bsp_q7s/core/CoreController.cpp

@@ -1224,7 +1224,7 @@ ReturnValue_t CoreController::handleProtInfoUpdateLine(std::string nextLine) {
       }
     }
     wordIdx++;
-    if(wordIdx >= 10) {
+    if (wordIdx >= 10) {
       break;
     }
   }

bsp_q7s/core/ObjectFactory.cpp

@@ -8,6 +8,7 @@
 #include <mission/devices/MgmLis3CustomHandler.h>
 #include <mission/devices/MgmRm3100CustomHandler.h>
 #include <mission/system/objects/CamSwitcher.h>
+#include <mission/system/objects/ImtqAssembly.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
@@ -912,13 +913,16 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
 }
 
 void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
+  auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
+  imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
+
   new ImtqPollingTask(objects::IMTQ_POLLING);
   I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
   auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::IMTQ_POLLING, imtqI2cCookie,
                                      pcdu::Switches::PDU1_CH3_MGT_5V);
   imtqHandler->enableThermalModule(ThermalStateCfg());
   imtqHandler->setPowerSwitcher(pwrSwitcher);
-  imtqHandler->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
+  imtqHandler->connectModeTreeParent(*imtqAssy);
   static_cast<void>(imtqHandler);
 #if OBSW_TEST_IMTQ == 1
   imtqHandler->setStartUpImmediately();

common/config/eive/definitions.h

@@ -83,7 +83,7 @@ static constexpr float SCHED_BLOCK_7_PERIOD = static_cast<float>(SCHED_BLOCK_7_R
 static constexpr float SCHED_BLOCK_8_PERIOD = static_cast<float>(SCHED_BLOCK_8_PLPCDU_MS) / 400.0;
 static constexpr float SCHED_BLOCK_9_PERIOD = static_cast<float>(SCHED_BLOCK_9_RAD_SENS_MS) / 400.0;
 
-}  // namespace acs
+}  // namespace spiSched
 
 }  // namespace config
 

common/config/eive/objects.h

@@ -144,6 +144,7 @@ enum commonObjects : uint32_t {
   TCS_BOARD_ASS = 0x73000003,
   RW_ASS = 0x73000004,
   CAM_SWITCHER = 0x73000006,
+  IMTQ_ASSY = 0x73000008,
   EIVE_SYSTEM = 0x73010000,
   ACS_SUBSYSTEM = 0x73010001,
   PL_SUBSYSTEM = 0x73010002,

mission/core/pollingSeqTables.cpp

@@ -251,53 +251,77 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                           DeviceHandlerIF::GET_WRITE);
 
     thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
   }
 
   if (cfg.scheduleStr) {
@@ -313,15 +337,20 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
   if (cfg.scheduleAcsBoard) {
     if (enableAside) {
       // A side
-      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::PERFORM_OPERATION);
-      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
-      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::GET_WRITE);
-      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_3_PERIOD,
                             DeviceHandlerIF::SEND_READ);
-      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_3_PERIOD,
                             DeviceHandlerIF::GET_READ);
 
       thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
@@ -331,23 +360,31 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                             length * config::spiSched::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
       thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
-                            length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
+                            length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                            DeviceHandlerIF::GET_WRITE);
       thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
-                            length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ);
+                            length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+                            DeviceHandlerIF::SEND_READ);
       thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
-                            length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ);
+                            length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+                            DeviceHandlerIF::GET_READ);
     }
     if (enableBside) {
       // B side
-      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::PERFORM_OPERATION);
-      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
-      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::GET_WRITE);
-      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_3_PERIOD,
                             DeviceHandlerIF::SEND_READ);
-      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_3_PERIOD,
                             DeviceHandlerIF::GET_READ);
 
       thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
@@ -357,11 +394,14 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                             length * config::spiSched::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
       thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
-                            length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
+                            length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                            DeviceHandlerIF::GET_WRITE);
       thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
-                            length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ);
+                            length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+                            DeviceHandlerIF::SEND_READ);
       thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
-                            length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ);
+                            length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+                            DeviceHandlerIF::GET_READ);
     }
     if (enableAside) {
       thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
@@ -371,21 +411,29 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                             length * config::spiSched::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
       thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
-                            length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
-      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
-                            length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ);
-      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
-                            length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ);
-
-      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
-                            DeviceHandlerIF::PERFORM_OPERATION);
-      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
-                            DeviceHandlerIF::SEND_WRITE);
-      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                            length * config::spiSched::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::GET_WRITE);
-      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_3_PERIOD,
                             DeviceHandlerIF::SEND_READ);
-      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_3_PERIOD,
                             DeviceHandlerIF::GET_READ);
     }
     if (enableBside) {
@@ -396,21 +444,29 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                             length * config::spiSched::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
       thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
-                            length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
-      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
-                            length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ);
-      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
-                            length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ);
-
-      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
-                            DeviceHandlerIF::PERFORM_OPERATION);
-      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
-                            DeviceHandlerIF::SEND_WRITE);
-      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                            length * config::spiSched::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::GET_WRITE);
-      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_3_PERIOD,
                             DeviceHandlerIF::SEND_READ);
-      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER,
+                            length * config::spiSched::SCHED_BLOCK_3_PERIOD,
                             DeviceHandlerIF::GET_READ);
     }
   }
@@ -429,7 +485,8 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                           imtq::ComStep::READ_MEASURE_GET);
   }
 
-  thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::spiSched::SCHED_BLOCK_4_PERIOD, 0);
+  thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::spiSched::SCHED_BLOCK_4_PERIOD,
+                        0);
 
   if (cfg.scheduleImtq) {
     // This is the torquing cycle.
@@ -491,23 +548,34 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                           DeviceHandlerIF::GET_READ);
   }
 
-  thisSequence->addSlot(objects::SPI_RTD_COM_IF, length * config::spiSched::SCHED_BLOCK_RTD_PERIOD, 0);
+  thisSequence->addSlot(objects::SPI_RTD_COM_IF, length * config::spiSched::SCHED_BLOCK_RTD_PERIOD,
+                        0);
 
 #if OBSW_ADD_PL_PCDU == 1
-  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
+                        DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
+                        DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
+                        DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
+                        DeviceHandlerIF::GET_READ);
 #endif
 
 #if OBSW_ADD_RAD_SENSORS == 1
   /* Radiation sensor */
-  thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
+                        DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
+                        DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
+                        DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
+                        DeviceHandlerIF::GET_READ);
 #endif
   return returnvalue::OK;
 }

mission/devices/ImtqHandler.cpp

@@ -849,7 +849,7 @@ void ImtqHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
 
 void ImtqHandler::fillRawMtmDataset(imtq::RawMtmMeasurementSet& set, const uint8_t* packet) {
   PoolReadGuard rg(&set);
-  if(rg.getReadResult() != returnvalue::OK) {
+  if (rg.getReadResult() != returnvalue::OK) {
     sif::error << "ImtqHandler::fillRawMtmDataset: Lock failure" << std::endl;
   }
   unsigned int offset = 2;

mission/devices/SusHandler.h

@@ -3,6 +3,7 @@
 
 #include <eive/eventSubsystemIds.h>
 #include <eive/resultClassIds.h>
+
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 #include "mission/devices/devicedefinitions/acsPolling.h"

mission/system/objects/CMakeLists.txt

@@ -7,6 +7,7 @@ target_sources(
           TcsSubsystem.cpp
           PayloadSubsystem.cpp
           AcsBoardAssembly.cpp
+          ImtqAssembly.cpp
           Stack5VHandler.cpp
           SusAssembly.cpp
           RwAssembly.cpp

mission/system/objects/ImtqAssembly.cpp

@@ -1 +1,46 @@
 #include "ImtqAssembly.h"
+
+#include <eive/objects.h>
+
+using namespace returnvalue;
+
+ImtqAssembly::ImtqAssembly(object_id_t objectId) : AssemblyBase(objectId) {}
+
+ReturnValue_t ImtqAssembly::commandChildren(Mode_t mode, Submode_t submode) {
+  commandTable[0].setMode(mode);
+  commandTable[0].setSubmode(submode);
+  if (recoveryState == RECOVERY_IDLE) {
+    ReturnValue_t result = checkAndHandleHealthState(mode, submode);
+    if (result == NEED_TO_CHANGE_HEALTH) {
+      return OK;
+    }
+  }
+  HybridIterator<ModeListEntry> iter(commandTable.begin(), commandTable.end());
+  executeTable(iter);
+  return returnvalue::OK;
+}
+
+ReturnValue_t ImtqAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
+  if (childrenMap[objects::IMTQ_HANDLER].mode != wantedMode) {
+    return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t ImtqAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
+  if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_OFF) {
+    return returnvalue::OK;
+  }
+  return returnvalue::FAILED;
+}
+
+ReturnValue_t ImtqAssembly::checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode) {
+  HealthState health = healthHelper.healthTable->getHealth(objects::SYRLINKS_HANDLER);
+  if (health == FAULTY or health == PERMANENT_FAULTY) {
+    overwriteDeviceHealth(objects::SYRLINKS_HANDLER, health);
+    return NEED_TO_CHANGE_HEALTH;
+  } else if (health == EXTERNAL_CONTROL) {
+    modeHelper.setForced(true);
+  }
+  return OK;
+}

mission/system/objects/ImtqAssembly.h

@@ -1,15 +1,17 @@
-/*
- * ImtqAssembly.h
- *
- *  Created on: Mar 2, 2023
- *      Author: rmueller
- */
+#pragma once
 
-#ifndef MISSION_SYSTEM_OBJECTS_IMTQASSEMBLY_H_
-#define MISSION_SYSTEM_OBJECTS_IMTQASSEMBLY_H_
+#include <fsfw/devicehandlers/AssemblyBase.h>
 
+class ImtqAssembly : public AssemblyBase {
+ public:
+  ImtqAssembly(object_id_t objectId);
 
+ private:
+  FixedArrayList<ModeListEntry, 1> commandTable;
 
+  ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
+  ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
+  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
 
-
-#endif /* MISSION_SYSTEM_OBJECTS_IMTQASSEMBLY_H_ */
+  ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode);
+};

mission/system/tree/system.cpp

@@ -93,13 +93,13 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 
   // Build SAFE transition 1
-  //check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_1.first, &EIVE_TABLE_SAFE_TRANS_1.second)),
+  // check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_1.first, &EIVE_TABLE_SAFE_TRANS_1.second)),
   //      ctxc);
 
   // Build Safe sequence
   ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TGT.first, 0, false);
   ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_0.first, 0, false);
-  //ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_1.first, 0, false);
+  // ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_1.first, 0, false);
   check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second,
                                      EIVE_SEQUENCE_SAFE.first)),
         ctxc);
@@ -135,13 +135,13 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 
   // Build SAFE transition 1
-  //check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_1.first, &EIVE_TABLE_IDLE_TRANS_1.second)),
-   //     ctxc);
+  // check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_1.first, &EIVE_TABLE_IDLE_TRANS_1.second)),
+  //     ctxc);
 
   // Build Safe sequence
   ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TGT.first, 0, false);
   ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_0.first, 0, false);
-  //ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_1.first, 0, false);
+  // ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_1.first, 0, false);
   check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_IDLE.first, &EIVE_SEQUENCE_IDLE.second,
                                      EIVE_SEQUENCE_SAFE.first)),
         ctxc);