Merge branch 'develop' into max-value-fix-v2

src/fsfw/cfdp/pdu/HeaderCreator.cpp

@@ -24,8 +24,8 @@ ReturnValue_t HeaderCreator::serialize(uint8_t **buffer, size_t *size, size_t ma
   *buffer += 1;
   **buffer = pduDataFieldLen & 0x00ff;
   *buffer += 1;
-  **buffer = segmentationCtrl << 7 | pduConf.sourceId.getWidth() << 4 | segmentMetadataFlag << 3 |
-             pduConf.seqNum.getWidth();
+  **buffer = segmentationCtrl << 7 | ((pduConf.sourceId.getWidth() - 1) << 4) |
+             segmentMetadataFlag << 3 | (pduConf.seqNum.getWidth() - 1);
   *buffer += 1;
   *size += 4;
   ReturnValue_t result = pduConf.sourceId.serialize(buffer, size, maxSize, streamEndianness);

src/fsfw/cfdp/pdu/HeaderReader.cpp

@@ -78,11 +78,11 @@ cfdp::SegmentationControl PduHeaderReader::getSegmentationControl() const {
 }
 
 cfdp::WidthInBytes PduHeaderReader::getLenEntityIds() const {
-  return static_cast<cfdp::WidthInBytes>((pointers.fixedHeader->fourthByte >> 4) & 0x07);
+  return static_cast<cfdp::WidthInBytes>(((pointers.fixedHeader->fourthByte >> 4) & 0b111) + 1);
 }
 
 cfdp::WidthInBytes PduHeaderReader::getLenSeqNum() const {
-  return static_cast<cfdp::WidthInBytes>(pointers.fixedHeader->fourthByte & 0x07);
+  return static_cast<cfdp::WidthInBytes>((pointers.fixedHeader->fourthByte & 0b111) + 1);
 }
 
 cfdp::SegmentMetadataFlag PduHeaderReader::getSegmentMetadataFlag() const {

src/fsfw/osal/linux/Clock.cpp

@@ -89,8 +89,6 @@ timeval Clock::getUptime() {
 }
 
 ReturnValue_t Clock::getUptime(timeval* uptime) {
-  // TODO This is not posix compatible and delivers only seconds precision
-  //  Linux specific file read but more precise.
   double uptimeSeconds;
   std::ifstream ifile("/proc/uptime");
   if (ifile.bad()) {

src/fsfw/pus/Service3Housekeeping.cpp

@@ -5,8 +5,8 @@
 #include "fsfw/pus/servicepackets/Service3Packets.h"
 
 Service3Housekeeping::Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                                           uint32_t queueDepth)
-    : CommandingServiceBase(objectId, apid, "PUS 3 HK", serviceId, NUM_OF_PARALLEL_COMMANDS,
+                                           uint32_t queueDepth, uint8_t numParallelCommands)
+    : CommandingServiceBase(objectId, apid, "PUS 3 HK", serviceId, numParallelCommands,
                             COMMAND_TIMEOUT_SECONDS, queueDepth) {}
 
 Service3Housekeeping::~Service3Housekeeping() {}

src/fsfw/pus/Service3Housekeeping.h

@@ -28,7 +28,8 @@ class Service3Housekeeping : public CommandingServiceBase, public AcceptsHkPacke
   static constexpr uint8_t NUM_OF_PARALLEL_COMMANDS = 4;
   static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
 
-  Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId, uint32_t queueDepth);
+  Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId, uint32_t queueDepth,
+                       uint8_t numParallelCommands);
   virtual ~Service3Housekeeping();
 
  protected:

src/fsfw/pus/Service8FunctionManagement.cpp

@@ -9,11 +9,11 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 Service8FunctionManagement::Service8FunctionManagement(object_id_t objectId, uint16_t apid,
-                                                       uint8_t serviceId,
+                                                       uint8_t serviceId, size_t queueDepth,
                                                        uint8_t numParallelCommands,
                                                        uint16_t commandTimeoutSeconds)
     : CommandingServiceBase(objectId, apid, "PUS 8 Functional Commanding", serviceId,
-                            numParallelCommands, commandTimeoutSeconds) {}
+                            numParallelCommands, commandTimeoutSeconds, queueDepth) {}
 
 Service8FunctionManagement::~Service8FunctionManagement() {}
 

src/fsfw/pus/Service8FunctionManagement.h

@@ -31,7 +31,8 @@
 class Service8FunctionManagement : public CommandingServiceBase {
  public:
   Service8FunctionManagement(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                             uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
+                             size_t queueDepth, uint8_t numParallelCommands = 4,
+                             uint16_t commandTimeoutSeconds = 60);
   ~Service8FunctionManagement() override;
 
  protected:

src/fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h

@@ -73,8 +73,10 @@ static constexpr uint8_t CTRL_REG_4_VAL = SET_BLE;
 /* Register 5 */
 static constexpr uint8_t SET_REBOOT_MEM = 1 << 7;
 static constexpr uint8_t SET_FIFO_ENB = 1 << 6;
+static constexpr uint8_t SET_OUT_SEL_1 = 1 << 1;
+static constexpr uint8_t SET_OUT_SEL_0 = 1 << 0;
 
-static constexpr uint8_t CTRL_REG_5_VAL = 0b00000000;
+static constexpr uint8_t CTRL_REG_5_VAL = SET_OUT_SEL_1 | SET_OUT_SEL_0;
 
 /* Possible range values in degrees per second (DPS). */
 static constexpr uint16_t RANGE_DPS_00 = 245;

src/fsfw_hal/host/HostFilesystem.cpp

@@ -165,7 +165,8 @@ ReturnValue_t HostFilesystem::truncateFile(FilesystemParams params) {
   if (not filesystem::exists(path, e)) {
     return FILE_DOES_NOT_EXIST;
   }
-  ofstream of(path);
+  // Specify truncaion flug explicitely.
+  ofstream of(path, std::ios::out | std::ios::trunc);
   return returnvalue::OK;
 }