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bsp_z7/objects/ObjectFactory.cpp

@@ -8,6 +8,8 @@
 #include <mission/controller/BlinkController.h>
 
 #include <mission/devices/LightHandler.h>
+#include <bsp_z7/objects/communication/GpioCommIF.h>
+#include <bsp_z7/objects/communication/GpioCookie.h>
 
 #include "fsfw/events/EventManager.h"
 #include "fsfw/health/HealthTable.h"
@@ -66,6 +68,7 @@ void ObjectFactory::produce(void *args) {
   new PrintController(123);
   new BlinkController(124);
 
-  new LightHandler(125, new ComIF(), *CookieIF);
+  static GpioIF gpioIF = new GpioIF(220);
+  new LightHandler(124, gpioIF);
 
 }

bsp_z7/objects/communication/CMakeLists.txt

@@ -1,4 +1,6 @@
 target_sources(
   ${TARGET_NAME} PRIVATE
   ServoCommInterface.cpp
-  SerialTCPCookie.cpp)
+  SerialTCPCookie.cpp
+  GpioCommIF.cpp
+  GpioCookie.cpp)

bsp_z7/objects/communication/GpioCommIF.h

@@ -0,0 +1,28 @@
+#pragma once
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+
+#include "GpioCookie.h"
+
+class GpioCommIF : public DeviceCommunicationIF, public SystemObject {
+ public:
+  GpioCommIF(object_id_t setObjectId);
+
+  virtual ~GpioCommIF() {}
+
+  ReturnValue_t initializeInterface(CookieIF *cookie) override;
+
+  ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
+
+  ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+
+  ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
+
+  ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
+
+ private:
+  ReturnValue_t initializeInterface(GpioCookie *cookie);
+  ReturnValue_t sendMessage(GpioCookie *cookie, const uint8_t *sendData, size_t sendLen);
+  ReturnValue_t readReceivedMessage(GpioCookie *cookie, uint8_t **buffer, size_t *size);
+};

bsp_z7/objects/communication/GpioCookie.cpp

@@ -0,0 +1,7 @@
+#include "GpioCookie.h"
+
+GpioCookie::GpioCookie(uint32_t pinAddress, uint32_t bitOffsetMask)
+    : pinAddress(pinAddress), bitOffsetMask(bitOffsetMask) {
+}
+
+GpioCookie::~GpioCookie() {}

bsp_z7/objects/communication/GpioCookie.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <stddef.h>
+
+class GpioCookie : public CookieIF {
+    /**
+     * @brief A Cookie containing the Pin and bit offset mask 
+     * 
+     * @param bitOffsetMask Since we can only address each word (32-bit), but a GPIO is represented by a single bit for efficiency-reasons, we need a mask to AND-out all bits we do not want to write to. All bits should zero except the one of the GPIO- If there are multiple GPIOs to set at the same time, this should also be possible, as long as there is no validation fo rthe bitmask
+     *
+     */
+    public:
+    GpioCookie(uint32_t pinAddress, uint32_t bitOffsetMask);
+    virtual ~GpioCookie();
+
+    const uint32_t pin;
+    const uint32_t bitOffsetMask; 
+    int socket;
+};