.gitmodules

@@ -15,7 +15,7 @@
 	url = https://github.com/rmspacefish/lwgps.git
 [submodule "fsfw_hal"]
 	path = fsfw_hal
-	url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw_hal.git
+	url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-hal.git
-[submodule "generators/modgen"]
+[submodule "generators/fsfwgen"]
-	path = generators/modgen
+	path = generators/fsfwgen
-	url = https://git.ksat-stuttgart.de/source/modgen.git
+	url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-generators.git

CMakeLists.txt

@@ -54,6 +54,7 @@ set(MISSION_PATH mission)
 set(TEST_PATH test/testtasks)
 set(LINUX_PATH linux)
 set(COMMON_PATH common)
+set(COMMON_CONFIG_PATH ${COMMON_PATH}/config)
 
 set(FSFW_HAL_LIB_PATH fsfw_hal)
 set(CSP_LIB_PATH ${THIRD_PARTY_FOLDER}/libcsp)
@@ -95,8 +96,21 @@ else()
     set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
 endif()
 
+# Configuration files
+configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
+configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
+configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
+if(${TGT_BSP} MATCHES "arm/q7s")
+    configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
+elseif(${TGT_BSP} MATCHES "arm/raspberrypi")
+    configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
+endif()
+
 # Set common config path for FSFW
-set(FSFW_ADDITIONAL_INC_PATH "${COMMON_PATH}/config")
+set(FSFW_ADDITIONAL_INC_PATHS 
+    "${COMMON_PATH}/config"
+    ${CMAKE_CURRENT_BINARY_DIR}
+)
 # Set for lwgps library
 set(LWGPS_CONFIG_PATH "${COMMON_PATH}/config")
 
@@ -157,6 +171,7 @@ endif()
 target_include_directories(${TARGET_NAME} PRIVATE
 	${CMAKE_CURRENT_SOURCE_DIR}
 	${FSFW_CONFIG_PATH}
+	${CMAKE_CURRENT_BINARY_DIR}
 )	
 
 

bsp_hosted/Dockerfile

@@ -1,6 +1,9 @@
 FROM ubuntu:latest
 # FROM alpine:latest
 
+ENV TZ=Europe/Berlin
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
 RUN apt-get update && apt-get install -y cmake g++
 # RUN apk add cmake make g++
 

bsp_hosted/InitMission.cpp

@@ -32,9 +32,9 @@ ObjectManagerIF *objectManager = nullptr;
 void initmission::initMission() {
     sif::info << "Building global objects.." << std::endl;
     /* Instantiate global object manager and also create all objects */
-    objectManager = new ObjectManager(ObjectFactory::produce);
+    ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
     sif::info << "Initializing all objects.." << std::endl;
-    objectManager->initialize();
+    ObjectManager::instance()->initialize();
 
     /* This function creates and starts all tasks */
     initTasks();

bsp_hosted/ObjectFactory.cpp

@@ -36,7 +36,7 @@ void Factory::setStaticFrameworkObjectIds(){
 	TmPacketBase::timeStamperId = objects::TIME_STAMPER;
 }
 
-void ObjectFactory::produce(){
+void ObjectFactory::produce(void* args){
 	Factory::setStaticFrameworkObjectIds();
 	ObjectFactory::produceGenericObjects();
 

bsp_hosted/ObjectFactory.h

@@ -1,17 +1,10 @@
-/*
- * ObjectFactory.h
- *
- *  Created on: Sep 22, 2020
- *      Author: steffen
- */
-
 #ifndef BSP_LINUX_OBJECTFACTORY_H_
 #define BSP_LINUX_OBJECTFACTORY_H_
 
 
 namespace ObjectFactory {
 	void setStatics();
-	void produce();
+	void produce(void* args);
 };
 
 #endif /* BSP_LINUX_OBJECTFACTORY_H_ */

bsp_linux_board/InitMission.cpp

@@ -26,9 +26,9 @@ ObjectManagerIF *objectManager = nullptr;
 void initmission::initMission() {
     sif::info << "Building global objects.." << std::endl;
     /* Instantiate global object manager and also create all objects */
-    objectManager = new ObjectManager(ObjectFactory::produce);
+    ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
     sif::info << "Initializing all objects.." << std::endl;
-    objectManager->initialize();
+    ObjectManager::instance()->initialize();
 
     /* This function creates and starts all tasks */
     initTasks();
@@ -117,6 +117,10 @@ void initmission::initTasks() {
     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);
+    }
 
     PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
             "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
@@ -124,6 +128,11 @@ void initmission::initTasks() {
     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);
+    }
 
 #if OBSW_ADD_TEST_PST == 1
     FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask(

bsp_linux_board/ObjectFactory.cpp

@@ -45,15 +45,13 @@ void Factory::setStaticFrameworkObjectIds() {
     // No storage object for now.
     TmFunnel::storageDestination = objects::NO_OBJECT;
 
-    LocalDataPoolManager::defaultHkDestination = objects::NO_OBJECT;
-
     VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
     TmPacketBase::timeStamperId = objects::TIME_STAMPER;
 }
 
 
 
-void ObjectFactory::produce(){
+void ObjectFactory::produce(void* args){
     Factory::setStaticFrameworkObjectIds();
     ObjectFactory::produceGenericObjects();
 

bsp_linux_board/ObjectFactory.h

@@ -1,17 +1,10 @@
-/*
- * ObjectFactory.h
- *
- *  Created on: Sep 22, 2020
- *      Author: steffen
- */
-
 #ifndef BSP_LINUX_OBJECTFACTORY_H_
 #define BSP_LINUX_OBJECTFACTORY_H_
 
 
 namespace ObjectFactory {
 	void setStatics();
-	void produce();
+	void produce(void* args);
 };
 
 #endif /* BSP_LINUX_OBJECTFACTORY_H_ */

bsp_linux_board/boardconfig/CMakeLists.txt

@@ -5,6 +5,3 @@ target_sources(${TARGET_NAME} PRIVATE
 target_include_directories(${TARGET_NAME} PUBLIC
 	${CMAKE_CURRENT_SOURCE_DIR}
 )
-
-
-

bsp_q7s/CMakeLists.txt

@@ -8,6 +8,4 @@ add_subdirectory(boardconfig)
 add_subdirectory(comIF)
 add_subdirectory(boardtest)
 add_subdirectory(gpio)
-
+add_subdirectory(core)
-
-

bsp_q7s/Dockerfile

@@ -1,15 +1,18 @@
 FROM ubuntu:latest
 # FROM alpine:latest
 
+ENV TZ=Europe/Berlin
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
 RUN apt-get update && apt-get install -y curl cmake g++
 
 # Q7S root filesystem, required for cross-compilation
 RUN mkdir -p /usr/rootfs; \
-    curl https://eive-cloud.irs.uni-stuttgart.de/index.php/s/agnJGYeRf6fw2ci/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz \
+    curl --tlsv1 https://eive-cloud.irs.uni-stuttgart.de/index.php/s/dnfMy9kGpgynN6J/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz \
     | tar xvz -C /usr/rootfs
 # Q7S C++ cross-compiler
 RUN mkdir -p /usr/tools; \
-    curl https://eive-cloud.irs.uni-stuttgart.de/index.php/s/2Fp2ag6NGnbtAsK/download/gcc-arm-linux-gnueabi.tar.gz \
+    curl --tlsv1 https://eive-cloud.irs.uni-stuttgart.de/index.php/s/RMsbHydJc6PSqcz/download/gcc-arm-linux-gnueabi.tar.gz \
     | tar xvz -C /usr/tools
 
 # RUN apk add cmake make g++

bsp_q7s/InitMission.cpp

@@ -33,9 +33,9 @@ ObjectManagerIF *objectManager = nullptr;
 void initmission::initMission() {
     sif::info << "Building global objects.." << std::endl;
     /* Instantiate global object manager and also create all objects */
-    objectManager = new ObjectManager(ObjectFactory::produce);
+    ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
     sif::info << "Initializing all objects.." << std::endl;
-    objectManager->initialize();
+    ObjectManager::instance()->initialize();
 
     /* This function creates and starts all tasks */
     initTasks();

bsp_q7s/ObjectFactory.cpp

@@ -7,11 +7,15 @@
 #include "devices/powerSwitcherList.h"
 #include "spiConf.h"
 
-#include <bsp_q7s/gpio/gpioCallbacks.h>
+#include "bsp_q7s/gpio/gpioCallbacks.h"
+#include "bsp_q7s/core/CoreController.h"
 
 #include <linux/devices/HeaterHandler.h>
 #include <linux/devices/SolarArrayDeploymentHandler.h>
+#include <linux/devices/devicedefinitions/SusDefinitions.h>
 #include <linux/devices/SusHandler.h>
+#include <linux/csp/CspCookie.h>
+#include <linux/csp/CspComIF.h>
 
 #include <mission/core/GenericFactory.h>
 #include <mission/devices/PDU1Handler.h>
@@ -28,8 +32,6 @@
 #include <mission/devices/GyroL3GD20Handler.h>
 #include <mission/devices/PlocHandler.h>
 #include <mission/devices/RadiationSensorHandler.h>
-
-#include <linux/devices/devicedefinitions/SusDefinitions.h>
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 #include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
 #include <mission/devices/devicedefinitions/PlocDefinitions.h>
@@ -37,13 +39,8 @@
 #include <mission/devices/devicedefinitions/Max31865Definitions.h>
 #include <mission/utility/TmFunnel.h>
 
-#include <linux/csp/CspCookie.h>
+#include "fsfw_hal/linux/uart/UartComIF.h"
-#include <linux/csp/CspComIF.h>
+#include "fsfw_hal/linux/uart/UartCookie.h"
-
-#include <linux/uart/UartComIF.h>
-#include <linux/uart/UartCookie.h>
-
-
 #include <fsfw_hal/linux/i2c/I2cCookie.h>
 #include <fsfw_hal/linux/i2c/I2cComIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
@@ -84,9 +81,20 @@ void Factory::setStaticFrameworkObjectIds() {
 
 
 
-void ObjectFactory::produce(){
+void ObjectFactory::produce(void* args){
     Factory::setStaticFrameworkObjectIds();
     ObjectFactory::produceGenericObjects();
+    LinuxLibgpioIF* gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
+
+    /* Communication interfaces */
+    new CspComIF(objects::CSP_COM_IF);
+    new I2cComIF(objects::I2C_COM_IF);
+    new UartComIF(objects::UART_COM_IF);
+#if Q7S_ADD_SPI_TEST == 0
+    new SpiComIF(objects::SPI_COM_IF, gpioComIF);
+#endif /* Q7S_ADD_SPI_TEST == 0 */
+
+    new CoreController(objects::CORE_CONTROLLER);
 
 #if TE0720 == 1
     I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
@@ -99,15 +107,6 @@ void ObjectFactory::produce(){
     I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
             TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
 #endif
-    LinuxLibgpioIF* gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
-
-    /* Communication interfaces */
-    new CspComIF(objects::CSP_COM_IF);
-    new I2cComIF(objects::I2C_COM_IF);
-    new UartComIF(objects::UART_COM_IF);
-#if Q7S_ADD_SPI_TEST == 0
-    new SpiComIF(objects::SPI_COM_IF, gpioComIF);
-#endif /* Q7S_ADD_SPI_TEST == 0 */
 
     /* Temperature sensors */
     Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(

bsp_q7s/ObjectFactory.h

@@ -3,7 +3,7 @@
 
 namespace ObjectFactory {
 void setStatics();
-void produce();
+void produce(void* args);
 };
 
 #endif /* BSP_Q7S_OBJECTFACTORY_H_ */

bsp_q7s/boardconfig/CMakeLists.txt

@@ -5,6 +5,3 @@ target_sources(${TARGET_NAME} PRIVATE
 target_include_directories(${TARGET_NAME} PUBLIC
 	${CMAKE_CURRENT_SOURCE_DIR}
 )
-
-
-

bsp_q7s/core/CMakeLists.txt

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

bsp_q7s/core/CoreController.cpp

@@ -0,0 +1,26 @@
+#include "CoreController.h"
+
+CoreController::CoreController(object_id_t objectId):
+        ExtendedControllerBase(objectId, objects::NO_OBJECT, 5) {
+}
+
+ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CoreController::performControlOperation() {
+}
+
+ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+        LocalDataPoolManager &poolManager) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+LocalPoolDataSetBase* CoreController::getDataSetHandle(sid_t sid) {
+    return nullptr;
+}
+
+ReturnValue_t CoreController::checkModeCommand(Mode_t mode, Submode_t submode,
+        uint32_t *msToReachTheMode) {
+    return HasReturnvaluesIF::RETURN_OK;
+}

bsp_q7s/core/CoreController.h

@@ -0,0 +1,22 @@
+#ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
+#define BSP_Q7S_CORE_CORECONTROLLER_H_
+
+#include "fsfw/controller/ExtendedControllerBase.h"
+
+class CoreController: public ExtendedControllerBase {
+public:
+    CoreController(object_id_t objectId);
+
+    ReturnValue_t handleCommandMessage(CommandMessage *message) override;
+    void performControlOperation() override;
+private:
+    ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+            LocalDataPoolManager& poolManager) override;
+    LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+    ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                uint32_t *msToReachTheMode);
+};
+
+
+
+#endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */

bsp_q7s/memory/CMakeLists.txt

@@ -0,0 +1,4 @@
+target_sources(${TARGET_NAME} PRIVATE
+    FileSystemManager.cpp
+    SdCardAccess.cpp
+)

bsp_q7s/memory/FileSystemManager.cpp

@@ -0,0 +1,7 @@
+#include "FileSystemManager.h"
+
+class FileSystemManager {
+public:
+
+private:
+};

bsp_q7s/memory/FileSystemManager.h

@@ -0,0 +1,8 @@
+#ifndef BSP_Q7S_MEMORY_FILESYSTEMMANAGER_H_
+#define BSP_Q7S_MEMORY_FILESYSTEMMANAGER_H_
+
+
+
+
+
+#endif /* BSP_Q7S_MEMORY_FILESYSTEMMANAGER_H_ */

bsp_q7s/memory/SdCardAccess.cpp

@@ -0,0 +1,4 @@
+#include "SdCardAccess.h"
+
+SdCardAccess::SdCardAccess() {
+}

bsp_q7s/memory/SdCardAccess.h

@@ -0,0 +1,11 @@
+#ifndef BSP_Q7S_MEMORY_SDCARDACCESS_H_
+#define BSP_Q7S_MEMORY_SDCARDACCESS_H_
+
+class SdCardAccess {
+public:
+    SdCardAccess();
+private:
+};
+
+
+#endif /* BSP_Q7S_MEMORY_SDCARDACCESS_H_ */

cmake/Q7SCrossCompileConfig.cmake

@@ -6,7 +6,7 @@ if(NOT DEFINED ENV{Q7S_SYSROOT})
 #		"point to the raspbian rootfs."
 #	)
 else()
-	set(SYSROOT_PATH "$ENV{Q7S_SYSROOT}" CACHE FILEPATH "Q7S root filesystem path")
+	set(SYSROOT_PATH "$ENV{Q7S_SYSROOT}" CACHE PATH "Q7S root filesystem path")
 endif()
 
 if(NOT DEFINED ENV{CROSS_COMPILE})

common/config/commonClassIds.h

@@ -6,7 +6,7 @@
 
 namespace CLASS_ID {
 enum commonClassIds: uint8_t {
-	MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
+	COMMON_CLASS_ID_START = FW_CLASS_ID_COUNT,
 	MGM_LIS3MDL, //MGMLIS3
 	MGM_RM3100, //MGMRM3100
 	PCDU_HANDLER, //PCDU

common/config/commonObjects.h

@@ -11,6 +11,12 @@ enum commonObjects: uint32_t {
 	UDP_BRIDGE = 0x50000300,
 	UDP_POLLING_TASK = 0x50000400,
 
+    /* 0x43 ('C') for Controllers */
+    THERMAL_CONTROLLER = 0x43001000,
+    ATTITUDE_CONTROLLER = 0x43002000,
+    ACS_CONTROLLER = 0x43003000,
+    CORE_CONTROLLER = 0x43004000,
+
 	/* 0x44 ('D') for device handlers */
 	P60DOCK_HANDLER = 0x44000001,
 	PDU1_HANDLER = 0x44000002,

docker-compose.yml

@@ -1,4 +1,4 @@
-version: "3.8"
+version: "3.3"
 
 services:
     build-host:

fsfw

@@ -1 +1 @@
-Subproject commit e9adaf672f7bfac9aaa03c284410b318142431ff
+Subproject commit 4b095eea8991d3e9a48fa8945c86339cfdad26d5

generators/events/event_parser.py

@@ -11,10 +11,10 @@ On Windows, Build Tools installation might be necessary
 """
 import datetime
 
-from modgen.events.event_parser import handle_csv_export, handle_cpp_export, SubsystemDefinitionParser, EventParser
+from fsfwgen.events.event_parser import handle_csv_export, handle_cpp_export, SubsystemDefinitionParser, EventParser
-from modgen.parserbase.file_list_parser import FileListParser
+from fsfwgen.parserbase.file_list_parser import FileListParser
-from modgen.utility.printer import PrettyPrinter
+from fsfwgen.utility.printer import PrettyPrinter
-from modgen.utility.file_management import copy_file, move_file
+from fsfwgen.utility.file_management import copy_file, move_file
 
 from definitions import BspType
 

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 83 translations.
  * @details
- * Generated on: 2021-05-18 16:15:50
+ * Generated on: 2021-06-08 17:09:32
  */
 #include "translateEvents.h"
 

generators/fsfwgen

@@ -0,0 +1 @@
+Subproject commit 78e890f947f55a9417d390fea8d9bd5684d11730

generators/modgen

@@ -1 +0,0 @@
-Subproject commit d9beb68bd9d1a1e6015e4979d547a762d199bff7

generators/objects/objects.py

@@ -10,10 +10,10 @@ On Windows, Build Tools installation might be necessary
 """
 import datetime
 
-from modgen.objects.objects import sql_object_exporter, ObjectDefinitionParser, write_translation_file, \
+from fsfwgen.objects.objects import sql_object_exporter, ObjectDefinitionParser, write_translation_file, \
     export_object_file, write_translation_header_file
-from modgen.utility.printer import PrettyPrinter
+from fsfwgen.utility.printer import PrettyPrinter
-from modgen.utility.file_management import copy_file, move_file
+from fsfwgen.utility.file_management import copy_file, move_file
 
 from definitions import BspType, DATABASE_NAME
 

generators/returnvalues/returnvalues_parser.py

@@ -9,10 +9,10 @@ Returnvalue exporter.
 To use MySQLdb, run pip install mysqlclient or install in IDE. On Windows, Build Tools installation might be necessary.
 :data:      21.11.2019
 """
-from modgen.parserbase.file_list_parser import FileListParser
+from fsfwgen.parserbase.file_list_parser import FileListParser
-from modgen.returnvalues.returnvalues_parser import InterfaceParser, ReturnValueParser
+from fsfwgen.returnvalues.returnvalues_parser import InterfaceParser, ReturnValueParser
-from modgen.utility.sql_writer import SqlWriter
+from fsfwgen.utility.sql_writer import SqlWriter
-from modgen.utility.file_management import move_file
+from fsfwgen.utility.file_management import move_file
 
 from definitions import BspType, DATABASE_NAME
 

linux/boardtest/LibgpiodTest.cpp

@@ -3,14 +3,14 @@
 #include "devices/gpioIds.h"
 
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
-#include <fsfw/objectmanager/ObjectManagerIF.h>
+#include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/tasks/TaskFactory.h>
 
 LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId,
         GpioCookie* gpioCookie):
         TestTask(objectId) {
 
-    gpioInterface = objectManager->get<GpioIF>(gpioIfobjectId);
+    gpioInterface = ObjectManager::instance()->get<GpioIF>(gpioIfobjectId);
     if (gpioInterface == nullptr) {
         sif::error << "LibgpiodTest::LibgpiodTest: Invalid Gpio interface." << std::endl;
     }

linux/devices/HeaterHandler.cpp

@@ -2,6 +2,7 @@
 #include "devices/gpioIds.h"
 #include "devices/powerSwitcherList.h"
 
+#include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw_hal/common/gpio/GpioCookie.h>
 
@@ -38,7 +39,7 @@ ReturnValue_t HeaterHandler::initialize() {
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
-	gpioInterface = objectManager->get<GpioIF>(gpioDriverId);
+	gpioInterface = ObjectManager::instance()->get<GpioIF>(gpioDriverId);
 	if (gpioInterface == nullptr) {
         sif::error << "HeaterHandler::initialize: Invalid Gpio interface." << std::endl;
 		return ObjectManagerIF::CHILD_INIT_FAILED;
@@ -50,14 +51,14 @@ ReturnValue_t HeaterHandler::initialize() {
 	    return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
-	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+	IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
 	if (IPCStore == nullptr) {
 		sif::error << "HeaterHandler::initialize: IPC store not set up in factory." << std::endl;
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	if(mainLineSwitcherObjectId != objects::NO_OBJECT) {
-		mainLineSwitcher = objectManager->get<PowerSwitchIF>(mainLineSwitcherObjectId);
+		mainLineSwitcher = ObjectManager::instance()->get<PowerSwitchIF>(mainLineSwitcherObjectId);
 		if (mainLineSwitcher == nullptr) {
             sif::error
                     << "HeaterHandler::initialize: Failed to get main line switcher. Make sure "

linux/devices/SolarArrayDeploymentHandler.cpp

@@ -5,6 +5,7 @@
 
 #include <fsfw_hal/common/gpio/GpioCookie.h>
 #include <fsfw/ipc/QueueFactory.h>
+#include <fsfw/objectmanager/ObjectManager.h>
 
 
 SolarArrayDeploymentHandler::SolarArrayDeploymentHandler(object_id_t setObjectId_,
@@ -35,7 +36,7 @@ ReturnValue_t SolarArrayDeploymentHandler::initialize() {
         return ObjectManagerIF::CHILD_INIT_FAILED;
     }
 
-    gpioInterface = objectManager->get<GpioIF>(gpioDriverId);
+    gpioInterface = ObjectManager::instance()->get<GpioIF>(gpioDriverId);
     if (gpioInterface == nullptr) {
         sif::error << "SolarArrayDeploymentHandler::initialize: Invalid Gpio interface."
                 << std::endl;
@@ -50,7 +51,7 @@ ReturnValue_t SolarArrayDeploymentHandler::initialize() {
     }
 
     if (mainLineSwitcherObjectId != objects::NO_OBJECT) {
-        mainLineSwitcher = objectManager->get<PowerSwitchIF>(mainLineSwitcherObjectId);
+        mainLineSwitcher = ObjectManager::instance()->get<PowerSwitchIF>(mainLineSwitcherObjectId);
         if (mainLineSwitcher == nullptr) {
             sif::error
                     << "SolarArrayDeploymentHandler::initialize: Main line switcher failed to fetch object"

linux/fsfwconfig/OBSWConfig.h.in

@@ -7,9 +7,9 @@
 #define FSFWCONFIG_OBSWCONFIG_H_
 
 #ifdef RASPBERRY_PI
-#include <rpi_config.h>
+#include "rpiConfig.h"
 #elif defined(XIPHOS_Q7S)
-#include <q7s_config.h>
+#include "q7sConfig.h"
 #endif
 #include "commonConfig.h"
 #include "OBSWVersion.h"

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 83 translations.
  * @details
- * Generated on: 2021-05-18 16:15:50
+ * Generated on: 2021-06-08 17:09:32
  */
 #include "translateEvents.h"
 

linux/fsfwconfig/objects/systemObjectList.h

@@ -1,9 +1,9 @@
 #ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
 #define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
 
-#include <cstdint>
+#include "commonObjects.h"
 #include <fsfw/objectmanager/frameworkObjects.h>
-#include <commonObjects.h>
+#include <cstdint>
 
 // The objects will be instantiated in the ID order
 namespace objects {
@@ -12,12 +12,7 @@ namespace objects {
 	    FW_ADDRESS_START = PUS_SERVICE_1_VERIFICATION,
 	    FW_ADDRESS_END = TIME_STAMPER,
 
-		PUS_SERVICE_3 = 0x51000300,
-		PUS_SERVICE_5 = 0x51000400,
 		PUS_SERVICE_6 = 0x51000500,
-		PUS_SERVICE_8 = 0x51000800,
-		PUS_SERVICE_23 = 0x51002300,
-		PUS_SERVICE_201 = 0x51020100,
 
 		TM_FUNNEL = 0x52000002,
 

misc/archive/GPIORPi.cpp

@@ -1,7 +1,6 @@
 #include "GPIORPi.h"
-#include <FSFWConfig.h>
-
 #include <fsfw/serviceinterface/ServiceInterface.h>
+#include <linux/fsfwconfig/FSFWConfig.h.in>
 #include <linux/gpio/GpioCookie.h>
 
 ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,

mission/controller/ThermalController.cpp

@@ -30,7 +30,7 @@ ReturnValue_t ThermalController::initializeAfterTaskCreation() {
         sif::error << "ThermalController::initializeAfterTaskCreation: Base"
                 << " class initialization failed!" << std::endl;
     }
-    HasLocalDataPoolIF* testHkbHandler = objectManager->get<HasLocalDataPoolIF>(
+    HasLocalDataPoolIF* testHkbHandler = ObjectManager::instance()->get<HasLocalDataPoolIF>(
             TSensorDefinitions::ObjIds::TEST_HKB_HANDLER);
     if(testHkbHandler == nullptr) {
         sif::warning << "ThermalController::initializeAfterTaskCreation: Test"

mission/devices/GyroADIS16507Handler.cpp

@@ -1,3 +1,4 @@
+#include <fsfw/action/HasActionsIF.h>
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw_hal/linux/utility.h>
 
@@ -14,7 +15,7 @@
 GyroADIS16507Handler::GyroADIS16507Handler(object_id_t objectId,
         object_id_t deviceCommunication, CookieIF * comCookie):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this),
-        configDataset(this) {
+        configDataset(this), breakCountdown() {
 #if ADIS16507_DEBUG == 1
     debugDivider = new PeriodicOperationDivider(5);
 #endif
@@ -28,18 +29,34 @@ GyroADIS16507Handler::GyroADIS16507Handler(object_id_t objectId,
 }
 
 void GyroADIS16507Handler::doStartUp() {
+    // Initial 310 ms start up time after power-up
     if(internalState == InternalState::STARTUP) {
+        if(not commandExecuted) {
+            breakCountdown.setTimeout(ADIS16507::START_UP_TIME);
+            commandExecuted = true;
+        }
+        if(breakCountdown.hasTimedOut()) {
+            internalState = InternalState::CONFIG;
+            commandExecuted = false;
+        }
+    }
+
+    // Read all configuration registers first
+    if(internalState == InternalState::CONFIG) {
         if(commandExecuted) {
             commandExecuted = false;
             internalState = InternalState::IDLE;
         }
     }
+
     if(internalState == InternalState::IDLE) {
         setMode(MODE_NORMAL);
+        // setMode(MODE_ON);
     }
 }
 
 void GyroADIS16507Handler::doShutDown() {
+    commandExecuted = false;
 }
 
 ReturnValue_t GyroADIS16507Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
@@ -49,11 +66,14 @@ ReturnValue_t GyroADIS16507Handler::buildNormalDeviceCommand(DeviceCommandId_t *
 
 ReturnValue_t GyroADIS16507Handler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
     switch(internalState) {
-    case(InternalState::STARTUP): {
+    case(InternalState::CONFIG): {
         *id = ADIS16507::READ_OUT_CONFIG;
         buildCommandFromCommand(*id, nullptr, 0);
         break;
     }
+    case(InternalState::STARTUP): {
+        break;
+    }
     default: {
         /* Might be a configuration error. */
         sif::debug << "GyroADIS16507Handler::buildTransitionDeviceCommand: "
@@ -80,6 +100,10 @@ ReturnValue_t GyroADIS16507Handler::buildCommandFromCommand(DeviceCommandId_t de
         break;
     }
     case(ADIS16507::READ_SENSOR_DATA): {
+        if(breakCountdown.isBusy()) {
+            // A glob command is pending and sensor data can't be read currently
+            return NO_REPLY_EXPECTED;
+        }
         std::memcpy(commandBuffer.data(), ADIS16507::BURST_READ_ENABLE.data(),
                 ADIS16507::BURST_READ_ENABLE.size());
         std::memset(commandBuffer.data() + 2, 0, 10 * 2);
@@ -87,6 +111,62 @@ ReturnValue_t GyroADIS16507Handler::buildCommandFromCommand(DeviceCommandId_t de
         this->rawPacket = commandBuffer.data();
         break;
     }
+    case(ADIS16507::SELF_TEST_SENSORS): {
+        if(breakCountdown.isBusy()) {
+            // Another glob command is pending
+            return HasActionsIF::IS_BUSY;
+        }
+        prepareWriteCommand(ADIS16507::GLOB_CMD, ADIS16507::GlobCmds::SENSOR_SELF_TEST, 0x00);
+        breakCountdown.setTimeout(ADIS16507::SELF_TEST_BREAK);
+        break;
+    }
+    case(ADIS16507::SELF_TEST_MEMORY): {
+        if(breakCountdown.isBusy()) {
+            // Another glob command is pending
+            return HasActionsIF::IS_BUSY;
+        }
+        prepareWriteCommand(ADIS16507::GLOB_CMD, ADIS16507::GlobCmds::FLASH_MEMORY_TEST, 0x00);
+        breakCountdown.setTimeout(ADIS16507::FLASH_MEMORY_TEST_BREAK);
+        break;
+    }
+    case(ADIS16507::UPDATE_NV_CONFIGURATION): {
+        if(breakCountdown.isBusy()) {
+            // Another glob command is pending
+            return HasActionsIF::IS_BUSY;
+        }
+        prepareWriteCommand(ADIS16507::GLOB_CMD, ADIS16507::GlobCmds::FLASH_MEMORY_UPDATE, 0x00);
+        breakCountdown.setTimeout(ADIS16507::FLASH_MEMORY_UPDATE_BREAK);
+        break;
+    }
+    case(ADIS16507::RESET_SENSOR_CONFIGURATION): {
+        if(breakCountdown.isBusy()) {
+            // Another glob command is pending
+            return HasActionsIF::IS_BUSY;
+        }
+        prepareWriteCommand(ADIS16507::GLOB_CMD, ADIS16507::GlobCmds::FACTORY_CALIBRATION, 0x00);
+        breakCountdown.setTimeout(ADIS16507::FACTORY_CALIBRATION_BREAK);
+        break;
+    }
+    case(ADIS16507::SW_RESET): {
+        if(breakCountdown.isBusy()) {
+            // Another glob command is pending
+            return HasActionsIF::IS_BUSY;
+        }
+        prepareWriteCommand(ADIS16507::GLOB_CMD, ADIS16507::GlobCmds::SOFTWARE_RESET, 0x00);
+        breakCountdown.setTimeout(ADIS16507::SW_RESET_BREAK);
+        break;
+    }
+    case(ADIS16507::PRINT_CURRENT_CONFIGURATION): {
+#if OBSW_VERBOSE_LEVEL >= 1
+        PoolReadGuard pg(&configDataset);
+        sif::info << "ADIS16507 Sensor configuration: DIAG_STAT: 0x" << std::hex << std::setw(4) <<
+                std::setfill('0') << "0x" << configDataset.diagStatReg.value << std::endl;
+        sif::info << "MSC_CTRL: " << std::hex << std::setw(4) << "0x" <<
+                configDataset.mscCtrlReg.value << " | FILT_CTRL: 0x" <<
+                configDataset.filterSetting.value << " | DEC_RATE: 0x" <<
+                configDataset.decRateReg.value << std::setfill(' ') << std::endl;
+#endif /* OBSW_VERBOSE_LEVEL >= 1 */
+    }
     }
     return HasReturnvaluesIF::RETURN_OK;
 }
@@ -94,6 +174,12 @@ ReturnValue_t GyroADIS16507Handler::buildCommandFromCommand(DeviceCommandId_t de
 void GyroADIS16507Handler::fillCommandAndReplyMap() {
     insertInCommandAndReplyMap(ADIS16507::READ_SENSOR_DATA, 1, &primaryDataset);
     insertInCommandAndReplyMap(ADIS16507::READ_OUT_CONFIG, 1, &configDataset);
+    insertInCommandAndReplyMap(ADIS16507::SELF_TEST_SENSORS, 1);
+    insertInCommandAndReplyMap(ADIS16507::SELF_TEST_MEMORY, 1);
+    insertInCommandAndReplyMap(ADIS16507::UPDATE_NV_CONFIGURATION, 1);
+    insertInCommandAndReplyMap(ADIS16507::RESET_SENSOR_CONFIGURATION, 1);
+    insertInCommandAndReplyMap(ADIS16507::SW_RESET, 1);
+    insertInCommandAndReplyMap(ADIS16507::PRINT_CURRENT_CONFIGURATION, 1);
 }
 
 ReturnValue_t GyroADIS16507Handler::scanForReply(const uint8_t *start, size_t remainingSize,
@@ -123,7 +209,7 @@ ReturnValue_t GyroADIS16507Handler::interpretDeviceReply(DeviceCommandId_t id,
         configDataset.mscCtrlReg.value = packet[6] << 8 | packet[7];
         configDataset.decRateReg.value = packet[8] << 8 | packet[9];
         configDataset.setValidity(true, true);
-        if(internalState == InternalState::STARTUP) {
+        if(internalState == InternalState::CONFIG) {
             commandExecuted = true;
         }
         break;
@@ -223,6 +309,19 @@ uint32_t GyroADIS16507Handler::getTransitionDelayMs(Mode_t modeFrom, Mode_t mode
     return 5000;
 }
 
+void GyroADIS16507Handler::prepareWriteCommand(uint8_t startReg, uint8_t valueOne,
+        uint8_t valueTwo) {
+    uint8_t secondReg = startReg + 1;
+    startReg |= ADIS16507::WRITE_MASK;
+    secondReg |= ADIS16507::WRITE_MASK;
+    commandBuffer[0] = startReg;
+    commandBuffer[1] = valueOne;
+    commandBuffer[2] = secondReg;
+    commandBuffer[3] = valueTwo;
+    this->rawPacketLen = 4;
+    this->rawPacket = commandBuffer.data();
+}
+
 void GyroADIS16507Handler::prepareReadCommand(uint8_t *regList, size_t len) {
     for(size_t idx = 0; idx < len; idx++) {
         commandBuffer[idx * 2] = regList[idx];

mission/devices/GyroADIS16507Handler.h

@@ -40,6 +40,7 @@ private:
 
     enum class InternalState {
         STARTUP,
+        CONFIG,
         IDLE
     };
 
@@ -65,6 +66,8 @@ private:
 #if ADIS16507_DEBUG == 1
     PeriodicOperationDivider* debugDivider;
 #endif
+    Countdown breakCountdown;
+    void prepareWriteCommand(uint8_t startReg, uint8_t valueOne, uint8_t valueTwo);
 
     ReturnValue_t handleSensorData(const uint8_t* packet);
 };

mission/devices/PCDUHandler.cpp

@@ -33,7 +33,7 @@ ReturnValue_t PCDUHandler::initialize() {
 
     ReturnValue_t result;
 
-    IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+    IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
     if (IPCStore == nullptr) {
         return ObjectManagerIF::CHILD_INIT_FAILED;
     }
@@ -44,7 +44,8 @@ ReturnValue_t PCDUHandler::initialize() {
     }
 
     /* Subscribing for housekeeping table update messages of the PDU2 */
-    HasLocalDataPoolIF* pdu2Handler = objectManager->get<HasLocalDataPoolIF>(objects::PDU2_HANDLER);
+    HasLocalDataPoolIF* pdu2Handler = ObjectManager::instance()->get<HasLocalDataPoolIF>(
+            objects::PDU2_HANDLER);
     if(pdu2Handler == nullptr) {
         sif::error << "PCDUHandler::initialize: Invalid pdu2Handler" << std::endl;
         return RETURN_FAILED;
@@ -58,7 +59,8 @@ ReturnValue_t PCDUHandler::initialize() {
     }
 
     /* Subscribing for housekeeping table update messages of the PDU1 */
-    HasLocalDataPoolIF* pdu1Handler = objectManager->get<HasLocalDataPoolIF>(objects::PDU1_HANDLER);
+    HasLocalDataPoolIF* pdu1Handler = ObjectManager::instance()->get<HasLocalDataPoolIF>(
+            objects::PDU1_HANDLER);
     if(pdu1Handler == nullptr) {
         sif::error << "PCDUHandler::initialize: Invalid pdu1Handler" << std::endl;
         return RETURN_FAILED;
@@ -207,11 +209,11 @@ void PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const
     switch (switchNr) {
     case pcduSwitches::TCS_BOARD_8V_HEATER_IN:
         memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN;
-        pdu = objectManager->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
+        pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
         break;
     case pcduSwitches::DEPLOYMENT_MECHANISM:
         memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM;
-        pdu = objectManager->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
+        pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
         break;
     default:
         sif::error << "PCDUHandler::sendSwitchCommand: Invalid switch number " << std::endl;

mission/devices/devicedefinitions/GyroADIS16507Definitions.h

@@ -8,6 +8,7 @@
 namespace ADIS16507 {
 
 static constexpr size_t MAXIMUM_REPLY_SIZE = 64;
+static constexpr uint8_t WRITE_MASK = 0b1000'0000;
 
 static constexpr uint32_t GYRO_RANGE = 125;
 static constexpr uint32_t ACCELEROMETER_RANGE = 392;
@@ -18,6 +19,13 @@ static constexpr uint16_t PROD_ID = 16507;
 
 static constexpr std::array<uint8_t, 2> BURST_READ_ENABLE = {0x68, 0x00};
 
+static constexpr dur_millis_t START_UP_TIME = 310;
+static constexpr dur_millis_t SW_RESET_BREAK = 255;
+static constexpr dur_millis_t FACTORY_CALIBRATION_BREAK = 136;
+static constexpr dur_millis_t FLASH_MEMORY_UPDATE_BREAK = 70;
+static constexpr dur_millis_t FLASH_MEMORY_TEST_BREAK = 30;
+static constexpr dur_millis_t SELF_TEST_BREAK = 24;
+
 static constexpr uint8_t DIAG_STAT_REG = 0x02;
 static constexpr uint8_t FILTER_CTRL_REG = 0x5c;
 static constexpr uint8_t MSC_CTRL_REG = 0x60;
@@ -47,6 +55,14 @@ static constexpr size_t SENSOR_READOUT_SIZE = 20 + 2;
 static constexpr uint32_t ADIS_DATASET_ID = READ_SENSOR_DATA;
 static constexpr uint32_t ADIS_CFG_DATASET_ID = READ_OUT_CONFIG;
 
+enum GlobCmds: uint8_t {
+    FACTORY_CALIBRATION = 0b0000'0010,
+    SENSOR_SELF_TEST = 0b0000'0100,
+    FLASH_MEMORY_UPDATE = 0b0000'1000,
+    FLASH_MEMORY_TEST = 0b0001'0000,
+    SOFTWARE_RESET = 0b1000'0000
+};
+
 enum PrimaryPoolIds: lp_id_t {
     ANG_VELOC_X,
     ANG_VELOC_Y,

mission/utility/TmFunnel.cpp

@@ -1,5 +1,6 @@
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/tmtcpacket/pus/TmPacketStored.h>
+#include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/tmtcpacket/pus/TmPacketPusC.h>
 #include <mission/utility/TmFunnel.h>
@@ -79,7 +80,7 @@ ReturnValue_t TmFunnel::handlePacket(TmTcMessage* message) {
 
 ReturnValue_t TmFunnel::initialize() {
 
-	tmPool = objectManager->get<StorageManagerIF>(objects::TM_STORE);
+	tmPool = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
 	if(tmPool == nullptr) {
 		sif::error << "TmFunnel::initialize: TM store not set."
 				<< std::endl;
@@ -89,7 +90,7 @@ ReturnValue_t TmFunnel::initialize() {
 	}
 
 	AcceptsTelemetryIF* tmTarget =
-	        objectManager->get<AcceptsTelemetryIF>(downlinkDestination);
+	        ObjectManager::instance()->get<AcceptsTelemetryIF>(downlinkDestination);
 	if(tmTarget == nullptr){
 		sif::error << "TmFunnel::initialize: Downlink Destination not set."
 				<< std::endl;
@@ -105,7 +106,7 @@ ReturnValue_t TmFunnel::initialize() {
 	}
 
 	AcceptsTelemetryIF* storageTarget =
-	        objectManager->get<AcceptsTelemetryIF>(storageDestination);
+	        ObjectManager::instance()->get<AcceptsTelemetryIF>(storageDestination);
 	if(storageTarget != nullptr) {
 		storageQueue->setDefaultDestination(
 		        storageTarget->getReportReceptionQueue());

test/testtasks/PusTcInjector.cpp

@@ -1,6 +1,6 @@
 #include <test/testtasks/PusTcInjector.h>
 
-#include <fsfw/objectmanager/ObjectManagerIF.h>
+#include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/tmtcservices/AcceptsTelecommandsIF.h>
 #include <fsfw/tmtcservices/TmTcMessage.h>
 #include <fsfw/tmtcpacket/pus/TcPacketBase.h>
@@ -47,7 +47,7 @@ ReturnValue_t PusTcInjector::initialize() {
 	// Prepare message queue which is used to send telecommands.
 	injectionQueue = QueueFactory::instance()->
 			createMessageQueue(INJECTION_QUEUE_DEPTH);
-	AcceptsTelecommandsIF* targetQueue = objectManager->
+	AcceptsTelecommandsIF* targetQueue = ObjectManager::instance()->
 			get<AcceptsTelecommandsIF>(destination);
 	if(targetQueue == nullptr) {
 		sif::error << "PusTcInjector: CCSDS distributor not initialized yet!" << std::endl;
@@ -58,7 +58,7 @@ ReturnValue_t PusTcInjector::initialize() {
 	}
 
 	// Prepare store used to store TC messages
-	tcStore = objectManager->get<StorageManagerIF>(tcStoreId);
+	tcStore = ObjectManager::instance()->get<StorageManagerIF>(tcStoreId);
 	if(tcStore == nullptr) {
 		sif::error << "PusTcInjector: TC Store not initialized!" << std::endl;
 		return ObjectManagerIF::CHILD_INIT_FAILED;

test/testtasks/TestTask.cpp

@@ -1,9 +1,9 @@
 #include "TestTask.h"
-#include <OBSWConfig.h>
+#include "OBSWConfig.h"
 
 #include <fsfw/objectmanager/frameworkObjects.h>
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
-#include <fsfw/objectmanager/ObjectManagerIF.h>
+#include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/timemanager/Stopwatch.h>
 #include <fsfw/globalfunctions/arrayprinter.h>
 
@@ -13,7 +13,7 @@
 
 TestTask::TestTask(object_id_t objectId_):
 SystemObject(objectId_), testMode(testModes::A) {
-    IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+    IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
 }
 
 TestTask::~TestTask() {