)++;
+  uint16_t recvSeqCnt = tmPacket->getPacketSequenceCount();
+  if (recvSeqCnt != *sequenceCount) {
+    triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
+    *sequenceCount = recvSeqCnt;
+  }
+  return result;
+}
+
+ReturnValue_t PlocMPSoCHelper::receive(uint8_t* data, size_t* readBytes, size_t requestBytes) {
+  ReturnValue_t result = RETURN_OK;
+  uint8_t* buffer = nullptr;
+  result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
+  if (result != RETURN_OK) {
+    sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
+    triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
+                 static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
+    return RETURN_FAILED;
+  }
+  result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
+  if (result != RETURN_OK) {
+    sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
+    triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
+    return RETURN_FAILED;
+  }
+  if (*readBytes > 0) {
+    std::memcpy(data, buffer, *readBytes);
+  }
+  return result;
+}

linux/devices/ploc/PlocMPSoCHelper.h

@@ -0,0 +1,153 @@
+#ifndef BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_
+#define BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_
+
+#include <string>
+
+#include "fsfw/devicehandlers/CookieIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/osal/linux/BinarySemaphore.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/tmtcservices/SourceSequenceCounter.h"
+#include "fsfw_hal/linux/uart/UartComIF.h"
+#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
+#ifdef XIPHOS_Q7S
+#include "bsp_q7s/memory/SdCardManager.h"
+#endif
+
+/**
+ * @brief   Helper class for MPSoC of PLOC intended to accelerate large data transfers between
+ *          MPSoC and OBC.
+ * @author  J. Meier
+ */
+class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
+ public:
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HELPER;
+
+  //! [EXPORT] : [COMMENT] Flash write fails
+  static const Event MPSOC_FLASH_WRITE_FAILED = MAKE_EVENT(0, severity::LOW);
+  //! [EXPORT] : [COMMENT] Flash write successful
+  static const Event MPSOC_FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(1, severity::LOW);
+  //! [EXPORT] : [COMMENT] Communication interface returned failure when trying to send the command
+  //! ot the PLOC
+  //! P1: Return value returned by the communication interface sendMessage function
+  //! P2: Internal state of MPSoC helper
+  static const Event SENDING_COMMAND_FAILED = MAKE_EVENT(2, severity::LOW);
+  //! [EXPORT] : [COMMENT] Request receive message of communication interface failed
+  //! P1: Return value returned by the communication interface requestReceiveMessage function
+  //! P2: Internal state of MPSoC helper
+  static const Event MPSOC_HELPER_REQUESTING_REPLY_FAILED = MAKE_EVENT(3, severity::LOW);
+  //! [EXPORT] : [COMMENT] Reading receive message of communication interface failed
+  //! P1: Return value returned by the communication interface readingReceivedMessage function
+  //! P2: Internal state of MPSoC helper
+  static const Event MPSOC_HELPER_READING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
+  //! [EXPORT] : [COMMENT] Did not receive acknowledgement report
+  //! P1: Number of bytes missing
+  //! P2: Internal state of MPSoC helper
+  static const Event MISSING_ACK = MAKE_EVENT(5, severity::LOW);
+  //! [EXPORT] : [COMMENT] Did not receive execution report
+  //! P1: Number of bytes missing
+  //! P2: Internal state of MPSoC helper
+  static const Event MISSING_EXE = MAKE_EVENT(6, severity::LOW);
+  //! [EXPORT] : [COMMENT] Received acknowledgement failure report
+  //! P1: Internal state of MPSoC
+  static const Event ACK_FAILURE_REPORT = MAKE_EVENT(7, severity::LOW);
+  //! [EXPORT] : [COMMENT] Received execution failure report
+  //! P1: Internal state of MPSoC
+  static const Event EXE_FAILURE_REPORT = MAKE_EVENT(8, severity::LOW);
+  //! [EXPORT] : [COMMENT] Expected acknowledgement report but received space packet with other apid
+  //! P1: Apid of received space packet
+  //! P2: Internal state of MPSoC
+  static const Event ACK_INVALID_APID = MAKE_EVENT(9, severity::LOW);
+  //! [EXPORT] : [COMMENT] Expected execution report but received space packet with other apid
+  //! P1: Apid of received space packet
+  //! P2: Internal state of MPSoC
+  static const Event EXE_INVALID_APID = MAKE_EVENT(10, severity::LOW);
+  //! [EXPORT] : [COMMENT] Received sequence count does not match expected sequence count
+  //! P1: Expected sequence count
+  //! P2: Received sequence count
+  static const Event MPSOC_HELPER_SEQ_CNT_MISMATCH = MAKE_EVENT(11, severity::LOW);
+
+  PlocMPSoCHelper(object_id_t objectId);
+  virtual ~PlocMPSoCHelper();
+
+  ReturnValue_t initialize() override;
+  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+
+  ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
+  void setComCookie(CookieIF* comCookie_);
+
+  /**
+   * @brief   Starts flash write sequence
+   *
+   * @param obcFile   File where to read from the data
+   * @param mpsocFile The file of the MPSoC where should be written to
+   *
+   * @return  RETURN_OK if successful, otherwise error return value
+   */
+  ReturnValue_t startFlashWrite(std::string obcFile, std::string mpsocFile);
+
+  /**
+   * @brief   Can be used to interrupt a running data transfer.
+   */
+  void stopProcess();
+
+  /**
+   * @brief   Sets the sequence count object responsible for the sequence count handling
+   */
+  void setSequenceCount(SourceSequenceCounter* sequenceCount_);
+
+ private:
+  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HELPER;
+
+  //! [EXPORT] : [COMMENT] File accidentally close
+  static const ReturnValue_t FILE_CLOSED_ACCIDENTALLY = MAKE_RETURN_CODE(0xA0);
+
+  // Maximum number of times the communication interface retries polling data from the reply
+  // buffer
+  static const int RETRIES = 10000;
+
+  struct FlashWrite {
+    std::string obcFile;
+    std::string mpsocFile;
+  };
+
+  struct FlashWrite flashWrite;
+
+  enum class InternalState { IDLE, FLASH_WRITE, FLASH_READ };
+
+  InternalState internalState = InternalState::IDLE;
+
+  BinarySemaphore semaphore;
+#ifdef XIPHOS_Q7S
+  SdCardManager* sdcMan = nullptr;
+#endif
+  uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
+
+  bool terminate = false;
+
+  /**
+   * Communication interface of MPSoC responsible for low level access. Must be set by the
+   * MPSoC Handler.
+   */
+  UartComIF* uartComIF = nullptr;
+  // Communication cookie. Must be set by the MPSoC Handler
+  CookieIF* comCookie = nullptr;
+  // Sequence count, must be set by Ploc MPSoC Handler
+  SourceSequenceCounter* sequenceCount;
+
+  ReturnValue_t resetHelper();
+  ReturnValue_t performFlashWrite();
+  ReturnValue_t flashfopen();
+  ReturnValue_t flashfclose();
+  ReturnValue_t handlePacketTransmission(mpsoc::TcBase& tc);
+  ReturnValue_t sendCommand(mpsoc::TcBase& tc);
+  ReturnValue_t receive(uint8_t* data, size_t* readBytes, size_t requestBytes);
+  ReturnValue_t handleAck();
+  ReturnValue_t handleExe();
+  void handleAckApidFailure(uint16_t apid);
+  void handleExeApidFailure(uint16_t apid);
+  ReturnValue_t handleTmReception(mpsoc::TmPacket* tmPacket, size_t remainingBytes);
+};
+
+#endif /* BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_ */

linux/devices/ploc/PlocMemoryDumper.cpp

@@ -105,10 +105,10 @@ void PlocMemoryDumper::doStateMachine() {
     case State::IDLE:
       break;
     case State::COMMAND_FIRST_MRAM_DUMP:
-      commandNextMramDump(PLOC_SPV::FIRST_MRAM_DUMP);
+      commandNextMramDump(supv::FIRST_MRAM_DUMP);
       break;
     case State::COMMAND_CONSECUTIVE_MRAM_DUMP:
-      commandNextMramDump(PLOC_SPV::CONSECUTIVE_MRAM_DUMP);
+      commandNextMramDump(supv::CONSECUTIVE_MRAM_DUMP);
       break;
     case State::EXECUTING_MRAM_DUMP:
       break;
@@ -127,8 +127,8 @@ void PlocMemoryDumper::dataReceived(ActionId_t actionId, const uint8_t* data, ui
 
 void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
   switch (pendingCommand) {
-    case (PLOC_SPV::FIRST_MRAM_DUMP):
+    case (supv::FIRST_MRAM_DUMP):
-    case (PLOC_SPV::CONSECUTIVE_MRAM_DUMP):
+    case (supv::CONSECUTIVE_MRAM_DUMP):
       if (mram.endAddress == mram.startAddress) {
         triggerEvent(MRAM_DUMP_FINISHED);
         state = State::IDLE;
@@ -146,8 +146,8 @@ void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
 
 void PlocMemoryDumper::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
   switch (pendingCommand) {
-    case (PLOC_SPV::FIRST_MRAM_DUMP):
+    case (supv::FIRST_MRAM_DUMP):
-    case (PLOC_SPV::CONSECUTIVE_MRAM_DUMP):
+    case (supv::CONSECUTIVE_MRAM_DUMP):
       triggerEvent(MRAM_DUMP_FAILED, mram.lastStartAddress);
       break;
     default:

linux/devices/ploc/PlocMemoryDumper.h

@@ -1,8 +1,8 @@
 #ifndef MISSION_DEVICES_PLOCMEMORYDUMPER_H_
 #define MISSION_DEVICES_PLOCMEMORYDUMPER_H_
 
-#include <bsp_q7s/devices/devicedefinitions/PlocMemDumpDefinitions.h>
+#include <linux/devices/devicedefinitions/PlocMemDumpDefinitions.h>
-#include <bsp_q7s/devices/devicedefinitions/PlocSupervisorDefinitions.h>
+#include <linux/devices/devicedefinitions/PlocSupervisorDefinitions.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/memory/SdCardManager.h"

linux/devices/ploc/PlocSupervisorHandler.h

@@ -1,12 +1,14 @@
 #ifndef MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
 #define MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
 
-#include <bsp_q7s/memory/SdCardManager.h>
-#include <fsfw/devicehandlers/DeviceHandlerBase.h>
-#include <fsfw_hal/linux/uart/UartComIF.h>
-
 #include "OBSWConfig.h"
-#include "devicedefinitions/PlocSupervisorDefinitions.h"
+#include "bsp_q7s/memory/SdCardManager.h"
+#include "devices/powerSwitcherList.h"
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "fsfw_hal/linux/gpio/Gpio.h"
+#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
+#include "fsfw_hal/linux/uart/UartComIF.h"
+#include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
 
 /**
  * @brief	This is the device handler for the supervisor of the PLOC which is programmed by
@@ -22,7 +24,8 @@
  */
 class PlocSupervisorHandler : public DeviceHandlerBase {
  public:
-  PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie);
+  PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
+                        Gpio uartIsolatorSwitch, power::Switch_t powerSwitch);
   virtual ~PlocSupervisorHandler();
 
   virtual ReturnValue_t initialize() override;
@@ -60,35 +63,33 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
   //! [EXPORT] : [COMMENT] Failed to read current system time
   static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4);
-  //! [EXPORT] : [COMMENT] Invalid communication interface specified
-  static const ReturnValue_t INVALID_UART_COM_IF = MAKE_RETURN_CODE(0xA5);
   //! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0
   //! for PS, 1 for PL and 2 for INT
-  static const ReturnValue_t INVALID_WATCHDOG = MAKE_RETURN_CODE(0xA6);
+  static const ReturnValue_t INVALID_WATCHDOG = MAKE_RETURN_CODE(0xA5);
   //! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid
   //! timeouts must be in the range between 1000 and 360000 ms.
-  static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA7);
+  static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA6);
   //! [EXPORT] : [COMMENT] Received latchup config command with invalid latchup ID
-  static const ReturnValue_t INVALID_LATCHUP_ID = MAKE_RETURN_CODE(0xA8);
+  static const ReturnValue_t INVALID_LATCHUP_ID = MAKE_RETURN_CODE(0xA7);
   //! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be
   //! larger than 21.
-  static const ReturnValue_t SWEEP_PERIOD_TOO_SMALL = MAKE_RETURN_CODE(0xA9);
+  static const ReturnValue_t SWEEP_PERIOD_TOO_SMALL = MAKE_RETURN_CODE(0xA8);
   //! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1
   //! and 2.
-  static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xAA);
+  static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xA9);
   //! [EXPORT] : [COMMENT] Returned when scanning for MRAM dump packets failed.
-  static const ReturnValue_t MRAM_PACKET_PARSING_FAILURE = MAKE_RETURN_CODE(0xAB);
+  static const ReturnValue_t MRAM_PACKET_PARSING_FAILURE = MAKE_RETURN_CODE(0xAA);
   //! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM  wipe
   //! commands are invalid (e.g. start address bigger than stop address)
-  static const ReturnValue_t INVALID_MRAM_ADDRESSES = MAKE_RETURN_CODE(0xAC);
+  static const ReturnValue_t INVALID_MRAM_ADDRESSES = MAKE_RETURN_CODE(0xAB);
   //! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with
   //! other apid.
-  static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAD);
+  static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAC);
   //! [EXPORT] : [COMMENT] Path to PLOC directory on SD card does not exist
-  static const ReturnValue_t PATH_DOES_NOT_EXIST = MAKE_RETURN_CODE(0xAE);
+  static const ReturnValue_t PATH_DOES_NOT_EXIST = MAKE_RETURN_CODE(0xAD);
   //! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have
   //! been created with the reception of the first dump packet.
-  static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAF);
+  static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAE);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
 
@@ -104,20 +105,24 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   static const uint16_t APID_MASK = 0x7FF;
   static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
 
-  uint8_t commandBuffer[PLOC_SPV::MAX_COMMAND_SIZE];
+  uint8_t commandBuffer[supv::MAX_COMMAND_SIZE];
 
   /**
    * This variable is used to store the id of the next reply to receive. This is necessary
    * because the PLOC sends as reply to each command at least one acknowledgment and execution
    * report.
    */
-  DeviceCommandId_t nextReplyId = PLOC_SPV::NONE;
+  DeviceCommandId_t nextReplyId = supv::NONE;
 
   UartComIF* uartComIf = nullptr;
+  LinuxLibgpioIF* gpioComIF = nullptr;
+  Gpio uartIsolatorSwitch;
 
-  PLOC_SPV::HkSet hkset;
+  supv::HkSet hkset;
-  PLOC_SPV::BootStatusReport bootStatusReport;
+  supv::BootStatusReport bootStatusReport;
-  PLOC_SPV::LatchupStatusReport latchupStatusReport;
+  supv::LatchupStatusReport latchupStatusReport;
+
+  const power::Switch_t powerSwitch = power::NO_SWITCH;
 
   /** Number of expected replies following the MRAM dump command */
   uint32_t expectedMramDumpPackets = 0;
@@ -128,9 +133,9 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   uint16_t bufferTop = 0;
 
   /** This buffer is used to concatenate space packets received in two different read steps */
-  uint8_t spacePacketBuffer[PLOC_SPV::MAX_PACKET_SIZE];
+  uint8_t spacePacketBuffer[supv::MAX_PACKET_SIZE];
 
-#if BOARD_TE0720 == 0
+#ifdef TE0720_1CFA
   SdCardManager* sdcMan = nullptr;
 #endif /* BOARD_TE0720 == 0 */
 
@@ -141,6 +146,8 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   /** Setting this variable to true will enable direct downlink of MRAM packets */
   bool downlinkMramDump = false;
 
+  ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches);
+
   /**
    * @brief   This function checks the crc of the received PLOC reply.
    *

linux/devices/ploc/PlocUpdater.cpp

@@ -16,7 +16,7 @@ PlocUpdater::PlocUpdater(object_id_t objectId)
 PlocUpdater::~PlocUpdater() {}
 
 ReturnValue_t PlocUpdater::initialize() {
-#if BOARD_TE0720 == 0
+#ifdef XIPHOS_Q7S
   sdcMan = SdCardManager::instance();
 #endif
   ReturnValue_t result = SystemObject::initialize();
@@ -123,9 +123,6 @@ void PlocUpdater::readCommandQueue() {
     if (result == HasReturnvaluesIF::RETURN_OK) {
       continue;
     }
-
-    sif::debug << "PlocUpdater::readCommandQueue: Received message with invalid format"
-               << std::endl;
   }
 }
 
@@ -145,7 +142,6 @@ void PlocUpdater::doStateMachine() {
     case State::COMMAND_EXECUTING:
       break;
     default:
-      sif::debug << "PlocUpdater::doStateMachine: Invalid state" << std::endl;
       break;
   }
 }
@@ -163,7 +159,7 @@ ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
     return result;
   }
 
-#if BOARD_TE0720 == 0
+#ifdef XIPHOS_Q7S
   // Check if file is stored on SD card and if associated SD card is mounted
   if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) ==
       std::string(SdCardManager::SD_0_MOUNT_POINT)) {
@@ -199,10 +195,10 @@ void PlocUpdater::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_
 
 void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
   switch (pendingCommand) {
-    case (PLOC_SPV::UPDATE_AVAILABLE):
+    case (supv::UPDATE_AVAILABLE):
       state = State::UPDATE_TRANSFER;
       break;
-    case (PLOC_SPV::UPDATE_IMAGE_DATA):
+    case (supv::UPDATE_IMAGE_DATA):
       if (remainingPackets == 0) {
         packetsSent = 0;  // Reset packets sent variable for next update sequence
         state = State::UPDATE_VERIFY;
@@ -210,14 +206,12 @@ void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
         state = State::UPDATE_TRANSFER;
       }
       break;
-    case (PLOC_SPV::UPDATE_VERIFY):
+    case (supv::UPDATE_VERIFY):
       triggerEvent(UPDATE_FINISHED);
       state = State::IDLE;
-      pendingCommand = PLOC_SPV::NONE;
+      pendingCommand = supv::NONE;
       break;
     default:
-      sif::debug << "PlocUpdater::completionSuccessfulReceived: Invalid pending command"
-                 << std::endl;
       state = State::IDLE;
       break;
   }
@@ -225,20 +219,19 @@ void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
 
 void PlocUpdater::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
   switch (pendingCommand) {
-    case (PLOC_SPV::UPDATE_AVAILABLE): {
+    case (supv::UPDATE_AVAILABLE): {
       triggerEvent(UPDATE_AVAILABLE_FAILED);
       break;
     }
-    case (PLOC_SPV::UPDATE_IMAGE_DATA): {
+    case (supv::UPDATE_IMAGE_DATA): {
       triggerEvent(UPDATE_TRANSFER_FAILED, packetsSent);
       break;
     }
-    case (PLOC_SPV::UPDATE_VERIFY): {
+    case (supv::UPDATE_VERIFY): {
       triggerEvent(UPDATE_VERIFY_FAILED);
       break;
     }
     default:
-      sif::debug << "PlocUpdater::completionFailedReceived: Invalid pending command " << std::endl;
       break;
   }
   state = State::IDLE;
@@ -268,23 +261,22 @@ void PlocUpdater::commandUpdateAvailable() {
 
   calcImageCrc();
 
-  PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
+  supv::UpdateInfo packet(supv::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
-                              static_cast<uint8_t>(partition), imageSize, imageCrc,
+                          static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets);
-                              numOfUpdatePackets);
 
-  result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
+  result =
-                                             PLOC_SPV::UPDATE_AVAILABLE, packet.getWholeData(),
+      commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, supv::UPDATE_AVAILABLE,
-                                             packet.getFullSize());
+                                        packet.getWholeData(), packet.getFullSize());
   if (result != RETURN_OK) {
     sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
                  << " packet to supervisor handler" << std::endl;
-    triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_AVAILABLE);
+    triggerEvent(ACTION_COMMANDING_FAILED, result, supv::UPDATE_AVAILABLE);
     state = State::IDLE;
-    pendingCommand = PLOC_SPV::NONE;
+    pendingCommand = supv::NONE;
     return;
   }
 
-  pendingCommand = PLOC_SPV::UPDATE_AVAILABLE;
+  pendingCommand = supv::UPDATE_AVAILABLE;
   state = State::COMMAND_EXECUTING;
   return;
 }
@@ -308,56 +300,54 @@ void PlocUpdater::commandUpdatePacket() {
     payloadLength = MAX_SP_DATA;
   }
 
-  PLOC_SPV::UpdatePacket packet(payloadLength);
+  supv::UpdatePacket packet(payloadLength);
   file.read(reinterpret_cast<char*>(packet.getDataFieldPointer()), payloadLength);
   file.close();
   // sequence count of first packet is 1
-  packet.setPacketSequenceCount((packetsSent + 1) & PLOC_SPV::SEQUENCE_COUNT_MASK);
+  packet.setPacketSequenceCount((packetsSent + 1) & supv::SEQUENCE_COUNT_MASK);
   if (numOfUpdatePackets > 1) {
     adjustSequenceFlags(packet);
   }
   packet.makeCrc();
 
-  result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
+  result =
-                                             PLOC_SPV::UPDATE_IMAGE_DATA, packet.getWholeData(),
+      commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, supv::UPDATE_IMAGE_DATA,
-                                             packet.getFullSize());
+                                        packet.getWholeData(), packet.getFullSize());
 
   if (result != RETURN_OK) {
     sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update"
                  << " packet to supervisor handler" << std::endl;
-    triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_IMAGE_DATA);
+    triggerEvent(ACTION_COMMANDING_FAILED, result, supv::UPDATE_IMAGE_DATA);
     state = State::IDLE;
-    pendingCommand = PLOC_SPV::NONE;
+    pendingCommand = supv::NONE;
     return;
   }
 
   remainingPackets--;
   packetsSent++;
 
-  pendingCommand = PLOC_SPV::UPDATE_IMAGE_DATA;
+  pendingCommand = supv::UPDATE_IMAGE_DATA;
   state = State::COMMAND_EXECUTING;
 }
 
 void PlocUpdater::commandUpdateVerify() {
   ReturnValue_t result = RETURN_OK;
 
-  PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_VERIFY, static_cast<uint8_t>(image),
+  supv::UpdateInfo packet(supv::APID_UPDATE_VERIFY, static_cast<uint8_t>(image),
-                              static_cast<uint8_t>(partition), imageSize, imageCrc,
+                          static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets);
-                              numOfUpdatePackets);
 
-  result =
+  result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, supv::UPDATE_VERIFY,
-      commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, PLOC_SPV::UPDATE_VERIFY,
                                              packet.getWholeData(), packet.getFullSize());
   if (result != RETURN_OK) {
     sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
                  << " packet to supervisor handler" << std::endl;
-    triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_VERIFY);
+    triggerEvent(ACTION_COMMANDING_FAILED, result, supv::UPDATE_VERIFY);
     state = State::IDLE;
-    pendingCommand = PLOC_SPV::NONE;
+    pendingCommand = supv::NONE;
     return;
   }
   state = State::COMMAND_EXECUTING;
-  pendingCommand = PLOC_SPV::UPDATE_VERIFY;
+  pendingCommand = supv::UPDATE_VERIFY;
   return;
 }
 
@@ -384,12 +374,12 @@ void PlocUpdater::calcImageCrc() {
   imageCrc = (remainder ^ FINAL_XOR_VALUE_32);
 }
 
-void PlocUpdater::adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet) {
+void PlocUpdater::adjustSequenceFlags(supv::UpdatePacket& packet) {
   if (packetsSent == 0) {
-    packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT));
+    packet.setSequenceFlags(static_cast<uint8_t>(supv::SequenceFlags::FIRST_PKT));
   } else if (remainingPackets == 1) {
-    packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT));
+    packet.setSequenceFlags(static_cast<uint8_t>(supv::SequenceFlags::LAST_PKT));
   } else {
-    packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::CONTINUED_PKT));
+    packet.setSequenceFlags(static_cast<uint8_t>(supv::SequenceFlags::CONTINUED_PKT));
   }
 }

linux/devices/ploc/PlocUpdater.h

@@ -1,9 +1,11 @@
 #ifndef MISSION_DEVICES_PLOCUPDATER_H_
 #define MISSION_DEVICES_PLOCUPDATER_H_
 
+#include <linux/devices/devicedefinitions/PlocSupervisorDefinitions.h>
+
 #include "OBSWConfig.h"
 #include "bsp_q7s/memory/SdCardManager.h"
-#include "devicedefinitions/PlocSupervisorDefinitions.h"
+#include "eive/definitions.h"
 #include "fsfw/action/ActionHelper.h"
 #include "fsfw/action/CommandActionHelper.h"
 #include "fsfw/action/CommandsActionsIF.h"
@@ -12,6 +14,7 @@
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/tmtcpacket/SpacePacket.h"
+#include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
 #include "linux/fsfwconfig/objects/systemObjectList.h"
 
 /**
@@ -102,7 +105,7 @@ class PlocUpdater : public SystemObject,
 
   MessageQueueIF* commandQueue = nullptr;
 
-#if BOARD_TE0720 == 0
+#ifdef XIPHOS_Q7S
   SdCardManager* sdcMan = nullptr;
 #endif
   CommandActionHelper commandActionHelper;
@@ -119,7 +122,7 @@ class PlocUpdater : public SystemObject,
 
   State state = State::IDLE;
 
-  ActionId_t pendingCommand = PLOC_SPV::NONE;
+  ActionId_t pendingCommand = supv::NONE;
 
   enum class Image : uint8_t { NONE, A, B };
 
@@ -165,7 +168,7 @@ class PlocUpdater : public SystemObject,
 
   void calcImageCrc();
 
-  void adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet);
+  void adjustSequenceFlags(supv::UpdatePacket& packet);
 };
 
 #endif /* MISSION_DEVICES_PLOCUPDATER_H_ */

linux/devices/startracker/StarTrackerHandler.cpp

@@ -15,7 +15,7 @@ extern "C" {
 }
 
 StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                                       StrHelper* strHelper)
+                                       StrHelper* strHelper, power::Switch_t powerSwitch)
     : DeviceHandlerBase(objectId, comIF, comCookie),
       temperatureSet(this),
       versionSet(this),
@@ -39,7 +39,8 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
       subscriptionSet(this),
       logSubscriptionSet(this),
       debugCameraSet(this),
-      strHelper(strHelper) {
+      strHelper(strHelper),
+      powerSwitch(powerSwitch) {
   if (comCookie == nullptr) {
     sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
   }
@@ -1223,6 +1224,15 @@ ReturnValue_t StarTrackerHandler::doSendReadHook() {
   return RETURN_OK;
 }
 
+ReturnValue_t StarTrackerHandler::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
+  if (powerSwitch == power::NO_SWITCH) {
+    return DeviceHandlerBase::NO_SWITCH;
+  }
+  *numberOfSwitches = 1;
+  *switches = &powerSwitch;
+  return RETURN_OK;
+}
+
 ReturnValue_t StarTrackerHandler::checkMode(ActionId_t actionId) {
   switch (actionId) {
     case startracker::UPLOAD_IMAGE:

linux/devices/startracker/StarTrackerHandler.h

@@ -7,6 +7,7 @@
 #include "ArcsecJsonParamBase.h"
 #include "OBSWConfig.h"
 #include "StrHelper.h"
+#include "devices/powerSwitcherList.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/src/fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/timemanager/Countdown.h"
@@ -34,7 +35,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
    * 						to high to enable the device.
    */
   StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                     StrHelper* strHelper);
+                     StrHelper* strHelper, power::Switch_t powerSwitch);
   virtual ~StarTrackerHandler();
 
   ReturnValue_t initialize() override;
@@ -75,6 +76,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
    */
   virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
   virtual ReturnValue_t doSendReadHook() override;
+  ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) override;
   virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
 
  private:
@@ -161,14 +163,12 @@ class StarTrackerHandler : public DeviceHandlerBase {
   static const uint32_t BOOT_TIMEOUT = 1000;
   static const uint32_t DEFAULT_TRANSITION_DELAY = 15000;
 
-  class FlashReadCmd {
+  struct FlashReadCmd {
-   public:
     // Minimum length of a read command (region, length and filename)
     static const size_t MIN_LENGTH = 7;
   };
 
-  class ChecksumCmd {
+  struct ChecksumCmd {
-   public:
     static const uint8_t ADDRESS_OFFSET = 1;
     static const uint8_t LENGTH_OFFSET = 5;
     // Length of checksum command
@@ -268,6 +268,8 @@ class StarTrackerHandler : public DeviceHandlerBase {
 
   bool strHelperExecuting = false;
 
+  const power::Switch_t powerSwitch = power::NO_SWITCH;
+
   /**
    * @brief   Handles internal state
    */

linux/fsfwconfig/OBSWConfig.h.in

@@ -10,12 +10,8 @@
 #cmakedefine XIPHOS_Q7S
 #cmakedefine BEAGLEBONEBLACK
 #cmakedefine EGSE
+#cmakedefine TE0720_1CFA
 
-#ifdef RASPBERRY_PI
-#include "rpiConfig.h"
-#elif defined(XIPHOS_Q7S)
-#include "q7sConfig.h"
-#endif
 #include "commonConfig.h"
 #include "OBSWVersion.h"
 
@@ -23,8 +19,7 @@
 debugging. */
 #define OBSW_VERBOSE_LEVEL                          1
                              
-//! Board defines
+#define Q7S_EM                                      0
-#define BOARD_TE0720                                0                                   
 
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
@@ -45,21 +40,23 @@ debugging. */
 #define OBSW_ENABLE_TIMERS                          1
 #define OBSW_ADD_MGT                                1
 #define OBSW_ADD_BPX_BATTERY_HANDLER                1
-#define OBSW_ADD_STAR_TRACKER                       0
+#define OBSW_ADD_STAR_TRACKER                       @OBSW_ADD_STAR_TRACKER@
 #define OBSW_ADD_PLOC_SUPERVISOR                    0
 #define OBSW_ADD_PLOC_MPSOC                         0
 #define OBSW_ADD_SUN_SENSORS                        1
+#define OBSW_ADD_SUS_BOARD_ASS                      1
 #define OBSW_ADD_ACS_BOARD                          1
 #define OBSW_ADD_ACS_HANDLERS                       1
 #define OBSW_ADD_RW                                 0
 #define OBSW_ADD_RTD_DEVICES                        1
 #define OBSW_ADD_TMP_DEVICES                        0
 #define OBSW_ADD_RAD_SENSORS                        1
-#define OBSW_ADD_PL_PCDU                            0
+#define OBSW_ADD_PL_PCDU                            1
 #define OBSW_ADD_SYRLINKS                           0
 #define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
 #define OBSW_STAR_TRACKER_GROUND_CONFIG             1
-#define OBSW_ENABLE_PERIODIC_HK                     0
+
+#endif // XIPHOS_Q7S
 
 // This is a really tricky switch.. It initializes the PCDU switches to their default states
 // at powerup. I think it would be better
@@ -67,11 +64,37 @@ debugging. */
 // something the operators might want to do by giving the software too much intelligence
 // at the wrong place. The system component might command all the Switches accordingly anyway
 #define OBSW_INITIALIZE_SWITCHES                    0
+#define OBSW_ENABLE_PERIODIC_HK                     0
 
-#endif
+#ifdef TE0720_1CFA
+
+#define OBSW_USE_CCSDS_IP_CORE                      0
+// Set to 1 if all telemetry should be sent to the PTME IP Core
+#define OBSW_TM_TO_PTME                             0
+// Set to 1 if telecommands are received via the PDEC IP Core
+#define OBSW_TC_FROM_PDEC                           0
+#define OBSW_ENABLE_TIMERS                          1
+#define OBSW_ADD_MGT                                0
+#define OBSW_ADD_BPX_BATTERY_HANDLER                0
+#define OBSW_ADD_STAR_TRACKER                       0
+#define OBSW_ADD_PLOC_SUPERVISOR                    0
+#define OBSW_ADD_PLOC_MPSOC                         1
+#define OBSW_ADD_SUN_SENSORS                        0
+#define OBSW_ADD_ACS_BOARD                          1
+#define OBSW_ADD_ACS_HANDLERS                       0
+#define OBSW_ADD_RW                                 0
+#define OBSW_ADD_RTD_DEVICES                        0
+#define OBSW_ADD_TMP_DEVICES                        0
+#define OBSW_ADD_RAD_SENSORS                        0
+#define OBSW_ADD_PL_PCDU                            0
+#define OBSW_ADD_SYRLINKS                           0
+#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
+#define OBSW_SYRLINKS_SIMULATED                     1
+#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
+#define OBSW_ENABLE_PERIODIC_HK                     0
+#define OBSW_PRINT_CORE_HK                          0
+#define OBSW_INITIALIZE_SWITCHES                    0
 
-#ifdef EGSE
-#define OBSW_ADD_STAR_TRACKER                      1
 #endif
 
 /*******************************************************************/
@@ -93,7 +116,6 @@ debugging. */
 #define OBSW_ADD_UART_TEST_CODE                     0
 
 #define OBSW_TEST_ACS                               0
-#define OBSW_TEST_ACS_BOARD_ASS                     0
 #define OBSW_DEBUG_ACS                              0
 #define OBSW_TEST_SUS                               0
 #define OBSW_DEBUG_SUS                              0
@@ -123,10 +145,16 @@ debugging. */
 #define OBSW_DEBUG_SYRLINKS                         0
 #define OBSW_DEBUG_IMTQ                             0
 #define OBSW_DEBUG_RW                               0
-#define OBSW_DEBUG_PLOC_MPSOC                       0
-#define OBSW_DEBUG_PLOC_SUPERVISOR                  0
 #define OBSW_DEBUG_PDEC_HANDLER	                    0
 
+#ifdef TE0720_1CFA
+#define OBSW_DEBUG_PLOC_SUPERVISOR                  1
+#define OBSW_DEBUG_PLOC_MPSOC                       1
+#else 
+#define OBSW_DEBUG_PLOC_SUPERVISOR                  0
+#define OBSW_DEBUG_PLOC_MPSOC                       0
+#endif 
+
 #ifdef EGSE
 #define OBSW_DEBUG_STARTRACKER                      1
 #else
@@ -140,23 +168,34 @@ debugging. */
 #define OBSW_ADD_PLOC_SUPERVISOR                    0
 #define OBSW_ADD_PLOC_MPSOC                         0
 #define OBSW_ADD_SUN_SENSORS                        0
+#define OBSW_ADD_MGT                                0
 #define OBSW_ADD_ACS_BOARD                          0
+#define OBSW_ADD_ACS_HANDLERS                       0
 #define OBSW_ADD_GPS_0                              0
 #define OBSW_ADD_GPS_1                              0
 #define OBSW_ADD_RW                                 0
+#define OBSW_ADD_BPX_BATTERY_HANDLER                0
 #define OBSW_ADD_RTD_DEVICES                        0
+#define OBSW_ADD_PL_PCDU                            0
 #define OBSW_ADD_TMP_DEVICES                        0
 #define OBSW_ADD_RAD_SENSORS                        0
 #define OBSW_ADD_SYRLINKS                           0
+#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
 
-#endif
+#endif // RASPBERRY_PI
+
+#define TCP_SERVER_WIRETAPPING                      0
 
 /*******************************************************************/
 /** CMake Defines                                                  */
 /*******************************************************************/
 #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
 
-#include "OBSWVersion.h"
+#ifdef RASPBERRY_PI
+#include "rpiConfig.h"
+#elif defined(XIPHOS_Q7S)
+#include "q7sConfig.h"
+#endif
 
 #ifdef __cplusplus
 
@@ -164,18 +203,6 @@ debugging. */
 #include "events/subsystemIdRanges.h"
 #include "returnvalues/classIds.h"
 
-namespace config {
-#endif
-
-/* Add mission configuration flags here */
-static constexpr uint32_t OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE = 50;
-static constexpr uint32_t PLOC_UPDATER_QUEUE_SIZE = 50;
-static constexpr uint32_t STR_IMG_HELPER_QUEUE_SIZE = 50;
-
-static constexpr uint8_t LIVE_TM = 0;
-
-#ifdef __cplusplus
-}
 #endif
 
 #endif /* FSFWCONFIG_OBSWCONFIG_H_ */

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 168 translations.
+ * @brief    Auto-generated event translation file. Contains 183 translations.
  * @details
- * Generated on: 2022-03-22 20:43:04
+ * Generated on: 2022-04-08 11:21:58
  */
 #include "translateEvents.h"
 
@@ -100,7 +100,9 @@ const char *DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING = "DEPL_SA2_GPIO_SWTICH_ON_FAI
 const char *MEMORY_READ_RPT_CRC_FAILURE_STRING = "MEMORY_READ_RPT_CRC_FAILURE";
 const char *ACK_FAILURE_STRING = "ACK_FAILURE";
 const char *EXE_FAILURE_STRING = "EXE_FAILURE";
-const char *CRC_FAILURE_EVENT_STRING = "CRC_FAILURE_EVENT";
+const char *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE";
+const char *MPSOC_HANDLER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQ_CNT_MISMATCH";
+const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -148,6 +150,18 @@ const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
 const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
 const char *STR_HELPER_SENDING_PACKET_FAILED_STRING = "STR_HELPER_SENDING_PACKET_FAILED";
 const char *STR_HELPER_REQUESTING_MSG_FAILED_STRING = "STR_HELPER_REQUESTING_MSG_FAILED";
+const char *MPSOC_FLASH_WRITE_FAILED_STRING = "MPSOC_FLASH_WRITE_FAILED";
+const char *MPSOC_FLASH_WRITE_SUCCESSFUL_STRING = "MPSOC_FLASH_WRITE_SUCCESSFUL";
+const char *SENDING_COMMAND_FAILED_STRING = "SENDING_COMMAND_FAILED";
+const char *MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING = "MPSOC_HELPER_REQUESTING_REPLY_FAILED";
+const char *MPSOC_HELPER_READING_REPLY_FAILED_STRING = "MPSOC_HELPER_READING_REPLY_FAILED";
+const char *MISSING_ACK_STRING = "MISSING_ACK";
+const char *MISSING_EXE_STRING = "MISSING_EXE";
+const char *ACK_FAILURE_REPORT_STRING = "ACK_FAILURE_REPORT";
+const char *EXE_FAILURE_REPORT_STRING = "EXE_FAILURE_REPORT";
+const char *ACK_INVALID_APID_STRING = "ACK_INVALID_APID";
+const char *EXE_INVALID_APID_STRING = "EXE_INVALID_APID";
+const char *MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HELPER_SEQ_CNT_MISMATCH";
 const char *TRANSITION_BACK_TO_OFF_STRING = "TRANSITION_BACK_TO_OFF";
 const char *NEG_V_OUT_OF_BOUNDS_STRING = "NEG_V_OUT_OF_BOUNDS";
 const char *U_DRO_OUT_OF_BOUNDS_STRING = "U_DRO_OUT_OF_BOUNDS";
@@ -165,6 +179,7 @@ const char *NOT_ENOUGH_DEVICES_DUAL_MODE_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE"
 const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
 const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
 const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
+const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
 const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
 const char *REBOOT_SW_STRING = "REBOOT_SW";
 const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
@@ -330,168 +345,198 @@ const char *translateEvents(Event event) {
       return TEST_STRING;
     case (10600):
       return CHANGE_OF_SETUP_PARAMETER_STRING;
-    case (10800):
+    case (11300):
       return SWITCH_CMD_SENT_STRING;
-    case (10801):
-      return SWITCH_HAS_CHANGED_STRING;
-    case (10802):
-      return SWITCHING_Q7S_DENIED_STRING;
-    case (10900):
-      return GPIO_PULL_HIGH_FAILED_STRING;
-    case (10901):
-      return GPIO_PULL_LOW_FAILED_STRING;
-    case (10902):
-      return SWITCH_ALREADY_ON_STRING;
-    case (10903):
-      return SWITCH_ALREADY_OFF_STRING;
-    case (10904):
-      return MAIN_SWITCH_TIMEOUT_STRING;
-    case (11000):
-      return MAIN_SWITCH_ON_TIMEOUT_STRING;
-    case (11001):
-      return MAIN_SWITCH_OFF_TIMEOUT_STRING;
-    case (11002):
-      return DEPLOYMENT_FAILED_STRING;
-    case (11003):
-      return DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING;
-    case (11004):
-      return DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING;
-    case (11101):
-      return MEMORY_READ_RPT_CRC_FAILURE_STRING;
-    case (11102):
-      return ACK_FAILURE_STRING;
-    case (11103):
-      return EXE_FAILURE_STRING;
-    case (11104):
-      return CRC_FAILURE_EVENT_STRING;
-    case (11201):
-      return SELF_TEST_I2C_FAILURE_STRING;
-    case (11202):
-      return SELF_TEST_SPI_FAILURE_STRING;
-    case (11203):
-      return SELF_TEST_ADC_FAILURE_STRING;
-    case (11204):
-      return SELF_TEST_PWM_FAILURE_STRING;
-    case (11205):
-      return SELF_TEST_TC_FAILURE_STRING;
-    case (11206):
-      return SELF_TEST_MTM_RANGE_FAILURE_STRING;
-    case (11207):
-      return SELF_TEST_COIL_CURRENT_FAILURE_STRING;
-    case (11208):
-      return INVALID_ERROR_BYTE_STRING;
     case (11301):
-      return ERROR_STATE_STRING;
+      return SWITCH_HAS_CHANGED_STRING;
+    case (11302):
+      return SWITCHING_Q7S_DENIED_STRING;
+    case (11400):
+      return GPIO_PULL_HIGH_FAILED_STRING;
     case (11401):
-      return BOOTING_FIRMWARE_FAILED_STRING;
+      return GPIO_PULL_LOW_FAILED_STRING;
     case (11402):
-      return BOOTING_BOOTLOADER_FAILED_STRING;
+      return SWITCH_ALREADY_ON_STRING;
+    case (11403):
+      return SWITCH_ALREADY_OFF_STRING;
+    case (11404):
+      return MAIN_SWITCH_TIMEOUT_STRING;
+    case (11500):
+      return MAIN_SWITCH_ON_TIMEOUT_STRING;
     case (11501):
-      return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
+      return MAIN_SWITCH_OFF_TIMEOUT_STRING;
     case (11502):
-      return SUPV_ACK_FAILURE_STRING;
+      return DEPLOYMENT_FAILED_STRING;
     case (11503):
-      return SUPV_EXE_FAILURE_STRING;
+      return DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING;
     case (11504):
-      return SUPV_CRC_FAILURE_EVENT_STRING;
+      return DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING;
-    case (11600):
-      return SANITIZATION_FAILED_STRING;
     case (11601):
-      return MOUNTED_SD_CARD_STRING;
+      return MEMORY_READ_RPT_CRC_FAILURE_STRING;
-    case (11700):
+    case (11602):
-      return UPDATE_FILE_NOT_EXISTS_STRING;
+      return ACK_FAILURE_STRING;
+    case (11603):
+      return EXE_FAILURE_STRING;
+    case (11604):
+      return MPSOC_HANDLER_CRC_FAILURE_STRING;
+    case (11605):
+      return MPSOC_HANDLER_SEQ_CNT_MISMATCH_STRING;
+    case (11606):
+      return MPSOC_SHUTDOWN_FAILED_STRING;
     case (11701):
-      return ACTION_COMMANDING_FAILED_STRING;
+      return SELF_TEST_I2C_FAILURE_STRING;
     case (11702):
-      return UPDATE_AVAILABLE_FAILED_STRING;
+      return SELF_TEST_SPI_FAILURE_STRING;
     case (11703):
-      return UPDATE_TRANSFER_FAILED_STRING;
+      return SELF_TEST_ADC_FAILURE_STRING;
     case (11704):
-      return UPDATE_VERIFY_FAILED_STRING;
+      return SELF_TEST_PWM_FAILURE_STRING;
     case (11705):
-      return UPDATE_FINISHED_STRING;
+      return SELF_TEST_TC_FAILURE_STRING;
-    case (11800):
+    case (11706):
-      return SEND_MRAM_DUMP_FAILED_STRING;
+      return SELF_TEST_MTM_RANGE_FAILURE_STRING;
+    case (11707):
+      return SELF_TEST_COIL_CURRENT_FAILURE_STRING;
+    case (11708):
+      return INVALID_ERROR_BYTE_STRING;
     case (11801):
-      return MRAM_DUMP_FAILED_STRING;
+      return ERROR_STATE_STRING;
-    case (11802):
-      return MRAM_DUMP_FINISHED_STRING;
     case (11901):
-      return INVALID_TC_FRAME_STRING;
+      return BOOTING_FIRMWARE_FAILED_STRING;
     case (11902):
-      return INVALID_FAR_STRING;
+      return BOOTING_BOOTLOADER_FAILED_STRING;
-    case (11903):
-      return CARRIER_LOCK_STRING;
-    case (11904):
-      return BIT_LOCK_PDEC_STRING;
-    case (12000):
-      return IMAGE_UPLOAD_FAILED_STRING;
     case (12001):
-      return IMAGE_DOWNLOAD_FAILED_STRING;
+      return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
     case (12002):
-      return IMAGE_UPLOAD_SUCCESSFUL_STRING;
+      return SUPV_ACK_FAILURE_STRING;
     case (12003):
-      return IMAGE_DOWNLOAD_SUCCESSFUL_STRING;
+      return SUPV_EXE_FAILURE_STRING;
     case (12004):
-      return FLASH_WRITE_SUCCESSFUL_STRING;
+      return SUPV_CRC_FAILURE_EVENT_STRING;
-    case (12005):
-      return FLASH_READ_SUCCESSFUL_STRING;
-    case (12006):
-      return FLASH_READ_FAILED_STRING;
-    case (12007):
-      return FIRMWARE_UPDATE_SUCCESSFUL_STRING;
-    case (12008):
-      return FIRMWARE_UPDATE_FAILED_STRING;
-    case (12009):
-      return STR_HELPER_READING_REPLY_FAILED_STRING;
-    case (12010):
-      return STR_HELPER_COM_ERROR_STRING;
-    case (12011):
-      return STR_HELPER_NO_REPLY_STRING;
-    case (12012):
-      return STR_HELPER_DEC_ERROR_STRING;
-    case (12013):
-      return POSITION_MISMATCH_STRING;
-    case (12014):
-      return STR_HELPER_FILE_NOT_EXISTS_STRING;
-    case (12015):
-      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
-    case (12016):
-      return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
     case (12100):
-      return TRANSITION_BACK_TO_OFF_STRING;
+      return SANITIZATION_FAILED_STRING;
     case (12101):
-      return NEG_V_OUT_OF_BOUNDS_STRING;
+      return MOUNTED_SD_CARD_STRING;
-    case (12102):
-      return U_DRO_OUT_OF_BOUNDS_STRING;
-    case (12103):
-      return I_DRO_OUT_OF_BOUNDS_STRING;
-    case (12104):
-      return U_X8_OUT_OF_BOUNDS_STRING;
-    case (12105):
-      return I_X8_OUT_OF_BOUNDS_STRING;
-    case (12106):
-      return U_TX_OUT_OF_BOUNDS_STRING;
-    case (12107):
-      return I_TX_OUT_OF_BOUNDS_STRING;
-    case (12108):
-      return U_MPA_OUT_OF_BOUNDS_STRING;
-    case (12109):
-      return I_MPA_OUT_OF_BOUNDS_STRING;
-    case (12110):
-      return U_HPA_OUT_OF_BOUNDS_STRING;
-    case (12111):
-      return I_HPA_OUT_OF_BOUNDS_STRING;
     case (12200):
-      return TRANSITION_OTHER_SIDE_FAILED_STRING;
+      return UPDATE_FILE_NOT_EXISTS_STRING;
     case (12201):
-      return NOT_ENOUGH_DEVICES_DUAL_MODE_STRING;
+      return ACTION_COMMANDING_FAILED_STRING;
     case (12202):
-      return POWER_STATE_MACHINE_TIMEOUT_STRING;
+      return UPDATE_AVAILABLE_FAILED_STRING;
     case (12203):
+      return UPDATE_TRANSFER_FAILED_STRING;
+    case (12204):
+      return UPDATE_VERIFY_FAILED_STRING;
+    case (12205):
+      return UPDATE_FINISHED_STRING;
+    case (12300):
+      return SEND_MRAM_DUMP_FAILED_STRING;
+    case (12301):
+      return MRAM_DUMP_FAILED_STRING;
+    case (12302):
+      return MRAM_DUMP_FINISHED_STRING;
+    case (12401):
+      return INVALID_TC_FRAME_STRING;
+    case (12402):
+      return INVALID_FAR_STRING;
+    case (12403):
+      return CARRIER_LOCK_STRING;
+    case (12404):
+      return BIT_LOCK_PDEC_STRING;
+    case (12500):
+      return IMAGE_UPLOAD_FAILED_STRING;
+    case (12501):
+      return IMAGE_DOWNLOAD_FAILED_STRING;
+    case (12502):
+      return IMAGE_UPLOAD_SUCCESSFUL_STRING;
+    case (12503):
+      return IMAGE_DOWNLOAD_SUCCESSFUL_STRING;
+    case (12504):
+      return FLASH_WRITE_SUCCESSFUL_STRING;
+    case (12505):
+      return FLASH_READ_SUCCESSFUL_STRING;
+    case (12506):
+      return FLASH_READ_FAILED_STRING;
+    case (12507):
+      return FIRMWARE_UPDATE_SUCCESSFUL_STRING;
+    case (12508):
+      return FIRMWARE_UPDATE_FAILED_STRING;
+    case (12509):
+      return STR_HELPER_READING_REPLY_FAILED_STRING;
+    case (12510):
+      return STR_HELPER_COM_ERROR_STRING;
+    case (12511):
+      return STR_HELPER_NO_REPLY_STRING;
+    case (12512):
+      return STR_HELPER_DEC_ERROR_STRING;
+    case (12513):
+      return POSITION_MISMATCH_STRING;
+    case (12514):
+      return STR_HELPER_FILE_NOT_EXISTS_STRING;
+    case (12515):
+      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+    case (12516):
+      return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
+    case (12600):
+      return MPSOC_FLASH_WRITE_FAILED_STRING;
+    case (12601):
+      return MPSOC_FLASH_WRITE_SUCCESSFUL_STRING;
+    case (12602):
+      return SENDING_COMMAND_FAILED_STRING;
+    case (12603):
+      return MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING;
+    case (12604):
+      return MPSOC_HELPER_READING_REPLY_FAILED_STRING;
+    case (12605):
+      return MISSING_ACK_STRING;
+    case (12606):
+      return MISSING_EXE_STRING;
+    case (12607):
+      return ACK_FAILURE_REPORT_STRING;
+    case (12608):
+      return EXE_FAILURE_REPORT_STRING;
+    case (12609):
+      return ACK_INVALID_APID_STRING;
+    case (12610):
+      return EXE_INVALID_APID_STRING;
+    case (12611):
+      return MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING;
+    case (12700):
+      return TRANSITION_BACK_TO_OFF_STRING;
+    case (12701):
+      return NEG_V_OUT_OF_BOUNDS_STRING;
+    case (12702):
+      return U_DRO_OUT_OF_BOUNDS_STRING;
+    case (12703):
+      return I_DRO_OUT_OF_BOUNDS_STRING;
+    case (12704):
+      return U_X8_OUT_OF_BOUNDS_STRING;
+    case (12705):
+      return I_X8_OUT_OF_BOUNDS_STRING;
+    case (12706):
+      return U_TX_OUT_OF_BOUNDS_STRING;
+    case (12707):
+      return I_TX_OUT_OF_BOUNDS_STRING;
+    case (12708):
+      return U_MPA_OUT_OF_BOUNDS_STRING;
+    case (12709):
+      return I_MPA_OUT_OF_BOUNDS_STRING;
+    case (12710):
+      return U_HPA_OUT_OF_BOUNDS_STRING;
+    case (12711):
+      return I_HPA_OUT_OF_BOUNDS_STRING;
+    case (12800):
+      return TRANSITION_OTHER_SIDE_FAILED_STRING;
+    case (12801):
+      return NOT_ENOUGH_DEVICES_DUAL_MODE_STRING;
+    case (12802):
+      return POWER_STATE_MACHINE_TIMEOUT_STRING;
+    case (12803):
       return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
-    case (12400):
+    case (13000):
       return CHILDREN_LOST_MODE_STRING;
+    case (13100):
+      return GPS_FIX_CHANGE_STRING;
     case (13600):
       return ALLOC_FAILURE_STRING;
     case (13601):

linux/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 115 translations.
+ * Contains 117 translations.
- * Generated on: 2022-03-22 20:43:04
+ * Generated on: 2022-04-08 11:21:58
  */
 #include "translateObjects.h"
 
@@ -48,8 +48,10 @@ const char *RAD_SENSOR_STRING = "RAD_SENSOR";
 const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
 const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
 const char *STR_HELPER_STRING = "STR_HELPER";
+const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
 const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
 const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
+const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
 const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
 const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
 const char *TMP1075_HANDLER_1_STRING = "TMP1075_HANDLER_1";
@@ -208,10 +210,14 @@ const char *translateObject(object_id_t object) {
       return PLOC_MEMORY_DUMPER_STRING;
     case 0x44330002:
       return STR_HELPER_STRING;
+    case 0x44330003:
+      return PLOC_MPSOC_HELPER_STRING;
     case 0x44330015:
       return PLOC_MPSOC_HANDLER_STRING;
     case 0x44330016:
       return PLOC_SUPERVISOR_HANDLER_STRING;
+    case 0x44330017:
+      return PLOC_SUPERVISOR_HELPER_STRING;
     case 0x444100A2:
       return SOLAR_ARRAY_DEPL_HANDLER_STRING;
     case 0x444100A4:

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -177,14 +177,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   bool addSus9 = true;
   bool addSus10 = true;
   bool addSus11 = true;
-  /**
+
-   * The sun sensor will be shutdown as soon as the chip select is pulled high. Thus all
-   * requests to a sun sensor must be performed consecutively. Another reason for calling multiple
-   * device handler cycles is that the ADC conversions take some time. Thus first the ADC
-   * conversions are initiated and in a next step the results can be read from the internal FIFO.
-   * One sun sensor communication sequence also blocks the SPI bus. So other devices can not be
-   * inserted between the device handler cycles of one SUS.
-   */
   if (addSus0) {
     /* Write setup */
     thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -517,6 +510,7 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
 
 ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
+#ifndef TE0720_1CFA
 #if Q7S_EM != 1
   // PCDU handlers receives two messages and both must be handled
   thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -551,6 +545,7 @@ ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 #endif /* Q7S_EM == 0 */
+#endif
   static_cast<void>(length);
   return HasReturnvaluesIF::RETURN_OK;
 }
@@ -590,69 +585,3 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF *thisSequence) {
   }
   return HasReturnvaluesIF::RETURN_OK;
 }
-
-#if BOARD_TE0720 == 1
-ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
-  uint32_t length = thisSequence->getPeriodMs();
-
-#if TEST_PLOC_MPSOC_HANDLER == 1
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif
-
-#if OBSW_TEST_RAD_SENSOR == 1
-  thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif
-
-#if OBSW_TEST_SUS == 1
-  /* Write setup */
-  thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE);
-  thisSequence->addSlot(objects::SUS_1, length * 0.903, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::SUS_1, length * 0.904, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::SUS_1, length * 0.905, DeviceHandlerIF::GET_READ);
-
-  /* Start conversion*/
-  thisSequence->addSlot(objects::SUS_1, length * 0.906, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::SUS_1, length * 0.907, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::SUS_1, length * 0.908, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::SUS_1, length * 0.909, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::SUS_1, length * 0.91, DeviceHandlerIF::GET_READ);
-
-  /* Read conversions */
-  thisSequence->addSlot(objects::SUS_1, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::SUS_1, length * 0.912, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::SUS_1, length * 0.913, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::SUS_1, length * 0.914, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::SUS_1, length * 0.915, DeviceHandlerIF::GET_READ);
-#endif
-
-#if OBSW_ADD_PLOC_SUPERVISOR == 1
-  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.2,
-                        DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif
-
-  thisSequence->addSlot(objects::PLOC_UPDATER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::PLOC_MEMORY_DUMPER, length * 0,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-
-  if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Initialization of TE0720 PST failed" << std::endl;
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
-#endif /* BOARD_TE0720 == 1 */

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h

@@ -54,14 +54,6 @@ ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);
  * @return
  */
 ReturnValue_t pstTest(FixedTimeslotTaskIF* thisSequence);
-
-#if BOARD_TE0720 == 1
-/**
- * @brief   This polling sequence will be created when the software is compiled for the TE0720.
- */
-ReturnValue_t pollingSequenceTE0720(FixedTimeslotTaskIF* thisSequence);
-#endif
-
 }  // namespace pst
 
 #endif /* POLLINGSEQUENCEINIT_H_ */

linux/obc/AxiPtmeConfig.h

@@ -37,6 +37,8 @@ class AxiPtmeConfig : public SystemObject {
    *            The default implementation of the PTME generates a clock where the high level is
    *            only one bit clock period long. This might be too short to match the setup and hold
    *            times of the S-and transceiver.
+   *            Default: Enables TX clock manipulator
+   *
    */
   ReturnValue_t enableTxclockManipulator();
   ReturnValue_t disableTxclockManipulator();
@@ -47,6 +49,7 @@ class AxiPtmeConfig : public SystemObject {
    *        Enable inversion will update data on falling edge (not the configuration required by the
    *        syrlinks)
    *        Disable clock inversion. Data updated on rising edge.
+   *        Default: Inversion is disabled
    */
   ReturnValue_t enableTxclockInversion();
   ReturnValue_t disableTxclockInversion();
@@ -54,7 +57,7 @@ class AxiPtmeConfig : public SystemObject {
  private:
   // Address of register storing the bitrate configuration parameter
   static const uint32_t CADU_BITRATE_REG = 0x0;
-  // Address to register storing common configuration parameters
+  // Address of register storing common configuration parameters
   static const uint32_t COMMON_CONFIG_REG = 0x4;
   static const uint32_t ADRESS_DIVIDER = 4;
 

linux/obc/PdecHandler.cpp

@@ -326,6 +326,7 @@ void PdecHandler::handleNewTc() {
   printTC(tcLength);
 #endif /* OBSW_DEBUG_PDEC_HANDLER */
 
+#if OBSW_TC_FROM_PDEC == 1
   store_address_t storeId;
   result = tcStore->addData(&storeId, tcSegment + 1, tcLength - 1);
   if (result != RETURN_OK) {
@@ -343,6 +344,7 @@ void PdecHandler::handleNewTc() {
     tcStore->deleteData(storeId);
     return;
   }
+#endif /* OBSW_TC_FROM_PDEC == 1 */
 
   return;
 }