Merge remote-tracking branch 'origin/main' into relax-sus-fdir

.idea/cmake.xml

@@ -2,7 +2,7 @@
 <project version="4">
   <component name="CMakeSharedSettings">
     <configurations>
-      <configuration PROFILE_NAME="Debug Q7S" ENABLED="true" CONFIG_NAME="Debug" TOOLCHAIN_NAME="Q7S" GENERATION_OPTIONS="-DTGT_BSP=&quot;arm/q7s&quot;" NO_GENERATOR="true">
+      <configuration PROFILE_NAME="Debug Q7S" ENABLED="true" CONFIG_NAME="Debug" TOOLCHAIN_NAME="Default" GENERATION_OPTIONS="-DTGT_BSP=&quot;arm/q7s&quot;" NO_GENERATOR="true">
         <ADDITIONAL_GENERATION_ENVIRONMENT>
           <envs>
             <env name="ZYNQ_7020_ROOTFS" value="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi" />
@@ -10,6 +10,7 @@
           </envs>
         </ADDITIONAL_GENERATION_ENVIRONMENT>
       </configuration>
+      <configuration PROFILE_NAME="Debug" ENABLED="true" CONFIG_NAME="Debug" NO_GENERATOR="true" />
     </configurations>
   </component>
 </project>

CHANGELOG.md

@@ -16,9 +16,277 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
-# [v4.0.0] to be released
+## Changed
 
-# [v3.1.0] to be released
+- Relaxed SUS FDIR. The devices have shown to be glitchy in orbit, but still seem to deliver
+  sensible raw values most of the time. Some further testing is necessary, but some changes in the
+  code should cause the SUS devices to remain healthy for now.
+
+# [v6.3.0] 2023-08-03
+
+## Fixed
+
+- Small SCEX fix: The temperatur check option was not passed
+  on for commands with a user data size larger than 1.
+- SCEX: Properly check whether filesystem is usable for filesystem checks.
+- ACS Controller strategy is now actually written to the dataset for detumbling.
+- During detumble the fused rotation rate is now calculated.
+- Detumbling is now exited when its exit value is undercut and not its entry value.
+- Rotation rate of last cycle is now stored in all cases for the fused rotational rate
+  calculation.
+- Fused rotation rate estimation during eclipse can be disabled. This will also prevent
+  detumbling during eclipse, as no relevant rotational rate is available for now.
+- `EiveSystem`: Add a small delay between triggering an event for FDIR reboots and sending the
+  command to the core controller.
+- PL PDU: Fixed bounds checking logic. Bound checks will only be performed for modules which are
+  enabled.
+
+## Changed
+
+- SCEX: Only perform filesystem checks when not in OFF mode.
+- The `EiveSystem` now only sends reboot commands targetting the same image.
+- Added 200 ms delay between switching HPA/MPA/TX/X8 and DRO GPIO pin OFF.
+- PL PCDU ADC set is now automatically enabled for `NORMAL` mode transitions. It is automatically
+  disabled for `OFF` mode transitions.
+
+## Added
+
+- PL PCDU for EM build.
+- SCEX: Add warning event if filesystem is unusable.
+
+# [v6.2.0] 2023-07-26
+
+- `eive-tmtc`: v5.3.1
+
+## Changed
+
+- STR missed reply handling is now moved to DHB rather than the COM interface. The COM IF will
+  still trigger an event if a reply is taking too long, and FDIR should still work via reply
+  timeouts.
+- Re-ordered some functions of the core controller in the initialize function.
+- Rad sensor is now only polled every 30 minutes instead of every device cycle to reduce wear of
+  the RADFET electronics.
+- The SD cards will still be switched OFF on a reboot, but this is done in a non-blocking manner
+  now with a timeout of 10 seconds where the reboot will be performed in any case.
+- ACS Controller now includes the safe mode from FLP, which will calculate its rotational rate
+  from SUS and MGM measurements. To accommodate these changes, low-pass filters for SUS
+  measurements and rates as well as MGM measurements and rates are included. Usage of the new
+  controller as well as settings of the low-pass filters can be handled via parameter commands.
+- Simplify and fix the chip and copy protection functions in the core controller. This mechanism
+  now is always performed for the target chip and target copy in the reboot handlers.
+- Improvement in FSFW: HK generation is now countdown based.
+
+## Added
+
+- 5 ms delay after pulling RADFET enable pin high before starting
+  the ADC conversion.
+- Set STR time in configuration sequence to firmware mode.
+- The STR `AutoThreshold` parameters are now set from the configuration JSON file at STR
+  startup.
+- The STR handler can now handle the COM error reply and triggers an low severity event accordingly.
+- Add SCEX handler for EM.
+- Radiation sensor handler dummy for the EM.
+- Added event for SD card information in core controller initialize function. This event will also
+  be triggered after the SD state machine has run, so the event will generally be triggered twice
+  at system boot, and once after commanding SD card switches.
+
+## Fixed
+
+- General bugs in the SD card state machine. This might fix some other known bugs for certain
+  combinations of switching ON and OFF SD cards and also makes the whole state machine a lot more
+  robust against hanging up.
+- SUS dummy handler went to `MODE_NORMAL` for ON commands.
+- PL PCDU dummy went to `MODE_NORMAL` for ON commands.
+
+# [v6.1.0] 2023-07-13
+
+- `eive-tmtc`: v5.2.0
+
+## Changed
+
+- TCS: Remove OBC IF board thermal module, which is exactly identical to OBC module and therefore
+  obsolete.
+- Swapped PL and PS I2C, BPX battery and MGT are connected to PS I2C now for firmware versions
+  equal or above v4. However, this software version is compatible to both v3 and v4 of the firmware.
+- The firmware version variables are global statics inititalized early during the program
+  runtime now. This makes it possible to check the firmware version earlier.
+- The TCS controller will now always command heaters OFF when being blind for thermal
+  components (no sensors available), irrespective of current switch state.
+- Make OBSW compatible to prospective FW version v5.0.0, where the Q7 I2C devices were
+  moved to a PL I2C block and the TMP sensor devices were moved to the PS I2C0.
+- Made `Xadc` code a little bit more robust against errors.
+
+## Fixed
+
+- TMP1075: Set dataset invalid on shutdown explicitely
+- Small fixes for TMP1075 FDIR: Use strange and missed reply counters.
+- TCS controller: Last heater (S-band heater) was skipped for transition completion
+  checks.
+- TCS controller: A helper member to track the elapsed heater control cycles was not reset
+  properly, which could lead to switch transitions being completed immediately. This can
+  lead to weird bugs like heaters being commanded ON twice and can potentially lead to
+  other bugs.
+- TMP1075: Devices did not go to OFF mode when being set faulty.
+- Update PL PCDU 1 in TCS mode tree on the EM.
+- TMP1075: Possibly ignored health commands.
+- Bugfix in FSFW where certain packet types could only be sent with source data fields with a
+  maximum size of 255 bytes.
+- TCS CTRL: Limit number of heater handler messages sent in case there are not sensors available
+  anymore.
+- Fix to allow adding real STR device for EM.
+
+# Added
+
+- Two events for heaters being commanded ON and OFF by the TCS controller
+- Upper limit for burn time of TCS heaters. Currently set to 1 hour for each heater.
+  This mechanism will only track the burn time for heaters which were commanded by the
+  TCS controller.
+- TCS controller is now observable by introducing a new HK dataset which exposes some internal
+  fields related to TCS control.
+
+# [v6.0.0] 2023-07-02
+
+- `q7s-package` version v3.2.0
+- Important bugfixes for PTME. See `q7s-package` CHANGELOG.
+
+## Changed
+
+- Added back PTME busy bit polling. This is necessary due to changes to the AXI APB interface
+  to the PTME core.
+
+## Fixed
+
+- For the live channel (VC0), telemetry was still only dumped if the transmitter is active.
+  Please note that this fix will lead to crashes for FW versions below v3.2.
+  However, it might not be an issue for the oldest firmware on the satellite (v2.5.1).
+
+# [v5.2.0] 2023-07-02
+
+## Fixed
+
+- The firmware information event was not triggered even when possible because of an ordering
+  bug in the initializer function.
+- Empty dumps (no TM in time range) will now correctly be completed immediately
+
+## Changed
+
+- PTME was always reset on submode changes. The reset will now only be performed if the actual data
+  rate changes.
+- Add back ACS board code for the EM. Now that the radiation sensor was removed, the image switching
+  issue has disappeared and adding back the ACS board is worth it for the GPS timekeeping.
+
+# [v5.1.0] 2023-06-28
+
+- `eive-tmtc` version v5.1.0
+
+## Changed
+
+- Persistent TM store dumps are now performed in chronological order.
+- Increase Syrlinks RX HK rate to 5.0 seconds during a pass.
+- Various robustness improvements for the heater handler. The heater handler will now only
+  process the command queue if it is not busy with switch commanding which reduces the amount
+  of possible bugs.
+- The heater handler is only able to process messages stricly sequentially now but is scheduled
+  twice in a 0.5 second slot so something like a consecutive heater ON or OFF command can still
+  be handled relatively quickly.
+
+## Added
+
+- Sequence counters for PUS and CFDP packets are now stored persistently across graceful reboots.
+- The PUS packet message type counter will now be incremented properly for each PUS service.
+- Internal error reporter set is now enabled by default and generated every 120 seconds.
+
+# [v5.0.0] 2023-06-26
+
+v3.3.1 and all following version will now be moved to v5.0.0 with the additional changes listed
+here. This was done because the firmware update (v4.0.0) is not working right now and it is not
+known when and how it will be fixed. Because of that, all updates to make the SW work with the new
+firmware, which are limited to a few files will be moved to a dev branch so regular development
+compatible to the old firmware can continue.
+
+TLDR: This version is compatible to the old firmware and some changes which only work with the new
+firmware have been reverted.
+
+## Changed
+
+- Added `sync` syscall in graceful shutdown handler
+- Graceful shutdown is now performed by the reboot watchdog
+- There is now a separate file for the total reboot counter. The reboot watchdog has its own local
+  counters to determine whether a reboot is necessary.
+
+# [v4.0.1] 2023-06-24
+
+## Fixed
+
+- `PusLiveDemux` packet demultiplexing bugfix where the demultiplexing did not work when there was
+  only one destination available.
+
+# [v4.0.0] 2023-06-22
+
+- `eive-tmtc` version v5.0.0
+- `q7s-package` version v3.1.1
+
+## Fixed
+
+- Important bugfixes for PTME. See `q7s-package` CHANGELOG.
+- TCS fixes: Set temperature values to invalid value for MAX31865 RTD handler, SUS handler
+  and STR handler. Also set dataset to invakid for RTD handler.
+- Fixed H parameter in SUS converter from 1 mm to 2.5 mm.
+
+## Changed
+
+- Removed PTME busy/ready signals. Those were not used anyway because register reads are used now.
+- APB bus access busy checking is not done anymore as this is performed by the bus itself now.
+- Core controller will now announce version and image information event in addition to reboot
+  event in the `inititalize` function.
+- Core controller will now try to request and announce the firmware version in addition to the
+  OBSW version as well.
+- Added core controller action to read reboot mechansm information
+- GNSS reset pin will now only be asserted for 5 ms instead of 100 ms.
+
+## Added
+
+- Added PL I2C reset pin. It is not used/connected for now but could be used for FDIR procedures to
+  restore the PL I2C.
+- Core controller now announces firmware version as well when requesting a version info event
+
+# [v3.3.1] 2023-06-22
+
+## Fixed
+
+- `PusLiveDemux` packet demultiplexing bugfix where the demultiplexing did not work when there was
+  only one destination available.
+
+## Fixed
+
+- Fixed H parameter in SUS converter from 1 mm to 2.5 mm.
+
+# [v3.3.0] 2023-06-21
+
+Like v3.2.0 but without the custom FM changes related to VC0.
+
+# [v3.2.0] 2023-06-21
+
+## Fixed
+
+- Fix sun vector calculation
+- SUS total vector was not reset to being a zero vector during eclipse due to a wrong memcpy
+  length.
+
+## Changed
+
+- Reverted all changes related to VC0 handling to avoid FM bug possibly related to FPGA bug.
+
+# [v3.1.1] 2023-06-14
+
+## Fixed
+
+- TMP1075 bugfix where negative temperatures could not be measured because of a two's-complement
+  conversion bug.
+
+# [v3.1.0] 2023-06-14
+
+- `eive-tmtc` version v4.1.0
 
 ## Fixed
 
@@ -27,11 +295,12 @@ will consitute of a breaking change warranting a new major release:
 
 ## Changed
 
-- Relaxed SUS FDIR. The devices have shown to be glitchy in orbit, but still seem to deliver
-  sensible raw values most of the time. Some further testing is necessary, but some changes in the
-  code should cause the SUS devices to remain healthy for now.
 - Increase number of allowed parallel HK commands to 16
 
+## Added
+
+- Added `CONFIG_SET`, `MAN_HEATER_ON` and `MAN_HEATER_OFF` support for the BPX battery handler
+
 # [v3.0.0] 2023-06-11
 
 - `eive-tmtc` version v4.0.0

CMakeLists.txt

@@ -9,8 +9,8 @@
 # ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
-set(OBSW_VERSION_MAJOR 3)
+set(OBSW_VERSION_MAJOR 6)
-set(OBSW_VERSION_MINOR 0)
+set(OBSW_VERSION_MINOR 3)
 set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)
@@ -93,7 +93,7 @@ set(OBSW_ADD_BPX_BATTERY_HANDLER
     1
     CACHE STRING "Add BPX battery module")
 set(OBSW_ADD_STAR_TRACKER
-    ${INIT_VAL}
+    1
     CACHE STRING "Add Startracker module")
 set(OBSW_ADD_SUN_SENSORS
     ${INIT_VAL}
@@ -105,7 +105,7 @@ set(OBSW_ADD_THERMAL_TEMP_INSERTER
     ${OBSW_Q7S_EM}
     CACHE STRING "Add thermal sensor temperature inserter")
 set(OBSW_ADD_ACS_BOARD
-    ${INIT_VAL}
+    1
     CACHE STRING "Add ACS board module")
 set(OBSW_ADD_GPS_CTRL
     ${INIT_VAL}
@@ -144,13 +144,13 @@ set(OBSW_ADD_RAD_SENSORS
     ${INIT_VAL}
     CACHE STRING "Add Rad Sensor module")
 set(OBSW_ADD_PL_PCDU
-    ${INIT_VAL}
+    1
     CACHE STRING "Add Payload PCDU modukle")
 set(OBSW_ADD_SYRLINKS
     1
     CACHE STRING "Add Syrlinks module")
 set(OBSW_ADD_TMP_DEVICES
-    ${INIT_VAL}
+    1
     CACHE STRING "Add TMP devices")
 set(OBSW_ADD_GOMSPACE_PCDU
     1
@@ -162,7 +162,7 @@ set(OBSW_ADD_RW
     ${INIT_VAL}
     CACHE STRING "Add RW modules")
 set(OBSW_ADD_SCEX_DEVICE
-    ${INIT_VAL}
+    1
     CACHE STRING "Add Solar Cell Experiment module")
 set(OBSW_SYRLINKS_SIMULATED
     0

README.md

@@ -964,6 +964,12 @@ used by other software components to read the current chip and copy.
 This is a configuration scripts which runs after the Network Time Protocol has run. This script
 currently sets the static IP address `192.168.133.10` and starts the `can` interface.
 
+## Initial boot delay
+
+You can create a file named `boot_delays_secs.txt` inside the home folder to delay the OBSW boot
+for 6 seconds if the file is empty of for the number of seconds specified inside the file. This
+can be helpful if something inside the OBSW leads to an immediate crash of the OBC.
+
 ## PCDU
 
 Connect to serial console of P60 Dock

bsp_hosted/ObjectFactory.cpp

@@ -68,7 +68,7 @@ void ObjectFactory::produce(void* args) {
 #endif
   auto sdcMan = new DummySdCardManager("/tmp");
   ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel, *sdcMan, &ipcStore,
-                                       &tmStore, persistentStores, 120);
+                                       &tmStore, persistentStores, 120, enableHkSets);
 
   new TmFunnelHandler(objects::LIVE_TM_TASK, *pusFunnel, *cfdpFunnel);
   auto* dummyGpioIF = new DummyGpioIF();
@@ -113,7 +113,7 @@ void ObjectFactory::produce(void* args) {
   if (heaterHandler == nullptr) {
     sif::error << "HeaterHandler could not be created" << std::endl;
   } else {
-    ObjectFactory::createThermalController(*heaterHandler);
+    ObjectFactory::createThermalController(*heaterHandler, true);
   }
   new TestTask(objects::TEST_TASK);
 }

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 296 translations.
+ * @brief    Auto-generated event translation file. Contains 303 translations.
  * @details
- * Generated on: 2023-06-13 07:54:32
+ * Generated on: 2023-08-03 13:36:37
  */
 #include "translateEvents.h"
 
@@ -139,6 +139,7 @@ const char *ERROR_STATE_STRING = "ERROR_STATE";
 const char *RESET_OCCURED_STRING = "RESET_OCCURED";
 const char *BOOTING_FIRMWARE_FAILED_EVENT_STRING = "BOOTING_FIRMWARE_FAILED_EVENT";
 const char *BOOTING_BOOTLOADER_FAILED_EVENT_STRING = "BOOTING_BOOTLOADER_FAILED_EVENT";
+const char *COM_ERROR_REPLY_RECEIVED_STRING = "COM_ERROR_REPLY_RECEIVED";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
 const char *SUPV_UNKNOWN_TM_STRING = "SUPV_UNKNOWN_TM";
 const char *SUPV_UNINIMPLEMENTED_TM_STRING = "SUPV_UNINIMPLEMENTED_TM";
@@ -260,6 +261,7 @@ const char *TX_OFF_STRING = "TX_OFF";
 const char *MISSING_PACKET_STRING = "MISSING_PACKET";
 const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
 const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
+const char *FS_UNUSABLE_STRING = "FS_UNUSABLE";
 const char *SET_CONFIGFILEVALUE_FAILED_STRING = "SET_CONFIGFILEVALUE_FAILED";
 const char *GET_CONFIGFILEVALUE_FAILED_STRING = "GET_CONFIGFILEVALUE_FAILED";
 const char *INSERT_CONFIGFILEVALUE_FAILED_STRING = "INSERT_CONFIGFILEVALUE_FAILED";
@@ -277,6 +279,8 @@ const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
 const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
 const char *I2C_REBOOT_STRING = "I2C_REBOOT";
 const char *PDEC_REBOOT_STRING = "PDEC_REBOOT";
+const char *FIRMWARE_INFO_STRING = "FIRMWARE_INFO";
+const char *ACTIVE_SD_INFO_STRING = "ACTIVE_SD_INFO";
 const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
 const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
 const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
@@ -285,6 +289,9 @@ const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
 const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
 const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
 const char *MGT_OVERHEATING_STRING = "MGT_OVERHEATING";
+const char *TCS_SWITCHING_HEATER_ON_STRING = "TCS_SWITCHING_HEATER_ON";
+const char *TCS_SWITCHING_HEATER_OFF_STRING = "TCS_SWITCHING_HEATER_OFF";
+const char *TCS_HEATER_MAX_BURN_TIME_REACHED_STRING = "TCS_HEATER_MAX_BURN_TIME_REACHED";
 const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
 const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
 const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@@ -572,6 +579,8 @@ const char *translateEvents(Event event) {
       return BOOTING_FIRMWARE_FAILED_EVENT_STRING;
     case (11902):
       return BOOTING_BOOTLOADER_FAILED_EVENT_STRING;
+    case (11903):
+      return COM_ERROR_REPLY_RECEIVED_STRING;
     case (12001):
       return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
     case (12002):
@@ -814,6 +823,8 @@ const char *translateEvents(Event event) {
       return EXPERIMENT_TIMEDOUT_STRING;
     case (13802):
       return MULTI_PACKET_COMMAND_DONE_STRING;
+    case (13803):
+      return FS_UNUSABLE_STRING;
     case (13901):
       return SET_CONFIGFILEVALUE_FAILED_STRING;
     case (13902):
@@ -848,6 +859,10 @@ const char *translateEvents(Event event) {
       return I2C_REBOOT_STRING;
     case (14012):
       return PDEC_REBOOT_STRING;
+    case (14013):
+      return FIRMWARE_INFO_STRING;
+    case (14014):
+      return ACTIVE_SD_INFO_STRING;
     case (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):
@@ -864,6 +879,12 @@ const char *translateEvents(Event event) {
       return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
     case (14108):
       return MGT_OVERHEATING_STRING;
+    case (14109):
+      return TCS_SWITCHING_HEATER_ON_STRING;
+    case (14110):
+      return TCS_SWITCHING_HEATER_OFF_STRING;
+    case (14111):
+      return TCS_HEATER_MAX_BURN_TIME_REACHED_STRING;
     case (14201):
       return TX_TIMER_EXPIRED_STRING;
     case (14202):

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 171 translations.
- * Generated on: 2023-06-13 07:54:32
+ * Generated on: 2023-08-03 13:36:37
  */
 #include "translateObjects.h"
 

bsp_q7s/CMakeLists.txt

@@ -7,7 +7,8 @@ target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC ${LIB_FSFW_NAME})
 target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
 add_subdirectory(simple)
 
-target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp)
+target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp scheduling.cpp
+                                   objectFactory.cpp)
 
 add_subdirectory(boardtest)
 

bsp_q7s/boardconfig/busConf.h

@@ -12,6 +12,9 @@ static constexpr char SPI_RW_DEV[] = "/dev/spi_rw";
 static constexpr char I2C_PL_EIVE[] = "/dev/i2c_pl";
 //! I2C bus using the I2C peripheral of the ARM processing system (PS)
 static constexpr char I2C_PS_EIVE[] = "/dev/i2c_ps";
+//! I2C bus using the first I2C peripheral of the ARM processing system (PS).
+//! Named like this because it is used by default for the Q7 devices.
+static constexpr char I2C_Q7_EIVE[] = "/dev/i2c_q7";
 
 static constexpr char UART_GNSS_DEV[] = "/dev/gps0";
 static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul_plmpsoc";
@@ -23,6 +26,7 @@ static constexpr char UART_SCEX_DEV[] = "/dev/scex";
 static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio_pdec_regs";
 static constexpr char UIO_PTME[] = "/dev/uio_ptme";
 static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio_pdec_cfg_mem";
+static constexpr char UIO_SYS_ROM[] = "/dev/uio_sys_rom";
 static constexpr char UIO_PDEC_RAM[] = "/dev/uio_pdec_ram";
 static constexpr char UIO_PDEC_IRQ[] = "/dev/uio_pdec_irq";
 static constexpr int MAP_ID_PTME_CONFIG = 3;
@@ -57,6 +61,7 @@ static constexpr char GYRO_0_ENABLE[] = "enable_gyro_0";
 static constexpr char GYRO_2_ENABLE[] = "enable_gyro_2";
 static constexpr char GNSS_SELECT[] = "gnss_mux_select";
 static constexpr char GNSS_MUX_SELECT[] = "gnss_mux_select";
+static constexpr char PL_I2C_ARESETN[] = "pl_i2c_aresetn";
 
 static constexpr char HEATER_0[] = "heater0";
 static constexpr char HEATER_1[] = "heater1";
@@ -82,14 +87,12 @@ static constexpr char EN_RW_4[] = "enable_rw_4";
 
 static constexpr char RAD_SENSOR_CHIP_SELECT[] = "rad_sensor_chip_select";
 static constexpr char ENABLE_RADFET[] = "enable_radfet";
-static constexpr char PAPB_BUSY_SIGNAL_VC0[] = "papb_busy_signal_vc0";
+
 static constexpr char PAPB_EMPTY_SIGNAL_VC0[] = "papb_empty_signal_vc0";
-static constexpr char PAPB_BUSY_SIGNAL_VC1[] = "papb_busy_signal_vc1";
 static constexpr char PAPB_EMPTY_SIGNAL_VC1[] = "papb_empty_signal_vc1";
-static constexpr char PAPB_BUSY_SIGNAL_VC2[] = "papb_busy_signal_vc2";
 static constexpr char PAPB_EMPTY_SIGNAL_VC2[] = "papb_empty_signal_vc2";
-static constexpr char PAPB_BUSY_SIGNAL_VC3[] = "papb_busy_signal_vc3";
 static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3";
+
 static constexpr char PTME_RESETN[] = "ptme_resetn";
 
 static constexpr char RS485_EN_TX_CLOCK[] = "tx_clock_enable_ltc2872";

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -218,15 +218,30 @@ void Q7STestTask::testProtHandler() {
   bool opPerformed = false;
   ReturnValue_t result = returnvalue::OK;
   // If any chips are unlocked, lock them here
-  result = coreController->setBootCopyProtection(xsc::Chip::ALL_CHIP, xsc::Copy::ALL_COPY, true,
+  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::CHIP_0, xsc::Copy::COPY_0,
-                                                 opPerformed, true);
+                                                              true);
+  if (result != returnvalue::OK) {
+    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
+  }
+  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::CHIP_0, xsc::Copy::COPY_1,
+                                                              true);
+  if (result != returnvalue::OK) {
+    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
+  }
+  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::CHIP_1, xsc::Copy::COPY_0,
+                                                              true);
+  if (result != returnvalue::OK) {
+    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
+  }
+  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::CHIP_1, xsc::Copy::COPY_1,
+                                                              true);
   if (result != returnvalue::OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
 
   // unlock own copy
-  result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, false,
+  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::SELF_CHIP,
-                                                 opPerformed, true);
+                                                              xsc::Copy::SELF_COPY, false);
   if (result != returnvalue::OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
@@ -239,8 +254,8 @@ void Q7STestTask::testProtHandler() {
   }
 
   // lock own copy
-  result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
+  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::SELF_CHIP,
-                                                 opPerformed, true);
+                                                              xsc::Copy::SELF_COPY, true);
   if (result != returnvalue::OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
@@ -253,8 +268,8 @@ void Q7STestTask::testProtHandler() {
   }
 
   // unlock specific copy
-  result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, false,
+  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::CHIP_1, xsc::Copy::COPY_1,
-                                                 opPerformed, true);
+                                                              false);
   if (result != returnvalue::OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
@@ -267,8 +282,8 @@ void Q7STestTask::testProtHandler() {
   }
 
   // lock specific copy
-  result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, true,
+  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::CHIP_1, xsc::Copy::COPY_1,
-                                                 opPerformed, true);
+                                                              true);
   if (result != returnvalue::OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }

bsp_q7s/core/CMakeLists.txt

@@ -1,4 +1 @@
-target_sources(${OBSW_NAME} PRIVATE CoreController.cpp scheduling.cpp
+target_sources(${OBSW_NAME} PRIVATE CoreController.cpp WatchdogHandler.cpp)
-                                    ObjectFactory.cpp WatchdogHandler.cpp)
-
-target_sources(${SIMPLE_OBSW_NAME} PRIVATE scheduling.cpp)

bsp_q7s/core/CoreController.h

@@ -1,11 +1,13 @@
 #ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
 #define BSP_Q7S_CORE_CORECONTROLLER_H_
 
+#include <bsp_q7s/core/defs.h>
 #include <fsfw/container/DynamicFIFO.h>
 #include <fsfw/container/SimpleRingBuffer.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #include <fsfw/parameters/ParameterHelper.h>
 #include <fsfw/parameters/ReceivesParameterMessagesIF.h>
+#include <fsfw_hal/linux/uio/UioMapper.h>
 #include <libxiphos.h>
 #include <mission/acs/archive/GPSDefinitions.h>
 #include <mission/utility/trace.h>
@@ -13,7 +15,6 @@
 #include <atomic>
 #include <cstddef>
 
-#include "CoreDefinitions.h"
 #include "OBSWConfig.h"
 #include "bsp_q7s/fs/SdCardManager.h"
 #include "events/subsystemIdRanges.h"
@@ -23,7 +24,7 @@
 class Timer;
 class SdCardManager;
 
-struct RebootFile {
+struct RebootWatchdogFile {
   static constexpr uint8_t DEFAULT_MAX_BOOT_CNT = 10;
 
   bool enabled = true;
@@ -44,6 +45,93 @@ struct RebootFile {
   xsc::Copy mechanismNextCopy = xsc::Copy::NO_COPY;
 };
 
+class RebootWatchdogPacket : public SerialLinkedListAdapter<SerializeIF> {
+ public:
+  RebootWatchdogPacket(RebootWatchdogFile& rf) {
+    enabled = rf.enabled;
+    maxCount = rf.maxCount;
+    img00Count = rf.img00Cnt;
+    img01Count = rf.img01Cnt;
+    img10Count = rf.img10Cnt;
+    img11Count = rf.img11Cnt;
+    img00Lock = rf.img00Lock;
+    img01Lock = rf.img01Lock;
+    img10Lock = rf.img10Lock;
+    img11Lock = rf.img11Lock;
+    lastChip = static_cast<uint8_t>(rf.lastChip);
+    lastCopy = static_cast<uint8_t>(rf.lastCopy);
+    nextChip = static_cast<uint8_t>(rf.mechanismNextChip);
+    nextCopy = static_cast<uint8_t>(rf.mechanismNextCopy);
+    setLinks();
+  }
+
+ private:
+  void setLinks() {
+    setStart(&enabled);
+    enabled.setNext(&maxCount);
+    maxCount.setNext(&img00Count);
+    img00Count.setNext(&img01Count);
+    img01Count.setNext(&img10Count);
+    img10Count.setNext(&img11Count);
+    img11Count.setNext(&img00Lock);
+    img00Lock.setNext(&img01Lock);
+    img01Lock.setNext(&img10Lock);
+    img10Lock.setNext(&img11Lock);
+    img11Lock.setNext(&lastChip);
+    lastChip.setNext(&lastCopy);
+    lastCopy.setNext(&nextChip);
+    nextChip.setNext(&nextCopy);
+    setLast(&nextCopy);
+  }
+
+  SerializeElement<uint8_t> enabled = false;
+  SerializeElement<uint32_t> maxCount = 0;
+  SerializeElement<uint32_t> img00Count = 0;
+  SerializeElement<uint32_t> img01Count = 0;
+  SerializeElement<uint32_t> img10Count = 0;
+  SerializeElement<uint32_t> img11Count = 0;
+  SerializeElement<uint8_t> img00Lock = false;
+  SerializeElement<uint8_t> img01Lock = false;
+  SerializeElement<uint8_t> img10Lock = false;
+  SerializeElement<uint8_t> img11Lock = false;
+  SerializeElement<uint8_t> lastChip = 0;
+  SerializeElement<uint8_t> lastCopy = 0;
+  SerializeElement<uint8_t> nextChip = 0;
+  SerializeElement<uint8_t> nextCopy = 0;
+};
+
+struct RebootCountersFile {
+  // 16 bit values so all boot counters fit into one event.
+  uint16_t img00Cnt = 0;
+  uint16_t img01Cnt = 0;
+  uint16_t img10Cnt = 0;
+  uint16_t img11Cnt = 0;
+};
+
+class RebootCountersPacket : public SerialLinkedListAdapter<SerializeIF> {
+  RebootCountersPacket(RebootCountersFile& rf) {
+    img00Count = rf.img00Cnt;
+    img01Count = rf.img01Cnt;
+    img10Count = rf.img10Cnt;
+    img11Count = rf.img11Cnt;
+    setLinks();
+  }
+
+ private:
+  void setLinks() {
+    setStart(&img00Count);
+    img00Count.setNext(&img01Count);
+    img01Count.setNext(&img10Count);
+    img10Count.setNext(&img11Count);
+    setLast(&img11Count);
+  }
+
+  SerializeElement<uint16_t> img00Count = 0;
+  SerializeElement<uint16_t> img01Count = 0;
+  SerializeElement<uint16_t> img10Count = 0;
+  SerializeElement<uint16_t> img11Count = 0;
+};
+
 class CoreController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
  public:
   enum ParamId : uint8_t { PREF_SD = 0, NUM_IDS };
@@ -57,10 +145,15 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
 
   const std::string VERSION_FILE =
       "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::VERSION_FILE_NAME);
-  const std::string REBOOT_FILE =
+  const std::string LEGACY_REBOOT_WATCHDOG_FILE =
-      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_FILE_NAME);
+      "/" + std::string(core::CONF_FOLDER) + "/" +
+      std::string(core::LEGACY_REBOOT_WATCHDOG_FILE_NAME);
+  const std::string REBOOT_WATCHDOG_FILE =
+      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_WATCHDOG_FILE_NAME);
   const std::string BACKUP_TIME_FILE =
       "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::TIME_FILE_NAME);
+  const std::string REBOOT_COUNTERS_FILE =
+      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_COUNTER_FILE_NAME);
 
   static constexpr char CHIP_0_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-nom-rootfs";
   static constexpr char CHIP_0_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-gold-rootfs";
@@ -106,8 +199,8 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
    * @param updateProtFile Specify whether the protection info file is updated
    * @return
    */
-  ReturnValue_t setBootCopyProtection(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
+  ReturnValue_t setBootCopyProtectionAndUpdateFile(xsc::Chip targetChip, xsc::Copy targetCopy,
-                                      bool& protOperationPerformed, bool updateProtFile = true);
+                                                   bool protect);
 
   bool sdInitFinished() const;
 
@@ -142,6 +235,7 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
 
   static constexpr bool BLOCKING_SD_INIT = false;
 
+  uint32_t* mappedSysRomAddr = nullptr;
   SdCardManager* sdcMan = nullptr;
   MessageQueueIF* eventQueue = nullptr;
 
@@ -191,7 +285,8 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
   std::array<uint8_t, 1024> dirListingBuf{};
   DirListingDumpContext dumpContext{};
 
-  RebootFile rebootFile = {};
+  RebootWatchdogFile rebootWatchdogFile = {};
+  RebootCountersFile rebootCountersFile = {};
 
   CommandExecutor cmdExecutor;
   SimpleRingBuffer cmdReplyBuf;
@@ -209,12 +304,10 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
   Countdown sdCardCheckCd = Countdown(INIT_SD_CARD_CHECK_TIMEOUT);
 
   /**
-   * Index 0: Chip 0 Copy 0
+   * First index: Chip.
-   * Index 1: Chip 0 Copy 1
+   * Second index: Copy.
-   * Index 2: Chip 1 Copy 0
-   * Index 3: Chip 1 Copy 1
    */
-  std::array<bool, 4> protArray;
+  bool protArray[2][2]{};
   PeriodicOperationDivider opDivider5;
   PeriodicOperationDivider opDivider10;
 
@@ -261,12 +354,14 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
   void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
   void executeNextExternalSdCommand();
   void checkExternalSdCommandStatus();
-  void performRebootFileHandling(bool recreateFile);
+  void performRebootWatchdogHandling(bool recreateFile);
+  void performRebootCountersHandling(bool recreateFile);
 
   ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
                                             const uint8_t* data, size_t size);
   ReturnValue_t actionListDirectoryDumpDirectly(ActionId_t actionId, MessageQueueId_t commandedBy,
                                                 const uint8_t* data, size_t size);
+  ReturnValue_t performGracefulShutdown(xsc::Chip targetChip, xsc::Copy targetCopy);
 
   ReturnValue_t actionListDirectoryCommonCommandCreator(const uint8_t* data, size_t size,
                                                         std::ostringstream& oss);
@@ -277,16 +372,20 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
   ReturnValue_t gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy, bool& protOpPerformed);
 
   ReturnValue_t handleProtInfoUpdateLine(std::string nextLine);
-  int handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
+  ReturnValue_t handleSwitchingSdCardsOffNonBlocking();
-                                bool& protOperationPerformed, bool selfChip, bool selfCopy,
+  bool handleBootCopyProt(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect);
-                                bool allChips, bool allCopies, uint8_t arrIdx);
+  void rebootWatchdogAlgorithm(RebootWatchdogFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
-  void determineAndExecuteReboot(RebootFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
                                xsc::Copy& tgtCopy);
-  void resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy);
+  void resetRebootWatchdogCounters(xsc::Chip tgtChip, xsc::Copy tgtCopy);
   void setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy);
-  bool parseRebootFile(std::string path, RebootFile& file);
+  bool parseRebootWatchdogFile(std::string path, RebootWatchdogFile& file);
-  void rewriteRebootFile(RebootFile file);
+  bool parseRebootCountersFile(std::string path, RebootCountersFile& file);
+  void rewriteRebootWatchdogFile(RebootWatchdogFile file);
+  void rewriteRebootCountersFile(RebootCountersFile file);
   void announceBootCounts();
+  void announceVersionInfo();
+  void announceCurrentImageInfo();
+  void announceSdInfo(SdCardManager::SdStatePair sdStates);
   void readHkData();
   void dirListingDumpHandler();
   bool isNumber(const std::string& s);

bsp_q7s/core/defs.h

@@ -1,10 +1,16 @@
-#ifndef BSP_Q7S_CORE_COREDEFINITIONS_H_
+#ifndef BSP_Q7S_CORE_DEFS_H_
-#define BSP_Q7S_CORE_COREDEFINITIONS_H_
+#define BSP_Q7S_CORE_DEFS_H_
 
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 
 namespace core {
 
+extern uint8_t FW_VERSION_MAJOR;
+extern uint8_t FW_VERSION_MINOR;
+extern uint8_t FW_VERSION_REVISION;
+extern bool FW_VERSION_HAS_SHA;
+extern char FW_VERSION_GIT_SHA[4];
+
 static const uint8_t HK_SET_ENTRIES = 3;
 static const uint32_t HK_SET_ID = 5;
 
@@ -36,4 +42,4 @@ class HkSet : public StaticLocalDataSet<HK_SET_ENTRIES> {
 
 }  // namespace core
 
-#endif /* BSP_Q7S_CORE_COREDEFINITIONS_H_ */
+#endif /* BSP_Q7S_CORE_DEFS_H_ */

bsp_q7s/em/emObjectFactory.cpp

@@ -1,4 +1,5 @@
 #include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
+#include <bsp_q7s/objectFactory.h>
 #include <dummies/ComCookieDummy.h>
 #include <dummies/PcduHandlerDummy.h>
 #include <fsfw/health/HealthTableIF.h>
@@ -10,8 +11,8 @@
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
-#include "bsp_q7s/core/ObjectFactory.h"
 #include "busConf.h"
+#include "common/config/devices/addresses.h"
 #include "devConf.h"
 #include "dummies/helperFactory.h"
 #include "eive/objects.h"
@@ -35,18 +36,20 @@ void ObjectFactory::produce(void* args) {
 #endif
 
   PersistentTmStores stores;
+  readFirmwareVersion();
   ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
-                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores,
+                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
-                                       200);
+                                       enableHkSets);
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   SerialComIF* uartComIF = nullptr;
   SpiComIF* spiMainComIF = nullptr;
   I2cComIF* i2cComIF = nullptr;
   createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
-  /* Adding gpios for chip select decoding to the gpioComIf */
+  // Adding GPIOs for chip select decoding and initializing them.
   q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
   gpioCallbacks::disableAllDecoder(gpioComIF);
+  createPlI2cResetGpio(gpioComIF);
 
   // Hardware is usually not connected to EM, so we need to create dummies which replace lower
   // level components.
@@ -59,17 +62,41 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
   dummyCfg.addPlocDummies = false;
 #endif
+#if OBSW_ADD_TMP_DEVICES == 1
+  std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd = {{
+      {objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
+      {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
+      {objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
+  }};
+  createTmpComponents(tmpDevsToAdd);
+  dummy::Tmp1075Cfg tmpCfg{};
+  tmpCfg.addTcsBrd0 = true;
+  tmpCfg.addTcsBrd1 = true;
+  tmpCfg.addPlPcdu0 = false;
+  tmpCfg.addPlPcdu1 = false;
+  tmpCfg.addIfBrd = false;
+  dummyCfg.tmp1075Cfg = tmpCfg;
+#endif
 #if OBSW_ADD_GOMSPACE_PCDU == 1
   dummyCfg.addPowerDummies = false;
   // The ACU broke.
   dummyCfg.addOnlyAcuDummy = true;
 #endif
+#if OBSW_ADD_STAR_TRACKER == 1
+  dummyCfg.addStrDummy = false;
+#endif
+#if OBSW_ADD_SCEX_DEVICE == 0
+  dummyCfg.addScexDummy = true;
+#endif
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
   dummyCfg.addBpxBattDummy = false;
 #endif
 #if OBSW_ADD_ACS_BOARD == 1
   dummyCfg.addAcsBoardDummies = false;
 #endif
+#if OBSW_ADD_PL_PCDU == 0
+  dummyCfg.addPlPcduDummy = true;
+#endif
 
   PowerSwitchIF* pwrSwitcher = nullptr;
 #if OBSW_ADD_GOMSPACE_PCDU == 0
@@ -83,24 +110,12 @@ void ObjectFactory::produce(void* args) {
 
   new CoreController(objects::CORE_CONTROLLER, enableHkSets);
 
-  // Regular FM code, does not work for EM if the hardware is not connected
+  auto* stackHandler = new Stack5VHandler(*pwrSwitcher);
-  // createPcduComponents(gpioComIF, &pwrSwitcher);
-  // createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
-  // createSyrlinksComponents(pwrSwitcher);
-  // createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
-  // createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
-  // createTmpComponents();
-  // createSolarArrayDeploymentComponents();
-  // createPayloadComponents(gpioComIF);
-  // createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
 
-  // TODO: Careful! Switching this on somehow messes with the communication with the ProASIC
+  // Initialize chip select to avoid SPI bus issues.
-  //       and will cause xsc_boot_copy commands to always boot to 0 0
+  createRadSensorChipSelect(gpioComIF);
-  // createRadSensorComponent(gpioComIF);
 
 #if OBSW_ADD_ACS_BOARD == 1
-  // Still initialize chip select to avoid SPI bus issues.
-  createRadSensorChipSelect(gpioComIF);
   createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true,
                            adis1650x::Type::ADIS16507);
 #else
@@ -110,8 +125,14 @@ void ObjectFactory::produce(void* args) {
   gpioChecker(gpioComIF->addGpios(acsBoardGpios), "ACS Board");
 #endif
 
+  const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
+  if (core::FW_VERSION_MAJOR >= 4) {
+    battAndImtqI2cDev = q7s::I2C_PS_EIVE;
+  }
+  static_cast<void>(battAndImtqI2cDev);
+
 #if OBSW_ADD_MGT == 1
-  createImtqComponents(pwrSwitcher, enableHkSets);
+  createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
 #endif
 
 #if OBSW_ADD_SYRLINKS == 1
@@ -123,13 +144,16 @@ void ObjectFactory::produce(void* args) {
 #endif
 
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
-  createBpxBatteryComponent(enableHkSets);
+  createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
 #endif
 
 #if OBSW_ADD_STAR_TRACKER == 1
   createStrComponents(pwrSwitcher);
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
+#if OBSW_ADD_PL_PCDU == 1
+  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
+#endif
   createPayloadComponents(gpioComIF, *pwrSwitcher);
 
 #if OBSW_ADD_CCSDS_IP_CORES == 1
@@ -155,6 +179,6 @@ void ObjectFactory::produce(void* args) {
   createAcsController(true, enableHkSets);
   HeaterHandler* heaterHandler;
   createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
-  createThermalController(*heaterHandler);
+  createThermalController(*heaterHandler, true);
-  satsystem::init();
+  satsystem::init(true);
 }

bsp_q7s/fmObjectFactory.cpp

@@ -1,4 +1,5 @@
 #include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
+#include <bsp_q7s/objectFactory.h>
 #include <devices/gpioIds.h>
 #include <fsfw/storagemanager/LocalPool.h>
 #include <fsfw/storagemanager/PoolManager.h>
@@ -7,9 +8,9 @@
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
-#include "bsp_q7s/core/ObjectFactory.h"
 #include "busConf.h"
 #include "devConf.h"
+#include "devices/addresses.h"
 #include "eive/objects.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "linux/ObjectFactory.h"
@@ -32,9 +33,10 @@ void ObjectFactory::produce(void* args) {
 #endif
 
   PersistentTmStores stores;
+  readFirmwareVersion();
   ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
-                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores,
+                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
-                                       200);
+                                       true);
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   SerialComIF* uartComIF = nullptr;
@@ -45,6 +47,7 @@ void ObjectFactory::produce(void* args) {
   /* Adding gpios for chip select decoding to the gpioComIf */
   q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
   gpioCallbacks::disableAllDecoder(gpioComIF);
+  createPlI2cResetGpio(gpioComIF);
 
   new CoreController(objects::CORE_CONTROLLER, enableHkSets);
   createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
@@ -66,23 +69,38 @@ void ObjectFactory::produce(void* args) {
   HeaterHandler* heaterHandler;
   createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
 #if OBSW_ADD_TMP_DEVICES == 1
-  createTmpComponents();
+  std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd = {{
+      {objects::TMP1075_HANDLER_TCS_0, addresses::TMP1075_TCS_0},
+      {objects::TMP1075_HANDLER_TCS_1, addresses::TMP1075_TCS_1},
+      {objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
+      // damaged
+      // {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
+      {objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
+  }};
+
+  createTmpComponents(tmpDevsToAdd);
 #endif
   createSolarArrayDeploymentComponents(*pwrSwitcher, *gpioComIF);
+#if OBSW_ADD_PL_PCDU == 1
   createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
+#endif
 #if OBSW_ADD_SYRLINKS == 1
   createSyrlinksComponents(pwrSwitcher);
 #endif /* OBSW_ADD_SYRLINKS == 1 */
   createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
   createPayloadComponents(gpioComIF, *pwrSwitcher);
 
+  const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
+  if (core::FW_VERSION_MAJOR >= 4) {
+    battAndImtqI2cDev = q7s::I2C_PS_EIVE;
+  }
 #if OBSW_ADD_MGT == 1
-  createImtqComponents(pwrSwitcher, enableHkSets);
+  createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
 #endif
   createReactionWheelComponents(gpioComIF, pwrSwitcher);
 
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
-  createBpxBatteryComponent(enableHkSets);
+  createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
 #endif
 
 #if OBSW_ADD_STAR_TRACKER == 1
@@ -112,7 +130,7 @@ void ObjectFactory::produce(void* args) {
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 
   createMiscComponents();
-  createThermalController(*heaterHandler);
+  createThermalController(*heaterHandler, false);
   createAcsController(true, enableHkSets);
-  satsystem::init();
+  satsystem::init(false);
 }

bsp_q7s/fs/SdCardManager.cpp

@@ -125,13 +125,8 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
   return mountSdCard(sdCard);
 }
 
-ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard,
+ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, SdStatePair& sdStates,
-                                             SdStatePair* statusPair) {
+                                             bool doUnmountSdCard) {
-  std::pair<sd::SdState, sd::SdState> active;
-  ReturnValue_t result = getSdCardsStatus(active);
-  if (result != returnvalue::OK) {
-    return result;
-  }
   if (doUnmountSdCard) {
     if (not blocking) {
       sif::warning << "SdCardManager::switchOffSdCard: Two-step command but manager is"
@@ -147,17 +142,17 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd
     return returnvalue::FAILED;
   }
   if (sdCard == sd::SdCard::SLOT_0) {
-    if (active.first == sd::SdState::OFF) {
+    if (sdStates.first == sd::SdState::OFF) {
       return ALREADY_OFF;
     }
   } else if (sdCard == sd::SdCard::SLOT_1) {
-    if (active.second == sd::SdState::OFF) {
+    if (sdStates.second == sd::SdState::OFF) {
       return ALREADY_OFF;
     }
   }
 
   if (doUnmountSdCard) {
-    result = unmountSdCard(sdCard);
+    ReturnValue_t result = unmountSdCard(sdCard);
     if (result != returnvalue::OK) {
       return result;
     }
@@ -189,7 +184,7 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
   command << "q7hw sd set " << sdstring << " " << statestring;
   cmdExecutor.load(command.str(), blocking, printCmdOutput);
   ReturnValue_t result = cmdExecutor.execute();
-  if (blocking and result != returnvalue::OK) {
+  if (result != returnvalue::OK) {
     utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::setSdCardState");
   }
   return result;
@@ -204,6 +199,7 @@ ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& sdStates) {
 ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
   using namespace std;
   if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
+    sif::warning << "SdCardManager::mountSdCard: Command still pending" << std::endl;
     return CommandExecutor::COMMAND_PENDING;
   }
   if (sdCard == sd::SdCard::BOTH) {

bsp_q7s/fs/SdCardManager.h

@@ -114,8 +114,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * @return - returnvalue::OK on success, ALREADY_ON if it is already on,
    *           SYSTEM_CALL_ERROR on system error
    */
-  ReturnValue_t switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard = true,
+  ReturnValue_t switchOffSdCard(sd::SdCard sdCard, SdStatePair& sdStates, bool doUnmountSdCard);
-                                SdStatePair* statusPair = nullptr);
 
   /**
    * Get the state of the SD cards. If the state file does not exist, this function will

bsp_q7s/objectFactory.cpp

@@ -1,7 +1,9 @@
-#include "ObjectFactory.h"
+#include "objectFactory.h"
 
 #include <fsfw/devicehandlers/HealthDevice.h>
 #include <fsfw/subsystem/Subsystem.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw_hal/linux/uio/UioMapper.h>
 #include <linux/acs/AcsBoardPolling.h>
 #include <linux/acs/GpsHyperionLinuxController.h>
 #include <linux/acs/ImtqPollingTask.h>
@@ -31,6 +33,9 @@
 #include <mission/system/objects/CamSwitcher.h>
 #include <mission/system/tcs/TmpDevFdir.h>
 
+#include <cstdint>
+#include <cstring>
+
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
 #include "bsp_q7s/callbacks/gnssCallback.h"
@@ -99,6 +104,7 @@
 
 #include <sstream>
 
+#include "bsp_q7s/core/defs.h"
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
 #include "fsfw/tmtcpacket/pus/tm.h"
 #include "fsfw/tmtcservices/CommandingServiceBase.h"
@@ -129,6 +135,11 @@ ResetArgs RESET_ARGS_GNSS;
 std::atomic_bool LINK_STATE = CcsdsIpCoreHandler::LINK_DOWN;
 std::atomic_bool PTME_LOCKED = false;
 std::atomic_uint16_t I2C_FATAL_ERRORS = 0;
+uint8_t core::FW_VERSION_MAJOR = 0;
+uint8_t core::FW_VERSION_MINOR = 0;
+uint8_t core::FW_VERSION_REVISION = 0;
+bool core::FW_VERSION_HAS_SHA = false;
+char core::FW_VERSION_GIT_SHA[4] = {};
 
 void Factory::setStaticFrameworkObjectIds() {
   PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
@@ -150,28 +161,23 @@ void Factory::setStaticFrameworkObjectIds() {
 
 void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
 
-void ObjectFactory::createTmpComponents() {
+void ObjectFactory::createTmpComponents(
-  std::vector<std::pair<object_id_t, address_t>> tmpDevIds = {{
+    std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd) {
-      {objects::TMP1075_HANDLER_TCS_0, addresses::TMP1075_TCS_0},
+  const char* tmpI2cDev = q7s::I2C_PS_EIVE;
-      {objects::TMP1075_HANDLER_TCS_1, addresses::TMP1075_TCS_1},
+  if (core::FW_VERSION_MAJOR == 4) {
-      {objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
+    tmpI2cDev = q7s::I2C_PL_EIVE;
-      // damaged
+  } else if (core::FW_VERSION_MAJOR >= 5) {
-      // {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
+    tmpI2cDev = q7s::I2C_Q7_EIVE;
-      {objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
+  }
-  }};
   std::vector<I2cCookie*> tmpDevCookies;
 
-  for (size_t idx = 0; idx < tmpDevIds.size(); idx++) {
+  for (size_t idx = 0; idx < tmpDevsToAdd.size(); idx++) {
     tmpDevCookies.push_back(
-        new I2cCookie(tmpDevIds[idx].second, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_PS_EIVE));
+        new I2cCookie(tmpDevsToAdd[idx].second, TMP1075::MAX_REPLY_LENGTH, tmpI2cDev));
     auto* tmpDevHandler =
-        new Tmp1075Handler(tmpDevIds[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
+        new Tmp1075Handler(tmpDevsToAdd[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
-    tmpDevHandler->setCustomFdir(new TmpDevFdir(tmpDevIds[idx].first));
+    tmpDevHandler->setCustomFdir(new TmpDevFdir(tmpDevsToAdd[idx].first));
     tmpDevHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
-    // TODO: Remove this after TCS subsystem was added
-    // These devices are connected to the 3V3 stack and should be powered permanently. Therefore,
-    // we set them to normal mode immediately here.
-    tmpDevHandler->setModeNormal();
   }
 }
 
@@ -243,7 +249,7 @@ ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF,
   createRadSensorChipSelect(gpioComIF);
 
   SpiCookie* spiCookieRadSensor =
-      new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, RAD_SENSOR::READ_SIZE,
+      new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, radSens::READ_SIZE,
                     spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
   spiCookieRadSensor->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RAD_SENSOR_CS_TIMEOUT);
   auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,
@@ -505,7 +511,7 @@ void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF*
   debugGps = true;
 #endif
   RESET_ARGS_GNSS.gpioComIF = gpioComIF;
-  RESET_ARGS_GNSS.waitPeriodMs = 100;
+  RESET_ARGS_GNSS.waitPeriodMs = 5;
   auto gpsCtrl = new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT,
                                                 enableHkSets, debugGps);
   gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
@@ -730,20 +736,12 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
   // GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
   GpioCookie* gpioCookiePtmeIp = new GpioCookie;
   GpiodRegularByLineName* gpio = nullptr;
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, "PAPB VC0");
-  gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, "PAPB VC0");
   gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, "PAPB VC1");
-  gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC1, "PAPB VC1");
   gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, "PAPB VC2");
-  gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, "PAPB VC2");
   gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, "PAPB VC3");
-  gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, "PAPB VC3");
   gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PTME_RESETN, "PTME RESETN",
@@ -752,17 +750,13 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
   gpioChecker(args.gpioComIF.addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
 
   // Creating virtual channel interfaces
-  VirtualChannelIF* vc0 =
+  VirtualChannelIF* vc0 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_EMPTY,
-      new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY,
                                               q7s::UIO_PTME, q7s::uiomapids::PTME_VC0);
-  VirtualChannelIF* vc1 =
+  VirtualChannelIF* vc1 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_EMPTY,
-      new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY,
                                               q7s::UIO_PTME, q7s::uiomapids::PTME_VC1);
-  VirtualChannelIF* vc2 =
+  VirtualChannelIF* vc2 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_EMPTY,
-      new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY,
                                               q7s::UIO_PTME, q7s::uiomapids::PTME_VC2);
-  VirtualChannelIF* vc3 =
+  VirtualChannelIF* vc3 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_EMPTY,
-      new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY,
                                               q7s::UIO_PTME, q7s::uiomapids::PTME_VC3);
   // Creating ptme object and adding virtual channel interfaces
   Ptme* ptme = new Ptme(objects::PTME);
@@ -908,8 +902,6 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
       new PayloadPcduHandler(objects::PLPCDU_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
                              gpioComIF, SdCardManager::instance(), stackHandler, false);
   spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
-//  plPcduHandler->enablePeriodicPrintout(true, 5);
-//  static_cast<void>(plPcduHandler);
 #if OBSW_TEST_PL_PCDU == 1
   plPcduHandler->setStartUpImmediately();
 #endif
@@ -943,16 +935,7 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
   starTrackerCookie->setNoFixedSizeReply();
   StrComHandler* strComIF = new StrComHandler(objects::STR_COM_IF);
 
-  const char* paramJsonFile = nullptr;
+  const char* paramJsonFile = "/mnt/sd0/startracker/flight-config.json";
-#ifdef EGSE
-  paramJsonFile = "/home/pi/arcsec/json/flight-config.json";
-#else
-#if OBSW_STAR_TRACKER_GROUND_CONFIG == 1
-  paramJsonFile = "/mnt/sd0/startracker/ground-config.json";
-#else
-  paramJsonFile = "/mnt/sd0/startracker/flight-config.json";
-#endif
-#endif
   if (paramJsonFile == nullptr) {
     sif::error << "No valid Star Tracker parameter JSON file" << std::endl;
   }
@@ -965,12 +948,13 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
   starTracker->setCustomFdir(strFdir);
 }
 
-void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets) {
+void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets,
+                                         const char* i2cDev) {
   auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
   imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 
   new ImtqPollingTask(objects::IMTQ_POLLING, I2C_FATAL_ERRORS);
-  I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
+  I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, i2cDev);
   auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::IMTQ_POLLING, imtqI2cCookie,
                                      power::Switches::PDU1_CH3_MGT_5V, enableHkSets);
   imtqHandler->enableThermalModule(ThermalStateCfg());
@@ -986,8 +970,8 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enable
 #endif
 }
 
-void ObjectFactory::createBpxBatteryComponent(bool enableHkSets) {
+void ObjectFactory::createBpxBatteryComponent(bool enableHkSets, const char* i2cDev) {
-  I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_PL_EIVE);
+  I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, i2cDev);
   BpxBatteryHandler* bpxHandler = new BpxBatteryHandler(
       objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie, enableHkSets);
   bpxHandler->setStartUpImmediately();
@@ -1025,3 +1009,50 @@ void ObjectFactory::createRadSensorChipSelect(LinuxLibgpioIF* gpioIF) {
   gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
   gpioChecker(gpioIF->addGpios(gpioCookieRadSensor), "RAD sensor");
 }
+
+void ObjectFactory::createPlI2cResetGpio(LinuxLibgpioIF* gpioIF) {
+  using namespace gpio;
+  if (common::OBSW_VERSION_MAJOR >= 6 or common::OBSW_VERSION_MAJOR == 4) {
+    if (gpioIF == nullptr) {
+      return;
+    }
+    GpioCookie* gpioI2cResetnCookie = new GpioCookie;
+    GpiodRegularByLineName* gpioI2cResetn = new GpiodRegularByLineName(
+        q7s::gpioNames::PL_I2C_ARESETN, "PL_I2C_ARESETN", Direction::OUT, Levels::HIGH);
+    gpioI2cResetnCookie->addGpio(gpioIds::PL_I2C_ARESETN, gpioI2cResetn);
+    gpioChecker(gpioIF->addGpios(gpioI2cResetnCookie), "PL I2C ARESETN");
+    // Reset I2C explicitely again.
+    gpioIF->pullLow(gpioIds::PL_I2C_ARESETN);
+    TaskFactory::delayTask(1);
+    gpioIF->pullHigh(gpioIds::PL_I2C_ARESETN);
+  }
+}
+
+ReturnValue_t ObjectFactory::readFirmwareVersion() {
+  uint32_t* mappedSysRomAddr = nullptr;
+  // The SYS ROM FPGA block is only available in those versions.
+  if (not(common::OBSW_VERSION_MAJOR >= 6) or (common::OBSW_VERSION_MAJOR == 4)) {
+    return returnvalue::OK;
+  }
+  // This has to come before the version announce because it might be required for retrieving
+  // the firmware version.
+  UioMapper sysRomMapper(q7s::UIO_SYS_ROM);
+  ReturnValue_t result =
+      sysRomMapper.getMappedAdress(&mappedSysRomAddr, UioMapper::Permissions::READ_ONLY);
+  if (result != returnvalue::OK) {
+    sif::error << "Getting mapped SYS ROM UIO address failed" << std::endl;
+    return returnvalue::FAILED;
+  }
+  if (mappedSysRomAddr != nullptr) {
+    uint32_t firstEntry = *(reinterpret_cast<uint32_t*>(mappedSysRomAddr));
+    uint32_t secondEntry = *(reinterpret_cast<uint32_t*>(mappedSysRomAddr) + 1);
+    core::FW_VERSION_MAJOR = (firstEntry >> 24) & 0xff;
+    core::FW_VERSION_MINOR = (firstEntry >> 16) & 0xff;
+    core::FW_VERSION_REVISION = (firstEntry >> 8) & 0xff;
+    bool hasGitSha = (firstEntry & 0x0b1);
+    if (hasGitSha) {
+      std::memcpy(core::FW_VERSION_GIT_SHA, &secondEntry, 4);
+    }
+  }
+  return returnvalue::OK;
+}

bsp_q7s/objectFactory.h

@@ -58,7 +58,7 @@ void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher
                           bool enableHkSets);
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
                             PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
-void createTmpComponents();
+void createTmpComponents(std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd);
 void createRadSensorChipSelect(LinuxLibgpioIF* gpioIF);
 ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
 void createAcsBoardGpios(GpioCookie& cookie);
@@ -67,17 +67,19 @@ void createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF, Ser
                               adis1650x::Type adisType);
 void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
                             HeaterHandler*& heaterHandler);
-void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets);
+void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets, const char* i2cDev);
-void createBpxBatteryComponent(bool enableHkSets);
+void createBpxBatteryComponent(bool enableHkSets, const char* i2cDev);
 void createStrComponents(PowerSwitchIF* pwrSwitcher);
 void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gpioIF);
 void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
 void createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitcher);
 void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
 ReturnValue_t createCcsdsComponents(CcsdsComponentArgs& args);
+ReturnValue_t readFirmwareVersion();
 void createMiscComponents();
 
 void createTestComponents(LinuxLibgpioIF* gpioComIF);
+void createPlI2cResetGpio(LinuxLibgpioIF* gpioComIF);
 
 void testAcsBrdAss(AcsBoardAssembly* assAss);
 

bsp_q7s/obsw.cpp

@@ -11,13 +11,13 @@
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/WatchdogHandler.h"
 #include "commonConfig.h"
-#include "core/scheduling.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/version.h"
 #include "mission/acs/defs.h"
 #include "mission/com/defs.h"
 #include "mission/system/systemTree.h"
 #include "q7sConfig.h"
+#include "scheduling.h"
 #include "watchdog/definitions.h"
 
 static constexpr int OBSW_ALREADY_RUNNING = -2;

bsp_q7s/scheduling.cpp

@@ -9,7 +9,6 @@
 #include <vector>
 
 #include "OBSWConfig.h"
-#include "bsp_q7s/core/ObjectFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/platform.h"
@@ -21,6 +20,8 @@
 #include "mission/pollingSeqTables.h"
 #include "mission/scheduling.h"
 #include "mission/utility/InitMission.h"
+#include "objectFactory.h"
+#include "q7sConfig.h"
 
 /* This is configured for linux without CR */
 #ifdef PLATFORM_UNIX
@@ -324,6 +325,10 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
   }
+  result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
+  }
 
 #if OBSW_ADD_SYRLINKS == 1
   PeriodicTaskIF* syrlinksCom = factory->createPeriodicTask(
@@ -527,7 +532,15 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   FixedTimeslotTaskIF* i2cPst =
       factory.createFixedTimeslotTask("I2C_PS_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.6,
                                       missedDeadlineFunc, &RR_SCHEDULING);
-  result = pst::pstI2cProcessingSystem(i2cPst);
+  pst::TmpSchedConfig tmpSchedConf;
+#if OBSW_Q7S_EM == 1
+  tmpSchedConf.scheduleTmpDev0 = true;
+  tmpSchedConf.scheduleTmpDev1 = true;
+  tmpSchedConf.schedulePlPcduDev0 = true;
+  tmpSchedConf.schedulePlPcduDev1 = true;
+  tmpSchedConf.scheduleIfBoardDev = true;
+#endif
+  result = pst::pstI2c(tmpSchedConf, i2cPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
       sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl;

bsp_q7s/xadc/Xadc.cpp

@@ -129,7 +129,7 @@ ReturnValue_t Xadc::readValFromFile(const char* filename, T& val) {
     sif::warning << "Xadc::readValFromFile: Failed to open file " << filename << std::endl;
     return returnvalue::FAILED;
   }
-  char valstring[MAX_STR_LENGTH] = "";
+  char valstring[MAX_STR_LENGTH]{};
   char* returnVal = fgets(valstring, MAX_STR_LENGTH, fp);
   if (returnVal == nullptr) {
     sif::warning << "Xadc::readValFromFile: Failed to read string from file " << filename
@@ -139,6 +139,11 @@ ReturnValue_t Xadc::readValFromFile(const char* filename, T& val) {
   }
   std::istringstream valSstream(valstring);
   valSstream >> val;
+  if (valSstream.bad()) {
+    sif::warning << "Xadc: Conversion of value to target type failed" << std::endl;
+    fclose(fp);
+    return returnvalue::FAILED;
+  }
   fclose(fp);
   return returnvalue::OK;
 }

common/config/devices/gpioIds.h

@@ -77,6 +77,8 @@ enum gpioId_t {
   CS_RAD_SENSOR,
   ENABLE_RADFET,
 
+  PL_I2C_ARESETN,
+
   PAPB_BUSY_N,
   PAPB_EMPTY,
 
@@ -93,15 +95,10 @@ enum gpioId_t {
   EN_RW_CS,
 
   SPI_MUX,
-
   VC0_PAPB_EMPTY,
-  VC0_PAPB_BUSY,
   VC1_PAPB_EMPTY,
-  VC1_PAPB_BUSY,
   VC2_PAPB_EMPTY,
-  VC2_PAPB_BUSY,
   VC3_PAPB_EMPTY,
-  VC3_PAPB_BUSY,
   PTME_RESETN,
 
   PDEC_RESET,

common/config/eive/definitions.h

@@ -11,6 +11,8 @@ static constexpr char SD_1_MOUNT_POINT[] = "/mnt/sd1";
 static constexpr char OBSW_UPDATE_ARCHIVE_FILE_NAME[] = "eive-sw-update.tar.xz";
 static constexpr char STRIPPED_OBSW_BINARY_FILE_NAME[] = "eive-obsw-stripped";
 static constexpr char OBSW_VERSION_FILE_NAME[] = "obsw_version.txt";
+static constexpr char PUS_SEQUENCE_COUNT_FILE[] = "pus-sequence-count.txt";
+static constexpr char CFDP_SEQUENCE_COUNT_FILE[] = "cfdp-sequence-count.txt";
 
 static constexpr char OBSW_PATH[] = "/usr/bin/eive-obsw";
 static constexpr char OBSW_VERSION_FILE_PATH[] = "/usr/share/eive-obsw/obsw_version.txt";

dummies/CMakeLists.txt

@@ -19,6 +19,7 @@ target_sources(
          GpsCtrlDummy.cpp
          GyroAdisDummy.cpp
          GyroL3GD20Dummy.cpp
+         RadSensorDummy.cpp
          MgmLIS3MDLDummy.cpp
          PlPcduDummy.cpp
          ExecutableComIfDummy.cpp

dummies/CoreControllerDummy.cpp

@@ -1,6 +1,6 @@
 #include "CoreControllerDummy.h"
 
-#include <bsp_q7s/core/CoreDefinitions.h>
+#include <bsp_q7s/core/defs.h>
 #include <objects/systemObjectList.h>
 
 #include <cmath>

dummies/ImtqDummy.cpp

@@ -5,14 +5,19 @@
 ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
                      power::Switch_t pwrSwitcher, bool enableHkSets)
     : DeviceHandlerBase(objectId, comif, comCookie),
-      setNoTorque(this),
-      setWithTorque(this),
       enableHkSets(enableHkSets),
+      statusSet(this),
+      dipoleSet(*this),
+      rawMtmNoTorque(this),
+      hkDatasetNoTorque(this),
+      rawMtmWithTorque(this),
+      hkDatasetWithTorque(this),
+      calMtmMeasurementSet(this),
       switcher(pwrSwitcher) {}
 
 ImtqDummy::~ImtqDummy() = default;
 
-void ImtqDummy::doStartUp() { setMode(MODE_NORMAL); }
+void ImtqDummy::doStartUp() { setMode(MODE_ON); }
 
 void ImtqDummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
 
@@ -79,17 +84,37 @@ ReturnValue_t ImtqDummy::initializeLocalDataPool(localpool::DataPool &localDataP
   localDataPoolMap.emplace(imtq::MCU_TEMPERATURE_WT, new PoolEntry<int16_t>({0}));
 
   poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(setNoTorque.getSid(), enableHkSets, 30.0));
+      subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 30.0));
   poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(setWithTorque.getSid(), enableHkSets, 30.0));
+      subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 30.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(rawMtmNoTorque.getSid(), false, 10.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(rawMtmWithTorque.getSid(), false, 10.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(calMtmMeasurementSet.getSid(), false, 10.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(statusSet.getSid(), false, 10.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(dipoleSet.getSid(), false, 10.0));
   return DeviceHandlerBase::initializeLocalDataPool(localDataPoolMap, poolManager);
 }
 
 LocalPoolDataSetBase *ImtqDummy::getDataSetHandle(sid_t sid) {
-  if (sid == setNoTorque.getSid()) {
+  if (sid == hkDatasetNoTorque.getSid()) {
-    return &setNoTorque;
+    return &hkDatasetNoTorque;
-  } else if (sid == setWithTorque.getSid()) {
+  } else if (sid == dipoleSet.getSid()) {
-    return &setWithTorque;
+    return &dipoleSet;
+  } else if (sid == statusSet.getSid()) {
+    return &statusSet;
+  } else if (sid == hkDatasetWithTorque.getSid()) {
+    return &hkDatasetWithTorque;
+  } else if (sid == rawMtmWithTorque.getSid()) {
+    return &rawMtmWithTorque;
+  } else if (sid == calMtmMeasurementSet.getSid()) {
+    return &calMtmMeasurementSet;
+  } else if (sid == rawMtmNoTorque.getSid()) {
+    return &rawMtmNoTorque;
   }
   return nullptr;
 }

dummies/ImtqDummy.h

@@ -18,11 +18,18 @@ class ImtqDummy : public DeviceHandlerBase {
   ~ImtqDummy() override;
 
  protected:
-  ReturnValue_t getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) override;
-  imtq::HkDatasetNoTorque setNoTorque;
-  imtq::HkDatasetWithTorque setWithTorque;
   bool enableHkSets;
 
+  imtq::StatusDataset statusSet;
+  imtq::DipoleActuationSet dipoleSet;
+  imtq::RawMtmMeasurementNoTorque rawMtmNoTorque;
+  imtq::HkDatasetNoTorque hkDatasetNoTorque;
+
+  imtq::RawMtmMeasurementWithTorque rawMtmWithTorque;
+  imtq::HkDatasetWithTorque hkDatasetWithTorque;
+
+  imtq::CalibratedMtmMeasurementSet calMtmMeasurementSet;
+
   PoolEntry<uint8_t> statusMode = PoolEntry<uint8_t>({0});
   PoolEntry<uint8_t> statusError = PoolEntry<uint8_t>({0});
   PoolEntry<uint8_t> statusConfig = PoolEntry<uint8_t>({0});
@@ -42,6 +49,8 @@ class ImtqDummy : public DeviceHandlerBase {
 
   power::Switch_t switcher = power::NO_SWITCH;
 
+  ReturnValue_t getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) override;
+
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;

dummies/Max31865Dummy.cpp

@@ -7,15 +7,21 @@ using namespace returnvalue;
 Max31865Dummy::Max31865Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie), set(this, EiveMax31855::EXCHANGE_SET_ID) {}
 void Max31865Dummy::doStartUp() { setMode(MODE_ON); }
-void Max31865Dummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
+void Max31865Dummy::doShutDown() {
+  PoolReadGuard pg(&set);
+  set.setValidity(false, true);
+  setMode(MODE_OFF);
+}
 ReturnValue_t Max31865Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;
 }
-ReturnValue_t Max31865Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) { return OK; }
+ReturnValue_t Max31865Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
 ReturnValue_t Max31865Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                      const uint8_t *commandData,
                                                      size_t commandDataLen) {
-  return 0;
+  return NOTHING_TO_SEND;
 }
 ReturnValue_t Max31865Dummy::scanForReply(const uint8_t *start, size_t len,
                                           DeviceCommandId_t *foundId, size_t *foundLen) {

dummies/PlPcduDummy.cpp

@@ -7,7 +7,7 @@ PlPcduDummy::PlPcduDummy(object_id_t objectId, object_id_t comif, CookieIF *comC
 
 PlPcduDummy::~PlPcduDummy() {}
 
-void PlPcduDummy::doStartUp() { setMode(MODE_NORMAL); }
+void PlPcduDummy::doStartUp() { setMode(MODE_ON); }
 
 void PlPcduDummy::doShutDown() { setMode(MODE_OFF); }
 

dummies/RadSensorDummy.cpp

@@ -0,0 +1,55 @@
+#include "RadSensorDummy.h"
+
+RadSensorDummy::RadSensorDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie), sensorSet(this) {}
+
+RadSensorDummy::~RadSensorDummy() {}
+
+void RadSensorDummy::doStartUp() { setMode(MODE_ON); }
+
+void RadSensorDummy::doShutDown() { setMode(MODE_OFF); }
+
+ReturnValue_t RadSensorDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t RadSensorDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t RadSensorDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                      const uint8_t *commandData,
+                                                      size_t commandDataLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t RadSensorDummy::scanForReply(const uint8_t *start, size_t len,
+                                           DeviceCommandId_t *foundId, size_t *foundLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t RadSensorDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  return returnvalue::OK;
+}
+
+void RadSensorDummy::fillCommandAndReplyMap() {}
+
+uint32_t RadSensorDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+
+ReturnValue_t RadSensorDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                      LocalDataPoolManager &poolManager) {
+  localDataPoolMap.emplace(radSens::TEMPERATURE_C, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(radSens::AIN0, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN1, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN4, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN5, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN6, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN7, new PoolEntry<uint16_t>({0}));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(sensorSet.getSid(), false, 20.0));
+  return returnvalue::OK;
+
+  return returnvalue::OK;
+}
+
+LocalPoolDataSetBase *RadSensorDummy::getDataSetHandle(sid_t sid) { return &sensorSet; }

dummies/RadSensorDummy.h

@@ -0,0 +1,35 @@
+#pragma once
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+#include "mission/payload/radSensorDefinitions.h"
+
+class RadSensorDummy : public DeviceHandlerBase {
+ public:
+  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
+  static const DeviceCommandId_t PERIODIC_REPLY = 2;
+
+  static const uint8_t SIMPLE_COMMAND_DATA = 1;
+  static const uint8_t PERIODIC_REPLY_DATA = 2;
+
+  RadSensorDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  virtual ~RadSensorDummy();
+
+ protected:
+  radSens::RadSensorDataset sensorSet;
+
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
+};

dummies/RwDummy.cpp

@@ -3,13 +3,24 @@
 #include <mission/acs/rwHelpers.h>
 
 RwDummy::RwDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
-    : DeviceHandlerBase(objectId, comif, comCookie) {}
+    : DeviceHandlerBase(objectId, comif, comCookie),
+
+      statusSet(this),
+      lastResetStatusSet(this),
+      tmDataset(this),
+      rwSpeedActuationSet(*this) {}
 
 RwDummy::~RwDummy() {}
 
-void RwDummy::doStartUp() { setMode(MODE_ON); }
+void RwDummy::doStartUp() {
+  statusSet.setReportingEnabled(true);
+  setMode(MODE_ON);
+}
 
-void RwDummy::doShutDown() { setMode(MODE_OFF); }
+void RwDummy::doShutDown() {
+  statusSet.setReportingEnabled(false);
+  setMode(MODE_OFF);
+}
 
 ReturnValue_t RwDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
 
@@ -74,5 +85,11 @@ ReturnValue_t RwDummy::initializeLocalDataPool(localpool::DataPool &localDataPoo
   localDataPoolMap.emplace(rws::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(rws::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(rws::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 12.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(tmDataset.getSid(), false, 30.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(lastResetStatusSet.getSid(), false, 30.0));
   return returnvalue::OK;
 }

dummies/RwDummy.h

@@ -2,6 +2,7 @@
 #define DUMMIES_RWDUMMY_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <mission/acs/rwHelpers.h>
 
 class RwDummy : public DeviceHandlerBase {
  public:
@@ -15,6 +16,11 @@ class RwDummy : public DeviceHandlerBase {
   virtual ~RwDummy();
 
  protected:
+  rws::StatusSet statusSet;
+  rws::LastResetSatus lastResetStatusSet;
+  rws::TmDataset tmDataset;
+  rws::RwSpeedActuationSet rwSpeedActuationSet;
+
   PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>({0});
   PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>({10});
 

dummies/SusDummy.cpp

@@ -5,7 +5,7 @@ SusDummy::SusDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
 
 SusDummy::~SusDummy() {}
 
-void SusDummy::doStartUp() { setMode(MODE_NORMAL); }
+void SusDummy::doStartUp() { setMode(MODE_ON); }
 
 void SusDummy::doShutDown() { setMode(MODE_OFF); }
 

dummies/TemperatureSensorInserter.cpp

@@ -7,9 +7,9 @@
 #include <cstdlib>
 #include <utility>
 
-TemperatureSensorInserter::TemperatureSensorInserter(object_id_t objectId,
+TemperatureSensorInserter::TemperatureSensorInserter(
-                                                     Max31865DummyMap tempSensorDummies_,
+    object_id_t objectId, Max31865DummyMap tempSensorDummies_,
-                                                     Tmp1075DummyMap tempTmpSensorDummies_)
+    std::optional<Tmp1075DummyMap> tempTmpSensorDummies_)
     : SystemObject(objectId),
       max31865DummyMap(std::move(tempSensorDummies_)),
       tmp1075DummyMap(std::move(tempTmpSensorDummies_)) {}
@@ -25,9 +25,11 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
     for (auto& rtdDummy : max31865DummyMap) {
       rtdDummy.second->setTemperature(10, true);
     }
-    for (auto& tmpDummy : tmp1075DummyMap) {
+    if (tmp1075DummyMap.has_value()) {
+      for (auto& tmpDummy : tmp1075DummyMap.value()) {
         tmpDummy.second->setTemperature(10, true);
       }
+    }
     tempsWereInitialized = true;
   }
 
@@ -96,6 +98,25 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
       }
       break;
     }
+    case (TestCase::COLD_PLOC_CONSECUTIVE): {
+      if (cycles == 15) {
+        sif::debug << "Setting cold PLOC temperature" << std::endl;
+        max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(-15, true);
+      }
+      if (cycles == 30) {
+        sif::debug << "Setting warmer PLOC temperature" << std::endl;
+        max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(0, true);
+      }
+      if (cycles == 45) {
+        sif::debug << "Setting cold PLOC temperature again" << std::endl;
+        max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(-15, true);
+      }
+      if (cycles == 60) {
+        sif::debug << "Setting warmer PLOC temperature again" << std::endl;
+        max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(0, true);
+      }
+      break;
+    }
     case (TestCase::COLD_CAMERA): {
       if (cycles == 15) {
         sif::debug << "Setting cold CAM temperature" << std::endl;
@@ -105,6 +126,21 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
         sif::debug << "Setting CAM temperature back to normal" << std::endl;
         max31865DummyMap[objects::RTD_2_IC5_4K_CAMERA]->setTemperature(0, true);
       }
+      break;
+    }
+    case (TestCase::COLD_PLOC_STAYS_COLD): {
+      if (cycles == 15) {
+        sif::debug << "Setting cold PLOC temperature" << std::endl;
+        max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(-40, true);
+      }
+      break;
+    }
+    case (TestCase::COLD_CAMERA_STAYS_COLD): {
+      if (cycles == 15) {
+        sif::debug << "Setting cold PLOC temperature" << std::endl;
+        max31865DummyMap[objects::RTD_2_IC5_4K_CAMERA]->setTemperature(-40, true);
+      }
+      break;
     }
   }
   cycles++;

dummies/TemperatureSensorInserter.h

@@ -12,7 +12,7 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
   using Max31865DummyMap = std::map<object_id_t, Max31865Dummy*>;
   using Tmp1075DummyMap = std::map<object_id_t, Tmp1075Dummy*>;
   explicit TemperatureSensorInserter(object_id_t objectId, Max31865DummyMap tempSensorDummies_,
-                                     Tmp1075DummyMap tempTmpSensorDummies_);
+                                     std::optional<Tmp1075DummyMap> tempTmpSensorDummies_);
 
   ReturnValue_t initialize() override;
   ReturnValue_t initializeAfterTaskCreation() override;
@@ -22,7 +22,7 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
 
  private:
   Max31865DummyMap max31865DummyMap;
-  Tmp1075DummyMap tmp1075DummyMap;
+  std::optional<Tmp1075DummyMap> tmp1075DummyMap;
 
   enum TestCase {
     NONE = 0,
@@ -32,6 +32,9 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
     COLD_STR = 4,
     COLD_STR_CONSECUTIVE = 5,
     COLD_CAMERA = 6,
+    COLD_PLOC_CONSECUTIVE = 7,
+    COLD_PLOC_STAYS_COLD = 8,
+    COLD_CAMERA_STAYS_COLD = 9
   };
   int iteration = 0;
   uint32_t cycles = 0;

dummies/Tmp1075Dummy.cpp

@@ -8,35 +8,57 @@ using namespace returnvalue;
 Tmp1075Dummy::Tmp1075Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie), set(this) {}
 
-void Tmp1075Dummy::doStartUp() { setMode(MODE_NORMAL); }
+void Tmp1075Dummy::doStartUp() { setMode(MODE_ON); }
-void Tmp1075Dummy::doShutDown() { setMode(MODE_OFF); }
+void Tmp1075Dummy::doShutDown() {
+  PoolReadGuard pg(&set);
+  set.setValidity(false, true);
+  setMode(MODE_OFF);
+}
 
 ReturnValue_t Tmp1075Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;
 }
-ReturnValue_t Tmp1075Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) { return OK; }
+
+ReturnValue_t Tmp1075Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
 ReturnValue_t Tmp1075Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                     const uint8_t *commandData,
                                                     size_t commandDataLen) {
-  return 0;
+  return NOTHING_TO_SEND;
 }
+
 ReturnValue_t Tmp1075Dummy::scanForReply(const uint8_t *start, size_t len,
                                          DeviceCommandId_t *foundId, size_t *foundLen) {
   return 0;
 }
+
 ReturnValue_t Tmp1075Dummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
   return 0;
 }
+
 void Tmp1075Dummy::setTemperature(float temperature, bool valid) {
   PoolReadGuard pg(&set);
   set.temperatureCelcius.value = temperature;
   set.setValidity(valid, true);
 }
+
 void Tmp1075Dummy::fillCommandAndReplyMap() {}
+
 uint32_t Tmp1075Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 1000; }
+
 ReturnValue_t Tmp1075Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                     LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(TMP1075::TEMPERATURE_C_TMP1075, new PoolEntry<float>({10.0}, true));
   return OK;
 }
+
+ReturnValue_t Tmp1075Dummy::setHealth(HealthState health) {
+  if (health == FAULTY or health == PERMANENT_FAULTY) {
+    setMode(_MODE_SHUT_DOWN);
+  }
+  return DeviceHandlerBase::setHealth(health);
+}
+
 LocalPoolDataSetBase *Tmp1075Dummy::getDataSetHandle(sid_t sid) { return &set; }

dummies/Tmp1075Dummy.h

@@ -26,6 +26,7 @@ class Tmp1075Dummy : public DeviceHandlerBase {
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                         LocalDataPoolManager &poolManager) override;
+  ReturnValue_t setHealth(HealthState health) override;
 
  protected:
   LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;

dummies/helperFactory.cpp

@@ -18,6 +18,7 @@
 #include <dummies/PlPcduDummy.h>
 #include <dummies/PlocMpsocDummy.h>
 #include <dummies/PlocSupervisorDummy.h>
+#include <dummies/RadSensorDummy.h>
 #include <dummies/RwDummy.h>
 #include <dummies/SaDeploymentDummy.h>
 #include <dummies/ScexDummy.h>
@@ -34,6 +35,7 @@
 
 #include "TemperatureSensorInserter.h"
 #include "dummies/Max31865Dummy.h"
+#include "dummies/SusDummy.h"
 #include "dummies/Tmp1075Dummy.h"
 #include "mission/genericFactory.h"
 #include "mission/system/acs/acsModeTree.h"
@@ -63,11 +65,14 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
   rws[3] = new RwDummy(objects::RW4, objects::DUMMY_COM_IF, comCookieDummy);
   ObjectFactory::createRwAssy(pwrSwitcher, power::Switches::PDU2_CH2_RW_5V, rws, rwIds);
   new SaDeplDummy(objects::SOLAR_ARRAY_DEPL_HANDLER);
+
+  if (cfg.addStrDummy) {
     auto* strAssy = new StrAssembly(objects::STR_ASSY);
     strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
     auto* strDummy =
         new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
     strDummy->connectModeTreeParent(*strAssy);
+  }
   if (cfg.addSyrlinksDummies) {
     auto* syrlinksDummy =
         new SyrlinksDummy(objects::SYRLINKS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
@@ -191,25 +196,36 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
         objects::RTD_15_IC18_IMTQ,
         new Max31865Dummy(objects::RTD_15_IC18_IMTQ, objects::DUMMY_COM_IF, comCookieDummy));
 
-    std::map<object_id_t, Tmp1075Dummy*> tmpSensorDummies;
+    std::optional<TemperatureSensorInserter::Tmp1075DummyMap> tmpSensorDummies;
-    tmpSensorDummies.emplace(
+    if (cfg.addTmpDummies) {
-        objects::TMP1075_HANDLER_TCS_0,
+      TemperatureSensorInserter::Tmp1075DummyMap tmpDummyMap;
-        new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_0, objects::DUMMY_COM_IF, comCookieDummy));
+      if (cfg.tmp1075Cfg.addTcsBrd0) {
-    tmpSensorDummies.emplace(
+        tmpDummyMap.emplace(objects::TMP1075_HANDLER_TCS_0,
-        objects::TMP1075_HANDLER_TCS_1,
+                            new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_0, objects::DUMMY_COM_IF,
-        new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_1, objects::DUMMY_COM_IF, comCookieDummy));
+                                             comCookieDummy));
-    tmpSensorDummies.emplace(
+      }
-        objects::TMP1075_HANDLER_PLPCDU_0,
+      if (cfg.tmp1075Cfg.addTcsBrd1) {
-        new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0, objects::DUMMY_COM_IF, comCookieDummy));
+        tmpDummyMap.emplace(objects::TMP1075_HANDLER_TCS_1,
-    // damaged.
+                            new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_1, objects::DUMMY_COM_IF,
-    //        tmpSensorDummies.emplace(
+                                             comCookieDummy));
-    //            objects::TMP1075_HANDLER_PLPCDU_1,
+      }
-    //            new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1, objects::DUMMY_COM_IF,
+      if (cfg.tmp1075Cfg.addPlPcdu0) {
-    //            comCookieDummy));
+        tmpDummyMap.emplace(objects::TMP1075_HANDLER_PLPCDU_0,
-    tmpSensorDummies.emplace(
+                            new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0,
-        objects::TMP1075_HANDLER_IF_BOARD,
+                                             objects::DUMMY_COM_IF, comCookieDummy));
-        new Tmp1075Dummy(objects::TMP1075_HANDLER_IF_BOARD, objects::DUMMY_COM_IF, comCookieDummy));
+      }
-
+      if (cfg.tmp1075Cfg.addPlPcdu1) {
+        tmpDummyMap.emplace(objects::TMP1075_HANDLER_PLPCDU_1,
+                            new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1,
+                                             objects::DUMMY_COM_IF, comCookieDummy));
+      }
+      if (cfg.tmp1075Cfg.addIfBrd) {
+        tmpDummyMap.emplace(objects::TMP1075_HANDLER_IF_BOARD,
+                            new Tmp1075Dummy(objects::TMP1075_HANDLER_IF_BOARD,
+                                             objects::DUMMY_COM_IF, comCookieDummy));
+      }
+      tmpSensorDummies = std::move(tmpDummyMap);
+    }
     new TemperatureSensorInserter(objects::THERMAL_TEMP_INSERTER, rtdSensorDummies,
                                   tmpSensorDummies);
     TcsBoardAssembly* tcsBoardAssy =
@@ -217,20 +233,26 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
     for (auto& rtd : rtdSensorDummies) {
       rtd.second->connectModeTreeParent(*tcsBoardAssy);
     }
-    for (auto& tmp : tmpSensorDummies) {
+    if (tmpSensorDummies.has_value()) {
+      for (auto& tmp : tmpSensorDummies.value()) {
         tmp.second->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
       }
     }
+  }
   if (cfg.addCamSwitcherDummy) {
     auto* camSwitcher = new CamSwitcher(objects::CAM_SWITCHER, pwrSwitcher,
                                         power::Switches::PDU2_CH8_PAYLOAD_CAMERA);
     camSwitcher->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
   }
+  if (cfg.addScexDummy) {
     auto* scexDummy = new ScexDummy(objects::SCEX, objects::DUMMY_COM_IF, comCookieDummy);
     scexDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
+  }
+  if (cfg.addPlPcduDummy) {
     auto* plPcduDummy =
         new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     plPcduDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
+  }
   if (cfg.addPlocDummies) {
     auto* plocMpsocDummy =
         new PlocMpsocDummy(objects::PLOC_MPSOC_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
@@ -239,4 +261,9 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
         objects::PLOC_SUPERVISOR_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, pwrSwitcher);
     plocSupervisorDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
   }
+  if (cfg.addRadSensorDummy) {
+    auto* radSensorDummy =
+        new RadSensorDummy(objects::RAD_SENSOR, objects::DUMMY_COM_IF, comCookieDummy);
+    radSensorDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
+  }
 }

dummies/helperFactory.h

@@ -6,6 +6,14 @@ class GpioIF;
 
 namespace dummy {
 
+struct Tmp1075Cfg {
+  bool addTcsBrd0 = true;
+  bool addTcsBrd1 = true;
+  bool addPlPcdu0 = true;
+  bool addPlPcdu1 = true;
+  bool addIfBrd = true;
+};
+
 // Default values targeted towards EM.
 struct DummyCfg {
   bool addCoreCtrlCfg = true;
@@ -19,7 +27,13 @@ struct DummyCfg {
   bool addTempSensorDummies = true;
   bool addRtdComIFDummy = true;
   bool addPlocDummies = true;
+  bool addStrDummy = true;
+  bool addTmpDummies = true;
+  bool addRadSensorDummy = true;
+  bool addPlPcduDummy = false;
+  Tmp1075Cfg tmp1075Cfg;
   bool addCamSwitcherDummy = false;
+  bool addScexDummy = false;
 };
 
 void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch, GpioIF* gpioIF, bool enableHkSets);

fsfw

@@ -1 +1 @@
-Subproject commit 0a977ea688cd78585aabb9ba511eaf8030452712
+Subproject commit d575da85407e029dabecaffa5368f0c9f1034941

generators/bsp_hosted_events.csv

@@ -133,6 +133,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11802;0x2e1a;RESET_OCCURED;LOW;No description;mission/acs/rwHelpers.h
 11901;0x2e7d;BOOTING_FIRMWARE_FAILED_EVENT;LOW;Failed to boot firmware;mission/acs/str/StarTrackerHandler.h
 11902;0x2e7e;BOOTING_BOOTLOADER_FAILED_EVENT;LOW;Failed to boot star tracker into bootloader mode;mission/acs/str/StarTrackerHandler.h
+11903;0x2e7f;COM_ERROR_REPLY_RECEIVED;LOW;Received COM error. P1:  Communication Error ID (datasheet p32);mission/acs/str/StarTrackerHandler.h
 12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/payload/PlocSupervisorHandler.h
 12002;0x2ee2;SUPV_UNKNOWN_TM;LOW;Unhandled event. P1: APID, P2: Service ID;linux/payload/PlocSupervisorHandler.h
 12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;No description;linux/payload/PlocSupervisorHandler.h
@@ -254,6 +255,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13800;0x35e8;MISSING_PACKET;LOW;No description;mission/payload/scexHelpers.h
 13801;0x35e9;EXPERIMENT_TIMEDOUT;LOW;No description;mission/payload/scexHelpers.h
 13802;0x35ea;MULTI_PACKET_COMMAND_DONE;INFO;No description;mission/payload/scexHelpers.h
+13803;0x35eb;FS_UNUSABLE;LOW;No description;mission/payload/scexHelpers.h
 13901;0x364d;SET_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13902;0x364e;GET_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13903;0x364f;INSERT_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
@@ -271,6 +273,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14010;0x36ba;TRYING_I2C_RECOVERY;HIGH;I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C devices.;mission/sysDefs.h
 14011;0x36bb;I2C_REBOOT;HIGH;I2C is unavailable. Recovery did not work, performing full reboot.;mission/sysDefs.h
 14012;0x36bc;PDEC_REBOOT;HIGH;PDEC recovery through reset was not possible, performing full reboot.;mission/sysDefs.h
+14013;0x36bd;FIRMWARE_INFO;INFO;Version information of the firmware (not OBSW). P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;mission/sysDefs.h
+14014;0x36be;ACTIVE_SD_INFO;INFO;Active SD card info. SD States: 0: OFF, 1: ON, 2: MOUNTED. P1: Active SD Card Index, 0 if none is active P2: First two bytes: SD state of SD card 0, last two bytes SD state of SD card 1;mission/sysDefs.h
 14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/tcsDefs.h
 14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/tcsDefs.h
 14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
@@ -279,6 +283,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14106;0x371a;PCDU_SYSTEM_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
 14107;0x371b;HEATER_NOT_OFF_FOR_OFF_MODE;MEDIUM;No description;mission/controller/tcsDefs.h
 14108;0x371c;MGT_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
+14109;0x371d;TCS_SWITCHING_HEATER_ON;INFO;P1: Module index. P2: Heater index;mission/controller/tcsDefs.h
+14110;0x371e;TCS_SWITCHING_HEATER_OFF;INFO;P1: Module index. P2: Heater index;mission/controller/tcsDefs.h
+14111;0x371f;TCS_HEATER_MAX_BURN_TIME_REACHED;MEDIUM;P1: Heater index. P2: Maximum burn time for heater.;mission/controller/tcsDefs.h
 14201;0x3779;TX_TIMER_EXPIRED;INFO;The transmit timer to protect the Syrlinks expired P1: The current timer value;mission/system/com/ComSubsystem.h
 14202;0x377a;BIT_LOCK_TX_ON;INFO;Transmitter will be turned on due to detection of bitlock;mission/system/com/ComSubsystem.h
 14300;0x37dc;POSSIBLE_FILE_CORRUPTION;LOW;P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp.;mission/persistentTmStoreDefs.h

generators/bsp_q7s_events.csv

@@ -133,6 +133,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11802;0x2e1a;RESET_OCCURED;LOW;No description;mission/acs/rwHelpers.h
 11901;0x2e7d;BOOTING_FIRMWARE_FAILED_EVENT;LOW;Failed to boot firmware;mission/acs/str/StarTrackerHandler.h
 11902;0x2e7e;BOOTING_BOOTLOADER_FAILED_EVENT;LOW;Failed to boot star tracker into bootloader mode;mission/acs/str/StarTrackerHandler.h
+11903;0x2e7f;COM_ERROR_REPLY_RECEIVED;LOW;Received COM error. P1:  Communication Error ID (datasheet p32);mission/acs/str/StarTrackerHandler.h
 12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/payload/PlocSupervisorHandler.h
 12002;0x2ee2;SUPV_UNKNOWN_TM;LOW;Unhandled event. P1: APID, P2: Service ID;linux/payload/PlocSupervisorHandler.h
 12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;No description;linux/payload/PlocSupervisorHandler.h
@@ -254,6 +255,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13800;0x35e8;MISSING_PACKET;LOW;No description;mission/payload/scexHelpers.h
 13801;0x35e9;EXPERIMENT_TIMEDOUT;LOW;No description;mission/payload/scexHelpers.h
 13802;0x35ea;MULTI_PACKET_COMMAND_DONE;INFO;No description;mission/payload/scexHelpers.h
+13803;0x35eb;FS_UNUSABLE;LOW;No description;mission/payload/scexHelpers.h
 13901;0x364d;SET_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13902;0x364e;GET_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13903;0x364f;INSERT_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
@@ -271,6 +273,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14010;0x36ba;TRYING_I2C_RECOVERY;HIGH;I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C devices.;mission/sysDefs.h
 14011;0x36bb;I2C_REBOOT;HIGH;I2C is unavailable. Recovery did not work, performing full reboot.;mission/sysDefs.h
 14012;0x36bc;PDEC_REBOOT;HIGH;PDEC recovery through reset was not possible, performing full reboot.;mission/sysDefs.h
+14013;0x36bd;FIRMWARE_INFO;INFO;Version information of the firmware (not OBSW). P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;mission/sysDefs.h
+14014;0x36be;ACTIVE_SD_INFO;INFO;Active SD card info. SD States: 0: OFF, 1: ON, 2: MOUNTED. P1: Active SD Card Index, 0 if none is active P2: First two bytes: SD state of SD card 0, last two bytes SD state of SD card 1;mission/sysDefs.h
 14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/tcsDefs.h
 14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/tcsDefs.h
 14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
@@ -279,6 +283,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14106;0x371a;PCDU_SYSTEM_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
 14107;0x371b;HEATER_NOT_OFF_FOR_OFF_MODE;MEDIUM;No description;mission/controller/tcsDefs.h
 14108;0x371c;MGT_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
+14109;0x371d;TCS_SWITCHING_HEATER_ON;INFO;P1: Module index. P2: Heater index;mission/controller/tcsDefs.h
+14110;0x371e;TCS_SWITCHING_HEATER_OFF;INFO;P1: Module index. P2: Heater index;mission/controller/tcsDefs.h
+14111;0x371f;TCS_HEATER_MAX_BURN_TIME_REACHED;MEDIUM;P1: Heater index. P2: Maximum burn time for heater.;mission/controller/tcsDefs.h
 14201;0x3779;TX_TIMER_EXPIRED;INFO;The transmit timer to protect the Syrlinks expired P1: The current timer value;mission/system/com/ComSubsystem.h
 14202;0x377a;BIT_LOCK_TX_ON;INFO;Transmitter will be turned on due to detection of bitlock;mission/system/com/ComSubsystem.h
 14300;0x37dc;POSSIBLE_FILE_CORRUPTION;LOW;P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp.;mission/persistentTmStoreDefs.h

generators/events/event_parser.py

@@ -54,9 +54,13 @@ class BspConfig:
 
         # Store this file in the root of the generators folder
         self.csv_filename = Path(f"{ROOT_DIR}/{self.bsp_dir_name}_events.csv")
-        self.subsystems_csv_filename = Path(f"{ROOT_DIR}/{self.bsp_dir_name}_subsystems.csv")
+        self.subsystems_csv_filename = Path(
+            f"{ROOT_DIR}/{self.bsp_dir_name}_subsystems.csv"
+        )
         self.csv_copy_dest = Path(f"{OBSW_ROOT_DIR}/tmtc/eive_tmtc/config/events.csv")
-        self.subsystem_csv_copy_dest = Path(f"{OBSW_ROOT_DIR}/tmtc/eive_tmtc/config/subsystems.csv")
+        self.subsystem_csv_copy_dest = Path(
+            f"{OBSW_ROOT_DIR}/tmtc/eive_tmtc/config/subsystems.csv"
+        )
 
         if (
             self.bsp_select == BspType.BSP_Q7S

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 296 translations.
+ * @brief    Auto-generated event translation file. Contains 303 translations.
  * @details
- * Generated on: 2023-06-13 07:54:32
+ * Generated on: 2023-08-03 13:36:37
  */
 #include "translateEvents.h"
 
@@ -139,6 +139,7 @@ const char *ERROR_STATE_STRING = "ERROR_STATE";
 const char *RESET_OCCURED_STRING = "RESET_OCCURED";
 const char *BOOTING_FIRMWARE_FAILED_EVENT_STRING = "BOOTING_FIRMWARE_FAILED_EVENT";
 const char *BOOTING_BOOTLOADER_FAILED_EVENT_STRING = "BOOTING_BOOTLOADER_FAILED_EVENT";
+const char *COM_ERROR_REPLY_RECEIVED_STRING = "COM_ERROR_REPLY_RECEIVED";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
 const char *SUPV_UNKNOWN_TM_STRING = "SUPV_UNKNOWN_TM";
 const char *SUPV_UNINIMPLEMENTED_TM_STRING = "SUPV_UNINIMPLEMENTED_TM";
@@ -260,6 +261,7 @@ const char *TX_OFF_STRING = "TX_OFF";
 const char *MISSING_PACKET_STRING = "MISSING_PACKET";
 const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
 const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
+const char *FS_UNUSABLE_STRING = "FS_UNUSABLE";
 const char *SET_CONFIGFILEVALUE_FAILED_STRING = "SET_CONFIGFILEVALUE_FAILED";
 const char *GET_CONFIGFILEVALUE_FAILED_STRING = "GET_CONFIGFILEVALUE_FAILED";
 const char *INSERT_CONFIGFILEVALUE_FAILED_STRING = "INSERT_CONFIGFILEVALUE_FAILED";
@@ -277,6 +279,8 @@ const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
 const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
 const char *I2C_REBOOT_STRING = "I2C_REBOOT";
 const char *PDEC_REBOOT_STRING = "PDEC_REBOOT";
+const char *FIRMWARE_INFO_STRING = "FIRMWARE_INFO";
+const char *ACTIVE_SD_INFO_STRING = "ACTIVE_SD_INFO";
 const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
 const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
 const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
@@ -285,6 +289,9 @@ const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
 const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
 const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
 const char *MGT_OVERHEATING_STRING = "MGT_OVERHEATING";
+const char *TCS_SWITCHING_HEATER_ON_STRING = "TCS_SWITCHING_HEATER_ON";
+const char *TCS_SWITCHING_HEATER_OFF_STRING = "TCS_SWITCHING_HEATER_OFF";
+const char *TCS_HEATER_MAX_BURN_TIME_REACHED_STRING = "TCS_HEATER_MAX_BURN_TIME_REACHED";
 const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
 const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
 const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@@ -572,6 +579,8 @@ const char *translateEvents(Event event) {
       return BOOTING_FIRMWARE_FAILED_EVENT_STRING;
     case (11902):
       return BOOTING_BOOTLOADER_FAILED_EVENT_STRING;
+    case (11903):
+      return COM_ERROR_REPLY_RECEIVED_STRING;
     case (12001):
       return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
     case (12002):
@@ -814,6 +823,8 @@ const char *translateEvents(Event event) {
       return EXPERIMENT_TIMEDOUT_STRING;
     case (13802):
       return MULTI_PACKET_COMMAND_DONE_STRING;
+    case (13803):
+      return FS_UNUSABLE_STRING;
     case (13901):
       return SET_CONFIGFILEVALUE_FAILED_STRING;
     case (13902):
@@ -848,6 +859,10 @@ const char *translateEvents(Event event) {
       return I2C_REBOOT_STRING;
     case (14012):
       return PDEC_REBOOT_STRING;
+    case (14013):
+      return FIRMWARE_INFO_STRING;
+    case (14014):
+      return ACTIVE_SD_INFO_STRING;
     case (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):
@@ -864,6 +879,12 @@ const char *translateEvents(Event event) {
       return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
     case (14108):
       return MGT_OVERHEATING_STRING;
+    case (14109):
+      return TCS_SWITCHING_HEATER_ON_STRING;
+    case (14110):
+      return TCS_SWITCHING_HEATER_OFF_STRING;
+    case (14111):
+      return TCS_HEATER_MAX_BURN_TIME_REACHED_STRING;
     case (14201):
       return TX_TIMER_EXPIRED_STRING;
     case (14202):

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-06-13 07:54:32
+ * Generated on: 2023-08-03 13:36:37
  */
 #include "translateObjects.h"
 

linux/acs/StrComHandler.cpp

@@ -2,6 +2,7 @@
 
 #include <fcntl.h>
 #include <fsfw/filesystem/HasFileSystemIF.h>
+#include <fsfw/globalfunctions/arrayprinter.h>
 #include <fsfw/tasks/TaskFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
 #include <mission/acs/str/strHelpers.h>
@@ -23,6 +24,8 @@ extern "C" {
 
 using namespace returnvalue;
 
+static constexpr bool PACKET_WIRETAPPING = false;
+
 StrComHandler::StrComHandler(object_id_t objectId) : SystemObject(objectId) {
   lock = MutexFactory::instance()->createMutex();
   semaphore.acquire();
@@ -52,7 +55,7 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
       case InternalState::POLL_ONE_REPLY: {
         // Stopwatch watch;
         replyTimeout.setTimeout(200);
-        replyResult = readOneReply(static_cast<uint32_t>(state));
+        readOneReply(static_cast<uint32_t>(state));
         {
           MutexGuard mg(lock);
           replyWasReceived = true;
@@ -680,6 +683,10 @@ ReturnValue_t StrComHandler::sendMessage(CookieIF* cookie, const uint8_t* sendDa
   const uint8_t* txFrame;
   size_t frameLen;
   datalinkLayer.encodeFrame(sendData, sendLen, &txFrame, frameLen);
+  if (PACKET_WIRETAPPING) {
+    sif::debug << "Sending STR frame" << std::endl;
+    arrayprinter::print(txFrame, frameLen);
+  }
   ssize_t bytesWritten = write(serialPort, txFrame, frameLen);
   if (bytesWritten != static_cast<ssize_t>(frameLen)) {
     sif::warning << "StrComHandler: Sending packet failed" << std::endl;
@@ -709,13 +716,11 @@ ReturnValue_t StrComHandler::requestReceiveMessage(CookieIF* cookie, size_t requ
 }
 
 ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
-  // Consider it a configuration error if the task is not done with a command -> reply cycle
-  // in time.
   bool replyWasReceived = false;
   {
     MutexGuard mg(lock);
     if (state != InternalState::SLEEPING) {
-      return BUSY;
+      return returnvalue::OK;
     }
     replyWasReceived = this->replyWasReceived;
   }
@@ -728,7 +733,7 @@ ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buf
     *size = replyLen;
   }
   replyLen = 0;
-  return replyResult;
+  return returnvalue::OK;
 }
 
 ReturnValue_t StrComHandler::unlockAndEraseRegions(uint32_t from, uint32_t to) {
@@ -782,8 +787,10 @@ ReturnValue_t StrComHandler::handleSerialReception() {
                << std::endl;
     return FAILED;
   } else if (bytesRead > 0) {
-    // sif::info << "Received " << bytesRead << " bytes from the STR" << std::endl;
+    if (PACKET_WIRETAPPING) {
-    // arrayprinter::print(recBuf.data(), bytesRead);
+      sif::info << "Received " << bytesRead << " bytes from the STR" << std::endl;
+      arrayprinter::print(recBuf.data(), bytesRead);
+    }
     datalinkLayer.feedData(recBuf.data(), bytesRead);
   }
   return OK;
@@ -797,6 +804,10 @@ ReturnValue_t StrComHandler::readOneReply(uint32_t failParameter) {
     handleSerialReception();
     result = datalinkLayer.checkRingBufForFrame(&replyPtr, replyLen);
     if (result == returnvalue::OK) {
+      if (PACKET_WIRETAPPING) {
+        sif::debug << "Received STR reply frame" << std::endl;
+        arrayprinter::print(replyPtr, replyLen);
+      }
       return returnvalue::OK;
     } else if (result != ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
       triggerEvent(STR_HELPER_DEC_ERROR, result, failParameter);

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 296 translations.
+ * @brief    Auto-generated event translation file. Contains 303 translations.
  * @details
- * Generated on: 2023-06-13 07:54:32
+ * Generated on: 2023-08-03 13:36:37
  */
 #include "translateEvents.h"
 
@@ -139,6 +139,7 @@ const char *ERROR_STATE_STRING = "ERROR_STATE";
 const char *RESET_OCCURED_STRING = "RESET_OCCURED";
 const char *BOOTING_FIRMWARE_FAILED_EVENT_STRING = "BOOTING_FIRMWARE_FAILED_EVENT";
 const char *BOOTING_BOOTLOADER_FAILED_EVENT_STRING = "BOOTING_BOOTLOADER_FAILED_EVENT";
+const char *COM_ERROR_REPLY_RECEIVED_STRING = "COM_ERROR_REPLY_RECEIVED";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
 const char *SUPV_UNKNOWN_TM_STRING = "SUPV_UNKNOWN_TM";
 const char *SUPV_UNINIMPLEMENTED_TM_STRING = "SUPV_UNINIMPLEMENTED_TM";
@@ -260,6 +261,7 @@ const char *TX_OFF_STRING = "TX_OFF";
 const char *MISSING_PACKET_STRING = "MISSING_PACKET";
 const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
 const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
+const char *FS_UNUSABLE_STRING = "FS_UNUSABLE";
 const char *SET_CONFIGFILEVALUE_FAILED_STRING = "SET_CONFIGFILEVALUE_FAILED";
 const char *GET_CONFIGFILEVALUE_FAILED_STRING = "GET_CONFIGFILEVALUE_FAILED";
 const char *INSERT_CONFIGFILEVALUE_FAILED_STRING = "INSERT_CONFIGFILEVALUE_FAILED";
@@ -277,6 +279,8 @@ const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
 const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
 const char *I2C_REBOOT_STRING = "I2C_REBOOT";
 const char *PDEC_REBOOT_STRING = "PDEC_REBOOT";
+const char *FIRMWARE_INFO_STRING = "FIRMWARE_INFO";
+const char *ACTIVE_SD_INFO_STRING = "ACTIVE_SD_INFO";
 const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
 const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
 const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
@@ -285,6 +289,9 @@ const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
 const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
 const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
 const char *MGT_OVERHEATING_STRING = "MGT_OVERHEATING";
+const char *TCS_SWITCHING_HEATER_ON_STRING = "TCS_SWITCHING_HEATER_ON";
+const char *TCS_SWITCHING_HEATER_OFF_STRING = "TCS_SWITCHING_HEATER_OFF";
+const char *TCS_HEATER_MAX_BURN_TIME_REACHED_STRING = "TCS_HEATER_MAX_BURN_TIME_REACHED";
 const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
 const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
 const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@@ -572,6 +579,8 @@ const char *translateEvents(Event event) {
       return BOOTING_FIRMWARE_FAILED_EVENT_STRING;
     case (11902):
       return BOOTING_BOOTLOADER_FAILED_EVENT_STRING;
+    case (11903):
+      return COM_ERROR_REPLY_RECEIVED_STRING;
     case (12001):
       return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
     case (12002):
@@ -814,6 +823,8 @@ const char *translateEvents(Event event) {
       return EXPERIMENT_TIMEDOUT_STRING;
     case (13802):
       return MULTI_PACKET_COMMAND_DONE_STRING;
+    case (13803):
+      return FS_UNUSABLE_STRING;
     case (13901):
       return SET_CONFIGFILEVALUE_FAILED_STRING;
     case (13902):
@@ -848,6 +859,10 @@ const char *translateEvents(Event event) {
       return I2C_REBOOT_STRING;
     case (14012):
       return PDEC_REBOOT_STRING;
+    case (14013):
+      return FIRMWARE_INFO_STRING;
+    case (14014):
+      return ACTIVE_SD_INFO_STRING;
     case (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):
@@ -864,6 +879,12 @@ const char *translateEvents(Event event) {
       return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
     case (14108):
       return MGT_OVERHEATING_STRING;
+    case (14109):
+      return TCS_SWITCHING_HEATER_ON_STRING;
+    case (14110):
+      return TCS_SWITCHING_HEATER_OFF_STRING;
+    case (14111):
+      return TCS_HEATER_MAX_BURN_TIME_REACHED_STRING;
     case (14201):
       return TX_TIMER_EXPIRED_STRING;
     case (14202):

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-06-13 07:54:32
+ * Generated on: 2023-08-03 13:36:37
  */
 #include "translateObjects.h"
 

linux/ipcore/AxiPtmeConfig.cpp

@@ -16,9 +16,9 @@ AxiPtmeConfig::AxiPtmeConfig(object_id_t objectId, std::string axiUio, int mapNu
 AxiPtmeConfig::~AxiPtmeConfig() {}
 
 ReturnValue_t AxiPtmeConfig::initialize() {
-  ReturnValue_t result = returnvalue::OK;
   UioMapper uioMapper(axiUio, mapNum);
-  result = uioMapper.getMappedAdress(&baseAddress, UioMapper::Permissions::READ_WRITE);
+  ReturnValue_t result =
+      uioMapper.getMappedAdress(&baseAddress, UioMapper::Permissions::READ_WRITE);
   if (result != returnvalue::OK) {
     return result;
   }
@@ -26,8 +26,7 @@ ReturnValue_t AxiPtmeConfig::initialize() {
 }
 
 ReturnValue_t AxiPtmeConfig::writeCaduRateReg(uint8_t rateVal) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = mutex->lockMutex(timeoutType, mutexTimeout);
-  result = mutex->lockMutex(timeoutType, mutexTimeout);
   if (result != returnvalue::OK) {
     sif::warning << "AxiPtmeConfig::writeCaduRateReg: Failed to lock mutex" << std::endl;
     return returnvalue::FAILED;
@@ -41,6 +40,11 @@ ReturnValue_t AxiPtmeConfig::writeCaduRateReg(uint8_t rateVal) {
   return returnvalue::OK;
 }
 
+uint8_t AxiPtmeConfig::readCaduRateReg() {
+  MutexGuard mg(mutex);
+  return static_cast<uint8_t>(*(baseAddress + CADU_BITRATE_REG));
+}
+
 void AxiPtmeConfig::enableTxclockManipulator() {
   writeBit(COMMON_CONFIG_REG, true, BitPos::EN_TX_CLK_MANIPULATOR);
 }

linux/ipcore/AxiPtmeConfig.h

@@ -38,6 +38,7 @@ class AxiPtmeConfig : public SystemObject {
    *        frequency of the clock connected to the bit clock input of PTME.
    */
   ReturnValue_t writeCaduRateReg(uint8_t rateVal);
+  uint8_t readCaduRateReg();
 
   /**
    * @brief Next to functions control the tx clock manipulator component

linux/ipcore/PapbVcInterface.cpp

@@ -7,20 +7,16 @@
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId,
+PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbEmptyId,
-                                 gpioId_t papbEmptyId, std::string uioFile, int mapNum)
+                                 std::string uioFile, int mapNum)
-    : gpioComIF(gpioComIF),
+    : gpioComIF(gpioComIF), papbEmptyId(papbEmptyId), uioFile(std::move(uioFile)), mapNum(mapNum) {}
-      papbBusyId(papbBusyId),
-      papbEmptyId(papbEmptyId),
-      uioFile(std::move(uioFile)),
-      mapNum(mapNum) {}
 
 PapbVcInterface::~PapbVcInterface() {}
 
 ReturnValue_t PapbVcInterface::initialize() {
   UioMapper uioMapper(uioFile, mapNum);
   ReturnValue_t result = uioMapper.getMappedAdress(const_cast<uint32_t**>(&vcBaseReg),
-                                                   UioMapper::Permissions::WRITE_ONLY);
+                                                   UioMapper::Permissions::READ_WRITE);
   if (result != returnvalue::OK) {
     return result;
   }
@@ -32,63 +28,27 @@ ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
   if (size < 4) {
     return returnvalue::FAILED;
   }
-  if (pollInterfaceReadiness(0, true) == returnvalue::OK) {
+  if (pollReadyForPacket()) {
     startPacketTransfer(ByteWidthCfg::ONE);
   } else {
     return DirectTmSinkIF::IS_BUSY;
   }
-  // TODO: This should work but does not.. :(
+  if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
-  //  size_t idx = 0;
+    abortPacketTransfer();
-  //  while (idx < size) {
+    return returnvalue::FAILED;
-  //
+  }
-  //    nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
-  //    if ((size - idx) < 4) {
-  //      *vcBaseReg = CONFIG_DATA_INPUT | (size - idx - 1);
-  //      usleep(1);
-  //    }
-  //    if (pollPapbBusySignal(2) == returnvalue::OK) {
-  //      //      vcBaseReg + DATA_REG_OFFSET + 3 = static_cast<uint8_t>(data + idx);
-  //      //      vcBaseReg + DATA_REG_OFFSET + 2 = static_cast<uint8_t>(data + idx + 1);
-  //      //      vcBaseReg + DATA_REG_OFFSET + 1 = static_cast<uint8_t>(data + idx + 2);
-  //      //      vcBaseReg + DATA_REG_OFFSET = static_cast<uint8_t>(data + idx + 3);
-  //
-  //      // std::memcpy((vcBaseReg + DATA_REG_OFFSET), data + idx , nextWriteSize);
-  //      *(vcBaseReg + DATA_REG_OFFSET) = *reinterpret_cast<const uint32_t*>(data + idx);
-  //      //uint8_t* byteReg = reinterpret_cast<uint8_t*>(vcBaseReg + DATA_REG_OFFSET);
-  //
-  //      //byteReg[0] = data[idx];
-  //      //byteReg[1] = data[idx];
-  //    } else {
-  //      abortPacketTransfer();
-  //      return returnvalue::FAILED;
-  //    }
-  //    // TODO: Change this after the bugfix. Right now, the PAPB ignores the content of the byte
-  //    // width configuration.5
-  //    // It's okay to increment by a larger amount for the last segment here, loop will be over
-  //    // in any case.
-  //    idx += 4;
-  //  }
   for (size_t idx = 0; idx < size; idx++) {
-    // This delay is super-important, DO NOT REMOVE!
+    if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
-    // Polling the GPIO or the config register too often messes up the scheduler.
+      abortPacketTransfer();
-    // TODO: Maybe this should not be done like this. It would be better if there was a custom
+      return returnvalue::FAILED;
-    // FPGA module which can accept packets and then takes care of dumping that packet into
+    }
-    // the PTME. DMA would be an ideal solution for this.
-    nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
-    if (pollInterfaceReadiness(2, false) == returnvalue::OK) {
     *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[idx]);
-    } else {
+  }
+  if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
     abortPacketTransfer();
     return returnvalue::FAILED;
   }
-  }
-  nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
-  if (pollInterfaceReadiness(2, false) == returnvalue::OK) {
   completePacketTransfer();
-  } else {
-    abortPacketTransfer();
-    return returnvalue::FAILED;
-  }
   return returnvalue::OK;
 }
 
@@ -98,63 +58,49 @@ void PapbVcInterface::startPacketTransfer(ByteWidthCfg initWidth) {
 
 void PapbVcInterface::completePacketTransfer() { *vcBaseReg = CONFIG_END; }
 
-ReturnValue_t PapbVcInterface::pollInterfaceReadiness(uint32_t maxPollRetries,
+bool PapbVcInterface::pollReadyForPacket() const {
-                                                      bool checkReadyState) const {
-  uint32_t busyIdx = 0;
-  nextDelay.tv_nsec = FIRST_DELAY_PAPB_POLLING_NS;
-
-  while (true) {
   //  Check if PAPB interface is ready to receive data. Use the configuration register for this.
   //  Bit 5, see PTME ptme_001_01-0-7-r2 Table 31.
   uint32_t reg = *vcBaseReg;
-    bool busy = (reg >> 5) & 0b1;
+  return (reg >> 6) & 0b1;
-    bool ready = (reg >> 6) & 0b1;
-    if (not busy) {
-      return returnvalue::OK;
-    }
-    if (checkReadyState and not ready) {
-      return PAPB_BUSY;
 }
 
-    busyIdx++;
+bool PapbVcInterface::isVcInterfaceBufferEmpty() {
-    if (busyIdx >= maxPollRetries) {
-      return PAPB_BUSY;
-    }
-
-    // Ignore signal handling here for now.
-    nanosleep(&nextDelay, &remDelay);
-    // Adaptive delay.
-    if (nextDelay.tv_nsec * 2 <= MAX_DELAY_PAPB_POLLING_NS) {
-      nextDelay.tv_nsec *= 2;
-    }
-  }
-  return returnvalue::OK;
-}
-
-void PapbVcInterface::isVcInterfaceBufferEmpty() {
   ReturnValue_t result = returnvalue::OK;
   gpio::Levels papbEmptyState = gpio::Levels::HIGH;
 
   result = gpioComIF->readGpio(papbEmptyId, papbEmptyState);
 
   if (result != returnvalue::OK) {
-    sif::warning << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
+    sif::error << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
                << std::endl;
-    return;
+    return true;
   }
 
   if (papbEmptyState == gpio::Levels::HIGH) {
-    sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is empty" << std::endl;
+    return true;
-  } else {
-    sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is not empty" << std::endl;
   }
-  return;
+  return false;
 }
 
-bool PapbVcInterface::isBusy() const { return pollInterfaceReadiness(0, true) == PAPB_BUSY; }
+bool PapbVcInterface::isBusy() const { return not pollReadyForPacket(); }
 
 void PapbVcInterface::cancelTransfer() { abortPacketTransfer(); }
 
+inline bool PapbVcInterface::pollReadyForOctet(uint32_t maxCycles) const {
+  uint32_t reg;
+  uint32_t idx = 0;
+  while (idx < maxCycles) {
+    reg = *vcBaseReg;
+    // Busy bit.
+    if (not((reg >> 5) & 0b1)) {
+      return true;
+    }
+    idx++;
+  }
+  return false;
+}
+
 ReturnValue_t PapbVcInterface::sendTestFrame() {
   /** Size of one complete transfer frame data field amounts to 1105 bytes */
   uint8_t testPacket[1105];

linux/ipcore/PapbVcInterface.h

@@ -30,8 +30,7 @@ class PapbVcInterface : public VirtualChannelIF {
    * @param uioFile       UIO file providing access to the PAPB bus
    * @param mapNum        Map number of UIO map associated with this virtual channel
    */
-  PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId, gpioId_t papbEmptyId,
+  PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbEmptyId, std::string uioFile, int mapNum);
-                  std::string uioFile, int mapNum);
   virtual ~PapbVcInterface();
 
   bool isBusy() const override;
@@ -81,11 +80,9 @@ class PapbVcInterface : public VirtualChannelIF {
 
   static constexpr long int FIRST_DELAY_PAPB_POLLING_NS = 10;
   static constexpr long int MAX_DELAY_PAPB_POLLING_NS = 40;
+  static constexpr uint32_t MAX_BUSY_POLLS = 1000;
 
   LinuxLibgpioIF* gpioComIF = nullptr;
-
-  /** Pulled to low when virtual channel not ready to receive data */
-  gpioId_t papbBusyId = gpio::NO_GPIO;
   /** High when external buffer memory of virtual channel is empty */
   gpioId_t papbEmptyId = gpio::NO_GPIO;
 
@@ -120,13 +117,15 @@ class PapbVcInterface : public VirtualChannelIF {
    *
    * @return  returnvalue::OK when ready to receive data else PAPB_BUSY.
    */
-  inline ReturnValue_t pollInterfaceReadiness(uint32_t maxPollRetries, bool checkReadyState) const;
+  inline bool pollReadyForPacket() const;
+
+  inline bool pollReadyForOctet(uint32_t maxCycles) const;
 
   /**
    * @brief   This function can be used for debugging to check whether there are packets in
    *          the packet buffer of the virtual channel or not.
    */
-  void isVcInterfaceBufferEmpty();
+  bool isVcInterfaceBufferEmpty();
 
   /**
    * @brief   This function sends a complete telemetry transfer frame data field (1105 bytes)

linux/ipcore/PtmeConfig.cpp

@@ -26,6 +26,11 @@ ReturnValue_t PtmeConfig::setRate(uint32_t bitRate) {
   return axiPtmeConfig->writeCaduRateReg(static_cast<uint8_t>(rateVal));
 }
 
+uint32_t PtmeConfig::getRate() {
+  uint8_t rateReg = axiPtmeConfig->readCaduRateReg();
+  return (BIT_CLK_FREQ / (rateReg + 1));
+}
+
 void PtmeConfig::invertTxClock(bool invert) {
   if (invert) {
     axiPtmeConfig->enableTxclockInversion();

linux/ipcore/PtmeConfig.h

@@ -32,6 +32,7 @@ class PtmeConfig : public SystemObject {
    *          of the CADU clock due to the convolutional code added by the s-Band transceiver.
    */
   ReturnValue_t setRate(uint32_t bitRate);
+  uint32_t getRate();
 
   /**
    * @brief Will change the time the tx data signal is updated with respect to the tx clock

misc/eclipse/.cproject

@@ -57,7 +57,8 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
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+						<entry excluding="unittest/rebootLogic|thirdparty/json|cmake-build-debug-q7s|cmake-build-release-q7s-em|cmake-build-release-q7s/_deps/etl-src/uml|cmake-build-release-q7s/_deps/etl-src/test|cmake-build-release-q7s/_deps/etl-src/temp|cmake-build-release-q7s/_deps/etl-src/support|cmake-build-release-q7s/_deps/etl-src/subprojects|cmake-build-release-q7s/_deps/etl-src/scripts|cmake-build-release-q7s/_deps/etl-src/images|cmake-build-release-q7s/_deps/etl-src/examples|cmake-build-release-q7s/_deps/etl-src/cmake|cmake-build-release-q7s/_deps/etl-src/arduino|build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|cmake-build-debug-q7s-em|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="thirdparty/json/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -1084,7 +1092,8 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="cmake-build-debug/_deps/etl-src/uml|cmake-build-debug/_deps/etl-src/test|cmake-build-debug/_deps/etl-src/temp|cmake-build-debug/_deps/etl-src/support|cmake-build-debug/_deps/etl-src/subprojects|cmake-build-debug/_deps/etl-src/scripts|cmake-build-debug/_deps/etl-src/images|cmake-build-debug/_deps/etl-src/examples|cmake-build-debug/_deps/etl-src/cmake|cmake-build-debug/_deps/etl-src/arduino|cmake-build-release-q7s-em|build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="unittest/rebootLogic|thirdparty/json|cmake-build-debug-q7s-em/_deps/etl-src|cmake-build-debug/_deps/etl-src/uml|cmake-build-debug/_deps/etl-src/test|cmake-build-debug/_deps/etl-src/temp|cmake-build-debug/_deps/etl-src/support|cmake-build-debug/_deps/etl-src/subprojects|cmake-build-debug/_deps/etl-src/scripts|cmake-build-debug/_deps/etl-src/images|cmake-build-debug/_deps/etl-src/examples|cmake-build-debug/_deps/etl-src/cmake|cmake-build-debug/_deps/etl-src/arduino|cmake-build-release-q7s-em|build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="thirdparty/json/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -1149,7 +1158,8 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="cmake-build-debug/_deps/etl-src/uml|cmake-build-debug/_deps/etl-src/test|cmake-build-debug/_deps/etl-src/temp|cmake-build-debug/_deps/etl-src/support|cmake-build-debug/_deps/etl-src/subprojects|cmake-build-debug/_deps/etl-src/scripts|cmake-build-debug/_deps/etl-src/images|cmake-build-debug/_deps/etl-src/examples|cmake-build-debug/_deps/etl-src/cmake|cmake-build-debug/_deps/etl-src/arduino|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="unittest/rebootLogic|thirdparty/json|cmake-build-debug-q7s-em/_deps/etl-src|cmake-build-debug/_deps/etl-src/uml|cmake-build-debug/_deps/etl-src/test|cmake-build-debug/_deps/etl-src/temp|cmake-build-debug/_deps/etl-src/support|cmake-build-debug/_deps/etl-src/subprojects|cmake-build-debug/_deps/etl-src/scripts|cmake-build-debug/_deps/etl-src/images|cmake-build-debug/_deps/etl-src/examples|cmake-build-debug/_deps/etl-src/cmake|cmake-build-debug/_deps/etl-src/arduino|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="thirdparty/json/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -1172,7 +1182,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561" name="eive-q7s-debug-em" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
+				<configuration artifactName="${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.1455833186.1840876443.2117915473.688890851.1707795689.1171630561" name="eive-q7s-debug-em" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.dockerdpath=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=unix:///var/run/docker.sock,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null" parent="org.eclipse.cdt.build.core.emptycfg">
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561." name="/" resourcePath="">
 						<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1640701365" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.564607779" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
@@ -1317,7 +1327,9 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="cmake-build-debug-q7s|cmake-build-release-q7s-em|build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="unittest/rebootLogic|thirdparty/json|cmake-build-debug-q7s-em/_deps/etl-src|cmake-build-debug-q7s|cmake-build-release-q7s-em|build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="cmake-build-debug-q7s-em/_deps/etl-src/include"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="thirdparty/json/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -1386,7 +1398,8 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="cmake-build-debug/_deps/etl-src/uml|cmake-build-debug/_deps/etl-src/test|cmake-build-debug/_deps/etl-src/temp|cmake-build-debug/_deps/etl-src/support|cmake-build-debug/_deps/etl-src/subprojects|cmake-build-debug/_deps/etl-src/scripts|cmake-build-debug/_deps/etl-src/images|cmake-build-debug/_deps/etl-src/examples|cmake-build-debug/_deps/etl-src/cmake|cmake-build-debug/_deps/etl-src/arduino|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="unittest/rebootLogic|thirdparty/json|cmake-build-debug-q7s-em/_deps/etl-src|cmake-build-debug/_deps/etl-src/uml|cmake-build-debug/_deps/etl-src/test|cmake-build-debug/_deps/etl-src/temp|cmake-build-debug/_deps/etl-src/support|cmake-build-debug/_deps/etl-src/subprojects|cmake-build-debug/_deps/etl-src/scripts|cmake-build-debug/_deps/etl-src/images|cmake-build-debug/_deps/etl-src/examples|cmake-build-debug/_deps/etl-src/cmake|cmake-build-debug/_deps/etl-src/arduino|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="thirdparty/json/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>

mission/acs/SusHandler.cpp

@@ -30,6 +30,7 @@ void SusHandler::doStartUp() {
 void SusHandler::doShutDown() {
   if (internalState != InternalState::SHUTDOWN) {
     PoolReadGuard pg(&dataset);
+    dataset.tempC = thermal::INVALID_TEMPERATURE;
     dataset.setValidity(false, true);
     internalState = InternalState::SHUTDOWN;
     commandExecuted = false;

mission/acs/defs.h

@@ -26,10 +26,18 @@ enum SafeModeStrategy : uint8_t {
   SAFECTRL_OFF = 0,
   SAFECTRL_NO_MAG_FIELD_FOR_CONTROL = 1,
   SAFECTRL_NO_SENSORS_FOR_CONTROL = 2,
-  SAFECTRL_ACTIVE_MEKF = 10,
+  // OBSW version <= v6.1.0
-  SAFECTRL_WITHOUT_MEKF = 11,
+  LEGACY_SAFECTRL_ACTIVE_MEKF = 10,
-  SAFECTRL_ECLIPSE_DAMPING = 12,
+  LEGACY_SAFECTRL_WITHOUT_MEKF = 11,
-  SAFECTRL_ECLIPSE_IDELING = 13,
+  LEGACY_SAFECTRL_ECLIPSE_DAMPING = 12,
+  LEGACY_SAFECTRL_ECLIPSE_IDELING = 13,
+  // Added in v6.2.0
+  SAFECTRL_MEKF = 14,
+  SAFECTRL_GYR = 15,
+  SAFECTRL_SUSMGM = 16,
+  SAFECTRL_ECLIPSE_DAMPING_GYR = 17,
+  SAFECTRL_ECLIPSE_DAMPING_SUSMGM = 18,
+  SAFECTRL_ECLIPSE_IDELING = 19,
   SAFECTRL_DETUMBLE_FULL = 20,
   SAFECTRL_DETUMBLE_DETERIORATED = 21,
 };

mission/acs/str/StarTrackerHandler.cpp

@@ -1,3 +1,4 @@
+#include <fsfw/globalfunctions/arrayprinter.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
 #include <mission/acs/str/StarTrackerHandler.h>
@@ -18,6 +19,7 @@ extern "C" {
 
 #include "OBSWConfig.h"
 #include "eive/definitions.h"
+#include "fsfw/thermal/tcsDefinitions.h"
 
 std::atomic_bool JCFG_DONE(false);
 
@@ -87,7 +89,6 @@ void StarTrackerHandler::doStartUp() {
     default:
       return;
   }
-  solutionSet.setReportingEnabled(true);
   startupState = StartupState::DONE;
   internalState = InternalState::IDLE;
   setMode(_MODE_TO_ON);
@@ -106,11 +107,14 @@ void StarTrackerHandler::doShutDown() {
     solutionSet.caliQx.value = 0.0;
     solutionSet.caliQy.value = 0.0;
     solutionSet.caliQz.value = 0.0;
-    solutionSet.isTrustWorthy = 0;
+    solutionSet.isTrustWorthy.value = 0;
     solutionSet.setValidity(false, true);
   }
   {
     PoolReadGuard pg(&temperatureSet);
+    temperatureSet.fpgaTemperature = thermal::INVALID_TEMPERATURE;
+    temperatureSet.cmosTemperature = thermal::INVALID_TEMPERATURE;
+    temperatureSet.mcuTemperature = thermal::INVALID_TEMPERATURE;
     temperatureSet.setValidity(false, true);
   }
   reinitNextSetParam = false;
@@ -321,7 +325,7 @@ ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id
 ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
   switch (internalState) {
     case InternalState::BOOT_FIRMWARE: {
-      if (bootState == FwBootState::WAIT_FOR_EXECUTION or bootState == FwBootState::VERIFY_BOOT) {
+      if (bootState == FwBootState::VERIFY_BOOT or isAwaitingReply()) {
         return NOTHING_TO_SEND;
       }
       if (bootState == FwBootState::NONE) {
@@ -345,74 +349,69 @@ ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t
           *id = startracker::REQ_VERSION;
           return buildCommandFromCommand(*id, nullptr, 0);
         }
+        case (FwBootState::SET_TIME): {
+          *id = startracker::SET_TIME_FROM_SYS_TIME;
+          return buildCommandFromCommand(*id, nullptr, 0);
+        }
         case (FwBootState::LOGLEVEL): {
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::LOGLEVEL;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         }
         case (FwBootState::LIMITS): {
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::LIMITS;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         }
         case (FwBootState::TRACKING): {
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::TRACKING;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         }
         case FwBootState::MOUNTING:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::MOUNTING;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::IMAGE_PROCESSOR:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::IMAGE_PROCESSOR;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::CAMERA:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::CAMERA;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::CENTROIDING:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::CENTROIDING;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::LISA:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::LISA;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::MATCHING:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::MATCHING;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::VALIDATION:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::VALIDATION;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::ALGO:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::ALGO;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::LOG_SUBSCRIPTION:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::LOGSUBSCRIPTION;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::DEBUG_CAMERA:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::DEBUG_CAMERA;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        case FwBootState::AUTO_THRESHOLD:
+          *id = startracker::AUTO_THRESHOLD;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         default: {
           sif::error << "STR: Unexpected boot state" << (int)bootState << std::endl;
           return NOTHING_TO_SEND;
@@ -455,6 +454,20 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
       preparePingRequest();
       return returnvalue::OK;
     }
+    case (startracker::SET_TIME_FROM_SYS_TIME): {
+      SetTimeActionRequest setTimeRequest{};
+      timeval tv;
+      Clock::getClock(&tv);
+      setTimeRequest.unixTime =
+          (static_cast<uint64_t>(tv.tv_sec) * 1000 * 1000) + (static_cast<uint64_t>(tv.tv_usec));
+      arc_pack_settime_action_req(&setTimeRequest, commandBuffer, &rawPacketLen);
+      size_t serLen = 0;
+      // Time in milliseconds. Manual serialization because arcsec API ignores endianness.
+      SerializeAdapter::serialize(&setTimeRequest.unixTime, commandBuffer + 2, &serLen,
+                                  sizeof(commandBuffer) - 2, SerializeIF::Endianness::LITTLE);
+      rawPacket = commandBuffer;
+      return returnvalue::OK;
+    }
     case (startracker::REQ_TIME): {
       prepareTimeRequest();
       return returnvalue::OK;
@@ -547,6 +560,11 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
       result = prepareParamCommand(commandData, commandDataLen, jcfgs.logLevel, reinitNextSetParam);
       return result;
     }
+    case (startracker::AUTO_THRESHOLD): {
+      result =
+          prepareParamCommand(commandData, commandDataLen, jcfgs.autoThreshold, reinitNextSetParam);
+      return result;
+    }
     case (startracker::LOGSUBSCRIPTION): {
       result = prepareParamCommand(commandData, commandDataLen, jcfgs.logSubscription,
                                    reinitNextSetParam);
@@ -651,19 +669,23 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::LOGLEVEL, 3, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
+  this->insertInCommandAndReplyMap(startracker::SET_TIME_FROM_SYS_TIME, 2, nullptr,
+                                   startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::LOGSUBSCRIPTION, 3, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::DEBUG_CAMERA, 3, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::LIMITS, 3, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
+  this->insertInCommandAndReplyMap(startracker::AUTO_THRESHOLD, 2, nullptr,
+                                   startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::MOUNTING, 3, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::IMAGE_PROCESSOR, 3, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::CAMERA, 3, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
-  this->insertInCommandAndReplyMap(startracker::CENTROIDING, 3, nullptr,
+  this->insertInCommandAndReplyMap(startracker::CENTROIDING, 2, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::LISA, 3, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
@@ -810,6 +832,7 @@ void StarTrackerHandler::bootFirmware(Mode_t toMode) {
         setMode(toMode, startracker::SUBMODE_FIRMWARE);
       }
       sif::info << "STR: Firmware boot success" << std::endl;
+      solutionSet.setReportingEnabled(true);
       internalState = InternalState::IDLE;
       startupState = StartupState::IDLE;
       break;
@@ -833,6 +856,7 @@ void StarTrackerHandler::setUpJsonCfgs(JsonConfigs& cfgs, const char* paramJsonF
   cfgs.mounting.init(paramJsonFile);
   cfgs.limits.init(paramJsonFile);
   cfgs.subscription.init(paramJsonFile);
+  cfgs.autoThreshold.init(paramJsonFile);
   JCFG_DONE = true;
 }
 
@@ -856,13 +880,20 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t rema
     *foundLen = remainingSize;
     return returnvalue::OK;
   }
-  if (remainingSize < 3) {
+  if (remainingSize < 2) {
-    sif::error << "StarTrackerHandler: Reply packet with length less than 3 is invalid"
+    sif::error << "StarTrackerHandler: Reply packet with length " << remainingSize
+               << "  less than "
+                  "2 is invalid"
                << std::endl;
     return returnvalue::FAILED;
   }
 
   switch (startracker::getReplyFrameType(start)) {
+    case TMTC_COMM_ERROR: {
+      *foundLen = remainingSize;
+      triggerEvent(COM_ERROR_REPLY_RECEIVED, start[1]);
+      break;
+    }
     case TMTC_ACTIONREPLY: {
       *foundLen = remainingSize;
       return scanForActionReply(startracker::getId(start), foundId);
@@ -897,6 +928,10 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
   ReturnValue_t result = returnvalue::OK;
 
   switch (id) {
+    case (startracker::SET_TIME_FROM_SYS_TIME): {
+      result = handleActionReply(packet);
+      break;
+    }
     case (startracker::REQ_TIME): {
       result = handleTm(packet, timeSet, startracker::TimeSet::SIZE, "REQ_TIME");
       break;
@@ -956,7 +991,8 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
     case (startracker::TRACKING):
     case (startracker::VALIDATION):
     case (startracker::IMAGE_PROCESSOR):
-    case (startracker::ALGO): {
+    case (startracker::ALGO):
+    case (startracker::AUTO_THRESHOLD): {
       result = handleSetParamReply(packet);
       break;
     }
@@ -1363,6 +1399,10 @@ ReturnValue_t StarTrackerHandler::scanForActionReply(uint8_t replyId, DeviceComm
       *foundId = startracker::UPLOAD_IMAGE;
       break;
     }
+    case (ARC_ACTION_REQ_SETTIME_ID): {
+      *foundId = startracker::SET_TIME_FROM_SYS_TIME;
+      break;
+    }
     case (startracker::ID::CHECKSUM): {
       *foundId = startracker::CHECKSUM;
       break;
@@ -1430,6 +1470,10 @@ ReturnValue_t StarTrackerHandler::scanForSetParameterReply(uint8_t replyId,
       *foundId = startracker::DEBUG_CAMERA;
       break;
     }
+    case (startracker::ID::AUTO_THRESHOLD): {
+      *foundId = startracker::AUTO_THRESHOLD;
+      break;
+    }
     case (startracker::ID::LOG_SUBSCRIPTION): {
       *foundId = startracker::LOGSUBSCRIPTION;
       break;
@@ -1865,21 +1909,25 @@ ReturnValue_t StarTrackerHandler::handleSetParamReply(const uint8_t* rawFrame) {
     return SET_PARAM_FAILED;
   }
   if (internalState != InternalState::IDLE) {
-    handleStartup(*(rawFrame + PARAMETER_ID_OFFSET));
+    handleStartup(*rawFrame, *(rawFrame + PARAMETER_ID_OFFSET));
   }
   return returnvalue::OK;
 }
 
 ReturnValue_t StarTrackerHandler::handleActionReply(const uint8_t* rawFrame) {
   uint8_t status = startracker::getStatusField(rawFrame);
+  ReturnValue_t result = returnvalue::OK;
   if (status != startracker::STATUS_OK) {
     sif::warning << "StarTrackerHandler::handleActionReply: Failed to execute action "
                  << "command with action ID "
                  << static_cast<unsigned int>(*(rawFrame + ACTION_ID_OFFSET)) << " and status "
                  << static_cast<unsigned int>(status) << std::endl;
-    return ACTION_FAILED;
+    result = ACTION_FAILED;
   }
-  return returnvalue::OK;
+  if (internalState != InternalState::IDLE) {
+    handleStartup(*rawFrame, *(rawFrame + PARAMETER_ID_OFFSET));
+  }
+  return result;
 }
 
 ReturnValue_t StarTrackerHandler::handleChecksumReply(const uint8_t* rawFrame) {
@@ -1975,7 +2023,7 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
         startupState = StartupState::BOOT_BOOTLOADER;
       }
       if (bootState == FwBootState::VERIFY_BOOT) {
-        bootState = FwBootState::LOGLEVEL;
+        bootState = FwBootState::SET_TIME;
       } else if (internalState == InternalState::BOOTLOADER_CHECK) {
         triggerEvent(BOOTING_BOOTLOADER_FAILED_EVENT);
         internalState = InternalState::FAILED_BOOTLOADER_BOOT;
@@ -2052,7 +2100,18 @@ ReturnValue_t StarTrackerHandler::handleActionReplySet(const uint8_t* rawFrame,
   return result;
 }
 
-void StarTrackerHandler::handleStartup(uint8_t parameterId) {
+void StarTrackerHandler::handleStartup(uint8_t tmType, uint8_t parameterId) {
+  switch (tmType) {
+    case (TMTC_ACTIONREPLY): {
+      case (ARC_ACTION_REQ_SETTIME_ID): {
+        bootState = FwBootState::LOGLEVEL;
+        return;
+      }
+      default: {
+        break;
+      }
+    }
+  }
   switch (parameterId) {
     case (startracker::ID::LOG_LEVEL): {
       bootState = FwBootState::LIMITS;
@@ -2062,7 +2121,7 @@ void StarTrackerHandler::handleStartup(uint8_t parameterId) {
       bootState = FwBootState::TRACKING;
       break;
     }
-    case (startracker::ID::TRACKING): {
+    case (ARC_PARAM_TRACKING_ID): {
       bootState = FwBootState::MOUNTING;
       break;
     }
@@ -2103,6 +2162,10 @@ void StarTrackerHandler::handleStartup(uint8_t parameterId) {
       break;
     }
     case (startracker::ID::DEBUG_CAMERA): {
+      bootState = FwBootState::AUTO_THRESHOLD;
+      break;
+    }
+    case (startracker::ID::AUTO_THRESHOLD): {
       bootState = FwBootState::NONE;
       internalState = InternalState::DONE;
       break;

mission/acs/str/StarTrackerHandler.h

@@ -6,6 +6,7 @@
 #include <mission/acs/str/ArcsecJsonParamBase.h>
 #include <mission/acs/str/strHelpers.h>
 #include <mission/acs/str/strJsonCommands.h>
+#include <thirdparty/sagittactl/wire/common/genericstructs.h>
 
 #include <thread>
 
@@ -16,7 +17,7 @@
 #include "fsfw/timemanager/Countdown.h"
 
 extern "C" {
-#include <wire/common/SLIP.h>
+#include <wire/common/genericstructs.h>
 }
 
 /**
@@ -143,6 +144,8 @@ class StarTrackerHandler : public DeviceHandlerBase {
   static const Event BOOTING_FIRMWARE_FAILED_EVENT = MAKE_EVENT(1, severity::LOW);
   //! [EXPORT] : [COMMENT] Failed to boot star tracker into bootloader mode
   static const Event BOOTING_BOOTLOADER_FAILED_EVENT = MAKE_EVENT(2, severity::LOW);
+  //! [EXPORT] : [COMMENT] Received COM error. P1:  Communication Error ID (datasheet p32)
+  static constexpr Event COM_ERROR_REPLY_RECEIVED = MAKE_EVENT(3, severity::LOW);
 
   static const uint8_t STATUS_OFFSET = 2;
   static const uint8_t PARAMS_OFFSET = 2;
@@ -226,6 +229,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
     Mounting mounting;
     Limits limits;
     Subscription subscription;
+    AutoThreshold autoThreshold;
   };
   JsonConfigs jcfgs;
   Countdown jcfgCountdown = Countdown(250);
@@ -264,6 +268,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
     BOOT_DELAY,
     REQ_VERSION,
     VERIFY_BOOT,
+    SET_TIME,
     LOGLEVEL,
     LIMITS,
     TRACKING,
@@ -278,7 +283,9 @@ class StarTrackerHandler : public DeviceHandlerBase {
     ALGO,
     LOG_SUBSCRIPTION,
     DEBUG_CAMERA,
+    AUTO_THRESHOLD,
     WAIT_FOR_EXECUTION,
+    RETRY_CFG_CMD
   };
   FwBootState bootState = FwBootState::NONE;
 
@@ -468,7 +475,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
   /**
    * @brief   Handles the startup state machine
    */
-  void handleStartup(uint8_t parameterId);
+  void handleStartup(uint8_t tmType, uint8_t parameterId);
 
   /**
    * @brief   Handles telemtry replies and fills the appropriate dataset

mission/acs/str/arcsecJsonKeys.h

@@ -176,6 +176,13 @@ static const char DEBUG_CAMERA[] = "DebugCamera";
 static const char TIMING[] = "timing";
 static const char TEST[] = "test";
 
+static constexpr char AUTO_THRESHOLD[] = "AutoThreshold";
+static constexpr char AT_MODE[] = "mode";
+static constexpr char AT_DESIRED_BLOB_COUNTS[] = "desiredBlobsCount";
+static constexpr char AT_MIN_THRESHOLD[] = "minThreshold";
+static constexpr char AT_MAX_THRESHOLD[] = "maxThreshold";
+static constexpr char AT_THRESHOLD_KP[] = "thresholdKp";
+
 }  // namespace arcseckeys
 
 #endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_ARCSECJSONKEYS_H_ */

mission/acs/str/strHelpers.h

@@ -326,6 +326,8 @@ static const DeviceCommandId_t DEBUG_CAMERA = 83;
 static const DeviceCommandId_t FIRMWARE_UPDATE = 84;
 static const DeviceCommandId_t DISABLE_TIMESTAMP_GENERATION = 85;
 static const DeviceCommandId_t ENABLE_TIMESTAMP_GENERATION = 86;
+static constexpr DeviceCommandId_t SET_TIME_FROM_SYS_TIME = 87;
+static constexpr DeviceCommandId_t AUTO_THRESHOLD = 88;
 static const DeviceCommandId_t NONE = 0xFFFFFFFF;
 
 static const uint32_t VERSION_SET_ID = REQ_VERSION;
@@ -396,7 +398,6 @@ static const uint8_t ALGO = 16;
 static const uint8_t REBOOT = 7;
 static const uint8_t UPLOAD_IMAGE = 10;
 static const uint8_t POWER = 11;
-static const uint8_t SET_TIME = 14;
 static const uint8_t SUBSCRIPTION = 18;
 static const uint8_t SOLUTION = 24;
 static const uint8_t TEMPERATURE = 27;
@@ -410,6 +411,7 @@ static const uint8_t TAKE_IMAGE = 15;
 static const uint8_t LOG_LEVEL = 3;
 static const uint8_t LOG_SUBSCRIPTION = 19;
 static const uint8_t DEBUG_CAMERA = 20;
+static const uint8_t AUTO_THRESHOLD = 23;
 }  // namespace ID
 
 namespace Program {
@@ -441,6 +443,21 @@ static const uint32_t secret[16]{
     REGION_12_SECRET, REGION_13_SECRET, REGION_14_SECRET, REGION_15_SECRET};
 }  // namespace region_secrets
 
+namespace comError {
+enum Id {
+  BAD_CRC = 1,
+  UNKNOWN_TM_ID = 2,
+  UNKNOWN_PARAM_ID = 3,
+  UNKNOWN_ACTION_REQ = 4,
+  INVALID_TM_SIZE = 5,
+  INVALID_PARAM_SIZE = 6,
+  INVALID_ACTION_REQ_SIZE = 7,
+  FRAME_TOO_SHORT = 8,
+  INVALID_FRAME_TYPE = 9,
+  UNKNOWN_ERROR = 10
+};
+}
+
 enum class FlashSections : uint8_t {
   BOOTLOADER_SECTION = 0,
   MAIN_FIRMWARE_SECTION = 1,
@@ -650,7 +667,7 @@ class SolutionSet : public StaticLocalDataSet<SOLUTION_SET_ENTRIES> {
   // Ticks timestamp
   lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_SOLUTION_SET, this);
   /// Unix time stamp
-  lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_SOLUTION_SET, this);
+  lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_SOLUTION_SET, this);
   // Calibrated quaternion (takes into account the mounting quaternion), typically same as
   // track q values
   lp_var_t<float> caliQw = lp_var_t<float>(sid.objectId, PoolIds::CALI_QW, this);
@@ -695,7 +712,7 @@ class SolutionSet : public StaticLocalDataSet<SOLUTION_SET_ENTRIES> {
   void printSet() {
     PoolReadGuard rg(this);
     sif::info << "SolutionSet::printSet: Ticks: " << this->ticks << std::endl;
-    sif::info << "SolutionSet::printSet: Time: " << this->time << std::endl;
+    sif::info << "SolutionSet::printSet: Time: " << this->timeUs << std::endl;
     sif::info << "SolutionSet::printSet: Calibrated quaternion Qw: " << this->caliQw << std::endl;
     sif::info << "SolutionSet::printSet: Calibrated quaternion Qx: " << this->caliQx << std::endl;
     sif::info << "SolutionSet::printSet: Calibrated quaternion Qy: " << this->caliQy << std::endl;

mission/acs/str/strJsonCommands.cpp

@@ -916,3 +916,45 @@ ReturnValue_t DebugCamera::createCommand(uint8_t* buffer) {
   adduint32(param, buffer + offset);
   return returnvalue::OK;
 }
+
+AutoThreshold::AutoThreshold() : ArcsecJsonParamBase(arcseckeys::AUTO_THRESHOLD) {}
+
+size_t AutoThreshold::getSize() { return COMMAND_SIZE; }
+
+ReturnValue_t AutoThreshold::createCommand(uint8_t* buffer) {
+  ReturnValue_t result = returnvalue::OK;
+  uint8_t offset = 0;
+  std::string param;
+  addSetParamHeader(buffer, startracker::ID::AUTO_THRESHOLD);
+  offset = 2;
+  result = getParam(arcseckeys::AT_MODE, param);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += 1;
+  result = getParam(arcseckeys::AT_DESIRED_BLOB_COUNTS, param);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += 1;
+  result = getParam(arcseckeys::AT_MIN_THRESHOLD, param);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  adduint16(param, buffer + offset);
+  offset += 2;
+  result = getParam(arcseckeys::AT_MAX_THRESHOLD, param);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  adduint16(param, buffer + offset);
+  offset += 2;
+  result = getParam(arcseckeys::AT_THRESHOLD_KP, param);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  addfloat(param, buffer + offset);
+  return returnvalue::OK;
+}

mission/acs/str/strJsonCommands.h

@@ -222,6 +222,22 @@ class LogSubscription : public ArcsecJsonParamBase {
   ReturnValue_t createCommand(uint8_t* buffer) override;
 };
 
+/**
+ * @brief   Generates command to set log subscription parameters.
+ *
+ */
+class AutoThreshold : public ArcsecJsonParamBase {
+ public:
+  AutoThreshold();
+
+  size_t getSize();
+
+ private:
+  static const size_t COMMAND_SIZE = 12;
+
+  ReturnValue_t createCommand(uint8_t* buffer) override;
+};
+
 /**
  * @brief   Generates command to set debug camera parameters
  *

mission/cfdp/CfdpHandler.cpp

@@ -93,7 +93,8 @@ ReturnValue_t CfdpHandler::handleCfdpPacket(TmTcMessage& msg) {
       return INVALID_PDU_FORMAT;
     }
     if (not FileDirectiveReader::checkFileDirective(pduDataField[0])) {
-      sif::error << "CfdpHandler: Invalid PDU directive field " << pduDataField[0] << std::endl;
+      sif::error << "CfdpHandler: Invalid PDU directive field " << static_cast<int>(pduDataField[0])
+                 << std::endl;
       return INVALID_DIRECTIVE_FIELD;
     }
     auto directive = static_cast<FileDirective>(pduDataField[0]);

mission/com/CcsdsIpCoreHandler.cpp

@@ -246,7 +246,13 @@ ReturnValue_t CcsdsIpCoreHandler::checkModeCommand(Mode_t mode, Submode_t submod
 void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
   triggerEvent(CHANGING_MODE, mode, submode);
   if (mode == HasModesIF::MODE_ON) {
-    if (this->submode != submode) {
+    uint32_t currentRate = ptmeConfig.getRate();
+    // Check whether the rate actually changes.
+    if ((this->submode != submode) and
+        (((submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW) and
+           (currentRate != RATE_100KBPS))) or
+         ((submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH) and
+           (currentRate != RATE_500KBPS))))) {
       initPtmeUpdateAfterXCycles();
       updateContext.enableTransmitAfterPtmeUpdate = true;
       updateContext.updateClockRate = true;

mission/com/LiveTmTask.cpp

@@ -19,13 +19,8 @@ LiveTmTask::LiveTmTask(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunne
 ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
   readCommandQueue();
   while (true) {
-    bool performWriteOp = true;
-    if (mode == MODE_OFF or ptmeLocked) {
-      performWriteOp = false;
-    }
-
     // The funnel tasks are scheduled here directly as well.
-    ReturnValue_t result = channel.handleNextTm(performWriteOp);
+    ReturnValue_t result = channel.handleNextTm(!ptmeLocked);
     if (result == DirectTmSinkIF::IS_BUSY) {
       sif::error << "Lost live TM, PAPB busy" << std::endl;
     }

mission/com/PersistentLogTmStoreTask.cpp

@@ -42,13 +42,7 @@ ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) {
     if (not someonesBusy) {
       TaskFactory::delayTask(100);
     } else if (vcBusyDuringDump) {
-      // TODO: Might not be necessary
-      sif::debug << "VC busy, delaying" << std::endl;
       TaskFactory::delayTask(10);
-    } else {
-      // TODO: Would be best to remove this, but not delaying here can lead to evil issues.
-      // Polling the PAPB of the PTME core too often leads to scheuduling issues.
-      TaskFactory::delayTask(2);
     }
   }
 }

mission/com/PersistentSingleTmStoreTask.cpp

@@ -24,13 +24,7 @@ ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
     if (not busy) {
       TaskFactory::delayTask(100);
     } else if (dumpContext.vcBusyDuringDump) {
-      sif::debug << "VC busy, delaying" << std::endl;
-      // TODO: Might not be necessary
       TaskFactory::delayTask(10);
-    } else {
-      // TODO: Would be best to remove this, but not delaying here can lead to evil issues.
-      // Polling the PAPB of the PTME core too often leads to scheuduling issues.
-      TaskFactory::delayTask(2);
     }
   }
 }

mission/com/SyrlinksHandler.cpp

@@ -773,11 +773,13 @@ void SyrlinksHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
   auto txStandbyHandler = [&]() {
     txDataset.setReportingEnabled(false);
     poolManager.changeCollectionInterval(temperatureSet.getSid(), 60.0);
+    poolManager.changeCollectionInterval(rxDataset.getSid(), 60.0);
     transState = TransitionState::SET_TX_STANDBY;
     internalState = InternalState::TX_TRANSITION;
   };
   auto txOnHandler = [&](TransitionState tgtTransitionState) {
     txDataset.setReportingEnabled(true);
+    poolManager.changeCollectionInterval(rxDataset.getSid(), 5.0);
     poolManager.changeCollectionInterval(txDataset.getSid(), 10.0);
     poolManager.changeCollectionInterval(temperatureSet.getSid(), 5.0);
     transState = tgtTransitionState;

mission/com/TmStoreTaskBase.cpp

@@ -45,13 +45,19 @@ bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store,
   } else {
     Command_t execCmd;
     // Handle TC requests, for example deletion or retrieval requests.
+    // TODO: Not really clean here.. would be better if the executed command is returns as an
+    // enumeration.
     result = store.handleCommandQueue(ipcStore, execCmd);
-    if (result == returnvalue::OK) {
     if (execCmd == TmStoreMessage::DOWNLINK_STORE_CONTENT_TIME) {
+      if (result == PersistentTmStore::DUMP_DONE) {
+        dumpDoneHandler(store, dumpContext);
+      } else if (result == returnvalue::OK) {
         cancelDumpCd.resetTimer();
         tmSinkBusyCd.resetTimer();
         dumpContext.reset();
       }
+    }
+    if (execCmd != CommandMessageIF::CMD_NONE) {
       tcRequestReceived = true;
     }
   }
@@ -119,21 +125,13 @@ ReturnValue_t TmStoreTaskBase::performDump(PersistentTmStoreWithTmQueue& store,
                                            DumpContext& dumpContext, bool& dumpPerformed) {
   size_t dumpedLen = 0;
 
-  auto dumpDoneHandler = [&]() {
-    uint32_t startTime;
-    uint32_t endTime;
-    store.getStartAndEndTimeCurrentOrLastDump(startTime, endTime);
-    triggerEvent(dumpContext.eventIfDone, dumpContext.numberOfDumpedPackets,
-                 dumpContext.dumpedBytes);
-    dumpContext.reset();
-  };
   // Dump the next packet into the PTME.
   dumpContext.ptmeBusyCounter = 0;
   tmSinkBusyCd.resetTimer();
   ReturnValue_t result = store.getNextDumpPacket(tmReader, fileHasSwapped);
   if (fileHasSwapped and result == PersistentTmStore::DUMP_DONE) {
     // This can happen if a file is corrupted and the next file swap completes the dump.
-    dumpDoneHandler();
+    dumpDoneHandler(store, dumpContext);
     return returnvalue::OK;
   } else if (result != returnvalue::OK) {
     sif::error << "PersistentTmStore: Getting next dump packet failed" << std::endl;
@@ -157,7 +155,7 @@ ReturnValue_t TmStoreTaskBase::performDump(PersistentTmStoreWithTmQueue& store,
     }
   }
   if (result == PersistentTmStore::DUMP_DONE) {
-    dumpDoneHandler();
+    dumpDoneHandler(store, dumpContext);
   }
   return returnvalue::OK;
 }
@@ -198,6 +196,14 @@ ReturnValue_t TmStoreTaskBase::connectModeTreeParent(HasModeTreeChildrenIF& pare
   return modetree::connectModeTreeParent(parent, *this, nullptr, modeHelper);
 }
 
+void TmStoreTaskBase::dumpDoneHandler(PersistentTmStore& store, DumpContext& dumpContext) {
+  uint32_t startTime;
+  uint32_t endTime;
+  store.getStartAndEndTimeCurrentOrLastDump(startTime, endTime);
+  triggerEvent(dumpContext.eventIfDone, dumpContext.numberOfDumpedPackets, dumpContext.dumpedBytes);
+  dumpContext.reset();
+}
+
 ModeTreeChildIF& TmStoreTaskBase::getModeTreeChildIF() { return *this; }
 
 void TmStoreTaskBase::readCommandQueue(void) {

mission/com/TmStoreTaskBase.h

@@ -96,6 +96,8 @@ class TmStoreTaskBase : public SystemObject,
 
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                  uint32_t* msToReachTheMode) override;
+  void dumpDoneHandler(PersistentTmStore& store, DumpContext& dumpContext);
+
   void announceMode(bool recursive) override;
   object_id_t getObjectId() const override;
   const HasHealthIF* getOptHealthIF() const override;

mission/controller/AcsController.cpp

@@ -7,6 +7,7 @@
 AcsController::AcsController(object_id_t objectId, bool enableHkSets)
     : ExtendedControllerBase(objectId),
       enableHkSets(enableHkSets),
+      fusedRotationEstimation(&acsParameters),
       guidance(&acsParameters),
       safeCtrl(&acsParameters),
       ptgCtrl(&acsParameters),
@@ -20,7 +21,8 @@ AcsController::AcsController(object_id_t objectId, bool enableHkSets)
       gpsDataProcessed(this),
       mekfData(this),
       ctrlValData(this),
-      actuatorCmdData(this) {}
+      actuatorCmdData(this),
+      fusedRotRateData(this) {}
 
 ReturnValue_t AcsController::initialize() {
   ReturnValue_t result = parameterHelper.initialize();
@@ -146,6 +148,8 @@ void AcsController::performSafe() {
 
   sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
+  fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
+                                                        &gyrDataProcessed, &fusedRotRateData);
   ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
                                             &susDataProcessed, &mekfData, &acsParameters);
   if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
@@ -172,25 +176,42 @@ void AcsController::performSafe() {
   acs::SafeModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
       mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
       gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
+      fusedRotRateData.rotRateOrthogonal.isValid(), fusedRotRateData.rotRateTotal.isValid(),
       acsParameters.safeModeControllerParameters.useMekf,
+      acsParameters.safeModeControllerParameters.useGyr,
       acsParameters.safeModeControllerParameters.dampingDuringEclipse);
   switch (safeCtrlStrat) {
-    case (acs::SafeModeStrategy::SAFECTRL_ACTIVE_MEKF):
+    case (acs::SafeModeStrategy::SAFECTRL_MEKF):
       safeCtrl.safeMekf(mgmDataProcessed.mgmVecTot.value, mekfData.satRotRateMekf.value,
                         susDataProcessed.sunIjkModel.value, mekfData.quatMekf.value, sunTargetDir,
                         magMomMtq, errAng);
       safeCtrlFailureFlag = false;
       safeCtrlFailureCounter = 0;
       break;
-    case (acs::SafeModeStrategy::SAFECTRL_WITHOUT_MEKF):
+    case (acs::SafeModeStrategy::SAFECTRL_GYR):
-      safeCtrl.safeNonMekf(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
+      safeCtrl.safeGyr(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
                        susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
       safeCtrlFailureFlag = false;
       safeCtrlFailureCounter = 0;
       break;
-    case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING):
+    case (acs::SafeModeStrategy::SAFECTRL_SUSMGM):
-      safeCtrl.safeRateDamping(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
+      safeCtrl.safeSusMgm(mgmDataProcessed.mgmVecTot.value, fusedRotRateData.rotRateParallel.value,
-                               sunTargetDir, magMomMtq, errAng);
+                          fusedRotRateData.rotRateOrthogonal.value,
+                          susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
+      safeCtrlFailureFlag = false;
+      safeCtrlFailureCounter = 0;
+      break;
+    case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR):
+      safeCtrl.safeRateDampingGyr(mgmDataProcessed.mgmVecTot.value,
+                                  gyrDataProcessed.gyrVecTot.value, sunTargetDir, magMomMtq,
+                                  errAng);
+      safeCtrlFailureFlag = false;
+      safeCtrlFailureCounter = 0;
+      break;
+    case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM):
+      safeCtrl.safeRateDampingSusMgm(mgmDataProcessed.mgmVecTot.value,
+                                     fusedRotRateData.rotRateTotal.value, sunTargetDir, magMomMtq,
+                                     errAng);
       safeCtrlFailureFlag = false;
       safeCtrlFailureCounter = 0;
       break;
@@ -214,14 +235,22 @@ void AcsController::performSafe() {
                            acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
 
   // detumble check and switch
-  if (mekfData.satRotRateMekf.isValid() && acsParameters.safeModeControllerParameters.useMekf &&
+  if (acsParameters.safeModeControllerParameters.useMekf) {
+    if (mekfData.satRotRateMekf.isValid() and
         VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) >
             acsParameters.detumbleParameter.omegaDetumbleStart) {
       detumbleCounter++;
-  } else if (gyrDataProcessed.gyrVecTot.isValid() &&
+    }
+  } else if (acsParameters.safeModeControllerParameters.useGyr) {
+    if (gyrDataProcessed.gyrVecTot.isValid() and
         VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) >
             acsParameters.detumbleParameter.omegaDetumbleStart) {
       detumbleCounter++;
+    }
+  } else if (fusedRotRateData.rotRateTotal.isValid() and
+             VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
+                 acsParameters.detumbleParameter.omegaDetumbleStart) {
+    detumbleCounter++;
   } else if (detumbleCounter > 0) {
     detumbleCounter -= 1;
   }
@@ -244,6 +273,8 @@ void AcsController::performDetumble() {
 
   sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
+  fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
+                                                        &gyrDataProcessed, &fusedRotRateData);
   ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
                                             &susDataProcessed, &mekfData, &acsParameters);
   if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
@@ -289,17 +320,26 @@ void AcsController::performDetumble() {
   actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
                            acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
 
-  if (mekfData.satRotRateMekf.isValid() &&
+  if (acsParameters.safeModeControllerParameters.useMekf) {
+    if (mekfData.satRotRateMekf.isValid() and
         VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
             acsParameters.detumbleParameter.omegaDetumbleEnd) {
       detumbleCounter++;
-  } else if (gyrDataProcessed.gyrVecTot.isValid() &&
+    }
+  } else if (acsParameters.safeModeControllerParameters.useGyr) {
+    if (gyrDataProcessed.gyrVecTot.isValid() and
         VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
             acsParameters.detumbleParameter.omegaDetumbleEnd) {
       detumbleCounter++;
+    }
+  } else if (fusedRotRateData.rotRateTotal.isValid() and
+             VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
+                 acsParameters.detumbleParameter.omegaDetumbleEnd) {
+    detumbleCounter++;
   } else if (detumbleCounter > 0) {
     detumbleCounter -= 1;
   }
+
   if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
     detumbleCounter = 0;
     // Triggers safe mode transition in subsystem
@@ -307,7 +347,7 @@ void AcsController::performDetumble() {
     startTransition(mode, acs::SafeSubmode::DEFAULT);
   }
 
-  disableCtrlValData();
+  updateCtrlValData(safeCtrlStrat);
   updateActuatorCmdData(cmdDipoleMtqs);
   commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
                    acsParameters.magnetorquerParameter.torqueDuration);
@@ -578,6 +618,23 @@ void AcsController::updateActuatorCmdData(const double *rwTargetTorque,
   }
 }
 
+void AcsController::updateCtrlValData(uint8_t safeModeStrat) {
+  PoolReadGuard pg(&ctrlValData);
+  if (pg.getReadResult() == returnvalue::OK) {
+    std::memcpy(ctrlValData.tgtQuat.value, ZERO_VEC4, 4 * sizeof(double));
+    ctrlValData.tgtQuat.setValid(false);
+    std::memcpy(ctrlValData.errQuat.value, ZERO_VEC4, 4 * sizeof(double));
+    ctrlValData.errQuat.setValid(false);
+    ctrlValData.errAng.value = 0;
+    ctrlValData.errAng.setValid(false);
+    std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC3, 3 * sizeof(double));
+    ctrlValData.tgtRotRate.setValid(false);
+    ctrlValData.safeStrat.value = safeModeStrat;
+    ctrlValData.safeStrat.setValid(true);
+    ctrlValData.setValidity(true, false);
+  }
+}
+
 void AcsController::updateCtrlValData(double errAng, uint8_t safeModeStrat) {
   PoolReadGuard pg(&ctrlValData);
   if (pg.getReadResult() == returnvalue::OK) {
@@ -608,17 +665,6 @@ void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQu
   }
 }
 
-void AcsController::disableCtrlValData() {
-  PoolReadGuard pg(&ctrlValData);
-  if (pg.getReadResult() == returnvalue::OK) {
-    std::memcpy(ctrlValData.tgtQuat.value, ZERO_VEC4, 4 * sizeof(double));
-    std::memcpy(ctrlValData.errQuat.value, ZERO_VEC4, 4 * sizeof(double));
-    ctrlValData.errAng.value = 0;
-    std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC3, 3 * sizeof(double));
-    ctrlValData.setValidity(false, true);
-  }
-}
-
 ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                      LocalDataPoolManager &poolManager) {
   // MGM Raw
@@ -707,6 +753,11 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_SPEED, &rwTargetSpeed);
   localDataPoolMap.emplace(acsctrl::PoolIds::MTQ_TARGET_DIPOLE, &mtqTargetDipole);
   poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 10.0});
+  // Fused Rot Rate
+  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL, &rotRateOrthogonal);
+  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL, &rotRateParallel);
+  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL, &rotRateTotal);
+  poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 10.0});
   return returnvalue::OK;
 }
 
@@ -732,6 +783,8 @@ LocalPoolDataSetBase *AcsController::getDataSetHandle(sid_t sid) {
       return &ctrlValData;
     case acsctrl::ACTUATOR_CMD_DATA:
       return &actuatorCmdData;
+    case acsctrl::FUSED_ROTATION_RATE_DATA:
+      return &fusedRotRateData;
     default:
       return nullptr;
   }

mission/controller/AcsController.h

@@ -13,6 +13,7 @@
 #include <mission/acs/rwHelpers.h>
 #include <mission/acs/susMax1227Helpers.h>
 #include <mission/controller/acs/ActuatorCmd.h>
+#include <mission/controller/acs/FusedRotationEstimation.h>
 #include <mission/controller/acs/Guidance.h>
 #include <mission/controller/acs/MultiplicativeKalmanFilter.h>
 #include <mission/controller/acs/Navigation.h>
@@ -49,6 +50,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
 
   AcsParameters acsParameters;
   SensorProcessing sensorProcessing;
+  FusedRotationEstimation fusedRotationEstimation;
   Navigation navigation;
   ActuatorCmd actuatorCmd;
   Guidance guidance;
@@ -115,10 +117,10 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void updateActuatorCmdData(const int16_t* mtqTargetDipole);
   void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed,
                              const int16_t* mtqTargetDipole);
+  void updateCtrlValData(uint8_t safeModeStrat);
   void updateCtrlValData(double errAng, uint8_t safeModeStrat);
   void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng,
                          const double* tgtRotRate);
-  void disableCtrlValData();
 
   /* ACS Sensor Values */
   ACS::SensorValues sensorValues;
@@ -226,6 +228,12 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   PoolEntry<int32_t> rwTargetSpeed = PoolEntry<int32_t>(4);
   PoolEntry<int16_t> mtqTargetDipole = PoolEntry<int16_t>(3);
 
+  // Fused Rot Rate
+  acsctrl::FusedRotRateData fusedRotRateData;
+  PoolEntry<double> rotRateOrthogonal = PoolEntry<double>(3);
+  PoolEntry<double> rotRateParallel = PoolEntry<double>(3);
+  PoolEntry<double> rotRateTotal = PoolEntry<double>(3);
+
   // Initial delay to make sure all pool variables have been initialized their owners
   Countdown initialCountdown = Countdown(INIT_DELAY);
 };

mission/controller/ThermalController.h

@@ -1,7 +1,7 @@
 #ifndef MISSION_CONTROLLER_THERMALCONTROLLER_H_
 #define MISSION_CONTROLLER_THERMALCONTROLLER_H_
 
-#include <bsp_q7s/core/CoreDefinitions.h>
+#include <bsp_q7s/core/defs.h>
 #include <fsfw/controller/ExtendedControllerBase.h>
 #include <fsfw/devicehandlers/DeviceHandlerThermalSet.h>
 #include <fsfw/timemanager/Countdown.h>
@@ -24,74 +24,7 @@
 
 #include <atomic>
 #include <list>
-
+#include <optional>
-/**
- * NOP Limit: Hard limit for device, usually from datasheet. Device damage is possible lif NOP limit
- * is exceeded.
- * OP Limit: Soft limit. Device should be switched off or TCS controller should take action if the
- * limit is exceeded to avoid reaching NOP limit
- */
-struct TempLimits {
-  TempLimits(float nopLowerLimit, float opLowerLimit, float cutOffLimit, float opUpperLimit,
-             float nopUpperLimit)
-      : opLowerLimit(opLowerLimit),
-        opUpperLimit(opUpperLimit),
-        cutOffLimit(cutOffLimit),
-        nopLowerLimit(nopLowerLimit),
-        nopUpperLimit(nopUpperLimit) {}
-  float opLowerLimit;
-  float opUpperLimit;
-  float cutOffLimit;
-  float nopLowerLimit;
-  float nopUpperLimit;
-};
-
-struct ThermalState {
-  uint8_t errorCounter;
-  // Is heating on for that thermal module?
-  bool heating = false;
-  heater::Switch heaterSwitch = heater::Switch::NUMBER_OF_SWITCHES;
-  // Heater start time and end times as UNIX seconds. Please note that these times will be updated
-  // when a switch command is sent, with no guarantess that the heater actually went on.
-  uint32_t heaterStartTime = 0;
-  uint32_t heaterEndTime = 0;
-};
-
-struct HeaterState {
-  bool switchTransition;
-  HeaterHandler::SwitchState target;
-  uint8_t heaterSwitchControlCycles;
-};
-
-using HeaterSwitchStates = std::array<HeaterHandler::SwitchState, heater::NUMBER_OF_SWITCHES>;
-
-enum ThermalComponents : uint8_t {
-  NONE = 0,
-  ACS_BOARD = 1,
-  MGT = 2,
-  RW = 3,
-  STR = 4,
-  IF_BOARD = 5,
-  TCS_BOARD = 6,
-  OBC = 7,
-  OBCIF_BOARD = 8,
-  SBAND_TRANSCEIVER = 9,
-  PCDUP60_BOARD = 10,
-  PCDUACU = 11,
-  PCDUPDU = 12,
-  PLPCDU_BOARD = 13,
-  PLOCMISSION_BOARD = 14,
-  PLOCPROCESSING_BOARD = 15,
-  DAC = 16,
-  CAMERA = 17,
-  DRO = 18,
-  X8 = 19,
-  HPA = 20,
-  TX = 21,
-  MPA = 22,
-  SCEX_BOARD = 23,
-  NUM_ENTRIES
-};
 
 class ThermalController : public ExtendedControllerBase {
  public:
@@ -102,8 +35,28 @@ class ThermalController : public ExtendedControllerBase {
   static constexpr int16_t SANITY_LIMIT_LOWER_TEMP = -80;
   static constexpr int16_t SANITY_LIMIT_UPPER_TEMP = 160;
 
+  // 1 hour
+  static constexpr uint32_t DEFAULT_MAX_HEATER_ON_DURATION_MS = 60 * 60 * 1000;
+  static constexpr uint32_t MAX_HEATER_ON_DURATIONS_MS[8] = {// PLOC PROC board
+                                                             DEFAULT_MAX_HEATER_ON_DURATION_MS,
+                                                             // PCDU PDU
+                                                             DEFAULT_MAX_HEATER_ON_DURATION_MS,
+                                                             // ACS Board
+                                                             DEFAULT_MAX_HEATER_ON_DURATION_MS,
+                                                             // OBC Board
+                                                             DEFAULT_MAX_HEATER_ON_DURATION_MS,
+                                                             // Camera
+                                                             DEFAULT_MAX_HEATER_ON_DURATION_MS,
+                                                             // STR
+                                                             DEFAULT_MAX_HEATER_ON_DURATION_MS,
+                                                             // DRO
+                                                             DEFAULT_MAX_HEATER_ON_DURATION_MS,
+                                                             // S-Band
+                                                             DEFAULT_MAX_HEATER_ON_DURATION_MS};
+
   ThermalController(object_id_t objectId, HeaterHandler& heater,
-                    const std::atomic_bool& tcsBoardShortUnavailable);
+                    const std::atomic_bool& tcsBoardShortUnavailable, bool pollPcdu1Tmp);
+  virtual ~ThermalController();
 
   ReturnValue_t initialize() override;
 
@@ -111,16 +64,16 @@ class ThermalController : public ExtendedControllerBase {
   struct HeaterContext {
    public:
     HeaterContext(heater::Switch switchNr, heater::Switch redundantSwitchNr,
-                  const TempLimits& tempLimit)
+                  const tcsCtrl::TempLimits& tempLimit)
         : switchNr(switchNr), redSwitchNr(redundantSwitchNr), tempLimit(tempLimit) {}
     bool doHeaterHandling = true;
     heater::Switch switchNr;
-    HeaterHandler::SwitchState switchState = HeaterHandler::SwitchState::OFF;
+    heater::SwitchState switchState = heater::SwitchState::OFF;
     heater::Switch redSwitchNr;
-    const TempLimits& tempLimit;
+    const tcsCtrl::TempLimits& tempLimit;
   };
 
-  void performThermalModuleCtrl(const HeaterSwitchStates& heaterSwitchStates);
+  void performThermalModuleCtrl(const tcsCtrl::HeaterSwitchStates& heaterSwitchStates);
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
   void performControlOperation() override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -142,12 +95,12 @@ class ThermalController : public ExtendedControllerBase {
 
   HeaterHandler& heaterHandler;
 
+  bool pollPcdu1Tmp;
   tcsCtrl::SensorTemperatures sensorTemperatures;
   tcsCtrl::SusTemperatures susTemperatures;
   tcsCtrl::DeviceTemperatures deviceTemperatures;
   tcsCtrl::HeaterInfo heaterInfo;
-  lp_vec_t<int16_t, 9> currentVecPdu2 =
+  tcsCtrl::TcsCtrlInfo tcsCtrlInfo;
-      lp_vec_t<int16_t, 9>(gp_id_t(objects::PDU2_HANDLER, PDU::pool::PDU_CURRENTS));
 
   DeviceHandlerThermalSet imtqThermalSet;
 
@@ -173,7 +126,7 @@ class ThermalController : public ExtendedControllerBase {
   TMP1075::Tmp1075Dataset tmp1075SetTcs1;
   TMP1075::Tmp1075Dataset tmp1075SetPlPcdu0;
   // damaged
-  // TMP1075::Tmp1075Dataset tmp1075SetPlPcdu1;
+  TMP1075::Tmp1075Dataset* tmp1075SetPlPcdu1;
   TMP1075::Tmp1075Dataset tmp1075SetIfBoard;
 
   // SUS
@@ -227,39 +180,48 @@ class ThermalController : public ExtendedControllerBase {
   lp_var_t<float> tempMgm2 =
       lp_var_t<float>(objects::MGM_2_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
   lp_var_t<float> tempAdcPayloadPcdu = lp_var_t<float>(objects::PLPCDU_HANDLER, plpcdu::TEMP);
+  lp_vec_t<int16_t, 9> currentVecPdu2 =
+      lp_vec_t<int16_t, 9>(gp_id_t(objects::PDU2_HANDLER, PDU::pool::PDU_CURRENTS));
 
   // TempLimits
-  TempLimits acsBoardLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
+  tcsCtrl::TempLimits acsBoardLimits = tcsCtrl::TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
-  TempLimits mgtLimits = TempLimits(-40.0, -40.0, 65.0, 70.0, 70.0);
+  tcsCtrl::TempLimits mgtLimits = tcsCtrl::TempLimits(-40.0, -40.0, 65.0, 70.0, 70.0);
-  TempLimits rwLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
+  tcsCtrl::TempLimits rwLimits = tcsCtrl::TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
-  TempLimits strLimits = TempLimits(-30.0, -20.0, 65.0, 70.0, 80.0);
+  tcsCtrl::TempLimits strLimits = tcsCtrl::TempLimits(-30.0, -20.0, 65.0, 70.0, 80.0);
-  TempLimits ifBoardLimits = TempLimits(-65.0, -40.0, 80.0, 85.0, 150.0);
+  tcsCtrl::TempLimits ifBoardLimits = tcsCtrl::TempLimits(-65.0, -40.0, 80.0, 85.0, 150.0);
-  TempLimits tcsBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 130.0);
+  tcsCtrl::TempLimits tcsBoardLimits = tcsCtrl::TempLimits(-60.0, -40.0, 80.0, 85.0, 130.0);
-  TempLimits obcLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
+  tcsCtrl::TempLimits obcLimits = tcsCtrl::TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
-  TempLimits obcIfBoardLimits = TempLimits(-65.0, -40.0, 80.0, 85.0, 125.0);
+  tcsCtrl::TempLimits obcIfBoardLimits = tcsCtrl::TempLimits(-65.0, -40.0, 80.0, 85.0, 125.0);
-  TempLimits sBandTransceiverLimits = TempLimits(-40.0, -25.0, 35.0, 40.0, 65.0);
+  tcsCtrl::TempLimits sBandTransceiverLimits = tcsCtrl::TempLimits(-40.0, -25.0, 35.0, 40.0, 65.0);
-  TempLimits pcduP60BoardLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
+  tcsCtrl::TempLimits pcduP60BoardLimits = tcsCtrl::TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
-  TempLimits pcduAcuLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
+  tcsCtrl::TempLimits pcduAcuLimits = tcsCtrl::TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
-  TempLimits pcduPduLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
+  tcsCtrl::TempLimits pcduPduLimits = tcsCtrl::TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
-  TempLimits plPcduBoardLimits = TempLimits(-55.0, -40.0, 80.0, 85.0, 125.0);
+  tcsCtrl::TempLimits plPcduBoardLimits = tcsCtrl::TempLimits(-55.0, -40.0, 80.0, 85.0, 125.0);
-  TempLimits plocMissionBoardLimits = TempLimits(-30.0, -10.0, 40.0, 45.0, 60);
+  tcsCtrl::TempLimits plocMissionBoardLimits = tcsCtrl::TempLimits(-30.0, -10.0, 40.0, 45.0, 60);
-  TempLimits plocProcessingBoardLimits = TempLimits(-30.0, -10.0, 40.0, 45.0, 60.0);
+  tcsCtrl::TempLimits plocProcessingBoardLimits =
-  TempLimits dacLimits = TempLimits(-65.0, -40.0, 113.0, 118.0, 150.0);
+      tcsCtrl::TempLimits(-30.0, -10.0, 40.0, 45.0, 60.0);
-  TempLimits cameraLimits = TempLimits(-40.0, -30.0, 60.0, 65.0, 85.0);
+  tcsCtrl::TempLimits dacLimits = tcsCtrl::TempLimits(-65.0, -40.0, 113.0, 118.0, 150.0);
-  TempLimits droLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
+  tcsCtrl::TempLimits cameraLimits = tcsCtrl::TempLimits(-40.0, -30.0, 60.0, 65.0, 85.0);
-  TempLimits x8Limits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
+  tcsCtrl::TempLimits droLimits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
-  TempLimits hpaLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
+  tcsCtrl::TempLimits x8Limits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
-  TempLimits txLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
+  tcsCtrl::TempLimits hpaLimits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
-  TempLimits mpaLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
+  tcsCtrl::TempLimits txLimits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
-  TempLimits scexBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 150.0);
+  tcsCtrl::TempLimits mpaLimits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
+  tcsCtrl::TempLimits scexBoardLimits = tcsCtrl::TempLimits(-60.0, -40.0, 80.0, 85.0, 150.0);
 
+  struct CtrlContext {
     double sensorTemp = INVALID_TEMPERATURE;
-  ThermalComponents thermalComponent = NONE;
+    uint8_t currentSensorIndex = 0;
+    tcsCtrl::ThermalComponents thermalComponent = tcsCtrl::NONE;
     bool redSwitchNrInUse = false;
-  MessageQueueId_t camId = MessageQueueIF::NO_QUEUE;
     bool componentAboveCutOffLimit = false;
     bool componentAboveUpperLimit = false;
     Event overHeatEventToTrigger;
+  } ctrlCtx;
+
+  MessageQueueId_t camId = MessageQueueIF::NO_QUEUE;
+
+  struct TooHotFlags {
     bool eBandTooHotFlag = false;
     bool camTooHotOneShotFlag = false;
     bool scexTooHotFlag = false;
@@ -270,14 +232,15 @@ class ThermalController : public ExtendedControllerBase {
     bool mgtTooHotFlag = false;
     bool strTooHotFlag = false;
     bool rwTooHotFlag = false;
+  } tooHotFlags;
 
   bool transitionWhenHeatersOff = false;
   uint32_t transitionWhenHeatersOffCycles = 0;
   Mode_t targetMode = MODE_OFF;
   Submode_t targetSubmode = SUBMODE_NONE;
   uint32_t cycles = 0;
-  std::array<ThermalState, ThermalComponents::NUM_ENTRIES> thermalStates{};
+  std::array<tcsCtrl::ThermalState, tcsCtrl::NUM_THERMAL_COMPONENTS> thermalStates{};
-  std::array<HeaterState, heater::NUMBER_OF_SWITCHES> heaterStates{};
+  std::array<tcsCtrl::HeaterState, heater::NUMBER_OF_SWITCHES> heaterStates{};
 
   // Initial delay to make sure all pool variables have been initialized their owners.
   // Also, wait for system initialization to complete.
@@ -298,6 +261,12 @@ class ThermalController : public ExtendedControllerBase {
   PoolEntry<uint8_t> heaterSwitchStates = PoolEntry<uint8_t>(heater::NUMBER_OF_SWITCHES);
   PoolEntry<int16_t> heaterCurrent = PoolEntry<int16_t>();
 
+  PoolEntry<uint8_t> tcsCtrlHeaterOn = PoolEntry<uint8_t>(tcsCtrl::NUM_THERMAL_COMPONENTS);
+  PoolEntry<uint8_t> tcsCtrlSensorIdx = PoolEntry<uint8_t>(tcsCtrl::NUM_THERMAL_COMPONENTS);
+  PoolEntry<uint8_t> tcsCtrlHeaterIdx = PoolEntry<uint8_t>(tcsCtrl::NUM_THERMAL_COMPONENTS);
+  PoolEntry<uint32_t> tcsCtrlStartTimes = PoolEntry<uint32_t>(tcsCtrl::NUM_THERMAL_COMPONENTS);
+  PoolEntry<uint32_t> tcsCtrlEndTimes = PoolEntry<uint32_t>(tcsCtrl::NUM_THERMAL_COMPONENTS);
+
   static constexpr dur_millis_t MUTEX_TIMEOUT = 50;
 
   void startTransition(Mode_t mode, Submode_t submode) override;
@@ -319,8 +288,8 @@ class ThermalController : public ExtendedControllerBase {
   bool selectAndReadSensorTemp(HeaterContext& htrCtx);
 
   void heaterSwitchHelperAllOff();
-  void heaterSwitchHelper(heater::Switch switchNr, HeaterHandler::SwitchState state,
+  void heaterSwitchHelper(heater::Switch switchNr, heater::SwitchState state,
-                          unsigned componentIdx);
+                          std::optional<unsigned> componentIdx);
 
   void ctrlAcsBoard();
   void ctrlMgt();
@@ -329,7 +298,6 @@ class ThermalController : public ExtendedControllerBase {
   void ctrlIfBoard();
   void ctrlTcsBoard();
   void ctrlObc();
-  void ctrlObcIfBoard();
   void ctrlSBandTransceiver();
   void ctrlPcduP60Board();
   void ctrlPcduAcu();
@@ -345,7 +313,22 @@ class ThermalController : public ExtendedControllerBase {
   void ctrlTx();
   void ctrlMpa();
   void ctrlScexBoard();
-  void heaterTransitionControl(const HeaterSwitchStates& currentHeaterStates);
+
+  /**
+   * The transition of heaters might take some time. As long as a transition is
+   * going on, the TCS controller works in a reduced form. This function takes care
+   * of tracking transition and capturing their completion.
+   * @param currentHeaterStates
+   */
+  void heaterTransitionControl(const tcsCtrl::HeaterSwitchStates& currentHeaterStates);
+  /**
+   * Control tasks to prevent heaters being on for prolonged periods. Ideally, this
+   * should never happen, but this task prevents bugs from causing heaters to stay on
+   * for a long time, which draws a lot of power.
+   * @param currentHeaterStates
+   */
+  void heaterMaxDurationControl(const tcsCtrl::HeaterSwitchStates& currentHeaterStates);
+  void crossCheckHeaterStateOfComponentsWhenHeaterGoesOff(heater::Switch switchIdx);
   void setMode(Mode_t mode, Submode_t submode);
   uint32_t tempFloatToU32() const;
   bool tooHotHandler(object_id_t object, bool& oneShotFlag);

mission/controller/acs/AcsParameters.cpp

@@ -26,6 +26,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x1:
           parameterWrapper->set(onBoardParams.mekfViolationTimer);
           break;
+        case 0x2:
+          parameterWrapper->set(onBoardParams.fusedRateSafeDuringEclipse);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
@@ -105,6 +108,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->setVector(mgmHandlingParameters.mgm4variance);
           break;
         case 0x12:
+          parameterWrapper->set(mgmHandlingParameters.mgmVectorFilterWeight);
+          break;
+        case 0x13:
           parameterWrapper->set(mgmHandlingParameters.mgmDerivativeFilterWeight);
           break;
         default:
@@ -221,6 +227,15 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x23:
           parameterWrapper->setMatrix(susHandlingParameters.sus11coeffBeta);
           break;
+        case 0x24:
+          parameterWrapper->set(susHandlingParameters.susBrightnessThreshold);
+          break;
+        case 0x25:
+          parameterWrapper->set(susHandlingParameters.susVectorFilterWeight);
+          break;
+        case 0x26:
+          parameterWrapper->set(susHandlingParameters.susRateFilterWeight);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
@@ -336,26 +351,41 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(safeModeControllerParameters.k_parallelMekf);
           break;
         case 0x3:
-          parameterWrapper->set(safeModeControllerParameters.k_orthoNonMekf);
+          parameterWrapper->set(safeModeControllerParameters.k_orthoGyr);
           break;
         case 0x4:
-          parameterWrapper->set(safeModeControllerParameters.k_alignNonMekf);
+          parameterWrapper->set(safeModeControllerParameters.k_alignGyr);
           break;
         case 0x5:
-          parameterWrapper->set(safeModeControllerParameters.k_parallelNonMekf);
+          parameterWrapper->set(safeModeControllerParameters.k_parallelGyr);
           break;
         case 0x6:
-          parameterWrapper->setVector(safeModeControllerParameters.sunTargetDirLeop);
+          parameterWrapper->set(safeModeControllerParameters.k_orthoSusMgm);
           break;
         case 0x7:
-          parameterWrapper->setVector(safeModeControllerParameters.sunTargetDir);
+          parameterWrapper->set(safeModeControllerParameters.k_alignSusMgm);
           break;
         case 0x8:
-          parameterWrapper->set(safeModeControllerParameters.useMekf);
+          parameterWrapper->set(safeModeControllerParameters.k_parallelSusMgm);
           break;
         case 0x9:
+          parameterWrapper->setVector(safeModeControllerParameters.sunTargetDirLeop);
+          break;
+        case 0xA:
+          parameterWrapper->setVector(safeModeControllerParameters.sunTargetDir);
+          break;
+        case 0xB:
+          parameterWrapper->set(safeModeControllerParameters.useMekf);
+          break;
+        case 0xC:
+          parameterWrapper->set(safeModeControllerParameters.useGyr);
+          break;
+        case 0xD:
           parameterWrapper->set(safeModeControllerParameters.dampingDuringEclipse);
           break;
+        case 0xE:
+          parameterWrapper->set(safeModeControllerParameters.sineLimitSunRotRate);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }

mission/controller/acs/AcsParameters.h

@@ -19,6 +19,7 @@ class AcsParameters : public HasParametersIF {
   struct OnBoardParams {
     double sampleTime = 0.4;  // [s]
     uint16_t mekfViolationTimer = 750;
+    uint8_t fusedRateSafeDuringEclipse = true;
   } onBoardParams;
 
   struct InertiaEIVE {
@@ -77,7 +78,8 @@ class AcsParameters : public HasParametersIF {
     float mgm02variance[3] = {pow(3.2e-7, 2), pow(3.2e-7, 2), pow(4.1e-7, 2)};
     float mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)};
     float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
-    float mgmDerivativeFilterWeight = 0.5;
+    float mgmVectorFilterWeight = 0.85;
+    float mgmDerivativeFilterWeight = 0.85;
   } mgmHandlingParameters;
 
   struct SusHandlingParameters {
@@ -766,6 +768,9 @@ class AcsParameters : public HasParametersIF {
         {116.975421945286, -5.53022680362263, -5.61081660666997, 0.109754904982136,
          0.167666815691513, 0.163137400730063, -0.000609874123906977, -0.00205336098697513,
          -0.000889232196185857, -0.00168429567131815}};
+    float susBrightnessThreshold = 0.7;
+    float susVectorFilterWeight = .85;
+    float susRateFilterWeight = .85;
   } susHandlingParameters;
 
   struct GyrHandlingParameters {
@@ -824,15 +829,22 @@ class AcsParameters : public HasParametersIF {
     double k_alignMekf = 4.0e-5;
     double k_parallelMekf = 3.75e-4;
 
-    double k_orthoNonMekf = 4.4e-3;
+    double k_orthoGyr = 4.4e-3;
-    double k_alignNonMekf = 4.0e-5;
+    double k_alignGyr = 4.0e-5;
-    double k_parallelNonMekf = 3.75e-4;
+    double k_parallelGyr = 3.75e-4;
+
+    double k_orthoSusMgm = 1.1e-2;
+    double k_alignSusMgm = 2.0e-5;
+    double k_parallelSusMgm = 4.4e-4;
 
     double sunTargetDirLeop[3] = {0, sqrt(.5), sqrt(.5)};
     double sunTargetDir[3] = {0, 0, 1};
 
     uint8_t useMekf = false;
+    uint8_t useGyr = true;
     uint8_t dampingDuringEclipse = true;
+
+    float sineLimitSunRotRate = 0.24;
   } safeModeControllerParameters;
 
   struct PointingLawParameters {

mission/controller/acs/CMakeLists.txt

@@ -2,6 +2,7 @@ target_sources(
   ${LIB_EIVE_MISSION}
   PRIVATE AcsParameters.cpp
           ActuatorCmd.cpp
+          FusedRotationEstimation.cpp
           Guidance.cpp
           Igrf13Model.cpp
           MultiplicativeKalmanFilter.cpp

mission/controller/acs/FusedRotationEstimation.cpp

@@ -0,0 +1,116 @@
+#include "FusedRotationEstimation.h"
+
+FusedRotationEstimation::FusedRotationEstimation(AcsParameters *acsParameters_) {
+  acsParameters = acsParameters_;
+}
+
+void FusedRotationEstimation::estimateFusedRotationRateSafe(
+    acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed,
+    acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::FusedRotRateData *fusedRotRateData) {
+  if ((not mgmDataProcessed->mgmVecTot.isValid() and not susDataProcessed->susVecTot.isValid() and
+       not fusedRotRateData->rotRateTotal.isValid()) or
+      (not susDataProcessed->susVecTotDerivative.isValid() and
+       not mgmDataProcessed->mgmVecTotDerivative.isValid())) {
+    {
+      PoolReadGuard pg(fusedRotRateData);
+      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double));
+      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC, 3 * sizeof(double));
+      std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC, 3 * sizeof(double));
+      fusedRotRateData->setValidity(false, true);
+    }
+    // store for calculation of angular acceleration
+    if (gyrDataProcessed->gyrVecTot.isValid()) {
+      std::memcpy(rotRateOldB, gyrDataProcessed->gyrVecTot.value, 3 * sizeof(double));
+    }
+    return;
+  }
+  if (not susDataProcessed->susVecTot.isValid()) {
+    estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateData);
+    // store for calculation of angular acceleration
+    if (gyrDataProcessed->gyrVecTot.isValid()) {
+      std::memcpy(rotRateOldB, gyrDataProcessed->gyrVecTot.value, 3 * sizeof(double));
+    }
+    return;
+  }
+
+  // calculate rotation around the sun
+  double magSunCross[3] = {0, 0, 0};
+
+  VectorOperations<double>::cross(mgmDataProcessed->mgmVecTot.value,
+                                  susDataProcessed->susVecTot.value, magSunCross);
+  double magSunCrossNorm = VectorOperations<double>::norm(magSunCross, 3);
+  double magNorm = VectorOperations<double>::norm(mgmDataProcessed->mgmVecTot.value, 3);
+  double fusedRotRateParallel[3] = {0, 0, 0};
+  if (magSunCrossNorm >
+      (acsParameters->safeModeControllerParameters.sineLimitSunRotRate * magNorm)) {
+    double omegaParallel =
+        VectorOperations<double>::dot(mgmDataProcessed->mgmVecTotDerivative.value, magSunCross) *
+        pow(magSunCrossNorm, -2);
+    VectorOperations<double>::mulScalar(susDataProcessed->susVecTot.value, omegaParallel,
+                                        fusedRotRateParallel, 3);
+  } else {
+    estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateData);
+    // store for calculation of angular acceleration
+    if (gyrDataProcessed->gyrVecTot.isValid()) {
+      std::memcpy(rotRateOldB, gyrDataProcessed->gyrVecTot.value, 3 * sizeof(double));
+    }
+    return;
+  }
+
+  // calculate rotation orthogonal to the sun
+  double fusedRotRateOrthogonal[3] = {0, 0, 0};
+  VectorOperations<double>::cross(susDataProcessed->susVecTotDerivative.value,
+                                  susDataProcessed->susVecTot.value, fusedRotRateOrthogonal);
+  VectorOperations<double>::mulScalar(
+      fusedRotRateOrthogonal,
+      pow(VectorOperations<double>::norm(susDataProcessed->susVecTot.value, 3), -2),
+      fusedRotRateOrthogonal, 3);
+
+  // calculate total rotation rate
+  double fusedRotRateTotal[3] = {0, 0, 0};
+  VectorOperations<double>::add(fusedRotRateParallel, fusedRotRateOrthogonal, fusedRotRateTotal);
+
+  {
+    PoolReadGuard pg(fusedRotRateData);
+    std::memcpy(fusedRotRateData->rotRateOrthogonal.value, fusedRotRateOrthogonal,
+                3 * sizeof(double));
+    std::memcpy(fusedRotRateData->rotRateParallel.value, fusedRotRateParallel, 3 * sizeof(double));
+    std::memcpy(fusedRotRateData->rotRateTotal.value, fusedRotRateTotal, 3 * sizeof(double));
+    fusedRotRateData->setValidity(true, true);
+  }
+
+  // store for calculation of angular acceleration
+  if (gyrDataProcessed->gyrVecTot.isValid()) {
+    std::memcpy(rotRateOldB, gyrDataProcessed->gyrVecTot.value, 3 * sizeof(double));
+  }
+}
+
+void FusedRotationEstimation::estimateFusedRotationRateEclipse(
+    acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::FusedRotRateData *fusedRotRateData) {
+  if (not acsParameters->onBoardParams.fusedRateSafeDuringEclipse or
+      not gyrDataProcessed->gyrVecTot.isValid() or
+      VectorOperations<double>::norm(fusedRotRateData->rotRateTotal.value, 3) == 0) {
+    {
+      PoolReadGuard pg(fusedRotRateData);
+      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double));
+      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC, 3 * sizeof(double));
+      std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC, 3 * sizeof(double));
+      fusedRotRateData->setValidity(false, true);
+    }
+    return;
+  }
+  double angAccelB[3] = {0, 0, 0};
+  VectorOperations<double>::subtract(gyrDataProcessed->gyrVecTot.value, rotRateOldB, angAccelB, 3);
+  double fusedRotRateTotal[3] = {0, 0, 0};
+  VectorOperations<double>::add(fusedRotRateData->rotRateTotal.value, angAccelB, fusedRotRateTotal,
+                                3);
+  {
+    PoolReadGuard pg(fusedRotRateData);
+    std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double));
+    fusedRotRateData->rotRateOrthogonal.setValid(false);
+    std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC, 3 * sizeof(double));
+    fusedRotRateData->rotRateParallel.setValid(false);
+    std::memcpy(fusedRotRateData->rotRateTotal.value, fusedRotRateTotal, 3 * sizeof(double));
+    fusedRotRateData->rotRateTotal.setValid(true);
+  }
+}

mission/controller/acs/FusedRotationEstimation.h

@@ -0,0 +1,29 @@
+#ifndef MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_
+#define MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_
+
+#include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/globalfunctions/math/VectorOperations.h>
+#include <mission/controller/acs/AcsParameters.h>
+#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
+
+class FusedRotationEstimation {
+ public:
+  FusedRotationEstimation(AcsParameters *acsParameters_);
+
+  void estimateFusedRotationRateSafe(acsctrl::SusDataProcessed *susDataProcessed,
+                                     acsctrl::MgmDataProcessed *mgmDataProcessed,
+                                     acsctrl::GyrDataProcessed *gyrDataProcessed,
+                                     acsctrl::FusedRotRateData *fusedRotRateData);
+
+ protected:
+ private:
+  static constexpr double ZERO_VEC[3] = {0, 0, 0};
+
+  AcsParameters *acsParameters;
+  double rotRateOldB[3] = {0, 0, 0};
+
+  void estimateFusedRotationRateEclipse(acsctrl::GyrDataProcessed *gyrDataProcessed,
+                                        acsctrl::FusedRotRateData *fusedRotRateData);
+};
+
+#endif /* MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_ */

mission/controller/acs/SensorProcessing.cpp

@@ -30,10 +30,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
   // ------------------------------------------------
   double magIgrfModel[3] = {0.0, 0.0, 0.0};
   if (gpsValid) {
-    // Should be existing class object which will be called and modified here.
     Igrf13Model igrf13;
-    // So the line above should not be done here. Update: Can be done here as long updated coffs
-    //		stored in acsParameters ?
     igrf13.schmidtNormalization();
     igrf13.updateCoeffGH(timeOfMgmMeasurement);
     // maybe put a condition here, to only update after a full day, this
@@ -45,14 +42,13 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
     {
       PoolReadGuard pg(mgmDataProcessed);
       if (pg.getReadResult() == returnvalue::OK) {
-        float zeroVec[3] = {0.0, 0.0, 0.0};
+        std::memcpy(mgmDataProcessed->mgm0vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm0vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm1vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm1vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm2vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm2vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm3vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm3vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm4vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm4vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgmVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
-        std::memcpy(mgmDataProcessed->mgmVecTot.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, ZERO_VEC_D, 3 * sizeof(double));
-        std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, zeroVec, 3 * sizeof(float));
         mgmDataProcessed->setValidity(false, true);
         std::memcpy(mgmDataProcessed->magIgrfModel.value, magIgrfModel, 3 * sizeof(double));
         mgmDataProcessed->magIgrfModel.setValid(gpsValid);
@@ -136,6 +132,10 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
   for (uint8_t i = 0; i < 3; i++) {
     mgmVecTot[i] = sensorFusionNumerator[i] / sensorFusionDenominator[i];
   }
+  if (VectorOperations<double>::norm(mgmVecTot, 3) != 0 and mgmDataProcessed->mgmVecTot.isValid()) {
+    lowPassFilter(mgmVecTot, mgmDataProcessed->mgmVecTot.value,
+                  mgmParameters->mgmVectorFilterWeight);
+  }
 
   //-----------------------Mgm Rate Computation ---------------------------------------------------
   double mgmVecTotDerivative[3] = {0.0, 0.0, 0.0};
@@ -210,63 +210,68 @@ void SensorProcessing::processSus(
   sunIjkModel[0] = cos(eclipticLongitude);
   sunIjkModel[1] = sin(eclipticLongitude) * cos(epsilon);
   sunIjkModel[2] = sin(eclipticLongitude) * sin(epsilon);
+
+  uint64_t susBrightness[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
   if (sus0valid) {
-    sus0valid = susConverter.checkSunSensorData(sus0Value);
+    susBrightness[0] = susConverter.checkSunSensorData(sus0Value);
   }
   if (sus1valid) {
-    sus1valid = susConverter.checkSunSensorData(sus1Value);
+    susBrightness[1] = susConverter.checkSunSensorData(sus1Value);
   }
   if (sus2valid) {
-    sus2valid = susConverter.checkSunSensorData(sus2Value);
+    susBrightness[2] = susConverter.checkSunSensorData(sus2Value);
   }
   if (sus3valid) {
-    sus3valid = susConverter.checkSunSensorData(sus3Value);
+    susBrightness[3] = susConverter.checkSunSensorData(sus3Value);
   }
   if (sus4valid) {
-    sus4valid = susConverter.checkSunSensorData(sus4Value);
+    susBrightness[4] = susConverter.checkSunSensorData(sus4Value);
   }
   if (sus5valid) {
-    sus5valid = susConverter.checkSunSensorData(sus5Value);
+    susBrightness[5] = susConverter.checkSunSensorData(sus5Value);
   }
   if (sus6valid) {
-    sus6valid = susConverter.checkSunSensorData(sus6Value);
+    susBrightness[6] = susConverter.checkSunSensorData(sus6Value);
   }
   if (sus7valid) {
-    sus7valid = susConverter.checkSunSensorData(sus7Value);
+    susBrightness[7] = susConverter.checkSunSensorData(sus7Value);
   }
   if (sus8valid) {
-    sus8valid = susConverter.checkSunSensorData(sus8Value);
+    susBrightness[8] = susConverter.checkSunSensorData(sus8Value);
   }
   if (sus9valid) {
-    sus9valid = susConverter.checkSunSensorData(sus9Value);
+    susBrightness[9] = susConverter.checkSunSensorData(sus9Value);
   }
   if (sus10valid) {
-    sus10valid = susConverter.checkSunSensorData(sus10Value);
+    susBrightness[10] = susConverter.checkSunSensorData(sus10Value);
   }
   if (sus11valid) {
-    sus11valid = susConverter.checkSunSensorData(sus11Value);
+    susBrightness[11] = susConverter.checkSunSensorData(sus11Value);
   }
 
-  if (!sus0valid && !sus1valid && !sus2valid && !sus3valid && !sus4valid && !sus5valid &&
+  bool susValid[12] = {sus0valid, sus1valid, sus2valid, sus3valid, sus4valid,  sus5valid,
-      !sus6valid && !sus7valid && !sus8valid && !sus9valid && !sus10valid && !sus11valid) {
+                       sus6valid, sus7valid, sus8valid, sus9valid, sus10valid, sus11valid};
+  bool allInvalid =
+      susConverter.checkValidity(susValid, susBrightness, susParameters->susBrightnessThreshold);
+
+  if (allInvalid) {
     {
       PoolReadGuard pg(susDataProcessed);
       if (pg.getReadResult() == returnvalue::OK) {
-        float zeroVec[3] = {0.0, 0.0, 0.0};
+        std::memcpy(susDataProcessed->sus0vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus0vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus1vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus1vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus2vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus2vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus3vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus3vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus4vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus4vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus5vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus5vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus6vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus6vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus7vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus7vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus8vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus8vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus9vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus9vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus10vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus10vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus11vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus11vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->susVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
-        std::memcpy(susDataProcessed->susVecTot.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->susVecTotDerivative.value, ZERO_VEC_D, 3 * sizeof(double));
-        std::memcpy(susDataProcessed->susVecTotDerivative.value, zeroVec, 3 * sizeof(float));
         susDataProcessed->setValidity(false, true);
         std::memcpy(susDataProcessed->sunIjkModel.value, sunIjkModel, 3 * sizeof(double));
         susDataProcessed->sunIjkModel.setValid(true);
@@ -274,122 +279,87 @@ void SensorProcessing::processSus(
     }
     return;
   }
-  // WARNING: NOT TRANSFORMED IN BODY FRAME YET
-  // Transformation into Geomtry Frame
-  float sus0VecBody[3] = {0, 0, 0}, sus1VecBody[3] = {0, 0, 0}, sus2VecBody[3] = {0, 0, 0},
-        sus3VecBody[3] = {0, 0, 0}, sus4VecBody[3] = {0, 0, 0}, sus5VecBody[3] = {0, 0, 0},
-        sus6VecBody[3] = {0, 0, 0}, sus7VecBody[3] = {0, 0, 0}, sus8VecBody[3] = {0, 0, 0},
-        sus9VecBody[3] = {0, 0, 0}, sus10VecBody[3] = {0, 0, 0}, sus11VecBody[3] = {0, 0, 0};
 
-  if (sus0valid) {
+  float susVecSensor[12][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0},
-    MatrixOperations<float>::multiply(
+                               {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-        susParameters->sus0orientationMatrix[0],
+  float susVecBody[12][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0},
-        susConverter.getSunVectorSensorFrame(sus0Value, susParameters->sus0coeffAlpha,
+                             {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-                                             susParameters->sus0coeffBeta),
-        sus0VecBody, 3, 3, 1);
-  }
-  if (sus1valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus1orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus1Value, susParameters->sus1coeffAlpha,
-                                             susParameters->sus1coeffBeta),
-        sus1VecBody, 3, 3, 1);
-  }
-  if (sus2valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus2orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus2Value, susParameters->sus2coeffAlpha,
-                                             susParameters->sus2coeffBeta),
-        sus2VecBody, 3, 3, 1);
-  }
-  if (sus3valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus3orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus3Value, susParameters->sus3coeffAlpha,
-                                             susParameters->sus3coeffBeta),
-        sus3VecBody, 3, 3, 1);
-  }
-  if (sus4valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus4orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus4Value, susParameters->sus4coeffAlpha,
-                                             susParameters->sus4coeffBeta),
-        sus4VecBody, 3, 3, 1);
-  }
-  if (sus5valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus5orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus5Value, susParameters->sus5coeffAlpha,
-                                             susParameters->sus5coeffBeta),
-        sus5VecBody, 3, 3, 1);
-  }
-  if (sus6valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus6orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus6Value, susParameters->sus6coeffAlpha,
-                                             susParameters->sus6coeffBeta),
-        sus6VecBody, 3, 3, 1);
-  }
-  if (sus7valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus7orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus7Value, susParameters->sus7coeffAlpha,
-                                             susParameters->sus7coeffBeta),
-        sus7VecBody, 3, 3, 1);
-  }
-  if (sus8valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus8orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus8Value, susParameters->sus8coeffAlpha,
-                                             susParameters->sus8coeffBeta),
-        sus8VecBody, 3, 3, 1);
-  }
-  if (sus9valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus9orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus9Value, susParameters->sus9coeffAlpha,
-                                             susParameters->sus9coeffBeta),
-        sus9VecBody, 3, 3, 1);
-  }
-  if (sus10valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus10orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus10Value, susParameters->sus10coeffAlpha,
-                                             susParameters->sus10coeffBeta),
-        sus10VecBody, 3, 3, 1);
-  }
-  if (sus11valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus11orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus11Value, susParameters->sus11coeffAlpha,
-                                             susParameters->sus11coeffBeta),
-        sus11VecBody, 3, 3, 1);
-  }
 
-  /* ------ Mean Value: susDirEst ------ */
+  if (susValid[0]) {
-  bool validIds[12] = {sus0valid, sus1valid, sus2valid, sus3valid, sus4valid,  sus5valid,
+    susConverter.calculateSunVector(susVecSensor[0], sus0Value);
-                       sus6valid, sus7valid, sus8valid, sus9valid, sus10valid, sus11valid};
+    MatrixOperations<float>::multiply(susParameters->sus0orientationMatrix[0], susVecSensor[0],
-  float susVecBody[3][12] = {{sus0VecBody[0], sus1VecBody[0], sus2VecBody[0], sus3VecBody[0],
+                                      susVecBody[0], 3, 3, 1);
-                              sus4VecBody[0], sus5VecBody[0], sus6VecBody[0], sus7VecBody[0],
+  }
-                              sus8VecBody[0], sus9VecBody[0], sus10VecBody[0], sus11VecBody[0]},
+  if (susValid[1]) {
-                             {sus0VecBody[1], sus1VecBody[1], sus2VecBody[1], sus3VecBody[1],
+    susConverter.calculateSunVector(susVecSensor[1], sus1Value);
-                              sus4VecBody[1], sus5VecBody[1], sus6VecBody[1], sus7VecBody[1],
+    MatrixOperations<float>::multiply(susParameters->sus1orientationMatrix[0], susVecSensor[1],
-                              sus8VecBody[1], sus9VecBody[1], sus10VecBody[1], sus11VecBody[1]},
+                                      susVecBody[1], 3, 3, 1);
-                             {sus0VecBody[2], sus1VecBody[2], sus2VecBody[2], sus3VecBody[2],
+  }
-                              sus4VecBody[2], sus5VecBody[2], sus6VecBody[2], sus7VecBody[2],
+  if (susValid[2]) {
-                              sus8VecBody[2], sus9VecBody[2], sus10VecBody[2], sus11VecBody[2]}};
+    susConverter.calculateSunVector(susVecSensor[2], sus2Value);
+    MatrixOperations<float>::multiply(susParameters->sus2orientationMatrix[0], susVecSensor[2],
+                                      susVecBody[2], 3, 3, 1);
+  }
+  if (susValid[3]) {
+    susConverter.calculateSunVector(susVecSensor[3], sus3Value);
+    MatrixOperations<float>::multiply(susParameters->sus3orientationMatrix[0], susVecSensor[3],
+                                      susVecBody[3], 3, 3, 1);
+  }
+  if (susValid[4]) {
+    susConverter.calculateSunVector(susVecSensor[4], sus4Value);
+    MatrixOperations<float>::multiply(susParameters->sus4orientationMatrix[0], susVecSensor[4],
+                                      susVecBody[4], 3, 3, 1);
+  }
+  if (susValid[5]) {
+    susConverter.calculateSunVector(susVecSensor[5], sus5Value);
+    MatrixOperations<float>::multiply(susParameters->sus5orientationMatrix[0], susVecSensor[5],
+                                      susVecBody[5], 3, 3, 1);
+  }
+  if (susValid[6]) {
+    susConverter.calculateSunVector(susVecSensor[6], sus6Value);
+    MatrixOperations<float>::multiply(susParameters->sus6orientationMatrix[0], susVecSensor[6],
+                                      susVecBody[6], 3, 3, 1);
+  }
+  if (susValid[7]) {
+    susConverter.calculateSunVector(susVecSensor[7], sus7Value);
+    MatrixOperations<float>::multiply(susParameters->sus7orientationMatrix[0], susVecSensor[7],
+                                      susVecBody[7], 3, 3, 1);
+  }
+  if (susValid[8]) {
+    susConverter.calculateSunVector(susVecSensor[8], sus8Value);
+    MatrixOperations<float>::multiply(susParameters->sus8orientationMatrix[0], susVecSensor[8],
+                                      susVecBody[8], 3, 3, 1);
+  }
+  if (susValid[9]) {
+    susConverter.calculateSunVector(susVecSensor[9], sus9Value);
+    MatrixOperations<float>::multiply(susParameters->sus9orientationMatrix[0], susVecSensor[9],
+                                      susVecBody[9], 3, 3, 1);
+  }
+  if (susValid[10]) {
+    susConverter.calculateSunVector(susVecSensor[10], sus10Value);
+    MatrixOperations<float>::multiply(susParameters->sus10orientationMatrix[0], susVecSensor[10],
+                                      susVecBody[10], 3, 3, 1);
+  }
+  if (susValid[11]) {
+    susConverter.calculateSunVector(susVecSensor[11], sus11Value);
+    MatrixOperations<float>::multiply(susParameters->sus11orientationMatrix[0], susVecSensor[11],
+                                      susVecBody[11], 3, 3, 1);
+  }
 
   double susMeanValue[3] = {0, 0, 0};
   for (uint8_t i = 0; i < 12; i++) {
-    if (validIds[i]) {
+    susMeanValue[0] += susVecBody[i][0];
-      susMeanValue[0] += susVecBody[0][i];
+    susMeanValue[1] += susVecBody[i][1];
-      susMeanValue[1] += susVecBody[1][i];
+    susMeanValue[2] += susVecBody[i][2];
-      susMeanValue[2] += susVecBody[2][i];
-    }
   }
   double susVecTot[3] = {0.0, 0.0, 0.0};
   VectorOperations<double>::normalize(susMeanValue, susVecTot, 3);
 
+  if (VectorOperations<double>::norm(susVecTot, 3) != 0 and susDataProcessed->susVecTot.isValid()) {
+    lowPassFilter(susVecTot, susDataProcessed->susVecTot.value,
+                  susParameters->susVectorFilterWeight);
+  }
+
   /* -------- Sun Derivatiative --------------------- */
 
   double susVecTotDerivative[3] = {0.0, 0.0, 0.0};
@@ -402,33 +372,38 @@ void SensorProcessing::processSus(
       susVecTotDerivativeValid = true;
     }
   }
+  if (VectorOperations<double>::norm(susVecTotDerivative, 3) != 0 and
+      susDataProcessed->susVecTotDerivative.isValid()) {
+    lowPassFilter(susVecTotDerivative, susDataProcessed->susVecTotDerivative.value,
+                  susParameters->susRateFilterWeight);
+  }
   timeOfSavedSusDirEst = timeOfSusMeasurement;
   {
     PoolReadGuard pg(susDataProcessed);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(susDataProcessed->sus0vec.value, sus0VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus0vec.value, susVecBody[0], 3 * sizeof(float));
       susDataProcessed->sus0vec.setValid(sus0valid);
-      std::memcpy(susDataProcessed->sus1vec.value, sus1VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus1vec.value, susVecBody[1], 3 * sizeof(float));
       susDataProcessed->sus1vec.setValid(sus1valid);
-      std::memcpy(susDataProcessed->sus2vec.value, sus2VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus2vec.value, susVecBody[2], 3 * sizeof(float));
       susDataProcessed->sus2vec.setValid(sus2valid);
-      std::memcpy(susDataProcessed->sus3vec.value, sus3VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus3vec.value, susVecBody[3], 3 * sizeof(float));
       susDataProcessed->sus3vec.setValid(sus3valid);
-      std::memcpy(susDataProcessed->sus4vec.value, sus4VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus4vec.value, susVecBody[4], 3 * sizeof(float));
       susDataProcessed->sus4vec.setValid(sus4valid);
-      std::memcpy(susDataProcessed->sus5vec.value, sus5VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus5vec.value, susVecBody[5], 3 * sizeof(float));
       susDataProcessed->sus5vec.setValid(sus5valid);
-      std::memcpy(susDataProcessed->sus6vec.value, sus6VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus6vec.value, susVecBody[6], 3 * sizeof(float));
       susDataProcessed->sus6vec.setValid(sus6valid);
-      std::memcpy(susDataProcessed->sus7vec.value, sus7VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus7vec.value, susVecBody[7], 3 * sizeof(float));
       susDataProcessed->sus7vec.setValid(sus7valid);
-      std::memcpy(susDataProcessed->sus8vec.value, sus8VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus8vec.value, susVecBody[8], 3 * sizeof(float));
       susDataProcessed->sus8vec.setValid(sus8valid);
-      std::memcpy(susDataProcessed->sus9vec.value, sus9VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus9vec.value, susVecBody[9], 3 * sizeof(float));
       susDataProcessed->sus9vec.setValid(sus9valid);
-      std::memcpy(susDataProcessed->sus10vec.value, sus10VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus10vec.value, susVecBody[10], 3 * sizeof(float));
       susDataProcessed->sus10vec.setValid(sus10valid);
-      std::memcpy(susDataProcessed->sus11vec.value, sus11VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus11vec.value, susVecBody[11], 3 * sizeof(float));
       susDataProcessed->sus11vec.setValid(sus11valid);
       std::memcpy(susDataProcessed->susVecTot.value, susVecTot, 3 * sizeof(double));
       susDataProcessed->susVecTot.setValid(true);
@@ -459,12 +434,11 @@ void SensorProcessing::processGyr(
     {
       PoolReadGuard pg(gyrDataProcessed);
       if (pg.getReadResult() == returnvalue::OK) {
-        double zeroVector[3] = {0.0, 0.0, 0.0};
+        std::memcpy(gyrDataProcessed->gyr0vec.value, ZERO_VEC_D, 3 * sizeof(double));
-        std::memcpy(gyrDataProcessed->gyr0vec.value, zeroVector, 3 * sizeof(double));
+        std::memcpy(gyrDataProcessed->gyr1vec.value, ZERO_VEC_D, 3 * sizeof(double));
-        std::memcpy(gyrDataProcessed->gyr1vec.value, zeroVector, 3 * sizeof(double));
+        std::memcpy(gyrDataProcessed->gyr2vec.value, ZERO_VEC_D, 3 * sizeof(double));
-        std::memcpy(gyrDataProcessed->gyr2vec.value, zeroVector, 3 * sizeof(double));
+        std::memcpy(gyrDataProcessed->gyr3vec.value, ZERO_VEC_D, 3 * sizeof(double));
-        std::memcpy(gyrDataProcessed->gyr3vec.value, zeroVector, 3 * sizeof(double));
+        std::memcpy(gyrDataProcessed->gyrVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
-        std::memcpy(gyrDataProcessed->gyrVecTot.value, zeroVector, 3 * sizeof(double));
         gyrDataProcessed->setValidity(false, true);
       }
     }

mission/controller/acs/SensorProcessing.h

@@ -23,6 +23,9 @@ class SensorProcessing {
                acsctrl::GpsDataProcessed *gpsDataProcessed,
                const AcsParameters *acsParameters);  // Will call protected functions
  private:
+  static constexpr float ZERO_VEC_F[3] = {0, 0, 0};
+  static constexpr double ZERO_VEC_D[3] = {0, 0, 0};
+
  protected:
   // short description needed for every function
   void processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value, bool mgm1valid,

mission/controller/acs/SusConverter.cpp

@@ -1,121 +1,64 @@
 #include "SusConverter.h"
 
-#include <fsfw/datapoollocal/LocalPoolVariable.h>
-#include <fsfw/datapoollocal/LocalPoolVector.h>
-#include <fsfw/globalfunctions/math/VectorOperations.h>
 #include <math.h>
 
-#include <iostream>
+uint64_t SusConverter::checkSunSensorData(const uint16_t susChannel[6]) {
-
+  if (susChannel[0] <= SUS_CHANNEL_VALUE_LOW || susChannel[0] > SUS_CHANNEL_VALUE_HIGH ||
-bool SusConverter::checkSunSensorData(const uint16_t susChannel[6]) {
-  if (susChannel[0] <= susChannelValueCheckLow || susChannel[0] > susChannelValueCheckHigh ||
       susChannel[0] > susChannel[GNDREF]) {
-    return false;
+    return 0;
   }
-  if (susChannel[1] <= susChannelValueCheckLow || susChannel[1] > susChannelValueCheckHigh ||
+  if (susChannel[1] <= SUS_CHANNEL_VALUE_LOW || susChannel[1] > SUS_CHANNEL_VALUE_HIGH ||
       susChannel[1] > susChannel[GNDREF]) {
-    return false;
+    return 0;
   };
-  if (susChannel[2] <= susChannelValueCheckLow || susChannel[2] > susChannelValueCheckHigh ||
+  if (susChannel[2] <= SUS_CHANNEL_VALUE_LOW || susChannel[2] > SUS_CHANNEL_VALUE_HIGH ||
       susChannel[2] > susChannel[GNDREF]) {
-    return false;
+    return 0;
   };
-  if (susChannel[3] <= susChannelValueCheckLow || susChannel[3] > susChannelValueCheckHigh ||
+  if (susChannel[3] <= SUS_CHANNEL_VALUE_LOW || susChannel[3] > SUS_CHANNEL_VALUE_HIGH ||
       susChannel[3] > susChannel[GNDREF]) {
-    return false;
+    return 0;
   };
 
-  susChannelValueSum =
+  uint64_t susChannelValueSum =
       4 * susChannel[GNDREF] - (susChannel[0] + susChannel[1] + susChannel[2] + susChannel[3]);
-  if ((susChannelValueSum < susChannelValueSumHigh) &&
+  if (susChannelValueSum < SUS_ALBEDO_CHECK) {
-      (susChannelValueSum > susChannelValueSumLow)) {
+    return 0;
-    return false;
   };
+  return susChannelValueSum;
+}
+
+bool SusConverter::checkValidity(bool* susValid, const uint64_t brightness[12],
+                                 const float threshold) {
+  uint8_t maxBrightness = 0;
+  VectorOperations<uint64_t>::maxValue(brightness, 12, &maxBrightness);
+  if (brightness[maxBrightness] == 0) {
     return true;
   }
+  for (uint8_t idx = 0; idx < 12; idx++) {
+    if ((idx != maxBrightness) and (brightness[idx] < threshold * brightness[maxBrightness])) {
+      susValid[idx] = false;
+      continue;
+    }
+    susValid[idx] = true;
+  }
+  return false;
+}
 
-void SusConverter::calcAngle(const uint16_t susChannel[6]) {
+void SusConverter::calculateSunVector(float* sunVectorSensorFrame, const uint16_t susChannel[6]) {
-  float xout, yout;
-  float s = 0.03;  // s=[mm] gap between diodes
-  uint8_t d = 5;   // d=[mm] edge length of the quadratic aperture
-  uint8_t h = 1;   // h=[mm] distance between diodes and aperture
-  int ch0, ch1, ch2, ch3;
   // Substract measurement values from GNDREF zero current threshold
-  ch0 = susChannel[GNDREF] - susChannel[0];
+  float ch0 = susChannel[GNDREF] - susChannel[0];
-  ch1 = susChannel[GNDREF] - susChannel[1];
+  float ch1 = susChannel[GNDREF] - susChannel[1];
-  ch2 = susChannel[GNDREF] - susChannel[2];
+  float ch2 = susChannel[GNDREF] - susChannel[2];
-  ch3 = susChannel[GNDREF] - susChannel[3];
+  float ch3 = susChannel[GNDREF] - susChannel[3];
 
   // Calculation of x and y
-  xout = ((d - s) / 2) * (ch2 - ch3 - ch0 + ch1) / (ch0 + ch1 + ch2 + ch3);  //[mm]
+  float xout = ((D - S) / 2) * (ch2 - ch3 - ch0 + ch1) / (ch0 + ch1 + ch2 + ch3);  //[mm]
-  yout = ((d - s) / 2) * (ch2 + ch3 - ch0 - ch1) / (ch0 + ch1 + ch2 + ch3);  //[mm]
+  float yout = ((D - S) / 2) * (ch2 + ch3 - ch0 - ch1) / (ch0 + ch1 + ch2 + ch3);  //[mm]
 
   // Calculation of the angles
-  alphaBetaRaw[0] = atan2(xout, h) * (180 / M_PI);  //[°]
+  sunVectorSensorFrame[0] = -xout;
-  alphaBetaRaw[1] = atan2(yout, h) * (180 / M_PI);  //[°]
+  sunVectorSensorFrame[1] = -yout;
-}
+  sunVectorSensorFrame[2] = H;
-
+  VectorOperations<float>::normalize(sunVectorSensorFrame, sunVectorSensorFrame, 3);
-void SusConverter::calibration(const float coeffAlpha[9][10], const float coeffBeta[9][10]) {
-  uint8_t index, k, l;
-
-  // while loop iterates above all calibration cells to use the different calibration functions in
-  // each cell
-  k = 0;
-  while (k < 3) {
-    k++;
-    l = 0;
-    while (l < 3) {
-      l++;
-      // if-condition to check in which cell the data point has to be
-      if ((alphaBetaRaw[0] > ((completeCellWidth * ((k - 1) / 3.)) - halfCellWidth) &&
-           alphaBetaRaw[0] < ((completeCellWidth * (k / 3.)) - halfCellWidth)) &&
-          (alphaBetaRaw[1] > ((completeCellWidth * ((l - 1) / 3.)) - halfCellWidth) &&
-           alphaBetaRaw[1] < ((completeCellWidth * (l / 3.)) - halfCellWidth))) {
-        index = (3 * (k - 1) + l) - 1;  // calculate the index of the datapoint for the right cell
-        alphaBetaCalibrated[0] =
-            coeffAlpha[index][0] + coeffAlpha[index][1] * alphaBetaRaw[0] +
-            coeffAlpha[index][2] * alphaBetaRaw[1] +
-            coeffAlpha[index][3] * alphaBetaRaw[0] * alphaBetaRaw[0] +
-            coeffAlpha[index][4] * alphaBetaRaw[0] * alphaBetaRaw[1] +
-            coeffAlpha[index][5] * alphaBetaRaw[1] * alphaBetaRaw[1] +
-            coeffAlpha[index][6] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[0] +
-            coeffAlpha[index][7] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[1] +
-            coeffAlpha[index][8] * alphaBetaRaw[0] * alphaBetaRaw[1] * alphaBetaRaw[1] +
-            coeffAlpha[index][9] * alphaBetaRaw[1] * alphaBetaRaw[1] * alphaBetaRaw[1];  //[°]
-        alphaBetaCalibrated[1] =
-            coeffBeta[index][0] + coeffBeta[index][1] * alphaBetaRaw[0] +
-            coeffBeta[index][2] * alphaBetaRaw[1] +
-            coeffBeta[index][3] * alphaBetaRaw[0] * alphaBetaRaw[0] +
-            coeffBeta[index][4] * alphaBetaRaw[0] * alphaBetaRaw[1] +
-            coeffBeta[index][5] * alphaBetaRaw[1] * alphaBetaRaw[1] +
-            coeffBeta[index][6] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[0] +
-            coeffBeta[index][7] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[1] +
-            coeffBeta[index][8] * alphaBetaRaw[0] * alphaBetaRaw[1] * alphaBetaRaw[1] +
-            coeffBeta[index][9] * alphaBetaRaw[1] * alphaBetaRaw[1] * alphaBetaRaw[1];  //[°]
-      }
-    }
-  }
-}
-
-float* SusConverter::calculateSunVector() {
-  // Calculate the normalized Sun Vector
-  sunVectorSensorFrame[0] = -(tan(alphaBetaCalibrated[0] * (M_PI / 180)) /
-                              (sqrt((powf(tan(alphaBetaCalibrated[0] * (M_PI / 180)), 2)) +
-                                    powf(tan((alphaBetaCalibrated[1] * (M_PI / 180))), 2) + (1))));
-  sunVectorSensorFrame[1] = -(tan(alphaBetaCalibrated[1] * (M_PI / 180)) /
-                              (sqrt(powf((tan(alphaBetaCalibrated[0] * (M_PI / 180))), 2) +
-                                    powf(tan((alphaBetaCalibrated[1] * (M_PI / 180))), 2) + (1))));
-  sunVectorSensorFrame[2] =
-      -(-1 / (sqrt(powf((tan(alphaBetaCalibrated[0] * (M_PI / 180))), 2) +
-                   powf((tan(alphaBetaCalibrated[1] * (M_PI / 180))), 2) + (1))));
-
-  return sunVectorSensorFrame;
-}
-
-float* SusConverter::getSunVectorSensorFrame(const uint16_t susChannel[6],
-                                             const float coeffAlpha[9][10],
-                                             const float coeffBeta[9][10]) {
-  calcAngle(susChannel);
-  calibration(coeffAlpha, coeffBeta);
-  return calculateSunVector();
 }

mission/controller/acs/SusConverter.h

@@ -1,8 +1,4 @@
-#ifndef MISSION_CONTROLLER_ACS_SUSCONVERTER_H_
+#include <fsfw/globalfunctions/math/VectorOperations.h>
-#define MISSION_CONTROLLER_ACS_SUSCONVERTER_H_
-
-#include <fsfw/datapoollocal/LocalPoolVector.h>
-#include <stdint.h>
 
 #include "AcsParameters.h"
 
@@ -10,41 +6,26 @@ class SusConverter {
  public:
   SusConverter() {}
 
-  bool checkSunSensorData(const uint16_t susChannel[6]);
+  uint64_t checkSunSensorData(const uint16_t susChannel[6]);
-
+  bool checkValidity(bool* susValid, const uint64_t brightness[12], const float threshold);
-  void calcAngle(const uint16_t susChannel[6]);
+  void calculateSunVector(float* sunVectorSensorFrame, const uint16_t susChannel[6]);
-  void calibration(const float coeffAlpha[9][10], const float coeffBeta[9][10]);
-  float* calculateSunVector();
-
-  float* getSunVectorSensorFrame(const uint16_t susChannel[6], const float coeffAlpha[9][10],
-                                 const float coeffBeta[9][10]);
 
  private:
-  float alphaBetaRaw[2];          //[°]
-  float alphaBetaCalibrated[2];   //[°]
-  float sunVectorSensorFrame[3];  //[-]
-
-  bool validFlag[12] = {returnvalue::OK, returnvalue::OK, returnvalue::OK, returnvalue::OK,
-                        returnvalue::OK, returnvalue::OK, returnvalue::OK, returnvalue::OK,
-                        returnvalue::OK, returnvalue::OK, returnvalue::OK, returnvalue::OK};
-
   static const uint8_t GNDREF = 4;
-  uint16_t susChannelValueCheckHigh =
+  // =2^12[Bit]high borderline for the channel values of one sun sensor for validity Check
-      4096;  //=2^12[Bit]high borderline for the channel values of one sun sensor for validity Check
+  static constexpr uint16_t SUS_CHANNEL_VALUE_HIGH = 4096;
-  uint8_t susChannelValueCheckLow =
+  // [Bit]low borderline for the channel values of one sun sensor for validity Check
-      0;  //[Bit]low borderline for the channel values of one sun sensor for validity Check
+  static constexpr uint8_t SUS_CHANNEL_VALUE_LOW = 0;
-  uint16_t susChannelValueSumHigh =
+  // 4096[Bit]high borderline for check if the sun sensor is illuminated by the sun or by the
-      100;  // 4096[Bit]high borderline for check if the sun sensor is illuminated by the sun or by
+  // reflection of sunlight from the moon/earth
-            // the reflection of sunlight from the moon/earth
+  static constexpr uint16_t SUS_ALBEDO_CHECK = 1000;
-  uint8_t susChannelValueSumLow =
+  // [Bit]low borderline for check if the sun sensor is illuminated by the sun or by the  reflection
-      0;  //[Bit]low borderline for check if the sun sensor is illuminated
+  // of sunlight from the moon/earth
-          // by the sun or by the reflection of sunlight from the moon/earth
+  static constexpr uint8_t SUS_CHANNEL_SUM_LOW = 0;
-  uint8_t completeCellWidth = 140,
+
-          halfCellWidth = 70;  //[°] Width of the calibration cells --> necessary for checking in
+  static constexpr float S = 0.03;  // S=[mm] gap between diodes
-                               // which cell a data point should be
+  static constexpr float D = 5;     // D=[mm] edge length of the quadratic aperture
-  uint16_t susChannelValueSum = 0;
+  static constexpr float H = 2.5;   // H=[mm] distance between diodes and aperture
 
   AcsParameters acsParameters;
 };
-
-#endif /* MISSION_CONTROLLER_ACS_SUSCONVERTER_H_ */

mission/controller/acs/control/SafeCtrl.cpp

@@ -9,23 +9,39 @@ SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameter
 
 SafeCtrl::~SafeCtrl() {}
 
-acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
+acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(
-                                                 const bool satRotRateValid, const bool sunDirValid,
+    const bool magFieldValid, const bool mekfValid, const bool satRotRateValid,
-                                                 const uint8_t mekfEnabled,
+    const bool sunDirValid, const bool fusedRateSplitValid, const bool fusedRateTotalValid,
-                                                 const uint8_t dampingEnabled) {
+    const uint8_t mekfEnabled, const uint8_t gyrEnabled, const uint8_t dampingEnabled) {
   if (not magFieldValid) {
     return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
   } else if (mekfEnabled and mekfValid) {
-    return acs::SafeModeStrategy::SAFECTRL_ACTIVE_MEKF;
+    return acs::SafeModeStrategy::SAFECTRL_MEKF;
-  } else if (satRotRateValid and sunDirValid) {
+  } else if (sunDirValid) {
-    return acs::SafeModeStrategy::SAFECTRL_WITHOUT_MEKF;
+    if (gyrEnabled and satRotRateValid) {
-  } else if (dampingEnabled and satRotRateValid and not sunDirValid) {
+      return acs::SafeModeStrategy::SAFECTRL_GYR;
-    return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING;
+    } else if (not gyrEnabled and fusedRateSplitValid) {
-  } else if (not dampingEnabled and satRotRateValid and not sunDirValid) {
+      return acs::SafeModeStrategy::SAFECTRL_SUSMGM;
+    } else {
+      return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
+    }
+  } else if (not sunDirValid) {
+    if (dampingEnabled) {
+      if (gyrEnabled and satRotRateValid) {
+        return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR;
+      } else if (not gyrEnabled and satRotRateValid and fusedRateTotalValid) {
+        return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM;
+      } else {
+        return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
+      }
+    } else if (not dampingEnabled and satRotRateValid) {
       return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING;
     } else {
       return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
     }
+  } else {
+    return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
+  }
 }
 
 void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB,
@@ -43,8 +59,7 @@ void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB,
   errorAngle = acos(dotSun);
 
   splitRotationalRate(satRotRateB, sunDirB);
-  calculateRotationalRateTorque(sunDirB, sunDirRefB, errorAngle,
+  calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelMekf,
-                                acsParameters->safeModeControllerParameters.k_parallelMekf,
                                 acsParameters->safeModeControllerParameters.k_orthoMekf);
   calculateAngleErrorTorque(sunDirB, sunDirRefB,
                             acsParameters->safeModeControllerParameters.k_alignMekf);
@@ -57,9 +72,8 @@ void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB,
   calculateMagneticMoment(magMomB);
 }
 
-void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
+void SafeCtrl::safeGyr(const double *magFieldB, const double *satRotRateB, const double *sunDirB,
-                           const double *sunDirB, const double *sunDirRefB, double *magMomB,
+                       const double *sunDirRefB, double *magMomB, double &errorAngle) {
-                           double &errorAngle) {
   // convert magFieldB from uT to T
   VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
 
@@ -68,11 +82,10 @@ void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
   errorAngle = acos(dotSun);
 
   splitRotationalRate(satRotRateB, sunDirB);
-  calculateRotationalRateTorque(sunDirB, sunDirRefB, errorAngle,
+  calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelGyr,
-                                acsParameters->safeModeControllerParameters.k_parallelNonMekf,
+                                acsParameters->safeModeControllerParameters.k_orthoGyr);
-                                acsParameters->safeModeControllerParameters.k_orthoNonMekf);
   calculateAngleErrorTorque(sunDirB, sunDirRefB,
-                            acsParameters->safeModeControllerParameters.k_alignNonMekf);
+                            acsParameters->safeModeControllerParameters.k_alignGyr);
 
   // sum of all torques
   for (uint8_t i = 0; i < 3; i++) {
@@ -82,7 +95,32 @@ void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
   calculateMagneticMoment(magMomB);
 }
 
-void SafeCtrl::safeRateDamping(const double *magFieldB, const double *satRotRateB,
+void SafeCtrl::safeSusMgm(const double *magFieldB, const double *rotRateParallelB,
+                          const double *rotRateOrthogonalB, const double *sunDirB,
+                          const double *sunDirRefB, double *magMomB, double &errorAngle) {
+  // convert magFieldB from uT to T
+  VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
+
+  // calculate error angle between sunDirRef and sunDir
+  double dotSun = VectorOperations<double>::dot(sunDirRefB, sunDirB);
+  errorAngle = acos(dotSun);
+
+  std::memcpy(satRotRateParallelB, rotRateParallelB, sizeof(satRotRateParallelB));
+  std::memcpy(satRotRateOrthogonalB, rotRateOrthogonalB, sizeof(satRotRateOrthogonalB));
+  calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelSusMgm,
+                                acsParameters->safeModeControllerParameters.k_orthoSusMgm);
+  calculateAngleErrorTorque(sunDirB, sunDirRefB,
+                            acsParameters->safeModeControllerParameters.k_alignSusMgm);
+
+  // sum of all torques
+  for (uint8_t i = 0; i < 3; i++) {
+    cmdTorque[i] = cmdAlign[i] + cmdOrtho[i] + cmdParallel[i];
+  }
+
+  calculateMagneticMoment(magMomB);
+}
+
+void SafeCtrl::safeRateDampingGyr(const double *magFieldB, const double *satRotRateB,
                                   const double *sunDirRefB, double *magMomB, double &errorAngle) {
   // convert magFieldB from uT to T
   VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
@@ -91,9 +129,28 @@ void SafeCtrl::safeRateDamping(const double *magFieldB, const double *satRotRate
   errorAngle = NAN;
 
   splitRotationalRate(satRotRateB, sunDirRefB);
-  calculateRotationalRateTorque(sunDirRefB, sunDirRefB, errorAngle,
+  calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelGyr,
-                                acsParameters->safeModeControllerParameters.k_parallelNonMekf,
+                                acsParameters->safeModeControllerParameters.k_orthoGyr);
-                                acsParameters->safeModeControllerParameters.k_orthoNonMekf);
+
+  // sum of all torques
+  VectorOperations<double>::add(cmdParallel, cmdOrtho, cmdTorque, 3);
+
+  // calculate magnetic moment to command
+  calculateMagneticMoment(magMomB);
+}
+
+void SafeCtrl::safeRateDampingSusMgm(const double *magFieldB, const double *satRotRateB,
+                                     const double *sunDirRefB, double *magMomB,
+                                     double &errorAngle) {
+  // convert magFieldB from uT to T
+  VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
+
+  // no error angle available for eclipse
+  errorAngle = NAN;
+
+  splitRotationalRate(satRotRateB, sunDirRefB);
+  calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelSusMgm,
+                                acsParameters->safeModeControllerParameters.k_orthoSusMgm);
 
   // sum of all torques
   VectorOperations<double>::add(cmdParallel, cmdOrtho, cmdTorque, 3);
@@ -110,9 +167,7 @@ void SafeCtrl::splitRotationalRate(const double *satRotRateB, const double *sunD
   VectorOperations<double>::subtract(satRotRateB, satRotRateParallelB, satRotRateOrthogonalB, 3);
 }
 
-void SafeCtrl::calculateRotationalRateTorque(const double *sunDirB, const double *sunDirRefB,
+void SafeCtrl::calculateRotationalRateTorque(const double gainParallel, const double gainOrtho) {
-                                             double &errorAngle, const double gainParallel,
-                                             const double gainOrtho) {
   // calculate torque for parallel rotational rate
   VectorOperations<double>::mulScalar(satRotRateParallelB, -gainParallel, cmdParallel, 3);
 

mission/controller/acs/control/SafeCtrl.h

@@ -14,23 +14,34 @@ class SafeCtrl {
 
   acs::SafeModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
                                          const bool satRotRateValid, const bool sunDirValid,
-                                         const uint8_t mekfEnabled, const uint8_t dampingEnabled);
+                                         const bool fusedRateSplitValid,
+                                         const bool fusedRateTotalValid, const uint8_t mekfEnabled,
+                                         const uint8_t gyrEnabled, const uint8_t dampingEnabled);
 
   void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI,
                 const double *quatBI, const double *sunDirRefB, double *magMomB,
                 double &errorAngle);
 
-  void safeNonMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirB,
+  void safeGyr(const double *magFieldB, const double *satRotRateB, const double *sunDirB,
                const double *sunDirRefB, double *magMomB, double &errorAngle);
 
-  void safeRateDamping(const double *magFieldB, const double *satRotRateB, const double *sunDirRefB,
+  void safeSusMgm(const double *magFieldB, const double *rotRateParallelB,
+                  const double *rotRateOrthogonalB, const double *sunDirB, const double *sunDirRefB,
                   double *magMomB, double &errorAngle);
 
+  void safeRateDampingGyr(const double *magFieldB, const double *satRotRateB,
+                          const double *sunDirRefB, double *magMomB, double &errorAngle);
+
+  void safeRateDampingSusMgm(const double *magFieldB, const double *satRotRateB,
+                             const double *sunDirRefB, double *magMomB, double &errorAngle);
+
   void splitRotationalRate(const double *satRotRateB, const double *sunDirB);
 
-  void calculateRotationalRateTorque(const double *sunDirB, const double *sunDirRefB,
+  void calculateRotationalRates(const double *magFieldB, const double *magRateB,
-                                     double &errorAngle, const double gainParallel,
+                                const double *sunDirB, const double *sunRateB,
-                                     const double gainOrtho);
+                                double *fusedRotRate);
+
+  void calculateRotationalRateTorque(const double gainParallel, const double gainOrtho);
 
   void calculateAngleErrorTorque(const double *sunDirB, const double *sunDirRefB,
                                  const double gainAlign);

mission/controller/controllerdefinitions/AcsCtrlDefinitions.h

@@ -18,7 +18,8 @@ enum SetIds : uint32_t {
   GPS_PROCESSED_DATA,
   MEKF_DATA,
   CTRL_VAL_DATA,
-  ACTUATOR_CMD_DATA
+  ACTUATOR_CMD_DATA,
+  FUSED_ROTATION_RATE_DATA,
 };
 
 enum PoolIds : lp_id_t {
@@ -103,6 +104,10 @@ enum PoolIds : lp_id_t {
   RW_TARGET_TORQUE,
   RW_TARGET_SPEED,
   MTQ_TARGET_DIPOLE,
+  // Fused Rotation Rate
+  ROT_RATE_ORTHOGONAL,
+  ROT_RATE_PARALLEL,
+  ROT_RATE_TOTAL,
 };
 
 static constexpr uint8_t MGM_SET_RAW_ENTRIES = 6;
@@ -115,6 +120,7 @@ static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 5;
 static constexpr uint8_t MEKF_SET_ENTRIES = 3;
 static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 5;
 static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
+static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 3;
 
 /**
  * @brief   Raw MGM sensor data. Includes the IMTQ sensor data and actuator status.
@@ -273,6 +279,19 @@ class ActuatorCmdData : public StaticLocalDataSet<ACT_CMD_SET_ENTRIES> {
  private:
 };
 
+class FusedRotRateData : public StaticLocalDataSet<FUSED_ROT_RATE_SET_ENTRIES> {
+ public:
+  FusedRotRateData(HasLocalDataPoolIF* hkOwner)
+      : StaticLocalDataSet(hkOwner, FUSED_ROTATION_RATE_DATA) {}
+
+  lp_vec_t<double, 3> rotRateOrthogonal =
+      lp_vec_t<double, 3>(sid.objectId, ROT_RATE_ORTHOGONAL, this);
+  lp_vec_t<double, 3> rotRateParallel = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_PARALLEL, this);
+  lp_vec_t<double, 3> rotRateTotal = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOTAL, this);
+
+ private:
+};
+
 }  // namespace acsctrl
 
 #endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_ */

mission/controller/tcsDefs.h

@@ -9,6 +9,85 @@
 
 namespace tcsCtrl {
 
+/**
+ * NOP Limit: Hard limit for device, usually from datasheet. Device damage is possible lif NOP limit
+ * is exceeded.
+ * OP Limit: Soft limit. Device should be switched off or TCS controller should take action if the
+ * limit is exceeded to avoid reaching NOP limit
+ */
+struct TempLimits {
+  TempLimits(float nopLowerLimit, float opLowerLimit, float cutOffLimit, float opUpperLimit,
+             float nopUpperLimit)
+      : opLowerLimit(opLowerLimit),
+        opUpperLimit(opUpperLimit),
+        cutOffLimit(cutOffLimit),
+        nopLowerLimit(nopLowerLimit),
+        nopUpperLimit(nopUpperLimit) {}
+  float opLowerLimit;
+  float opUpperLimit;
+  float cutOffLimit;
+  float nopLowerLimit;
+  float nopUpperLimit;
+};
+
+/**
+ * Abstraction for the state of a single thermal component
+ */
+struct ThermalState {
+  uint8_t noSensorAvailableCounter;
+  // Which sensor is used for this component?
+  uint8_t sensorIndex = 0;
+  // Is heating on for that thermal module?
+  bool heating = false;
+  // Which switch is being used for heating the component
+  heater::Switch heaterSwitch = heater::Switch::HEATER_NONE;
+  // Heater start time and end times as UNIX seconds. Please note that these times will be updated
+  // when a switch command is sent, with no guarantess that the heater actually went on.
+  uint32_t heaterStartTime = 0;
+  uint32_t heaterEndTime = 0;
+};
+
+/**
+ * Abstraction for the state of a single heater.
+ */
+struct HeaterState {
+  bool switchTransition = false;
+  heater::SwitchState target = heater::SwitchState::OFF;
+  uint8_t heaterSwitchControlCycles = 0;
+  bool trackHeaterMaxBurnTime = false;
+  Countdown heaterOnMaxBurnTime;
+};
+
+using HeaterSwitchStates = std::array<heater::SwitchState, heater::NUMBER_OF_SWITCHES>;
+
+enum ThermalComponents : uint8_t {
+  NONE = 0,
+  ACS_BOARD = 1,
+  MGT = 2,
+  RW = 3,
+  STR = 4,
+  IF_BOARD = 5,
+  TCS_BOARD = 6,
+  OBC = 7,
+  LEGACY_OBCIF_BOARD = 8,
+  SBAND_TRANSCEIVER = 9,
+  PCDUP60_BOARD = 10,
+  PCDUACU = 11,
+  PCDUPDU = 12,
+  PLPCDU_BOARD = 13,
+  PLOCMISSION_BOARD = 14,
+  PLOCPROCESSING_BOARD = 15,
+  DAC = 16,
+  CAMERA = 17,
+  DRO = 18,
+  X8 = 19,
+  HPA = 20,
+  TX = 21,
+  MPA = 22,
+  SCEX_BOARD = 23,
+  NUM_THERMAL_COMPONENTS
+};
+
 static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_CONTROLLER;
 static constexpr Event NO_VALID_SENSOR_TEMPERATURE = MAKE_EVENT(0, severity::MEDIUM);
 static constexpr Event NO_HEALTHY_HEATER_AVAILABLE = MAKE_EVENT(1, severity::MEDIUM);
@@ -18,6 +97,12 @@ static constexpr Event CAMERA_OVERHEATING = MAKE_EVENT(5, severity::HIGH);
 static constexpr Event PCDU_SYSTEM_OVERHEATING = MAKE_EVENT(6, severity::HIGH);
 static constexpr Event HEATER_NOT_OFF_FOR_OFF_MODE = MAKE_EVENT(7, severity::MEDIUM);
 static constexpr Event MGT_OVERHEATING = MAKE_EVENT(8, severity::HIGH);
+//! [EXPORT] : [COMMENT] P1: Module index. P2: Heater index
+static constexpr Event TCS_SWITCHING_HEATER_ON = MAKE_EVENT(9, severity::INFO);
+//! [EXPORT] : [COMMENT] P1: Module index. P2: Heater index
+static constexpr Event TCS_SWITCHING_HEATER_OFF = MAKE_EVENT(10, severity::INFO);
+//! [EXPORT] : [COMMENT] P1: Heater index. P2: Maximum burn time for heater.
+static constexpr Event TCS_HEATER_MAX_BURN_TIME_REACHED = MAKE_EVENT(11, severity::MEDIUM);
 
 enum SetId : uint32_t {
   SENSOR_TEMPERATURES = 0,
@@ -25,6 +110,7 @@ enum SetId : uint32_t {
   SUS_TEMPERATURES = 2,
   COMPONENT_TEMPERATURES = 3,
   HEATER_SET = 4,
+  TCS_CTRL_INFO = 5
 };
 
 enum PoolIds : lp_id_t {
@@ -92,7 +178,13 @@ enum PoolIds : lp_id_t {
   TEMP_ADC_PAYLOAD_PCDU,
 
   HEATER_SWITCH_LIST,
-  HEATER_CURRENT
+  HEATER_CURRENT,
+
+  HEATER_ON_FOR_COMPONENT_VEC,
+  SENSOR_USED_FOR_TCS_CTRL,
+  HEATER_IDX_USED_FOR_TCS_CTRL,
+  HEATER_START_TIME,
+  HEATER_END_TIME
 };
 
 static const uint8_t ENTRIES_SENSOR_TEMPERATURE_SET = 25;
@@ -232,6 +324,29 @@ class HeaterInfo : public StaticLocalDataSet<3> {
   lp_var_t<int16_t> heaterCurrent = lp_var_t<int16_t>(sid.objectId, PoolIds::HEATER_CURRENT, this);
 };
 
+class TcsCtrlInfo : public StaticLocalDataSet<6> {
+ public:
+  explicit TcsCtrlInfo(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TCS_CTRL_INFO) {}
+
+  explicit TcsCtrlInfo(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TCS_CTRL_INFO)) {}
+
+  lp_vec_t<uint8_t, tcsCtrl::NUM_THERMAL_COMPONENTS> heatingOnVec =
+      lp_vec_t<uint8_t, tcsCtrl::NUM_THERMAL_COMPONENTS>(
+          sid.objectId, PoolIds::HEATER_ON_FOR_COMPONENT_VEC, this);
+  lp_vec_t<uint8_t, tcsCtrl::NUM_THERMAL_COMPONENTS> sensorIdxUsedForTcsCtrl =
+      lp_vec_t<uint8_t, tcsCtrl::NUM_THERMAL_COMPONENTS>(sid.objectId,
+                                                         PoolIds::SENSOR_USED_FOR_TCS_CTRL, this);
+  lp_vec_t<uint8_t, tcsCtrl::NUM_THERMAL_COMPONENTS> heaterSwitchIdx =
+      lp_vec_t<uint8_t, tcsCtrl::NUM_THERMAL_COMPONENTS>(
+          sid.objectId, PoolIds::HEATER_IDX_USED_FOR_TCS_CTRL, this);
+  lp_vec_t<uint32_t, tcsCtrl::NUM_THERMAL_COMPONENTS> heaterStartTimes =
+      lp_vec_t<uint32_t, tcsCtrl::NUM_THERMAL_COMPONENTS>(sid.objectId, PoolIds::HEATER_START_TIME,
+                                                          this);
+  lp_vec_t<uint32_t, tcsCtrl::NUM_THERMAL_COMPONENTS> heaterEndTimes =
+      lp_vec_t<uint32_t, tcsCtrl::NUM_THERMAL_COMPONENTS>(sid.objectId, PoolIds::HEATER_END_TIME,
+                                                          this);
+};
+
 }  // namespace tcsCtrl
 
 #endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_THERMALCONTROLLERDEFINITIONS_H_ */

mission/genericFactory.cpp

@@ -91,19 +91,21 @@ EiveFaultHandler EIVE_FAULT_HANDLER;
 }  // namespace cfdp
 
 std::atomic_bool tcs::TCS_BOARD_SHORTLY_UNAVAILABLE = false;
+std::atomic_bool core::SAVE_PUS_SEQUENCE_COUNT = false;
+std::atomic_bool core::SAVE_CFDP_SEQUENCE_COUNT = false;
 
 void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFunnel** pusFunnel,
                                           CfdpTmFunnel** cfdpFunnel, SdCardMountedIF& sdcMan,
                                           StorageManagerIF** ipcStore, StorageManagerIF** tmStore,
                                           PersistentTmStores& stores,
-                                          uint32_t eventManagerQueueDepth) {
+                                          uint32_t eventManagerQueueDepth, bool enableHkSets) {
   // Framework objects
   new EventManager(objects::EVENT_MANAGER, eventManagerQueueDepth);
   auto healthTable = new HealthTable(objects::HEALTH_TABLE);
   if (healthTable_ != nullptr) {
     *healthTable_ = healthTable;
   }
-  new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
+  new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER, 5, enableHkSets, 120);
   new VerificationReporter();
   auto* timeStamper = new CdsShortTimeStamper(objects::TIME_STAMPER);
   StorageManagerIF* tcStore;
@@ -155,9 +157,11 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
   new PusDistributor(config::EIVE_PUS_APID, objects::PUS_PACKET_DISTRIBUTOR, ccsdsDistrib);
 
   PusTmFunnel::FunnelCfg pusFunnelCfg(objects::PUS_TM_FUNNEL, "PusTmFunnel", **tmStore, **ipcStore,
-                                      config::MAX_PUS_FUNNEL_QUEUE_DEPTH);
+                                      config::MAX_PUS_FUNNEL_QUEUE_DEPTH, sdcMan,
+                                      config::PUS_SEQUENCE_COUNT_FILE,
+                                      core::SAVE_PUS_SEQUENCE_COUNT);
   // The PUS funnel routes all live TM to the live destinations and to the TM stores.
-  *pusFunnel = new PusTmFunnel(pusFunnelCfg, *ramToFileStore, *timeStamper, sdcMan);
+  *pusFunnel = new PusTmFunnel(pusFunnelCfg, *ramToFileStore, *timeStamper);
 
   // MISC store and PUS funnel to MISC store routing
   {
@@ -216,7 +220,9 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
                                       stores.cfdpStore->getReportReceptionQueue(0));
   }
   PusTmFunnel::FunnelCfg cfdpFunnelCfg(objects::CFDP_TM_FUNNEL, "CfdpTmFunnel", **tmStore,
-                                       **ipcStore, config::MAX_CFDP_FUNNEL_QUEUE_DEPTH);
+                                       **ipcStore, config::MAX_CFDP_FUNNEL_QUEUE_DEPTH, sdcMan,
+                                       config::CFDP_SEQUENCE_COUNT_FILE,
+                                       core::SAVE_CFDP_SEQUENCE_COUNT);
   *cfdpFunnel = new CfdpTmFunnel(cfdpFunnelCfg, stores.cfdpStore->getReportReceptionQueue(0),
                                  *ramToFileStore, config::EIVE_CFDP_APID);
 
@@ -305,9 +311,9 @@ void ObjectFactory::createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF&
   heaterHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
 }
 
-void ObjectFactory::createThermalController(HeaterHandler& heaterHandler) {
+void ObjectFactory::createThermalController(HeaterHandler& heaterHandler, bool pollPlPcduTmp1) {
   auto* tcsCtrl = new ThermalController(objects::THERMAL_CONTROLLER, heaterHandler,
-                                        tcs::TCS_BOARD_SHORTLY_UNAVAILABLE);
+                                        tcs::TCS_BOARD_SHORTLY_UNAVAILABLE, pollPlPcduTmp1);
   tcsCtrl->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
 }
 void ObjectFactory::createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch,

mission/genericFactory.h

@@ -45,11 +45,12 @@ namespace ObjectFactory {
 void produceGenericObjects(HealthTableIF** healthTable, PusTmFunnel** pusFunnel,
                            CfdpTmFunnel** cfdpFunnel, SdCardMountedIF& sdcMan,
                            StorageManagerIF** ipcStore, StorageManagerIF** tmStore,
-                           PersistentTmStores& stores, uint32_t eventManagerQueueDepth);
+                           PersistentTmStores& stores, uint32_t eventManagerQueueDepth,
+                           bool enableHkSets);
 void createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF& pwrSwitcher,
                                    HeaterHandler*& heaterHandler);
 
-void createThermalController(HeaterHandler& heaterHandler);
+void createThermalController(HeaterHandler& heaterHandler, bool pollPlPcduTmp1);
 void createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch,
                   std::array<DeviceHandlerBase*, 4> rws, std::array<object_id_t, 4> rwIds);
 void createSusAssy(PowerSwitchIF& pwrSwitcher, std::array<DeviceHandlerBase*, 12> suses);

mission/payload/PayloadPcduHandler.cpp

@@ -1,7 +1,9 @@
-#include <fsfw/src/fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/tasks/TaskFactory.h>
 #include <mission/payload/PayloadPcduHandler.h>
 
 #include "OBSWConfig.h"
+#include "fsfw/thermal/tcsDefinitions.h"
 
 #ifdef XIPHOS_Q7S
 #include <fsfw_hal/linux/UnixFileGuard.h>
@@ -64,6 +66,16 @@ void PayloadPcduHandler::doShutDown() {
     return;
   }
   state = States::PL_PCDU_OFF;
+  quickTransitionAlreadyCalled = false;
+  {
+    PoolReadGuard pg(&adcSet);
+    adcSet.setReportingEnabled(false);
+    adcSet.tempC = thermal::INVALID_TEMPERATURE;
+
+    std::memset(adcSet.channels.value, 0, sizeof(adcSet.channels.value));
+    std::memset(adcSet.processed.value, 0, sizeof(adcSet.processed.value));
+    adcSet.setValidity(false, true);
+  }
   // No need to set mode _MODE_POWER_DOWN, power switching was already handled
   setMode(MODE_OFF);
 }
@@ -73,14 +85,7 @@ void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
     stateMachineToNormal(modeFrom, subModeFrom);
     return;
   } else if (getMode() == _MODE_TO_ON and modeFrom == MODE_NORMAL) {
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_HPA);
+    pullAllGpiosLow(200);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_MPA);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_X8);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_DRO);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
     state = States::STACK_5V_CORRECT;
   }
   DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
@@ -89,6 +94,11 @@ void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
 ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom) {
   using namespace plpcdu;
   bool doFinish = true;
+  if (toNormalOneShot) {
+    PoolReadGuard pg(&adcSet);
+    adcSet.setReportingEnabled(true);
+    toNormalOneShot = false;
+  }
   if (((getSubmode() >> SOLID_STATE_RELAYS_ADC_ON) & 0b1) == 1) {
     if (state == States::PL_PCDU_OFF) {
       sif::error << "PayloadPcduHandler::stateMachineToNormal: Unexpected state PL_PCDU_OFF"
@@ -114,23 +124,23 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
         state = States::ON_TRANS_ADC_CLOSE_ZERO;
         adcCountdown.setTimeout(50);
         adcCountdown.resetTimer();
-        adcState = AdcStates::BOOT_DELAY;
+        adcState = AdcState::BOOT_DELAY;
         doFinish = false;
         // If the values are not close to zero, we should not allow transition
         monMode = MonitoringMode::CLOSE_TO_ZERO;
       }
     }
     if (state == States::ON_TRANS_ADC_CLOSE_ZERO) {
-      if (adcState == AdcStates::BOOT_DELAY) {
+      if (adcState == AdcState::BOOT_DELAY) {
         doFinish = false;
         if (adcCountdown.hasTimedOut()) {
-          adcState = AdcStates::SEND_SETUP;
+          adcState = AdcState::SEND_SETUP;
           adcCmdExecuted = false;
         }
       }
-      if (adcState == AdcStates::SEND_SETUP) {
+      if (adcState == AdcState::SEND_SETUP) {
         if (adcCmdExecuted) {
-          adcState = AdcStates::NORMAL;
+          adcState = AdcState::NORMAL;
           doFinish = true;
           adcCountdown.setTimeout(100);
           adcCountdown.resetTimer();
@@ -167,6 +177,7 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
   switchHandler(MPA_ON, gpioIds::PLPCDU_ENB_MPA, "MPA");
   switchHandler(HPA_ON, gpioIds::PLPCDU_ENB_HPA, "HPA");
   if (doFinish) {
+    toNormalOneShot = true;
     setMode(MODE_NORMAL);
   }
   return returnvalue::OK;
@@ -174,11 +185,11 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
 
 ReturnValue_t PayloadPcduHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
   switch (adcState) {
-    case (AdcStates::SEND_SETUP): {
+    case (AdcState::SEND_SETUP): {
       *id = plpcdu::SETUP_CMD;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
-    case (AdcStates::NORMAL): {
+    case (AdcState::NORMAL): {
       *id = plpcdu::READ_WITH_TEMP_EXT;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
@@ -190,7 +201,7 @@ ReturnValue_t PayloadPcduHandler::buildNormalDeviceCommand(DeviceCommandId_t* id
 }
 
 ReturnValue_t PayloadPcduHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
-  if (adcState == AdcStates::SEND_SETUP) {
+  if (adcState == AdcState::SEND_SETUP) {
     *id = plpcdu::SETUP_CMD;
     return buildCommandFromCommand(*id, nullptr, 0);
   }
@@ -211,9 +222,9 @@ void PayloadPcduHandler::updateSwitchGpio(gpioId_t id, gpio::Levels level) {
 }
 
 void PayloadPcduHandler::fillCommandAndReplyMap() {
-  insertInCommandAndReplyMap(plpcdu::READ_CMD, 2, &adcSet);
+  insertInCommandAndReplyMap(plpcdu::READ_CMD, 2);
-  insertInCommandAndReplyMap(plpcdu::READ_TEMP_EXT, 1, &adcSet);
+  insertInCommandAndReplyMap(plpcdu::READ_TEMP_EXT, 1);
-  insertInCommandAndReplyMap(plpcdu::READ_WITH_TEMP_EXT, 1, &adcSet);
+  insertInCommandAndReplyMap(plpcdu::READ_WITH_TEMP_EXT, 1);
   insertInCommandAndReplyMap(plpcdu::SETUP_CMD, 1);
 }
 
@@ -277,6 +288,7 @@ ReturnValue_t PayloadPcduHandler::interpretDeviceReply(DeviceCommandId_t id,
       break;
     }
     case (READ_CMD): {
+      {
         PoolReadGuard pg(&adcSet);
         if (pg.getReadResult() != returnvalue::OK) {
           return pg.getReadResult();
@@ -284,10 +296,12 @@ ReturnValue_t PayloadPcduHandler::interpretDeviceReply(DeviceCommandId_t id,
         handleExtConvRead(packet);
         checkAdcValues();
         adcSet.setValidity(true, true);
+      }
       handlePrintout();
       break;
     }
     case (READ_WITH_TEMP_EXT): {
+      {
         PoolReadGuard pg(&adcSet);
         if (pg.getReadResult() != returnvalue::OK) {
           return pg.getReadResult();
@@ -298,6 +312,7 @@ ReturnValue_t PayloadPcduHandler::interpretDeviceReply(DeviceCommandId_t id,
             max1227::getTemperature(packet[tempStartIdx] << 8 | packet[tempStartIdx + 1]);
         checkAdcValues();
         adcSet.setValidity(true, true);
+      }
       handlePrintout();
       break;
     }
@@ -367,16 +382,9 @@ void PayloadPcduHandler::enablePeriodicPrintout(bool enable, uint8_t divider) {
 
 void PayloadPcduHandler::quickTransitionBackToOff(bool startTransitionToOff, bool notifyFdir) {
   States currentState = state;
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_HPA);
+  pullAllGpiosLow(200);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_MPA);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_X8);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_DRO);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
   state = States::STACK_5V_SWITCHING;
-  adcState = AdcStates::OFF;
+  adcState = AdcState::OFF;
   if (startTransitionToOff) {
     startTransition(MODE_OFF, 0);
   }
@@ -405,10 +413,13 @@ void PayloadPcduHandler::checkAdcValues() {
   adcSet.processed[U_DRO_DIV_6] = static_cast<float>(adcSet.channels[11]) * SCALE_VOLTAGE;
   float lowerBound = 0.0;
   float upperBound = 0.0;
-  bool adcTransition = false;
+  bool adcTransition = adcState == AdcState::NORMAL and adcCountdown.isBusy();
-  adcTransition = state == States::ON_TRANS_DRO and adcCountdown.isBusy();
+  if (NO_ADC_CHECKS or adcTransition) {
-  // Now check against voltage and current limits, depending on state
+    return;
-  if (state >= States::ON_TRANS_DRO and not adcTransition) {
+  }
+  // Now check against voltage and current limits.
+  uint8_t submode = getSubmode();
+  if (((submode >> NormalSubmodeBits::DRO_ON) & 0b1) == 0b1) {
     if (ssrToDroInjectionRequested) {
       handleFailureInjection("SSR to DRO", NEG_V_OUT_OF_BOUNDS);
       ssrToDroInjectionRequested = false;
@@ -435,8 +446,7 @@ void PayloadPcduHandler::checkAdcValues() {
       return;
     }
   }
-  adcTransition = state == States::ON_TRANS_X8 and adcCountdown.isBusy();
+  if (((submode >> NormalSubmodeBits::X8_ON) & 0b1) == 0b1) {
-  if (state >= States::ON_TRANS_X8 and not adcTransition) {
     if (droToX8InjectionRequested) {
       handleFailureInjection("X8 to TX", U_X8_OUT_OF_BOUNDS);
       droToX8InjectionRequested = false;
@@ -453,8 +463,7 @@ void PayloadPcduHandler::checkAdcValues() {
       return;
     }
   }
-  adcTransition = state == States::ON_TRANS_TX and adcCountdown.isBusy();
+  if (((submode >> NormalSubmodeBits::TX_ON) & 0b1) == 0b1) {
-  if (state >= States::ON_TRANS_TX and not adcTransition) {
     if (txToMpaInjectionRequested) {
       handleFailureInjection("TX to MPA", U_TX_OUT_OF_BOUNDS);
       txToMpaInjectionRequested = false;
@@ -471,8 +480,7 @@ void PayloadPcduHandler::checkAdcValues() {
       return;
     }
   }
-  adcTransition = state == States::ON_TRANS_MPA and adcCountdown.isBusy();
+  if (((submode >> NormalSubmodeBits::MPA_ON) & 0b1) == 0b1) {
-  if (state >= States::ON_TRANS_MPA and not adcTransition) {
     if (mpaToHpaInjectionRequested) {
       handleFailureInjection("MPA to HPA", U_HPA_OUT_OF_BOUNDS);
       mpaToHpaInjectionRequested = false;
@@ -489,8 +497,7 @@ void PayloadPcduHandler::checkAdcValues() {
       return;
     }
   }
-  adcTransition = state == States::ON_TRANS_HPA and adcCountdown.isBusy();
+  if (((submode >> NormalSubmodeBits::HPA_ON) & 0b1) == 0b1) {
-  if (state >= States::ON_TRANS_HPA and not adcTransition) {
     if (allOnInjectRequested) {
       handleFailureInjection("All On", U_HPA_OUT_OF_BOUNDS);
       allOnInjectRequested = false;
@@ -677,6 +684,18 @@ void PayloadPcduHandler::handleFailureInjection(std::string output, Event event)
   droToX8InjectionRequested = false;
 }
 
+void PayloadPcduHandler::pullAllGpiosLow(uint32_t delayBeforeSwitchingOffDro) {
+  sif::info << "Pulling all PL PCDU GPIOs to low" << std::endl;
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_HPA);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_MPA);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_X8);
+  TaskFactory::delayTask(delayBeforeSwitchingOffDro);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_DRO);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
+}
+
 ReturnValue_t PayloadPcduHandler::handleDoubleParamUpdate(std::string key,
                                                           ParameterWrapper* parameterWrapper,
                                                           const ParameterWrapper* newValues) {
@@ -692,6 +711,8 @@ ReturnValue_t PayloadPcduHandler::handleDoubleParamUpdate(std::string key,
   return params.writeJsonFile();
 }
 
+LocalPoolDataSetBase* PayloadPcduHandler::getDataSetHandle(sid_t sid) { return &adcSet; }
+
 #ifdef XIPHOS_Q7S
 ReturnValue_t PayloadPcduHandler::extConvAsTwoCallback(SpiComIF* comIf, SpiCookie* cookie,
                                                        const uint8_t* sendData, size_t sendLen,

mission/payload/PayloadPcduHandler.h

@@ -76,6 +76,8 @@ class PayloadPcduHandler : public DeviceHandlerBase {
 #endif
 
  private:
+  static constexpr bool NO_ADC_CHECKS = false;
+
   enum class States : uint8_t {
     PL_PCDU_OFF,
     STACK_5V_SWITCHING,
@@ -84,20 +86,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
     // Solid State Relay, enable battery voltages VBAT0 and VBAT1. This will also switch on
     // the ADC
     ON_TRANS_SSR,
-    ON_TRANS_ADC_CLOSE_ZERO,
+    ON_TRANS_ADC_CLOSE_ZERO
-    // Enable Dielectric Resonant Oscillator and start monitoring voltages as
-    // soon as DRO voltage reaches 6V
-    ON_TRANS_DRO,
-    // Switch on X8 compoennt and monitor voltages for 5 seconds
-    ON_TRANS_X8,
-    // Switch on TX component and monitor voltages for 5 seconds
-    ON_TRANS_TX,
-    // Switch on MPA component and monitor voltages for 5 seconds
-    ON_TRANS_MPA,
-    // Switch on HPA component and monitor voltages for 5 seconds
-    ON_TRANS_HPA,
-    // All components of the experiment are on
-    PL_PCDU_ON,
   } state = States::PL_PCDU_OFF;
 
   duallane::Submodes pwrSubmode = duallane::Submodes::A_SIDE;
@@ -106,7 +95,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
 
   enum class MonitoringMode { NONE, CLOSE_TO_ZERO, NEGATIVE } monMode = MonitoringMode::NONE;
 
-  enum class AdcStates { OFF, BOOT_DELAY, SEND_SETUP, NORMAL } adcState = AdcStates::OFF;
+  enum class AdcState { OFF, BOOT_DELAY, SEND_SETUP, NORMAL } adcState = AdcState::OFF;
 
   bool goToNormalMode = false;
   plpcdu::PlPcduAdcSet adcSet;
@@ -128,6 +117,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   bool mpaToHpaInjectionRequested = false;
   bool allOnInjectRequested = false;
   bool clearSetOnOffFlag = true;
+  bool toNormalOneShot = true;
 
   PeriodicOperationDivider opDivider = PeriodicOperationDivider(5);
   uint8_t tempReadDivisor = 1;
@@ -168,6 +158,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
 
   void handleExtConvRead(const uint8_t* bufStart);
   void handlePrintout();
+  void pullAllGpiosLow(uint32_t delayBeforeSwitchingOffDro);
   void checkAdcValues();
   void handleOutOfBoundsPrintout();
   void checkJsonFileInit();
@@ -178,6 +169,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   ReturnValue_t serializeFloat(uint32_t& param, float val);
   ReturnValue_t handleDoubleParamUpdate(std::string key, ParameterWrapper* parameterWrapper,
                                         const ParameterWrapper* newValues);
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
 };
 
 #endif /* LINUX_DEVICES_PLPCDUHANDLER_H_ */

mission/payload/RadiationSensorHandler.cpp

@@ -1,6 +1,7 @@
 #include <OBSWConfig.h>
 #include <devices/gpioIds.h>
 #include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/tasks/TaskFactory.h>
 #include <mission/payload/RadiationSensorHandler.h>
 #include <mission/power/gsDefs.h>
 #include <mission/tcs/max1227.h>
@@ -15,6 +16,8 @@ RadiationSensorHandler::RadiationSensorHandler(object_id_t objectId, object_id_t
   if (comCookie == nullptr) {
     sif::error << "RadiationSensorHandler: Invalid com cookie" << std::endl;
   }
+  // Time out immediately so we get an immediate measurement at device startup.
+  measurementCd.timeOut();
 }
 
 RadiationSensorHandler::~RadiationSensorHandler() {}
@@ -51,14 +54,17 @@ void RadiationSensorHandler::doShutDown() {
 }
 
 ReturnValue_t RadiationSensorHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  if (measurementCd.isBusy()) {
+    return NOTHING_TO_SEND;
+  }
   switch (communicationStep) {
     case CommunicationStep::START_CONVERSION: {
-      *id = RAD_SENSOR::START_CONVERSION;
+      *id = radSens::START_CONVERSION;
       communicationStep = CommunicationStep::READ_CONVERSIONS;
       break;
     }
     case CommunicationStep::READ_CONVERSIONS: {
-      *id = RAD_SENSOR::READ_CONVERSIONS;
+      *id = radSens::READ_CONVERSIONS;
       communicationStep = CommunicationStep::START_CONVERSION;
       break;
     }
@@ -73,7 +79,7 @@ ReturnValue_t RadiationSensorHandler::buildNormalDeviceCommand(DeviceCommandId_t
 
 ReturnValue_t RadiationSensorHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
   if (internalState == InternalState::SETUP) {
-    *id = RAD_SENSOR::WRITE_SETUP;
+    *id = radSens::WRITE_SETUP;
   } else {
     return NOTHING_TO_SEND;
   }
@@ -84,15 +90,19 @@ ReturnValue_t RadiationSensorHandler::buildCommandFromCommand(DeviceCommandId_t
                                                               const uint8_t *commandData,
                                                               size_t commandDataLen) {
   switch (deviceCommand) {
-    case (RAD_SENSOR::WRITE_SETUP): {
+    case (radSens::WRITE_SETUP): {
-      cmdBuffer[0] = RAD_SENSOR::SETUP_DEFINITION;
+      cmdBuffer[0] = radSens::SETUP_DEFINITION;
       rawPacket = cmdBuffer;
       rawPacketLen = 1;
       internalState = InternalState::CONFIGURED;
       return returnvalue::OK;
     }
-    case (RAD_SENSOR::START_CONVERSION): {
+    case (radSens::START_CONVERSION): {
       ReturnValue_t result = gpioIF->pullHigh(gpioIds::ENABLE_RADFET);
+      // Test a small delay between pulling the RADFET high and reading the sensor. As long as this
+      // delay remains small enough, this should not cause scheduling issues. Do not make this
+      // delay large, this device might be scheduled inside the ACS PST!
+      TaskFactory::delayTask(5);
       if (result != returnvalue::OK) {
 #if OBSW_VERBOSE_LEVEL >= 1
         sif::warning
@@ -102,25 +112,25 @@ ReturnValue_t RadiationSensorHandler::buildCommandFromCommand(DeviceCommandId_t
 #endif
       }
       /* First the fifo will be reset here */
-      cmdBuffer[0] = RAD_SENSOR::RESET_DEFINITION;
+      cmdBuffer[0] = radSens::RESET_DEFINITION;
-      cmdBuffer[1] = RAD_SENSOR::CONVERSION_DEFINITION;
+      cmdBuffer[1] = radSens::CONVERSION_DEFINITION;
       rawPacket = cmdBuffer;
       rawPacketLen = 2;
       return returnvalue::OK;
     }
-    case (RAD_SENSOR::READ_CONVERSIONS): {
+    case (radSens::READ_CONVERSIONS): {
-      cmdBuffer[0] = RAD_SENSOR::DUMMY_BYTE;
+      cmdBuffer[0] = radSens::DUMMY_BYTE;
-      std::memset(cmdBuffer, RAD_SENSOR::DUMMY_BYTE, RAD_SENSOR::READ_SIZE);
+      std::memset(cmdBuffer, radSens::DUMMY_BYTE, radSens::READ_SIZE);
       rawPacket = cmdBuffer;
-      rawPacketLen = RAD_SENSOR::READ_SIZE;
+      rawPacketLen = radSens::READ_SIZE;
       return returnvalue::OK;
     }
-    case RAD_SENSOR::ENABLE_DEBUG_OUTPUT: {
+    case radSens::ENABLE_DEBUG_OUTPUT: {
       printPeriodicData = true;
       rawPacketLen = 0;
       return returnvalue::OK;
     }
-    case RAD_SENSOR::DISABLE_DEBUG_OUTPUT: {
+    case radSens::DISABLE_DEBUG_OUTPUT: {
       rawPacketLen = 0;
       printPeriodicData = false;
       return returnvalue::OK;
@@ -132,12 +142,11 @@ ReturnValue_t RadiationSensorHandler::buildCommandFromCommand(DeviceCommandId_t
 }
 
 void RadiationSensorHandler::fillCommandAndReplyMap() {
-  this->insertInCommandMap(RAD_SENSOR::WRITE_SETUP);
+  this->insertInCommandMap(radSens::WRITE_SETUP);
-  this->insertInCommandMap(RAD_SENSOR::START_CONVERSION);
+  this->insertInCommandMap(radSens::START_CONVERSION);
-  this->insertInCommandMap(RAD_SENSOR::ENABLE_DEBUG_OUTPUT);
+  this->insertInCommandMap(radSens::ENABLE_DEBUG_OUTPUT);
-  this->insertInCommandMap(RAD_SENSOR::DISABLE_DEBUG_OUTPUT);
+  this->insertInCommandMap(radSens::DISABLE_DEBUG_OUTPUT);
-  this->insertInCommandAndReplyMap(RAD_SENSOR::READ_CONVERSIONS, 1, &dataset,
+  this->insertInCommandAndReplyMap(radSens::READ_CONVERSIONS, 1, &dataset, radSens::READ_SIZE);
-                                   RAD_SENSOR::READ_SIZE);
 }
 
 ReturnValue_t RadiationSensorHandler::scanForReply(const uint8_t *start, size_t remainingSize,
@@ -145,11 +154,11 @@ ReturnValue_t RadiationSensorHandler::scanForReply(const uint8_t *start, size_t
   *foundId = this->getPendingCommand();
 
   switch (*foundId) {
-    case RAD_SENSOR::START_CONVERSION:
+    case radSens::START_CONVERSION:
-    case RAD_SENSOR::WRITE_SETUP:
+    case radSens::WRITE_SETUP:
       *foundLen = remainingSize;
       return IGNORE_REPLY_DATA;
-    case RAD_SENSOR::READ_CONVERSIONS: {
+    case radSens::READ_CONVERSIONS: {
       ReturnValue_t result = gpioIF->pullLow(gpioIds::ENABLE_RADFET);
       if (result != returnvalue::OK) {
 #if OBSW_VERBOSE_LEVEL >= 1
@@ -160,8 +169,8 @@ ReturnValue_t RadiationSensorHandler::scanForReply(const uint8_t *start, size_t
       }
       break;
     }
-    case RAD_SENSOR::ENABLE_DEBUG_OUTPUT:
+    case radSens::ENABLE_DEBUG_OUTPUT:
-    case RAD_SENSOR::DISABLE_DEBUG_OUTPUT:
+    case radSens::DISABLE_DEBUG_OUTPUT:
       sif::info << "RadiationSensorHandler::scanForReply: " << remainingSize << std::endl;
       break;
     default:
@@ -176,8 +185,10 @@ ReturnValue_t RadiationSensorHandler::scanForReply(const uint8_t *start, size_t
 ReturnValue_t RadiationSensorHandler::interpretDeviceReply(DeviceCommandId_t id,
                                                            const uint8_t *packet) {
   switch (id) {
-    case RAD_SENSOR::READ_CONVERSIONS: {
+    case radSens::READ_CONVERSIONS: {
       uint8_t offset = 0;
+      measurementCd.resetTimer();
+      {
         PoolReadGuard readSet(&dataset);
         uint16_t tempRaw = ((packet[offset] & 0x0f) << 8) | packet[offset + 1];
         dataset.temperatureCelcius = max1227::getTemperature(tempRaw);
@@ -194,6 +205,7 @@ ReturnValue_t RadiationSensorHandler::interpretDeviceReply(DeviceCommandId_t id,
         offset += 2;
         dataset.ain7 = (*(packet + offset) << 8) | *(packet + offset + 1);
         dataset.setValidity(true, true);
+      }
       if (printPeriodicData) {
         sif::info << "Radiation sensor temperature: " << dataset.temperatureCelcius << " °C"
                   << std::dec << std::endl;
@@ -204,6 +216,12 @@ ReturnValue_t RadiationSensorHandler::interpretDeviceReply(DeviceCommandId_t id,
         sif::info << "Radiation sensor ADC value channel 6: " << dataset.ain6 << std::endl;
         sif::info << "Radiation sensor ADC value channel 7: " << dataset.ain7 << std::endl;
       }
+      ReturnValue_t result =
+          getHkManagerHandle()->generateHousekeepingPacket(dataset.getSid(), &dataset, true);
+      if (result != returnvalue::OK) {
+        // TODO: Maybe add event?
+        sif::error << "Generating HK set for radiation sensor failed" << std::endl;
+      }
       break;
     }
     default: {
@@ -220,15 +238,18 @@ uint32_t RadiationSensorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t mo
 
 ReturnValue_t RadiationSensorHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                               LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(RAD_SENSOR::TEMPERATURE_C, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(radSens::TEMPERATURE_C, new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(RAD_SENSOR::AIN0, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN0, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(RAD_SENSOR::AIN1, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN1, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(RAD_SENSOR::AIN4, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN4, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(RAD_SENSOR::AIN5, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN5, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(RAD_SENSOR::AIN6, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN6, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(RAD_SENSOR::AIN7, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN7, new PoolEntry<uint16_t>({0}));
+  // It should normally not be necessary to enable this set, as a sample TM will be generated
+  // after a measurement. If this is still enabled, sample with double the measurement frequency
+  // to ensure we get all measurements.
   poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(dataset.getSid(), false, 20.0));
+      subdp::RegularHkPeriodicParams(dataset.getSid(), false, DEFAULT_MEASUREMENT_CD_MS / 2));
   return returnvalue::OK;
 }
 

mission/payload/RadiationSensorHandler.h

@@ -38,13 +38,16 @@ class RadiationSensorHandler : public DeviceHandlerBase {
                                         LocalDataPoolManager &poolManager) override;
 
  private:
+  static constexpr uint32_t DEFAULT_MEASUREMENT_CD_MS = 30 * 60 * 1000;
+
   enum class CommunicationStep { START_CONVERSION, READ_CONVERSIONS };
 
   enum class InternalState { OFF, POWER_SWITCHING, SETUP, CONFIGURED };
 
   bool printPeriodicData = false;
-  RAD_SENSOR::RadSensorDataset dataset;
+  radSens::RadSensorDataset dataset;
-  static const uint8_t MAX_CMD_LEN = RAD_SENSOR::READ_SIZE;
+  Countdown measurementCd = Countdown(DEFAULT_MEASUREMENT_CD_MS);
+  static const uint8_t MAX_CMD_LEN = radSens::READ_SIZE;
   GpioIF *gpioIF = nullptr;
   Stack5VHandler &stackHandler;
 

mission/payload/ScexDeviceHandler.cpp

@@ -19,11 +19,16 @@ using namespace returnvalue;
 
 ScexDeviceHandler::ScexDeviceHandler(object_id_t objectId, ScexUartReader& reader, CookieIF* cookie,
                                      SdCardMountedIF& sdcMan)
-    : DeviceHandlerBase(objectId, reader.getObjectId(), cookie), sdcMan(sdcMan), reader(reader) {}
+    : DeviceHandlerBase(objectId, reader.getObjectId(), cookie), sdcMan(sdcMan), reader(reader) {
+  fsUnusableEventCd.timeOut();
+}
 
 ScexDeviceHandler::~ScexDeviceHandler() {}
 
-void ScexDeviceHandler::doStartUp() { setMode(MODE_ON); }
+void ScexDeviceHandler::doStartUp() {
+  filesystemChecks();
+  setMode(MODE_ON);
+}
 
 void ScexDeviceHandler::doShutDown() {
   reader.reset();
@@ -47,7 +52,7 @@ ReturnValue_t ScexDeviceHandler::buildCommandFromCommand(DeviceCommandId_t devic
     return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
   }
   bool tempCheck = false;
-  if (commandDataLen == 1) {
+  if (commandDataLen >= 1) {
     tempCheck = commandData[0];
   }
   if (commandActive) {
@@ -215,8 +220,12 @@ ReturnValue_t ScexDeviceHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       }
       fileNameSet = true;
     } else {
-      ofstream out(fileName,
+      if (!sdcMan.isSdCardUsable(std::nullopt)) {
-                   ofstream::binary | ofstream::app);  // append
+        fsUnsableEvent();
+        return returnvalue::FAILED;
+      }
+      // Append to existing file.
+      ofstream out(fileName, ofstream::binary | ofstream::app);
       if (out.bad()) {
         sif::error << "ScexDeviceHandler::handleValidReply: Could not open file " << fileName
                    << std::endl;
@@ -280,18 +289,8 @@ ReturnValue_t ScexDeviceHandler::interpretDeviceReply(DeviceCommandId_t id, cons
 }
 
 void ScexDeviceHandler::performOperationHook() {
-  auto mntPrefix = sdcMan.getCurrentMountPrefix();
+  if (getMode() != MODE_OFF) {
-  if (mntPrefix != nullptr) {
+    filesystemChecks();
-    std::filesystem::path fullFilePath = mntPrefix;
-    std::error_code e;
-    fullFilePath /= "scex";
-    bool fileExists = std::filesystem::exists(fullFilePath, e);
-    if (not fileExists) {
-      bool created = std::filesystem::create_directory(fullFilePath, e);
-      if (not created) {
-        sif::error << "Could not create SCEX directory: " << e << std::endl;
-      }
-    }
   }
   uint32_t remainingMillis = finishCountdown.getRemainingMillis();
   if (commandActive and finishCountdown.hasTimedOut()) {
@@ -319,6 +318,33 @@ ReturnValue_t ScexDeviceHandler::initializeLocalDataPool(localpool::DataPool& lo
   return OK;
 }
 
+void ScexDeviceHandler::filesystemChecks() {
+  auto mntPrefix = sdcMan.getCurrentMountPrefix();
+  if (mntPrefix == nullptr or !sdcMan.isSdCardUsable(std::nullopt)) {
+    sif::warning << "SCEX: Filesystem currently unavailable" << std::endl;
+    fsUnsableEvent();
+  } else {
+    std::filesystem::path fullFilePath = mntPrefix;
+    std::error_code e;
+    fullFilePath /= "scex";
+    bool fileExists = std::filesystem::exists(fullFilePath, e);
+    if (not fileExists) {
+      bool created = std::filesystem::create_directory(fullFilePath, e);
+      if (not created) {
+        sif::error << "Could not create SCEX directory: " << e << std::endl;
+      }
+    }
+  }
+}
+
+void ScexDeviceHandler::fsUnsableEvent() {
+  if (fsUnusableEventCd.isBusy()) {
+    return;
+  }
+  triggerEvent(scex::FS_UNUSABLE);
+  fsUnusableEventCd.resetTimer();
+}
+
 ReturnValue_t ScexDeviceHandler::generateNewScexFile(const char* cmdName) {
   char timeString[64]{};
   auto activeSd = sdcMan.getActiveSdCard();
@@ -328,7 +354,8 @@ ReturnValue_t ScexDeviceHandler::generateNewScexFile(const char* cmdName) {
 
   std::ostringstream oss;
   auto prefix = sdcMan.getCurrentMountPrefix();
-  if (prefix == nullptr) {
+  if (prefix == nullptr or !sdcMan.isSdCardUsable(std::nullopt)) {
+    fsUnsableEvent();
     return returnvalue::FAILED;
   }
   timeval tv;

mission/payload/ScexDeviceHandler.h

@@ -42,6 +42,7 @@ class ScexDeviceHandler : public DeviceHandlerBase {
   scex::Cmds currCmd = scex::Cmds::PING;
   SdCardMountedIF &sdcMan;
   Countdown finishCountdown = Countdown(LONG_CD);
+  Countdown fsUnusableEventCd = Countdown(10000);
 
   // DeviceHandlerBase private function implementation
   void doStartUp() override;
@@ -49,12 +50,15 @@ class ScexDeviceHandler : public DeviceHandlerBase {
   ScexHelper helper;
   ScexUartReader &reader;
 
+  void fsUnsableEvent();
+
   void performOperationHook() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
   ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
   ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
                                         size_t commandDataLen) override;
   void fillCommandAndReplyMap() override;
+  void filesystemChecks();
   ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize, DeviceCommandId_t *foundId,
                              size_t *foundLen) override;
   ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;