CHANGELOG.md

@@ -19,9 +19,39 @@ change warranting a new major release:
 
 ## Changed
 
+- Igrf13 model vector now outputs as uT instead of nT
+
+# [v1.27.2] 2023-02-14
+
+Reaction Wheel handling was determined to be (quasi) broken and needs to be fixed in future release
+to be usable by ACS controller.
+
+eive-tmtc: v2.15.6
+
+## Added
+
+- Function for the ACS controller to command MTQ and RWs called by all subroutines
+- RwHandler now handles commanding of RW speeds via RwSpeedActuationSet
+- Tracing supports which allows checking whether threads are running as usual.
+
+## Changed
+
 - Remove 2 TCS threads.
 - Move low level polling into ACS PST, move high level device handlers into TCS system task.
-- Igrf13 model vector now outputs as uT instead of nT
+- ActCmds now returns command vectors as integers as required by the actuators
+  and scales them to the appropriate range
+- All RwHandler are now polled five times per ACS cycle
+- Remove 2 TCS threads. Move low level polling into ACS PST, move high level device handlers into
+  TCS system task.
+- Further reduce number of threads:
+  1. Remove PUS low priority task, move assigned threads to the generic system task
+  2. Group events and verification tasks into PUS high priority task
+  3. Group all other components into PUS medium priority task
+  4. Add SCEX device handler to PL task, remove dedicated thread
+
+## Removed
+
+- lwgps dependency not compiled anymore, is not used
 
 # [v1.27.1] 2023-02-13
 

CMakeLists.txt

@@ -11,7 +11,7 @@ cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 1)
 set(OBSW_VERSION_MINOR 27)
-set(OBSW_VERSION_REVISION 1)
+set(OBSW_VERSION_REVISION 2)
 
 # set(CMAKE_VERBOSE TRUE)
 
@@ -424,7 +424,6 @@ add_subdirectory(${BSP_PATH})
 add_subdirectory(${COMMON_PATH})
 add_subdirectory(${DUMMY_PATH})
 
-add_subdirectory(${LIB_LWGPS_PATH})
 add_subdirectory(${FSFW_PATH})
 add_subdirectory(${LIB_EIVE_MISSION_PATH})
 add_subdirectory(${TEST_PATH})
@@ -491,8 +490,8 @@ endif()
 # ##############################################################################
 
 # Add libraries
-target_link_libraries(${LIB_EIVE_MISSION}
+target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_FSFW_NAME}
-                      PUBLIC ${LIB_FSFW_NAME} ${LIB_LWGPS_NAME} ${LIB_OS_NAME})
+                                                 ${LIB_OS_NAME})
 
 target_link_libraries(${LIB_DUMMIES} PUBLIC ${LIB_FSFW_NAME} ${LIB_JSON_NAME})
 

bsp_q7s/core/CoreController.cpp

@@ -63,6 +63,9 @@ ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
 }
 
 void CoreController::performControlOperation() {
+#if OBSW_THREAD_TRACING == 1
+  trace::threadTrace(opCounter, "CORE CTRL");
+#endif
   EventMessage event;
   for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
        result = eventQueue->receiveMessage(&event)) {

bsp_q7s/core/CoreController.h

@@ -12,6 +12,7 @@
 #include "events/subsystemIdRanges.h"
 #include "fsfw/controller/ExtendedControllerBase.h"
 #include "mission/devices/devicedefinitions/GPSDefinitions.h"
+#include "mission/trace.h"
 
 class Timer;
 class SdCardManager;
@@ -222,6 +223,9 @@ class CoreController : public ExtendedControllerBase {
   std::string currMntPrefix;
   bool performOneShotSdCardOpsSwitch = false;
   uint8_t shortSdCardCdCounter = 0;
+#if OBSW_THREAD_TRACING == 1
+  uint32_t opCounter;
+#endif
   Countdown sdCardCheckCd = Countdown(INIT_SD_CARD_CHECK_TIMEOUT);
 
   /**

bsp_q7s/core/ObjectFactory.cpp

@@ -683,8 +683,8 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
                                    RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED,
                                    &rwSpiCallback::spiCallback, nullptr);
     auto* rwHandler = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF,
-                                    rwGpioIds[idx]);
+                                    rwGpioIds[idx], idx);
-    rwCookies[idx]->setCallbackArgs(rws[idx]);
+    rwCookies[idx]->setCallbackArgs(rwHandler);
 #if OBSW_TEST_RW == 1
     rws[idx]->setStartUpImmediately();
 #endif

bsp_q7s/core/scheduling.cpp

@@ -154,6 +154,14 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
   }
+  result = genericSysTask->addComponent(objects::INTERNAL_ERROR_REPORTER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
+  }
+  result = genericSysTask->addComponent(objects::PUS_SERVICE_17_TEST);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
+  }
 
 #if OBSW_ADD_CCSDS_IP_CORES == 1
   result = genericSysTask->addComponent(objects::CCSDS_HANDLER);
@@ -266,14 +274,16 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_PLOC_SUPERVISOR */
 
   PeriodicTaskIF* plTask = factory->createPeriodicTask(
-      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+      "PL_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
-  scheduling::addMpsocSupvHandlers(plTask);
   plTask->addComponent(objects::CAM_SWITCHER);
+  scheduling::addMpsocSupvHandlers(plTask);
+#if OBSW_ADD_SCEX_DEVICE == 1
+  scheduling::scheduleScexDev(plTask);
+#endif
 
 #if OBSW_ADD_SCEX_DEVICE == 1
-  PeriodicTaskIF* scexDevHandler;
   PeriodicTaskIF* scexReaderTask;
-  scheduling::schedulingScex(*factory, scexDevHandler, scexReaderTask);
+  scheduling::scheduleScexReader(*factory, scexReaderTask);
 #endif
 
   std::vector<PeriodicTaskIF*> pusTasks;
@@ -330,7 +340,6 @@ void scheduling::initTasks() {
   taskStarter(pstTasks, "PST task vector");
   taskStarter(pusTasks, "PUS task vector");
 #if OBSW_ADD_SCEX_DEVICE == 1
-  scexDevHandler->startTask();
   scexReaderTask->startTask();
 #endif
 
@@ -374,9 +383,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 #else
   static constexpr float acsPstPeriod = 0.8;
 #endif
-  FixedTimeslotTaskIF* acsPst = factory.createFixedTimeslotTask(
+  FixedTimeslotTaskIF* acsTcsPst = factory.createFixedTimeslotTask(
-      "ACS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
+      "ACS_TCS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
-  result = pst::pstTcsAndAcs(acsPst, cfg);
+  result = pst::pstTcsAndAcs(acsTcsPst, cfg);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
       sif::warning << "scheduling::initTasks: ACS PST is empty" << std::endl;
@@ -384,7 +393,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
       sif::error << "scheduling::initTasks: Creating ACS PST failed!" << std::endl;
     }
   } else {
-    taskVec.push_back(acsPst);
+    taskVec.push_back(acsTcsPst);
   }
 
   /* Polling Sequence Table Default */
@@ -435,42 +444,28 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
                                 std::vector<PeriodicTaskIF*>& taskVec) {
   ReturnValue_t result = returnvalue::OK;
   /* PUS Services */
-  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
+  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
-      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+      "PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
   }
-  taskVec.push_back(pusVerification);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-
-  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 != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
   }
-  result = pusEvents->addComponent(objects::EVENT_MANAGER);
+  result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
   }
-  taskVec.push_back(pusEvents);
-
-  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
-      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_9", 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_3_HOUSEKEEPING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
@@ -495,20 +490,11 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
   }
-  // Used for connection tests, therefore use higher priority
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_17_TEST);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
+    scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
   }
   taskVec.push_back(pusMedPrio);
-
-  PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
-      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
-  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
-  }
-  taskVec.push_back(pusLowPrio);
 }
 
 void scheduling::createTestTasks(TaskFactory& factory,

fsfw

@@ -1 +1 @@
-Subproject commit d256ede8c1d8e7a746d3a56d45313d2b863e0b28
+Subproject commit 9de6c4b3aa20ee63c28051d486be8a12df147f22

linux/boardtest/UartTestClass.h

@@ -10,7 +10,7 @@
 
 #include <array>
 
-#include "lwgps/lwgps.h"
+//#include "lwgps/lwgps.h"
 #include "mission/devices/devicedefinitions/ScexDefinitions.h"
 #include "test/TestTask.h"
 
@@ -59,7 +59,7 @@ class UartTestClass : public TestTask {
   DleEncoder dleEncoder = DleEncoder();
   SerialCookie* uartCookie = nullptr;
   size_t encodedLen = 0;
-  lwgps_t gpsData = {};
+  // lwgps_t gpsData = {};
   struct termios tty = {};
   int serialPort = 0;
   bool startFound = false;

linux/devices/GpsHyperionLinuxController.cpp

@@ -102,6 +102,9 @@ ReturnValue_t GpsHyperionLinuxController::performOperation(uint8_t opCode) {
   handleQueue();
   poolManager.performHkOperation();
   while (true) {
+#if OBSW_THREAD_TRACING == 1
+    trace::threadTrace(opCounter, "GPS CTRL");
+#endif
     bool callAgainImmediately = readGpsDataFromGpsd();
     if (not callAgainImmediately) {
       handleQueue();

linux/devices/GpsHyperionLinuxController.h

@@ -6,6 +6,7 @@
 #include "fsfw/controller/ExtendedControllerBase.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "mission/devices/devicedefinitions/GPSDefinitions.h"
+#include "mission/trace.h"
 
 #ifdef FSFW_OSAL_LINUX
 #include <gps.h>
@@ -60,6 +61,9 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
   Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
   bool modeCommanded = false;
   bool timeInit = false;
+#if OBSW_THREAD_TRACING == 1
+  uint32_t opCounter = 0;
+#endif
 
   struct OneShotSwitches {
     void reset() {

linux/devices/ploc/PlocMPSoCHelper.cpp

@@ -3,7 +3,6 @@
 #include <filesystem>
 #include <fstream>
 
-#include "OBSWConfig.h"
 #ifdef XIPHOS_Q7S
 #include "bsp_q7s/fs/FilesystemHelper.h"
 #endif
@@ -34,6 +33,9 @@ ReturnValue_t PlocMPSoCHelper::performOperation(uint8_t operationCode) {
   ReturnValue_t result = returnvalue::OK;
   semaphore.acquire();
   while (true) {
+#if OBSW_THREAD_TRACING == 1
+    trace::threadTrace(opCounter, "PLOC MPSOC Helper");
+#endif
     switch (internalState) {
       case InternalState::IDLE: {
         semaphore.acquire();

linux/devices/ploc/PlocMPSoCHelper.h

@@ -11,6 +11,7 @@
 #include "fsfw/tmtcservices/SourceSequenceCounter.h"
 #include "fsfw_hal/linux/serial/SerialComIF.h"
 #include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
+#include "mission/trace.h"
 #ifdef XIPHOS_Q7S
 #include "bsp_q7s/fs/SdCardManager.h"
 #endif
@@ -116,6 +117,10 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF {
 
   struct FlashWrite flashWrite;
 
+#if OBSW_THREAD_TRACING == 1
+  uint32_t opCounter = 0;
+#endif
+
   enum class InternalState { IDLE, FLASH_WRITE, FLASH_READ };
 
   InternalState internalState = InternalState::IDLE;

linux/devices/ploc/PlocSupvUartMan.cpp

@@ -101,6 +101,9 @@ ReturnValue_t PlocSupvUartManager::performOperation(uint8_t operationCode) {
     lock->unlockMutex();
     semaphore->acquire();
     putTaskToSleep = false;
+#if OBSW_THREAD_TRACING == 1
+    trace::threadTrace(opCounter, "PLOC SUPV Helper PST");
+#endif
     while (true) {
       if (putTaskToSleep) {
         performUartShutdown();

linux/devices/ploc/PlocSupvUartMan.h

@@ -15,6 +15,7 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw_hal/linux/serial/SerialComIF.h"
 #include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
+#include "mission/trace.h"
 #include "tas/crc.h"
 
 #ifdef XIPHOS_Q7S
@@ -211,6 +212,9 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
   supv::TmBase tmReader;
   int serialPort = 0;
   struct termios tty = {};
+#if OBSW_THREAD_TRACING == 1
+  uint32_t opCounter = 0;
+#endif
 
   struct EventBufferRequest {
     std::string path = "";

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -5,6 +5,7 @@
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 
+#include "OBSWConfig.h"
 #include "eive/definitions.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 
@@ -240,7 +241,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
       thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::GET_READ);
     }
-
     if (enableBside) {
       // B side
       thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
@@ -293,7 +293,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
     }
   }
   // SUS: 16 ms
-
   bool addSus0 = true;
   bool addSus1 = true;
   bool addSus2 = true;
@@ -441,7 +440,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
       thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
                             length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
-
     if (addSus6) {
       thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
                             DeviceHandlerIF::PERFORM_OPERATION);
@@ -464,7 +462,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
       thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
                             length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
-
     if (addSus7) {
       thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
                             DeviceHandlerIF::PERFORM_OPERATION);
@@ -487,7 +484,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
       thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
                             length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
-
     if (addSus8) {
       thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
                             DeviceHandlerIF::PERFORM_OPERATION);
@@ -510,7 +506,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
       thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
                             length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
-
     if (addSus9) {
       thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
                             DeviceHandlerIF::PERFORM_OPERATION);
@@ -522,6 +517,7 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                             DeviceHandlerIF::SEND_READ);
       thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
                             DeviceHandlerIF::GET_READ);
+
       thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
                             length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
@@ -532,7 +528,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
       thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
                             length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
-
     if (addSus10) {
       thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
                             DeviceHandlerIF::PERFORM_OPERATION);
@@ -555,7 +550,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
       thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
                             length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
-
     if (addSus11) {
       thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
                             DeviceHandlerIF::PERFORM_OPERATION);
@@ -639,6 +633,129 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
   }
 
   if (cfg.scheduleRws) {
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
+  }
+
+  if (cfg.scheduleRws) {
+    // this is the torquing cycle
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+
     thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
                           DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
@@ -684,6 +801,8 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
     thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
                           DeviceHandlerIF::GET_READ);
   }
+
   thisSequence->addSlot(objects::SPI_RTD_COM_IF, length * 0.5, 0);
+
   return returnvalue::OK;
 }

linux/scheduling.cpp

@@ -8,8 +8,7 @@
 #include "ObjectFactory.h"
 #include "eive/objects.h"
 
-void scheduling::schedulingScex(TaskFactory& factory, PeriodicTaskIF*& scexDevHandler,
+void scheduling::scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask) {
-                                PeriodicTaskIF*& scexReaderTask) {
   using namespace scheduling;
   ReturnValue_t result = returnvalue::OK;
 #if OBSW_PRINT_MISSED_DEADLINES == 1
@@ -17,37 +16,6 @@ void scheduling::schedulingScex(TaskFactory& factory, PeriodicTaskIF*& scexDevHa
 #else
   void (*missedDeadlineFunc)(void) = nullptr;
 #endif
-  scexDevHandler = factory.createPeriodicTask(
-      "SCEX_DEV", 35, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
-
-  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::PERFORM_OPERATION);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
-  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_WRITE);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
-  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_WRITE);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
-  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_READ);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
-  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_READ);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
-  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_READ);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
-  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_READ);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
 
   result = returnvalue::OK;
   scexReaderTask = factory.createPeriodicTask(
@@ -79,3 +47,35 @@ void scheduling::addMpsocSupvHandlers(PeriodicTaskIF* plTask) {
   plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_READ);
 #endif
 }
+
+void scheduling::scheduleScexDev(PeriodicTaskIF*& scexDevHandler) {
+  ReturnValue_t result =
+      scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::PERFORM_OPERATION);
+  if (result != returnvalue::OK) {
+    printAddObjectError("SCEX_DEV", objects::SCEX);
+  }
+  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_WRITE);
+  if (result != returnvalue::OK) {
+    printAddObjectError("SCEX_DEV", objects::SCEX);
+  }
+  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_WRITE);
+  if (result != returnvalue::OK) {
+    printAddObjectError("SCEX_DEV", objects::SCEX);
+  }
+  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_READ);
+  if (result != returnvalue::OK) {
+    printAddObjectError("SCEX_DEV", objects::SCEX);
+  }
+  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_READ);
+  if (result != returnvalue::OK) {
+    printAddObjectError("SCEX_DEV", objects::SCEX);
+  }
+  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_READ);
+  if (result != returnvalue::OK) {
+    printAddObjectError("SCEX_DEV", objects::SCEX);
+  }
+  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_READ);
+  if (result != returnvalue::OK) {
+    printAddObjectError("SCEX_DEV", objects::SCEX);
+  }
+}

linux/scheduling.h

@@ -3,7 +3,7 @@
 #include <fsfw/tasks/TaskFactory.h>
 
 namespace scheduling {
-void schedulingScex(TaskFactory& factory, PeriodicTaskIF*& scexDevHandler,
+void scheduleScexDev(PeriodicTaskIF*& scexDevHandler);
-                    PeriodicTaskIF*& scexReaderTask);
+void scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask);
 void addMpsocSupvHandlers(PeriodicTaskIF* task);
 }  // namespace scheduling

misc/eclipse/.cproject

@@ -57,7 +57,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="thirdparty/json/tests|thirdparty/json/docs|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-release-q7s|bsp_linux_board|thirdparty/json/single_include|cmake-build-debug-q7s-em|cmake-build-debug-q7s/_deps/etl-src/temp|thirdparty/rapidcsv/examples|cmake-build-debug-q7s/_deps/etl-src/images|fsfwconfig|cmake-build-debug-q7s/_deps/etl-src/subprojects|thirdparty/json/third_party|bsp_q7s|thirdparty/json/test|bsp_te0720_1cfa|scripts|cmake-build-debug-q7s/_deps/etl-src/cmake|bsp_egse|build-Debug-RPi|thirdparty/rapidcsv/doc|thirdparty/json/doc|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-release-q7s-em|cmake-build-debug-q7s|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug/_deps|thirdparty/rapidcsv/tests|archive|thirdparty/json/cmake|thirdparty/json/benchmarks" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -119,7 +119,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="thirdparty/json/tests|thirdparty/json/docs|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-release-q7s|bsp_linux_board|thirdparty/json/single_include|cmake-build-debug-q7s-em|cmake-build-debug-q7s/_deps/etl-src/temp|thirdparty/rapidcsv/examples|cmake-build-debug-q7s/_deps/etl-src/images|fsfwconfig|cmake-build-debug-q7s/_deps/etl-src/subprojects|thirdparty/json/third_party|bsp_q7s|thirdparty/json/test|bsp_te0720_1cfa|scripts|cmake-build-debug-q7s/_deps/etl-src/cmake|bsp_egse|build-Debug-RPi|thirdparty/rapidcsv/doc|thirdparty/json/doc|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-release-q7s-em|cmake-build-debug-q7s|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug/_deps|thirdparty/rapidcsv/tests|archive|thirdparty/json/cmake|thirdparty/json/benchmarks" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -187,7 +187,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="thirdparty/json/tests|thirdparty/json/docs|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-release-q7s|bsp_linux_board|thirdparty/json/single_include|cmake-build-debug-q7s-em|cmake-build-debug-q7s/_deps/etl-src/temp|thirdparty/rapidcsv/examples|cmake-build-debug-q7s/_deps/etl-src/images|fsfwconfig|cmake-build-debug-q7s/_deps/etl-src/subprojects|thirdparty/json/third_party|bsp_q7s|thirdparty/json/test|bsp_te0720_1cfa|scripts|cmake-build-debug-q7s/_deps/etl-src/cmake|bsp_egse|build-Debug-RPi|thirdparty/rapidcsv/doc|thirdparty/json/doc|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-release-q7s-em|cmake-build-debug-q7s|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug/_deps|thirdparty/rapidcsv/tests|archive|thirdparty/json/cmake|thirdparty/json/benchmarks" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -255,7 +255,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="thirdparty/json/tests|thirdparty/json/docs|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-release-q7s|bsp_linux_board|thirdparty/json/single_include|cmake-build-debug-q7s-em|cmake-build-debug-q7s/_deps/etl-src/temp|thirdparty/rapidcsv/examples|cmake-build-debug-q7s/_deps/etl-src/images|fsfwconfig|cmake-build-debug-q7s/_deps/etl-src/subprojects|thirdparty/json/third_party|bsp_q7s|thirdparty/json/test|bsp_te0720_1cfa|scripts|cmake-build-debug-q7s/_deps/etl-src/cmake|bsp_egse|build-Debug-RPi|thirdparty/rapidcsv/doc|thirdparty/json/doc|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-release-q7s-em|cmake-build-debug-q7s|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug/_deps|thirdparty/rapidcsv/tests|archive|thirdparty/json/cmake|thirdparty/json/benchmarks" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -418,7 +418,7 @@
 						</toolChain>
 					</folderInfo>
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mission/CMakeLists.txt

@@ -9,4 +9,4 @@ add_subdirectory(csp)
 add_subdirectory(cfdp)
 add_subdirectory(config)
 
-target_sources(${LIB_EIVE_MISSION} PRIVATE acsDefs.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE acsDefs.cpp trace.cpp)

mission/controller/AcsController.cpp

@@ -50,6 +50,9 @@ ReturnValue_t AcsController::getParameter(uint8_t domainId, uint8_t parameterId,
 }
 
 void AcsController::performControlOperation() {
+#if OBSW_THREAD_TRACING == 1
+  trace::threadTrace(opCounter, "ACS & TCS PST");
+#endif
   switch (internalState) {
     case InternalState::STARTUP: {
       initialCountdown.resetTimer();
@@ -116,10 +119,10 @@ void AcsController::performSafe() {
   navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, &susDataProcessed,
                      &mekfData, &validMekf);
 
-  // Give desired satellite rate and sun direction to align
+  // give desired satellite rate and sun direction to align
   double satRateSafe[3] = {0, 0, 0}, sunTargetDir[3] = {0, 0, 0};
   guidance.getTargetParamsSafe(sunTargetDir, satRateSafe);
-  //	IF MEKF is working
+  // if MEKF is working
   double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
   bool magMomMtqValid = false;
   if (validMekf == returnvalue::OK) {
@@ -137,8 +140,8 @@ void AcsController::performSafe() {
         sunTargetDir, satRateSafe, &errAng, magMomMtq, &magMomMtqValid);
   }
 
-  double dipolCmdUnits[3] = {0, 0, 0};
+  int16_t cmdDipolMtqs[3] = {0, 0, 0};
-  actuatorCmd.cmdDipolMtq(magMomMtq, dipolCmdUnits);
+  actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs);
 
   {
     PoolReadGuard pg(&ctrlValData);
@@ -180,18 +183,15 @@ void AcsController::performSafe() {
       actuatorCmdData.rwTargetTorque.setValid(false);
       std::memcpy(actuatorCmdData.rwTargetSpeed.value, zeroVec, 4 * sizeof(int32_t));
       actuatorCmdData.rwTargetSpeed.setValid(false);
-      std::memcpy(actuatorCmdData.mtqTargetDipole.value, dipolCmdUnits, 3 * sizeof(int16_t));
+      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolMtqs, 3 * sizeof(int16_t));
       actuatorCmdData.mtqTargetDipole.setValid(true);
       actuatorCmdData.setValidity(true, false);
     }
   }
-  //  {
+
-  //    PoolReadGuard pg(&dipoleSet);
+  //  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
-  //    MutexGuard mg(torquer::lazyLock());
+  //                   acsParameters.magnetorquesParameter.torqueDuration, 0, 0, 0, 0,
-  //    torquer::NEW_ACTUATION_FLAG = true;
+  //                   acsParameters.rwHandlingParameters.rampTime);
-  //    dipoleSet.setDipoles(cmdDipolUnits[0], cmdDipolUnits[1], cmdDipolUnits[2],
-  //    torqueDuration);
-  //  }
 }
 
 void AcsController::performDetumble() {
@@ -208,8 +208,8 @@ void AcsController::performDetumble() {
   detumble.bDotLaw(mgmDataProcessed.mgmVecTotDerivative.value,
                    mgmDataProcessed.mgmVecTotDerivative.isValid(), mgmDataProcessed.mgmVecTot.value,
                    mgmDataProcessed.mgmVecTot.isValid(), magMomMtq);
-  double dipolCmdUnits[3] = {0, 0, 0};
+  int16_t cmdDipolMtqs[3] = {0, 0, 0};
-  actuatorCmd.cmdDipolMtq(magMomMtq, dipolCmdUnits);
+  actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs);
 
   if (mekfData.satRotRateMekf.isValid() &&
       VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
@@ -228,10 +228,6 @@ void AcsController::performDetumble() {
     triggerEvent(acs::SAFE_RATE_RECOVERY);
   }
 
-  int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
-  for (int i = 0; i < 3; ++i) {
-    cmdDipolUnitsInt[i] = std::round(dipolCmdUnits[i]);
-  }
   {
     PoolReadGuard pg(&actuatorCmdData);
     if (pg.getReadResult() == returnvalue::OK) {
@@ -239,18 +235,15 @@ void AcsController::performDetumble() {
       actuatorCmdData.rwTargetTorque.setValid(false);
       std::memset(actuatorCmdData.rwTargetSpeed.value, 0, 4 * sizeof(int32_t));
       actuatorCmdData.rwTargetSpeed.setValid(false);
-      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolUnitsInt, 3 * sizeof(int16_t));
+      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolMtqs, 3 * sizeof(int16_t));
       actuatorCmdData.mtqTargetDipole.setValid(true);
       actuatorCmdData.setValidity(true, false);
     }
   }
-  //  {
+
-  //	  PoolReadGuard pg(&dipoleSet);
+  //  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
-  //	  MutexGuard mg(torquer::lazyLock());
+  //                   acsParameters.magnetorquesParameter.torqueDuration, 0, 0, 0, 0,
-  //	  torquer::NEW_ACTUATION_FLAG = true;
+  //                   acsParameters.rwHandlingParameters.rampTime);
-  //	  dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2],
-  // torqueDuration);
-  //  }
 }
 
 void AcsController::performPointingCtrl() {
@@ -273,7 +266,7 @@ void AcsController::performPointingCtrl() {
   guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
   double torquePtgRws[4] = {0, 0, 0, 0}, rwTrqNs[4] = {0, 0, 0, 0};
   double torqueRws[4] = {0, 0, 0, 0}, torqueRwsScaled[4] = {0, 0, 0, 0};
-  double mgtDpDes[3] = {0, 0, 0}, dipolUnits[3] = {0, 0, 0};  // Desaturation Dipol
+  double mgtDpDes[3] = {0, 0, 0};
 
   switch (submode) {
     case acs::PTG_IDLE:
@@ -393,44 +386,62 @@ void AcsController::performPointingCtrl() {
 
   if (enableAntiStiction) {
     bool rwAvailable[4] = {true, true, true, true};  // WHICH INPUT SENSOR SET?
-    int32_t rwSpeed[4] = {
+    int32_t rwSpeed[4] = {sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-        (sensorValues.rw1Set.currSpeed.value), (sensorValues.rw2Set.currSpeed.value),
+                          sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value};
-        (sensorValues.rw3Set.currSpeed.value), (sensorValues.rw4Set.currSpeed.value)};
     ptgCtrl.rwAntistiction(rwAvailable, rwSpeed, torqueRwsScaled);
   }
 
-  double cmdSpeedRws[4] = {0, 0, 0, 0};  // Should be given to the actuator reaction wheel as input
+  int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
-  actuatorCmd.cmdSpeedToRws(&(sensorValues.rw1Set.currSpeed.value),
+  actuatorCmd.cmdSpeedToRws(sensorValues.rw1Set.currSpeed.value,
-                            &(sensorValues.rw2Set.currSpeed.value),
+                            sensorValues.rw2Set.currSpeed.value,
-                            &(sensorValues.rw3Set.currSpeed.value),
+                            sensorValues.rw3Set.currSpeed.value,
-                            &(sensorValues.rw4Set.currSpeed.value), torqueRwsScaled, cmdSpeedRws);
+                            sensorValues.rw4Set.currSpeed.value, torqueRwsScaled, cmdSpeedRws);
-  actuatorCmd.cmdDipolMtq(mgtDpDes, dipolUnits);
+  int16_t cmdDipolMtqs[3] = {0, 0, 0};
-
+  actuatorCmd.cmdDipolMtq(mgtDpDes, cmdDipolMtqs);
-  int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
-  for (int i = 0; i < 3; ++i) {
-    cmdDipolUnitsInt[i] = std::round(dipolUnits[i]);
-  }
-  int32_t cmdRwSpeedInt[4] = {0, 0, 0, 0};
-  for (int i = 0; i < 4; ++i) {
-    cmdRwSpeedInt[i] = std::round(cmdSpeedRws[i]);
-  }
 
   {
     PoolReadGuard pg(&actuatorCmdData);
     if (pg.getReadResult() == returnvalue::OK) {
       std::memcpy(actuatorCmdData.rwTargetTorque.value, rwTrqNs, 4 * sizeof(double));
-      std::memcpy(actuatorCmdData.rwTargetSpeed.value, cmdRwSpeedInt, 4 * sizeof(int32_t));
+      std::memcpy(actuatorCmdData.rwTargetSpeed.value, cmdSpeedRws, 4 * sizeof(int32_t));
-      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolUnitsInt, 3 * sizeof(int16_t));
+      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolMtqs, 3 * sizeof(int16_t));
       actuatorCmdData.setValidity(true, true);
     }
   }
-  //  {
+
-  //	  PoolReadGuard pg(&dipoleSet);
+  //  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
-  //	  MutexGuard mg(torquer::lazyLock());
+  //                   acsParameters.magnetorquesParameter.torqueDuration, cmdSpeedRws[0],
-  //	  torquer::NEW_ACTUATION_FLAG = true;
+  //                   cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
-  //	  dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2],
+  //                   acsParameters.rwHandlingParameters.rampTime);
-  // torqueDuration);
+}
-  //  }
+
+ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
+                                              uint16_t dipoleTorqueDuration, int32_t rw1Speed,
+                                              int32_t rw2Speed, int32_t rw3Speed, int32_t rw4Speed,
+                                              uint16_t rampTime) {
+  {
+    PoolReadGuard pg(&dipoleSet);
+    MutexGuard mg(torquer::lazyLock());
+    torquer::NEW_ACTUATION_FLAG = true;
+    dipoleSet.setDipoles(xDipole, yDipole, zDipole, dipoleTorqueDuration);
+  }
+  {
+    PoolReadGuard pg(&rw1SpeedSet);
+    rw1SpeedSet.setRwSpeed(rw1Speed, rampTime);
+  }
+  {
+    PoolReadGuard pg(&rw2SpeedSet);
+    rw2SpeedSet.setRwSpeed(rw2Speed, rampTime);
+  }
+  {
+    PoolReadGuard pg(&rw3SpeedSet);
+    rw3SpeedSet.setRwSpeed(rw3Speed, rampTime);
+  }
+  {
+    PoolReadGuard pg(&rw4SpeedSet);
+    rw4SpeedSet.setRwSpeed(rw4Speed, rampTime);
+  }
+  return returnvalue::OK;
 }
 
 ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,

mission/controller/AcsController.h

@@ -17,8 +17,10 @@
 #include "eive/objects.h"
 #include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
 #include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
+#include "mission/devices/devicedefinitions/RwDefinitions.h"
 #include "mission/devices/devicedefinitions/SusDefinitions.h"
 #include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
+#include "mission/trace.h"
 
 class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
  public:
@@ -51,6 +53,10 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
 
   ParameterHelper parameterHelper;
 
+#if OBSW_THREAD_TRACING == 1
+  uint32_t opCounter = 0;
+#endif
+
   enum class InternalState { STARTUP, INITIAL_DELAY, READY };
 
   InternalState internalState = InternalState::STARTUP;
@@ -69,11 +75,20 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void modeChanged(Mode_t mode, Submode_t submode);
   void announceMode(bool recursive);
 
+  ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
+                                 uint16_t dipoleTorqueDuration, int32_t rw1Speed, int32_t rw2Speed,
+                                 int32_t rw3Speed, int32_t rw4Speed, uint16_t rampTime);
+
   /* ACS Sensor Values */
   ACS::SensorValues sensorValues;
 
-  /* ACS Datasets */
+  /* ACS Actuation Datasets */
   IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
+  RwDefinitions::RwSpeedActuationSet rw1SpeedSet = RwDefinitions::RwSpeedActuationSet(objects::RW1);
+  RwDefinitions::RwSpeedActuationSet rw2SpeedSet = RwDefinitions::RwSpeedActuationSet(objects::RW2);
+  RwDefinitions::RwSpeedActuationSet rw3SpeedSet = RwDefinitions::RwSpeedActuationSet(objects::RW3);
+  RwDefinitions::RwSpeedActuationSet rw4SpeedSet = RwDefinitions::RwSpeedActuationSet(objects::RW4);
+  /* ACS Datasets */
   // MGMs
   acsctrl::MgmDataRaw mgmDataRaw;
   PoolEntry<float> mgm0VecRaw = PoolEntry<float>(3);

mission/controller/ThermalController.cpp

@@ -72,6 +72,9 @@ ReturnValue_t ThermalController::handleCommandMessage(CommandMessage* message) {
 }
 
 void ThermalController::performControlOperation() {
+#if OBSW_THREAD_TRACING == 1
+  trace::threadTrace(opCounter, "TCS Task");
+#endif
   switch (internalState) {
     case InternalState::STARTUP: {
       initialCountdown.resetTimer();

mission/controller/ThermalController.h

@@ -11,7 +11,8 @@
 
 #include <list>
 
-#include "../devices/HeaterHandler.h"
+#include "mission/devices/HeaterHandler.h"
+#include "mission/trace.h"
 
 /**
  * NOP Limit: Hard limit for device, usually from datasheet. Device damage is possible lif NOP limit
@@ -152,6 +153,10 @@ class ThermalController : public ExtendedControllerBase {
   // Initial delay to make sure all pool variables have been initialized their owners
   Countdown initialCountdown = Countdown(DELAY);
 
+#if OBSW_THREAD_TRACING == 1
+  uint32_t opCounter = 0;
+#endif
+
   std::array<std::pair<bool, double>, 5> sensors;
   uint8_t numSensors = 0;
 

mission/controller/acs/AcsParameters.cpp

@@ -278,6 +278,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x4:
           parameterWrapper->set(rwHandlingParameters.stictionTorque);
           break;
+        case 0x5:
+          parameterWrapper->set(rwHandlingParameters.rampTime);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
@@ -584,6 +587,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x5:
           parameterWrapper->set(magnetorquesParameter.DipolMax);
           break;
+        case 0x6:
+          parameterWrapper->set(magnetorquesParameter.torqueDuration);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }

mission/controller/acs/AcsParameters.h

@@ -792,6 +792,8 @@ class AcsParameters : public HasParametersIF {
     double stictionSpeed = 100;         // 80;          // RPM
     double stictionReleaseSpeed = 120;  // RPM
     double stictionTorque = 0.0006;
+
+    uint16_t rampTime = 10;
   } rwHandlingParameters;
 
   struct RwMatrices {
@@ -910,6 +912,7 @@ class AcsParameters : public HasParametersIF {
     double inverseAlignment[3][3] = {{0, -1, 0}, {0, 0, 1}, {-1, 0, 0}};
     double DipolMax = 0.2;  // [Am^2]
 
+    uint16_t torqueDuration = 300;  // [ms]
   } magnetorquesParameter;
 
   struct DetumbleParameter {

mission/controller/acs/ActuatorCmd.cpp

@@ -31,27 +31,33 @@ void ActuatorCmd::scalingTorqueRws(const double *rwTrq, double *rwTrqScaled) {
   }
 }
 
-void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1,
+void ActuatorCmd::cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1,
-                                const int32_t *speedRw2, const int32_t *speedRw3,
+                                const int32_t speedRw2, const int32_t speedRw3,
-                                const double *rwTorque, double *rwCmdSpeed) {
+                                const double *rwTorque, int32_t *rwCmdSpeed) {
   using namespace Math;
 
   // Calculating the commanded speed in RPM for every reaction wheel
-  double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
+  int32_t speedRws[4] = {speedRw0, speedRw1, speedRw2, speedRw3};
   double deltaSpeed[4] = {0, 0, 0, 0};
   double commandTime = acsParameters.onBoardParams.sampleTime,
          inertiaWheel = acsParameters.rwHandlingParameters.inertiaWheel;
   double radToRpm = 60 / (2 * PI);  // factor for conversion to RPM
   //	 W_RW = Torque_RW / I_RW * delta t [rad/s]
   double factor = commandTime / inertiaWheel * radToRpm;
+  int32_t deltaSpeedInt[4] = {0, 0, 0, 0};
   VectorOperations<double>::mulScalar(rwTorque, factor, deltaSpeed, 4);
-  VectorOperations<double>::add(speedRws, deltaSpeed, rwCmdSpeed, 4);
+  for (int i = 0; i < 4; i++) {
+    deltaSpeedInt[i] = std::round(deltaSpeed[i]);
+  }
+  VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4);
+  VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
 }
 
-void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator) {
+void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator) {
   // Convert to actuator frame
+  double dipolMomentActuatorDouble[3] = {0, 0, 0};
   MatrixOperations<double>::multiply(*acsParameters.magnetorquesParameter.inverseAlignment,
-                                     dipolMoment, dipolMomentActuator, 3, 3, 1);
+                                     dipolMoment, dipolMomentActuatorDouble, 3, 3, 1);
   // Scaling along largest element if dipol exceeds maximum
   double maxDipol = acsParameters.magnetorquesParameter.DipolMax;
   double maxValue = 0;
@@ -62,8 +68,12 @@ void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentActu
   }
   if (maxValue > maxDipol) {
     double scalingFactor = maxDipol / maxValue;
-    VectorOperations<double>::mulScalar(dipolMomentActuator, scalingFactor, dipolMomentActuator, 3);
+    VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, scalingFactor,
+                                        dipolMomentActuatorDouble, 3);
   }
   // scale dipole from 1 Am^2 to 1e^-4 Am^2
-  VectorOperations<double>::mulScalar(dipolMomentActuator, 1e4, dipolMomentActuator, 3);
+  VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, 1e4, dipolMomentActuatorDouble, 3);
+  for (int i = 0; i < 3; i++) {
+    dipolMomentActuator[i] = std::round(dipolMomentActuatorDouble[i]);
+  }
 }

mission/controller/acs/ActuatorCmd.h

@@ -28,8 +28,8 @@ class ActuatorCmd {
    * 			rwCmdSpeed			output revolutions per minute for every
    * reaction wheel
    */
-  void cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
+  void cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
-                     const int32_t *speedRw3, const double *rwTorque, double *rwCmdSpeed);
+                     const int32_t speedRw3, const double *rwTorque, int32_t *rwCmdSpeed);
 
   /*
    * @brief:	cmdDipolMtq()		gives the commanded dipol moment for the magnetorques
@@ -37,7 +37,7 @@ class ActuatorCmd {
    * @param:	dipolMoment 		given dipol moment in spacecraft frame
    * 			dipolMomentActuator	resulting dipol moment in actuator reference frame
    */
-  void cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator);
+  void cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator);
 
  protected:
  private:

mission/devices/BpxBatteryHandler.cpp

@@ -2,8 +2,6 @@
 
 #include <fsfw/datapool/PoolReadGuard.h>
 
-#include "OBSWConfig.h"
-
 BpxBatteryHandler::BpxBatteryHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie)
     : DeviceHandlerBase(objectId, comIF, comCookie), hkSet(this), cfgSet(this) {}
 
@@ -280,3 +278,9 @@ void BpxBatteryHandler::setToGoToNormalMode(bool enable) {
 }
 
 void BpxBatteryHandler::setDebugMode(bool enable) { this->debugMode = enable; }
+
+void BpxBatteryHandler::performOperationHook() {
+#if OBSW_THREAD_TRACING == 1
+  trace::threadTrace(opCounter, "BPX BATT");
+#endif
+}

mission/devices/BpxBatteryHandler.h

@@ -4,6 +4,7 @@
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 
 #include "devicedefinitions/BpxBatteryDefinitions.h"
+#include "mission/trace.h"
 
 class BpxBatteryHandler : public DeviceHandlerBase {
  public:
@@ -24,6 +25,10 @@ class BpxBatteryHandler : public DeviceHandlerBase {
   bool debugMode = false;
   bool goToNormalModeImmediately = false;
   uint8_t sentPingByte = BpxBattery::DEFAULT_PING_SENT_BYTE;
+#if OBSW_THREAD_TRACING == 1
+  uint32_t opCounter = 0;
+#endif
+
   BpxBatteryHk hkSet;
   DeviceCommandId_t lastCmd = DeviceHandlerIF::NO_COMMAND_ID;
   BpxBatteryCfg cfgSet;
@@ -47,6 +52,7 @@ class BpxBatteryHandler : public DeviceHandlerBase {
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
   ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
   void fillCommandAndReplyMap() override;
+  void performOperationHook() 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,

mission/devices/ImtqHandler.cpp

@@ -183,18 +183,20 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
         return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
       }
       ReturnValue_t result;
+      {
+        // Read set dipole values from local pool
+        PoolReadGuard pg(&dipoleSet);
+
         // Commands override anything which was set in the software
         if (commandData != nullptr) {
           dipoleSet.setValidityBufferGeneration(false);
-        result =
+          result = dipoleSet.deSerialize(&commandData, &commandDataLen,
-            dipoleSet.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::NETWORK);
+                                         SerializeIF::Endianness::NETWORK);
           dipoleSet.setValidityBufferGeneration(true);
           if (result != returnvalue::OK) {
             return result;
           }
-      } else {
+        }
-        // Read set dipole values from local pool
-        PoolReadGuard pg(&dipoleSet);
       }
       if (ACTUATION_WIRETAPPING) {
         sif::debug << "Actuating IMTQ with parameters x = " << dipoleSet.xDipole.value

mission/devices/RwHandler.cpp

@@ -7,13 +7,15 @@
 #include "OBSWConfig.h"
 
 RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                     GpioIF* gpioComIF, gpioId_t enableGpio)
+                     GpioIF* gpioComIF, gpioId_t enableGpio, uint8_t rwIdx)
     : DeviceHandlerBase(objectId, comIF, comCookie),
       gpioComIF(gpioComIF),
       enableGpio(enableGpio),
       statusSet(this),
       lastResetStatusSet(this),
-      tmDataset(this) {
+      tmDataset(this),
+      rwSpeedActuationSet(*this),
+      rwIdx(rwIdx) {
   if (comCookie == nullptr) {
     sif::error << "RwHandler: Invalid com cookie" << std::endl;
   }
@@ -42,6 +44,10 @@ void RwHandler::doShutDown() {
 
 ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
   switch (internalState) {
+    case InternalState::SET_SPEED:
+      *id = RwDefinitions::SET_SPEED;
+      internalState = InternalState::GET_RESET_STATUS;
+      break;
     case InternalState::GET_RESET_STATUS:
       *id = RwDefinitions::GET_LAST_RESET_STATUS;
       internalState = InternalState::READ_TEMPERATURE;
@@ -52,7 +58,7 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
       break;
     case InternalState::GET_RW_SATUS:
       *id = RwDefinitions::GET_RW_STATUS;
-      internalState = InternalState::GET_RESET_STATUS;
+      internalState = InternalState::CLEAR_RESET_STATUS;
       break;
     case InternalState::CLEAR_RESET_STATUS:
       *id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
@@ -97,16 +103,37 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
       return returnvalue::OK;
     }
     case (RwDefinitions::SET_SPEED): {
-      if (commandDataLen != 6) {
+      if (commandData != nullptr && commandDataLen != 6) {
         sif::error << "RwHandler::buildCommandFromCommand: Received set speed command with"
                    << " invalid length" << std::endl;
         return SET_SPEED_COMMAND_INVALID_LENGTH;
       }
-      result = checkSpeedAndRampTime(commandData, commandDataLen);
+
+      {
+        PoolReadGuard pg(&rwSpeedActuationSet);
+        // Commands override anything which was set in the software
+        if (commandData != nullptr) {
+          rwSpeedActuationSet.setValidityBufferGeneration(false);
+          result = rwSpeedActuationSet.deSerialize(&commandData, &commandDataLen,
+                                                   SerializeIF::Endianness::NETWORK);
+          rwSpeedActuationSet.setValidityBufferGeneration(true);
           if (result != returnvalue::OK) {
             return result;
           }
-      prepareSetSpeedCmd(commandData, commandDataLen);
+        }
+      }
+      if (ACTUATION_WIRETAPPING) {
+        int32_t speed = 0;
+        uint16_t rampTime = 0;
+        rwSpeedActuationSet.getRwSpeed(speed, rampTime);
+        sif::debug << "Actuating RW " << static_cast<int>(rwIdx) << " with speed = " << speed
+                   << " and rampTime = " << rampTime << std::endl;
+      }
+      result = checkSpeedAndRampTime();
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      result = prepareSetSpeedCmd();
       return result;
     }
     case (RwDefinitions::GET_TEMPERATURE): {
@@ -243,6 +270,9 @@ uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { retur
 
 ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                  LocalDataPoolManager& poolManager) {
+  localDataPoolMap.emplace(RwDefinitions::RW_SPEED, &rwSpeed);
+  localDataPoolMap.emplace(RwDefinitions::RAMP_TIME, &rampTime);
+
   localDataPoolMap.emplace(RwDefinitions::TEMPERATURE_C, new PoolEntry<int32_t>({0}));
 
   localDataPoolMap.emplace(RwDefinitions::CURR_SPEED, new PoolEntry<int32_t>({0}));
@@ -295,17 +325,15 @@ void RwHandler::prepareSimpleCommand(DeviceCommandId_t id) {
   rawPacketLen = 3;
 }
 
-ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_t commandDataLen) {
+ReturnValue_t RwHandler::checkSpeedAndRampTime() {
-  int32_t speed =
+  int32_t speed = 0;
-      *commandData << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 | *(commandData + 3);
+  uint16_t rampTime = 0;
-
+  rwSpeedActuationSet.getRwSpeed(speed, rampTime);
   if ((speed < -65000 || speed > 65000 || (speed > -1000 && speed < 1000)) && (speed != 0)) {
     sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid speed" << std::endl;
     return INVALID_SPEED;
   }
 
-  uint16_t rampTime = (*(commandData + 4) << 8) | *(commandData + 5);
-
   if (rampTime < 10 || rampTime > 20000) {
     sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid ramp time" << std::endl;
     return INVALID_RAMP_TIME;
@@ -314,23 +342,24 @@ ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_
   return returnvalue::OK;
 }
 
-void RwHandler::prepareSetSpeedCmd(const uint8_t* commandData, size_t commandDataLen) {
+ReturnValue_t RwHandler::prepareSetSpeedCmd() {
   commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::SET_SPEED);
-
+  uint8_t* serPtr = commandBuffer + 1;
-  /** Speed (0.1 RPM) */
+  size_t serSize = 1;
-  commandBuffer[1] = *(commandData + 3);
+  rwSpeedActuationSet.setValidityBufferGeneration(false);
-  commandBuffer[2] = *(commandData + 2);
+  ReturnValue_t result = rwSpeedActuationSet.serialize(&serPtr, &serSize, sizeof(commandBuffer),
-  commandBuffer[3] = *(commandData + 1);
+                                                       SerializeIF::Endianness::LITTLE);
-  commandBuffer[4] = *commandData;
+  rwSpeedActuationSet.setValidityBufferGeneration(true);
-  /** Ramp time (ms) */
+  if (result != returnvalue::OK) {
-  commandBuffer[5] = *(commandData + 5);
+    return result;
-  commandBuffer[6] = *(commandData + 4);
+  }
 
   uint16_t crc = CRC::crc16ccitt(commandBuffer, 7, 0xFFFF);
   commandBuffer[7] = static_cast<uint8_t>(crc & 0xFF);
-  commandBuffer[8] = static_cast<uint8_t>(crc >> 8 & 0xFF);
+  commandBuffer[8] = static_cast<uint8_t>((crc >> 8) & 0xFF);
   rawPacket = commandBuffer;
   rawPacketLen = 9;
+  return result;
 }
 
 void RwHandler::handleResetStatusReply(const uint8_t* packet) {

mission/devices/RwHandler.h

@@ -9,6 +9,8 @@
 #include "events/subsystemIdRanges.h"
 #include "returnvalues/classIds.h"
 
+static constexpr bool ACTUATION_WIRETAPPING = false;
+
 class GpioIF;
 
 /**
@@ -34,7 +36,7 @@ class RwHandler : public DeviceHandlerBase {
    * 						to high to enable the device.
    */
   RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, GpioIF* gpioComIF,
-            gpioId_t enableGpio);
+            gpioId_t enableGpio, uint8_t rwIdx);
 
   void setDebugMode(bool enable);
 
@@ -93,10 +95,21 @@ class RwHandler : public DeviceHandlerBase {
   RwDefinitions::StatusSet statusSet;
   RwDefinitions::LastResetSatus lastResetStatusSet;
   RwDefinitions::TmDataset tmDataset;
+  RwDefinitions::RwSpeedActuationSet rwSpeedActuationSet;
 
   uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE];
+  uint8_t rwIdx;
 
-  enum class InternalState { GET_RESET_STATUS, CLEAR_RESET_STATUS, READ_TEMPERATURE, GET_RW_SATUS };
+  PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>({0});
+  PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>({10});
+
+  enum class InternalState {
+    GET_RESET_STATUS,
+    CLEAR_RESET_STATUS,
+    READ_TEMPERATURE,
+    SET_SPEED,
+    GET_RW_SATUS
+  };
 
   InternalState internalState = InternalState::GET_RESET_STATUS;
 
@@ -114,13 +127,14 @@ class RwHandler : public DeviceHandlerBase {
    *          range.
    * @return  returnvalue::OK if successful, otherwise error code.
    */
-  ReturnValue_t checkSpeedAndRampTime(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t checkSpeedAndRampTime();
 
   /**
-   * @brief   This function prepares the set speed command from the commandData received with
+   * @brief   This function prepares the set speed command from the dataSet received with
-   *          an action message.
+   *          an action message or set in the software.
+   * @return  returnvalue::OK if successful, otherwise error code.
    */
-  void prepareSetSpeedCmd(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t prepareSetSpeedCmd();
 
   /**
    * @brief   This function writes the last reset status retrieved with the get last reset status

mission/devices/SolarArrayDeploymentHandler.cpp

@@ -11,6 +11,7 @@
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw_hal/common/gpio/GpioCookie.h"
+#include "mission/trace.h"
 
 static constexpr bool DEBUG_MODE = true;
 
@@ -37,6 +38,9 @@ SolarArrayDeploymentHandler::~SolarArrayDeploymentHandler() = default;
 
 ReturnValue_t SolarArrayDeploymentHandler::performOperation(uint8_t operationCode) {
   using namespace std::filesystem;
+#if OBSW_THREAD_TRACING == 1
+  trace::threadTrace(opCounter, "SA DEPL");
+#endif
   if (opDivider.checkAndIncrement()) {
     auto activeSdc = sdcMan.getActiveSdCard();
     if (activeSdc and activeSdc.value() == sd::SdCard::SLOT_0 and

mission/devices/SolarArrayDeploymentHandler.h

@@ -19,6 +19,7 @@
 #include "fsfw/timemanager/Countdown.h"
 #include "fsfw_hal/common/gpio/GpioIF.h"
 #include "mission/memory/SdCardMountedIF.h"
+#include "mission/trace.h"
 #include "returnvalues/classIds.h"
 
 enum DeploymentChannels : uint8_t { SA_1 = 1, SA_2 = 2 };
@@ -172,6 +173,9 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
   bool firstAutonomousCycle = true;
   ActionId_t activeCmd = HasActionsIF::INVALID_ACTION_ID;
   std::optional<uint64_t> initUptime;
+#if OBSW_THREAD_TRACING == 1
+  uint32_t opCounter = 0;
+#endif
   PeriodicOperationDivider opDivider = PeriodicOperationDivider(5);
   uint8_t retryCounter = 3;
 

mission/devices/devicedefinitions/RwDefinitions.h

@@ -51,7 +51,10 @@ enum PoolIds : lp_id_t {
   SPI_BYTES_WRITTEN,
   SPI_BYTES_READ,
   SPI_REG_OVERRUN_ERRORS,
-  SPI_TOTAL_ERRORS
+  SPI_TOTAL_ERRORS,
+
+  RW_SPEED,
+  RAMP_TIME,
 };
 
 enum States : uint8_t { STATE_ERROR, IDLE, COASTING, RUNNING_SPEED_STABLE, RUNNING_SPEED_CHANGING };
@@ -75,10 +78,13 @@ static const DeviceCommandId_t SET_SPEED = 6;
 static const DeviceCommandId_t GET_TEMPERATURE = 8;
 static const DeviceCommandId_t GET_TM = 9;
 
-static const uint32_t TEMPERATURE_SET_ID = GET_TEMPERATURE;
+enum SetIds : uint32_t {
-static const uint32_t STATUS_SET_ID = GET_RW_STATUS;
+  TEMPERATURE_SET_ID = GET_TEMPERATURE,
-static const uint32_t LAST_RESET_ID = GET_LAST_RESET_STATUS;
+  STATUS_SET_ID = GET_RW_STATUS,
-static const uint32_t TM_SET_ID = GET_TM;
+  LAST_RESET_ID = GET_LAST_RESET_STATUS,
+  TM_SET_ID = GET_TM,
+  SPEED_CMD_SET = 10,
+};
 
 static const size_t SIZE_GET_RESET_STATUS = 5;
 static const size_t SIZE_CLEAR_RESET_STATUS = 4;
@@ -106,9 +112,11 @@ static const uint8_t TM_SET_ENTRIES = 24;
  */
 class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
  public:
-  StatusSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, STATUS_SET_ID) {}
+  StatusSet(HasLocalDataPoolIF* owner)
+      : StaticLocalDataSet(owner, RwDefinitions::SetIds::STATUS_SET_ID) {}
 
-  StatusSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, STATUS_SET_ID)) {}
+  StatusSet(object_id_t objectId)
+      : StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::STATUS_SET_ID)) {}
 
   lp_var_t<int32_t> temperatureCelcius =
       lp_var_t<int32_t>(sid.objectId, PoolIds::TEMPERATURE_C, this);
@@ -124,9 +132,11 @@ class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
  */
 class LastResetSatus : public StaticLocalDataSet<LAST_RESET_ENTRIES> {
  public:
-  LastResetSatus(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, LAST_RESET_ID) {}
+  LastResetSatus(HasLocalDataPoolIF* owner)
+      : StaticLocalDataSet(owner, RwDefinitions::SetIds::LAST_RESET_ID) {}
 
-  LastResetSatus(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, LAST_RESET_ID)) {}
+  LastResetSatus(object_id_t objectId)
+      : StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::LAST_RESET_ID)) {}
 
   // If a reset occurs, the status code will be cached into this variable
   lp_var_t<uint8_t> lastNonClearedResetStatus =
@@ -143,9 +153,11 @@ class LastResetSatus : public StaticLocalDataSet<LAST_RESET_ENTRIES> {
  */
 class TmDataset : public StaticLocalDataSet<TM_SET_ENTRIES> {
  public:
-  TmDataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TM_SET_ID) {}
+  TmDataset(HasLocalDataPoolIF* owner)
+      : StaticLocalDataSet(owner, RwDefinitions::SetIds::TM_SET_ID) {}
 
-  TmDataset(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TM_SET_ID)) {}
+  TmDataset(object_id_t objectId)
+      : StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::TM_SET_ID)) {}
 
   lp_var_t<uint8_t> lastResetStatus =
       lp_var_t<uint8_t>(sid.objectId, PoolIds::TM_LAST_RESET_STATUS, this);
@@ -192,6 +204,36 @@ class TmDataset : public StaticLocalDataSet<TM_SET_ENTRIES> {
       lp_var_t<uint32_t>(sid.objectId, PoolIds::SPI_TOTAL_ERRORS, this);
 };
 
+class RwSpeedActuationSet : public StaticLocalDataSet<2> {
+  friend class RwHandler;
+
+ public:
+  RwSpeedActuationSet(HasLocalDataPoolIF& owner)
+      : StaticLocalDataSet(&owner, RwDefinitions::SetIds::SPEED_CMD_SET) {}
+  RwSpeedActuationSet(object_id_t objectId)
+      : StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::SPEED_CMD_SET)) {}
+
+  void setRwSpeed(int32_t rwSpeed_, uint16_t rampTime_) {
+    if (rwSpeed.value != rwSpeed_) {
+      rwSpeed = rwSpeed_;
+    }
+    if (rampTime.value != rampTime_) {
+      rampTime = rampTime_;
+    }
+  }
+
+  void getRwSpeed(int32_t& rwSpeed_, uint16_t& rampTime_) {
+    rwSpeed_ = rwSpeed.value;
+    rampTime_ = rampTime.value;
+  }
+
+ private:
+  lp_var_t<int32_t> rwSpeed =
+      lp_var_t<int32_t>(sid.objectId, RwDefinitions::PoolIds::RW_SPEED, this);
+  lp_var_t<uint16_t> rampTime =
+      lp_var_t<uint16_t>(sid.objectId, RwDefinitions::PoolIds::RAMP_TIME, this);
+};
+
 }  // namespace RwDefinitions
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_ */

mission/devices/devicedefinitions/imtqHandlerDefinitions.h

@@ -492,14 +492,14 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
   void setDipoles(int16_t xDipole_, int16_t yDipole_, int16_t zDipole_,
                   uint16_t currentTorqueDurationMs_) {
     if (xDipole.value != xDipole_) {
-    }
       xDipole = xDipole_;
+    }
     if (yDipole.value != yDipole_) {
-    }
       yDipole = yDipole_;
-    if (zDipole.value != zDipole_) {
     }
+    if (zDipole.value != zDipole_) {
       zDipole = zDipole_;
+    }
     currentTorqueDurationMs = currentTorqueDurationMs_;
   }
 

mission/trace.cpp

@@ -0,0 +1,10 @@
+#include "trace.h"
+
+#include "fsfw/serviceinterface.h"
+
+void trace::threadTrace(uint32_t& counter, const char* name, unsigned div) {
+  counter++;
+  if (counter % div == 0) {
+    sif::debug << name << " running" << std::endl;
+  }
+}

mission/trace.h

@@ -0,0 +1,14 @@
+#ifndef MISSION_TRACE_H_
+#define MISSION_TRACE_H_
+
+#include <cstdint>
+
+#define OBSW_THREAD_TRACING 0
+
+namespace trace {
+
+void threadTrace(uint32_t& counter, const char* name, unsigned div = 5);
+
+}
+
+#endif /* MISSION_TRACE_H_ */

scripts/q7s-em-udp-forwarding.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+echo "Q7S UDP connection from local port 18000 -> TCP ssh tunnel -> EM port 7301"
+
+
+socat udp4-listen:18000,reuseaddr,fork tcp:localhost:18002 &
+ssh -L 18002:localhost:18123 eive@flatsat.eive.absatvirt.lw \
+	'socat tcp4-listen:18123,reuseaddr udp:192.168.133.10:7301'

scripts/q7s-fm-udp-forwarding.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+echo "Q7S UDP connection from local port 18000 -> TCP ssh tunnel -> FM port 7301"
+
+
+socat udp4-listen:18000,reuseaddr,fork tcp:localhost:18002 &
+ssh -L 18002:localhost:18123 eive@flatsat.eive.absatvirt.lw \
+	'socat tcp4-listen:18123,reuseaddr udp:192.168.155.55:7301'

scripts/q7s-ssh-udp-forwarding.sh

@@ -1,8 +0,0 @@
-#!/bin/bash
-echo "Setting up all Q7S ports"
-echo "upd connection from local port 18000 -> tcp ssh tunnel -> EM port 7301"
-
-
-socat udp4-listen:18000,reuseaddr,fork tcp:localhost:18002 &
-ssh -L 18002:localhost:18123 eive@flatsat.eive.absatvirt.lw 'socat tcp4-listen:18123,reuseaddr udp:192.168.133.10:7301'
-

test/TestTask.cpp

@@ -41,11 +41,13 @@ ReturnValue_t EiveTestTask::performOperation(uint8_t operationCode) {
 }
 
 #include <etl/vector.h>
-#include <lwgps/lwgps.h>
+
+// #include <lwgps/lwgps.h>
 
 /**
  * @brief           Dummy data from GPS receiver. Will be replaced witgh hyperion data later.
  */
+
 const char gps_rx_data[] =
     ""
     "$GPRMC,183729,A,3907.356,N,12102.482,W,000.0,360.0,080301,015.5,E*6F\r\n"
@@ -96,20 +98,22 @@ ReturnValue_t EiveTestTask::performActionB() {
   return result;
 }
 
+/*
 void EiveTestTask::performLwgpsTest() {
-  /* Everything here will only be performed once. */
+  // Everything here will only be performed once.
   sif::info << "Processing sample GPS output.." << std::endl;
 
   lwgps_t gpsStruct;
   sif::info << "Size of GPS struct: " << sizeof(gpsStruct) << std::endl;
   lwgps_init(&gpsStruct);
 
-  /* Process all input data */
+  // Process all input data
   lwgps_process(&gpsStruct, hyperion_gps_data, strlen(hyperion_gps_data));
 
-  /* Print messages */
+  // Print messages
   printf("Valid status: %d\n", gpsStruct.is_valid);
   printf("Latitude: %f degrees\n", gpsStruct.latitude);
   printf("Longitude: %f degrees\n", gpsStruct.longitude);
   printf("Altitude: %f meters\n", gpsStruct.altitude);
 }
+*/

tmtc

@@ -1 +1 @@
-Subproject commit 9b7471e9097edd410995ba0c76125b626440d9be
+Subproject commit 1e143ea6faa608baf3118512416f5a495dbd606c