Merge branch 'mueller/acs-ss-init' into mueller/pl-ss

.gitmodules

@@ -1,6 +1,3 @@
-[submodule "etl"]
-	path = thirdparty/etl
-	url = https://github.com/ETLCPP/etl.git
 [submodule "arduino"]
 	path = arduino
 	url = https://egit.irs.uni-stuttgart.de/eive/eive_arduino_interface.git

CHANGELOG.md

@@ -13,12 +13,19 @@ list yields a list of all related PRs for each release.
 
 # [v1.11.0]
 
+## Added
+
+- ACS Subsystem
+- Custom Syrlinks FDIR which disabled most of the default FDIR functionality
+
 ## Changed
 
+- PCDU handler only called once in PST, but can handle multiple messages now
 - Update rootfs base of Linux, all related OBSW changes
 - Use gpsd version 3.17 now. Includes API changes
 - Add `/usr/local/bin` to PATH. All shell scripts are there now
 - Rename GPS device to `/dev/gps0`
+- Add Syrlinks and TMP devices to Software by default
 
 # [v1.10.1]
 

CMakeLists.txt

@@ -9,24 +9,16 @@
 ################################################################################
 cmake_minimum_required(VERSION 3.13)
 
-# set(CMAKE_VERBOSE TRUE)
 set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 0)
 set(OBSW_VERSION_MINOR_IF_GIT_FAILS 0)
 set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
 
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+# set(CMAKE_VERBOSE TRUE)
 
-option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
-option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
 option(EIVE_HARDCODED_TOOLCHAIN_FILE "\
 For Linux Board Target BSPs, a default toolchain file will be set. Should be set to OFF \
 if a different toolchain file is set externally" ON
 )
-option(EIVE_SYSROOT_MAGIC "Perform sysroot magic which might not be necessary" OFF)
-option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON)
-
-set(OBSW_ADD_STAR_TRACKER 0)
-set(OBSW_DEBUG_STARTRACKER 0)
 
 if(NOT FSFW_OSAL)
     set(FSFW_OSAL linux CACHE STRING "OS for the FSFW.")
@@ -39,13 +31,35 @@ if(TGT_BSP)
     elseif(TGT_BSP MATCHES "arm/q7s")
         option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" ON)
     endif()
+    option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON)
+else()
+    option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" OFF)
 endif()
 
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 # Perform steps like loading toolchain files where applicable.
 include(PreProjectConfig)
-include(EiveHelpers)
 pre_project_config()
 
+# Project Name
+project(eive-obsw)
+
+# Specify the C++ standard
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED True)
+
+include(EiveHelpers)
+
+option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
+option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
+
+set(OBSW_ADD_STAR_TRACKER 0)
+set(OBSW_DEBUG_STARTRACKER 0)
+
+################################################################################
+# Pre-Sources preparation
+################################################################################
+
 # Version handling
 set(GIT_VER_HANDLING_OK FALSE)
 if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
@@ -77,21 +91,6 @@ if(NOT GIT_VER_HANDLING_OK)
     set(OBSW_VERSION_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
 endif()
 
-# Check whether the user has already installed Catch2 first. This has to come before
-# the project call. We could also exclude doing this when the Q7S primary OBSW is built..
-find_package(Catch2 3 CONFIG QUIET)
-
-# Project Name
-project(eive-obsw)
-
-################################################################################
-# Pre-Sources preparation
-################################################################################
-
-# Specify the C++ standard
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED True)
-
 # Set names and variables
 set(OBSW_NAME ${CMAKE_PROJECT_NAME})
 set(WATCHDOG_NAME eive-watchdog)
@@ -250,30 +249,8 @@ elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
 	set(COMPILER_FLAGS "/permissive-")
 endif()
 
-if (NOT(TGT_BSP MATCHES "arm/te0720-1cfa") AND NOT(TGT_BSP MATCHES "arm/q7s"))
-# Not installed, so use FetchContent to download and provide Catch2
-if(NOT Catch2_FOUND)
-    message(STATUS "Did not find a valid Catch2 installation. Using FetchContent to install it")
-    include(FetchContent)
-
-    FetchContent_Declare(
-        Catch2
-        GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-        GIT_TAG        v3.0.0-preview4
-    )
-
-    FetchContent_MakeAvailable(Catch2)
-    #fixes regression -preview4, to be confirmed in later releases
-    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
-    set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
-    set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
-endif()
-endif()
-
-
 add_library(${LIB_EIVE_MISSION})
 
-
 # Add main executable
 add_executable(${OBSW_NAME})
 if(EIVE_CREATE_UNIQUE_OBSW_BIN)
@@ -298,15 +275,16 @@ target_include_directories(${WATCHDOG_NAME} PUBLIC
     ${CMAKE_BINARY_DIR}
 )
 
-#unittests
+# unittests
 add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
 
+if(EIVE_ADD_ETL_LIB)
+endif()
+
 if(EIVE_ADD_JSON_LIB)
     add_subdirectory(${LIB_JSON_PATH})
 endif()
  
-
- 
 if(EIVE_ADD_LINUX_FILES)
     add_subdirectory(${LIB_ARCSEC_PATH})
     add_subdirectory(${LINUX_PATH})
@@ -316,26 +294,52 @@ if(ADD_CSP_LIB)
     add_subdirectory(${LIB_CSP_PATH})
 endif()
 
-
 add_subdirectory(${COMMON_PATH})
 
-
-
 add_subdirectory(${LIB_LWGPS_PATH})
 add_subdirectory(${FSFW_PATH})
 add_subdirectory(${LIB_EIVE_MISSION_PATH})
 add_subdirectory(${TEST_PATH})
 
-
 add_subdirectory(${UNITTEST_PATH})
 
+# This should have already been downloaded by the FSFW
+# Still include it to be safe
+include(FetchContent)
+FetchContent_Declare(
+    etl
+    GIT_REPOSITORY https://github.com/ETLCPP/etl
+    GIT_TAG        ${FSFW_ETL_LIB_VERSION}
+)
+FetchContent_MakeAvailable(etl)
+
+# Use same Catch2 version as framework
+if (NOT(TGT_BSP MATCHES "arm/te0720-1cfa") AND NOT(TGT_BSP MATCHES "arm/q7s"))
+    # Check whether the user has already installed Catch2 first
+    find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
+    # Not installed, so use FetchContent to download and provide Catch2
+    if(NOT Catch2_FOUND)
+        message(STATUS "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent")
+        include(FetchContent)
+
+        FetchContent_Declare(
+            Catch2
+            GIT_REPOSITORY https://github.com/catchorg/Catch2.git
+            GIT_TAG        ${FSFW_CATCH2_LIB_VERSION}
+        )
+
+        FetchContent_MakeAvailable(Catch2)
+        #fixes regression -preview4, to be confirmed in later releases
+        set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
+        set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
+        set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
+    endif()
+endif()
 
 ################################################################################
 # Post-Sources preparation
 ################################################################################
 
-
-
 # Add libraries
 target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
     ${LIB_FSFW_NAME}
@@ -374,7 +378,7 @@ endif()
 
 if(EIVE_ADD_ETL_LIB)
     target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        ${LIB_ETL_NAME}
+        etl
     )
 endif()
 

README.md

@@ -39,12 +39,14 @@ Target systems:
      the [Xiphos Traq Platform](https://trac2.xiphos.ca/eive-q7). Press on index to find all
      relevant pages. The most recent datasheet can be found 
      [here](https://trac2.xiphos.ca/manual/wiki/Q7RevB/UserManual).
-   * Linux OS built with Yocto 2.5
+   * Linux OS built with Yocto 2.5. SDK and root filesystem can be rebuilt with
+     [yocto](https://egit.irs.uni-stuttgart.de/eive/q7s-yocto)
    * [Linux Kernel](https://github.com/XiphosSystemsCorp/linux-xlnx.git) . EIVE version can be found
      [here](https://github.com/spacefisch/linux-xlnx) . Pre-compiled files can be
      found [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/q7s-linux-components&fileid=777299).
    * Q7S base project can be found [here](https://egit.irs.uni-stuttgart.de/eive/q7s-base)
-   * Minimal base project files can be found [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/xiphos-q7s-sdk&fileid=510908)
+   * Minimal base project files and Xiphos SDK can be found
+     [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/xiphos-q7s-sdk&fileid=510908)
 * Host System
 	* Generic software components which are not dependant on hardware can also
 	be run on a host system. All host code is contained in the `bsp_hosted` folder
@@ -55,7 +57,8 @@ Target systems:
 The steps in the primary README are related to the main OBC target Q7S.
 The CMake build system can be used to generate build systems as well (see helper scripts in `cmake/scripts`:
 
-- Linux (Raspberry Pi): See special section below.
+- Linux Raspberry Pi: See special section below. Uses the `bsp_linux_board` folder
+- Linux Trenz TE7020_1CFA: Uses the `bsp_te0720_1cfa` folder
 - Linux Host:  Uses the `bsp_hosted` BSP folder and the CMake Unix Makefiles generator.
 - Windows Host: Uses the `bsp_hosted` BSP folder, the CMake MinGW Makefiles generator and MSYS2.
 
@@ -68,7 +71,7 @@ prerequisites.
 
 1. ARM cross-compiler installed, either as part of [Vivado 2018.2 installation](#vivado) or
    as a [separate download](#arm-toolchain)
-2. [Q7S sysroot](#q7s-sysroot) on local development machine
+2. [Q7S sysroot](#sysroot) on local development machine
 3. Recommended: Eclipse or [Vivado 2018.2 SDK](#vivado) for OBSW development
 3. [TCF agent](https://wiki.eclipse.org/TCF) running on Q7S
 
@@ -96,11 +99,9 @@ When using Windows, run theses steps in MSYS2.
    git submodule update
    ```
 
-3. Ensure that the cross-compiler is working with `arm-linux-gnueabihf-gcc --version`.
+3. Ensure that the cross-compiler is working with `arm-linux-gnueabihf-gcc --version` and that
-   It is recommended to set up a shell script which takes care of setting up the environment
+   the sysroot environmental variables have been set like specified in the
-   for convenience or to set up the 
+   [root filesystem chapter](#sysroot).
-   [PATH and the CROSS_COMPILE variable permanently](https://unix.stackexchange.com/questions/26047/how-to-correctly-add-a-path-to-path)
-   in the `.profile` file.
 
 4. Run the CMake configuration to create the build system in a `build-Debug-Q7S` folder.
    Add `-G "MinGW Makefiles` in MinGW64 on Windows.
@@ -230,18 +231,19 @@ A serial console session is up permanently in a `tmux` session
 
 ### Serial console
 
-You can check whether the sessions exist with `tmux ls`
+You can check whether the sessions exist with `tmux ls`.
+This is the command to connect to the serial interface of the FM using the
+RS422 interface of the flight preparation panel:
 
 ```sh
-tmux a -t q7s-serial
+tmux a -t q7s-fm-fpp
 ```
 
 If the session does not exist, you can create it like this
 
 ```sh
-tmux new -s q7s-serial
+tmux new -s q7s-fm-fpp -t /bin/bash
-/bin/bash
+launch-q7s-fpp
-q7s_serial
 ```
 
 Other useful tmux commands:
@@ -261,55 +263,50 @@ Other useful tmux commands:
 You can use the following command to connect to the Q7S with `ssh`:
 
 ```sh
-q7s_ssh
+q7s-fm-ssh
 ```
 
-## Port forwarding for connection to TCF agent
-
-This is a required step to connect to the `tcf-agent` on the Q7S, which is required for convenient
-remote debugging. Assuming the IPv6
-
-```sh
-ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t /bin/bash
-```
-
-You then need to connect to `localhost` with port `1534`.
-
-## Port forwarding for file transfers with `scp`
-
-```sh
-ssh -L 1535:192.168.133.10:22 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t /bin/bash
-```
-
-You then need to run `scp` with the `-P 1535` flag with `localhost` as the target IP address.
-
-## Port forwarding for TMTC commanding
-
-You can enable port forwarding for TMTC commanding with the following command:
-
-```sh
-ssh -L 1536:192.168.133.10:7301 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t /bin/bash
-```
-
-This forwards TMTC packets on port `1536` of localhost to the TMTC reception port of the Q7S.
-
 ## Set up all port forwarding at once
 
+Port forwarding is necessary for remote-debugging using the `tcf-agent`, copying files
+with `scp` & `q7s-cp.py` and sending TMTC commands.
 You can specify the `-L` option multiple times to set up all port forwarding at once.
-Example for using the UDP communication interface:
 
 ```sh
-ssh -L 1534:192.168.133.10:1534 \
+ssh -L 1534:192.168.155.55:1534 \
-   -L 1535:192.168.133.10:22 \
+   -L 1535:192.168.155.55:22 \
-   -L 1536:192.168.133.10:7301 \
+   -L 1536:192.168.155.55:7301 \
+   -L 1537:127.0.0.1:7100 \
+   -L 1538:192.168.133.10:1534 \
+   -L 1539:192.168.133.10:22 \
+   -L 1540:192.168.133.10:7301 \
    eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 \
-   -t 'export CONSOLE_PREFIX="[Q7S Tunnel] /bin/bash'
+   -t 'CONSOLE_PREFIX="[Q7S Tunnel]" /bin/bash'
 ```
 
 There is also a shell script called `q7s-port.sh` which can be used to achieve the same.
 
 # <a id="set-up-prereq"></a> Setting up prerequisites
 
+## <a id="sysroot"></a> Getting system root for Linux cross-compilation
+
+Cross-compiling any program for an embedded Linux board generally required parts of the target root
+file system on the development/host computer. For the Q7S, you can install the cross-compilation
+root file system by simply installing the SDK. You can find the most recent SDK
+[here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/xiphos-q7s-sdk).
+
+If you are compiling for the Q7S or the TE7020, the `ZYNQ_7020_SYSROOT` environment variable
+must be set to the location of the SDK compile sysroot. Here is an example on how to do this
+in Ubuntu, assuming the SDK was installed in the default location
+
+```sh
+export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"
+```
+
+If you are comiling for the Raspberry Pi, you have to set the `LINUX_ROOTFS` environmental
+variable instead. You can find a base root filesystem for the Raspberry Pi
+[here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/rootfs).
+
 ## <a id="vivado"></a> Installing Vivado the the Xilinx development tools
 
 It's also possible to perform debugging with a normal Eclipse installation by installing 
@@ -348,7 +345,9 @@ twice) and generate this list manually with the following commands, according to
    sudo apt install libncurses5
    ```
 
-2. ```sh 
+2. Execute the following command
+
+   ```sh 
    sudo <installRoot>/Vivado/2018.2/bin/vivado -nolog -nojournal -mode batch -source 
    <installRoot>/.xinstall/Vivado_2018.2/scripts/xlpartinfo.tcl -tclargs 
    <installRoot>/Vivado/2018.2/data/parts/installed_devices.txt
@@ -423,21 +422,6 @@ You can download the toolchains for Windows and Linux
    sudo apt-get install cmake
    ```` 
 
-## <a id="q7s-sysroot"></a> Getting the Q7S system root
-
-It is necessary to copy the Q7S system root to your local development machine for libraries
-like `libgpio`. You can find the system root for the Q7S, the Raspberry Pi and the
-Beagle Bone Black for download here
-[here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/rootfs&fileid=831849). 
-Download it and unzip it somewhere in the Xilinx installation folder.
-You can use the following command if `wget` can be used or for CI/CD:
-
-```sh
-wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/SyXpdBBQX32xPgE/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz
-```
-
-Then, create a new environmental variables `Q7S_SYSROOT` and set it to the local system root path.
-
 ### Updating system root for CI
 
 If the system root is updated, it needs to be manually updated on the buggy file server.
@@ -727,7 +711,10 @@ More detailed information about the used q7s commands can be found in the Q7S us
 
 # <a id="q7s"></a> Q7S OBC
 
-## Launching an application at start-up
+## Launching an application at start-up - deprecated
+
+This way to enable auto-startup is deprecated. It is instead recommended to tweak the yocto
+recipes file for the related `systemd` service to enable auto-startup with `SYSTEMD_AUTO_ENABLE`.
 
 You can also do the steps performed here on a host computer inside the `q7s-rootfs` directory
 of the [Q7S base repository](https://egit.irs.uni-stuttgart.de/eive/q7s-base). This might
@@ -829,10 +816,9 @@ If a timeout occurs, this special file will be deleted as well.
 The watchdog and its configuration will be directly integrated into this repostory, which
 makes adaptions easy.
 
-### `tcfagent`
+### `tcf-agent`
 
-This starts the `/usr/bin/agent` program to allows remote debugging. Might not be part of
+This starts the `/usr/bin/tcf-agent` program to allows remote debugging
-the mission code
 
 ### `eive-early-config`
 
@@ -1196,8 +1182,11 @@ Alternatively, changes from other upstreams (forks) and branches can be merged l
 in the same way.
 
 # <a id="coding-style"></a> Coding Style
+
 * the formatting is based on the clang-format tools
+
 ## Setting up eclipse auto-fromatter with clang-format
+
 1. Help &rarr; Install New Software &rarr; Add
 2. In location insert the link http://www.cppstyle.com/luna
 3. The software package CppStyle should now be available for installation

bsp_hosted/fsfwconfig/OBSWConfig.h.in

@@ -8,6 +8,8 @@
 
 #include "commonConfig.h"
 
+#define OBSW_PRINT_MISSED_DEADLINES                 1
+
 #define OBSW_ADD_TEST_CODE                          1
 
 /* These defines should be disabled for mission code but are useful for
@@ -20,6 +22,12 @@ debugging. */
 // Set to 1 if telecommands are received via the PDEC IP Core
 #define OBSW_TC_FROM_PDEC                           0
 
+#define OBSW_SYRLINKS_SIMULATED                     0
+
+#define OBSW_INITIALIZE_SWITCHES                    0
+
+#define OBSW_TCP_SERVER_WIRETAPPING                 0
+
 #ifdef __cplusplus
 
 #include "objects/systemObjectList.h"

bsp_hosted/main.cpp

@@ -1,7 +1,7 @@
 #include <iostream>
 
 #include "InitMission.h"
-#include "OBSWVersion.h"
+#include "commonConfig.h"
 #include "fsfw/FSFWVersion.h"
 #include "fsfw/tasks/TaskFactory.h"
 #ifdef WIN32
@@ -19,9 +19,9 @@ static const char* COMPILE_PRINTOUT = "unknown OS";
 int main(void) {
   std::cout << "-- EIVE OBSW --" << std::endl;
   std::cout << "-- Compiled for " << COMPILE_PRINTOUT << " --" << std::endl;
-  std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
+  std::cout << "-- OBSW "
-            << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "."
+            << " v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
-            << FSFW_REVISION << "--" << std::endl;
+            << std::endl;
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
 
   initmission::initMission();

bsp_q7s/core/ObjectFactory.cpp

@@ -1,5 +1,8 @@
 #include "ObjectFactory.h"
 
+#include <mission/system/fdir/GomspacePowerFdir.h>
+#include <mission/system/fdir/SyrlinksFdir.h>
+
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
 #include "bsp_q7s/callbacks/gnssCallback.h"
@@ -37,10 +40,10 @@
 #include "linux/obc/PdecHandler.h"
 #include "linux/obc/Ptme.h"
 #include "linux/obc/PtmeConfig.h"
-#include "mission/system/objects/AcsBoardFdir.h"
+#include "mission/system/fdir/AcsBoardFdir.h"
-#include "mission/system/objects/RtdFdir.h"
+#include "mission/system/fdir/RtdFdir.h"
+#include "mission/system/fdir/SusFdir.h"
 #include "mission/system/objects/SusAssembly.h"
-#include "mission/system/objects/SusFdir.h"
 #include "mission/system/objects/TcsBoardAssembly.h"
 #include "mission/system/tree/system.h"
 #include "tmtc/apid.h"
@@ -154,7 +157,7 @@ void ObjectFactory::produce(void* args) {
   createSolarArrayDeploymentComponents();
   createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher);
 #if OBSW_ADD_SYRLINKS == 1
-  createSyrlinksComponents();
+  createSyrlinksComponents(pwrSwitcher);
 #endif /* OBSW_ADD_SYRLINKS == 1 */
   createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher);
   createPayloadComponents(gpioComIF);
@@ -170,6 +173,9 @@ void ObjectFactory::produce(void* args) {
   imtqHandler->setStartUpImmediately();
   imtqHandler->setToGoToNormal(true);
 #endif
+#if OBSW_DEBUG_IMTQ == 1
+  imtqHandler->setDebugMode(true);
+#endif
 #endif
   createReactionWheelComponents(gpioComIF);
 
@@ -179,6 +185,9 @@ void ObjectFactory::produce(void* args) {
       new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
   bpxHandler->setStartUpImmediately();
   bpxHandler->setToGoToNormalMode(true);
+#if OBSW_DEBUG_BPX_BATT == 1
+  bpxHandler->setDebugMode(true);
+#endif
 #endif
 
   new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
@@ -249,14 +258,22 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
   CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
   CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
   CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
-  /* Device Handler */
+
+  auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
   P60DockHandler* p60dockhandler =
-      new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie);
+      new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie, p60Fdir);
+
+  auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
   PDU1Handler* pdu1handler =
-      new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie);
+      new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
+
+  auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
   PDU2Handler* pdu2handler =
-      new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
+      new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
-  ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
+
+  auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
+  ACUHandler* acuhandler =
+      new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir);
   auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
 
   /**
@@ -270,6 +287,12 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
   if (pwrSwitcher != nullptr) {
     *pwrSwitcher = pcduHandler;
   }
+#if OBSW_DEBUG_P60DOCK == 1
+  p60dockhandler->setDebugMode(true);
+#endif
+#if OBSW_DEBUG_ACU == 1
+  acuhandler->setDebugMode(true);
+#endif
 }
 
 void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
@@ -633,9 +656,14 @@ void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
                      syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   syrlinksUartCookie->setParityEven();
 
-  auto syrlinksHandler = new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF,
+  auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HK_HANDLER);
-                                               syrlinksUartCookie, pcdu::PDU1_CH1_SYRLINKS_12V);
+  auto syrlinksHandler =
+      new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
+                            pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
   syrlinksHandler->setPowerSwitcher(pwrSwitcher);
+#if OBSW_DEBUG_SYRLINKS == 1
+  syrlinksHandler->setDebugMode(true);
+#endif
 }
 
 void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
@@ -736,32 +764,35 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
 
   auto rwHandler1 =
       new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF, gpioIds::EN_RW1);
+  rw1SpiCookie->setCallbackArgs(rwHandler1);
 #if OBSW_DEBUG_RW == 1
   rwHandler1->setStartUpImmediately();
+  rwHandler1->setDebugMode(true);
 #endif
-  rw1SpiCookie->setCallbackArgs(rwHandler1);
-  rwHandler1->setStartUpImmediately();
 
   auto rwHandler2 =
       new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2);
+  rw2SpiCookie->setCallbackArgs(rwHandler2);
 #if OBSW_DEBUG_RW == 1
   rwHandler2->setStartUpImmediately();
+  rwHandler2->setDebugMode(true);
 #endif
-  rw2SpiCookie->setCallbackArgs(rwHandler2);
 
   auto rwHandler3 =
       new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3);
+  rw3SpiCookie->setCallbackArgs(rwHandler3);
 #if OBSW_DEBUG_RW == 1
   rwHandler3->setStartUpImmediately();
+  rwHandler3->setDebugMode(true);
 #endif
-  rw3SpiCookie->setCallbackArgs(rwHandler3);
 
   auto rwHandler4 =
       new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4);
+  rw4SpiCookie->setCallbackArgs(rwHandler4);
 #if OBSW_DEBUG_RW == 1
   rwHandler4->setStartUpImmediately();
+  rwHandler4->setDebugMode(true);
 #endif
-  rw4SpiCookie->setCallbackArgs(rwHandler4);
 
 #endif /* OBSW_ADD_RW == 1 */
 }

common/config/commonConfig.h.in

@@ -4,6 +4,10 @@
 #include <cstdint>
 #include "fsfw/version.h"
 
+/* These defines should be disabled for mission code but are useful for
+debugging. */
+#define OBSW_VERBOSE_LEVEL                  1
+
 #define OBSW_ADD_LWGPS_TEST                 0   
 
 // Disable this for mission code. It allows exchanging TMTC packets via the Ethernet port

common/config/commonSubsystemIds.h

@@ -30,6 +30,7 @@ enum: uint8_t {
 	PDU1_HANDLER = 133,
 	PDU2_HANDLER = 134,
 	ACU_HANDLER = 135,
+	SYRLINKS = 136,
 	COMMON_SUBSYSTEM_ID_END
 };
 }

fsfw

@@ -1 +1 @@
-Subproject commit 1c4ea6dd0dbc6e93086c28d8e0ce3bed5be0c73c
+Subproject commit 7760b3063ee9249316edd1772384474676b062b2

linux/ObjectFactory.cpp

@@ -9,9 +9,9 @@
 #include <linux/callbacks/gpioCallbacks.h>
 #include <mission/devices/Max31865PT1000Handler.h>
 #include <mission/devices/SusHandler.h>
-#include <mission/system/objects/RtdFdir.h>
+#include <mission/system/fdir/RtdFdir.h>
+#include <mission/system/fdir/SusFdir.h>
 #include <mission/system/objects/SusAssembly.h>
-#include <mission/system/objects/SusFdir.h>
 #include <mission/system/objects/TcsBoardAssembly.h>
 
 #include "OBSWConfig.h"
@@ -267,6 +267,9 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
     rtdFdir = new RtdFdir(rtdIds[idx]);
     rtds[idx]->setCustomFdir(rtdFdir);
     rtds[idx]->setDeviceIdx(idx + 3);
+#if OBSW_DEBUG_RTD == 1
+    rtds[idx]->setDebugMode(true);
+#endif
   }
 
 #if OBSW_TEST_RTD == 1

linux/fsfwconfig/OBSWConfig.h.in

@@ -15,10 +15,6 @@
 #include "commonConfig.h"
 #include "OBSWVersion.h"
                              
-/* These defines should be disabled for mission code but are useful for
-debugging. */
-#define OBSW_VERBOSE_LEVEL                          1
-                             
 #define Q7S_EM                                      0
 
 /*******************************************************************/
@@ -49,10 +45,10 @@ debugging. */
 #define OBSW_ADD_ACS_HANDLERS                       1
 #define OBSW_ADD_RW                                 0
 #define OBSW_ADD_RTD_DEVICES                        1
-#define OBSW_ADD_TMP_DEVICES                        0
+#define OBSW_ADD_TMP_DEVICES                        1
 #define OBSW_ADD_RAD_SENSORS                        1
 #define OBSW_ADD_PL_PCDU                            1
-#define OBSW_ADD_SYRLINKS                           0
+#define OBSW_ADD_SYRLINKS                           1
 #define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
 #define OBSW_STAR_TRACKER_GROUND_CONFIG             1
 
@@ -129,6 +125,8 @@ debugging. */
 #define OBSW_DEBUG_BPX_BATT                         0
 #define OBSW_TEST_IMTQ                              0
 #define OBSW_DEBUG_IMTQ                             0
+#define OBSW_TEST_RW                                0
+#define OBSW_DEBUG_RW                               0
 
 #define OBSW_TEST_LIBGPIOD                          0
 #define OBSW_TEST_PLOC_HANDLER                      0
@@ -145,7 +143,7 @@ debugging. */
 #define OBSW_DEBUG_GPS                              0
 #define OBSW_DEBUG_ACU                              0
 #define OBSW_DEBUG_SYRLINKS                         0
-#define OBSW_DEBUG_RW                               0
+
 #define OBSW_DEBUG_PDEC_HANDLER                     0
 
 #ifdef TE0720_1CFA
@@ -185,7 +183,7 @@ debugging. */
 
 #endif // RASPBERRY_PI
 
-#define TCP_SERVER_WIRETAPPING                      0
+#define OBSW_TCP_SERVER_WIRETAPPING                 0
 
 /*******************************************************************/
 /** CMake Defines                                                  */

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -514,7 +514,6 @@ ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
 #if Q7S_EM != 1
   // PCDU handlers receives two messages and both must be handled
   thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
 
   thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);

mission/core/GenericFactory.cpp

@@ -111,9 +111,9 @@ void ObjectFactory::produceGenericObjects() {
   tcpServer->setSpacePacketParsingOptions({common::PUS_PACKET_ID});
   sif::info << "Created TCP server for TMTC commanding with listener port "
             << tcpServer->getTcpPort() << std::endl;
-#if TCP_SERVER_WIRETAPPING == 1
+#if OBSW_TCP_SERVER_WIRETAPPING == 1
   tcpServer->enableWiretapping(true);
-#endif /* TCP_SERVER_WIRETAPPING == 1 */
+#endif /* OBSW_TCP_SERVER_WIRETAPPING == 1 */
 #endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
   tmtcBridge->setMaxNumberOfPacketsStored(70);
 #endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */

mission/devices/ACUHandler.cpp

@@ -2,8 +2,9 @@
 
 #include "OBSWConfig.h"
 
-ACUHandler::ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
+ACUHandler::ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
-    : GomspaceDeviceHandler(objectId, comIF, comCookie, ACU::MAX_CONFIGTABLE_ADDRESS,
+                       FailureIsolationBase *customFdir)
+    : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir, ACU::MAX_CONFIGTABLE_ADDRESS,
                             ACU::MAX_HKTABLE_ADDRESS, ACU::HK_TABLE_REPLY_SIZE),
       acuHkTableDataset(this) {}
 
@@ -23,7 +24,8 @@ void ACUHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pack
   parseHkTableReply(packet);
   handleDeviceTM(&acuHkTableDataset, id, true);
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_ACU == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     acuHkTableDataset.read();
     float temperatureC_1 = acuHkTableDataset.temperature1.value * 0.1;
     float temperatureC_2 = acuHkTableDataset.temperature2.value * 0.1;
@@ -37,6 +39,7 @@ void ACUHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pack
               << acuHkTableDataset.wdtGndLeft.value << std::endl;
     acuHkTableDataset.commit();
 #endif
+  }
 }
 
 LocalPoolDataSetBase *ACUHandler::getDataSetHandle(sid_t sid) {
@@ -317,3 +320,5 @@ void ACUHandler::printChannelStats() {
             << static_cast<unsigned int>(acuHkTableDataset.currentInChannel5.value) << std::setw(15)
             << std::right << acuHkTableDataset.voltageInChannel5.value << std::endl;
 }
+
+void ACUHandler::setDebugMode(bool enable) { this->debugMode = enable; }

mission/devices/ACUHandler.h

@@ -12,9 +12,12 @@
  */
 class ACUHandler : public GomspaceDeviceHandler {
  public:
-  ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
+  ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+             FailureIsolationBase* customFdir);
   virtual ~ACUHandler();
 
+  void setDebugMode(bool enable);
+
   virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                 LocalDataPoolManager& poolManager) override;
 
@@ -37,6 +40,7 @@ class ACUHandler : public GomspaceDeviceHandler {
   static const DeviceCommandId_t PRINT_CHANNEL_STATS = 51;
 
   ACU::HkTableDataset acuHkTableDataset;
+  bool debugMode = false;
 
   /**
    * @brief   Function extracts the hk table information from the received csp packet and stores

mission/devices/BpxBatteryHandler.cpp

@@ -197,7 +197,7 @@ ReturnValue_t BpxBatteryHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       if (result != HasReturnvaluesIF::RETURN_OK) {
         return result;
       }
-#if OBSW_DEBUG_BPX_BATT == 1
+      if (debugMode) {
         sif::info << "BPX Battery HK output:" << std::endl;
         sif::info << "Charge current [mA]: " << hkSet.chargeCurrent << std::endl;
         sif::info << "Discharge current [mA]: " << hkSet.dischargeCurrent << std::endl;
@@ -209,7 +209,7 @@ ReturnValue_t BpxBatteryHandler::interpretDeviceReply(DeviceCommandId_t id, cons
         sif::info << "Battery Temperature 4 [C]: " << hkSet.battTemp4 << std::endl;
         sif::info << "Battery Reboot Counter: " << hkSet.rebootCounter << std::endl;
         sif::info << "Battery Boot Cause: " << static_cast<int>(hkSet.bootcause.value) << std::endl;
-#endif
+      }
       break;
     }
     case (BpxBattery::PING): {
@@ -277,3 +277,5 @@ ReturnValue_t BpxBatteryHandler::initializeLocalDataPool(localpool::DataPool& lo
 void BpxBatteryHandler::setToGoToNormalMode(bool enable) {
   this->goToNormalModeImmediately = enable;
 }
+
+void BpxBatteryHandler::setDebugMode(bool enable) { this->debugMode = enable; }

mission/devices/BpxBatteryHandler.h

@@ -11,6 +11,7 @@ class BpxBatteryHandler : public DeviceHandlerBase {
   virtual ~BpxBatteryHandler();
 
   void setToGoToNormalMode(bool enable);
+  void setDebugMode(bool enable);
 
  protected:
   enum class States {
@@ -20,6 +21,7 @@ class BpxBatteryHandler : public DeviceHandlerBase {
 
   States state = States::CHECK_COM;
   bool commandExecuted = false;
+  bool debugMode = false;
   bool goToNormalModeImmediately = false;
   uint8_t sentPingByte = BpxBattery::DEFAULT_PING_SENT_BYTE;
   BpxBatteryHk hkSet;

mission/devices/GomspaceDeviceHandler.cpp

@@ -7,9 +7,10 @@
 #include "devicedefinitions/powerDefinitions.h"
 
 GomspaceDeviceHandler::GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF,
-                                             CookieIF* comCookie, uint16_t maxConfigTableAddress,
+                                             CookieIF* comCookie, FailureIsolationBase* customFdir,
+                                             uint16_t maxConfigTableAddress,
                                              uint16_t maxHkTableAddress, uint16_t hkTableReplySize)
-    : DeviceHandlerBase(objectId, comIF, comCookie),
+    : DeviceHandlerBase(objectId, comIF, comCookie, customFdir),
       maxConfigTableAddress(maxConfigTableAddress),
       maxHkTableAddress(maxHkTableAddress),
       hkTableReplySize(hkTableReplySize) {

mission/devices/GomspaceDeviceHandler.h

@@ -38,8 +38,8 @@ class GomspaceDeviceHandler : public DeviceHandlerBase {
    * 							device.
    */
   GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
-                        uint16_t maxConfigTableAddress, uint16_t maxHkTableAddress,
+                        FailureIsolationBase *customFdir, uint16_t maxConfigTableAddress,
-                        uint16_t hkTableReplySize);
+                        uint16_t maxHkTableAddress, uint16_t hkTableReplySize);
   virtual ~GomspaceDeviceHandler();
 
   /**

mission/devices/IMTQHandler.cpp

@@ -687,7 +687,8 @@ void IMTQHandler::fillEngHkDataset(const uint8_t* packet) {
   offset += 2;
   engHkDataset.mcuTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "IMTQ digital voltage: " << engHkDataset.digitalVoltageMv << " mV" << std::endl;
     sif::info << "IMTQ analog voltage: " << engHkDataset.analogVoltageMv << " mV" << std::endl;
     sif::info << "IMTQ digital current: " << engHkDataset.digitalCurrentmA << " mA" << std::endl;
@@ -700,6 +701,7 @@ void IMTQHandler::fillEngHkDataset(const uint8_t* packet) {
     sif::info << "IMTQ coil Z temperature: " << engHkDataset.coilZTemperature << " °C" << std::endl;
     sif::info << "IMTQ coil MCU temperature: " << engHkDataset.mcuTemperature << " °C" << std::endl;
 #endif
+  }
 }
 
 void IMTQHandler::setToGoToNormal(bool enable) { this->goToNormalMode = enable; }
@@ -755,7 +757,8 @@ void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
   calMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24) |
                                              (*(packet + offset + 2) << 16) |
                                              (*(packet + offset + 1) << 8) | (*(packet + offset));
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "IMTQ calibrated MTM measurement X: " << calMtmMeasurementSet.mtmXnT << " nT"
               << std::endl;
     sif::info << "IMTQ calibrated MTM measurement Y: " << calMtmMeasurementSet.mtmYnT << " nT"
@@ -765,6 +768,7 @@ void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
     sif::info << "IMTQ coil actuation status during MTM measurement: "
               << (unsigned int)calMtmMeasurementSet.coilActuationStatus.value << std::endl;
 #endif
+  }
 }
 
 void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
@@ -785,13 +789,18 @@ void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
   rawMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24) |
                                              (*(packet + offset + 2) << 16) |
                                              (*(packet + offset + 1) << 8) | (*(packet + offset));
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
+  if (debugMode) {
-  sif::info << "IMTQ raw MTM measurement X: " << rawMtmMeasurementSet.mtmXnT << " nT" << std::endl;
+#if OBSW_VERBOSE_LEVEL >= 1
-  sif::info << "IMTQ raw MTM measurement Y: " << rawMtmMeasurementSet.mtmYnT << " nT" << std::endl;
+    sif::info << "IMTQ raw MTM measurement X: " << rawMtmMeasurementSet.mtmXnT << " nT"
-  sif::info << "IMTQ raw MTM measurement Z: " << rawMtmMeasurementSet.mtmZnT << " nT" << std::endl;
+              << std::endl;
+    sif::info << "IMTQ raw MTM measurement Y: " << rawMtmMeasurementSet.mtmYnT << " nT"
+              << std::endl;
+    sif::info << "IMTQ raw MTM measurement Z: " << rawMtmMeasurementSet.mtmZnT << " nT"
+              << std::endl;
     sif::info << "IMTQ coil actuation status during MTM measurement: "
               << (unsigned int)rawMtmMeasurementSet.coilActuationStatus.value << std::endl;
 #endif
+  }
 }
 
 void IMTQHandler::handleSelfTestReply(const uint8_t* packet) {
@@ -954,7 +963,8 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) {
   posXselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
   offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "IMTQ self test (INIT) err: "
               << static_cast<unsigned int>(posXselfTestDataset.initErr.value) << std::endl;
     sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posXselfTestDataset.initRawMagX
@@ -984,12 +994,12 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) {
 
     sif::info << "IMTQ self test (+X) err: "
               << static_cast<unsigned int>(posXselfTestDataset.err.value) << std::endl;
-  sif::info << "IMTQ self test (+X) raw magnetic field X: " << posXselfTestDataset.rawMagX << " nT"
+    sif::info << "IMTQ self test (+X) raw magnetic field X: " << posXselfTestDataset.rawMagX
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (+X) raw magnetic field Y: " << posXselfTestDataset.rawMagY << " nT"
+    sif::info << "IMTQ self test (+X) raw magnetic field Y: " << posXselfTestDataset.rawMagY
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (+X) raw magnetic field Z: " << posXselfTestDataset.rawMagZ << " nT"
+    sif::info << "IMTQ self test (+X) raw magnetic field Z: " << posXselfTestDataset.rawMagZ
-            << std::endl;
+              << " nT" << std::endl;
     sif::info << "IMTQ self test (+X) calibrated magnetic field X: " << posXselfTestDataset.calMagX
               << " nT" << std::endl;
     sif::info << "IMTQ self test (+X) calibrated magnetic field Y: " << posXselfTestDataset.calMagY
@@ -1036,6 +1046,7 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) {
     sif::info << "IMTQ self test (FINA) coil Z temperature: "
               << posXselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
 #endif
+  }
 }
 
 void IMTQHandler::handleNegativeXSelfTestReply(const uint8_t* packet) {
@@ -1164,7 +1175,8 @@ void IMTQHandler::handleNegativeXSelfTestReply(const uint8_t* packet) {
   negXselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
   offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "IMTQ self test (INIT) err: "
               << static_cast<unsigned int>(negXselfTestDataset.initErr.value) << std::endl;
     sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negXselfTestDataset.initRawMagX
@@ -1194,12 +1206,12 @@ void IMTQHandler::handleNegativeXSelfTestReply(const uint8_t* packet) {
 
     sif::info << "IMTQ self test (-X) err: "
               << static_cast<unsigned int>(negXselfTestDataset.err.value) << std::endl;
-  sif::info << "IMTQ self test (-X) raw magnetic field X: " << negXselfTestDataset.rawMagX << " nT"
+    sif::info << "IMTQ self test (-X) raw magnetic field X: " << negXselfTestDataset.rawMagX
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (-X) raw magnetic field Y: " << negXselfTestDataset.rawMagY << " nT"
+    sif::info << "IMTQ self test (-X) raw magnetic field Y: " << negXselfTestDataset.rawMagY
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (-X) raw magnetic field Z: " << negXselfTestDataset.rawMagZ << " nT"
+    sif::info << "IMTQ self test (-X) raw magnetic field Z: " << negXselfTestDataset.rawMagZ
-            << std::endl;
+              << " nT" << std::endl;
     sif::info << "IMTQ self test (-X) calibrated magnetic field X: " << negXselfTestDataset.calMagX
               << " nT" << std::endl;
     sif::info << "IMTQ self test (-X) calibrated magnetic field Y: " << negXselfTestDataset.calMagY
@@ -1246,6 +1258,7 @@ void IMTQHandler::handleNegativeXSelfTestReply(const uint8_t* packet) {
     sif::info << "IMTQ self test (FINA) coil Z temperature: "
               << negXselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
 #endif
+  }
 }
 
 void IMTQHandler::handlePositiveYSelfTestReply(const uint8_t* packet) {
@@ -1374,7 +1387,8 @@ void IMTQHandler::handlePositiveYSelfTestReply(const uint8_t* packet) {
   posYselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
   offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "IMTQ self test (INIT) err: "
               << static_cast<unsigned int>(posYselfTestDataset.initErr.value) << std::endl;
     sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posYselfTestDataset.initRawMagX
@@ -1404,12 +1418,12 @@ void IMTQHandler::handlePositiveYSelfTestReply(const uint8_t* packet) {
 
     sif::info << "IMTQ self test (+Y) err: "
               << static_cast<unsigned int>(posYselfTestDataset.err.value) << std::endl;
-  sif::info << "IMTQ self test (+Y) raw magnetic field X: " << posYselfTestDataset.rawMagX << " nT"
+    sif::info << "IMTQ self test (+Y) raw magnetic field X: " << posYselfTestDataset.rawMagX
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (+Y) raw magnetic field Y: " << posYselfTestDataset.rawMagY << " nT"
+    sif::info << "IMTQ self test (+Y) raw magnetic field Y: " << posYselfTestDataset.rawMagY
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (+Y) raw magnetic field Z: " << posYselfTestDataset.rawMagZ << " nT"
+    sif::info << "IMTQ self test (+Y) raw magnetic field Z: " << posYselfTestDataset.rawMagZ
-            << std::endl;
+              << " nT" << std::endl;
     sif::info << "IMTQ self test (+Y) calibrated magnetic field X: " << posYselfTestDataset.calMagX
               << " nT" << std::endl;
     sif::info << "IMTQ self test (+Y) calibrated magnetic field Y: " << posYselfTestDataset.calMagY
@@ -1456,6 +1470,7 @@ void IMTQHandler::handlePositiveYSelfTestReply(const uint8_t* packet) {
     sif::info << "IMTQ self test (FINA) coil Z temperature: "
               << posYselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
 #endif
+  }
 }
 
 void IMTQHandler::handleNegativeYSelfTestReply(const uint8_t* packet) {
@@ -1584,7 +1599,8 @@ void IMTQHandler::handleNegativeYSelfTestReply(const uint8_t* packet) {
   negYselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
   offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "IMTQ self test (INIT) err: "
               << static_cast<unsigned int>(negYselfTestDataset.initErr.value) << std::endl;
     sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negYselfTestDataset.initRawMagX
@@ -1614,12 +1630,12 @@ void IMTQHandler::handleNegativeYSelfTestReply(const uint8_t* packet) {
 
     sif::info << "IMTQ self test (-Y) err: "
               << static_cast<unsigned int>(negYselfTestDataset.err.value) << std::endl;
-  sif::info << "IMTQ self test (-Y) raw magnetic field X: " << negYselfTestDataset.rawMagX << " nT"
+    sif::info << "IMTQ self test (-Y) raw magnetic field X: " << negYselfTestDataset.rawMagX
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (-Y) raw magnetic field Y: " << negYselfTestDataset.rawMagY << " nT"
+    sif::info << "IMTQ self test (-Y) raw magnetic field Y: " << negYselfTestDataset.rawMagY
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (-Y) raw magnetic field Z: " << negYselfTestDataset.rawMagZ << " nT"
+    sif::info << "IMTQ self test (-Y) raw magnetic field Z: " << negYselfTestDataset.rawMagZ
-            << std::endl;
+              << " nT" << std::endl;
     sif::info << "IMTQ self test (-Y) calibrated magnetic field X: " << negYselfTestDataset.calMagX
               << " nT" << std::endl;
     sif::info << "IMTQ self test (-Y) calibrated magnetic field Y: " << negYselfTestDataset.calMagY
@@ -1666,6 +1682,7 @@ void IMTQHandler::handleNegativeYSelfTestReply(const uint8_t* packet) {
     sif::info << "IMTQ self test (FINA) coil Z temperature: "
               << negYselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
 #endif
+  }
 }
 
 void IMTQHandler::handlePositiveZSelfTestReply(const uint8_t* packet) {
@@ -1794,7 +1811,8 @@ void IMTQHandler::handlePositiveZSelfTestReply(const uint8_t* packet) {
   posZselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
   offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "IMTQ self test (INIT) err: "
               << static_cast<unsigned int>(posZselfTestDataset.initErr.value) << std::endl;
     sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posZselfTestDataset.initRawMagX
@@ -1824,12 +1842,12 @@ void IMTQHandler::handlePositiveZSelfTestReply(const uint8_t* packet) {
 
     sif::info << "IMTQ self test (+Z) err: "
               << static_cast<unsigned int>(posZselfTestDataset.err.value) << std::endl;
-  sif::info << "IMTQ self test (+Z) raw magnetic field X: " << posZselfTestDataset.rawMagX << " nT"
+    sif::info << "IMTQ self test (+Z) raw magnetic field X: " << posZselfTestDataset.rawMagX
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (+Z) raw magnetic field Y: " << posZselfTestDataset.rawMagY << " nT"
+    sif::info << "IMTQ self test (+Z) raw magnetic field Y: " << posZselfTestDataset.rawMagY
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (+Z) raw magnetic field Z: " << posZselfTestDataset.rawMagZ << " nT"
+    sif::info << "IMTQ self test (+Z) raw magnetic field Z: " << posZselfTestDataset.rawMagZ
-            << std::endl;
+              << " nT" << std::endl;
     sif::info << "IMTQ self test (+Z) calibrated magnetic field X: " << posZselfTestDataset.calMagX
               << " nT" << std::endl;
     sif::info << "IMTQ self test (+Z) calibrated magnetic field Y: " << posZselfTestDataset.calMagY
@@ -1876,6 +1894,7 @@ void IMTQHandler::handlePositiveZSelfTestReply(const uint8_t* packet) {
     sif::info << "IMTQ self test (FINA) coil Z temperature: "
               << posZselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
 #endif
+  }
 }
 
 void IMTQHandler::handleNegativeZSelfTestReply(const uint8_t* packet) {
@@ -2004,7 +2023,8 @@ void IMTQHandler::handleNegativeZSelfTestReply(const uint8_t* packet) {
   negZselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
   offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "IMTQ self test (INIT) err: "
               << static_cast<unsigned int>(negZselfTestDataset.initErr.value) << std::endl;
     sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negZselfTestDataset.initRawMagX
@@ -2034,12 +2054,12 @@ void IMTQHandler::handleNegativeZSelfTestReply(const uint8_t* packet) {
 
     sif::info << "IMTQ self test (-Z) err: "
               << static_cast<unsigned int>(negZselfTestDataset.err.value) << std::endl;
-  sif::info << "IMTQ self test (-Z) raw magnetic field X: " << negZselfTestDataset.rawMagX << " nT"
+    sif::info << "IMTQ self test (-Z) raw magnetic field X: " << negZselfTestDataset.rawMagX
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (-Z) raw magnetic field Y: " << negZselfTestDataset.rawMagY << " nT"
+    sif::info << "IMTQ self test (-Z) raw magnetic field Y: " << negZselfTestDataset.rawMagY
-            << std::endl;
+              << " nT" << std::endl;
-  sif::info << "IMTQ self test (-Z) raw magnetic field Z: " << negZselfTestDataset.rawMagZ << " nT"
+    sif::info << "IMTQ self test (-Z) raw magnetic field Z: " << negZselfTestDataset.rawMagZ
-            << std::endl;
+              << " nT" << std::endl;
     sif::info << "IMTQ self test (-Z) calibrated magnetic field X: " << negZselfTestDataset.calMagX
               << " nT" << std::endl;
     sif::info << "IMTQ self test (-Z) calibrated magnetic field Y: " << negZselfTestDataset.calMagY
@@ -2086,8 +2106,11 @@ void IMTQHandler::handleNegativeZSelfTestReply(const uint8_t* packet) {
     sif::info << "IMTQ self test (FINA) coil Z temperature: "
               << negZselfTestDataset.finaCoilZTemperature << " °C" << std::endl;
 #endif
+  }
 }
 
+void IMTQHandler::setDebugMode(bool enable) { this->debugMode = enable; }
+
 void IMTQHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) {
   std::string stepString("");
   if (step < 8) {

mission/devices/IMTQHandler.h

@@ -21,6 +21,8 @@ class IMTQHandler : public DeviceHandlerBase {
    */
   void setToGoToNormal(bool enable);
 
+  void setDebugMode(bool enable);
+
  protected:
   void doStartUp() override;
   void doShutDown() override;
@@ -99,6 +101,7 @@ class IMTQHandler : public DeviceHandlerBase {
 
   uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE];
   bool goToNormalMode = false;
+  bool debugMode = false;
 
   enum class CommunicationStep {
     GET_ENG_HK_DATA,

mission/devices/Max31865PT1000Handler.cpp

@@ -399,12 +399,12 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
       // calculate approximation
       float approxTemp = adcCode / 32.0 - 256.0;
 
-#if OBSW_DEBUG_RTD == 1
+      if (debugMode) {
 #if OBSW_VERBOSE_LEVEL >= 1
         if (debugDivider->checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "Max31865: ObjID " << std::hex << this->getObjectId() << " | RTD " << std::dec
+          sif::info << "Max31865: ObjID " << std::hex << this->getObjectId() << " | RTD "
-                  << static_cast<int>(deviceIdx) << ": R[Ohm] " << rtdValue
+                    << std::dec << static_cast<int>(deviceIdx) << ": R[Ohm] " << rtdValue
                     << " Ohms | Approx T[C]: " << approxTemp << std::endl;
 #else
           sif::printInfo("Max31685: Measured resistance is %f Ohms\n", rtdValue);
@@ -412,7 +412,8 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
 #endif
         }
 #endif
-#endif
+      }
+
       PoolReadGuard pg(&sensorDataset);
       if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
         // Configuration error
@@ -530,3 +531,5 @@ void Max31865PT1000Handler::modeChanged() {
 }
 
 void Max31865PT1000Handler::setDeviceIdx(uint8_t idx) { deviceIdx = idx; }
+
+void Max31865PT1000Handler::setDebugMode(bool enable) { this->debugMode = enable; }

mission/devices/Max31865PT1000Handler.h

@@ -33,6 +33,8 @@ class Max31865PT1000Handler : public DeviceHandlerBase {
   Max31865PT1000Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie);
   virtual ~Max31865PT1000Handler();
 
+  void setDebugMode(bool enable);
+
   // Configuration in 8 digit code:
   // 1. 1 for V_BIAS enabled, 0 for disabled
   // 2. 1 for Auto-conversion, 0 for off
@@ -85,6 +87,7 @@ class Max31865PT1000Handler : public DeviceHandlerBase {
  private:
   uint8_t switchId = 0;
   bool instantNormal = false;
+  bool debugMode = false;
   bool warningSwitch = true;
 
   enum class InternalState {

mission/devices/P60DockHandler.cpp

@@ -4,9 +4,11 @@
 
 #include "OBSWConfig.h"
 
-P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
+P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
-    : GomspaceDeviceHandler(objectId, comIF, comCookie, P60Dock::MAX_CONFIGTABLE_ADDRESS,
+                               FailureIsolationBase *customFdir)
-                            P60Dock::MAX_HKTABLE_ADDRESS, P60Dock::HK_TABLE_REPLY_SIZE),
+    : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir,
+                            P60Dock::MAX_CONFIGTABLE_ADDRESS, P60Dock::MAX_HKTABLE_ADDRESS,
+                            P60Dock::HK_TABLE_REPLY_SIZE),
       coreHk(this),
       auxHk(this) {}
 
@@ -24,50 +26,6 @@ void P60DockHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *
    * P60DockHandler itself.
    */
   handleDeviceTM(&coreHk, id, true);
-
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_P60DOCK == 1
-  p60dockHkTableDataset.read();
-  sif::info << "P60 Dock: ACU VCC switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateAcuVcc.value)
-            << std::endl;
-  sif::info << "P60 Dock: PDU1 VCC switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu1Vcc.value)
-            << std::endl;
-  sif::info << "P60 Dock: PDU2 VCC switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu2Vcc.value)
-            << std::endl;
-  sif::info << "P60 Dock: ACU VBAT switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateAcuVbat.value)
-            << std::endl;
-  sif::info << "P60 Dock: PDU1 VBAT switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu1Vbat.value)
-            << std::endl;
-  sif::info << "P60 Dock: PDU2 VBAT switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu2Vbat.value)
-            << std::endl;
-  sif::info << "P60 Dock: Stack VBAT switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStackVbat.value)
-            << std::endl;
-  sif::info << "P60 Dock: Stack 3V3 switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStack3V3.value)
-            << std::endl;
-  sif::info << "P60 Dock: Stack 5V switch: "
-            << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStack5V.value)
-            << std::endl;
-
-  float temperatureC = p60dockHkTableDataset.temperature1.value * 0.1;
-  sif::info << "P60 Dock: Temperature 1: " << temperatureC << " °C" << std::endl;
-  temperatureC = p60dockHkTableDataset.temperature2.value * 0.1;
-  sif::info << "P60 Dock: Temperature 2: " << temperatureC << " °C" << std::endl;
-  sif::info << "P60 Dock: Watchdog Timer seconds left before reboot: "
-            << p60dockHkTableDataset.wdtGndLeft << " seconds" << std::endl;
-  sif::info << "P60 Dock: CSP 1, pings left before reboot: "
-            << (int)p60dockHkTableDataset.wdtCspLeft1.value << std::endl;
-  sif::info << "P60 Dock: CSP 2, pings left before reboot: "
-            << (int)p60dockHkTableDataset.wdtCspLeft1.value << std::endl;
-
-  p60dockHkTableDataset.commit();
-#endif
 }
 
 void P60DockHandler::parseHkTableReply(const uint8_t *packet) {
@@ -362,3 +320,5 @@ void P60DockHandler::printHkTableLatchups() {
   genericPrintoutHandler("X3 VBAT", hk::X3_IDLE_VBAT);
   genericPrintoutHandler("X3 VCC", hk::X3_IDLE_VCC);
 }
+
+void P60DockHandler::setDebugMode(bool enable) { this->debugMode = enable; }

mission/devices/P60DockHandler.h

@@ -21,9 +21,12 @@ class P60DockHandler : public GomspaceDeviceHandler {
   //! [EXPORT] : [COMMENT] Battery mode has changed. P1: Old mode. P2: New mode
   static constexpr Event BATT_MODE_CHANGED = event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
 
-  P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
+  P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+                 FailureIsolationBase* customFdir);
   virtual ~P60DockHandler();
 
+  void setDebugMode(bool enable);
+
   virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                 LocalDataPoolManager& poolManager) override;
 
@@ -50,6 +53,7 @@ class P60DockHandler : public GomspaceDeviceHandler {
   P60Dock::CoreHkSet coreHk;
   P60Dock::HkTableDataset auxHk;
   bool firstHk = true;
+  bool debugMode = false;
   static constexpr uint8_t MAX_CHANNEL_STR_WIDTH = 16;
 
   PoolEntry<int16_t> hkCurrents = PoolEntry<int16_t>(P60Dock::hk::CHNLS_LEN);

mission/devices/PCDUHandler.cpp

@@ -95,9 +95,11 @@ void PCDUHandler::initializeSwitchStates() {
 }
 
 void PCDUHandler::readCommandQueue() {
-  ReturnValue_t result;
+  ReturnValue_t result = RETURN_OK;
   CommandMessage command;
 
+  for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
+       result = commandQueue->receiveMessage(&command)) {
     result = commandQueue->receiveMessage(&command);
     if (result != RETURN_OK) {
       return;
@@ -107,6 +109,7 @@ void PCDUHandler::readCommandQueue() {
     if (result == RETURN_OK) {
       return;
     }
+  }
 }
 
 MessageQueueId_t PCDUHandler::getCommandQueue() const { return commandQueue->getId(); }

mission/devices/PDU1Handler.cpp

@@ -5,8 +5,9 @@
 
 #include "devices/powerSwitcherList.h"
 
-PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
+PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
-    : GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
+                         FailureIsolationBase *customFdir)
+    : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir, PDU::MAX_CONFIGTABLE_ADDRESS,
                             PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE),
       coreHk(this),
       auxHk(this) {}

mission/devices/PDU1Handler.h

@@ -21,7 +21,8 @@
  */
 class PDU1Handler : public GomspaceDeviceHandler {
  public:
-  PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
+  PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+              FailureIsolationBase* customFdir);
   virtual ~PDU1Handler();
 
   virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,

mission/devices/PDU2Handler.cpp

@@ -5,8 +5,9 @@
 
 #include "devices/powerSwitcherList.h"
 
-PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
+PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
-    : GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
+                         FailureIsolationBase *customFdir)
+    : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir, PDU::MAX_CONFIGTABLE_ADDRESS,
                             PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE),
       coreHk(this),
       auxHk(this) {}

mission/devices/PDU2Handler.h

@@ -21,7 +21,8 @@
  */
 class PDU2Handler : public GomspaceDeviceHandler {
  public:
-  PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
+  PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+              FailureIsolationBase* customFdir);
   virtual ~PDU2Handler();
 
   virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,

mission/devices/PayloadPcduHandler.cpp

@@ -2,7 +2,9 @@
 
 #include <fsfw/src/fsfw/datapool/PoolReadGuard.h>
 
-#ifdef FSFW_OSAL_LINUX
+#include "OBSWConfig.h"
+
+#ifdef XIPHOS_Q7S
 #include <fsfw_hal/linux/UnixFileGuard.h>
 #include <fsfw_hal/linux/spi/SpiComIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
@@ -663,7 +665,7 @@ ReturnValue_t PayloadPcduHandler::handleDoubleParamUpdate(std::string key,
   return params.writeJsonFile();
 }
 
-#ifdef FSFW_OSAL_LINUX
+#ifdef XIPHOS_Q7S
 ReturnValue_t PayloadPcduHandler::extConvAsTwoCallback(SpiComIF* comIf, SpiCookie* cookie,
                                                        const uint8_t* sendData, size_t sendLen,
                                                        void* args) {

mission/devices/PayloadPcduHandler.h

@@ -68,10 +68,9 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   void setToGoToNormalModeImmediately(bool enable);
   void enablePeriodicPrintout(bool enable, uint8_t divider);
 
+#ifdef XIPHOS_Q7S
   static ReturnValue_t extConvAsTwoCallback(SpiComIF* comIf, SpiCookie* cookie,
                                             const uint8_t* sendData, size_t sendLen, void* args);
-
-#ifdef FSFW_OSAL_LINUX
   static ReturnValue_t transferAsTwo(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
                                      size_t sendLen, bool tempOnly);
 #endif

mission/devices/RwHandler.cpp

@@ -341,12 +341,15 @@ void RwHandler::handleResetStatusReply(const uint8_t* packet) {
     lastResetStatusSet.lastResetStatus = resetStatus;
   }
   lastResetStatusSet.currentResetStatus = resetStatus;
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "RwHandler::handleResetStatusReply: Last reset status: "
               << static_cast<unsigned int>(lastResetStatusSet.lastResetStatus.value) << std::endl;
     sif::info << "RwHandler::handleResetStatusReply: Current reset status: "
-            << static_cast<unsigned int>(lastResetStatusSet.currentResetStatus.value) << std::endl;
+              << static_cast<unsigned int>(lastResetStatusSet.currentResetStatus.value)
+              << std::endl;
 #endif
+  }
 }
 
 void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
@@ -371,16 +374,18 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
     sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state" << std::endl;
   }
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "RwHandler::handleGetRwStatusReply: Current speed is: " << statusSet.currSpeed
               << " * 0.1 RPM" << std::endl;
-  sif::info << "RwHandler::handleGetRwStatusReply: Reference speed is: " << statusSet.referenceSpeed
+    sif::info << "RwHandler::handleGetRwStatusReply: Reference speed is: "
-            << " * 0.1 RPM" << std::endl;
+              << statusSet.referenceSpeed << " * 0.1 RPM" << std::endl;
     sif::info << "RwHandler::handleGetRwStatusReply: State is: "
               << (unsigned int)statusSet.state.value << std::endl;
     sif::info << "RwHandler::handleGetRwStatusReply: clc mode is: "
               << (unsigned int)statusSet.clcMode.value << std::endl;
 #endif
+  }
 }
 
 void RwHandler::handleTemperatureReply(const uint8_t* packet) {
@@ -388,10 +393,12 @@ void RwHandler::handleTemperatureReply(const uint8_t* packet) {
   uint8_t offset = 2;
   temperatureSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                                       *(packet + offset + 1) << 8 | *(packet + offset);
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "RwHandler::handleTemperatureReply: Temperature: "
               << temperatureSet.temperatureCelcius << " °C" << std::endl;
 #endif
+  }
 }
 
 void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
@@ -468,7 +475,8 @@ void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
   offset += 4;
   tmDataset.spiTotalNumOfErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                                   *(packet + offset + 1) << 8 | *(packet + offset);
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
+  if (debugMode) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "RwHandler::handleGetTelemetryReply: Last reset status: "
               << static_cast<unsigned int>(tmDataset.lastResetStatus.value) << std::endl;
     sif::info << "RwHandler::handleGetTelemetryReply: MCU temperature: " << tmDataset.mcuTemperature
@@ -517,4 +525,7 @@ void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
     sif::info << "RwHandler::handleGetTelemetryReply: SPI number of register total errors: "
               << tmDataset.spiTotalNumOfErrors << std::endl;
 #endif
+  }
 }
+
+void RwHandler::setDebugMode(bool enable) { this->debugMode = enable; }

mission/devices/RwHandler.h

@@ -30,6 +30,9 @@ class RwHandler : public DeviceHandlerBase {
    */
   RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, LinuxLibgpioIF* gpioComIF,
             gpioId_t enableGpio);
+
+  void setDebugMode(bool enable);
+
   virtual ~RwHandler();
 
   static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
@@ -86,6 +89,7 @@ class RwHandler : public DeviceHandlerBase {
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   gpioId_t enableGpio = gpio::NO_GPIO;
+  bool debugMode = false;
 
   RwDefinitions::TemperatureSet temperatureSet;
   RwDefinitions::StatusSet statusSet;

mission/devices/SyrlinksHkHandler.cpp

@@ -5,8 +5,8 @@
 #include "OBSWConfig.h"
 
 SyrlinksHkHandler::SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                                     power::Switch_t powerSwitch)
+                                     power::Switch_t powerSwitch, FailureIsolationBase* customFdir)
-    : DeviceHandlerBase(objectId, comIF, comCookie),
+    : DeviceHandlerBase(objectId, comIF, comCookie, customFdir),
       rxDataset(this),
       txDataset(this),
       temperatureSet(this),
@@ -166,12 +166,12 @@ ReturnValue_t SyrlinksHkHandler::buildCommandFromCommand(DeviceCommandId_t devic
       return RETURN_OK;
     }
     case (syrlinks::ENABLE_DEBUG): {
-      debug = true;
+      debugMode = true;
       rawPacketLen = 0;
       return RETURN_OK;
     }
     case (syrlinks::DISABLE_DEBUG): {
-      debug = false;
+      debugMode = false;
       rawPacketLen = 0;
       return RETURN_OK;
     }
@@ -363,7 +363,7 @@ ReturnValue_t SyrlinksHkHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       tempBasebandBoard = calcTempVal(rawTempBasebandBoard);
       temperatureSet.temperatureBasebandBoard = tempBasebandBoard;
       PoolReadGuard rg(&temperatureSet);
-      if (debug) {
+      if (debugMode) {
         sif::info << "Syrlinks temperature baseband board: " << tempBasebandBoard << "  °C"
                   << std::endl;
       }
@@ -394,7 +394,7 @@ ReturnValue_t SyrlinksHkHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       tempPowerAmplifier = calcTempVal(rawTempPowerAmplifier);
       PoolReadGuard rg(&temperatureSet);
       temperatureSet.temperaturePowerAmplifier = tempPowerAmplifier;
-      if (debug) {
+      if (debugMode) {
         sif::info << "Syrlinks temperature power amplifier board: " << tempPowerAmplifier << "  °C"
                   << std::endl;
       }
@@ -540,8 +540,8 @@ void SyrlinksHkHandler::parseRxStatusRegistersReply(const uint8_t* packet) {
   offset += 6;
   rxDataset.rxDataRate = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_SYRLINKS == 1
+  if (debugMode) {
-  if (debug) {
+#if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "Syrlinks RX Status: 0x" << std::hex << (unsigned int)rxDataset.rxStatus.value
               << std::endl;
     sif::info << "Syrlinks RX Sensitivity: " << std::dec << rxDataset.rxSensitivity << std::endl;
@@ -551,14 +551,14 @@ void SyrlinksHkHandler::parseRxStatusRegistersReply(const uint8_t* packet) {
     sif::info << "Syrlinks RX Demod Eb: " << rxDataset.rxDemodEb << std::endl;
     sif::info << "Syrlinks RX Demod N0: " << rxDataset.rxDemodN0 << std::endl;
     sif::info << "Syrlinks RX Datarate: " << (unsigned int)rxDataset.rxDataRate.value << std::endl;
-  }
 #endif
+  }
 }
 
 void SyrlinksHkHandler::parseLclConfigReply(const uint8_t* packet) {
   uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
   uint8_t lclConfig = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
-  if (debug) {
+  if (debugMode) {
     sif::info << "SyrlinksHkHandler::parseRxStatusRegistersReply: Lcl config: "
               << static_cast<unsigned int>(lclConfig) << std::endl;
   }
@@ -568,24 +568,20 @@ void SyrlinksHkHandler::parseTxStatusReply(const uint8_t* packet) {
   PoolReadGuard readHelper(&txDataset);
   uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
   txDataset.txStatus = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
-#if OBSW_DEBUG_SYRLINKS == 1
+  if (debugMode) {
-  if (debug) {
     sif::info << "Syrlinks TX Status: 0x" << std::hex << (unsigned int)txDataset.txStatus.value
               << std::endl;
   }
-#endif
 }
 
 void SyrlinksHkHandler::parseTxWaveformReply(const uint8_t* packet) {
   PoolReadGuard readHelper(&txDataset);
   uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
   txDataset.txWaveform = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
-#if OBSW_DEBUG_SYRLINKS == 1
+  if (debugMode) {
-  if (debug) {
     sif::info << "Syrlinks TX Waveform: 0x" << std::hex << (unsigned int)txDataset.txWaveform.value
               << std::endl;
   }
-#endif
 }
 
 void SyrlinksHkHandler::parseAgcLowByte(const uint8_t* packet) {
@@ -593,11 +589,9 @@ void SyrlinksHkHandler::parseAgcLowByte(const uint8_t* packet) {
   uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
   txDataset.txAgcValue = agcValueHighByte << 8 |
                          convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
-#if OBSW_DEBUG_SYRLINKS == 1
+  if (debugMode) {
-  if (debug) {
     sif::info << "Syrlinks TX AGC Value: " << txDataset.txAgcValue << std::endl;
   }
-#endif
 }
 
 void SyrlinksHkHandler::parseAgcHighByte(const uint8_t* packet) {
@@ -654,3 +648,5 @@ void SyrlinksHkHandler::prepareCommand(std::string command, DeviceCommandId_t co
   rememberCommandId = commandId;
   rawPacket = commandBuffer;
 }
+
+void SyrlinksHkHandler::setDebugMode(bool enable) { this->debugMode = enable; }

mission/devices/SyrlinksHkHandler.h

@@ -20,7 +20,7 @@
 class SyrlinksHkHandler : public DeviceHandlerBase {
  public:
   SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                    power::Switch_t powerSwitch);
+                    power::Switch_t powerSwitch, FailureIsolationBase* customFdir);
   virtual ~SyrlinksHkHandler();
 
   /**
@@ -28,6 +28,8 @@ class SyrlinksHkHandler : public DeviceHandlerBase {
    */
   void setModeNormal();
 
+  void setDebugMode(bool enable);
+
  protected:
   void doStartUp() override;
   void doShutDown() override;
@@ -95,6 +97,7 @@ class SyrlinksHkHandler : public DeviceHandlerBase {
 
   const power::Switch_t powerSwitch = power::NO_SWITCH;
 
+  bool debugMode = false;
   uint8_t agcValueHighByte = 0;
   uint16_t rawTempPowerAmplifier = 0;
   uint16_t rawTempBasebandBoard = 0;
@@ -107,8 +110,6 @@ class SyrlinksHkHandler : public DeviceHandlerBase {
 
   StartupState startupState = StartupState::OFF;
 
-  bool debug = false;
-
   /**
    * This object is used to store the id of the next command to execute. This controls the
    * read out of multiple registers which can not be fetched with one single command.

mission/devices/devicedefinitions/SyrlinksDefinitions.h

@@ -1,8 +1,14 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_SYRLINKSDEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_SYRLINKSDEFINITIONS_H_
 
+#include <commonSubsystemIds.h>
+
 namespace syrlinks {
 
+static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYRLINKS;
+
+static constexpr Event FDIR_REACTION_IGNORED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+
 static const DeviceCommandId_t NONE = 0;
 static const DeviceCommandId_t RESET_UNIT = 1;
 /** Reads out all status registers */

mission/devices/devicedefinitions/powerDefinitions.h

@@ -15,6 +15,8 @@ static constexpr Event SWITCH_CMD_SENT = event::makeEvent(SUBSYSTEM_ID, 0, sever
 static constexpr Event SWITCH_HAS_CHANGED = event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
 static constexpr Event SWITCHING_Q7S_DENIED = event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
 
+static constexpr Event FDIR_REACTION_IGNORED = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
+
 }  // namespace power
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_POWERDEFINITIONS_H_ */

mission/system/CMakeLists.txt

@@ -1,2 +1,3 @@
 add_subdirectory(objects)
 add_subdirectory(tree)
+add_subdirectory(fdir)

mission/system/fdir/CMakeLists.txt

@@ -0,0 +1,7 @@
+target_sources(${LIB_EIVE_MISSION} PRIVATE
+    AcsBoardFdir.cpp
+    RtdFdir.cpp
+    SusFdir.cpp
+    SyrlinksFdir.cpp
+    GomspacePowerFdir.cpp
+)

mission/system/fdir/GomspacePowerFdir.cpp

@@ -0,0 +1,128 @@
+#include "GomspacePowerFdir.h"
+
+#include "fsfw/devicehandlers/DeviceHandlerIF.h"
+#include "fsfw/health/HealthTableIF.h"
+#include "fsfw/modes/HasModesIF.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/power/Fuse.h"
+#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/thermal/ThermalComponentIF.h"
+#include "mission/devices/devicedefinitions/powerDefinitions.h"
+
+GomspacePowerFdir::GomspacePowerFdir(object_id_t devId, object_id_t parentId)
+    : DeviceHandlerFailureIsolation(devId, parentId) {}
+
+ReturnValue_t GomspacePowerFdir::eventReceived(EventMessage* event) {
+  if (isFdirInActionOrAreWeFaulty(event)) {
+    return RETURN_OK;
+  }
+  ReturnValue_t result = RETURN_FAILED;
+  switch (event->getEvent()) {
+    case HasModesIF::MODE_TRANSITION_FAILED:
+    case HasModesIF::OBJECT_IN_INVALID_MODE:
+    case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
+      // We'll try a recovery as long as defined in MAX_REBOOT.
+      // Might cause some AssemblyBase cycles, so keep number low.
+      // handleRecovery(event->getEvent());
+      triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      break;
+    case DeviceHandlerIF::DEVICE_INTERPRETING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_READING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_UNREQUESTED_REPLY:
+    case DeviceHandlerIF::DEVICE_UNKNOWN_REPLY:  // Some DH's generate generic reply-ids.
+    case DeviceHandlerIF::DEVICE_BUILDING_COMMAND_FAILED:
+      // These faults all mean that there were stupid replies from a device.
+      if (strangeReplyCount.incrementAndCheck()) {
+        // handleRecovery(event->getEvent());
+        triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      }
+      break;
+    case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
+    case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
+      // The two above should never be confirmed.
+    case DeviceHandlerIF::DEVICE_MISSED_REPLY:
+      result = sendConfirmationRequest(event);
+      if (result == HasReturnvaluesIF::RETURN_OK) {
+        break;
+      }
+      // else
+      if (missedReplyCount.incrementAndCheck()) {
+        // handleRecovery(event->getEvent());
+        triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      }
+      break;
+    case StorageManagerIF::GET_DATA_FAILED:
+    case StorageManagerIF::STORE_DATA_FAILED:
+      // Rather strange bugs, occur in RAW mode only. Ignore.
+      break;
+    case DeviceHandlerIF::INVALID_DEVICE_COMMAND:
+      // Ignore, is bad configuration. We can't do anything in flight.
+      break;
+    case HasHealthIF::HEALTH_INFO:
+    case HasModesIF::MODE_INFO:
+    case HasModesIF::CHANGING_MODE:
+      // Do nothing, but mark as handled.
+      break;
+      //****Power*****
+    case PowerSwitchIF::SWITCH_WENT_OFF:
+      if (powerConfirmation != MessageQueueIF::NO_QUEUE) {
+        result = sendConfirmationRequest(event, powerConfirmation);
+        if (result == RETURN_OK) {
+          setFdirState(DEVICE_MIGHT_BE_OFF);
+        }
+      }
+      break;
+    case Fuse::FUSE_WENT_OFF:
+      // Not so good, because PCDU reacted.
+    case Fuse::POWER_ABOVE_HIGH_LIMIT:
+      // Better, because software detected over-current.
+      setFaulty(event->getEvent());
+      break;
+    case Fuse::POWER_BELOW_LOW_LIMIT:
+      // Device might got stuck during boot, retry.
+      // handleRecovery(event->getEvent());
+      triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      break;
+      //****Thermal*****
+    case ThermalComponentIF::COMPONENT_TEMP_LOW:
+    case ThermalComponentIF::COMPONENT_TEMP_HIGH:
+    case ThermalComponentIF::COMPONENT_TEMP_OOL_LOW:
+    case ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH:
+      // Well, the device is not really faulty, but it is required to stay off as long as possible.
+      setFaulty(event->getEvent());
+      break;
+    case ThermalComponentIF::TEMP_NOT_IN_OP_RANGE:
+      // Ignore, is information only.
+      break;
+      //*******Default monitoring variables. Are currently not used.*****
+      //    case DeviceHandlerIF::MONITORING_LIMIT_EXCEEDED:
+      //        setFaulty(event->getEvent());
+      //        break;
+      //    case DeviceHandlerIF::MONITORING_AMBIGUOUS:
+      //        break;
+    default:
+      // We don't know the event, someone else should handle it.
+      return RETURN_FAILED;
+  }
+  return RETURN_OK;
+}
+
+void GomspacePowerFdir::eventConfirmed(EventMessage* event) {
+  switch (event->getEvent()) {
+    case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
+    case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_MISSED_REPLY:
+      if (missedReplyCount.incrementAndCheck()) {
+        // handleRecovery(event->getEvent());
+        triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      }
+      break;
+    case PowerSwitchIF::SWITCH_WENT_OFF:
+      // This means the switch went off only for one device.
+      // handleRecovery(event->getEvent());
+      triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      break;
+    default:
+      break;
+  }
+}

mission/system/fdir/GomspacePowerFdir.h

@@ -0,0 +1,15 @@
+#ifndef MISSION_SYSTEM_FDIR_GOMSPACEPOWERFDIR_H_
+#define MISSION_SYSTEM_FDIR_GOMSPACEPOWERFDIR_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerFailureIsolation.h>
+
+class GomspacePowerFdir : public DeviceHandlerFailureIsolation {
+ public:
+  GomspacePowerFdir(object_id_t devId, object_id_t parentId = objects::NO_OBJECT);
+
+ private:
+  ReturnValue_t eventReceived(EventMessage* event) override;
+  void eventConfirmed(EventMessage* event) override;
+};
+
+#endif /* MISSION_SYSTEM_FDIR_GOMSPACEPOWERFDIR_H_ */

mission/system/fdir/SyrlinksFdir.cpp

@@ -0,0 +1,128 @@
+#include "SyrlinksFdir.h"
+
+#include "fsfw/devicehandlers/DeviceHandlerIF.h"
+#include "fsfw/health/HealthTableIF.h"
+#include "fsfw/modes/HasModesIF.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/power/Fuse.h"
+#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/thermal/ThermalComponentIF.h"
+#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
+
+SyrlinksFdir::SyrlinksFdir(object_id_t syrlinksId)
+    : DeviceHandlerFailureIsolation(syrlinksId, objects::NO_OBJECT) {}
+
+ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) {
+  if (isFdirInActionOrAreWeFaulty(event)) {
+    return RETURN_OK;
+  }
+  ReturnValue_t result = RETURN_FAILED;
+  switch (event->getEvent()) {
+    case HasModesIF::MODE_TRANSITION_FAILED:
+    case HasModesIF::OBJECT_IN_INVALID_MODE:
+    case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
+      // We'll try a recovery as long as defined in MAX_REBOOT.
+      // Might cause some AssemblyBase cycles, so keep number low.
+      // handleRecovery(event->getEvent());
+      triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      break;
+    case DeviceHandlerIF::DEVICE_INTERPRETING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_READING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_UNREQUESTED_REPLY:
+    case DeviceHandlerIF::DEVICE_UNKNOWN_REPLY:  // Some DH's generate generic reply-ids.
+    case DeviceHandlerIF::DEVICE_BUILDING_COMMAND_FAILED:
+      // These faults all mean that there were stupid replies from a device.
+      if (strangeReplyCount.incrementAndCheck()) {
+        // handleRecovery(event->getEvent());
+        triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      }
+      break;
+    case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
+    case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
+      // The two above should never be confirmed.
+    case DeviceHandlerIF::DEVICE_MISSED_REPLY:
+      result = sendConfirmationRequest(event);
+      if (result == HasReturnvaluesIF::RETURN_OK) {
+        break;
+      }
+      // else
+      if (missedReplyCount.incrementAndCheck()) {
+        // handleRecovery(event->getEvent());
+        triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      }
+      break;
+    case StorageManagerIF::GET_DATA_FAILED:
+    case StorageManagerIF::STORE_DATA_FAILED:
+      // Rather strange bugs, occur in RAW mode only. Ignore.
+      break;
+    case DeviceHandlerIF::INVALID_DEVICE_COMMAND:
+      // Ignore, is bad configuration. We can't do anything in flight.
+      break;
+    case HasHealthIF::HEALTH_INFO:
+    case HasModesIF::MODE_INFO:
+    case HasModesIF::CHANGING_MODE:
+      // Do nothing, but mark as handled.
+      break;
+      //****Power*****
+    case PowerSwitchIF::SWITCH_WENT_OFF:
+      if (powerConfirmation != MessageQueueIF::NO_QUEUE) {
+        result = sendConfirmationRequest(event, powerConfirmation);
+        if (result == RETURN_OK) {
+          setFdirState(DEVICE_MIGHT_BE_OFF);
+        }
+      }
+      break;
+    case Fuse::FUSE_WENT_OFF:
+      // Not so good, because PCDU reacted.
+    case Fuse::POWER_ABOVE_HIGH_LIMIT:
+      // Better, because software detected over-current.
+      setFaulty(event->getEvent());
+      break;
+    case Fuse::POWER_BELOW_LOW_LIMIT:
+      // Device might got stuck during boot, retry.
+      // handleRecovery(event->getEvent());
+      triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      break;
+      //****Thermal*****
+    case ThermalComponentIF::COMPONENT_TEMP_LOW:
+    case ThermalComponentIF::COMPONENT_TEMP_HIGH:
+    case ThermalComponentIF::COMPONENT_TEMP_OOL_LOW:
+    case ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH:
+      // Well, the device is not really faulty, but it is required to stay off as long as possible.
+      setFaulty(event->getEvent());
+      break;
+    case ThermalComponentIF::TEMP_NOT_IN_OP_RANGE:
+      // Ignore, is information only.
+      break;
+      //*******Default monitoring variables. Are currently not used.*****
+      //    case DeviceHandlerIF::MONITORING_LIMIT_EXCEEDED:
+      //        setFaulty(event->getEvent());
+      //        break;
+      //    case DeviceHandlerIF::MONITORING_AMBIGUOUS:
+      //        break;
+    default:
+      // We don't know the event, someone else should handle it.
+      return RETURN_FAILED;
+  }
+  return RETURN_OK;
+}
+
+void SyrlinksFdir::eventConfirmed(EventMessage* event) {
+  switch (event->getEvent()) {
+    case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
+    case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_MISSED_REPLY:
+      if (missedReplyCount.incrementAndCheck()) {
+        // handleRecovery(event->getEvent());
+        triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      }
+      break;
+    case PowerSwitchIF::SWITCH_WENT_OFF:
+      // This means the switch went off only for one device.
+      // handleRecovery(event->getEvent());
+      triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      break;
+    default:
+      break;
+  }
+}

mission/system/fdir/SyrlinksFdir.h

@@ -0,0 +1,15 @@
+#ifndef MISSION_DEVICES_SYRLINKSFDIR_H_
+#define MISSION_DEVICES_SYRLINKSFDIR_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerFailureIsolation.h>
+
+class SyrlinksFdir : public DeviceHandlerFailureIsolation {
+ public:
+  SyrlinksFdir(object_id_t syrlinksId);
+
+ private:
+  ReturnValue_t eventReceived(EventMessage* event) override;
+  void eventConfirmed(EventMessage* event) override;
+};
+
+#endif /* MISSION_DEVICES_SYRLINKSFDIR_H_ */

mission/system/objects/CMakeLists.txt

@@ -10,8 +10,4 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
     PowerStateMachineBase.cpp
     DualLaneAssemblyBase.cpp
     TcsBoardAssembly.cpp
-
-    AcsBoardFdir.cpp
-    SusFdir.cpp
-    RtdFdir.cpp
 )

thirdparty/etl

@@ -1 +0,0 @@
-Subproject commit c308dc427b7a34e54f33860fb2e244564b2740b4

thirdparty/libcsp/src/csp_iflist.c

@@ -77,7 +77,10 @@ static int csp_bytesize(char *buf, int len, unsigned long int n) {
 		postfix = 'B';
  	}
  
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wformat-truncation"
 	return snprintf(buf, len, "%.1f%c", size, postfix);
+#pragma GCC diagnostic pop
 }
 
 void csp_iflist_print(void) {

tmtc

@@ -1 +1 @@
-Subproject commit 76da8042a4601087e99fa856af241afe9e43695d
+Subproject commit 0a47c17fa699dc571d2d3e63ec08c9f4cf513f65