Merge pull request 'Update Package v1.2.0' (#34) from mueller/update-package into develop

Reviewed-on: eive/eive_obsw#34 Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>
2021-05-18 12:32:45 +02:00 · 2021-05-18 12:32:45 +02:00 · 018356f606
commit 018356f606
parent 9e6a7c6faf 507be0958a
76 changed files with 594 additions and 760 deletions
--- a/.gitignore
+++ b/.gitignore
@ -1,6 +1,4 @@
-_obj
-_bin
-_dep
+/build*

 Debug
 Debug*
@ -17,6 +15,7 @@ RelWithDebInfo*
 .cproject 
 __pycache__

+.idea
+
 !misc/eclipse/**/.cproject
 !misc/eclipse/**/.project
-/eive_obsw cmake debug/
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -20,6 +20,10 @@ if(NOT OS_FSFW)
 	set(OS_FSFW host CACHE STRING "OS for the FSFW.")
 endif()

+if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
+    option(LINUX_CROSS_COMPILE ON)
+endif()
+
 # Perform steps like loading toolchain files where applicable.
 include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
 pre_project_config()
@ -57,7 +61,7 @@ set(ETL_LIB_PATH ${THIRD_PARTY_FOLDER}/etl)
 set(LWGPS_LIB_PATH ${THIRD_PARTY_FOLDER}/lwgps)

 set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
-set(ADD_LINUX_FILES TRUE)
+set(ADD_LINUX_FILES False)

 # Analyse different OS and architecture/target options, determine BSP_PATH,
 # display information about compiler etc.
@ -65,7 +69,9 @@ include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake)
 pre_source_hw_os_config()

 if(TGT_BSP)
-    if(${TGT_BSP} MATCHES "arm/q7s" OR ${TGT_BSP} MATCHES "arm/raspberrypi")
+    if(${TGT_BSP} MATCHES "arm/q7s" OR ${TGT_BSP} MATCHES "arm/raspberrypi" 
+            OR ${TGT_BSP} MATCHES "arm/beagleboneblack"
+    )
        set(ROOT_CONFIG_FOLDER TRUE)
        set(FSFW_CONFIG_PATH "fsfwconfig")
        set(ADD_LINUX_FILES TRUE)
@ -78,6 +84,10 @@ if(TGT_BSP)
        set(FSFW_HAL_ADD_RASPBERRY_PI ON)
    endif()
    
+    if(${TGT_BSP} MATCHES "arm/beagleboneblack") 
+        add_definitions(-DBEAGLEBONEBLACK)
+    endif()
+    
    if(${TGT_BSP} MATCHES "arm/q7s")
        add_definitions(-DXIPHOS_Q7S)
    endif()
@ -85,6 +95,9 @@ else()
    # Required by FSFW library
    set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
 endif()
+
+# Set common config path for FSFW
+set(FSFW_ADDITIONAL_INC_PATH "${COMMON_PATH}/config")
 # Set for lwgps library
 set(LWGPS_CONFIG_PATH "${COMMON_PATH}/config")

--- a/bsp_hosted/ObjectFactory.cpp
+++ b/bsp_hosted/ObjectFactory.cpp
@ -33,16 +33,14 @@ void Factory::setStaticFrameworkObjectIds(){
 	TmFunnel::storageDestination = objects::NO_OBJECT;

 	VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
-	TmPacketStored::timeStamperId = objects::TIME_STAMPER;
+	TmPacketBase::timeStamperId = objects::TIME_STAMPER;
 }

 void ObjectFactory::produce(){
 	Factory::setStaticFrameworkObjectIds();
 	ObjectFactory::produceGenericObjects();

-    new UdpTmTcBridge(objects::UDP_BRIDGE,
-            objects::CCSDS_PACKET_DISTRIBUTOR,
-            objects::TM_STORE, objects::TC_STORE);
+    new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
    new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);

 }
--- a/bsp_hosted/fsfwconfig/FSFWConfig.h
+++ b/bsp_hosted/fsfwconfig/FSFWConfig.h
@ -7,18 +7,17 @@
 //! Used to determine whether C++ ostreams are used which can increase
 //! the binary size significantly. If this is disabled,
 //! the C stdio functions can be used alternatively
-#define FSFW_CPP_OSTREAM_ENABLED    1
+#define FSFW_CPP_OSTREAM_ENABLED 	1

 //! More FSFW related printouts depending on level. Useful for development.
-#define FSFW_VERBOSE_LEVEL          1
+#define FSFW_VERBOSE_LEVEL			1

 //! Can be used to completely disable printouts, even the C stdio ones.
 #if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_VERBOSE_LEVEL == 0
-    #define FSFW_DISABLE_PRINTOUT   0
+	#define FSFW_DISABLE_PRINTOUT 	0
 #endif

-//! Can be used to disable the ANSI color sequences for C stdio.
-#define FSFW_COLORED_OUTPUT         1
+#define FSFW_USE_PUS_C_TELEMETRY    1

 //! Can be used to disable the ANSI color sequences for C stdio.
 #define FSFW_COLORED_OUTPUT 		1
@ -43,10 +42,17 @@
 //! Specify whether a special mode store is used for Subsystem components.
 #define FSFW_USE_MODESTORE          0

+//! Defines if the real time scheduler for linux should be used.
+//! If set to 0, this will also disable priority settings for linux
+//! as most systems will not allow to set nice values without privileges
+//! For embedded linux system set this to 1.
+//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
+#define FSFW_USE_REALTIME_FOR_LINUX 0
+
 namespace fsfwconfig {
-//! Default timestamp size. The default timestamp will be an eight byte CDC
-//! short timestamp.
-static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
+
+//! Default timestamp size. The default timestamp will be an seven byte CDC short timestamp.
+static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 7;

 //! Configure the allocated pool sizes for the event manager.
 static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
@ -55,11 +61,12 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;

 //! Defines the FIFO depth of each commanding service base which
 //! also determines how many commands a CSB service can handle in one cycle
-//! simulataneously. This will increase the required RAM for
+//! simultaneously. This will increase the required RAM for
 //! each CSB service !
 static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;

 static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
+
 }

 #endif /* CONFIG_FSFWCONFIG_H_ */
--- a/bsp_hosted/fsfwconfig/OBSWVersion.h
+++ b/bsp_hosted/fsfwconfig/OBSWVersion.h
@ -1,12 +0,0 @@
-#ifndef FSFWCONFIG_OBSWVERSION_H_
-#define FSFWCONFIG_OBSWVERSION_H_
-
-const char* const SW_NAME = "eive";
-
-#define SW_VERSION 1
-#define SW_SUBVERSION 0
-#define SW_SUBSUBVERSION 0
-
-
-
-#endif /* FSFWCONFIG_OBSWVERSION_H_ */
--- a/bsp_hosted/fsfwconfig/events/subsystemIdRanges.h
+++ b/bsp_hosted/fsfwconfig/events/subsystemIdRanges.h
@ -1,7 +1,7 @@
 #ifndef CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
 #define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_

-#include <fsfw/events/fwSubsystemIdRanges.h>
+#include "commonSubsystemId.h"
 #include <cstdint>

 /**
@ -10,17 +10,7 @@
 */
 namespace SUBSYSTEM_ID {
 enum: uint8_t {
-	SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
-	PUS_SERVICE_2,
-	PUS_SERVICE_3,
-	PUS_SERVICE_5,
-	PUS_SERVICE_6,
-	PUS_SERVICE_8,
-	PUS_SERVICE_23,
-	MGM_LIS3MDL,
-	MGM_RM3100,
-
-	DUMMY_DEVICE,
+	SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END
 };
 }

--- a/bsp_hosted/fsfwconfig/objects/systemObjectList.h
+++ b/bsp_hosted/fsfwconfig/objects/systemObjectList.h
@ -2,15 +2,11 @@
 #define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_

 #include <cstdint>
+#include <commonObjects.h>

 // The objects will be instantiated in the ID order
 namespace objects {
 	enum sourceObjects: uint32_t {
-		/* First Byte 0x50-0x52 reserved for PUS Services **/
-		CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
-		PUS_PACKET_DISTRIBUTOR = 0x50000200,
-		UDP_BRIDGE = 0x50000300,
-		UDP_POLLING_TASK = 0x50000400,

 		PUS_SERVICE_3 = 0x51000300,
 		PUS_SERVICE_5 = 0x51000400,
@ -27,21 +23,6 @@ namespace objects {
 		DUMMY_INTERFACE = 0xCAFECAFE,
 		DUMMY_HANDLER = 0x4400AFFE,

-        /* 0x44 ('D') for device handlers */
-        P60DOCK_HANDLER = 0x44000001,
-        PDU1_HANDLER = 0x44000002,
-        PDU2_HANDLER = 0x44000003,
-        ACU_HANDLER = 0x44000004,
-        TMP1075_HANDLER_1 = 0x44000005,
-        TMP1075_HANDLER_2 = 0x44000006,
-        MGM_0_LIS3_HANDLER = 0x4400007,
-        MGM_1_RM3100_HANDLER = 0x44000008,
-        MGM_2_LIS3_HANDLER = 0x44000009,
-        MGM_3_RM3100_HANDLER = 0x44000010,
-        GYRO_0_ADIS_HANDLER = 0x44000011,
-        GYRO_1_L3G_HANDLER = 0x44000012,
-        GYRO_2_L3G_HANDLER = 0x44000013,
-
 		/* 0x49 ('I') for Communication Interfaces **/
 		ARDUINO_COM_IF = 0x49000001
 	};
--- a/bsp_hosted/fsfwconfig/returnvalues/classIds.h
+++ b/bsp_hosted/fsfwconfig/returnvalues/classIds.h
@ -1,6 +1,7 @@
 #ifndef CONFIG_RETURNVALUES_CLASSIDS_H_
 #define CONFIG_RETURNVALUES_CLASSIDS_H_

+#include "commonClassIds.h"
 #include <fsfw/returnvalues/FwClassIds.h>

 /**
@ -10,9 +11,7 @@
 */
 namespace CLASS_ID {
 enum {
-	MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
-	MGM_LIS3MDL,
-	MGM_RM3100
+	CLASS_ID_START = COMMON_CLASS_ID_END,
 };
 }

--- a/bsp_linux_board/CMakeLists.txt
+++ b/bsp_linux_board/CMakeLists.txt
@ -6,9 +6,3 @@ target_sources(${TARGET_NAME} PUBLIC

 add_subdirectory(boardconfig)
 add_subdirectory(boardtest)
-add_subdirectory(gpio)
-
-
-
-
-
--- a/bsp_linux_board/InitMission.cpp
+++ b/bsp_linux_board/InitMission.cpp
--- a/bsp_linux_board/InitMission.h
+++ b/bsp_linux_board/InitMission.h
--- a/bsp_linux_board/ObjectFactory.cpp
+++ b/bsp_linux_board/ObjectFactory.cpp
@ -47,7 +47,7 @@ void Factory::setStaticFrameworkObjectIds() {
    LocalDataPoolManager::defaultHkDestination = objects::NO_OBJECT;

    VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
-    TmPacketStored::timeStamperId = objects::TIME_STAMPER;
+    TmPacketBase::timeStamperId = objects::TIME_STAMPER;
 }


--- a/bsp_linux_board/ObjectFactory.h
+++ b/bsp_linux_board/ObjectFactory.h
--- a/bsp_linux_board/boardconfig/CMakeLists.txt
+++ b/bsp_linux_board/boardconfig/CMakeLists.txt
--- a/bsp_linux_board/boardconfig/etl_profile.h
+++ b/bsp_linux_board/boardconfig/etl_profile.h
--- a/bsp_linux_board/boardconfig/gcov.h
+++ b/bsp_linux_board/boardconfig/gcov.h
--- a/bsp_linux_board/boardconfig/print.c
+++ b/bsp_linux_board/boardconfig/print.c
--- a/bsp_linux_board/boardconfig/print.h
+++ b/bsp_linux_board/boardconfig/print.h
--- a/bsp_linux_board/boardconfig/rpi_config.h
+++ b/bsp_linux_board/boardconfig/rpi_config.h
--- a/bsp_linux_board/boardtest/CMakeLists.txt
+++ b/bsp_linux_board/boardtest/CMakeLists.txt
--- a/bsp_linux_board/main.cpp
+++ b/bsp_linux_board/main.cpp
@ -5,6 +5,14 @@

 #include <iostream>

+#ifdef RASPBERRY_PI
+static const char* const BOARD_NAME = "Raspberry Pi";
+#elif defined(BEAGLEBONEBLACK)
+static const char* const BOARD_NAME = "Beaglebone Black";
+#else
+static const char* const BOARD_NAME = "Unknown Board";
+#endif
+
 /**
 * @brief 	    This is the main program and entry point for the Raspberry Pi.
 * @return
@ -12,7 +20,7 @@
 int main(void)
 {
    std::cout << "-- EIVE OBSW --" << std::endl;
-    std::cout << "-- Compiled for Linux (Raspberry Pi) --" << std::endl;
+    std::cout << "-- Compiled for Linux board " << BOARD_NAME << " --" << std::endl;
    std::cout << "-- Software version " << SW_NAME << " v" << SW_VERSION << "."
    		<< SW_SUBVERSION << "." << SW_SUBSUBVERSION << " -- " << std::endl;
    std::cout << "-- " <<  __DATE__ << " " << __TIME__ << " --" << std::endl;
--- a/bsp_q7s/CMakeLists.txt
+++ b/bsp_q7s/CMakeLists.txt
@ -6,7 +6,6 @@ target_sources(${TARGET_NAME} PUBLIC

 add_subdirectory(boardconfig)
 add_subdirectory(comIF)
-add_subdirectory(devices)
 add_subdirectory(boardtest)
 add_subdirectory(gpio)

--- a/bsp_q7s/ObjectFactory.cpp
+++ b/bsp_q7s/ObjectFactory.cpp
@ -1,16 +1,18 @@
 #include "ObjectFactory.h"
-#include <OBSWConfig.h>
-#include <tmtc/apid.h>
-#include <devices/addresses.h>
-#include <devices/gpioIds.h>
-#include <tmtc/pusIds.h>
-#include <devices/powerSwitcherList.h>
-#include <devices/spi.h>
+#include "OBSWConfig.h"
+#include "tmtc/apid.h"
+#include "devices/addresses.h"
+#include "devices/gpioIds.h"
+#include "tmtc/pusIds.h"
+#include "devices/powerSwitcherList.h"
+#include "devices/spi.h"

-#include <bsp_q7s/devices/HeaterHandler.h>
-#include <bsp_q7s/devices/SolarArrayDeploymentHandler.h>
 #include <bsp_q7s/gpio/gpioCallbacks.h>

+#include <linux/devices/HeaterHandler.h>
+#include <linux/devices/SolarArrayDeploymentHandler.h>
+#include <linux/devices/SusHandler.h>
+
 #include <mission/core/GenericFactory.h>
 #include <mission/devices/PDU1Handler.h>
 #include <mission/devices/PDU2Handler.h>
@ -26,7 +28,7 @@
 #include <mission/devices/GyroL3GD20Handler.h>
 #include <mission/devices/PlocHandler.h>
 #include <mission/devices/RadiationSensorHandler.h>
-#include <mission/devices/SusHandler.h>
+

 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 #include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
@ -42,6 +44,7 @@
 #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>
@ -554,8 +557,7 @@ void ObjectFactory::produce(){

 #endif /* TE0720 == 0 */

-    new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR, objects::TM_STORE,
-            objects::TC_STORE);
+    new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
    new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);

 #if TE0720 == 1 && TEST_LIBGPIOD == 1
--- a/bsp_rpi/gpio/CMakeLists.txt
+++ b/bsp_rpi/gpio/CMakeLists.txt
@ -1,8 +0,0 @@
-target_sources(${TARGET_NAME} PUBLIC
-)
-
-
-
-
-
-
--- a/cmake/BBBCrossCompileConfig.cmake
+++ b/cmake/BBBCrossCompileConfig.cmake
@ -0,0 +1,98 @@
+# BBB_ROOTFS should point to the local directory which contains all the 
+# libraries and includes from the target raspi.
+# The following command can be used to do this, replace <ip-address> and the
+# local <rootfs-path> accordingly:
+# rsync -vR --progress -rl --delete-after --safe-links pi@<ip-address>:/{lib,usr,opt/vc/lib} <rootfs-path>
+# RASPBIAN_ROOTFS needs to be passed to the CMake command or defined in the
+# application CMakeLists.txt before loading the toolchain file.
+
+# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
+
+if(NOT DEFINED ENV{BBB_ROOTFS})
+	message(FATAL_ERROR 
+		"Define the BBB_ROOTFS variable to point to the Beagle Bone Black rootfs."
+	)
+else()
+	set(SYSROOT_PATH "$ENV{BBB_ROOTFS}")
+	message(STATUS "Beagle Bone Black sysroot: ${SYSROOT_PATH}")
+endif()
+
+if(NOT DEFINED ENV{CROSS_COMPILE})
+	set(CROSS_COMPILE "arm-linux-gnueabihf")
+	message(STATUS 
+		"No CROSS_COMPILE environmental variable set, using default ARM linux "
+		"cross compiler name ${CROSS_COMPILE}"
+	)
+else()
+	set(CROSS_COMPILE "$ENV{CROSS_COMPILE}")
+	message(STATUS 
+		"Using environmental variable CROSS_COMPILE as cross-compiler: "
+		"$ENV{CROSS_COMPILE}"
+	)
+endif()
+
+message(STATUS "Using sysroot path: ${SYSROOT_PATH}")
+
+set(CROSS_COMPILE_CC "${CROSS_COMPILE}-gcc")
+set(CROSS_COMPILE_CXX "${CROSS_COMPILE}-g++")
+set(CROSS_COMPILE_LD "${CROSS_COMPILE}-ld")
+set(CROSS_COMPILE_AR "${CROSS_COMPILE}-ar")
+set(CROSS_COMPILE_RANLIB "${CROSS_COMPILE}-ranlib")
+set(CROSS_COMPILE_STRIP "${CROSS_COMPILE}-strip")
+set(CROSS_COMPILE_NM "${CROSS_COMPILE}-nm")
+set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy")
+set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size")
+
+# At the very least, cross compile gcc and g++ have to be set!
+find_program (CROSS_COMPILE_CC_FOUND ${CROSS_COMPILE_CC} REQUIRED)
+find_program (CROSS_COMPILE_CXX_FOUND ${CROSS_COMPILE_CXX} REQUIRED)
+
+set(CMAKE_CROSSCOMPILING TRUE)
+set(CMAKE_SYSROOT "${SYSROOT_PATH}")
+
+# Define name of the target system
+set(CMAKE_SYSTEM_NAME "Linux")
+set(CMAKE_SYSTEM_PROCESSOR "arm")
+
+# Define the compiler
+set(CMAKE_C_COMPILER ${CROSS_COMPILE_CC})
+set(CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX})
+
+# List of library dirs where LD has to look. Pass them directly through gcc. 
+# LD_LIBRARY_PATH is not evaluated by arm-*-ld
+set(LIB_DIRS 
+	"${SYSROOT_PATH}/lib/${CROSS_COMPILE}"
+	"${SYSROOT_PATH}/usr/local/lib"
+	"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
+	"${SYSROOT_PATH}/usr/lib"
+)
+# You can additionally check the linker paths if you add the 
+# flags ' -Xlinker --verbose'
+set(COMMON_FLAGS "-I${SYSROOT_PATH}/usr/include")
+foreach(LIB ${LIB_DIRS})
+	set(COMMON_FLAGS "${COMMON_FLAGS} -L${LIB} -Wl,-rpath-link,${LIB}")
+endforeach()
+
+set(CMAKE_PREFIX_PATH 
+	"${CMAKE_PREFIX_PATH}"
+	"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
+)
+
+set(CMAKE_C_FLAGS 
+	"-march=armv7-a -mtune=cortex-a8 -mfpu=neon -mfloat-abi=hard ${COMMON_FLAGS}" 
+	CACHE STRING "Flags for Beagle Bone Black"
+)
+set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}" 
+	CACHE STRING "Flags for Beagle Bone Black"
+)
+
+set(CMAKE_FIND_ROOT_PATH 
+	"${CMAKE_INSTALL_PREFIX};${CMAKE_PREFIX_PATH};${CMAKE_SYSROOT}"
+)
+
+# search for programs in the build host directories
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+# for libraries and headers in the target directories
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
--- a/cmake/HardwareOsPreConfig.cmake
+++ b/cmake/HardwareOsPreConfig.cmake
@ -53,8 +53,8 @@ endif()
 	

 if(TGT_BSP)
-	if (${TGT_BSP} MATCHES "arm/raspberrypi")
-		set(BSP_PATH "bsp_rpi")
+	if (${TGT_BSP} MATCHES "arm/raspberrypi" OR ${TGT_BSP} MATCHES "arm/beagleboneblack")
+		set(BSP_PATH "bsp_linux_board")
 	elseif(${TGT_BSP} MATCHES "arm/q7s")
 		set(BSP_PATH "bsp_q7s")
 	else() 
--- a/cmake/PreProjectConfig.cmake
+++ b/cmake/PreProjectConfig.cmake
@ -11,7 +11,6 @@ endif()

 # Disable compiler checks for cross-compiling.
 if(${OS_FSFW} STREQUAL linux AND TGT_BSP)
-
 	if(${TGT_BSP} MATCHES "arm/q7s")
 		set(CMAKE_TOOLCHAIN_FILE 
 			"${CMAKE_SCRIPT_PATH}/Q7SCrossCompileConfig.cmake"
@ -38,7 +37,7 @@ if(${OS_FSFW} STREQUAL linux AND TGT_BSP)
 			else()
 				message(STATUS "Setting RASPBERRY_VERSION to ${RASPBERRY_VERSION}")
 				set(RASPBERRY_VERSION ${RASPBERRY_VERSION} CACHE STRING "Raspberry Pi version")
-			set(ENV{RASPBERRY_VERSION} ${RASPBERRY_VERSION})
+		        set(ENV{RASPBERRY_VERSION} ${RASPBERRY_VERSION})
 			endif()
 		else()
 			message(STATUS 
@ -51,7 +50,14 @@ if(${OS_FSFW} STREQUAL linux AND TGT_BSP)
 			"${CMAKE_SCRIPT_PATH}/RPiCrossCompileConfig.cmake"
 			PARENT_SCOPE
 		)
-	else()
+    elseif(${TGT_BSP} MATCHES "arm/beagleboneblack")
+        if(LINUX_CROSS_COMPILE)
+            set(CMAKE_TOOLCHAIN_FILE
+                "${CMAKE_SCRIPT_PATH}/BBBCrossCompileConfig.cmake"
+                PARENT_SCOPE
+            )
+        endif()
+    else()
 		message(WARNING "Target BSP (TGT_BSP) ${TGT_BSP} unknown!")
 	endif()
 endif()
--- a/cmake/scripts/.idea/inspectionProfiles/profiles_settings.xml
+++ b/cmake/scripts/.idea/inspectionProfiles/profiles_settings.xml
@ -1,6 +0,0 @@
-<component name="InspectionProjectProfileManager">
-  <settings>
-    <option name="USE_PROJECT_PROFILE" value="false" />
-    <version value="1.0" />
-  </settings>
-</component>
--- a/cmake/scripts/.idea/misc.xml
+++ b/cmake/scripts/.idea/misc.xml
@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.9" project-jdk-type="Python SDK" />
-</project>
--- a/cmake/scripts/.idea/modules.xml
+++ b/cmake/scripts/.idea/modules.xml
@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/scripts.iml" filepath="$PROJECT_DIR$/.idea/scripts.iml" />
-    </modules>
-  </component>
-</project>
--- a/cmake/scripts/.idea/scripts.iml
+++ b/cmake/scripts/.idea/scripts.iml
@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<module type="PYTHON_MODULE" version="4">
-  <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$" />
-    <orderEntry type="inheritedJdk" />
-    <orderEntry type="sourceFolder" forTests="false" />
-  </component>
-</module>
--- a/cmake/scripts/.idea/vcs.xml
+++ b/cmake/scripts/.idea/vcs.xml
@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="VcsDirectoryMappings">
-    <mapping directory="$PROJECT_DIR$/../../.." vcs="Git" />
-  </component>
-</project>
--- a/cmake/scripts/.idea/workspace.xml
+++ b/cmake/scripts/.idea/workspace.xml
@ -1,89 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ChangeListManager">
-    <list default="true" id="b7804b00-6384-4363-ae17-406610449420" name="Default Changelist" comment="" />
-    <option name="SHOW_DIALOG" value="false" />
-    <option name="HIGHLIGHT_CONFLICTS" value="true" />
-    <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
-    <option name="LAST_RESOLUTION" value="IGNORE" />
-  </component>
-  <component name="Git.Settings">
-    <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$/../../.." />
-  </component>
-  <component name="ProjectId" id="1mFLMh77EFiQ6e8GGJM4DSy44LC" />
-  <component name="ProjectLevelVcsManager" settingsEditedManually="true" />
-  <component name="ProjectViewState">
-    <option name="hideEmptyMiddlePackages" value="true" />
-    <option name="showLibraryContents" value="true" />
-  </component>
-  <component name="PropertiesComponent">
-    <property name="RunOnceActivity.OpenProjectViewOnStart" value="true" />
-    <property name="RunOnceActivity.ShowReadmeOnStart" value="true" />
-    <property name="WebServerToolWindowFactoryState" value="false" />
-    <property name="last_opened_file_path" value="$PROJECT_DIR$" />
-    <property name="node.js.detected.package.eslint" value="true" />
-    <property name="node.js.detected.package.tslint" value="true" />
-    <property name="node.js.path.for.package.eslint" value="project" />
-    <property name="node.js.path.for.package.tslint" value="project" />
-    <property name="node.js.selected.package.eslint" value="(autodetect)" />
-    <property name="node.js.selected.package.tslint" value="(autodetect)" />
-  </component>
-  <component name="RunManager">
-    <configuration name="cmake_build_config" type="PythonConfigurationType" factoryName="Python" temporary="true" nameIsGenerated="true">
-      <module name="scripts" />
-      <option name="INTERPRETER_OPTIONS" value="" />
-      <option name="PARENT_ENVS" value="true" />
-      <envs>
-        <env name="PYTHONUNBUFFERED" value="1" />
-      </envs>
-      <option name="SDK_HOME" value="" />
-      <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
-      <option name="IS_MODULE_SDK" value="true" />
-      <option name="ADD_CONTENT_ROOTS" value="true" />
-      <option name="ADD_SOURCE_ROOTS" value="true" />
-      <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
-      <option name="SCRIPT_NAME" value="$PROJECT_DIR$/cmake_build_config.py" />
-      <option name="PARAMETERS" value="" />
-      <option name="SHOW_COMMAND_LINE" value="false" />
-      <option name="EMULATE_TERMINAL" value="false" />
-      <option name="MODULE_MODE" value="false" />
-      <option name="REDIRECT_INPUT" value="false" />
-      <option name="INPUT_FILE" value="" />
-      <method v="2" />
-    </configuration>
-    <recent_temporary>
-      <list>
-        <item itemvalue="Python.cmake_build_config" />
-      </list>
-    </recent_temporary>
-  </component>
-  <component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
-  <component name="TaskManager">
-    <task active="true" id="Default" summary="Default task">
-      <changelist id="b7804b00-6384-4363-ae17-406610449420" name="Default Changelist" comment="" />
-      <created>1609084345199</created>
-      <option name="number" value="Default" />
-      <option name="presentableId" value="Default" />
-      <updated>1609084345199</updated>
-      <workItem from="1609084346343" duration="6791000" />
-    </task>
-    <servers />
-  </component>
-  <component name="TypeScriptGeneratedFilesManager">
-    <option name="version" value="3" />
-  </component>
-  <component name="Vcs.Log.Tabs.Properties">
-    <option name="TAB_STATES">
-      <map>
-        <entry key="MAIN">
-          <value>
-            <State />
-          </value>
-        </entry>
-      </map>
-    </option>
-  </component>
-  <component name="com.intellij.coverage.CoverageDataManagerImpl">
-    <SUITE FILE_PATH="coverage/scripts$cmake_build_config.coverage" NAME="cmake_build_config Coverage Results" MODIFIED="1609089450693" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$" />
-  </component>
-</project>
--- a/cmake/scripts/BeagleBoneBlack/create_cmake_debug_cfg.sh
+++ b/cmake/scripts/BeagleBoneBlack/create_cmake_debug_cfg.sh
@ -0,0 +1,30 @@
+#!/bin/sh
+counter=0
+while [ ${counter} -lt 5 ]
+do
+	cd ..
+	if [ -f "cmake_build_config.py" ];then
+		break
+	fi
+	counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+	echo "cmake_build_config.py not found in upper directories!"
+	exit 1
+fi
+
+os_fsfw="linux"
+tgt_bsp="arm/beagleboneblack"
+build_generator=""
+builddir="build-Debug-BBB"
+defines="LINUX_CROSS_COMPILE=OFF"
+if [ "${OS}" = "Windows_NT" ]; then
+	build_generator="MinGW Makefiles"
+# Could be other OS but this works for now.
+else
+	build_generator="Unix Makefiles"
+fi
+
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
+		-l "${builddir}" -d "${defines}"
--- a/cmake/scripts/BeagleBoneBlack/crosscompile/bbb_path_helper.sh
+++ b/cmake/scripts/BeagleBoneBlack/crosscompile/bbb_path_helper.sh
@ -0,0 +1,3 @@
+export PATH=$PATH:"$HOME/beaglebone/<cross_compiler_path>/bin"
+export CROSS_COMPILE="arm-linux-gnueabihf"
+export BBB_ROOTFS="${HOME}/raspberrypi/rootfs"
--- a/cmake/scripts/BeagleBoneBlack/crosscompile/create_cmake_debug_cfg.sh
+++ b/cmake/scripts/BeagleBoneBlack/crosscompile/create_cmake_debug_cfg.sh
@ -0,0 +1,30 @@
+#!/bin/sh
+counter=0
+while [ ${counter} -lt 5 ]
+do
+	cd ..
+	if [ -f "cmake_build_config.py" ];then
+		break
+	fi
+	counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+	echo "cmake_build_config.py not found in upper directories!"
+	exit 1
+fi
+
+os_fsfw="linux"
+tgt_bsp="arm/beagleboneblack"
+build_generator=""
+builddir="build-Debug-BBB"
+defines="LINUX_CROSS_COMPILE=ON"
+if [ "${OS}" = "Windows_NT" ]; then
+	build_generator="MinGW Makefiles"
+# Could be other OS but this works for now.
+else
+	build_generator="Unix Makefiles"
+fi
+
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
+		-l "${builddir}" -d "${defines}"
--- a/cmake/scripts/BeagleBoneBlack/crosscompile/create_cmake_release_cfg.sh
+++ b/cmake/scripts/BeagleBoneBlack/crosscompile/create_cmake_release_cfg.sh
@ -0,0 +1,30 @@
+#!/bin/sh
+counter=0
+while [ ${counter} -lt 5 ]
+do
+	cd ..
+	if [ -f "cmake_build_config.py" ];then
+		break
+	fi
+	counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+	echo "cmake_build_config.py not found in upper directories!"
+	exit 1
+fi
+
+os_fsfw="linux"
+tgt_bsp="arm/beagleboneblack"
+build_generator=""
+builddir="build-Release-BBB"
+defines="LINUX_CROSS_COMPILE=ON"
+if [ "${OS}" = "Windows_NT" ]; then
+	build_generator="MinGW Makefiles"
+# Could be other OS but this works for now.
+else
+	build_generator="Unix Makefiles"
+fi
+
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
+		-l "${builddir}" -d "${defines}"
--- a/cmake/scripts/BeagleBoneBlack/crosscompile/create_cmake_relwithdeb_cfg.sh
+++ b/cmake/scripts/BeagleBoneBlack/crosscompile/create_cmake_relwithdeb_cfg.sh
@ -0,0 +1,30 @@
+#!/bin/sh
+counter=0
+while [ ${counter} -lt 5 ]
+do
+	cd ..
+	if [ -f "cmake_build_config.py" ];then
+		break
+	fi
+	counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+	echo "cmake_build_config.py not found in upper directories!"
+	exit 1
+fi
+
+os_fsfw="linux"
+tgt_bsp="arm/beagleboneblack"
+build_generator=""
+builddir="build-Release-BBB"
+defines="LINUX_CROSS_COMPILE=ON"
+if [ "${OS}" = "Windows_NT" ]; then
+	build_generator="MinGW Makefiles"
+# Could be other OS but this works for now.
+else
+	build_generator="Unix Makefiles"
+fi
+
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
+		-l "${builddir}" -d "${defines}"
--- a/cmake/scripts/Linux/create_cmake_debug_cfg.sh
+++ b/cmake/scripts/Linux/create_cmake_debug_cfg.sh
@ -16,7 +16,7 @@ fi

 build_generator="Unix Makefiles"
 os_fsfw="linux"
-builddir="Debug-Linux"
+builddir="build-Debug-Linux"

 echo "Running command (without the leading +):"
 set -x # Print command 
--- a/cmake/scripts/Linux/create_cmake_release_cfg.sh
+++ b/cmake/scripts/Linux/create_cmake_release_cfg.sh
@ -16,7 +16,7 @@ fi

 build_generator="Unix Makefiles"
 os_fsfw="linux"
-builddir="Release-Linux"
+builddir="build-Release-Linux"

 echo "Running command (without the leading +):"
 set -x # Print command 
--- a/cmake/scripts/Linux/create_cmake_relwithdeb_cfg.sh
+++ b/cmake/scripts/Linux/create_cmake_relwithdeb_cfg.sh
@ -1,25 +0,0 @@
-#!/bin/sh
-counter=0
-while [ ${counter} -lt 5 ]
-do
-	cd ..
-	if [ -f "cmake_build_config.py" ];then
-		break
-	fi
-	counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-	echo "create_cmake_cfg.sh not found in upper directories!"
-	exit 1
-fi
-
-build_generator="Unix Makefiles"
-os_fsfw="linux"
-builddir="RelWithDeb-Linux"
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
-# Use this if commands are added which should not be printed
-# set +x
--- a/cmake/scripts/Linux/create_cmake_size_cfg.sh
+++ b/cmake/scripts/Linux/create_cmake_size_cfg.sh
@ -1,20 +0,0 @@
-#!/bin/sh
-counter=0
-while [ ${counter} -lt 5 ]
-do
-	cd ..
-	if [ -f "cmake_build_config.py" ];then
-		break
-	fi
-	counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-	echo "create_cmake_cfg.sh not found in upper directories!"
-	exit 1
-fi
-
-build_generator="Unix Makefiles"
-os_fsfw="linux"
-
-python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "size"
--- a/cmake/scripts/Q7S/create_cmake_debug_cfg.sh
+++ b/cmake/scripts/Q7S/create_cmake_debug_cfg.sh
@ -16,6 +16,7 @@ fi

 os_fsfw="linux"
 tgt_bsp="arm/q7s"
+build_dir="build-Debug-Q7S"
 build_generator=""
 if [ "${OS}" = "Windows_NT" ]; then
 	build_generator="MinGW Makefiles"
@ -24,4 +25,5 @@ else
 	build_generator="Unix Makefiles"
 fi

-python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}"
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
+	-l"${build_dir}"
--- a/cmake/scripts/Q7S/create_cmake_release_cfg.sh
+++ b/cmake/scripts/Q7S/create_cmake_release_cfg.sh
@ -16,6 +16,7 @@ fi

 os_fsfw="linux"
 tgt_bsp="arm/q7s"
+build_dir="build-Release-Q7S"
 build_generator=""
 if [ "${OS}" = "Windows_NT" ]; then
 	build_generator="MinGW Makefiles"
@ -24,4 +25,5 @@ else
 	build_generator="Unix Makefiles"
 fi

-python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}"
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \
+    -l"${build_dir}"
--- a/cmake/scripts/Q7S/create_cmake_relwithdeb_cfg.sh
+++ b/cmake/scripts/Q7S/create_cmake_relwithdeb_cfg.sh
@ -16,6 +16,7 @@ fi

 os_fsfw="linux"
 tgt_bsp="arm/q7s"
+build_dir="build-Release-Q7S"
 build_generator=""
 if [ "${OS}" = "Windows_NT" ]; then
 	build_generator="MinGW Makefiles"
@ -24,4 +25,5 @@ else
 	build_generator="Unix Makefiles"
 fi

-python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "reldeb" -t "${tgt_bsp}"
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "reldeb" -t "${tgt_bsp}" \
+    -l"${build_dir}"
--- a/cmake/scripts/cmake_build_config.py
+++ b/cmake/scripts/cmake_build_config.py
@ -18,18 +18,26 @@ def main():
    print("-- Python CMake build configurator utility --")

    print("Parsing command line arguments..")
-    parser = argparse.ArgumentParser(description="Processing arguments for CMake build configuration.")
+    parser = argparse.ArgumentParser(
+        description="Processing arguments for CMake build configuration."
+    )
    parser.add_argument("-o", "--osal", type=str, choices=["freertos", "linux", "rtems", "host"],
                        help="FSFW OSAL. Valid arguments: host, linux, rtems, freertos")
-    parser.add_argument("-b", "--buildtype", type=str, choices=["debug", "release", "size", "reldeb"],
-                        help="CMake build type. Valid arguments: debug, release, size, reldeb (Release with Debug "
-                             "Information)", default="debug")
+    parser.add_argument(
+        "-b", "--buildtype", type=str, choices=["debug", "release", "size", "reldeb"],
+        help="CMake build type. Valid arguments: debug, release, size, reldeb (Release with Debug "
+             "Information)", default="debug"
+    )
    parser.add_argument("-l", "--builddir", type=str, help="Specify build directory.")
    parser.add_argument("-g", "--generator", type=str, help="CMake Generator")
-    parser.add_argument("-d", "--defines",
-                        help="Additional custom defines passed to CMake (supply without -D prefix!)",
-                        nargs="*", type=str)
-    parser.add_argument("-t", "--target-bsp", type=str, help="Target BSP, combination of architecture and machine")
+    parser.add_argument(
+        "-d", "--defines",
+        help="Additional custom defines passed to CMake (supply without -D prefix!)",
+        nargs="*", type=str
+    )
+    parser.add_argument(
+        "-t", "--target-bsp", type=str, help="Target BSP, combination of architecture and machine"
+    )

    args = parser.parse_args()

@ -64,6 +72,12 @@ def main():
    else:
        cmake_target_cfg_cmd = ""

+    define_string = ""
+    if args.defines is not None:
+        define_list = args.defines[0].split()
+        for define in define_list:
+            define_string += f"-D{define} "
+
    build_folder = cmake_build_type
    if args.builddir is not None:
        build_folder = args.builddir
@ -85,7 +99,8 @@ def main():
    os.chdir(build_folder)

    cmake_command = f"cmake {generator_cmake_arg} -DOS_FSFW=\"{osal}\" " \
-                    f"-DCMAKE_BUILD_TYPE=\"{cmake_build_type}\" {cmake_target_cfg_cmd} {source_location}"
+                    f"-DCMAKE_BUILD_TYPE=\"{cmake_build_type}\" {cmake_target_cfg_cmd} " \
+                    f"{define_string} {source_location}"
    # Remove redundant spaces
    cmake_command = ' '.join(cmake_command.split())
    print("Running CMake command: ")
--- a/common/config/OBSWVersion.h
+++ b/common/config/OBSWVersion.h
@ -4,7 +4,7 @@
 const char* const SW_NAME = "eive";

 #define SW_VERSION 1
-#define SW_SUBVERSION 1
+#define SW_SUBVERSION 2
 #define SW_SUBSUBVERSION 0

 #endif /* COMMON_CONFIG_OBSWVERSION_H_ */
--- a/common/config/commonClassIds.h
+++ b/common/config/commonClassIds.h
@ -0,0 +1,23 @@
+#ifndef COMMON_CONFIG_COMMONCLASSIDS_H_
+#define COMMON_CONFIG_COMMONCLASSIDS_H_
+
+#include <fsfw/returnvalues/FwClassIds.h>
+#include <cstdint>
+
+namespace CLASS_ID {
+enum commonClassIds: uint8_t {
+	MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
+	MGM_LIS3MDL,
+	MGM_RM3100,
+	PCDU_HANDLER,
+	HEATER_HANDLER,
+	SYRLINKS_HANDLER,
+	IMTQ_HANDLER,
+	PLOC_HANDLER,
+	SUS_HANDLER,
+	COMMON_CLASS_ID_END
+};
+
+}
+
+#endif /* COMMON_CONFIG_COMMONCLASSIDS_H_ */
--- a/common/config/commonObjects.h
+++ b/common/config/commonObjects.h
@ -0,0 +1,49 @@
+#ifndef COMMON_CONFIG_COMMONOBJECTS_H_
+#define COMMON_CONFIG_COMMONOBJECTS_H_
+
+#include <cstdint>
+
+namespace objects {
+enum commonObjects: uint32_t {
+	/* First Byte 0x50-0x52 reserved for PUS Services **/
+	CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
+	PUS_PACKET_DISTRIBUTOR = 0x50000200,
+	UDP_BRIDGE = 0x50000300,
+	UDP_POLLING_TASK = 0x50000400,
+
+	/* 0x44 ('D') for device handlers */
+	P60DOCK_HANDLER = 0x44000001,
+	PDU1_HANDLER = 0x44000002,
+	PDU2_HANDLER = 0x44000003,
+	ACU_HANDLER = 0x44000004,
+	TMP1075_HANDLER_1 = 0x44000005,
+	TMP1075_HANDLER_2 = 0x44000006,
+    MGM_0_LIS3_HANDLER = 0x44000007,
+	MGM_1_RM3100_HANDLER = 0x44000008,
+	MGM_2_LIS3_HANDLER = 0x44000009,
+	MGM_3_RM3100_HANDLER = 0x44000010,
+	GYRO_0_ADIS_HANDLER = 0x44000011,
+	GYRO_1_L3G_HANDLER = 0x44000012,
+	GYRO_2_L3G_HANDLER = 0x44000013,
+
+	IMTQ_HANDLER = 0x44000014,
+	PLOC_HANDLER = 0x44000015,
+
+    SUS_1 = 0x44000016,
+    SUS_2 = 0x44000017,
+    SUS_3 = 0x44000018,
+    SUS_4 = 0x44000019,
+    SUS_5 = 0x4400001A,
+    SUS_6 = 0x4400001B,
+    SUS_7 = 0x4400001C,
+    SUS_8 = 0x4400001D,
+    SUS_9 = 0x4400001E,
+    SUS_10 = 0x4400001F,
+    SUS_11 = 0x44000021,
+    SUS_12 = 0x44000022,
+    SUS_13 = 0x44000023,
+};
+}
+
+
+#endif /* COMMON_CONFIG_COMMONOBJECTS_H_ */
--- a/common/config/commonSubsystemId.h
+++ b/common/config/commonSubsystemId.h
@ -0,0 +1,26 @@
+#ifndef COMMON_CONFIG_COMMONSUBSYSTEMID_H_
+#define COMMON_CONFIG_COMMONSUBSYSTEMID_H_
+
+#include <fsfw/events/fwSubsystemIdRanges.h>
+
+namespace SUBSYSTEM_ID {
+enum: uint8_t {
+	COMMON_SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
+	PUS_SERVICE_2,
+	PUS_SERVICE_3,
+	PUS_SERVICE_5,
+	PUS_SERVICE_6,
+	PUS_SERVICE_8,
+	PUS_SERVICE_23,
+	MGM_LIS3MDL,
+	MGM_RM3100,
+	PCDU_HANDLER,
+	HEATER_HANDLER,
+	SA_DEPL_HANDLER,
+	PLOC_HANDLER,
+	COMMON_SUBSYSTEM_ID_END
+};
+}
+
+
+#endif /* COMMON_CONFIG_COMMONSUBSYSTEMID_H_ */
--- a/1
+++ b/1
@ -1 +0,0 @@
-Subproject commit ae06e6417702b770c49289c9e7162cb3f4a5a217
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit e7d245635047439ca4b5a46d05bf58437a5aa33a
+Subproject commit ac027e3ff22b609fe63096275a135babc8f76253
--- a/fsfwconfig/events/subsystemIdRanges.h
+++ b/fsfwconfig/events/subsystemIdRanges.h
@ -1,6 +1,7 @@
 #ifndef FSFWCONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
 #define FSFWCONFIG_EVENTS_SUBSYSTEMIDRANGES_H_

+#include "commonSubsystemId.h"
 #include <fsfw/events/fwSubsystemIdRanges.h>
 #include <cstdint>

@ -10,19 +11,7 @@
 */
 namespace SUBSYSTEM_ID {
 enum: uint8_t {
-	SUBSYSTE_ID_START = FW_SUBSYSTEM_ID_RANGE,
-	PUS_SERVICE_2,
-	PUS_SERVICE_3,
-	PUS_SERVICE_5,
-	PUS_SERVICE_6,
-	PUS_SERVICE_8,
-	PUS_SERVICE_23,
-	MGM_LIS3MDL,
-	MGM_RM3100,
-	PCDU_HANDLER,
-	HEATER_HANDLER,
-	SA_DEPL_HANDLER,
-	PLOC_HANDLER
+	SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END
 };
 }

--- a/fsfwconfig/objects/systemObjectList.h
+++ b/fsfwconfig/objects/systemObjectList.h
@ -3,6 +3,7 @@

 #include <cstdint>
 #include <fsfw/objectmanager/frameworkObjects.h>
+#include <commonObjects.h>

 // The objects will be instantiated in the ID order
 namespace objects {
@ -11,12 +12,6 @@ namespace objects {
 	    FW_ADDRESS_START = PUS_SERVICE_1_VERIFICATION,
 	    FW_ADDRESS_END = TIME_STAMPER,

-		/* First Byte 0x50-0x52 reserved for PUS Services **/
-		CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
-		PUS_PACKET_DISTRIBUTOR = 0x50000200,
-		UDP_BRIDGE = 0x50000300,
-		UDP_POLLING_TASK = 0x50000400,
-
 		PUS_SERVICE_3 = 0x51000300,
 		PUS_SERVICE_5 = 0x51000400,
 		PUS_SERVICE_6 = 0x51000500,
@ -36,39 +31,6 @@ namespace objects {
 		/* 0x47 ('G') for Gpio Interfaces */
 		GPIO_IF = 0x47000001,

-		/* 0x44 ('D') for device handlers */
-		P60DOCK_HANDLER = 0x44000001,
-		PDU1_HANDLER = 0x44000002,
-		PDU2_HANDLER = 0x44000003,
-		ACU_HANDLER = 0x44000004,
-		TMP1075_HANDLER_1 = 0x44000005,
-		TMP1075_HANDLER_2 = 0x44000006,
-        MGM_0_LIS3_HANDLER = 0x44000007,
-		MGM_1_RM3100_HANDLER = 0x44000008,
-		MGM_2_LIS3_HANDLER = 0x44000009,
-		MGM_3_RM3100_HANDLER = 0x44000010,
-		GYRO_0_ADIS_HANDLER = 0x44000011,
-		GYRO_1_L3G_HANDLER = 0x44000012,
-		GYRO_2_L3G_HANDLER = 0x44000013,
-
-		IMTQ_HANDLER = 0x44000014,
-		PLOC_HANDLER = 0x44000015,
-
-
-        SUS_1 = 0x44000016,
-        SUS_2 = 0x44000017,
-        SUS_3 = 0x44000018,
-        SUS_4 = 0x44000019,
-        SUS_5 = 0x4400001A,
-        SUS_6 = 0x4400001B,
-        SUS_7 = 0x4400001C,
-        SUS_8 = 0x4400001D,
-        SUS_9 = 0x4400001E,
-        SUS_10 = 0x4400001F,
-        SUS_11 = 0x44000021,
-        SUS_12 = 0x44000022,
-        SUS_13 = 0x44000023,
-
 		/* Custom device handler */
 		PCDU_HANDLER = 0x44001000,
 		SOLAR_ARRAY_DEPL_HANDLER = 0x44001001,
--- a/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@ -1,12 +1,12 @@
 #include "pollingSequenceFactory.h"
-#include <OBSWConfig.h>
+#include "linux/devices/SusHandler.h"
+#include "OBSWConfig.h"
+
 #include <fsfw/objectmanager/ObjectManagerIF.h>
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 #include <fsfwconfig/objects/systemObjectList.h>
-#include <fsfwconfig/OBSWConfig.h>
-#include <mission/devices/SusHandler.h>


 ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
--- a/fsfwconfig/returnvalues/classIds.h
+++ b/fsfwconfig/returnvalues/classIds.h
@ -2,6 +2,7 @@
 #define FSFWCONFIG_RETURNVALUES_CLASSIDS_H_

 #include <fsfw/returnvalues/FwClassIds.h>
+#include <commonClassIds.h>

 /**
 * Source IDs starts at 73 for now
@ -10,18 +11,10 @@
 */
 namespace CLASS_ID {
 enum {
-	MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
-	MGM_LIS3MDL,
-	MGM_RM3100,
+	CLASS_ID_START = COMMON_CLASS_ID_END,
 	LINUX_LIBGPIO_IF,
 	LINUX_SPI_COM_IF,
-	PCDU_HANDLER,
-	HEATER_HANDLER,
 	SA_DEPL_HANDLER,
-	SYRLINKS_HANDLER,
-	IMTQ_HANDLER,
-	PLOC_HANDLER,
-	SUS_HANDLER
 };
 }

--- a/linux/CMakeLists.txt
+++ b/linux/CMakeLists.txt
@ -2,3 +2,4 @@ add_subdirectory(csp)
 add_subdirectory(uart)
 add_subdirectory(utility)
 add_subdirectory(boardtest)
+add_subdirectory(devices)
--- a/linux/boardtest/SpiTestClass.h
+++ b/linux/boardtest/SpiTestClass.h
@ -55,6 +55,15 @@ private:
    uint8_t gyro2L3gd20ChipSelect = 3;
    uint8_t mgm2Lis3mdlChipSelect = 0;
    uint8_t mgm3Rm3100ChipSelect = 23;
+#else
+    uint8_t mgm0Lis3mdlChipSelect = 0;
+    uint8_t mgm1Rm3100ChipSelect = 0;
+    uint8_t gyro0AdisResetLine = 0;
+    uint8_t gyro0AdisChipSelect = 0;
+    uint8_t gyro1L3gd20ChipSelect = 0;
+    uint8_t gyro2L3gd20ChipSelect = 0;
+    uint8_t mgm2Lis3mdlChipSelect = 0;
+    uint8_t mgm3Rm3100ChipSelect = 0;
 #endif

    static constexpr uint8_t STM_READ_MASK = 0b1000'0000;
--- a/bsp_q7s/devices/CMakeLists.txt
+++ b/bsp_q7s/devices/CMakeLists.txt
@ -1,4 +1,5 @@
 target_sources(${TARGET_NAME} PRIVATE
 	HeaterHandler.cpp
 	SolarArrayDeploymentHandler.cpp
+	SusHandler.cpp
 )
--- a/bsp_q7s/devices/HeaterHandler.cpp
+++ b/bsp_q7s/devices/HeaterHandler.cpp
@ -1,7 +1,8 @@
 #include "HeaterHandler.h"
-#include <fsfwconfig/devices/powerSwitcherList.h>
+#include "devices/gpioIds.h"
+#include "devices/powerSwitcherList.h"
+
 #include <fsfw/ipc/QueueFactory.h>
-#include <devices/gpioIds.h>
 #include <fsfw_hal/common/gpio/GpioCookie.h>

 HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_,
--- a/bsp_q7s/devices/HeaterHandler.h
+++ b/bsp_q7s/devices/HeaterHandler.h
--- a/bsp_q7s/devices/SolarArrayDeploymentHandler.cpp
+++ b/bsp_q7s/devices/SolarArrayDeploymentHandler.cpp
--- a/bsp_q7s/devices/SolarArrayDeploymentHandler.h
+++ b/bsp_q7s/devices/SolarArrayDeploymentHandler.h
--- a/mission/devices/SusHandler.cpp
+++ b/mission/devices/SusHandler.cpp
@ -1,6 +1,7 @@
+#include "SusHandler.h"
+#include "OBSWConfig.h"
+
 #include <fsfw/datapool/PoolReadGuard.h>
-#include <mission/devices/SusHandler.h>
-#include <OBSWConfig.h>
 #include <fsfw_hal/linux/spi/SpiComIF.h>

 SusHandler::SusHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
--- a/mission/devices/SusHandler.h
+++ b/mission/devices/SusHandler.h
--- a/misc/eclipse/.cproject
+++ b/misc/eclipse/.cproject
@ -19,7 +19,7 @@
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443." name="/" resourcePath="">
 						<toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.1176904738" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base">
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.1087094604" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/>
-							<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Debug-Host}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1026777292" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
+							<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/build-Debug}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1026777292" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
 							<tool id="cdt.managedbuild.tool.gnu.assembler.mingw.base.813737526" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.base">
 								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1289649483" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
 							</tool>
@ -121,7 +121,7 @@
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473." name="/" resourcePath="">
 						<toolChain id="cdt.managedbuild.toolchain.gnu.base.451747644" name="Linux GCC" superClass="cdt.managedbuild.toolchain.gnu.base">
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.base.1935224860" name="Debug Platform" osList="linux,hpux,aix,qnx" superClass="cdt.managedbuild.target.gnu.platform.base"/>
-							<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Debug}" command="cmake" id="cdt.managedbuild.target.gnu.builder.base.1977029024" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.target.gnu.builder.base"/>
+							<builder arguments="--build ." autoBuildTarget="all" buildPath="${workspace_loc:/eive_obsw/build-Debug-Linux}" cleanBuildTarget="clean" command="cmake" enableAutoBuild="false" enableCleanBuild="true" enabledIncrementalBuild="true" id="cdt.managedbuild.target.gnu.builder.base.1977029024" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.target.gnu.builder.base"/>
 							<tool id="cdt.managedbuild.tool.gnu.archiver.base.1958098629" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
 							<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.1405808772" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.include.paths.44677510" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
@ -178,7 +178,7 @@
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075." name="/" resourcePath="">
 						<toolChain id="cdt.managedbuild.toolchain.gnu.base.1520250049" name="Linux GCC" superClass="cdt.managedbuild.toolchain.gnu.base">
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.base.484502326" name="Debug Platform" osList="linux,hpux,aix,qnx" superClass="cdt.managedbuild.target.gnu.platform.base"/>
-							<builder arguments="-f Makefile-Hosted" command="make" id="cdt.managedbuild.target.gnu.builder.base.124593156" incrementalBuildTarget="release" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.target.gnu.builder.base"/>
+							<builder arguments="-f Makefile-Hosted" buildPath="${workspace_loc:/eive_obsw/build-Release-Linux}" command="make" id="cdt.managedbuild.target.gnu.builder.base.124593156" incrementalBuildTarget="release" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.target.gnu.builder.base"/>
 							<tool id="cdt.managedbuild.tool.gnu.archiver.base.977464664" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
 							<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.1522927967" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.include.paths.1753272978" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
@ -233,7 +233,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug-win" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null" parent="org.eclipse.cdt.build.core.emptycfg">
+				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug-win" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851." name="/" resourcePath="">
 						<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1971474557" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1813444167" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
@ -520,9 +520,9 @@
 			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
 		</cconfiguration>
 		<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689">
-			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-debug-win">
+			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-debug">
 				<macros>
-					<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
+					<stringMacro name="Q7S_SYSROOT" type="VALUE_PATH_ANY" value="/home/rmueller/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"/>
 				</macros>
 				<externalSettings/>
 				<extensions>
@ -535,7 +535,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug-win" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
+				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689." name="/" resourcePath="">
 						<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1439714522" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1064018737" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
@ -612,7 +612,7 @@
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other.1721137382" name="Other debugging flags" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other"/>
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.2014131279" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform.363832829" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/>
-							<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Debug}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1895725167" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
+							<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/build-Debug-Q7S}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1895725167" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
 							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.2035413172" name="GNU Arm Cross Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
 								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.1527860624" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
 								<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.1331264991" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
@ -667,8 +667,11 @@
 			</storageModule>
 			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
 		</cconfiguration>
-		<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1286242200">
-			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1286242200" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-release-win">
+		<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.364559455">
+			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.364559455" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-release">
+				<macros>
+					<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="/home/rmueller/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"/>
+				</macros>
 				<externalSettings/>
 				<extensions>
 					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
@ -680,127 +683,128 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1286242200" name="eive-q7s-release-win" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
-					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1286242200." name="/" resourcePath="">
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 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive_obsw}&quot;"/>
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 									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
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-								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format.608263053" name="Size format" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format"/>
+							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.printsize.903608509" name="GNU Arm Cross Print Size" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.printsize">
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@ -821,6 +825,9 @@
 		<configuration configurationName="eive-q7s-release-win">
 			<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
 		</configuration>
+		<configuration configurationName="eive-q7s-release">
+			<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
+		</configuration>
 		<configuration configurationName="eive-mingw-release"/>
 		<configuration configurationName="eive-rpi-release-win"/>
 		<configuration configurationName="eive-linux-host-release"/>
@ -871,11 +878,17 @@
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 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.364559455;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.364559455.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.1970346305;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.2096585345">
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 		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1031020513;cdt.managedbuild.toolchain.gnu.mingw.base.1031020513.519944638;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.205410786;cdt.managedbuild.tool.gnu.cpp.compiler.input.1560428812">
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 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.364559455;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.364559455.;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.304199864;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.1740349149">
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 </cproject>
--- a/misc/eclipse/Host/eive-linux-host-debug-cmake.launch
+++ b/misc/eclipse/Host/eive-linux-host-debug-cmake.launch
@ -18,7 +18,7 @@
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-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug-Linux/eive_obsw"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="build-Debug-Linux/eive_obsw"/>
    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
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    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473"/>
--- a/misc/eclipse/make/.cproject
+++ b/misc/eclipse/make/.cproject
@ -1,257 +0,0 @@
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-								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.c.compiler.option.preprocessor.def.symbols.841213070" name="Defined symbols (-D)" superClass="gnu.c.compiler.option.preprocessor.def.symbols" useByScannerDiscovery="false" valueType="definedSymbols">
-									<listOptionValue builtIn="false" value="LINUX=1"/>
-								</option>
-								<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1382191457" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
-							</tool>
-							<tool id="cdt.managedbuild.tool.gnu.c.linker.base.845164076" name="GCC C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.base"/>
-							<tool id="cdt.managedbuild.tool.gnu.cpp.linker.base.1609058002" name="GCC C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.base">
-								<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1704811853" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
-									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
-									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
-								</inputType>
-							</tool>
-							<tool id="cdt.managedbuild.tool.gnu.assembler.base.1573150363" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.base">
-								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.2081858013" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
-							</tool>
-						</toolChain>
-					</folderInfo>
-				</configuration>
-			</storageModule>
-			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
-		</cconfiguration>
-	</storageModule>
-	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-		<project id="eive_obsw.null.1109622296" name="eive_obsw"/>
-	</storageModule>
-	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
-	<storageModule moduleId="refreshScope" versionNumber="2">
-		<configuration configurationName="eive-linux-host-debug"/>
-		<configuration configurationName="eive-mingw-release"/>
-		<configuration configurationName="eive-linux-host-release"/>
-		<configuration configurationName="eive-mingw-debug">
-			<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
-		</configuration>
-		<configuration configurationName="Default">
-			<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
-		</configuration>
-	</storageModule>
-	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
-	<storageModule moduleId="scannerConfiguration">
-		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.646655988;cdt.managedbuild.tool.gnu.cpp.compiler.input.1437856797">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075.;cdt.managedbuild.tool.gnu.c.compiler.base.623389075;cdt.managedbuild.tool.gnu.c.compiler.input.1382191457">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075.;cdt.managedbuild.tool.gnu.cpp.compiler.base.1522927967;cdt.managedbuild.tool.gnu.cpp.compiler.input.305765911">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249.;cdt.managedbuild.tool.gnu.c.compiler.mingw.base.473677411;cdt.managedbuild.tool.gnu.c.compiler.input.2060052812">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249.;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.539225324;cdt.managedbuild.tool.gnu.cpp.compiler.input.1848997248">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.;cdt.managedbuild.tool.gnu.cpp.compiler.base.1405808772;cdt.managedbuild.tool.gnu.cpp.compiler.input.1960112549">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.;cdt.managedbuild.tool.gnu.c.compiler.base.1946711528;cdt.managedbuild.tool.gnu.c.compiler.input.584209663">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.;cdt.managedbuild.tool.gnu.c.compiler.mingw.base.397223006;cdt.managedbuild.tool.gnu.c.compiler.input.1482659499">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-	</storageModule>
-	<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings">
-		<doc-comment-owner id="org.eclipse.cdt.ui.doxygen">
-			<path value=""/>
-		</doc-comment-owner>
-	</storageModule>
-</cproject>
--- a/misc/eclipse/make/.project
+++ b/misc/eclipse/make/.project
@ -1,27 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<projectDescription>
-	<name>eive_obsw</name>
-	<comment></comment>
-	<projects>
-	</projects>
-	<buildSpec>
-		<buildCommand>
-			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
-			<triggers>clean,full,incremental,</triggers>
-			<arguments>
-			</arguments>
-		</buildCommand>
-		<buildCommand>
-			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
-			<triggers>full,incremental,</triggers>
-			<arguments>
-			</arguments>
-		</buildCommand>
-	</buildSpec>
-	<natures>
-		<nature>org.eclipse.cdt.core.cnature</nature>
-		<nature>org.eclipse.cdt.core.ccnature</nature>
-		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
-		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
-	</natures>
-</projectDescription>
--- a/mission/devices/CMakeLists.txt
+++ b/mission/devices/CMakeLists.txt
@ -15,7 +15,6 @@ target_sources(${TARGET_NAME} PUBLIC
 	IMTQHandler.cpp
 	PlocHandler.cpp
 	RadiationSensorHandler.cpp
-	SusHandler.cpp
 )


--- a/mission/devices/IMTQHandler.cpp
+++ b/mission/devices/IMTQHandler.cpp
@ -1,9 +1,9 @@
 #include "IMTQHandler.h"
+#include "OBSWConfig.h"

-#include <fsfwconfig/OBSWConfig.h>
 #include <fsfw/globalfunctions/CRC.h>
 #include <fsfw/datapool/PoolReadGuard.h>
-#include <fsfwconfig/OBSWConfig.h>
+

 IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
        DeviceHandlerBase(objectId, comIF, comCookie), engHkDataset(this), calMtmMeasurementSet(
--- a/mission/devices/PlocHandler.cpp
+++ b/mission/devices/PlocHandler.cpp
@ -1,9 +1,8 @@
 #include "PlocHandler.h"
+#include "OBSWConfig.h"

-#include <fsfwconfig/OBSWConfig.h>
 #include <fsfw/globalfunctions/CRC.h>
 #include <fsfw/datapool/PoolReadGuard.h>
-#include <fsfwconfig/OBSWConfig.h>

 PlocHandler::PlocHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
        DeviceHandlerBase(objectId, comIF, comCookie) {
--- a/mission/devices/PlocHandler.h
+++ b/mission/devices/PlocHandler.h
@ -3,7 +3,7 @@

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <mission/devices/devicedefinitions/PlocDefinitions.h>
-#include <string.h>
+#include <cstring>

 /**
 * @brief	This is the device handler for the PLOC.
--- a/mission/devices/SyrlinksHkHandler.cpp
+++ b/mission/devices/SyrlinksHkHandler.cpp
@ -1,8 +1,9 @@
+#include "OBSWConfig.h"
+
 #include <mission/devices/SyrlinksHkHandler.h>
-#include <fsfwconfig/OBSWConfig.h>
 #include <fsfw/globalfunctions/CRC.h>
 #include <fsfw/datapool/PoolReadGuard.h>
-#include <fsfwconfig/OBSWConfig.h>
+

 SyrlinksHkHandler::SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
        DeviceHandlerBase(objectId, comIF, comCookie), rxDataset(this), txDataset(this) {
--- a/thirdparty/etl
+++ b/thirdparty/etl
@ -1 +1 @@
-Subproject commit 0efecca700c6d0847f91b5540638571ba298c793
+Subproject commit c308dc427b7a34e54f33860fb2e244564b2740b4
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 574a3e92074d9d4d0335dad3ddc5962e1369f5d5
+Subproject commit 74c9da8504b36b33110285f2797a06101b475eec
				`@ -1 +0,0 @@`
				`Subproject commit ae06e6417702b770c49289c9e7162cb3f4a5a217`