diff --git a/CHANGELOG.md b/CHANGELOG.md
index d01f4290..d5db00eb 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -17,8 +17,53 @@ change warranting a new major release:
 
 # [unreleased]
 
+# [v1.28.0] 2023-02-17
+
+eive-tmtc: v2.12.7
+
+## Added
+
+- In case the ACS Controller does recognize more than one RW to be invalid and therefore not
+  available, it does not perform pointing control but aborts shortly after `sensorProcessing`. If the
+  problem persits for 5 ACS cycles, the `MULTIPLE_RW_INVALID` event is triggered, which invokes the
+  transition of the `AcsSubsystem` to safe mode.
+
 ## Changed
 
+- Igrf13 model vector now outputs as uT instead of nT
+- Changed timings for `AcsPst`, more time for sun sensors.
+- Added values for MGM sensor fusion
+- Refactored RW Software: Polling runs in separate thread, all RWs are now polled in under 60 ms.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/381
+- Bumped FSFW to allow initializing child modes in `SubsystemBase` derived objects.
+
+## Fixed
+
+- Fixed values for GYR sensor fusion
+- Fixed speed types for `rwHandlingParameter`
+- Pseudo inverse used for allocating torque to RWs and RW antistiction now actually consider the
+  state of the RWs
+
+# [v1.27.2] 2023-02-14
+
+Reaction Wheel handling was determined to be (quasi) broken and needs to be fixed in future release
+to be usable by ACS controller.
+
+eive-tmtc: v2.12.6
+
+## Added
+
+- Function for the ACS controller to command MTQ and RWs called by all subroutines
+- RwHandler now handles commanding of RW speeds via RwSpeedActuationSet
+- Tracing supports which allows checking whether threads are running as usual.
+
+## Changed
+
+- Remove 2 TCS threads.
+- Move low level polling into ACS PST, move high level device handlers into TCS system task.
+- ActCmds now returns command vectors as integers as required by the actuators
+  and scales them to the appropriate range
+- All RwHandler are now polled five times per ACS cycle
 - Remove 2 TCS threads. Move low level polling into ACS PST, move high level device handlers into
   TCS system task.
 - Further reduce number of threads:
@@ -27,10 +72,6 @@ change warranting a new major release:
   3. Group all other components into PUS medium priority task
   4. Add SCEX device handler to PL task, remove dedicated thread
 
-## Added
-
-- Tracing supports which allows checking whether threads are running as usual.
-
 ## Removed
 
 - lwgps dependency not compiled anymore, is not used
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 11d769e0..a6289b30 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,8 +10,8 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 1)
-set(OBSW_VERSION_MINOR 27)
-set(OBSW_VERSION_REVISION 1)
+set(OBSW_VERSION_MINOR 28)
+set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)
 
diff --git a/bsp_hosted/fsfwconfig/events/translateEvents.cpp b/bsp_hosted/fsfwconfig/events/translateEvents.cpp
index 42156029..e9171f80 100644
--- a/bsp_hosted/fsfwconfig/events/translateEvents.cpp
+++ b/bsp_hosted/fsfwconfig/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 256 translations.
  * @details
- * Generated on: 2023-02-13 10:07:30
+ * Generated on: 2023-02-17 02:12:04
  */
 #include "translateEvents.h"
 
diff --git a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
index 8f23a6d4..d44796bc 100644
--- a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
+++ b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 147 translations.
- * Generated on: 2023-02-13 10:07:30
+ * Generated on: 2023-02-17 02:12:04
  */
 #include "translateObjects.h"
 
diff --git a/bsp_q7s/callbacks/rwSpiCallback.cpp b/bsp_q7s/callbacks/rwSpiCallback.cpp
index 74ede602..7f71a004 100644
--- a/bsp_q7s/callbacks/rwSpiCallback.cpp
+++ b/bsp_q7s/callbacks/rwSpiCallback.cpp
@@ -76,7 +76,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
     closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-    return RwHandler::SPI_WRITE_FAILURE;
+    return rws::SPI_WRITE_FAILURE;
   }
 
   /** Encoding and sending command */
@@ -101,7 +101,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
       sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
       closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-      return RwHandler::SPI_WRITE_FAILURE;
+      return rws::SPI_WRITE_FAILURE;
     }
     idx++;
   }
@@ -113,7 +113,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
     closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-    return RwHandler::SPI_WRITE_FAILURE;
+    return rws::SPI_WRITE_FAILURE;
   }
 
   uint8_t* rxBuf = nullptr;
@@ -128,7 +128,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   // There must be a delay of at least 20 ms after sending the command.
   // Delay for 70 ms here and release the SPI bus for that duration.
   closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-  usleep(RwDefinitions::SPI_REPLY_DELAY);
+  usleep(rws::SPI_REPLY_DELAY);
   result = openSpi(dev, O_RDWR, &gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
   if (result != returnvalue::OK) {
     return result;
@@ -143,13 +143,13 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     if (read(fileDescriptor, &byteRead, 1) != 1) {
       sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
       closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-      return RwHandler::SPI_READ_FAILURE;
+      return rws::SPI_READ_FAILURE;
     }
     if (idx == 0) {
       if (byteRead != FLAG_BYTE) {
         sif::error << "Invalid data, expected start marker" << std::endl;
         closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-        return RwHandler::NO_START_MARKER;
+        return rws::NO_START_MARKER;
       }
     }
 
@@ -160,7 +160,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     if (idx == 9) {
       sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
       closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-      return RwHandler::NO_REPLY;
+      return rws::NO_REPLY;
     }
   }
 
@@ -175,7 +175,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
       byteRead = 0;
       if (read(fileDescriptor, &byteRead, 1) != 1) {
         sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-        result = RwHandler::SPI_READ_FAILURE;
+        result = rws::SPI_READ_FAILURE;
         break;
       }
     }
@@ -186,7 +186,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     } else if (byteRead == 0x7D) {
       if (read(fileDescriptor, &byteRead, 1) != 1) {
         sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-        result = RwHandler::SPI_READ_FAILURE;
+        result = rws::SPI_READ_FAILURE;
         break;
       }
       if (byteRead == 0x5E) {
@@ -200,7 +200,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
       } else {
         sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
         closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-        result = RwHandler::INVALID_SUBSTITUTE;
+        result = rws::INVALID_SUBSTITUTE;
         break;
       }
     } else {
@@ -217,14 +217,14 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     if (decodedFrameLen == replyBufferSize) {
       if (read(fileDescriptor, &byteRead, 1) != 1) {
         sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
-        result = RwHandler::SPI_READ_FAILURE;
+        result = rws::SPI_READ_FAILURE;
         break;
       }
       if (byteRead != FLAG_BYTE) {
         sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
                    << std::endl;
         decodedFrameLen--;
-        result = RwHandler::MISSING_END_SIGN;
+        result = rws::MISSING_END_SIGN;
         break;
       }
     }
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 2bf36743..e2abb9c5 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -1,6 +1,7 @@
 #include "ObjectFactory.h"
 
 #include <fsfw/subsystem/Subsystem.h>
+#include <linux/devices/RwPollingTask.h>
 #include <mission/system/objects/CamSwitcher.h>
 
 #include "OBSWConfig.h"
@@ -58,6 +59,7 @@
 #include <mission/devices/ImtqHandler.h>
 #include <mission/devices/PcduHandler.h>
 #include <mission/devices/SyrlinksHandler.h>
+#include <mission/devices/devicedefinitions/rwHelpers.h>
 
 #include <sstream>
 
@@ -94,7 +96,6 @@
 #include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
-#include "mission/devices/devicedefinitions/RwDefinitions.h"
 #include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
 #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
 #include "mission/system/objects/AcsBoardAssembly.h"
@@ -150,9 +151,8 @@ void ObjectFactory::createTmpComponents() {
 
 void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
                                                   SerialComIF** uartComIF, SpiComIF** spiMainComIF,
-                                                  I2cComIF** i2cComIF, SpiComIF** spiRWComIF) {
-  if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr or
-      spiRWComIF == nullptr) {
+                                                  I2cComIF** i2cComIF) {
+  if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr) {
     sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
                << std::endl;
   }
@@ -163,7 +163,7 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
   *i2cComIF = new I2cComIF(objects::I2C_COM_IF);
   *uartComIF = new SerialComIF(objects::UART_COM_IF);
   *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
-  *spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
+  //*spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
 }
 
 void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
@@ -678,13 +678,12 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
   std::array<gpioId_t, 4> rwGpioIds = {gpioIds::EN_RW1, gpioIds::EN_RW2, gpioIds::EN_RW3,
                                        gpioIds::EN_RW4};
   std::array<DeviceHandlerBase*, 4> rws = {};
+  new RwPollingTask(objects::RW_POLLING_TASK, q7s::SPI_RW_DEV, *gpioComIF);
   for (uint8_t idx = 0; idx < rwCookies.size(); idx++) {
-    rwCookies[idx] = new SpiCookie(rwCookieParams[idx].first, rwCookieParams[idx].second,
-                                   RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED,
-                                   &rwSpiCallback::spiCallback, nullptr);
-    auto* rwHandler = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF,
-                                    rwGpioIds[idx]);
-    rwCookies[idx]->setCallbackArgs(rws[idx]);
+    rwCookies[idx] = new RwCookie(idx, rwCookieParams[idx].first, rwCookieParams[idx].second,
+                                  rws::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED);
+    auto* rwHandler = new RwHandler(rwIds[idx], objects::RW_POLLING_TASK, rwCookies[idx], gpioComIF,
+                                    rwGpioIds[idx], idx);
 #if OBSW_TEST_RW == 1
     rws[idx]->setStartUpImmediately();
 #endif
diff --git a/bsp_q7s/core/ObjectFactory.h b/bsp_q7s/core/ObjectFactory.h
index 9d0e4ea3..2118e3d7 100644
--- a/bsp_q7s/core/ObjectFactory.h
+++ b/bsp_q7s/core/ObjectFactory.h
@@ -25,8 +25,7 @@ void setStatics();
 void produce(void* args);
 
 void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, SerialComIF** uartComIF,
-                                   SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
-                                   SpiComIF** spiRwComIF);
+                                   SpiComIF** spiMainComIF, I2cComIF** i2cComIF);
 void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
                             PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
diff --git a/bsp_q7s/core/scheduling.cpp b/bsp_q7s/core/scheduling.cpp
index 2fa8f015..9d96184b 100644
--- a/bsp_q7s/core/scheduling.cpp
+++ b/bsp_q7s/core/scheduling.cpp
@@ -196,6 +196,15 @@ void scheduling::initTasks() {
   }
 #endif /* OBSW_ADD_GPS_CTRL */
 
+#if OBSW_ADD_RW == 1
+  PeriodicTaskIF* rwPolling = factory->createPeriodicTask(
+      "RW_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  result = rwPolling->addComponent(objects::RW_POLLING_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
+  }
+#endif
+
   PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
       "ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
   static_cast<void>(acsSysTask);
@@ -355,6 +364,9 @@ void scheduling::initTasks() {
   strHelperTask->startTask();
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
+#if OBSW_ADD_RW == 1
+  rwPolling->startTask();
+#endif
 #if OBSW_ADD_GPS_CTRL == 1
   gpsTask->startTask();
 #endif
diff --git a/bsp_q7s/fmObjectFactory.cpp b/bsp_q7s/fmObjectFactory.cpp
index ebaea73d..36e9df64 100644
--- a/bsp_q7s/fmObjectFactory.cpp
+++ b/bsp_q7s/fmObjectFactory.cpp
@@ -26,8 +26,7 @@ void ObjectFactory::produce(void* args) {
   SpiComIF* spiMainComIF = nullptr;
   I2cComIF* i2cComIF = nullptr;
   PowerSwitchIF* pwrSwitcher = nullptr;
-  SpiComIF* spiRwComIF = nullptr;
-  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
   /* Adding gpios for chip select decoding to the gpioComIf */
   q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
   gpioCallbacks::disableAllDecoder(gpioComIF);
diff --git a/bsp_q7s/obsw.cpp b/bsp_q7s/obsw.cpp
index 6df92158..cfd28565 100644
--- a/bsp_q7s/obsw.cpp
+++ b/bsp_q7s/obsw.cpp
@@ -74,16 +74,23 @@ int obsw::obsw() {
 
   scheduling::initMission();
 
-#if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
   // Command the EIVE system to safe mode
   auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
   CommandMessage msg;
+#if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
   ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
   ReturnValue_t result =
       MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
   if (result != returnvalue::OK) {
     sif::error << "Sending safe mode command to EIVE system failed" << std::endl;
   }
+#else
+  ModeMessage::setModeAnnounceMessage(msg, true);
+  ReturnValue_t result =
+      MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
+  if (result != returnvalue::OK) {
+    sif::error << "Sending safe mode command to EIVE system failed" << std::endl;
+  }
 #endif
 
   for (;;) {
diff --git a/common/config/eive/definitions.h b/common/config/eive/definitions.h
index c572e21a..202bd89d 100644
--- a/common/config/eive/definitions.h
+++ b/common/config/eive/definitions.h
@@ -57,14 +57,19 @@ static constexpr uint32_t MAX_STORED_CMDS_TCP = 150;
 
 namespace acs {
 
-static constexpr uint32_t SCHED_BLOCK_1_SENSORS_MS = 15;
-static constexpr uint32_t SCHED_BLOCK_2_ACS_CTRL_MS = 40;
-static constexpr uint32_t SCHED_BLOCK_3_ACTUATOR_MS = 45;
+static constexpr uint32_t SCHED_BLOCK_1_SUS_READ_MS = 15;
+static constexpr uint32_t SCHED_BLOCK_2_SENSOR_READ_MS = 30;
+static constexpr uint32_t SCHED_BLOCK_3_ACS_CTRL_MS = 45;
+static constexpr uint32_t SCHED_BLOCK_4_ACTUATOR_MS = 50;
+static constexpr uint32_t SCHED_BLOCK_5_RW_READ_MS = 300;
 
 // 15 ms for FM
-static constexpr float SCHED_BLOCK_1_PERIOD = static_cast<float>(SCHED_BLOCK_1_SENSORS_MS) / 400.0;
-static constexpr float SCHED_BLOCK_2_PERIOD = static_cast<float>(SCHED_BLOCK_2_ACS_CTRL_MS) / 400.0;
-static constexpr float SCHED_BLOCK_3_PERIOD = static_cast<float>(SCHED_BLOCK_3_ACTUATOR_MS) / 400.0;
+static constexpr float SCHED_BLOCK_1_PERIOD = static_cast<float>(SCHED_BLOCK_1_SUS_READ_MS) / 400.0;
+static constexpr float SCHED_BLOCK_2_PERIOD =
+    static_cast<float>(SCHED_BLOCK_2_SENSOR_READ_MS) / 400.0;
+static constexpr float SCHED_BLOCK_3_PERIOD = static_cast<float>(SCHED_BLOCK_3_ACS_CTRL_MS) / 400.0;
+static constexpr float SCHED_BLOCK_4_PERIOD = static_cast<float>(SCHED_BLOCK_4_ACTUATOR_MS) / 400.0;
+static constexpr float SCHED_BLOCK_5_PERIOD = static_cast<float>(SCHED_BLOCK_5_RW_READ_MS) / 400.0;
 
 }  // namespace acs
 
diff --git a/dummies/RwDummy.cpp b/dummies/RwDummy.cpp
index a21e7ab7..54e7ac83 100644
--- a/dummies/RwDummy.cpp
+++ b/dummies/RwDummy.cpp
@@ -1,6 +1,6 @@
 #include "RwDummy.h"
 
-#include <mission/devices/devicedefinitions/RwDefinitions.h>
+#include <mission/devices/devicedefinitions/rwHelpers.h>
 
 RwDummy::RwDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
@@ -37,39 +37,39 @@ uint32_t RwDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return
 
 ReturnValue_t RwDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(RwDefinitions::TEMPERATURE_C, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::TEMPERATURE_C, new PoolEntry<int32_t>({0}));
 
-  localDataPoolMap.emplace(RwDefinitions::CURR_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::STATE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::CLC_MODE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::CURR_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::STATE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::CLC_MODE, new PoolEntry<uint8_t>({0}));
 
-  localDataPoolMap.emplace(RwDefinitions::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>({0}));
 
-  localDataPoolMap.emplace(RwDefinitions::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::PRESSURE_SENSOR_TEMPERATURE, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(RwDefinitions::PRESSURE, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_STATE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_CLC_MODE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_CURR_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_REF_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::EXECUTED_REPLIES, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::COMMAND_REPLIES, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_BYTES_READ, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_PARITY_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_NOISE_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_FRAME_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::PRESSURE_SENSOR_TEMPERATURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(rws::PRESSURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_STATE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TM_CLC_MODE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_CURR_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_REF_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::EXECUTED_REPLIES, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::COMMAND_REPLIES, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_BYTES_READ, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_PARITY_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_NOISE_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_FRAME_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
+  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}));
   return returnvalue::OK;
 }
diff --git a/fsfw b/fsfw
index 70b78598..a6d707a7 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 70b785984c8af916fc96d8fc9e2627c20ee85461
+Subproject commit a6d707a7db589136ac2bd917cd8b3a3e2c16a0e4
diff --git a/generators/bsp_hosted_events.csv b/generators/bsp_hosted_events.csv
index 23d51222..a50715dd 100644
--- a/generators/bsp_hosted_events.csv
+++ b/generators/bsp_hosted_events.csv
@@ -121,8 +121,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11706;0x2dba;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
 11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
 11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/devices/ImtqHandler.h
-11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/devicedefinitions/RwDefinitions.h
-11802;0x2e1a;RESET_OCCURED;LOW;;mission/devices/devicedefinitions/RwDefinitions.h
+11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/devicedefinitions/rwHelpers.h
+11802;0x2e1a;RESET_OCCURED;LOW;;mission/devices/devicedefinitions/rwHelpers.h
 11901;0x2e7d;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
 11902;0x2e7e;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
 12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/devices/ploc/PlocSupervisorHandler.h
diff --git a/generators/bsp_hosted_returnvalues.csv b/generators/bsp_hosted_returnvalues.csv
index b707b0be..81dffa60 100644
--- a/generators/bsp_hosted_returnvalues.csv
+++ b/generators/bsp_hosted_returnvalues.csv
@@ -1,38 +1,29 @@
 Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0000;OK;System-wide code for ok.;0;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
 0x0001;Failed;Unspecified system-wide code for failed.;1;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
-0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
-0x5d00;GOMS_PacketTooLong;;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d01;GOMS_InvalidTableId;;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d02;GOMS_InvalidAddress;;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d03;GOMS_InvalidParamSize;;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d04;GOMS_InvalidPayloadSize;;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d05;GOMS_UnknownReplyId;;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x52b0;RWHA_SpiWriteFailure;;176;RW_HANDLER;mission/devices/RwHandler.h
-0x52b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/devices/RwHandler.h
-0x52b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/devices/RwHandler.h
-0x52b3;RWHA_InvalidSubstitute;Can be used by the HDLC decoding mechanism to inform about an invalid substitution combination;179;RW_HANDLER;mission/devices/RwHandler.h
-0x52b4;RWHA_MissingEndSign;HDLC decoding mechanism never receives the end sign 0x7E;180;RW_HANDLER;mission/devices/RwHandler.h
-0x52b5;RWHA_NoReply;Reaction wheel only responds with empty frames.;181;RW_HANDLER;mission/devices/RwHandler.h
-0x52b6;RWHA_NoStartMarker;Expected a start marker as first byte;182;RW_HANDLER;mission/devices/RwHandler.h
-0x52a0;RWHA_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;RW_HANDLER;mission/devices/RwHandler.h
-0x52a1;RWHA_InvalidRampTime;Action Message with invalid ramp time was received.;161;RW_HANDLER;mission/devices/RwHandler.h
-0x52a2;RWHA_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;RW_HANDLER;mission/devices/RwHandler.h
-0x52a3;RWHA_ExecutionFailed;Command execution failed;163;RW_HANDLER;mission/devices/RwHandler.h
-0x52a4;RWHA_CrcError;Reaction wheel reply has invalid crc;164;RW_HANDLER;mission/devices/RwHandler.h
-0x4fa1;HEATER_CommandNotSupported;;161;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x4fa2;HEATER_InitFailed;;162;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x4fa3;HEATER_InvalidSwitchNr;;163;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x4fa4;HEATER_MainSwitchSetTimeout;;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x4fa5;HEATER_CommandAlreadyWaiting;;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NVMParameterBase.h
+0x6300;NVMB_Busy;;0;NVM_PARAM_BASE;mission/system/objects/Stack5VHandler.h
+0x52b0;RWHA_SpiWriteFailure;;176;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b3;RWHA_InvalidSubstitute;Can be used by the HDLC decoding mechanism to inform about an invalid substitution combination;179;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b4;RWHA_MissingEndSign;HDLC decoding mechanism never receives the end sign 0x7E;180;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b5;RWHA_NoReply;Reaction wheel only responds with empty frames.;181;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b6;RWHA_NoStartMarker;Expected a start marker as first byte;182;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b7;RWHA_SpiReadTimeout;Timeout when reading reply;183;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
 0x58a0;SUSS_ErrorUnlockMutex;;160;SUS_HANDLER;mission/devices/SusHandler.h
 0x58a1;SUSS_ErrorLockMutex;;161;SUS_HANDLER;mission/devices/SusHandler.h
-0x51a0;IMTQ_InvalidCommandCode;;160;IMTQ_HANDLER;mission/devices/ImtqHandler.h
-0x51a1;IMTQ_ParameterMissing;;161;IMTQ_HANDLER;mission/devices/ImtqHandler.h
-0x51a2;IMTQ_ParameterInvalid;;162;IMTQ_HANDLER;mission/devices/ImtqHandler.h
-0x51a3;IMTQ_CcUnavailable;;163;IMTQ_HANDLER;mission/devices/ImtqHandler.h
-0x51a4;IMTQ_InternalProcessingError;;164;IMTQ_HANDLER;mission/devices/ImtqHandler.h
-0x51a5;IMTQ_RejectedWithoutReason;;165;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x66a0;SADPL_CommandNotSupported;;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a1;SADPL_DeploymentAlreadyExecuting;;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a2;SADPL_MainSwitchTimeoutFailure;;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a3;SADPL_SwitchingDeplSa1Failed;;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a4;SADPL_SwitchingDeplSa2Failed;;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x51a0;IMTQ_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;IMTQ_HANDLER;mission/devices/RwHandler.h
+0x51a1;IMTQ_InvalidRampTime;Action Message with invalid ramp time was received.;161;IMTQ_HANDLER;mission/devices/RwHandler.h
+0x51a2;IMTQ_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;IMTQ_HANDLER;mission/devices/RwHandler.h
+0x51a3;IMTQ_ExecutionFailed;Command execution failed;163;IMTQ_HANDLER;mission/devices/RwHandler.h
+0x51a4;IMTQ_CrcError;Reaction wheel reply has invalid crc;164;IMTQ_HANDLER;mission/devices/RwHandler.h
+0x51a5;IMTQ_ValueNotRead;;165;IMTQ_HANDLER;mission/devices/RwHandler.h
 0x51a6;IMTQ_CmdErrUnknown;;166;IMTQ_HANDLER;mission/devices/ImtqHandler.h
 0x51a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;167;IMTQ_HANDLER;mission/devices/ImtqHandler.h
 0x50a0;SYRLINKS_CrcFailure;;160;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
@@ -44,137 +35,123 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x50a6;SYRLINKS_BadCrcAck;;166;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
 0x50a7;SYRLINKS_ReplyWrongSize;;167;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
 0x50a8;SYRLINKS_MissingStartFrameCharacter;;168;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x66a0;SADPL_CommandNotSupported;;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x66a1;SADPL_DeploymentAlreadyExecuting;;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x66a2;SADPL_MainSwitchTimeoutFailure;;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x66a3;SADPL_SwitchingDeplSa1Failed;;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x66a4;SADPL_SwitchingDeplSa2Failed;;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x6600;SADPL_Busy;;0;SA_DEPL_HANDLER;mission/system/objects/Stack5VHandler.h
-0x6b01;ACSPTG_PtgctrlMekfInputInvalid;;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
+0x5d00;GOMS_PacketTooLong;;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d01;GOMS_InvalidTableId;;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d02;GOMS_InvalidAddress;;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d03;GOMS_InvalidParamSize;;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d04;GOMS_InvalidPayloadSize;;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d05;GOMS_UnknownReplyId;;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x4fa1;HEATER_CommandNotSupported;;161;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa2;HEATER_InitFailed;;162;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa3;HEATER_InvalidSwitchNr;;163;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa4;HEATER_MainSwitchSetTimeout;;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa5;HEATER_CommandAlreadyWaiting;;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
 0x6a01;ACSSAF_SafectrlMekfInputInvalid;;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
+0x6b01;ACSPTG_PtgctrlMekfInputInvalid;;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
 0x6c01;ACSDTB_DetumbleNoSensordata;;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
 0x6901;ACSKAL_KalmanNoGyrMeas;;1;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6902;ACSKAL_KalmanNoModel;;2;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6903;ACSKAL_KalmanInversionFailed;;3;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NVMParameterBase.h
-0x2c01;CCS_BcIsSetVrCommand;;1;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2c02;CCS_BcIsUnlockCommand;;2;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cb0;CCS_BcIllegalCommand;;176;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cb1;CCS_BoardReadingNotFinished;;177;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf0;CCS_NsPositiveW;;240;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf1;CCS_NsNegativeW;;241;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf2;CCS_NsLockout;;242;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf3;CCS_FarmInLockout;;243;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf4;CCS_FarmInWait;;244;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce0;CCS_WrongSymbol;;224;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce1;CCS_DoubleStart;;225;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce2;CCS_StartSymbolMissed;;226;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce3;CCS_EndWithoutStart;;227;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce4;CCS_TooLarge;;228;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce5;CCS_TooShort;;229;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce6;CCS_WrongTfVersion;;230;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce7;CCS_WrongSpacecraftId;;231;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce8;CCS_NoValidFrameType;;232;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce9;CCS_CrcFailed;;233;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cea;CCS_VcNotFound;;234;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ceb;CCS_ForwardingFailed;;235;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cec;CCS_ContentTooLarge;;236;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ced;CCS_ResidualData;;237;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cee;CCS_DataCorrupted;;238;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cef;CCS_IllegalSegmentationFlag;;239;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cd0;CCS_IllegalFlagCombination;;208;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cd1;CCS_ShorterThanHeader;;209;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cd2;CCS_TooShortBlockedPacket;;210;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cd3;CCS_TooShortMapExtraction;;211;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x3b00;SPH_ConnBroken;;0;SEMAPHORE_IF;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
-0x2a01;IEC_NoConfigurationTable;;1;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a02;IEC_NoCpuTable;;2;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a03;IEC_InvalidWorkspaceAddress;;3;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a04;IEC_TooLittleWorkspace;;4;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a05;IEC_WorkspaceAllocation;;5;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a06;IEC_InterruptStackTooSmall;;6;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a07;IEC_ThreadExitted;;7;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a08;IEC_InconsistentMpInformation;;8;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a09;IEC_InvalidNode;;9;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0a;IEC_NoMpci;;10;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0b;IEC_BadPacket;;11;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0c;IEC_OutOfPackets;;12;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0d;IEC_OutOfGlobalObjects;;13;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0e;IEC_OutOfProxies;;14;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0f;IEC_InvalidGlobalId;;15;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a10;IEC_BadStackHook;;16;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a11;IEC_BadAttributes;;17;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a12;IEC_ImplementationKeyCreateInconsistency;;18;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a13;IEC_ImplementationBlockingOperationCancel;;19;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a14;IEC_MutexObtainFromBadState;;20;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a15;IEC_UnlimitedAndMaximumIs0;;21;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x4500;HSPI_OpeningFileFailed;;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
+0x4501;HSPI_FullDuplexTransferFailed;;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
+0x4502;HSPI_HalfDuplexTransferFailed;;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
+0x4801;HGIO_UnknownGpioId;;1;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4802;HGIO_DriveGpioFailure;;2;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4803;HGIO_GpioTypeFailure;;3;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4804;HGIO_GpioInvalidInstance;;4;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4805;HGIO_GpioDuplicateDetected;;5;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4806;HGIO_GpioInitFailed;;6;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4807;HGIO_GpioGetValueFailed;;7;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4601;HURT_UartReadFailure;;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
+0x4602;HURT_UartReadSizeMissmatch;;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
+0x4603;HURT_UartRxBufferTooSmall;;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
+0x4400;UXOS_ExecutionFinished;Execution of the current command has finished;0;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4401;UXOS_CommandPending;Command is pending. This will also be returned if the user tries to load another command but a command is still pending;1;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4402;UXOS_BytesRead;Some bytes have been read from the executing process;2;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4406;UXOS_PcloseCallError;;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x2801;SM_DataTooLarge;;1;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2802;SM_DataStorageFull;;2;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2803;SM_IllegalStorageId;;3;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2804;SM_DataDoesNotExist;;4;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2805;SM_IllegalAddress;;5;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2806;SM_PoolTooLarge;;6;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x0601;PP_DoItMyself;;1;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0602;PP_PointsToVariable;;2;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0603;PP_PointsToMemory;;3;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0604;PP_ActivityCompleted;;4;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0605;PP_PointsToVectorUint8;;5;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0606;PP_PointsToVectorUint16;;6;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0607;PP_PointsToVectorUint32;;7;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0608;PP_PointsToVectorFloat;;8;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06a0;PP_DumpNotSupported;;160;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e0;PP_InvalidSize;;224;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e1;PP_InvalidAddress;;225;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e2;PP_InvalidContent;;226;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e3;PP_UnalignedAccess;;227;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e4;PP_WriteProtected;;228;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x13e0;MH_UnknownCmd;;224;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x13e1;MH_InvalidAddress;;225;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x13e2;MH_InvalidSize;;226;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x13e3;MH_StateMismatch;;227;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x38a1;SGP4_InvalidEccentricity;;161;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a2;SGP4_InvalidMeanMotion;;162;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a3;SGP4_InvalidPerturbationElements;;163;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a4;SGP4_InvalidSemiLatusRectum;;164;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a5;SGP4_InvalidEpochElements;;165;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a6;SGP4_SatelliteHasDecayed;;166;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38b1;SGP4_TleTooOld;;177;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38b2;SGP4_TleNotInitialized;;178;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x1801;FF_Full;;1;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
+0x1802;FF_Empty;;2;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
+0x1601;FMM_MapFull;;1;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
+0x1602;FMM_KeyDoesNotExist;;2;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
+0x3901;MUX_NotEnoughResources;;1;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3902;MUX_InsufficientMemory;;2;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3903;MUX_NoPrivilege;;3;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3904;MUX_WrongAttributeSetting;;4;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3905;MUX_MutexAlreadyLocked;;5;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3906;MUX_MutexNotFound;;6;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3907;MUX_MutexMaxLocks;;7;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3908;MUX_CurrThreadAlreadyOwnsMutex;;8;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3909;MUX_CurrThreadDoesNotOwnMutex;;9;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x390a;MUX_MutexTimeout;;10;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x390b;MUX_MutexInvalidId;;11;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x390c;MUX_MutexDestroyedWhileWaiting;;12;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3a01;MQI_Empty;;1;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x3a02;MQI_Full;No space left for more messages;2;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x3a03;MQI_NoReplyPartner;Returned if a reply method was called without partner;3;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x3a04;MQI_DestinationInvalid;Returned if the target destination is invalid.;4;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x0f01;CM_UnknownCommand;;1;COMMAND_MESSAGE;fsfw/src/fsfw/ipc/CommandMessageIF.h
 0x0e01;HM_InvalidMode;;1;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
 0x0e02;HM_TransNotAllowed;;2;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
 0x0e03;HM_InTransition;;3;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
 0x0e04;HM_InvalidSubmode;;4;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
-0x2e01;HPA_InvalidIdentifierId;;1;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
-0x2e02;HPA_InvalidDomainId;;2;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
-0x2e03;HPA_InvalidValue;;3;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
-0x2e05;HPA_ReadOnly;;5;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
-0x2d01;PAW_UnknownDatatype;;1;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d02;PAW_DatatypeMissmatch;;2;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d03;PAW_Readonly;;3;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d04;PAW_TooBig;;4;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d05;PAW_SourceNotSet;;5;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d06;PAW_OutOfBounds;;6;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d07;PAW_NotSet;;7;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d08;PAW_ColumnOrRowsZero;;8;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x3201;CF_ObjectHasNoFunctions;;1;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
-0x3202;CF_AlreadyCommanding;;2;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
-0x3301;HF_IsBusy;;1;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x3302;HF_InvalidParameters;;2;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x3303;HF_ExecutionFinished;;3;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x3304;HF_InvalidActionId;;4;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x0201;OM_InsertionFailed;;1;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
-0x0202;OM_NotFound;;2;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
-0x0203;OM_ChildInitFailed;;3;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
-0x0204;OM_InternalErrReporterUninit;;4;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
-0x2600;FDI_YourFault;;0;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
-0x2601;FDI_MyFault;;1;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
-0x2602;FDI_ConfirmLater;;2;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
-0x2201;TMF_Busy;;1;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2202;TMF_LastPacketFound;;2;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2203;TMF_StopFetch;;3;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2204;TMF_Timeout;;4;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2205;TMF_TmChannelFull;;5;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2206;TMF_NotStored;;6;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2207;TMF_AllDeleted;;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2208;TMF_InvalidData;;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2209;TMF_NotReady;;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2101;TMB_Busy;;1;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2102;TMB_Full;;2;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2103;TMB_Empty;;3;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2104;TMB_NullRequested;;4;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2105;TMB_TooLarge;;5;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2106;TMB_NotReady;;6;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2107;TMB_DumpError;;7;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2108;TMB_CrcError;;8;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2109;TMB_Timeout;;9;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210a;TMB_IdlePacketFound;;10;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210b;TMB_TelecommandFound;;11;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210c;TMB_NoPusATm;;12;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210d;TMB_TooSmall;;13;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210e;TMB_BlockNotFound;;14;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210f;TMB_InvalidRequest;;15;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x1c01;TCD_PacketLost;;1;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1c02;TCD_DestinationNotFound;;2;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1c03;TCD_ServiceIdAlreadyExists;;3;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1b00;TCC_NoDestinationFound;;0;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b01;TCC_InvalidCcsdsVersion;;1;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b02;TCC_InvalidApid;;2;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b03;TCC_InvalidPacketType;;3;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b04;TCC_InvalidSecHeaderField;;4;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b05;TCC_IncorrectPrimaryHeader;;5;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b07;TCC_IncompletePacket;;7;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b08;TCC_InvalidPusVersion;;8;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b09;TCC_IncorrectChecksum;;9;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b0a;TCC_IllegalPacketSubtype;;10;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b0b;TCC_IncorrectSecondaryHeader;;11;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x0c02;MS_InvalidEntry;;2;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
+0x0c03;MS_TooManyElements;;3;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
+0x0c04;MS_CantStoreEmpty;;4;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
+0x0b01;SB_ChildNotFound;;1;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b02;SB_ChildInfoUpdated;;2;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b03;SB_ChildDoesntHaveModes;;3;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b04;SB_CouldNotInsertChild;;4;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b05;SB_TableContainsInvalidObjectId;;5;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0d01;SS_SequenceAlreadyExists;;1;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d02;SS_TableAlreadyExists;;2;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d03;SS_TableDoesNotExist;;3;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d04;SS_TableOrSequenceLengthInvalid;;4;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d05;SS_SequenceDoesNotExist;;5;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d06;SS_TableContainsInvalidObjectId;;6;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d07;SS_FallbackSequenceDoesNotExist;;7;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d08;SS_NoTargetTable;;8;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d09;SS_SequenceOrTableTooLong;;9;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d0b;SS_IsFallbackSequence;;11;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d0c;SS_AccessDenied;;12;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d0e;SS_TableInUse;;14;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0da1;SS_TargetTableNotReached;;161;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0da2;SS_TableCheckFailed;;162;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x2501;EV_ListenerNotFound;;1;EVENT_MANAGER_IF;fsfw/src/fsfw/events/EventManagerIF.h
 0x04e1;RMP_CommandNoDescriptorsAvailable;;225;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
 0x04e2;RMP_CommandBufferFull;;226;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
 0x04e3;RMP_CommandChannelOutOfRange;;227;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
@@ -215,95 +192,9 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x040a;RMP_ReplyCommandNotImplementedOrNotAuthorised;;10;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
 0x040b;RMP_ReplyRmwDataLengthError;;11;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
 0x040c;RMP_ReplyInvalidTargetLogicalAddress;;12;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x2801;SM_DataTooLarge;;1;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2802;SM_DataStorageFull;;2;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2803;SM_IllegalStorageId;;3;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2804;SM_DataDoesNotExist;;4;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2805;SM_IllegalAddress;;5;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2806;SM_PoolTooLarge;;6;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x38a1;SGP4_InvalidEccentricity;;161;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a2;SGP4_InvalidMeanMotion;;162;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a3;SGP4_InvalidPerturbationElements;;163;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a4;SGP4_InvalidSemiLatusRectum;;164;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a5;SGP4_InvalidEpochElements;;165;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a6;SGP4_SatelliteHasDecayed;;166;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38b1;SGP4_TleTooOld;;177;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38b2;SGP4_TleNotInitialized;;178;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x2401;MT_NoPacketFound;;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x2402;MT_PossiblePacketLoss;;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x2403;MT_NoMatch;;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x2404;MT_Full;;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x2405;MT_NewNodeCreated;;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x3f01;DLEE_StreamTooShort;;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
-0x3f02;DLEE_DecodingError;;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
-0x2f01;ASC_TooLongForTargetType;;1;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x2f02;ASC_InvalidCharacters;;2;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x2f03;ASC_BufferTooSmall;;3;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x0f01;CM_UnknownCommand;;1;COMMAND_MESSAGE;fsfw/src/fsfw/ipc/CommandMessageIF.h
-0x3a01;MQI_Empty;;1;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x3a02;MQI_Full;No space left for more messages;2;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x3a03;MQI_NoReplyPartner;Returned if a reply method was called without partner;3;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x3a04;MQI_DestinationInvalid;Returned if the target destination is invalid.;4;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x3901;MUX_NotEnoughResources;;1;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3902;MUX_InsufficientMemory;;2;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3903;MUX_NoPrivilege;;3;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3904;MUX_WrongAttributeSetting;;4;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3905;MUX_MutexAlreadyLocked;;5;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3906;MUX_MutexNotFound;;6;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3907;MUX_MutexMaxLocks;;7;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3908;MUX_CurrThreadAlreadyOwnsMutex;;8;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3909;MUX_CurrThreadDoesNotOwnMutex;;9;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x390a;MUX_MutexTimeout;;10;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x390b;MUX_MutexInvalidId;;11;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x390c;MUX_MutexDestroyedWhileWaiting;;12;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3b01;SPH_SemaphoreTimeout;;1;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
-0x3b02;SPH_SemaphoreNotOwned;;2;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
-0x3b03;SPH_SemaphoreInvalid;;3;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
-0x1e00;PUS_InvalidPusVersion;;0;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
-0x1e01;PUS_InvalidCrc16;;1;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
-0x3601;CFDP_InvalidTlvType;;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3602;CFDP_InvalidDirectiveField;;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3603;CFDP_InvalidPduDatafieldLen;;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3604;CFDP_InvalidAckDirectiveFields;;4;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3605;CFDP_MetadataCantParseOptions;;5;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3606;CFDP_NakCantParseOptions;;6;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3607;CFDP_FinishedCantParseFsResponses;;7;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3608;CFDP_FilestoreRequiresSecondFile;;8;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3609;CFDP_FilestoreResponseCantParseFsMessage;;9;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x360a;CFDP_InvalidPduFormat;;10;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x2901;TC_InvalidTargetState;;1;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-0x29f1;TC_AboveOperationalLimit;;241;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-0x29f2;TC_BelowOperationalLimit;;242;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-0x0c02;MS_InvalidEntry;;2;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x0c03;MS_TooManyElements;;3;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x0c04;MS_CantStoreEmpty;;4;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x0d01;SS_SequenceAlreadyExists;;1;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d02;SS_TableAlreadyExists;;2;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d03;SS_TableDoesNotExist;;3;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d04;SS_TableOrSequenceLengthInvalid;;4;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d05;SS_SequenceDoesNotExist;;5;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d06;SS_TableContainsInvalidObjectId;;6;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d07;SS_FallbackSequenceDoesNotExist;;7;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d08;SS_NoTargetTable;;8;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d09;SS_SequenceOrTableTooLong;;9;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d0b;SS_IsFallbackSequence;;11;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d0c;SS_AccessDenied;;12;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d0e;SS_TableInUse;;14;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0da1;SS_TargetTableNotReached;;161;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0da2;SS_TableCheckFailed;;162;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0b01;SB_ChildNotFound;;1;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b02;SB_ChildInfoUpdated;;2;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b03;SB_ChildDoesntHaveModes;;3;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b04;SB_CouldNotInsertChild;;4;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b05;SB_TableContainsInvalidObjectId;;5;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x3e00;HKM_QueueOrDestinationInvalid;;0;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e01;HKM_WrongHkPacketType;;1;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e02;HKM_ReportingStatusUnchanged;;2;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e03;HKM_PeriodicHelperInvalid;;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e04;HKM_PoolobjectNotFound;;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e05;HKM_DatasetNotFound;;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3c00;LPIF_PoolEntryNotFound;;0;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
-0x3c01;LPIF_PoolEntryTypeConflict;;1;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
+0x1401;SE_BufferTooShort;;1;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x1402;SE_StreamTooShort;;2;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x1403;SE_TooManyElements;;3;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
 0x3da0;PVA_InvalidReadWriteMode;;160;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
 0x3da1;PVA_InvalidPoolEntry;;161;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
 0x0801;DPS_InvalidParameterDefinition;;1;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
@@ -312,35 +203,20 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0804;DPS_DataSetUninitialised;;4;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
 0x0805;DPS_DataSetFull;;5;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
 0x0806;DPS_PoolVarNull;;6;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
-0x1000;TIM_UnsupportedTimeFormat;;0;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1001;TIM_NotEnoughInformationForTargetFormat;;1;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1002;TIM_LengthMismatch;;2;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1003;TIM_InvalidTimeFormat;;3;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1004;TIM_InvalidDayOfYear;;4;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1005;TIM_TimeDoesNotFitFormat;;5;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x3701;TSI_BadTimestamp;;1;TIME_STAMPER_IF;fsfw/src/fsfw/timemanager/TimeStampIF.h
-0x1d01;ATC_ActivityStarted;;1;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x1d02;ATC_InvalidSubservice;;2;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x1d03;ATC_IllegalApplicationData;;3;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x1d04;ATC_SendTmFailed;;4;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x1d05;ATC_Timeout;;5;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x4c00;SPPA_NoPacketFound;;0;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
-0x4c01;SPPA_SplitPacket;;1;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
-0x2001;CSB_ExecutionComplete;;1;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2002;CSB_NoStepMessage;;2;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2003;CSB_ObjectBusy;;3;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2004;CSB_Busy;;4;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2005;CSB_InvalidTc;;5;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2006;CSB_InvalidObject;;6;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2007;CSB_InvalidReply;;7;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x1801;FF_Full;;1;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
-0x1802;FF_Empty;;2;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
-0x1601;FMM_MapFull;;1;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
-0x1602;FMM_KeyDoesNotExist;;2;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
-0x2501;EV_ListenerNotFound;;1;EVENT_MANAGER_IF;fsfw/src/fsfw/events/EventManagerIF.h
-0x1701;HHI_ObjectNotHealthy;;1;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
-0x1702;HHI_InvalidHealthState;;2;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
-0x1703;HHI_IsExternallyControlled;;3;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
+0x1c01;TCD_PacketLost;;1;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
+0x1c02;TCD_DestinationNotFound;;2;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
+0x1c03;TCD_ServiceIdAlreadyExists;;3;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
+0x1b00;TCC_NoDestinationFound;;0;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b01;TCC_InvalidCcsdsVersion;;1;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b02;TCC_InvalidApid;;2;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b03;TCC_InvalidPacketType;;3;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b04;TCC_InvalidSecHeaderField;;4;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b05;TCC_IncorrectPrimaryHeader;;5;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b07;TCC_IncompletePacket;;7;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b08;TCC_InvalidPusVersion;;8;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b09;TCC_IncorrectChecksum;;9;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b0a;TCC_IllegalPacketSubtype;;10;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b0b;TCC_IncorrectSecondaryHeader;;11;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
 0x3001;POS_InPowerTransition;;1;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
 0x3002;POS_SwitchStateMismatch;;2;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
 0x0501;PS_SwitchOn;;1;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
@@ -348,23 +224,76 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0502;PS_SwitchTimeout;;2;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
 0x0503;PS_FuseOn;;3;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
 0x0504;PS_FuseOff;;4;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
-0x4300;FILS_GenericFileError;;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4301;FILS_GenericDirError;;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4302;FILS_FilesystemInactive;;2;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4303;FILS_GenericRenameError;;3;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4304;FILS_IsBusy;;4;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4305;FILS_InvalidParameters;;5;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430a;FILS_FileDoesNotExist;;10;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430b;FILS_FileAlreadyExists;;11;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430c;FILS_NotAFile;;12;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430d;FILS_FileLocked;;13;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430e;FILS_PermissionDenied;;14;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4315;FILS_DirectoryDoesNotExist;;21;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4316;FILS_DirectoryAlreadyExists;;22;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4317;FILS_NotADirectory;;23;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4318;FILS_DirectoryNotEmpty;;24;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x431e;FILS_SequencePacketMissingWrite;;30;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x431f;FILS_SequencePacketMissingRead;;31;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x3b00;SPH_ConnBroken;;0;SEMAPHORE_IF;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
+0x2a01;IEC_NoConfigurationTable;;1;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a02;IEC_NoCpuTable;;2;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a03;IEC_InvalidWorkspaceAddress;;3;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a04;IEC_TooLittleWorkspace;;4;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a05;IEC_WorkspaceAllocation;;5;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a06;IEC_InterruptStackTooSmall;;6;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a07;IEC_ThreadExitted;;7;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a08;IEC_InconsistentMpInformation;;8;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a09;IEC_InvalidNode;;9;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0a;IEC_NoMpci;;10;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0b;IEC_BadPacket;;11;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0c;IEC_OutOfPackets;;12;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0d;IEC_OutOfGlobalObjects;;13;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0e;IEC_OutOfProxies;;14;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0f;IEC_InvalidGlobalId;;15;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a10;IEC_BadStackHook;;16;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a11;IEC_BadAttributes;;17;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a12;IEC_ImplementationKeyCreateInconsistency;;18;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a13;IEC_ImplementationBlockingOperationCancel;;19;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a14;IEC_MutexObtainFromBadState;;20;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a15;IEC_UnlimitedAndMaximumIs0;;21;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2600;FDI_YourFault;;0;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x2601;FDI_MyFault;;1;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x2602;FDI_ConfirmLater;;2;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x1e00;PUS_InvalidPusVersion;;0;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
+0x1e01;PUS_InvalidCrc16;;1;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
+0x0201;OM_InsertionFailed;;1;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0202;OM_NotFound;;2;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0203;OM_ChildInitFailed;;3;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0204;OM_InternalErrReporterUninit;;4;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x2201;TMF_Busy;;1;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2202;TMF_LastPacketFound;;2;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2203;TMF_StopFetch;;3;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2204;TMF_Timeout;;4;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2205;TMF_TmChannelFull;;5;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2206;TMF_NotStored;;6;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2207;TMF_AllDeleted;;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2208;TMF_InvalidData;;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2209;TMF_NotReady;;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2101;TMB_Busy;;1;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2102;TMB_Full;;2;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2103;TMB_Empty;;3;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2104;TMB_NullRequested;;4;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2105;TMB_TooLarge;;5;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2106;TMB_NotReady;;6;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2107;TMB_DumpError;;7;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2108;TMB_CrcError;;8;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2109;TMB_Timeout;;9;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210a;TMB_IdlePacketFound;;10;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210b;TMB_TelecommandFound;;11;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210c;TMB_NoPusATm;;12;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210d;TMB_TooSmall;;13;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210e;TMB_BlockNotFound;;14;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210f;TMB_InvalidRequest;;15;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2d01;PAW_UnknownDatatype;;1;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d02;PAW_DatatypeMissmatch;;2;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d03;PAW_Readonly;;3;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d04;PAW_TooBig;;4;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d05;PAW_SourceNotSet;;5;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d06;PAW_OutOfBounds;;6;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d07;PAW_NotSet;;7;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d08;PAW_ColumnOrRowsZero;;8;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2e01;HPA_InvalidIdentifierId;;1;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e02;HPA_InvalidDomainId;;2;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e03;HPA_InvalidValue;;3;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e05;HPA_ReadOnly;;5;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x3b01;SPH_SemaphoreTimeout;;1;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
+0x3b02;SPH_SemaphoreNotOwned;;2;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
+0x3b03;SPH_SemaphoreInvalid;;3;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
 0x1a01;TRC_NotEnoughSensors;;1;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
 0x1a02;TRC_LowestValueOol;;2;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
 0x1a03;TRC_HighestValueOol;;3;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
@@ -383,36 +312,74 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x31e2;LIM_WrongPid;;226;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
 0x31e3;LIM_WrongLimitId;;227;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
 0x31ee;LIM_MonitorNotFound;;238;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x3601;CFDP_InvalidTlvType;;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3602;CFDP_InvalidDirectiveField;;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3603;CFDP_InvalidPduDatafieldLen;;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3604;CFDP_InvalidAckDirectiveFields;;4;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3605;CFDP_MetadataCantParseOptions;;5;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3606;CFDP_NakCantParseOptions;;6;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3607;CFDP_FinishedCantParseFsResponses;;7;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3608;CFDP_FilestoreRequiresSecondFile;;8;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3609;CFDP_FilestoreResponseCantParseFsMessage;;9;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x360a;CFDP_InvalidPduFormat;;10;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x4300;FILS_GenericFileError;;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4301;FILS_GenericDirError;;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4302;FILS_FilesystemInactive;;2;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4303;FILS_GenericRenameError;;3;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4304;FILS_IsBusy;;4;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4305;FILS_InvalidParameters;;5;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430a;FILS_FileDoesNotExist;;10;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430b;FILS_FileAlreadyExists;;11;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430c;FILS_NotAFile;;12;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430d;FILS_FileLocked;;13;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430e;FILS_PermissionDenied;;14;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4315;FILS_DirectoryDoesNotExist;;21;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4316;FILS_DirectoryAlreadyExists;;22;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4317;FILS_NotADirectory;;23;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4318;FILS_DirectoryNotEmpty;;24;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x431e;FILS_SequencePacketMissingWrite;;30;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x431f;FILS_SequencePacketMissingRead;;31;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x2c01;CCS_BcIsSetVrCommand;;1;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2c02;CCS_BcIsUnlockCommand;;2;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cb0;CCS_BcIllegalCommand;;176;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cb1;CCS_BoardReadingNotFinished;;177;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf0;CCS_NsPositiveW;;240;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf1;CCS_NsNegativeW;;241;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf2;CCS_NsLockout;;242;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf3;CCS_FarmInLockout;;243;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf4;CCS_FarmInWait;;244;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce0;CCS_WrongSymbol;;224;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce1;CCS_DoubleStart;;225;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce2;CCS_StartSymbolMissed;;226;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce3;CCS_EndWithoutStart;;227;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce4;CCS_TooLarge;;228;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce5;CCS_TooShort;;229;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce6;CCS_WrongTfVersion;;230;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce7;CCS_WrongSpacecraftId;;231;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce8;CCS_NoValidFrameType;;232;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce9;CCS_CrcFailed;;233;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cea;CCS_VcNotFound;;234;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ceb;CCS_ForwardingFailed;;235;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cec;CCS_ContentTooLarge;;236;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ced;CCS_ResidualData;;237;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cee;CCS_DataCorrupted;;238;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cef;CCS_IllegalSegmentationFlag;;239;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd0;CCS_IllegalFlagCombination;;208;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd1;CCS_ShorterThanHeader;;209;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd2;CCS_TooShortBlockedPacket;;210;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd3;CCS_TooShortMapExtraction;;211;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
 0x4201;PUS11_InvalidTypeTimeWindow;;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4202;PUS11_InvalidTimeWindow;;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4203;PUS11_TimeshiftingNotPossible;;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4204;PUS11_InvalidRelativeTime;;4;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4205;PUS11_ContainedTcTooSmall;;5;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4206;PUS11_ContainedTcCrcMissmatch;;6;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
-0x0601;PP_DoItMyself;;1;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0602;PP_PointsToVariable;;2;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0603;PP_PointsToMemory;;3;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0604;PP_ActivityCompleted;;4;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0605;PP_PointsToVectorUint8;;5;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0606;PP_PointsToVectorUint16;;6;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0607;PP_PointsToVectorUint32;;7;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0608;PP_PointsToVectorFloat;;8;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06a0;PP_DumpNotSupported;;160;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e0;PP_InvalidSize;;224;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e1;PP_InvalidAddress;;225;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e2;PP_InvalidContent;;226;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e3;PP_UnalignedAccess;;227;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e4;PP_WriteProtected;;228;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x13e0;MH_UnknownCmd;;224;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x13e1;MH_InvalidAddress;;225;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x13e2;MH_InvalidSize;;226;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x13e3;MH_StateMismatch;;227;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x1201;AB_NeedSecondStep;;1;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1202;AB_NeedToReconfigure;;2;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1203;AB_ModeFallback;;3;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1204;AB_ChildNotCommandable;;4;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1205;AB_NeedToChangeHealth;;5;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x12a1;AB_NotEnoughChildrenInCorrectState;;161;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x3401;DC_NoReplyReceived;;1;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3402;DC_ProtocolError;;2;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3403;DC_Nullpointer;;3;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3404;DC_InvalidCookieType;;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3405;DC_NotActive;;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3406;DC_TooMuchData;;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
 0x03a0;DHB_InvalidChannel;;160;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
 0x03b0;DHB_AperiodicReply;;176;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
 0x03b1;DHB_IgnoreReplyData;;177;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
@@ -422,12 +389,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x03d0;DHB_NoSwitch;;208;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
 0x03e0;DHB_ChildTimeout;;224;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
 0x03e1;DHB_SwitchFailed;;225;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
-0x3401;DC_NoReplyReceived;;1;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3402;DC_ProtocolError;;2;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3403;DC_Nullpointer;;3;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3404;DC_InvalidCookieType;;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3405;DC_NotActive;;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3406;DC_TooMuchData;;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x1201;AB_NeedSecondStep;;1;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1202;AB_NeedToReconfigure;;2;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1203;AB_ModeFallback;;3;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1204;AB_ChildNotCommandable;;4;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1205;AB_NeedToChangeHealth;;5;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x12a1;AB_NotEnoughChildrenInCorrectState;;161;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
 0x27a0;DHI_NoCommandData;;160;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27a1;DHI_CommandNotSupported;;161;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27a2;DHI_CommandAlreadySent;;162;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
@@ -449,25 +416,54 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x27c3;DHI_DeviceReplyInvalid;;195;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27d0;DHI_InvalidCommandParameter;;208;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27d1;DHI_InvalidNumberOrLengthOfParameters;;209;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x1401;SE_BufferTooShort;;1;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
-0x1402;SE_StreamTooShort;;2;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
-0x1403;SE_TooManyElements;;3;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
-0x4500;HSPI_HalTimeoutRetval;;0;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
-0x4501;HSPI_HalBusyRetval;;1;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
-0x4502;HSPI_HalErrorRetval;;2;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
-0x4601;HURT_UartReadFailure;;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
-0x4602;HURT_UartReadSizeMissmatch;;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
-0x4603;HURT_UartRxBufferTooSmall;;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
-0x4801;HGIO_UnknownGpioId;;1;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4802;HGIO_DriveGpioFailure;;2;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4803;HGIO_GpioTypeFailure;;3;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4804;HGIO_GpioInvalidInstance;;4;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4805;HGIO_GpioDuplicateDetected;;5;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4806;HGIO_GpioInitFailed;;6;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4807;HGIO_GpioGetValueFailed;;7;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4400;UXOS_ExecutionFinished;Execution of the current command has finished;0;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4401;UXOS_CommandPending;Command is pending. This will also be returned if the user tries to load another command but a command is still pending;1;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4402;UXOS_BytesRead;Some bytes have been read from the executing process;2;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4406;UXOS_PcloseCallError;;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x2401;MT_TooDetailedRequest;;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x2402;MT_TooGeneralRequest;;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x2403;MT_NoMatch;;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x2404;MT_Full;;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x2405;MT_NewNodeCreated;;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x3f01;DLEE_NoPacketFound;;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x3f02;DLEE_PossiblePacketLoss;;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x2f01;ASC_TooLongForTargetType;;1;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
+0x2f02;ASC_InvalidCharacters;;2;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
+0x2f03;ASC_BufferTooSmall;;3;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
+0x1701;HHI_ObjectNotHealthy;;1;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
+0x1702;HHI_InvalidHealthState;;2;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
+0x1703;HHI_IsExternallyControlled;;3;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
+0x3201;CF_ObjectHasNoFunctions;;1;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
+0x3202;CF_AlreadyCommanding;;2;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
+0x3301;HF_IsBusy;;1;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x3302;HF_InvalidParameters;;2;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x3303;HF_ExecutionFinished;;3;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x3304;HF_InvalidActionId;;4;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x1000;TIM_UnsupportedTimeFormat;;0;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1001;TIM_NotEnoughInformationForTargetFormat;;1;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1002;TIM_LengthMismatch;;2;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1003;TIM_InvalidTimeFormat;;3;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1004;TIM_InvalidDayOfYear;;4;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1005;TIM_TimeDoesNotFitFormat;;5;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x3701;TSI_BadTimestamp;;1;TIME_STAMPER_IF;fsfw/src/fsfw/timemanager/TimeStampIF.h
+0x3c00;LPIF_PoolEntryNotFound;;0;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
+0x3c01;LPIF_PoolEntryTypeConflict;;1;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
+0x3e00;HKM_QueueOrDestinationInvalid;;0;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e01;HKM_WrongHkPacketType;;1;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e02;HKM_ReportingStatusUnchanged;;2;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e03;HKM_PeriodicHelperInvalid;;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e04;HKM_PoolobjectNotFound;;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e05;HKM_DatasetNotFound;;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x2901;TC_InvalidTargetState;;1;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x29f1;TC_AboveOperationalLimit;;241;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x29f2;TC_BelowOperationalLimit;;242;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x2001;CSB_ExecutionComplete;;1;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2002;CSB_NoStepMessage;;2;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2003;CSB_ObjectBusy;;3;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2004;CSB_Busy;;4;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2005;CSB_InvalidTc;;5;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2006;CSB_InvalidObject;;6;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2007;CSB_InvalidReply;;7;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x4c00;SPPA_NoPacketFound;;0;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
+0x4c01;SPPA_SplitPacket;;1;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
+0x1d01;ATC_ActivityStarted;;1;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d02;ATC_InvalidSubservice;;2;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d03;ATC_IllegalApplicationData;;3;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d04;ATC_SendTmFailed;;4;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d05;ATC_Timeout;;5;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
diff --git a/generators/bsp_q7s_events.csv b/generators/bsp_q7s_events.csv
index 23d51222..a50715dd 100644
--- a/generators/bsp_q7s_events.csv
+++ b/generators/bsp_q7s_events.csv
@@ -121,8 +121,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11706;0x2dba;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
 11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
 11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/devices/ImtqHandler.h
-11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/devicedefinitions/RwDefinitions.h
-11802;0x2e1a;RESET_OCCURED;LOW;;mission/devices/devicedefinitions/RwDefinitions.h
+11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/devicedefinitions/rwHelpers.h
+11802;0x2e1a;RESET_OCCURED;LOW;;mission/devices/devicedefinitions/rwHelpers.h
 11901;0x2e7d;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
 11902;0x2e7e;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
 12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/devices/ploc/PlocSupervisorHandler.h
diff --git a/generators/bsp_q7s_objects.csv b/generators/bsp_q7s_objects.csv
index 08c09a47..56dbacef 100644
--- a/generators/bsp_q7s_objects.csv
+++ b/generators/bsp_q7s_objects.csv
@@ -76,7 +76,7 @@
 0x49010005;GPIO_IF
 0x49010006;SCEX_UART_READER
 0x49020004;SPI_MAIN_COM_IF
-0x49020005;SPI_RW_COM_IF
+0x49020005;RW_POLLING_TASK
 0x49020006;SPI_RTD_COM_IF
 0x49030003;UART_COM_IF
 0x49040002;I2C_COM_IF
diff --git a/generators/bsp_q7s_returnvalues.csv b/generators/bsp_q7s_returnvalues.csv
index 2741ae71..1805fc13 100644
--- a/generators/bsp_q7s_returnvalues.csv
+++ b/generators/bsp_q7s_returnvalues.csv
@@ -1,38 +1,29 @@
 Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0000;OK;System-wide code for ok.;0;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
 0x0001;Failed;Unspecified system-wide code for failed.;1;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
-0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
-0x5d00;GOMS_PacketTooLong;;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d01;GOMS_InvalidTableId;;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d02;GOMS_InvalidAddress;;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d03;GOMS_InvalidParamSize;;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d04;GOMS_InvalidPayloadSize;;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d05;GOMS_UnknownReplyId;;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x52b0;RWHA_SpiWriteFailure;;176;RW_HANDLER;mission/devices/RwHandler.h
-0x52b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/devices/RwHandler.h
-0x52b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/devices/RwHandler.h
-0x52b3;RWHA_InvalidSubstitute;Can be used by the HDLC decoding mechanism to inform about an invalid substitution combination;179;RW_HANDLER;mission/devices/RwHandler.h
-0x52b4;RWHA_MissingEndSign;HDLC decoding mechanism never receives the end sign 0x7E;180;RW_HANDLER;mission/devices/RwHandler.h
-0x52b5;RWHA_NoReply;Reaction wheel only responds with empty frames.;181;RW_HANDLER;mission/devices/RwHandler.h
-0x52b6;RWHA_NoStartMarker;Expected a start marker as first byte;182;RW_HANDLER;mission/devices/RwHandler.h
-0x52a0;RWHA_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;RW_HANDLER;mission/devices/RwHandler.h
-0x52a1;RWHA_InvalidRampTime;Action Message with invalid ramp time was received.;161;RW_HANDLER;mission/devices/RwHandler.h
-0x52a2;RWHA_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;RW_HANDLER;mission/devices/RwHandler.h
-0x52a3;RWHA_ExecutionFailed;Command execution failed;163;RW_HANDLER;mission/devices/RwHandler.h
-0x52a4;RWHA_CrcError;Reaction wheel reply has invalid crc;164;RW_HANDLER;mission/devices/RwHandler.h
-0x4fa1;HEATER_CommandNotSupported;;161;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x4fa2;HEATER_InitFailed;;162;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x4fa3;HEATER_InvalidSwitchNr;;163;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x4fa4;HEATER_MainSwitchSetTimeout;;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x4fa5;HEATER_CommandAlreadyWaiting;;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NVMParameterBase.h
+0x6300;NVMB_Busy;;0;NVM_PARAM_BASE;mission/system/objects/Stack5VHandler.h
+0x52b0;RWHA_SpiWriteFailure;;176;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b3;RWHA_InvalidSubstitute;Can be used by the HDLC decoding mechanism to inform about an invalid substitution combination;179;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b4;RWHA_MissingEndSign;HDLC decoding mechanism never receives the end sign 0x7E;180;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b5;RWHA_NoReply;Reaction wheel only responds with empty frames.;181;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b6;RWHA_NoStartMarker;Expected a start marker as first byte;182;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b7;RWHA_SpiReadTimeout;Timeout when reading reply;183;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
 0x58a0;SUSS_ErrorUnlockMutex;;160;SUS_HANDLER;mission/devices/SusHandler.h
 0x58a1;SUSS_ErrorLockMutex;;161;SUS_HANDLER;mission/devices/SusHandler.h
-0x51a0;IMTQ_InvalidCommandCode;;160;IMTQ_HANDLER;mission/devices/ImtqHandler.h
-0x51a1;IMTQ_ParameterMissing;;161;IMTQ_HANDLER;mission/devices/ImtqHandler.h
-0x51a2;IMTQ_ParameterInvalid;;162;IMTQ_HANDLER;mission/devices/ImtqHandler.h
-0x51a3;IMTQ_CcUnavailable;;163;IMTQ_HANDLER;mission/devices/ImtqHandler.h
-0x51a4;IMTQ_InternalProcessingError;;164;IMTQ_HANDLER;mission/devices/ImtqHandler.h
-0x51a5;IMTQ_RejectedWithoutReason;;165;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x66a0;SADPL_CommandNotSupported;;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a1;SADPL_DeploymentAlreadyExecuting;;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a2;SADPL_MainSwitchTimeoutFailure;;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a3;SADPL_SwitchingDeplSa1Failed;;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a4;SADPL_SwitchingDeplSa2Failed;;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x51a0;IMTQ_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;IMTQ_HANDLER;mission/devices/RwHandler.h
+0x51a1;IMTQ_InvalidRampTime;Action Message with invalid ramp time was received.;161;IMTQ_HANDLER;mission/devices/RwHandler.h
+0x51a2;IMTQ_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;IMTQ_HANDLER;mission/devices/RwHandler.h
+0x51a3;IMTQ_ExecutionFailed;Command execution failed;163;IMTQ_HANDLER;mission/devices/RwHandler.h
+0x51a4;IMTQ_CrcError;Reaction wheel reply has invalid crc;164;IMTQ_HANDLER;mission/devices/RwHandler.h
+0x51a5;IMTQ_ValueNotRead;;165;IMTQ_HANDLER;mission/devices/RwHandler.h
 0x51a6;IMTQ_CmdErrUnknown;;166;IMTQ_HANDLER;mission/devices/ImtqHandler.h
 0x51a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;167;IMTQ_HANDLER;mission/devices/ImtqHandler.h
 0x50a0;SYRLINKS_CrcFailure;;160;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
@@ -44,137 +35,123 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x50a6;SYRLINKS_BadCrcAck;;166;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
 0x50a7;SYRLINKS_ReplyWrongSize;;167;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
 0x50a8;SYRLINKS_MissingStartFrameCharacter;;168;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x66a0;SADPL_CommandNotSupported;;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x66a1;SADPL_DeploymentAlreadyExecuting;;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x66a2;SADPL_MainSwitchTimeoutFailure;;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x66a3;SADPL_SwitchingDeplSa1Failed;;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x66a4;SADPL_SwitchingDeplSa2Failed;;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x6600;SADPL_Busy;;0;SA_DEPL_HANDLER;mission/system/objects/Stack5VHandler.h
-0x6b01;ACSPTG_PtgctrlMekfInputInvalid;;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
+0x5d00;GOMS_PacketTooLong;;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d01;GOMS_InvalidTableId;;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d02;GOMS_InvalidAddress;;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d03;GOMS_InvalidParamSize;;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d04;GOMS_InvalidPayloadSize;;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d05;GOMS_UnknownReplyId;;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x4fa1;HEATER_CommandNotSupported;;161;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa2;HEATER_InitFailed;;162;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa3;HEATER_InvalidSwitchNr;;163;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa4;HEATER_MainSwitchSetTimeout;;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa5;HEATER_CommandAlreadyWaiting;;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
 0x6a01;ACSSAF_SafectrlMekfInputInvalid;;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
+0x6b01;ACSPTG_PtgctrlMekfInputInvalid;;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
 0x6c01;ACSDTB_DetumbleNoSensordata;;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
 0x6901;ACSKAL_KalmanNoGyrMeas;;1;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6902;ACSKAL_KalmanNoModel;;2;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6903;ACSKAL_KalmanInversionFailed;;3;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NVMParameterBase.h
-0x2c01;CCS_BcIsSetVrCommand;;1;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2c02;CCS_BcIsUnlockCommand;;2;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cb0;CCS_BcIllegalCommand;;176;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cb1;CCS_BoardReadingNotFinished;;177;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf0;CCS_NsPositiveW;;240;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf1;CCS_NsNegativeW;;241;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf2;CCS_NsLockout;;242;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf3;CCS_FarmInLockout;;243;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf4;CCS_FarmInWait;;244;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce0;CCS_WrongSymbol;;224;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce1;CCS_DoubleStart;;225;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce2;CCS_StartSymbolMissed;;226;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce3;CCS_EndWithoutStart;;227;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce4;CCS_TooLarge;;228;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce5;CCS_TooShort;;229;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce6;CCS_WrongTfVersion;;230;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce7;CCS_WrongSpacecraftId;;231;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce8;CCS_NoValidFrameType;;232;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce9;CCS_CrcFailed;;233;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cea;CCS_VcNotFound;;234;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ceb;CCS_ForwardingFailed;;235;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cec;CCS_ContentTooLarge;;236;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ced;CCS_ResidualData;;237;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cee;CCS_DataCorrupted;;238;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cef;CCS_IllegalSegmentationFlag;;239;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cd0;CCS_IllegalFlagCombination;;208;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cd1;CCS_ShorterThanHeader;;209;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cd2;CCS_TooShortBlockedPacket;;210;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cd3;CCS_TooShortMapExtraction;;211;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x3b00;SPH_ConnBroken;;0;SEMAPHORE_IF;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
-0x2a01;IEC_NoConfigurationTable;;1;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a02;IEC_NoCpuTable;;2;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a03;IEC_InvalidWorkspaceAddress;;3;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a04;IEC_TooLittleWorkspace;;4;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a05;IEC_WorkspaceAllocation;;5;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a06;IEC_InterruptStackTooSmall;;6;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a07;IEC_ThreadExitted;;7;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a08;IEC_InconsistentMpInformation;;8;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a09;IEC_InvalidNode;;9;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0a;IEC_NoMpci;;10;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0b;IEC_BadPacket;;11;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0c;IEC_OutOfPackets;;12;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0d;IEC_OutOfGlobalObjects;;13;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0e;IEC_OutOfProxies;;14;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0f;IEC_InvalidGlobalId;;15;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a10;IEC_BadStackHook;;16;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a11;IEC_BadAttributes;;17;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a12;IEC_ImplementationKeyCreateInconsistency;;18;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a13;IEC_ImplementationBlockingOperationCancel;;19;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a14;IEC_MutexObtainFromBadState;;20;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a15;IEC_UnlimitedAndMaximumIs0;;21;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x4500;HSPI_OpeningFileFailed;;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
+0x4501;HSPI_FullDuplexTransferFailed;;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
+0x4502;HSPI_HalfDuplexTransferFailed;;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
+0x4801;HGIO_UnknownGpioId;;1;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4802;HGIO_DriveGpioFailure;;2;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4803;HGIO_GpioTypeFailure;;3;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4804;HGIO_GpioInvalidInstance;;4;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4805;HGIO_GpioDuplicateDetected;;5;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4806;HGIO_GpioInitFailed;;6;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4807;HGIO_GpioGetValueFailed;;7;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4601;HURT_UartReadFailure;;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
+0x4602;HURT_UartReadSizeMissmatch;;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
+0x4603;HURT_UartRxBufferTooSmall;;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
+0x4400;UXOS_ExecutionFinished;Execution of the current command has finished;0;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4401;UXOS_CommandPending;Command is pending. This will also be returned if the user tries to load another command but a command is still pending;1;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4402;UXOS_BytesRead;Some bytes have been read from the executing process;2;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4406;UXOS_PcloseCallError;;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x2801;SM_DataTooLarge;;1;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2802;SM_DataStorageFull;;2;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2803;SM_IllegalStorageId;;3;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2804;SM_DataDoesNotExist;;4;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2805;SM_IllegalAddress;;5;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2806;SM_PoolTooLarge;;6;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x0601;PP_DoItMyself;;1;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0602;PP_PointsToVariable;;2;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0603;PP_PointsToMemory;;3;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0604;PP_ActivityCompleted;;4;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0605;PP_PointsToVectorUint8;;5;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0606;PP_PointsToVectorUint16;;6;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0607;PP_PointsToVectorUint32;;7;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0608;PP_PointsToVectorFloat;;8;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06a0;PP_DumpNotSupported;;160;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e0;PP_InvalidSize;;224;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e1;PP_InvalidAddress;;225;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e2;PP_InvalidContent;;226;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e3;PP_UnalignedAccess;;227;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e4;PP_WriteProtected;;228;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x13e0;MH_UnknownCmd;;224;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x13e1;MH_InvalidAddress;;225;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x13e2;MH_InvalidSize;;226;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x13e3;MH_StateMismatch;;227;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x38a1;SGP4_InvalidEccentricity;;161;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a2;SGP4_InvalidMeanMotion;;162;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a3;SGP4_InvalidPerturbationElements;;163;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a4;SGP4_InvalidSemiLatusRectum;;164;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a5;SGP4_InvalidEpochElements;;165;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a6;SGP4_SatelliteHasDecayed;;166;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38b1;SGP4_TleTooOld;;177;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38b2;SGP4_TleNotInitialized;;178;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x1801;FF_Full;;1;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
+0x1802;FF_Empty;;2;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
+0x1601;FMM_MapFull;;1;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
+0x1602;FMM_KeyDoesNotExist;;2;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
+0x3901;MUX_NotEnoughResources;;1;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3902;MUX_InsufficientMemory;;2;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3903;MUX_NoPrivilege;;3;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3904;MUX_WrongAttributeSetting;;4;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3905;MUX_MutexAlreadyLocked;;5;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3906;MUX_MutexNotFound;;6;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3907;MUX_MutexMaxLocks;;7;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3908;MUX_CurrThreadAlreadyOwnsMutex;;8;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3909;MUX_CurrThreadDoesNotOwnMutex;;9;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x390a;MUX_MutexTimeout;;10;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x390b;MUX_MutexInvalidId;;11;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x390c;MUX_MutexDestroyedWhileWaiting;;12;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3a01;MQI_Empty;;1;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x3a02;MQI_Full;No space left for more messages;2;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x3a03;MQI_NoReplyPartner;Returned if a reply method was called without partner;3;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x3a04;MQI_DestinationInvalid;Returned if the target destination is invalid.;4;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x0f01;CM_UnknownCommand;;1;COMMAND_MESSAGE;fsfw/src/fsfw/ipc/CommandMessageIF.h
 0x0e01;HM_InvalidMode;;1;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
 0x0e02;HM_TransNotAllowed;;2;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
 0x0e03;HM_InTransition;;3;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
 0x0e04;HM_InvalidSubmode;;4;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
-0x2e01;HPA_InvalidIdentifierId;;1;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
-0x2e02;HPA_InvalidDomainId;;2;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
-0x2e03;HPA_InvalidValue;;3;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
-0x2e05;HPA_ReadOnly;;5;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
-0x2d01;PAW_UnknownDatatype;;1;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d02;PAW_DatatypeMissmatch;;2;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d03;PAW_Readonly;;3;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d04;PAW_TooBig;;4;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d05;PAW_SourceNotSet;;5;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d06;PAW_OutOfBounds;;6;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d07;PAW_NotSet;;7;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d08;PAW_ColumnOrRowsZero;;8;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x3201;CF_ObjectHasNoFunctions;;1;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
-0x3202;CF_AlreadyCommanding;;2;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
-0x3301;HF_IsBusy;;1;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x3302;HF_InvalidParameters;;2;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x3303;HF_ExecutionFinished;;3;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x3304;HF_InvalidActionId;;4;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x0201;OM_InsertionFailed;;1;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
-0x0202;OM_NotFound;;2;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
-0x0203;OM_ChildInitFailed;;3;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
-0x0204;OM_InternalErrReporterUninit;;4;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
-0x2600;FDI_YourFault;;0;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
-0x2601;FDI_MyFault;;1;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
-0x2602;FDI_ConfirmLater;;2;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
-0x2201;TMF_Busy;;1;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2202;TMF_LastPacketFound;;2;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2203;TMF_StopFetch;;3;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2204;TMF_Timeout;;4;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2205;TMF_TmChannelFull;;5;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2206;TMF_NotStored;;6;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2207;TMF_AllDeleted;;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2208;TMF_InvalidData;;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2209;TMF_NotReady;;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2101;TMB_Busy;;1;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2102;TMB_Full;;2;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2103;TMB_Empty;;3;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2104;TMB_NullRequested;;4;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2105;TMB_TooLarge;;5;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2106;TMB_NotReady;;6;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2107;TMB_DumpError;;7;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2108;TMB_CrcError;;8;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2109;TMB_Timeout;;9;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210a;TMB_IdlePacketFound;;10;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210b;TMB_TelecommandFound;;11;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210c;TMB_NoPusATm;;12;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210d;TMB_TooSmall;;13;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210e;TMB_BlockNotFound;;14;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210f;TMB_InvalidRequest;;15;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x1c01;TCD_PacketLost;;1;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1c02;TCD_DestinationNotFound;;2;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1c03;TCD_ServiceIdAlreadyExists;;3;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1b00;TCC_NoDestinationFound;;0;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b01;TCC_InvalidCcsdsVersion;;1;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b02;TCC_InvalidApid;;2;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b03;TCC_InvalidPacketType;;3;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b04;TCC_InvalidSecHeaderField;;4;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b05;TCC_IncorrectPrimaryHeader;;5;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b07;TCC_IncompletePacket;;7;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b08;TCC_InvalidPusVersion;;8;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b09;TCC_IncorrectChecksum;;9;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b0a;TCC_IllegalPacketSubtype;;10;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b0b;TCC_IncorrectSecondaryHeader;;11;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x0c02;MS_InvalidEntry;;2;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
+0x0c03;MS_TooManyElements;;3;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
+0x0c04;MS_CantStoreEmpty;;4;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
+0x0b01;SB_ChildNotFound;;1;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b02;SB_ChildInfoUpdated;;2;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b03;SB_ChildDoesntHaveModes;;3;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b04;SB_CouldNotInsertChild;;4;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b05;SB_TableContainsInvalidObjectId;;5;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0d01;SS_SequenceAlreadyExists;;1;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d02;SS_TableAlreadyExists;;2;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d03;SS_TableDoesNotExist;;3;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d04;SS_TableOrSequenceLengthInvalid;;4;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d05;SS_SequenceDoesNotExist;;5;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d06;SS_TableContainsInvalidObjectId;;6;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d07;SS_FallbackSequenceDoesNotExist;;7;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d08;SS_NoTargetTable;;8;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d09;SS_SequenceOrTableTooLong;;9;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d0b;SS_IsFallbackSequence;;11;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d0c;SS_AccessDenied;;12;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d0e;SS_TableInUse;;14;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0da1;SS_TargetTableNotReached;;161;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0da2;SS_TableCheckFailed;;162;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x2501;EV_ListenerNotFound;;1;EVENT_MANAGER_IF;fsfw/src/fsfw/events/EventManagerIF.h
 0x04e1;RMP_CommandNoDescriptorsAvailable;;225;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
 0x04e2;RMP_CommandBufferFull;;226;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
 0x04e3;RMP_CommandChannelOutOfRange;;227;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
@@ -215,95 +192,9 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x040a;RMP_ReplyCommandNotImplementedOrNotAuthorised;;10;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
 0x040b;RMP_ReplyRmwDataLengthError;;11;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
 0x040c;RMP_ReplyInvalidTargetLogicalAddress;;12;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x2801;SM_DataTooLarge;;1;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2802;SM_DataStorageFull;;2;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2803;SM_IllegalStorageId;;3;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2804;SM_DataDoesNotExist;;4;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2805;SM_IllegalAddress;;5;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2806;SM_PoolTooLarge;;6;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x38a1;SGP4_InvalidEccentricity;;161;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a2;SGP4_InvalidMeanMotion;;162;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a3;SGP4_InvalidPerturbationElements;;163;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a4;SGP4_InvalidSemiLatusRectum;;164;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a5;SGP4_InvalidEpochElements;;165;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a6;SGP4_SatelliteHasDecayed;;166;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38b1;SGP4_TleTooOld;;177;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38b2;SGP4_TleNotInitialized;;178;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x2401;MT_NoPacketFound;;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x2402;MT_PossiblePacketLoss;;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x2403;MT_NoMatch;;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x2404;MT_Full;;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x2405;MT_NewNodeCreated;;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x3f01;DLEE_StreamTooShort;;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
-0x3f02;DLEE_DecodingError;;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
-0x2f01;ASC_TooLongForTargetType;;1;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x2f02;ASC_InvalidCharacters;;2;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x2f03;ASC_BufferTooSmall;;3;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x0f01;CM_UnknownCommand;;1;COMMAND_MESSAGE;fsfw/src/fsfw/ipc/CommandMessageIF.h
-0x3a01;MQI_Empty;;1;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x3a02;MQI_Full;No space left for more messages;2;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x3a03;MQI_NoReplyPartner;Returned if a reply method was called without partner;3;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x3a04;MQI_DestinationInvalid;Returned if the target destination is invalid.;4;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x3901;MUX_NotEnoughResources;;1;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3902;MUX_InsufficientMemory;;2;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3903;MUX_NoPrivilege;;3;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3904;MUX_WrongAttributeSetting;;4;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3905;MUX_MutexAlreadyLocked;;5;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3906;MUX_MutexNotFound;;6;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3907;MUX_MutexMaxLocks;;7;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3908;MUX_CurrThreadAlreadyOwnsMutex;;8;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3909;MUX_CurrThreadDoesNotOwnMutex;;9;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x390a;MUX_MutexTimeout;;10;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x390b;MUX_MutexInvalidId;;11;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x390c;MUX_MutexDestroyedWhileWaiting;;12;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3b01;SPH_SemaphoreTimeout;;1;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
-0x3b02;SPH_SemaphoreNotOwned;;2;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
-0x3b03;SPH_SemaphoreInvalid;;3;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
-0x1e00;PUS_InvalidPusVersion;;0;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
-0x1e01;PUS_InvalidCrc16;;1;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
-0x3601;CFDP_InvalidTlvType;;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3602;CFDP_InvalidDirectiveField;;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3603;CFDP_InvalidPduDatafieldLen;;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3604;CFDP_InvalidAckDirectiveFields;;4;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3605;CFDP_MetadataCantParseOptions;;5;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3606;CFDP_NakCantParseOptions;;6;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3607;CFDP_FinishedCantParseFsResponses;;7;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3608;CFDP_FilestoreRequiresSecondFile;;8;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3609;CFDP_FilestoreResponseCantParseFsMessage;;9;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x360a;CFDP_InvalidPduFormat;;10;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x2901;TC_InvalidTargetState;;1;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-0x29f1;TC_AboveOperationalLimit;;241;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-0x29f2;TC_BelowOperationalLimit;;242;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-0x0c02;MS_InvalidEntry;;2;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x0c03;MS_TooManyElements;;3;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x0c04;MS_CantStoreEmpty;;4;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x0d01;SS_SequenceAlreadyExists;;1;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d02;SS_TableAlreadyExists;;2;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d03;SS_TableDoesNotExist;;3;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d04;SS_TableOrSequenceLengthInvalid;;4;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d05;SS_SequenceDoesNotExist;;5;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d06;SS_TableContainsInvalidObjectId;;6;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d07;SS_FallbackSequenceDoesNotExist;;7;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d08;SS_NoTargetTable;;8;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d09;SS_SequenceOrTableTooLong;;9;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d0b;SS_IsFallbackSequence;;11;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d0c;SS_AccessDenied;;12;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d0e;SS_TableInUse;;14;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0da1;SS_TargetTableNotReached;;161;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0da2;SS_TableCheckFailed;;162;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0b01;SB_ChildNotFound;;1;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b02;SB_ChildInfoUpdated;;2;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b03;SB_ChildDoesntHaveModes;;3;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b04;SB_CouldNotInsertChild;;4;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b05;SB_TableContainsInvalidObjectId;;5;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x3e00;HKM_QueueOrDestinationInvalid;;0;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e01;HKM_WrongHkPacketType;;1;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e02;HKM_ReportingStatusUnchanged;;2;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e03;HKM_PeriodicHelperInvalid;;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e04;HKM_PoolobjectNotFound;;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e05;HKM_DatasetNotFound;;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3c00;LPIF_PoolEntryNotFound;;0;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
-0x3c01;LPIF_PoolEntryTypeConflict;;1;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
+0x1401;SE_BufferTooShort;;1;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x1402;SE_StreamTooShort;;2;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x1403;SE_TooManyElements;;3;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
 0x3da0;PVA_InvalidReadWriteMode;;160;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
 0x3da1;PVA_InvalidPoolEntry;;161;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
 0x0801;DPS_InvalidParameterDefinition;;1;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
@@ -312,35 +203,20 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0804;DPS_DataSetUninitialised;;4;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
 0x0805;DPS_DataSetFull;;5;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
 0x0806;DPS_PoolVarNull;;6;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
-0x1000;TIM_UnsupportedTimeFormat;;0;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1001;TIM_NotEnoughInformationForTargetFormat;;1;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1002;TIM_LengthMismatch;;2;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1003;TIM_InvalidTimeFormat;;3;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1004;TIM_InvalidDayOfYear;;4;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1005;TIM_TimeDoesNotFitFormat;;5;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x3701;TSI_BadTimestamp;;1;TIME_STAMPER_IF;fsfw/src/fsfw/timemanager/TimeStampIF.h
-0x1d01;ATC_ActivityStarted;;1;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x1d02;ATC_InvalidSubservice;;2;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x1d03;ATC_IllegalApplicationData;;3;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x1d04;ATC_SendTmFailed;;4;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x1d05;ATC_Timeout;;5;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x4c00;SPPA_NoPacketFound;;0;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
-0x4c01;SPPA_SplitPacket;;1;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
-0x2001;CSB_ExecutionComplete;;1;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2002;CSB_NoStepMessage;;2;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2003;CSB_ObjectBusy;;3;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2004;CSB_Busy;;4;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2005;CSB_InvalidTc;;5;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2006;CSB_InvalidObject;;6;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2007;CSB_InvalidReply;;7;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x1801;FF_Full;;1;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
-0x1802;FF_Empty;;2;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
-0x1601;FMM_MapFull;;1;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
-0x1602;FMM_KeyDoesNotExist;;2;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
-0x2501;EV_ListenerNotFound;;1;EVENT_MANAGER_IF;fsfw/src/fsfw/events/EventManagerIF.h
-0x1701;HHI_ObjectNotHealthy;;1;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
-0x1702;HHI_InvalidHealthState;;2;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
-0x1703;HHI_IsExternallyControlled;;3;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
+0x1c01;TCD_PacketLost;;1;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
+0x1c02;TCD_DestinationNotFound;;2;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
+0x1c03;TCD_ServiceIdAlreadyExists;;3;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
+0x1b00;TCC_NoDestinationFound;;0;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b01;TCC_InvalidCcsdsVersion;;1;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b02;TCC_InvalidApid;;2;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b03;TCC_InvalidPacketType;;3;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b04;TCC_InvalidSecHeaderField;;4;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b05;TCC_IncorrectPrimaryHeader;;5;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b07;TCC_IncompletePacket;;7;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b08;TCC_InvalidPusVersion;;8;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b09;TCC_IncorrectChecksum;;9;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b0a;TCC_IllegalPacketSubtype;;10;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b0b;TCC_IncorrectSecondaryHeader;;11;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
 0x3001;POS_InPowerTransition;;1;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
 0x3002;POS_SwitchStateMismatch;;2;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
 0x0501;PS_SwitchOn;;1;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
@@ -348,23 +224,76 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0502;PS_SwitchTimeout;;2;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
 0x0503;PS_FuseOn;;3;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
 0x0504;PS_FuseOff;;4;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
-0x4300;FILS_GenericFileError;;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4301;FILS_GenericDirError;;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4302;FILS_FilesystemInactive;;2;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4303;FILS_GenericRenameError;;3;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4304;FILS_IsBusy;;4;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4305;FILS_InvalidParameters;;5;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430a;FILS_FileDoesNotExist;;10;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430b;FILS_FileAlreadyExists;;11;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430c;FILS_NotAFile;;12;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430d;FILS_FileLocked;;13;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430e;FILS_PermissionDenied;;14;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4315;FILS_DirectoryDoesNotExist;;21;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4316;FILS_DirectoryAlreadyExists;;22;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4317;FILS_NotADirectory;;23;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4318;FILS_DirectoryNotEmpty;;24;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x431e;FILS_SequencePacketMissingWrite;;30;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x431f;FILS_SequencePacketMissingRead;;31;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x3b00;SPH_ConnBroken;;0;SEMAPHORE_IF;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
+0x2a01;IEC_NoConfigurationTable;;1;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a02;IEC_NoCpuTable;;2;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a03;IEC_InvalidWorkspaceAddress;;3;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a04;IEC_TooLittleWorkspace;;4;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a05;IEC_WorkspaceAllocation;;5;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a06;IEC_InterruptStackTooSmall;;6;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a07;IEC_ThreadExitted;;7;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a08;IEC_InconsistentMpInformation;;8;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a09;IEC_InvalidNode;;9;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0a;IEC_NoMpci;;10;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0b;IEC_BadPacket;;11;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0c;IEC_OutOfPackets;;12;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0d;IEC_OutOfGlobalObjects;;13;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0e;IEC_OutOfProxies;;14;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0f;IEC_InvalidGlobalId;;15;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a10;IEC_BadStackHook;;16;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a11;IEC_BadAttributes;;17;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a12;IEC_ImplementationKeyCreateInconsistency;;18;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a13;IEC_ImplementationBlockingOperationCancel;;19;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a14;IEC_MutexObtainFromBadState;;20;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a15;IEC_UnlimitedAndMaximumIs0;;21;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2600;FDI_YourFault;;0;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x2601;FDI_MyFault;;1;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x2602;FDI_ConfirmLater;;2;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x1e00;PUS_InvalidPusVersion;;0;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
+0x1e01;PUS_InvalidCrc16;;1;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
+0x0201;OM_InsertionFailed;;1;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0202;OM_NotFound;;2;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0203;OM_ChildInitFailed;;3;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0204;OM_InternalErrReporterUninit;;4;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x2201;TMF_Busy;;1;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2202;TMF_LastPacketFound;;2;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2203;TMF_StopFetch;;3;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2204;TMF_Timeout;;4;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2205;TMF_TmChannelFull;;5;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2206;TMF_NotStored;;6;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2207;TMF_AllDeleted;;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2208;TMF_InvalidData;;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2209;TMF_NotReady;;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2101;TMB_Busy;;1;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2102;TMB_Full;;2;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2103;TMB_Empty;;3;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2104;TMB_NullRequested;;4;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2105;TMB_TooLarge;;5;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2106;TMB_NotReady;;6;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2107;TMB_DumpError;;7;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2108;TMB_CrcError;;8;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2109;TMB_Timeout;;9;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210a;TMB_IdlePacketFound;;10;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210b;TMB_TelecommandFound;;11;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210c;TMB_NoPusATm;;12;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210d;TMB_TooSmall;;13;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210e;TMB_BlockNotFound;;14;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210f;TMB_InvalidRequest;;15;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2d01;PAW_UnknownDatatype;;1;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d02;PAW_DatatypeMissmatch;;2;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d03;PAW_Readonly;;3;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d04;PAW_TooBig;;4;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d05;PAW_SourceNotSet;;5;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d06;PAW_OutOfBounds;;6;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d07;PAW_NotSet;;7;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d08;PAW_ColumnOrRowsZero;;8;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2e01;HPA_InvalidIdentifierId;;1;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e02;HPA_InvalidDomainId;;2;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e03;HPA_InvalidValue;;3;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e05;HPA_ReadOnly;;5;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x3b01;SPH_SemaphoreTimeout;;1;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
+0x3b02;SPH_SemaphoreNotOwned;;2;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
+0x3b03;SPH_SemaphoreInvalid;;3;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
 0x1a01;TRC_NotEnoughSensors;;1;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
 0x1a02;TRC_LowestValueOol;;2;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
 0x1a03;TRC_HighestValueOol;;3;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
@@ -383,36 +312,74 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x31e2;LIM_WrongPid;;226;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
 0x31e3;LIM_WrongLimitId;;227;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
 0x31ee;LIM_MonitorNotFound;;238;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x3601;CFDP_InvalidTlvType;;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3602;CFDP_InvalidDirectiveField;;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3603;CFDP_InvalidPduDatafieldLen;;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3604;CFDP_InvalidAckDirectiveFields;;4;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3605;CFDP_MetadataCantParseOptions;;5;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3606;CFDP_NakCantParseOptions;;6;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3607;CFDP_FinishedCantParseFsResponses;;7;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3608;CFDP_FilestoreRequiresSecondFile;;8;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3609;CFDP_FilestoreResponseCantParseFsMessage;;9;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x360a;CFDP_InvalidPduFormat;;10;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x4300;FILS_GenericFileError;;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4301;FILS_GenericDirError;;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4302;FILS_FilesystemInactive;;2;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4303;FILS_GenericRenameError;;3;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4304;FILS_IsBusy;;4;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4305;FILS_InvalidParameters;;5;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430a;FILS_FileDoesNotExist;;10;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430b;FILS_FileAlreadyExists;;11;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430c;FILS_NotAFile;;12;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430d;FILS_FileLocked;;13;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430e;FILS_PermissionDenied;;14;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4315;FILS_DirectoryDoesNotExist;;21;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4316;FILS_DirectoryAlreadyExists;;22;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4317;FILS_NotADirectory;;23;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4318;FILS_DirectoryNotEmpty;;24;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x431e;FILS_SequencePacketMissingWrite;;30;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x431f;FILS_SequencePacketMissingRead;;31;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x2c01;CCS_BcIsSetVrCommand;;1;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2c02;CCS_BcIsUnlockCommand;;2;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cb0;CCS_BcIllegalCommand;;176;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cb1;CCS_BoardReadingNotFinished;;177;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf0;CCS_NsPositiveW;;240;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf1;CCS_NsNegativeW;;241;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf2;CCS_NsLockout;;242;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf3;CCS_FarmInLockout;;243;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf4;CCS_FarmInWait;;244;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce0;CCS_WrongSymbol;;224;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce1;CCS_DoubleStart;;225;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce2;CCS_StartSymbolMissed;;226;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce3;CCS_EndWithoutStart;;227;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce4;CCS_TooLarge;;228;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce5;CCS_TooShort;;229;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce6;CCS_WrongTfVersion;;230;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce7;CCS_WrongSpacecraftId;;231;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce8;CCS_NoValidFrameType;;232;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce9;CCS_CrcFailed;;233;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cea;CCS_VcNotFound;;234;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ceb;CCS_ForwardingFailed;;235;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cec;CCS_ContentTooLarge;;236;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ced;CCS_ResidualData;;237;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cee;CCS_DataCorrupted;;238;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cef;CCS_IllegalSegmentationFlag;;239;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd0;CCS_IllegalFlagCombination;;208;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd1;CCS_ShorterThanHeader;;209;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd2;CCS_TooShortBlockedPacket;;210;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd3;CCS_TooShortMapExtraction;;211;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
 0x4201;PUS11_InvalidTypeTimeWindow;;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4202;PUS11_InvalidTimeWindow;;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4203;PUS11_TimeshiftingNotPossible;;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4204;PUS11_InvalidRelativeTime;;4;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4205;PUS11_ContainedTcTooSmall;;5;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4206;PUS11_ContainedTcCrcMissmatch;;6;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
-0x0601;PP_DoItMyself;;1;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0602;PP_PointsToVariable;;2;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0603;PP_PointsToMemory;;3;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0604;PP_ActivityCompleted;;4;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0605;PP_PointsToVectorUint8;;5;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0606;PP_PointsToVectorUint16;;6;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0607;PP_PointsToVectorUint32;;7;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0608;PP_PointsToVectorFloat;;8;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06a0;PP_DumpNotSupported;;160;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e0;PP_InvalidSize;;224;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e1;PP_InvalidAddress;;225;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e2;PP_InvalidContent;;226;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e3;PP_UnalignedAccess;;227;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e4;PP_WriteProtected;;228;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x13e0;MH_UnknownCmd;;224;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x13e1;MH_InvalidAddress;;225;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x13e2;MH_InvalidSize;;226;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x13e3;MH_StateMismatch;;227;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x1201;AB_NeedSecondStep;;1;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1202;AB_NeedToReconfigure;;2;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1203;AB_ModeFallback;;3;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1204;AB_ChildNotCommandable;;4;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1205;AB_NeedToChangeHealth;;5;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x12a1;AB_NotEnoughChildrenInCorrectState;;161;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x3401;DC_NoReplyReceived;;1;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3402;DC_ProtocolError;;2;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3403;DC_Nullpointer;;3;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3404;DC_InvalidCookieType;;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3405;DC_NotActive;;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3406;DC_TooMuchData;;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
 0x03a0;DHB_InvalidChannel;;160;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
 0x03b0;DHB_AperiodicReply;;176;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
 0x03b1;DHB_IgnoreReplyData;;177;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
@@ -422,12 +389,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x03d0;DHB_NoSwitch;;208;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
 0x03e0;DHB_ChildTimeout;;224;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
 0x03e1;DHB_SwitchFailed;;225;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
-0x3401;DC_NoReplyReceived;;1;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3402;DC_ProtocolError;;2;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3403;DC_Nullpointer;;3;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3404;DC_InvalidCookieType;;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3405;DC_NotActive;;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3406;DC_TooMuchData;;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x1201;AB_NeedSecondStep;;1;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1202;AB_NeedToReconfigure;;2;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1203;AB_ModeFallback;;3;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1204;AB_ChildNotCommandable;;4;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1205;AB_NeedToChangeHealth;;5;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x12a1;AB_NotEnoughChildrenInCorrectState;;161;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
 0x27a0;DHI_NoCommandData;;160;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27a1;DHI_CommandNotSupported;;161;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27a2;DHI_CommandAlreadySent;;162;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
@@ -449,28 +416,58 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x27c3;DHI_DeviceReplyInvalid;;195;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27d0;DHI_InvalidCommandParameter;;208;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27d1;DHI_InvalidNumberOrLengthOfParameters;;209;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x1401;SE_BufferTooShort;;1;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
-0x1402;SE_StreamTooShort;;2;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
-0x1403;SE_TooManyElements;;3;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
-0x4500;HSPI_HalTimeoutRetval;;0;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
-0x4501;HSPI_HalBusyRetval;;1;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
-0x4502;HSPI_HalErrorRetval;;2;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
-0x4601;HURT_UartReadFailure;;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
-0x4602;HURT_UartReadSizeMissmatch;;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
-0x4603;HURT_UartRxBufferTooSmall;;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
-0x4801;HGIO_UnknownGpioId;;1;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4802;HGIO_DriveGpioFailure;;2;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4803;HGIO_GpioTypeFailure;;3;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4804;HGIO_GpioInvalidInstance;;4;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4805;HGIO_GpioDuplicateDetected;;5;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4806;HGIO_GpioInitFailed;;6;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4807;HGIO_GpioGetValueFailed;;7;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4400;UXOS_ExecutionFinished;Execution of the current command has finished;0;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4401;UXOS_CommandPending;Command is pending. This will also be returned if the user tries to load another command but a command is still pending;1;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4402;UXOS_BytesRead;Some bytes have been read from the executing process;2;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4406;UXOS_PcloseCallError;;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x2401;MT_TooDetailedRequest;;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x2402;MT_TooGeneralRequest;;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x2403;MT_NoMatch;;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x2404;MT_Full;;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x2405;MT_NewNodeCreated;;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x3f01;DLEE_NoPacketFound;;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x3f02;DLEE_PossiblePacketLoss;;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x2f01;ASC_TooLongForTargetType;;1;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
+0x2f02;ASC_InvalidCharacters;;2;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
+0x2f03;ASC_BufferTooSmall;;3;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
+0x1701;HHI_ObjectNotHealthy;;1;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
+0x1702;HHI_InvalidHealthState;;2;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
+0x1703;HHI_IsExternallyControlled;;3;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
+0x3201;CF_ObjectHasNoFunctions;;1;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
+0x3202;CF_AlreadyCommanding;;2;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
+0x3301;HF_IsBusy;;1;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x3302;HF_InvalidParameters;;2;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x3303;HF_ExecutionFinished;;3;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x3304;HF_InvalidActionId;;4;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x1000;TIM_UnsupportedTimeFormat;;0;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1001;TIM_NotEnoughInformationForTargetFormat;;1;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1002;TIM_LengthMismatch;;2;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1003;TIM_InvalidTimeFormat;;3;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1004;TIM_InvalidDayOfYear;;4;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1005;TIM_TimeDoesNotFitFormat;;5;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x3701;TSI_BadTimestamp;;1;TIME_STAMPER_IF;fsfw/src/fsfw/timemanager/TimeStampIF.h
+0x3c00;LPIF_PoolEntryNotFound;;0;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
+0x3c01;LPIF_PoolEntryTypeConflict;;1;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
+0x3e00;HKM_QueueOrDestinationInvalid;;0;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e01;HKM_WrongHkPacketType;;1;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e02;HKM_ReportingStatusUnchanged;;2;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e03;HKM_PeriodicHelperInvalid;;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e04;HKM_PoolobjectNotFound;;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e05;HKM_DatasetNotFound;;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x2901;TC_InvalidTargetState;;1;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x29f1;TC_AboveOperationalLimit;;241;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x29f2;TC_BelowOperationalLimit;;242;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x2001;CSB_ExecutionComplete;;1;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2002;CSB_NoStepMessage;;2;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2003;CSB_ObjectBusy;;3;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2004;CSB_Busy;;4;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2005;CSB_InvalidTc;;5;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2006;CSB_InvalidObject;;6;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2007;CSB_InvalidReply;;7;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x4c00;SPPA_NoPacketFound;;0;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
+0x4c01;SPPA_SplitPacket;;1;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
+0x1d01;ATC_ActivityStarted;;1;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d02;ATC_InvalidSubservice;;2;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d03;ATC_IllegalApplicationData;;3;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d04;ATC_SendTmFailed;;4;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d05;ATC_Timeout;;5;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x7000;SCBU_KeyNotFound;;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h
 0x64a0;FSHLP_SdNotMounted;SD card specified with path string not mounted;160;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
 0x64a1;FSHLP_FileNotExists;Specified file does not exist on filesystem;161;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
 0x6f00;SDMA_OpOngoing;;0;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
@@ -483,7 +480,9 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x6f0d;SDMA_UnmountError;;13;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
 0x6f0e;SDMA_SystemCallError;;14;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
 0x6f0f;SDMA_PopenCallError;;15;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x7000;SCBU_KeyNotFound;;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h
+0x65a0;PLMPHLP_FileClosedAccidentally;File accidentally close;160;PLOC_MPSOC_HELPER;linux/devices/ploc/PlocMPSoCHelper.h
+0x5ea0;PLMEMDUMP_MramAddressTooHigh;The capacity of the MRAM amounts to 512 kB. Thus the maximum address must not be higher than 0x7d000.;160;PLOC_MEMORY_DUMPER;linux/devices/ploc/PlocMemoryDumper.h
+0x5ea1;PLMEMDUMP_MramInvalidAddressCombination;The specified end address is lower than the start address;161;PLOC_MEMORY_DUMPER;linux/devices/ploc/PlocMemoryDumper.h
 0x57a0;PLSPVhLP_FileClosedAccidentally;File accidentally close;160;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h
 0x57a1;PLSPVhLP_ProcessTerminated;Process has been terminated by command;161;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h
 0x57a2;PLSPVhLP_PathNotExists;Received command with invalid pathname;162;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h
@@ -494,46 +493,16 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x5703;PLSPVhLP_PossiblePacketLossConsecutiveStart;;3;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h
 0x5704;PLSPVhLP_PossiblePacketLossConsecutiveEnd;;4;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h
 0x5705;PLSPVhLP_HdlcError;;5;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h
-0x65a0;PLMPHLP_FileClosedAccidentally;File accidentally close;160;PLOC_MPSOC_HELPER;linux/devices/ploc/PlocMPSoCHelper.h
-0x5ea0;PLMEMDUMP_MramAddressTooHigh;The capacity of the MRAM amounts to 512 kB. Thus the maximum address must not be higher than 0x7d000.;160;PLOC_MEMORY_DUMPER;linux/devices/ploc/PlocMemoryDumper.h
-0x5ea1;PLMEMDUMP_MramInvalidAddressCombination;The specified end address is lower than the start address;161;PLOC_MEMORY_DUMPER;linux/devices/ploc/PlocMemoryDumper.h
-0x53a0;STRH_TemperatureReqFailed;Status in temperature reply signals error;160;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53a1;STRH_PingFailed;Ping command failed;161;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53a2;STRH_VersionReqFailed;Status in version reply signals error;162;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x6201;JSONBASE_JsonFileNotExists;Specified json file does not exist;1;ARCSEC_JSON_BASE;linux/devices/startracker/ArcsecJsonParamBase.h
-0x6202;JSONBASE_SetNotExists;Requested set does not exist in json file;2;ARCSEC_JSON_BASE;linux/devices/startracker/ArcsecJsonParamBase.h
-0x6203;JSONBASE_ParamNotExists;Requested parameter does not exist in json file;3;ARCSEC_JSON_BASE;linux/devices/startracker/ArcsecJsonParamBase.h
-0x53a3;STRH_InterfaceReqFailed;Status in interface reply signals error;163;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53a4;STRH_PowerReqFailed;Status in power reply signals error;164;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53a5;STRH_SetParamFailed;Status of reply to parameter set command signals error;165;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53a6;STRH_ActionFailed;Status of reply to action command signals error;166;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53a7;STRH_FilePathTooLong;Received invalid path string. Exceeds allowed length;167;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53a8;STRH_FilenameTooLong;Name of file received with command is too long;168;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53a9;STRH_InvalidProgram;Received version reply with invalid program ID;169;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53aa;STRH_ReplyError;Status field reply signals error;170;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53ab;STRH_CommandTooShort;Received command which is too short (some data is missing for proper execution);171;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53ac;STRH_InvalidLength;Received command with invalid length (too few or too many parameters);172;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53ad;STRH_RegionMismatch;Region mismatch between send and received data;173;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53ae;STRH_AddressMismatch;Address mismatch between send and received data;174;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53af;STRH_LengthMismatch;Length field mismatch between send and received data;175;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53b0;STRH_FileNotExists;Specified file does not exist;176;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53b1;STRH_InvalidType;Download blob pixel command has invalid type field;177;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53b2;STRH_InvalidId;Received FPGA action command with invalid ID;178;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53b3;STRH_ReplyTooShort;Received reply is too short;179;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53b4;STRH_CrcFailure;Received reply with invalid CRC;180;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53b5;STRH_StrHelperExecuting;Star tracker handler currently executing a command and using the communication interface;181;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53b6;STRH_StartrackerAlreadyBooted;Star tracker is already in firmware mode;182;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53b7;STRH_StartrackerRunningFirmware;Star tracker is in firmware mode but must be in bootloader mode to execute this command;183;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53b8;STRH_StartrackerRunningBootloader;Star tracker is in bootloader mode but must be in firmware mode to execute this command;184;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x5ca0;STRHLP_SdNotMounted;SD card specified in path string not mounted;160;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca1;STRHLP_FileNotExists;Specified file does not exist on filesystem;161;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca2;STRHLP_PathNotExists;Specified path does not exist;162;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca3;STRHLP_FileCreationFailed;Failed to create download image or read flash file;163;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca4;STRHLP_RegionMismatch;Region in flash write/read reply does not match expected region;164;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca5;STRHLP_AddressMismatch;Address in flash write/read reply does not match expected address;165;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca6;STRHLP_LengthMismatch;Length in flash write/read reply does not match expected length;166;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca7;STRHLP_StatusError;Status field in reply signals error;167;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca8;STRHLP_InvalidTypeId;Reply has invalid type ID (should be of action reply type);168;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x67a0;MPSOCRTVIF_CrcFailure;Space Packet received from PLOC has invalid CRC;160;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
+0x67a1;MPSOCRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC;161;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
+0x67a2;MPSOCRTVIF_ReceivedExeFailure;Received execution failure reply from PLOC;162;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
+0x67a3;MPSOCRTVIF_InvalidApid;Received space packet with invalid APID from PLOC;163;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
+0x67a4;MPSOCRTVIF_InvalidLength;Received command with invalid length;164;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
+0x67a5;MPSOCRTVIF_FilenameTooLong;Filename of file in OBC filesystem is too long;165;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
+0x67a6;MPSOCRTVIF_MpsocHelperExecuting;MPSoC helper is currently executing a command;166;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
+0x67a7;MPSOCRTVIF_MpsocFilenameTooLong;Filename of MPSoC file is to long (max. 256 bytes);167;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
+0x67a8;MPSOCRTVIF_InvalidParameter;Command has invalid parameter;168;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
+0x67a9;MPSOCRTVIF_NameTooLong;Received command has file string with invalid length;169;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
 0x68a0;SPVRTVIF_CrcFailure;Space Packet received from PLOC supervisor has invalid CRC;160;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
 0x68a1;SPVRTVIF_InvalidServiceId;;161;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
 0x68a2;SPVRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC supervisor;162;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
@@ -558,20 +527,46 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x68b5;SPVRTVIF_SupvHelperExecuting;Supervisor helper task ist currently executing a command (wait until helper tas has finished or interrupt by sending the terminate command);181;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
 0x68c0;SPVRTVIF_BufTooSmall;;192;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
 0x68c1;SPVRTVIF_NoReplyTimeout;;193;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
-0x67a0;MPSOCRTVIF_CrcFailure;Space Packet received from PLOC has invalid CRC;160;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
-0x67a1;MPSOCRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC;161;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
-0x67a2;MPSOCRTVIF_ReceivedExeFailure;Received execution failure reply from PLOC;162;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
-0x67a3;MPSOCRTVIF_InvalidApid;Received space packet with invalid APID from PLOC;163;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
-0x67a4;MPSOCRTVIF_InvalidLength;Received command with invalid length;164;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
-0x67a5;MPSOCRTVIF_FilenameTooLong;Filename of file in OBC filesystem is too long;165;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
-0x67a6;MPSOCRTVIF_MpsocHelperExecuting;MPSoC helper is currently executing a command;166;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
-0x67a7;MPSOCRTVIF_MpsocFilenameTooLong;Filename of MPSoC file is to long (max. 256 bytes);167;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
-0x67a8;MPSOCRTVIF_InvalidParameter;Command has invalid parameter;168;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
-0x67a9;MPSOCRTVIF_NameTooLong;Received command has file string with invalid length;169;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
 0x54e0;DWLPWRON_InvalidMode;Received command has invalid JESD mode (valid modes are 0 - 5);224;DWLPWRON_CMD;linux/devices/devicedefinitions/PlocMPSoCDefinitions.h
 0x54e1;DWLPWRON_InvalidLaneRate;Received command has invalid lane rate (valid lane rate are 0 - 9);225;DWLPWRON_CMD;linux/devices/devicedefinitions/PlocMPSoCDefinitions.h
-0x5402;DWLPWRON_InvalidCrc;;2;DWLPWRON_CMD;linux/devices/ScexHelper.h
-0x59a0;IPCI_PapbBusy;;160;CCSDS_IP_CORE_BRIDGE;linux/ipcore/PapbVcInterface.h
+0x6201;JSONBASE_JsonFileNotExists;Specified json file does not exist;1;ARCSEC_JSON_BASE;linux/devices/startracker/ArcsecJsonParamBase.h
+0x6202;JSONBASE_SetNotExists;Requested set does not exist in json file;2;ARCSEC_JSON_BASE;linux/devices/startracker/ArcsecJsonParamBase.h
+0x6203;JSONBASE_ParamNotExists;Requested parameter does not exist in json file;3;ARCSEC_JSON_BASE;linux/devices/startracker/ArcsecJsonParamBase.h
+0x53a0;STRH_TemperatureReqFailed;Status in temperature reply signals error;160;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53a1;STRH_PingFailed;Ping command failed;161;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53a2;STRH_VersionReqFailed;Status in version reply signals error;162;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x5ca0;STRHLP_SdNotMounted;SD card specified in path string not mounted;160;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x5ca1;STRHLP_FileNotExists;Specified file does not exist on filesystem;161;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x5ca2;STRHLP_PathNotExists;Specified path does not exist;162;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x5ca3;STRHLP_FileCreationFailed;Failed to create download image or read flash file;163;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x5ca4;STRHLP_RegionMismatch;Region in flash write/read reply does not match expected region;164;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x5ca5;STRHLP_AddressMismatch;Address in flash write/read reply does not match expected address;165;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x5ca6;STRHLP_LengthMismatch;Length in flash write/read reply does not match expected length;166;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x5ca7;STRHLP_StatusError;Status field in reply signals error;167;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x5ca8;STRHLP_InvalidTypeId;Reply has invalid type ID (should be of action reply type);168;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x53a3;STRH_InterfaceReqFailed;Status in interface reply signals error;163;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53a4;STRH_PowerReqFailed;Status in power reply signals error;164;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53a5;STRH_SetParamFailed;Status of reply to parameter set command signals error;165;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53a6;STRH_ActionFailed;Status of reply to action command signals error;166;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53a7;STRH_FilePathTooLong;Received invalid path string. Exceeds allowed length;167;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53a8;STRH_FilenameTooLong;Name of file received with command is too long;168;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53a9;STRH_InvalidProgram;Received version reply with invalid program ID;169;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53aa;STRH_ReplyError;Status field reply signals error;170;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53ab;STRH_CommandTooShort;Received command which is too short (some data is missing for proper execution);171;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53ac;STRH_InvalidLength;Received command with invalid length (too few or too many parameters);172;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53ad;STRH_RegionMismatch;Region mismatch between send and received data;173;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53ae;STRH_AddressMismatch;Address mismatch between send and received data;174;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53af;STRH_LengthMismatch;Length field mismatch between send and received data;175;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53b0;STRH_FileNotExists;Specified file does not exist;176;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53b1;STRH_InvalidType;Download blob pixel command has invalid type field;177;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53b2;STRH_InvalidId;Received FPGA action command with invalid ID;178;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53b3;STRH_ReplyTooShort;Received reply is too short;179;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53b4;STRH_CrcFailure;Received reply with invalid CRC;180;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53b5;STRH_StrHelperExecuting;Star tracker handler currently executing a command and using the communication interface;181;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53b6;STRH_StartrackerAlreadyBooted;Star tracker is already in firmware mode;182;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53b7;STRH_StartrackerRunningFirmware;Star tracker is in firmware mode but must be in bootloader mode to execute this command;183;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53b8;STRH_StartrackerRunningBootloader;Star tracker is in bootloader mode but must be in firmware mode to execute this command;184;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x5302;STRH_InvalidCrc;;2;STR_HANDLER;linux/devices/ScexHelper.h
 0x5aa0;PTME_UnknownVcId;;160;PTME;linux/ipcore/Ptme.h
 0x5fa0;PDEC_AbandonedCltu;;160;PDEC_HANDLER;linux/ipcore/PdecHandler.h
 0x5fa1;PDEC_FrameDirty;;161;PDEC_HANDLER;linux/ipcore/PdecHandler.h
@@ -592,3 +587,4 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x61a1;RS_BadBitRate;Bad bitrate has been commanded (e.g. 0);161;RATE_SETTER;linux/ipcore/PtmeConfig.h
 0x61a2;RS_ClkInversionFailed;Failed to invert clock and thus change the time the data is updated with respect to the tx clock;162;RATE_SETTER;linux/ipcore/PtmeConfig.h
 0x61a3;RS_TxManipulatorConfigFailed;Failed to change configuration bit of tx clock manipulator;163;RATE_SETTER;linux/ipcore/PtmeConfig.h
+0x59a0;IPCI_PapbBusy;;160;CCSDS_IP_CORE_BRIDGE;linux/ipcore/PapbVcInterface.h
diff --git a/generators/events/translateEvents.cpp b/generators/events/translateEvents.cpp
index 42156029..e9171f80 100644
--- a/generators/events/translateEvents.cpp
+++ b/generators/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 256 translations.
  * @details
- * Generated on: 2023-02-13 10:07:30
+ * Generated on: 2023-02-17 02:12:04
  */
 #include "translateEvents.h"
 
diff --git a/generators/objects/translateObjects.cpp b/generators/objects/translateObjects.cpp
index 9eba7b06..d3ca5c4c 100644
--- a/generators/objects/translateObjects.cpp
+++ b/generators/objects/translateObjects.cpp
@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 152 translations.
- * Generated on: 2023-02-13 10:07:30
+ * Generated on: 2023-02-17 02:12:04
  */
 #include "translateObjects.h"
 
@@ -84,7 +84,7 @@ const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
 const char *SPI_MAIN_COM_IF_STRING = "SPI_MAIN_COM_IF";
-const char *SPI_RW_COM_IF_STRING = "SPI_RW_COM_IF";
+const char *RW_POLLING_TASK_STRING = "RW_POLLING_TASK";
 const char *SPI_RTD_COM_IF_STRING = "SPI_RTD_COM_IF";
 const char *UART_COM_IF_STRING = "UART_COM_IF";
 const char *I2C_COM_IF_STRING = "I2C_COM_IF";
@@ -318,7 +318,7 @@ const char *translateObject(object_id_t object) {
     case 0x49020004:
       return SPI_MAIN_COM_IF_STRING;
     case 0x49020005:
-      return SPI_RW_COM_IF_STRING;
+      return RW_POLLING_TASK_STRING;
     case 0x49020006:
       return SPI_RTD_COM_IF_STRING;
     case 0x49030003:
diff --git a/linux/devices/CMakeLists.txt b/linux/devices/CMakeLists.txt
index 4864e01f..7251b802 100644
--- a/linux/devices/CMakeLists.txt
+++ b/linux/devices/CMakeLists.txt
@@ -4,7 +4,7 @@ endif()
 
 target_sources(
   ${OBSW_NAME} PRIVATE Max31865RtdLowlevelHandler.cpp ScexUartReader.cpp
-                       ScexDleParser.cpp ScexHelper.cpp)
+                       ScexDleParser.cpp ScexHelper.cpp RwPollingTask.cpp)
 
 add_subdirectory(ploc)
 
diff --git a/linux/devices/RwPollingTask.cpp b/linux/devices/RwPollingTask.cpp
new file mode 100644
index 00000000..a0008082
--- /dev/null
+++ b/linux/devices/RwPollingTask.cpp
@@ -0,0 +1,532 @@
+#include "RwPollingTask.h"
+
+#include <fcntl.h>
+#include <fsfw/globalfunctions/CRC.h>
+#include <fsfw/tasks/SemaphoreFactory.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
+#include <fsfw_hal/common/spi/spiCommon.h>
+#include <fsfw_hal/linux/utility.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+
+#include "devConf.h"
+#include "mission/devices/devicedefinitions/rwHelpers.h"
+
+RwPollingTask::RwPollingTask(object_id_t objectId, const char* spiDev, GpioIF& gpioIF)
+    : SystemObject(objectId), spiDev(spiDev), gpioIF(gpioIF) {
+  semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
+  semaphore->acquire();
+  ipcLock = MutexFactory::instance()->createMutex();
+  spiLock = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t RwPollingTask::performOperation(uint8_t operationCode) {
+  for (unsigned i = 0; i < 4; i++) {
+    if (rwCookies[i] == nullptr) {
+      sif::error << "Invalid RW cookie at index" << i << std::endl;
+      return returnvalue::FAILED;
+    }
+  }
+  while (true) {
+    ipcLock->lockMutex();
+    state = InternalState::IDLE;
+    ipcLock->unlockMutex();
+    semaphore->acquire();
+    // This loop takes 50 ms on a debug build.
+    // Stopwatch watch;
+    TaskFactory::delayTask(5);
+    int fd = 0;
+    for (auto& skip : skipCommandingForRw) {
+      skip = false;
+    }
+    setAllReadFlagsFalse();
+    ReturnValue_t result = openSpi(O_RDWR, fd);
+    if (result != returnvalue::OK) {
+      continue;
+    }
+    for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
+      if (rwCookies[idx]->specialRequest == rws::SpecialRwRequest::RESET_MCU) {
+        prepareSimpleCommand(rws::RESET_MCU);
+        // No point in commanding that specific RW for the cycle.
+        skipCommandingForRw[idx] = true;
+        writeOneRwCmd(idx, fd);
+      } else if (rwCookies[idx]->setSpeed) {
+        prepareSetSpeedCmd(idx);
+        if (writeOneRwCmd(idx, fd) != returnvalue::OK) {
+          continue;
+        }
+      }
+    }
+    closeSpi(fd);
+    if (readAllRws(rws::SET_SPEED) != returnvalue::OK) {
+      continue;
+    }
+    prepareSimpleCommand(rws::GET_LAST_RESET_STATUS);
+    if (writeAndReadAllRws(rws::GET_LAST_RESET_STATUS) != returnvalue::OK) {
+      continue;
+    }
+    prepareSimpleCommand(rws::GET_RW_STATUS);
+    if (writeAndReadAllRws(rws::GET_RW_STATUS) != returnvalue::OK) {
+      continue;
+    }
+    prepareSimpleCommand(rws::GET_TEMPERATURE);
+    if (writeAndReadAllRws(rws::GET_TEMPERATURE) != returnvalue::OK) {
+      continue;
+    }
+    prepareSimpleCommand(rws::CLEAR_LAST_RESET_STATUS);
+    if (writeAndReadAllRws(rws::CLEAR_LAST_RESET_STATUS) != returnvalue::OK) {
+      continue;
+    }
+    handleSpecialRequests();
+  }
+
+  return returnvalue::OK;
+}
+
+ReturnValue_t RwPollingTask::initialize() { return returnvalue::OK; }
+
+ReturnValue_t RwPollingTask::initializeInterface(CookieIF* cookie) {
+  // We don't need to set the speed because a SPI core is used, but the mode has to be set once
+  // correctly for all RWs
+  if (not modeAndSpeedWasSet) {
+    int fd = open(spiDev, O_RDWR);
+    if (fd < 0) {
+      sif::error << "could not open RW SPI bus" << std::endl;
+      return returnvalue::FAILED;
+    }
+    spi::SpiModes mode = spi::RW_MODE;
+    int retval = ioctl(fd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
+    if (retval != 0) {
+      utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
+    }
+
+    retval = ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi::RW_SPEED);
+    if (retval != 0) {
+      utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
+    }
+    close(fd);
+    modeAndSpeedWasSet = true;
+  }
+
+  auto* rwCookie = dynamic_cast<RwCookie*>(cookie);
+  if (rwCookie == nullptr) {
+    sif::error << "RwPollingTask::initializeInterface: Wrong cookie" << std::endl;
+    return returnvalue::FAILED;
+  }
+  rwCookies[rwCookie->rwIdx] = rwCookie;
+
+  return returnvalue::OK;
+}
+
+ReturnValue_t RwPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendData,
+                                         size_t sendLen) {
+  if (sendData == nullptr or sendLen < 8) {
+    return DeviceHandlerIF::INVALID_DATA;
+  }
+  int32_t speed = 0;
+  uint16_t rampTime = 0;
+  const uint8_t* currentBuf = sendData;
+  bool setSpeed = currentBuf[0];
+  currentBuf += 1;
+  sendLen -= 1;
+  SerializeAdapter::deSerialize(&speed, &currentBuf, &sendLen, SerializeIF::Endianness::MACHINE);
+  SerializeAdapter::deSerialize(&rampTime, &currentBuf, &sendLen, SerializeIF::Endianness::MACHINE);
+  rws::SpecialRwRequest specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
+  if (sendLen == 8 and sendData[7] < static_cast<uint8_t>(rws::SpecialRwRequest::NUM_REQUESTS)) {
+    specialRequest = static_cast<rws::SpecialRwRequest>(sendData[7]);
+  }
+  RwCookie* rwCookie = dynamic_cast<RwCookie*>(cookie);
+  if (rwCookie == nullptr) {
+    return returnvalue::FAILED;
+  }
+  {
+    MutexGuard mg(ipcLock);
+    rwCookie->setSpeed = setSpeed;
+    rwCookie->currentRwSpeed = speed;
+    rwCookie->currentRampTime = rampTime;
+    rwCookie->specialRequest = specialRequest;
+    if (state == InternalState::IDLE) {
+      state = InternalState::BUSY;
+      semaphore->release();
+    }
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t RwPollingTask::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
+
+ReturnValue_t RwPollingTask::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t RwPollingTask::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
+  RwCookie* rwCookie = dynamic_cast<RwCookie*>(cookie);
+  {
+    MutexGuard mg(ipcLock);
+    *buffer = rwCookie->replyBuf.data();
+    *size = rwCookie->replyBuf.size();
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t RwPollingTask::writeAndReadAllRws(DeviceCommandId_t id) {
+  // Stopwatch watch;
+  ReturnValue_t result = returnvalue::OK;
+
+  int fd = 0;
+  result = openSpi(O_RDWR, fd);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
+    if (skipCommandingForRw[idx]) {
+      continue;
+    }
+    ReturnValue_t result = sendOneMessage(fd, *rwCookies[idx]);
+    if (result != returnvalue::OK) {
+      closeSpi(fd);
+      return returnvalue::FAILED;
+    }
+  }
+
+  closeSpi(fd);
+  return readAllRws(id);
+}
+
+ReturnValue_t RwPollingTask::openSpi(int flags, int& fd) {
+  fd = open(spiDev, flags);
+  if (fd < 0) {
+    sif::error << "RwPollingTask::openSpi: Failed to open device file" << std::endl;
+    return SpiComIF::OPENING_FILE_FAILED;
+  }
+
+  return returnvalue::OK;
+}
+
+ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf,
+                                           size_t maxReplyLen) {
+  ReturnValue_t result = returnvalue::OK;
+  int fd = 0;
+  gpioId_t gpioId = rwCookie.getChipSelectPin();
+  uint8_t byteRead = 0;
+  result = openSpi(O_RDWR, fd);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  pullCsLow(gpioId, gpioIF);
+  bool lastByteWasFrameMarker = false;
+  Countdown cd(3000);
+  size_t readIdx = 0;
+
+  while (true) {
+    lastByteWasFrameMarker = false;
+    if (read(fd, &byteRead, 1) != 1) {
+      sif::error << "RwPollingTask: Read failed. " << strerror(errno) << std::endl;
+      pullCsHigh(gpioId, gpioIF);
+      closeSpi(fd);
+      return rws::SPI_READ_FAILURE;
+    }
+    if (byteRead == rws::FRAME_DELIMITER) {
+      lastByteWasFrameMarker = true;
+    }
+    // Start of frame detected.
+    if (byteRead != rws::FRAME_DELIMITER and not lastByteWasFrameMarker) {
+      break;
+    }
+
+    if (readIdx % 100 == 0 && cd.hasTimedOut()) {
+      pullCsHigh(gpioId, gpioIF);
+      closeSpi(fd);
+      return rws::SPI_READ_FAILURE;
+    }
+    readIdx++;
+  }
+
+#if FSFW_HAL_SPI_WIRETAPPING == 1
+  sif::info << "RW start marker detected" << std::endl;
+#endif
+
+  size_t decodedFrameLen = 0;
+
+  while (decodedFrameLen < maxReplyLen) {
+    // First byte already read in
+    if (decodedFrameLen != 0) {
+      byteRead = 0;
+      if (read(fd, &byteRead, 1) != 1) {
+        sif::error << "RwPollingTask: Read failed" << std::endl;
+        result = rws::SPI_READ_FAILURE;
+        break;
+      }
+    }
+
+    if (byteRead == rws::FRAME_DELIMITER) {
+      // Reached end of frame
+      break;
+    } else if (byteRead == 0x7D) {
+      if (read(fd, &byteRead, 1) != 1) {
+        sif::error << "RwPollingTask: Read failed" << std::endl;
+        result = rws::SPI_READ_FAILURE;
+        break;
+      }
+      if (byteRead == 0x5E) {
+        *(replyBuf + decodedFrameLen) = 0x7E;
+        decodedFrameLen++;
+        continue;
+      } else if (byteRead == 0x5D) {
+        *(replyBuf + decodedFrameLen) = 0x7D;
+        decodedFrameLen++;
+        continue;
+      } else {
+        sif::error << "RwPollingTask: Invalid substitute" << std::endl;
+        result = rws::INVALID_SUBSTITUTE;
+        break;
+      }
+    } else {
+      *(replyBuf + decodedFrameLen) = byteRead;
+      decodedFrameLen++;
+      continue;
+    }
+
+    // Check end marker.
+    /**
+     * There might be the unlikely case that each byte in a get-telemetry reply has been
+     * replaced by its substitute. Then the next byte must correspond to the end sign 0x7E.
+     * Otherwise there might be something wrong.
+     */
+    if (decodedFrameLen == maxReplyLen) {
+      if (read(fd, &byteRead, 1) != 1) {
+        sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
+        result = rws::SPI_READ_FAILURE;
+        break;
+      }
+      if (byteRead != rws::FRAME_DELIMITER) {
+        sif::error << "rwSpiCallback::spiCallback: Missing end sign "
+                   << static_cast<int>(rws::FRAME_DELIMITER) << std::endl;
+        decodedFrameLen--;
+        result = rws::MISSING_END_SIGN;
+        break;
+      }
+    }
+    result = returnvalue::OK;
+  }
+
+  pullCsHigh(gpioId, gpioIF);
+  closeSpi(fd);
+  return result;
+}
+
+ReturnValue_t RwPollingTask::writeOneRwCmd(uint8_t rwIdx, int fd) {
+  ReturnValue_t result = sendOneMessage(fd, *rwCookies[rwIdx]);
+  if (result != returnvalue::OK) {
+    return returnvalue::FAILED;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t RwPollingTask::readAllRws(DeviceCommandId_t id) {
+  // SPI dev will be opened in readNextReply on demand.
+  for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
+    if (((id == rws::SET_SPEED) and !rwCookies[idx]->setSpeed) or skipCommandingForRw[idx]) {
+      continue;
+    }
+    uint8_t* replyBuf;
+    size_t maxReadLen = idAndIdxToReadBuffer(id, idx, &replyBuf);
+    ReturnValue_t result = readNextReply(*rwCookies[idx], replyBuf + 1, maxReadLen);
+    if (result == returnvalue::OK) {
+      // The first byte is always a flag which shows whether the value was read
+      // properly at least once.
+      replyBuf[0] = true;
+    }
+  }
+  // SPI is closed in readNextReply as well.
+  return returnvalue::OK;
+}
+
+size_t RwPollingTask::idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx, uint8_t** ptr) {
+  uint8_t* rawStart = rwCookies[rwIdx]->replyBuf.data();
+  RwReplies replies(rawStart);
+  switch (id) {
+    case (rws::GET_RW_STATUS): {
+      *ptr = replies.rwStatusReply;
+      break;
+    }
+    case (rws::SET_SPEED): {
+      *ptr = replies.setSpeedReply;
+      break;
+    }
+    case (rws::CLEAR_LAST_RESET_STATUS): {
+      *ptr = replies.clearLastResetStatusReply;
+      break;
+    }
+    case (rws::GET_LAST_RESET_STATUS): {
+      *ptr = replies.getLastResetStatusReply;
+      break;
+    }
+    case (rws::GET_TEMPERATURE): {
+      *ptr = replies.readTemperatureReply;
+      break;
+    }
+    case (rws::GET_TM): {
+      *ptr = replies.hkDataReply;
+      break;
+    }
+    case (rws::INIT_RW_CONTROLLER): {
+      *ptr = replies.initRwControllerReply;
+      break;
+    }
+    default: {
+      sif::error << "no reply buffer for rw command " << id << std::endl;
+      *ptr = replies.dummyPointer;
+      return 0;
+    }
+  }
+  return rws::idToPacketLen(id);
+}
+
+void RwPollingTask::fillSpecialRequestArray() {
+  for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
+    if (skipCommandingForRw[idx]) {
+      specialRequestIds[idx] = DeviceHandlerIF::NO_COMMAND_ID;
+      continue;
+    }
+    switch (rwCookies[idx]->specialRequest) {
+      case (rws::SpecialRwRequest::GET_TM): {
+        specialRequestIds[idx] = rws::GET_TM;
+        break;
+      }
+      case (rws::SpecialRwRequest::INIT_RW_CONTROLLER): {
+        specialRequestIds[idx] = rws::INIT_RW_CONTROLLER;
+        break;
+      }
+      default: {
+        specialRequestIds[idx] = DeviceHandlerIF::NO_COMMAND_ID;
+      }
+    }
+  }
+}
+
+void RwPollingTask::handleSpecialRequests() {
+  int fd = 0;
+  fillSpecialRequestArray();
+  ReturnValue_t result = openSpi(O_RDWR, fd);
+  if (result != returnvalue::OK) {
+    return;
+  }
+  for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
+    if (specialRequestIds[idx] == DeviceHandlerIF::NO_COMMAND_ID) {
+      continue;
+    }
+    prepareSimpleCommand(specialRequestIds[idx]);
+    writeOneRwCmd(idx, fd);
+  }
+  closeSpi(fd);
+  usleep(rws::SPI_REPLY_DELAY);
+  for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
+    if (specialRequestIds[idx] == DeviceHandlerIF::NO_COMMAND_ID) {
+      continue;
+    }
+    uint8_t* replyBuf;
+    size_t maxReadLen = idAndIdxToReadBuffer(specialRequestIds[idx], idx, &replyBuf);
+    readNextReply(*rwCookies[idx], replyBuf, maxReadLen);
+  }
+}
+
+void RwPollingTask::setAllReadFlagsFalse() {
+  for (auto& rwCookie : rwCookies) {
+    RwReplies replies(rwCookie->replyBuf.data());
+    replies.getLastResetStatusReply[0] = false;
+    replies.clearLastResetStatusReply[0] = false;
+    replies.hkDataReply[0] = false;
+    replies.readTemperatureReply[0] = false;
+    replies.rwStatusReply[0] = false;
+    replies.setSpeedReply[0] = false;
+    replies.initRwControllerReply[0] = false;
+  }
+}
+
+// This closes the SPI
+void RwPollingTask::closeSpi(int fd) {
+  // This will perform the function to close the SPI
+  close(fd);
+  // The SPI is now closed.
+}
+
+ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
+  gpioId_t gpioId = rwCookie.getChipSelectPin();
+  if (spiLock == nullptr) {
+    sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
+    return returnvalue::FAILED;
+  }
+  // Add datalinklayer like specified in the datasheet.
+  size_t lenToSend = 0;
+  rws::encodeHdlc(writeBuffer.data(), writeLen, encodedBuffer.data(), lenToSend);
+  pullCsLow(gpioId, gpioIF);
+  if (write(fd, encodedBuffer.data(), lenToSend) != static_cast<ssize_t>(lenToSend)) {
+    sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
+    pullCsHigh(gpioId, gpioIF);
+    return rws::SPI_WRITE_FAILURE;
+  }
+  pullCsHigh(gpioId, gpioIF);
+  return returnvalue::OK;
+}
+
+ReturnValue_t RwPollingTask::pullCsLow(gpioId_t gpioId, GpioIF& gpioIF) {
+  ReturnValue_t result = spiLock->lockMutex(TIMEOUT_TYPE, TIMEOUT_MS);
+  if (result != returnvalue::OK) {
+    sif::debug << "RwPollingTask::pullCsLow: Failed to lock mutex" << std::endl;
+    return result;
+  }
+  // Pull SPI CS low. For now, no support for active high given
+  if (gpioId != gpio::NO_GPIO) {
+    ReturnValue_t result = gpioIF.pullLow(gpioId);
+    if (result != returnvalue::OK) {
+      sif::error << "RwPollingTask::pullCsLow: Failed to pull chip select low" << std::endl;
+      return result;
+    }
+  }
+  return returnvalue::OK;
+}
+
+void RwPollingTask::pullCsHigh(gpioId_t gpioId, GpioIF& gpioIF) {
+  if (gpioId != gpio::NO_GPIO) {
+    if (gpioIF.pullHigh(gpioId) != returnvalue::OK) {
+      sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
+    }
+  }
+  if (spiLock->unlockMutex() != returnvalue::OK) {
+    sif::error << "RwPollingTask::pullCsHigh: Failed to unlock mutex" << std::endl;
+    ;
+  }
+}
+
+void RwPollingTask::prepareSimpleCommand(DeviceCommandId_t id) {
+  writeBuffer[0] = static_cast<uint8_t>(id);
+  uint16_t crc = CRC::crc16ccitt(writeBuffer.data(), 1, 0xFFFF);
+  writeBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
+  writeBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
+  writeLen = 3;
+}
+
+ReturnValue_t RwPollingTask::prepareSetSpeedCmd(uint8_t rwIdx) {
+  writeBuffer[0] = static_cast<uint8_t>(rws::SET_SPEED);
+  uint8_t* serPtr = writeBuffer.data() + 1;
+  int32_t speedToSet = 0;
+  uint16_t rampTimeToSet = 10;
+  {
+    MutexGuard mg(ipcLock);
+    speedToSet = rwCookies[rwIdx]->currentRwSpeed;
+    rampTimeToSet = rwCookies[rwIdx]->currentRampTime;
+  }
+  size_t serLen = 1;
+  SerializeAdapter::serialize(&speedToSet, &serPtr, &serLen, writeBuffer.size(),
+                              SerializeIF::Endianness::LITTLE);
+  SerializeAdapter::serialize(&rampTimeToSet, &serPtr, &serLen, writeBuffer.size(),
+                              SerializeIF::Endianness::LITTLE);
+
+  uint16_t crc = CRC::crc16ccitt(writeBuffer.data(), 7, 0xFFFF);
+  writeBuffer[7] = static_cast<uint8_t>(crc & 0xFF);
+  writeBuffer[8] = static_cast<uint8_t>((crc >> 8) & 0xFF);
+  writeLen = 9;
+  return returnvalue::OK;
+}
diff --git a/linux/devices/RwPollingTask.h b/linux/devices/RwPollingTask.h
new file mode 100644
index 00000000..ae4bbeb1
--- /dev/null
+++ b/linux/devices/RwPollingTask.h
@@ -0,0 +1,89 @@
+#ifndef LINUX_DEVICES_RWPOLLINGTASK_H_
+#define LINUX_DEVICES_RWPOLLINGTASK_H_
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/tasks/SemaphoreIF.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
+#include <fsfw_hal/linux/spi/SpiComIF.h>
+#include <fsfw_hal/linux/spi/SpiCookie.h>
+
+#include "mission/devices/devicedefinitions/rwHelpers.h"
+
+class RwCookie : public SpiCookie {
+  friend class RwPollingTask;
+
+ public:
+  static constexpr size_t REPLY_BUF_LEN = 524;
+  RwCookie(uint8_t rwIdx, address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
+           spi::SpiModes spiMode, uint32_t spiSpeed)
+      : SpiCookie(spiAddress, chipSelect, maxSize, spiMode, spiSpeed), rwIdx(rwIdx) {}
+
+ private:
+  std::array<uint8_t, REPLY_BUF_LEN> replyBuf{};
+  bool setSpeed = true;
+  int32_t currentRwSpeed = 0;
+  uint16_t currentRampTime = 0;
+  rws::SpecialRwRequest specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
+  uint8_t rwIdx;
+};
+
+class RwPollingTask : public SystemObject, public ExecutableObjectIF, public DeviceCommunicationIF {
+ public:
+  RwPollingTask(object_id_t objectId, const char* spiDev, GpioIF& gpioIF);
+
+  ReturnValue_t performOperation(uint8_t operationCode) override;
+  ReturnValue_t initialize() override;
+
+ private:
+  enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
+  SemaphoreIF* semaphore;
+  bool debugMode = false;
+  bool modeAndSpeedWasSet = false;
+  MutexIF* ipcLock;
+  MutexIF* spiLock;
+  const char* spiDev;
+  GpioIF& gpioIF;
+  std::array<bool, 4> skipCommandingForRw;
+  std::array<DeviceCommandId_t, 4> specialRequestIds;
+  std::array<RwCookie*, 4> rwCookies;
+  std::array<uint8_t, rws::MAX_CMD_SIZE> writeBuffer;
+  std::array<uint8_t, rws::MAX_CMD_SIZE * 2> encodedBuffer;
+
+  size_t writeLen = 0;
+  static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
+  static constexpr uint32_t TIMEOUT_MS = 20;
+  static constexpr uint8_t MAX_RETRIES_REPLY = 5;
+
+  ReturnValue_t writeAndReadAllRws(DeviceCommandId_t id);
+  ReturnValue_t writeOneRwCmd(uint8_t rwIdx, int fd);
+  ReturnValue_t readAllRws(DeviceCommandId_t id);
+
+  ReturnValue_t sendOneMessage(int fd, RwCookie& rwCookie);
+  ReturnValue_t readNextReply(RwCookie& rwCookie, uint8_t* replyBuf, size_t maxReplyLen);
+  void handleSpecialRequests();
+
+  ReturnValue_t initializeInterface(CookieIF* cookie) override;
+
+  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
+
+  ReturnValue_t getSendSuccess(CookieIF* cookie) override;
+
+  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
+
+  ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
+  ReturnValue_t openSpi(int flags, int& fd);
+  ReturnValue_t pullCsLow(gpioId_t gpioId, GpioIF& gpioIF);
+  void prepareSimpleCommand(DeviceCommandId_t id);
+  ReturnValue_t prepareSetSpeedCmd(uint8_t rwIdx);
+
+  size_t idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx, uint8_t** readPtr);
+  void fillSpecialRequestArray();
+  void setAllReadFlagsFalse();
+
+  void pullCsHigh(gpioId_t gpioId, GpioIF& gpioIF);
+  void closeSpi(int);
+};
+
+#endif /* LINUX_DEVICES_RWPOLLINGTASK_H_ */
diff --git a/linux/fsfwconfig/events/translateEvents.cpp b/linux/fsfwconfig/events/translateEvents.cpp
index 42156029..e9171f80 100644
--- a/linux/fsfwconfig/events/translateEvents.cpp
+++ b/linux/fsfwconfig/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 256 translations.
  * @details
- * Generated on: 2023-02-13 10:07:30
+ * Generated on: 2023-02-17 02:12:04
  */
 #include "translateEvents.h"
 
diff --git a/linux/fsfwconfig/objects/systemObjectList.h b/linux/fsfwconfig/objects/systemObjectList.h
index 7624cd5f..6cb70a06 100644
--- a/linux/fsfwconfig/objects/systemObjectList.h
+++ b/linux/fsfwconfig/objects/systemObjectList.h
@@ -47,7 +47,7 @@ enum sourceObjects : uint32_t {
   GPIO_IF = 0x49010005,
 
   /* Custom device handler */
-  SPI_RW_COM_IF = 0x49020005,
+  RW_POLLING_TASK = 0x49020005,
 
   /* 0x54 ('T') for test handlers */
   TEST_TASK = 0x54694269,
diff --git a/linux/fsfwconfig/objects/translateObjects.cpp b/linux/fsfwconfig/objects/translateObjects.cpp
index 9eba7b06..d3ca5c4c 100644
--- a/linux/fsfwconfig/objects/translateObjects.cpp
+++ b/linux/fsfwconfig/objects/translateObjects.cpp
@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 152 translations.
- * Generated on: 2023-02-13 10:07:30
+ * Generated on: 2023-02-17 02:12:04
  */
 #include "translateObjects.h"
 
@@ -84,7 +84,7 @@ const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
 const char *SPI_MAIN_COM_IF_STRING = "SPI_MAIN_COM_IF";
-const char *SPI_RW_COM_IF_STRING = "SPI_RW_COM_IF";
+const char *RW_POLLING_TASK_STRING = "RW_POLLING_TASK";
 const char *SPI_RTD_COM_IF_STRING = "SPI_RTD_COM_IF";
 const char *UART_COM_IF_STRING = "UART_COM_IF";
 const char *I2C_COM_IF_STRING = "I2C_COM_IF";
@@ -318,7 +318,7 @@ const char *translateObject(object_id_t object) {
     case 0x49020004:
       return SPI_MAIN_COM_IF_STRING;
     case 0x49020005:
-      return SPI_RW_COM_IF_STRING;
+      return RW_POLLING_TASK_STRING;
     case 0x49020006:
       return SPI_RTD_COM_IF_STRING;
     case 0x49030003:
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index d8df8e9a..fc30f053 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -193,108 +193,106 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
   if (cfg.scheduleAcsBoard) {
     if (enableAside) {
       // A side
-      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::PERFORM_OPERATION);
-      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
-      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::GET_WRITE);
-      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::SEND_READ);
-      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::GET_READ);
 
       thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
-                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::PERFORM_OPERATION);
       thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
-                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
       thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
-                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+                            length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
       thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
-                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+                            length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
       thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
-                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+                            length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
 
       thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
-                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::PERFORM_OPERATION);
       thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
-                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
       thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
-                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+                            length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
       thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
-                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+                            length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
       thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
-                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+                            length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
 
-      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::PERFORM_OPERATION);
-      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
-      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::GET_WRITE);
-      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::SEND_READ);
-      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::GET_READ);
     }
-
     if (enableBside) {
       // B side
-      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::PERFORM_OPERATION);
-      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
-      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::GET_WRITE);
-      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::SEND_READ);
-      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::GET_READ);
 
       thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
-                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::PERFORM_OPERATION);
       thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
-                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
       thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
-                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+                            length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
       thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
-                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+                            length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
       thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
-                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+                            length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
 
       thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
-                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::PERFORM_OPERATION);
       thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
-                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
       thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
-                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+                            length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
       thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
-                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+                            length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
       thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
-                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+                            length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
 
-      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::PERFORM_OPERATION);
-      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
-      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::GET_WRITE);
-      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::SEND_READ);
-      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::GET_READ);
     }
   }
   // SUS: 16 ms
-
   bool addSus0 = true;
   bool addSus1 = true;
   bool addSus2 = true;
@@ -442,7 +440,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
       thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
                             length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
-
     if (addSus6) {
       thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
                             DeviceHandlerIF::PERFORM_OPERATION);
@@ -465,7 +462,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
       thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
                             length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
-
     if (addSus7) {
       thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
                             DeviceHandlerIF::PERFORM_OPERATION);
@@ -488,7 +484,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
       thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
                             length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
-
     if (addSus8) {
       thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
                             DeviceHandlerIF::PERFORM_OPERATION);
@@ -511,7 +506,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
       thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
                             length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
-
     if (addSus9) {
       thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
                             DeviceHandlerIF::PERFORM_OPERATION);
@@ -523,6 +517,7 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                             DeviceHandlerIF::SEND_READ);
       thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
                             DeviceHandlerIF::GET_READ);
+
       thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
                             length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
@@ -533,7 +528,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
       thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
                             length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
-
     if (addSus10) {
       thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
                             DeviceHandlerIF::PERFORM_OPERATION);
@@ -556,7 +550,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
       thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
                             length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
-
     if (addSus11) {
       thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
                             DeviceHandlerIF::PERFORM_OPERATION);
@@ -623,68 +616,71 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                           DeviceHandlerIF::GET_READ);
   }
 
-  thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_2_PERIOD, 0);
+  thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_3_PERIOD, 0);
 
   if (cfg.scheduleImtq) {
     // This is the torquing cycle.
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
                           DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
                           DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
                           DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
                           DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
                           DeviceHandlerIF::GET_READ);
   }
 
   if (cfg.scheduleRws) {
-    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    // this is the torquing cycle
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
                           DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
                           DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
                           DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
                           DeviceHandlerIF::PERFORM_OPERATION);
 
-    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
                           DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
                           DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
                           DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
                           DeviceHandlerIF::SEND_WRITE);
 
-    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
                           DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
                           DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
                           DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
                           DeviceHandlerIF::GET_WRITE);
 
-    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_5_PERIOD,
                           DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_5_PERIOD,
                           DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_5_PERIOD,
                           DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_5_PERIOD,
                           DeviceHandlerIF::SEND_READ);
 
-    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_5_PERIOD,
                           DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_5_PERIOD,
                           DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_5_PERIOD,
                           DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_5_PERIOD,
                           DeviceHandlerIF::GET_READ);
   }
+
   thisSequence->addSlot(objects::SPI_RTD_COM_IF, length * 0.5, 0);
+
   return returnvalue::OK;
 }
diff --git a/misc/eclipse/.cproject b/misc/eclipse/.cproject
index 0dfd812a..0f3348a8 100644
--- a/misc/eclipse/.cproject
+++ b/misc/eclipse/.cproject
@@ -57,7 +57,8 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="thirdparty/json/tests|thirdparty/json/docs|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-release-q7s|bsp_linux_board|thirdparty/json/single_include|cmake-build-debug-q7s-em|cmake-build-debug-q7s/_deps/etl-src/temp|thirdparty/rapidcsv/examples|cmake-build-debug-q7s/_deps/etl-src/images|fsfwconfig|cmake-build-debug-q7s/_deps/etl-src/subprojects|thirdparty/json/third_party|bsp_q7s|thirdparty/json/test|bsp_te0720_1cfa|scripts|cmake-build-debug-q7s/_deps/etl-src/cmake|bsp_egse|build-Debug-RPi|thirdparty/rapidcsv/doc|thirdparty/json/doc|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-release-q7s-em|cmake-build-debug-q7s|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug/_deps|thirdparty/rapidcsv/tests|archive|thirdparty/json/cmake|thirdparty/json/benchmarks" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|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="cmake-build-debug/_deps/etl-src/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -119,7 +120,8 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="thirdparty/json/tests|thirdparty/json/docs|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-release-q7s|bsp_linux_board|thirdparty/json/single_include|cmake-build-debug-q7s-em|cmake-build-debug-q7s/_deps/etl-src/temp|thirdparty/rapidcsv/examples|cmake-build-debug-q7s/_deps/etl-src/images|fsfwconfig|cmake-build-debug-q7s/_deps/etl-src/subprojects|thirdparty/json/third_party|bsp_q7s|thirdparty/json/test|bsp_te0720_1cfa|scripts|cmake-build-debug-q7s/_deps/etl-src/cmake|bsp_egse|build-Debug-RPi|thirdparty/rapidcsv/doc|thirdparty/json/doc|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-release-q7s-em|cmake-build-debug-q7s|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug/_deps|thirdparty/rapidcsv/tests|archive|thirdparty/json/cmake|thirdparty/json/benchmarks" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|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="cmake-build-debug/_deps/etl-src/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -187,7 +189,8 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="thirdparty/json/tests|thirdparty/json/docs|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-release-q7s|bsp_linux_board|thirdparty/json/single_include|cmake-build-debug-q7s-em|cmake-build-debug-q7s/_deps/etl-src/temp|thirdparty/rapidcsv/examples|cmake-build-debug-q7s/_deps/etl-src/images|fsfwconfig|cmake-build-debug-q7s/_deps/etl-src/subprojects|thirdparty/json/third_party|bsp_q7s|thirdparty/json/test|bsp_te0720_1cfa|scripts|cmake-build-debug-q7s/_deps/etl-src/cmake|bsp_egse|build-Debug-RPi|thirdparty/rapidcsv/doc|thirdparty/json/doc|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-release-q7s-em|cmake-build-debug-q7s|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug/_deps|thirdparty/rapidcsv/tests|archive|thirdparty/json/cmake|thirdparty/json/benchmarks" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|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="cmake-build-debug/_deps/etl-src/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -255,7 +258,8 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="thirdparty/json/tests|thirdparty/json/docs|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-release-q7s|bsp_linux_board|thirdparty/json/single_include|cmake-build-debug-q7s-em|cmake-build-debug-q7s/_deps/etl-src/temp|thirdparty/rapidcsv/examples|cmake-build-debug-q7s/_deps/etl-src/images|fsfwconfig|cmake-build-debug-q7s/_deps/etl-src/subprojects|thirdparty/json/third_party|bsp_q7s|thirdparty/json/test|bsp_te0720_1cfa|scripts|cmake-build-debug-q7s/_deps/etl-src/cmake|bsp_egse|build-Debug-RPi|thirdparty/rapidcsv/doc|thirdparty/json/doc|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-release-q7s-em|cmake-build-debug-q7s|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug/_deps|thirdparty/rapidcsv/tests|archive|thirdparty/json/cmake|thirdparty/json/benchmarks" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|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="cmake-build-debug/_deps/etl-src/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -418,7 +422,8 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="thirdparty/json/tests|thirdparty/json/docs|build-Debug-RPi/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-release-q7s|build-Debug-RPi/_deps/etl-src/temp|thirdparty/json/single_include|cmake-build-debug-q7s-em|cmake-build-debug-q7s/_deps/etl-src/temp|thirdparty/rapidcsv/examples|build-Debug-RPi/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/images|build-Debug-RPi/_deps/etl-src/subprojects|cmake-build-debug|cmake-build-debug-q7s/_deps/etl-src/subprojects|thirdparty/json/third_party|bsp_hosted|thirdparty/json/test|bsp_te0720_1cfa|scripts|build-Debug-RPi/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/cmake|bsp_egse|thirdparty/rapidcsv/doc|build-Debug-RPi/_deps/etl-src/examples|thirdparty/json/doc|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-release-q7s-em|build-Debug-RPi/_deps/etl-src/test|build-Debug-RPi/_deps/etl-src/scripts|cmake-build-debug-q7s|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/test|build-Debug-RPi/_deps/etl-src/arduino|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|build-Debug-RPi/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/support|thirdparty/rapidcsv/tests|archive|thirdparty/json/cmake|thirdparty/json/benchmarks" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-RPi/_deps/etl-src/uml|build-Debug-RPi/_deps/etl-src/test|build-Debug-RPi/_deps/etl-src/temp|build-Debug-RPi/_deps/etl-src/support|build-Debug-RPi/_deps/etl-src/subprojects|build-Debug-RPi/_deps/etl-src/scripts|build-Debug-RPi/_deps/etl-src/images|build-Debug-RPi/_deps/etl-src/examples|build-Debug-RPi/_deps/etl-src/cmake|build-Debug-RPi/_deps/etl-src/arduino|cmake-build-debug-q7s|cmake-build-debug|cmake-build-debug-q7s-em|cmake-build-release-q7s-em|bsp_hosted|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="cmake-build-debug/_deps/etl-src/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -580,7 +585,8 @@
 						</toolChain>
 					</folderInfo>
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 					<sourceEntries>
-						<entry excluding="thirdparty/json/tests|thirdparty/json/docs|cmake-build-debug-q7s-em/_deps/etl-src/test|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-release-q7s|bsp_linux_board|thirdparty/json/single_include|cmake-build-debug-q7s/_deps/etl-src/temp|thirdparty/rapidcsv/examples|cmake-build-debug-q7s/_deps/etl-src/images|fsfwconfig|cmake-build-debug-q7s/_deps/etl-src/subprojects|thirdparty/json/third_party|thirdparty/json/test|bsp_te0720_1cfa|scripts|cmake-build-debug-q7s/_deps/etl-src/cmake|bsp_egse|build-Debug-RPi|thirdparty/rapidcsv/doc|thirdparty/json/doc|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-release-q7s-em|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|cmake-build-debug-q7s/_deps/etl-src/support|thirdparty/rapidcsv/tests|archive|thirdparty/json/cmake|thirdparty/json/benchmarks" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<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=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
diff --git a/mission/acsDefs.h b/mission/acsDefs.h
index 57ae4730..f68ff24a 100644
--- a/mission/acsDefs.h
+++ b/mission/acsDefs.h
@@ -23,6 +23,8 @@ static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
 static const Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
 //!< The system has recovered from a safe rate rotation violation.
 static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
+//!< Multiple RWs are invalid, not commandable and therefore higher ACS modes cannot be maintained.
+static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);
 
 extern const char* getModeStr(AcsMode mode);
 
diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 051fa8f0..74fce754 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -15,6 +15,7 @@ AcsController::AcsController(object_id_t objectId)
       detumble(&acsParameters),
       ptgCtrl(&acsParameters),
       detumbleCounter{0},
+      multipleRwUnavailableCounter{0},
       parameterHelper(this),
       mgmDataRaw(this),
       mgmDataProcessed(this),
@@ -119,10 +120,10 @@ void AcsController::performSafe() {
   navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, &susDataProcessed,
                      &mekfData, &validMekf);
 
-  // Give desired satellite rate and sun direction to align
+  // give desired satellite rate and sun direction to align
   double satRateSafe[3] = {0, 0, 0}, sunTargetDir[3] = {0, 0, 0};
   guidance.getTargetParamsSafe(sunTargetDir, satRateSafe);
-  //	IF MEKF is working
+  // if MEKF is working
   double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
   bool magMomMtqValid = false;
   if (validMekf == returnvalue::OK) {
@@ -140,8 +141,8 @@ void AcsController::performSafe() {
         sunTargetDir, satRateSafe, &errAng, magMomMtq, &magMomMtqValid);
   }
 
-  double dipolCmdUnits[3] = {0, 0, 0};
-  actuatorCmd.cmdDipolMtq(magMomMtq, dipolCmdUnits);
+  int16_t cmdDipolMtqs[3] = {0, 0, 0};
+  actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs);
 
   {
     PoolReadGuard pg(&ctrlValData);
@@ -183,18 +184,15 @@ void AcsController::performSafe() {
       actuatorCmdData.rwTargetTorque.setValid(false);
       std::memcpy(actuatorCmdData.rwTargetSpeed.value, zeroVec, 4 * sizeof(int32_t));
       actuatorCmdData.rwTargetSpeed.setValid(false);
-      std::memcpy(actuatorCmdData.mtqTargetDipole.value, dipolCmdUnits, 3 * sizeof(int16_t));
+      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolMtqs, 3 * sizeof(int16_t));
       actuatorCmdData.mtqTargetDipole.setValid(true);
       actuatorCmdData.setValidity(true, false);
     }
   }
-  //  {
-  //    PoolReadGuard pg(&dipoleSet);
-  //    MutexGuard mg(torquer::lazyLock());
-  //    torquer::NEW_ACTUATION_FLAG = true;
-  //    dipoleSet.setDipoles(cmdDipolUnits[0], cmdDipolUnits[1], cmdDipolUnits[2],
-  //    torqueDuration);
-  //  }
+
+  //  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
+  //                   acsParameters.magnetorquesParameter.torqueDuration, 0, 0, 0, 0,
+  //                   acsParameters.rwHandlingParameters.rampTime);
 }
 
 void AcsController::performDetumble() {
@@ -211,8 +209,8 @@ void AcsController::performDetumble() {
   detumble.bDotLaw(mgmDataProcessed.mgmVecTotDerivative.value,
                    mgmDataProcessed.mgmVecTotDerivative.isValid(), mgmDataProcessed.mgmVecTot.value,
                    mgmDataProcessed.mgmVecTot.isValid(), magMomMtq);
-  double dipolCmdUnits[3] = {0, 0, 0};
-  actuatorCmd.cmdDipolMtq(magMomMtq, dipolCmdUnits);
+  int16_t cmdDipolMtqs[3] = {0, 0, 0};
+  actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs);
 
   if (mekfData.satRotRateMekf.isValid() &&
       VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
@@ -231,10 +229,6 @@ void AcsController::performDetumble() {
     triggerEvent(acs::SAFE_RATE_RECOVERY);
   }
 
-  int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
-  for (int i = 0; i < 3; ++i) {
-    cmdDipolUnitsInt[i] = std::round(dipolCmdUnits[i]);
-  }
   {
     PoolReadGuard pg(&actuatorCmdData);
     if (pg.getReadResult() == returnvalue::OK) {
@@ -242,18 +236,15 @@ void AcsController::performDetumble() {
       actuatorCmdData.rwTargetTorque.setValid(false);
       std::memset(actuatorCmdData.rwTargetSpeed.value, 0, 4 * sizeof(int32_t));
       actuatorCmdData.rwTargetSpeed.setValid(false);
-      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolUnitsInt, 3 * sizeof(int16_t));
+      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolMtqs, 3 * sizeof(int16_t));
       actuatorCmdData.mtqTargetDipole.setValid(true);
       actuatorCmdData.setValidity(true, false);
     }
   }
-  //  {
-  //	  PoolReadGuard pg(&dipoleSet);
-  //	  MutexGuard mg(torquer::lazyLock());
-  //	  torquer::NEW_ACTUATION_FLAG = true;
-  //	  dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2],
-  // torqueDuration);
-  //  }
+
+  //  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
+  //                   acsParameters.magnetorquesParameter.torqueDuration, 0, 0, 0, 0,
+  //                   acsParameters.rwHandlingParameters.rampTime);
 }
 
 void AcsController::performPointingCtrl() {
@@ -273,10 +264,19 @@ void AcsController::performPointingCtrl() {
   double quatErrorComplete[4] = {0, 0, 0, 0}, quatError[3] = {0, 0, 0},
          deltaRate[3] = {0, 0, 0};  // ToDo: check if pointer needed
   double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
+  ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
+  if (result == returnvalue::FAILED) {
+    multipleRwUnavailableCounter++;
+    if (multipleRwUnavailableCounter > 4) {
+      triggerEvent(acs::MULTIPLE_RW_INVALID);
+    }
+    return;
+  } else {
+    multipleRwUnavailableCounter = 0;
+  }
   double torquePtgRws[4] = {0, 0, 0, 0}, rwTrqNs[4] = {0, 0, 0, 0};
   double torqueRws[4] = {0, 0, 0, 0}, torqueRwsScaled[4] = {0, 0, 0, 0};
-  double mgtDpDes[3] = {0, 0, 0}, dipolUnits[3] = {0, 0, 0};  // Desaturation Dipol
+  double mgtDpDes[3] = {0, 0, 0};
 
   switch (submode) {
     case acs::PTG_IDLE:
@@ -395,45 +395,60 @@ void AcsController::performPointingCtrl() {
   }
 
   if (enableAntiStiction) {
-    bool rwAvailable[4] = {true, true, true, true};  // WHICH INPUT SENSOR SET?
-    int32_t rwSpeed[4] = {
-        (sensorValues.rw1Set.currSpeed.value), (sensorValues.rw2Set.currSpeed.value),
-        (sensorValues.rw3Set.currSpeed.value), (sensorValues.rw4Set.currSpeed.value)};
-    ptgCtrl.rwAntistiction(rwAvailable, rwSpeed, torqueRwsScaled);
+    ptgCtrl.rwAntistiction(&sensorValues, torqueRwsScaled);
   }
 
-  double cmdSpeedRws[4] = {0, 0, 0, 0};  // Should be given to the actuator reaction wheel as input
-  actuatorCmd.cmdSpeedToRws(&(sensorValues.rw1Set.currSpeed.value),
-                            &(sensorValues.rw2Set.currSpeed.value),
-                            &(sensorValues.rw3Set.currSpeed.value),
-                            &(sensorValues.rw4Set.currSpeed.value), torqueRwsScaled, cmdSpeedRws);
-  actuatorCmd.cmdDipolMtq(mgtDpDes, dipolUnits);
-
-  int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
-  for (int i = 0; i < 3; ++i) {
-    cmdDipolUnitsInt[i] = std::round(dipolUnits[i]);
-  }
-  int32_t cmdRwSpeedInt[4] = {0, 0, 0, 0};
-  for (int i = 0; i < 4; ++i) {
-    cmdRwSpeedInt[i] = std::round(cmdSpeedRws[i]);
-  }
+  int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
+  actuatorCmd.cmdSpeedToRws(sensorValues.rw1Set.currSpeed.value,
+                            sensorValues.rw2Set.currSpeed.value,
+                            sensorValues.rw3Set.currSpeed.value,
+                            sensorValues.rw4Set.currSpeed.value, torqueRwsScaled, cmdSpeedRws);
+  int16_t cmdDipolMtqs[3] = {0, 0, 0};
+  actuatorCmd.cmdDipolMtq(mgtDpDes, cmdDipolMtqs);
 
   {
     PoolReadGuard pg(&actuatorCmdData);
     if (pg.getReadResult() == returnvalue::OK) {
       std::memcpy(actuatorCmdData.rwTargetTorque.value, rwTrqNs, 4 * sizeof(double));
-      std::memcpy(actuatorCmdData.rwTargetSpeed.value, cmdRwSpeedInt, 4 * sizeof(int32_t));
-      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolUnitsInt, 3 * sizeof(int16_t));
+      std::memcpy(actuatorCmdData.rwTargetSpeed.value, cmdSpeedRws, 4 * sizeof(int32_t));
+      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolMtqs, 3 * sizeof(int16_t));
       actuatorCmdData.setValidity(true, true);
     }
   }
-  //  {
-  //	  PoolReadGuard pg(&dipoleSet);
-  //	  MutexGuard mg(torquer::lazyLock());
-  //	  torquer::NEW_ACTUATION_FLAG = true;
-  //	  dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2],
-  // torqueDuration);
-  //  }
+
+  //  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
+  //                   acsParameters.magnetorquesParameter.torqueDuration, cmdSpeedRws[0],
+  //                   cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
+  //                   acsParameters.rwHandlingParameters.rampTime);
+}
+
+ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
+                                              uint16_t dipoleTorqueDuration, int32_t rw1Speed,
+                                              int32_t rw2Speed, int32_t rw3Speed, int32_t rw4Speed,
+                                              uint16_t rampTime) {
+  {
+    PoolReadGuard pg(&dipoleSet);
+    MutexGuard mg(torquer::lazyLock());
+    torquer::NEW_ACTUATION_FLAG = true;
+    dipoleSet.setDipoles(xDipole, yDipole, zDipole, dipoleTorqueDuration);
+  }
+  {
+    PoolReadGuard pg(&rw1SpeedSet);
+    rw1SpeedSet.setRwSpeed(rw1Speed, rampTime);
+  }
+  {
+    PoolReadGuard pg(&rw2SpeedSet);
+    rw2SpeedSet.setRwSpeed(rw2Speed, rampTime);
+  }
+  {
+    PoolReadGuard pg(&rw3SpeedSet);
+    rw3SpeedSet.setRwSpeed(rw3Speed, rampTime);
+  }
+  {
+    PoolReadGuard pg(&rw4SpeedSet);
+    rw4SpeedSet.setRwSpeed(rw4Speed, rampTime);
+  }
+  return returnvalue::OK;
 }
 
 ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h
index f5240b74..e519d2e8 100644
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@@ -5,6 +5,7 @@
 #include <fsfw/globalfunctions/math/VectorOperations.h>
 #include <fsfw/parameters/ParameterHelper.h>
 #include <fsfw/parameters/ReceivesParameterMessagesIF.h>
+#include <mission/devices/devicedefinitions/rwHelpers.h>
 
 #include "acs/ActuatorCmd.h"
 #include "acs/Guidance.h"
@@ -49,6 +50,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   PtgCtrl ptgCtrl;
 
   uint8_t detumbleCounter;
+  uint8_t multipleRwUnavailableCounter;
 
   ParameterHelper parameterHelper;
 
@@ -74,11 +76,20 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void modeChanged(Mode_t mode, Submode_t submode);
   void announceMode(bool recursive);
 
+  ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
+                                 uint16_t dipoleTorqueDuration, int32_t rw1Speed, int32_t rw2Speed,
+                                 int32_t rw3Speed, int32_t rw4Speed, uint16_t rampTime);
+
   /* ACS Sensor Values */
   ACS::SensorValues sensorValues;
 
-  /* ACS Datasets */
+  /* ACS Actuation Datasets */
   IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
+  rws::RwSpeedActuationSet rw1SpeedSet = rws::RwSpeedActuationSet(objects::RW1);
+  rws::RwSpeedActuationSet rw2SpeedSet = rws::RwSpeedActuationSet(objects::RW2);
+  rws::RwSpeedActuationSet rw3SpeedSet = rws::RwSpeedActuationSet(objects::RW3);
+  rws::RwSpeedActuationSet rw4SpeedSet = rws::RwSpeedActuationSet(objects::RW4);
+  /* ACS Datasets */
   // MGMs
   acsctrl::MgmDataRaw mgmDataRaw;
   PoolEntry<float> mgm0VecRaw = PoolEntry<float>(3);
diff --git a/mission/controller/ThermalController.cpp b/mission/controller/ThermalController.cpp
index 53b7f13d..f4e46c69 100644
--- a/mission/controller/ThermalController.cpp
+++ b/mission/controller/ThermalController.cpp
@@ -9,10 +9,10 @@
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 #include <mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h>
 #include <mission/devices/devicedefinitions/GyroL3GD20Definitions.h>
-#include <mission/devices/devicedefinitions/RwDefinitions.h>
 #include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
 #include <mission/devices/devicedefinitions/imtqHandlerDefinitions.h>
 #include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
+#include <mission/devices/devicedefinitions/rwHelpers.h>
 #include <objects/systemObjectList.h>
 
 ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater)
@@ -689,7 +689,7 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, RwDefinitions::TEMPERATURE_C);
+    lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, rws::TEMPERATURE_C);
     PoolReadGuard pg(&tempRw1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read reaction wheel 1 temperature" << std::endl;
@@ -702,7 +702,7 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, RwDefinitions::TEMPERATURE_C);
+    lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, rws::TEMPERATURE_C);
     PoolReadGuard pg(&tempRw2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read reaction wheel 2 temperature" << std::endl;
@@ -715,7 +715,7 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, RwDefinitions::TEMPERATURE_C);
+    lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, rws::TEMPERATURE_C);
     PoolReadGuard pg(&tempRw3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read reaction wheel 3 temperature" << std::endl;
@@ -728,7 +728,7 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, RwDefinitions::TEMPERATURE_C);
+    lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, rws::TEMPERATURE_C);
     PoolReadGuard pg(&tempRw4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read reaction wheel 4 temperature" << std::endl;
diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp
index 13642fe9..a06d6a58 100644
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@@ -278,6 +278,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x4:
           parameterWrapper->set(rwHandlingParameters.stictionTorque);
           break;
+        case 0x5:
+          parameterWrapper->set(rwHandlingParameters.rampTime);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
@@ -291,17 +294,17 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(rwMatrices.pseudoInverse);
           break;
         case 0x2:
-          parameterWrapper->set(rwMatrices.without0);
-          break;
-        case 0x3:
           parameterWrapper->set(rwMatrices.without1);
           break;
-        case 0x4:
+        case 0x3:
           parameterWrapper->set(rwMatrices.without2);
           break;
-        case 0x5:
+        case 0x4:
           parameterWrapper->set(rwMatrices.without3);
           break;
+        case 0x5:
+          parameterWrapper->set(rwMatrices.without4);
+          break;
         case 0x6:
           parameterWrapper->set(rwMatrices.nullspace);
           break;
@@ -584,6 +587,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x5:
           parameterWrapper->set(magnetorquesParameter.DipolMax);
           break;
+        case 0x6:
+          parameterWrapper->set(magnetorquesParameter.torqueDuration);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index f1c0fb63..365a04bd 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -73,9 +73,9 @@ class AcsParameters : public HasParametersIF {
                                        {-0.007534, 1.253879, 0.006812},
                                        {-0.037072, 0.006812, 1.313158}};
 
-    float mgm02variance[3] = {1, 1, 1};
-    float mgm13variance[3] = {1, 1, 1};
-    float mgm4variance[3] = {1, 1, 1};
+    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)};
   } mgmHandlingParameters;
 
   struct SusHandlingParameters {
@@ -779,19 +779,21 @@ class AcsParameters : public HasParametersIF {
 
     /* var = sqrt(sigma), sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
      * assumed to be equal for the same class of sensors */
-    float gyr02variance[3] = {pow(3.0e-3 * sqrt(2), 2),   // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
-                              pow(3.0e-3 * sqrt(2), 2),   // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
-                              pow(4.3e-3 * sqrt(2), 2)};  // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
+    float gyr02variance[3] = {pow(3.0e-3, 2),   // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
+                              pow(3.0e-3, 2),   // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
+                              pow(4.3e-3, 2)};  // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
     float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
     uint8_t preferAdis = true;
   } gyrHandlingParameters;
 
   struct RwHandlingParameters {
     double inertiaWheel = 0.000028198;
-    double maxTrq = 0.0032;             // 3.2 [mNm]
-    double stictionSpeed = 100;         // 80;          // RPM
-    double stictionReleaseSpeed = 120;  // RPM
+    double maxTrq = 0.0032;              // 3.2 [mNm]
+    int32_t stictionSpeed = 100;         // RPM
+    int32_t stictionReleaseSpeed = 120;  // RPM
     double stictionTorque = 0.0006;
+
+    uint16_t rampTime = 10;
   } rwHandlingParameters;
 
   struct RwMatrices {
@@ -800,13 +802,13 @@ class AcsParameters : public HasParametersIF {
                                     {0.3907, 0.3907, 0.3907, 0.3907}};
     double pseudoInverse[4][3] = {
         {0.5432, 0, 0.6398}, {0, -0.5432, 0.6398}, {-0.5432, 0, 0.6398}, {0, 0.5432, 0.6398}};
-    double without0[4][3] = {
-        {0, 0, 0}, {0.5432, -0.5432, 1.2797}, {-1.0864, 0, 0}, {0.5432, 0.5432, 1.2797}};
     double without1[4][3] = {
-        {0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 1.0864, 0}};
+        {0, 0, 0}, {0.5432, -0.5432, 1.2797}, {-1.0864, 0, 0}, {0.5432, 0.5432, 1.2797}};
     double without2[4][3] = {
-        {1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}};
+        {0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 1.0864, 0}};
     double without3[4][3] = {
+        {1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}};
+    double without4[4][3] = {
         {0.5432, 0.5432, 1.2797}, {0, -1.0864, 0}, {-0.5432, 0.5432, 1.2797}, {0, 0, 0}};
     double nullspace[4] = {-0.5000, 0.5000, -0.5000, 0.5000};
   } rwMatrices;
@@ -910,6 +912,7 @@ class AcsParameters : public HasParametersIF {
     double inverseAlignment[3][3] = {{0, -1, 0}, {0, 0, 1}, {-1, 0, 0}};
     double DipolMax = 0.2;  // [Am^2]
 
+    uint16_t torqueDuration = 300;  // [ms]
   } magnetorquesParameter;
 
   struct DetumbleParameter {
diff --git a/mission/controller/acs/ActuatorCmd.cpp b/mission/controller/acs/ActuatorCmd.cpp
index 4e0052e0..8cda84d6 100644
--- a/mission/controller/acs/ActuatorCmd.cpp
+++ b/mission/controller/acs/ActuatorCmd.cpp
@@ -1,10 +1,3 @@
-/*
- * ActuatorCmd.cpp
- *
- *  Created on: 4 Aug 2022
- *      Author: Robin Marquardt
- */
-
 #include "ActuatorCmd.h"
 
 #include <fsfw/globalfunctions/constants.h>
@@ -38,27 +31,33 @@ void ActuatorCmd::scalingTorqueRws(const double *rwTrq, double *rwTrqScaled) {
   }
 }
 
-void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1,
-                                const int32_t *speedRw2, const int32_t *speedRw3,
-                                const double *rwTorque, double *rwCmdSpeed) {
+void ActuatorCmd::cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1,
+                                const int32_t speedRw2, const int32_t speedRw3,
+                                const double *rwTorque, int32_t *rwCmdSpeed) {
   using namespace Math;
 
   // Calculating the commanded speed in RPM for every reaction wheel
-  double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
+  int32_t speedRws[4] = {speedRw0, speedRw1, speedRw2, speedRw3};
   double deltaSpeed[4] = {0, 0, 0, 0};
   double commandTime = acsParameters.onBoardParams.sampleTime,
          inertiaWheel = acsParameters.rwHandlingParameters.inertiaWheel;
   double radToRpm = 60 / (2 * PI);  // factor for conversion to RPM
   //	 W_RW = Torque_RW / I_RW * delta t [rad/s]
   double factor = commandTime / inertiaWheel * radToRpm;
+  int32_t deltaSpeedInt[4] = {0, 0, 0, 0};
   VectorOperations<double>::mulScalar(rwTorque, factor, deltaSpeed, 4);
-  VectorOperations<double>::add(speedRws, deltaSpeed, rwCmdSpeed, 4);
+  for (int i = 0; i < 4; i++) {
+    deltaSpeedInt[i] = std::round(deltaSpeed[i]);
+  }
+  VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4);
+  VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
 }
 
-void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator) {
+void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator) {
   // Convert to actuator frame
+  double dipolMomentActuatorDouble[3] = {0, 0, 0};
   MatrixOperations<double>::multiply(*acsParameters.magnetorquesParameter.inverseAlignment,
-                                     dipolMoment, dipolMomentActuator, 3, 3, 1);
+                                     dipolMoment, dipolMomentActuatorDouble, 3, 3, 1);
   // Scaling along largest element if dipol exceeds maximum
   double maxDipol = acsParameters.magnetorquesParameter.DipolMax;
   double maxValue = 0;
@@ -69,8 +68,12 @@ void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentActu
   }
   if (maxValue > maxDipol) {
     double scalingFactor = maxDipol / maxValue;
-    VectorOperations<double>::mulScalar(dipolMomentActuator, scalingFactor, dipolMomentActuator, 3);
+    VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, scalingFactor,
+                                        dipolMomentActuatorDouble, 3);
   }
   // scale dipole from 1 Am^2 to 1e^-4 Am^2
-  VectorOperations<double>::mulScalar(dipolMomentActuator, 1e4, dipolMomentActuator, 3);
+  VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, 1e4, dipolMomentActuatorDouble, 3);
+  for (int i = 0; i < 3; i++) {
+    dipolMomentActuator[i] = std::round(dipolMomentActuatorDouble[i]);
+  }
 }
diff --git a/mission/controller/acs/ActuatorCmd.h b/mission/controller/acs/ActuatorCmd.h
index 04e2b61f..969bd782 100644
--- a/mission/controller/acs/ActuatorCmd.h
+++ b/mission/controller/acs/ActuatorCmd.h
@@ -28,8 +28,8 @@ class ActuatorCmd {
    * 			rwCmdSpeed			output revolutions per minute for every
    * reaction wheel
    */
-  void cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
-                     const int32_t *speedRw3, const double *rwTorque, double *rwCmdSpeed);
+  void cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
+                     const int32_t speedRw3, const double *rwTorque, int32_t *rwCmdSpeed);
 
   /*
    * @brief:	cmdDipolMtq()		gives the commanded dipol moment for the magnetorques
@@ -37,7 +37,7 @@ class ActuatorCmd {
    * @param:	dipolMoment 		given dipol moment in spacecraft frame
    * 			dipolMomentActuator	resulting dipol moment in actuator reference frame
    */
-  void cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator);
+  void cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator);
 
  protected:
  private:
diff --git a/mission/controller/acs/Guidance.cpp b/mission/controller/acs/Guidance.cpp
index 383a265f..d7db0538 100644
--- a/mission/controller/acs/Guidance.cpp
+++ b/mission/controller/acs/Guidance.cpp
@@ -610,104 +610,33 @@ void Guidance::comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, dou
   // under 150 arcsec ??
 }
 
-void Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv) {
-  if (sensorValues->rw1Set.isValid() && sensorValues->rw2Set.isValid() &&
-      sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
-    rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0];
-    rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1];
-    rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2];
-    rwPseudoInv[3] = acsParameters.rwMatrices.pseudoInverse[1][0];
-    rwPseudoInv[4] = acsParameters.rwMatrices.pseudoInverse[1][1];
-    rwPseudoInv[5] = acsParameters.rwMatrices.pseudoInverse[1][2];
-    rwPseudoInv[6] = acsParameters.rwMatrices.pseudoInverse[2][0];
-    rwPseudoInv[7] = acsParameters.rwMatrices.pseudoInverse[2][1];
-    rwPseudoInv[8] = acsParameters.rwMatrices.pseudoInverse[2][2];
-    rwPseudoInv[9] = acsParameters.rwMatrices.pseudoInverse[3][0];
-    rwPseudoInv[10] = acsParameters.rwMatrices.pseudoInverse[3][1];
-    rwPseudoInv[11] = acsParameters.rwMatrices.pseudoInverse[3][2];
+ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
+                                                double *rwPseudoInv) {
+  bool rw1valid = (sensorValues->rw1Set.state.value && sensorValues->rw1Set.state.isValid());
+  bool rw2valid = (sensorValues->rw2Set.state.value && sensorValues->rw2Set.state.isValid());
+  bool rw3valid = (sensorValues->rw3Set.state.value && sensorValues->rw3Set.state.isValid());
+  bool rw4valid = (sensorValues->rw4Set.state.value && sensorValues->rw4Set.state.isValid());
 
-  }
-
-  else if (!(sensorValues->rw1Set.isValid()) && sensorValues->rw2Set.isValid() &&
-           sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
-    rwPseudoInv[0] = acsParameters.rwMatrices.without0[0][0];
-    rwPseudoInv[1] = acsParameters.rwMatrices.without0[0][1];
-    rwPseudoInv[2] = acsParameters.rwMatrices.without0[0][2];
-    rwPseudoInv[3] = acsParameters.rwMatrices.without0[1][0];
-    rwPseudoInv[4] = acsParameters.rwMatrices.without0[1][1];
-    rwPseudoInv[5] = acsParameters.rwMatrices.without0[1][2];
-    rwPseudoInv[6] = acsParameters.rwMatrices.without0[2][0];
-    rwPseudoInv[7] = acsParameters.rwMatrices.without0[2][1];
-    rwPseudoInv[8] = acsParameters.rwMatrices.without0[2][2];
-    rwPseudoInv[9] = acsParameters.rwMatrices.without0[3][0];
-    rwPseudoInv[10] = acsParameters.rwMatrices.without0[3][1];
-    rwPseudoInv[11] = acsParameters.rwMatrices.without0[3][2];
-  }
-
-  else if ((sensorValues->rw1Set.isValid()) && !(sensorValues->rw2Set.isValid()) &&
-           sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
-    rwPseudoInv[0] = acsParameters.rwMatrices.without1[0][0];
-    rwPseudoInv[1] = acsParameters.rwMatrices.without1[0][1];
-    rwPseudoInv[2] = acsParameters.rwMatrices.without1[0][2];
-    rwPseudoInv[3] = acsParameters.rwMatrices.without1[1][0];
-    rwPseudoInv[4] = acsParameters.rwMatrices.without1[1][1];
-    rwPseudoInv[5] = acsParameters.rwMatrices.without1[1][2];
-    rwPseudoInv[6] = acsParameters.rwMatrices.without1[2][0];
-    rwPseudoInv[7] = acsParameters.rwMatrices.without1[2][1];
-    rwPseudoInv[8] = acsParameters.rwMatrices.without1[2][2];
-    rwPseudoInv[9] = acsParameters.rwMatrices.without1[3][0];
-    rwPseudoInv[10] = acsParameters.rwMatrices.without1[3][1];
-    rwPseudoInv[11] = acsParameters.rwMatrices.without1[3][2];
-  }
-
-  else if ((sensorValues->rw1Set.isValid()) && (sensorValues->rw2Set.isValid()) &&
-           !(sensorValues->rw3Set.isValid()) && sensorValues->rw4Set.isValid()) {
-    rwPseudoInv[0] = acsParameters.rwMatrices.without2[0][0];
-    rwPseudoInv[1] = acsParameters.rwMatrices.without2[0][1];
-    rwPseudoInv[2] = acsParameters.rwMatrices.without2[0][2];
-    rwPseudoInv[3] = acsParameters.rwMatrices.without2[1][0];
-    rwPseudoInv[4] = acsParameters.rwMatrices.without2[1][1];
-    rwPseudoInv[5] = acsParameters.rwMatrices.without2[1][2];
-    rwPseudoInv[6] = acsParameters.rwMatrices.without2[2][0];
-    rwPseudoInv[7] = acsParameters.rwMatrices.without2[2][1];
-    rwPseudoInv[8] = acsParameters.rwMatrices.without2[2][2];
-    rwPseudoInv[9] = acsParameters.rwMatrices.without2[3][0];
-    rwPseudoInv[10] = acsParameters.rwMatrices.without2[3][1];
-    rwPseudoInv[11] = acsParameters.rwMatrices.without2[3][2];
-  }
-
-  else if ((sensorValues->rw1Set.isValid()) && (sensorValues->rw2Set.isValid()) &&
-           (sensorValues->rw3Set.isValid()) && !(sensorValues->rw4Set.isValid())) {
-    rwPseudoInv[0] = acsParameters.rwMatrices.without3[0][0];
-    rwPseudoInv[1] = acsParameters.rwMatrices.without3[0][1];
-    rwPseudoInv[2] = acsParameters.rwMatrices.without3[0][2];
-    rwPseudoInv[3] = acsParameters.rwMatrices.without3[1][0];
-    rwPseudoInv[4] = acsParameters.rwMatrices.without3[1][1];
-    rwPseudoInv[5] = acsParameters.rwMatrices.without3[1][2];
-    rwPseudoInv[6] = acsParameters.rwMatrices.without3[2][0];
-    rwPseudoInv[7] = acsParameters.rwMatrices.without3[2][1];
-    rwPseudoInv[8] = acsParameters.rwMatrices.without3[2][2];
-    rwPseudoInv[9] = acsParameters.rwMatrices.without3[3][0];
-    rwPseudoInv[10] = acsParameters.rwMatrices.without3[3][1];
-    rwPseudoInv[11] = acsParameters.rwMatrices.without3[3][2];
-  }
-
-  else {
+  if (rw1valid && rw2valid && rw3valid && rw4valid) {
+    std::memcpy(rwPseudoInv, acsParameters.rwMatrices.pseudoInverse, 12 * sizeof(double));
+    return returnvalue::OK;
+  } else if (!rw1valid && rw2valid && rw3valid && rw4valid) {
+    std::memcpy(rwPseudoInv, acsParameters.rwMatrices.without1, 12 * sizeof(double));
+    return returnvalue::OK;
+  } else if (rw1valid && !rw2valid && rw3valid && rw4valid) {
+    std::memcpy(rwPseudoInv, acsParameters.rwMatrices.without2, 12 * sizeof(double));
+    return returnvalue::OK;
+  } else if (rw1valid && rw2valid && !rw3valid && rw4valid) {
+    std::memcpy(rwPseudoInv, acsParameters.rwMatrices.without3, 12 * sizeof(double));
+    return returnvalue::OK;
+  } else if (rw1valid && rw2valid && rw3valid && !rw4valid) {
+    std::memcpy(rwPseudoInv, acsParameters.rwMatrices.without4, 12 * sizeof(double));
+    return returnvalue::OK;
+  } else {
     // 	    @note: This one takes the normal pseudoInverse of all four raction wheels valid.
     //		Does not make sense, but is implemented that way in MATLAB ?!
     //		Thought: It does not really play a role, because in case there are more then one
     //		reaction wheel invalid the pointing control is destined to fail.
-    rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0];
-    rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1];
-    rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2];
-    rwPseudoInv[3] = acsParameters.rwMatrices.pseudoInverse[1][0];
-    rwPseudoInv[4] = acsParameters.rwMatrices.pseudoInverse[1][1];
-    rwPseudoInv[5] = acsParameters.rwMatrices.pseudoInverse[1][2];
-    rwPseudoInv[6] = acsParameters.rwMatrices.pseudoInverse[2][0];
-    rwPseudoInv[7] = acsParameters.rwMatrices.pseudoInverse[2][1];
-    rwPseudoInv[8] = acsParameters.rwMatrices.pseudoInverse[2][2];
-    rwPseudoInv[9] = acsParameters.rwMatrices.pseudoInverse[3][0];
-    rwPseudoInv[10] = acsParameters.rwMatrices.pseudoInverse[3][1];
-    rwPseudoInv[11] = acsParameters.rwMatrices.pseudoInverse[3][2];
+    return returnvalue::FAILED;
   }
 }
diff --git a/mission/controller/acs/Guidance.h b/mission/controller/acs/Guidance.h
index 0401d07c..32c013fc 100644
--- a/mission/controller/acs/Guidance.h
+++ b/mission/controller/acs/Guidance.h
@@ -67,7 +67,7 @@ class Guidance {
 
   //	@note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
   // reation wheel 	maybe can be done in "commanding.h"
-  void getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv);
+  ReturnValue_t getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv);
 
  private:
   AcsParameters acsParameters;
diff --git a/mission/controller/acs/Igrf13Model.cpp b/mission/controller/acs/Igrf13Model.cpp
index 63992010..3f844434 100644
--- a/mission/controller/acs/Igrf13Model.cpp
+++ b/mission/controller/acs/Igrf13Model.cpp
@@ -20,6 +20,7 @@ Igrf13Model::~Igrf13Model() {}
 void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
                                const double altitude, timeval timeOfMagMeasurement,
                                double* magFieldModelInertial) {
+  double magFieldModel[3] = {0, 0, 0};
   double phi = longitude, theta = gcLatitude;  // geocentric
   /* Here is the co-latitude needed*/
   theta -= 90 * PI / 180;
@@ -100,12 +101,8 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
   magFieldModelInertial[2] =
       magFieldModel[0] * sin(gcLatitude) - magFieldModel[1] * cos(gcLatitude);
 
-  double normVecMagFieldInert[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(magFieldModelInertial, normVecMagFieldInert, 3);
-
-  magFieldModel[0] = 0;
-  magFieldModel[1] = 0;
-  magFieldModel[2] = 0;
+  // convert nT to uT
+  VectorOperations<double>::mulScalar(magFieldModelInertial, 1e-3, magFieldModelInertial, 3);
 }
 
 void Igrf13Model::updateCoeffGH(timeval timeOfMagMeasurement) {
diff --git a/mission/controller/acs/Igrf13Model.h b/mission/controller/acs/Igrf13Model.h
index ea2c1044..187adde7 100644
--- a/mission/controller/acs/Igrf13Model.h
+++ b/mission/controller/acs/Igrf13Model.h
@@ -47,7 +47,6 @@ class Igrf13Model /*:public HasParametersIF*/ {
 
   // Coefficient wary over year, could be updated sometimes.
   void updateCoeffGH(timeval timeOfMagMeasurement);  // Secular variation (SV)
-  double magFieldModel[3];
   void schmidtNormalization();
 
  private:
diff --git a/mission/controller/acs/SensorValues.h b/mission/controller/acs/SensorValues.h
index ec1795fc..92d4c5ff 100644
--- a/mission/controller/acs/SensorValues.h
+++ b/mission/controller/acs/SensorValues.h
@@ -1,13 +1,14 @@
 #ifndef SENSORVALUES_H_
 #define SENSORVALUES_H_
 
+#include <mission/devices/devicedefinitions/rwHelpers.h>
+
 #include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
 #include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
 #include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 #include "mission/devices/devicedefinitions/GPSDefinitions.h"
 #include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
-#include "mission/devices/devicedefinitions/RwDefinitions.h"
 #include "mission/devices/devicedefinitions/SusDefinitions.h"
 #include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
 
@@ -62,10 +63,10 @@ class SensorValues {
 
   //  bool mgt0valid;
 
-  RwDefinitions::StatusSet rw1Set = RwDefinitions::StatusSet(objects::RW1);
-  RwDefinitions::StatusSet rw2Set = RwDefinitions::StatusSet(objects::RW2);
-  RwDefinitions::StatusSet rw3Set = RwDefinitions::StatusSet(objects::RW3);
-  RwDefinitions::StatusSet rw4Set = RwDefinitions::StatusSet(objects::RW4);
+  rws::StatusSet rw1Set = rws::StatusSet(objects::RW1);
+  rws::StatusSet rw2Set = rws::StatusSet(objects::RW2);
+  rws::StatusSet rw3Set = rws::StatusSet(objects::RW3);
+  rws::StatusSet rw4Set = rws::StatusSet(objects::RW4);
 };
 } /* namespace ACS */
 
diff --git a/mission/controller/acs/control/PtgCtrl.cpp b/mission/controller/acs/control/PtgCtrl.cpp
index 352c0319..60394421 100644
--- a/mission/controller/acs/control/PtgCtrl.cpp
+++ b/mission/controller/acs/control/PtgCtrl.cpp
@@ -161,8 +161,14 @@ void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawPara
   VectorOperations<double>::mulScalar(rwTrqNs, -1, rwTrqNs, 4);
 }
 
-void PtgCtrl::rwAntistiction(const bool *rwAvailable, const int32_t *omegaRw,
-                             double *torqueCommand) {
+void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, double *torqueCommand) {
+  bool rwAvailable[4] = {
+      (sensorValues->rw1Set.state.value && sensorValues->rw1Set.state.isValid()),
+      (sensorValues->rw2Set.state.value && sensorValues->rw2Set.state.isValid()),
+      (sensorValues->rw3Set.state.value && sensorValues->rw3Set.state.isValid()),
+      (sensorValues->rw4Set.state.value && sensorValues->rw4Set.state.isValid())};
+  int32_t omegaRw[4] = {sensorValues->rw1Set.currSpeed.value, sensorValues->rw2Set.currSpeed.value,
+                        sensorValues->rw3Set.currSpeed.value, sensorValues->rw4Set.currSpeed.value};
   for (uint8_t i = 0; i < 4; i++) {
     if (rwAvailable[i]) {
       if (torqueMemory[i] != 0) {
diff --git a/mission/controller/acs/control/PtgCtrl.h b/mission/controller/acs/control/PtgCtrl.h
index 5e9a704c..fb27fc6d 100644
--- a/mission/controller/acs/control/PtgCtrl.h
+++ b/mission/controller/acs/control/PtgCtrl.h
@@ -54,11 +54,10 @@ class PtgCtrl {
                     const int32_t *speedRw3, double *rwTrqNs);
 
   /* @brief: Commands the stiction torque in case wheel speed is to low
-   * @param: rwAvailable 	Boolean Flag for all reaction wheels
-   * 		 omegaRw		current wheel speed of reaction wheels
+   * @param: sensorValues 	class containing all RW related values
    * 		 torqueCommand  modified torque after antistiction
    */
-  void rwAntistiction(const bool *rwAvailable, const int32_t *omegaRw, double *torqueCommand);
+  void rwAntistiction(ACS::SensorValues *sensorValues, double *torqueCommand);
 
  private:
   AcsParameters::RwHandlingParameters *rwHandlingParameters;
diff --git a/mission/devices/ImtqHandler.cpp b/mission/devices/ImtqHandler.cpp
index 0e75c06d..93e9dae8 100644
--- a/mission/devices/ImtqHandler.cpp
+++ b/mission/devices/ImtqHandler.cpp
@@ -183,18 +183,20 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
         return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
       }
       ReturnValue_t result;
-      // Commands override anything which was set in the software
-      if (commandData != nullptr) {
-        dipoleSet.setValidityBufferGeneration(false);
-        result =
-            dipoleSet.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::NETWORK);
-        dipoleSet.setValidityBufferGeneration(true);
-        if (result != returnvalue::OK) {
-          return result;
-        }
-      } else {
+      {
         // Read set dipole values from local pool
         PoolReadGuard pg(&dipoleSet);
+
+        // Commands override anything which was set in the software
+        if (commandData != nullptr) {
+          dipoleSet.setValidityBufferGeneration(false);
+          result = dipoleSet.deSerialize(&commandData, &commandDataLen,
+                                         SerializeIF::Endianness::NETWORK);
+          dipoleSet.setValidityBufferGeneration(true);
+          if (result != returnvalue::OK) {
+            return result;
+          }
+        }
       }
       if (ACTUATION_WIRETAPPING) {
         sif::debug << "Actuating IMTQ with parameters x = " << dipoleSet.xDipole.value
diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp
index 732bb9fe..6e7c1cc0 100644
--- a/mission/devices/RwHandler.cpp
+++ b/mission/devices/RwHandler.cpp
@@ -2,18 +2,21 @@
 
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/globalfunctions/CRC.h>
+#include <fsfw/globalfunctions/arrayprinter.h>
 #include <fsfw_hal/common/gpio/GpioIF.h>
 
 #include "OBSWConfig.h"
 
 RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                     GpioIF* gpioComIF, gpioId_t enableGpio)
+                     GpioIF* gpioComIF, gpioId_t enableGpio, uint8_t rwIdx)
     : DeviceHandlerBase(objectId, comIF, comCookie),
       gpioComIF(gpioComIF),
       enableGpio(enableGpio),
       statusSet(this),
       lastResetStatusSet(this),
-      tmDataset(this) {
+      tmDataset(this),
+      rwSpeedActuationSet(*this),
+      rwIdx(rwIdx) {
   if (comCookie == nullptr) {
     sif::error << "RwHandler: Invalid com cookie" << std::endl;
   }
@@ -25,11 +28,12 @@ RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCooki
 RwHandler::~RwHandler() {}
 
 void RwHandler::doStartUp() {
-  internalState = InternalState::GET_RESET_STATUS;
+  internalState = InternalState::DEFAULT;
 
   if (gpioComIF->pullHigh(enableGpio) != returnvalue::OK) {
     sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high";
   }
+  updatePeriodicReply(true, rws::REPLY_ID);
   setMode(_MODE_TO_ON);
 }
 
@@ -37,28 +41,18 @@ void RwHandler::doShutDown() {
   if (gpioComIF->pullLow(enableGpio) != returnvalue::OK) {
     sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to low";
   }
-  setMode(_MODE_POWER_DOWN);
+  internalState = InternalState::DEFAULT;
+  updatePeriodicReply(false, rws::REPLY_ID);
+  // The power switch is handled by the assembly, so we can go off here directly.
+  setMode(MODE_OFF);
 }
 
 ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
   switch (internalState) {
-    case InternalState::GET_RESET_STATUS:
-      *id = RwDefinitions::GET_LAST_RESET_STATUS;
-      internalState = InternalState::READ_TEMPERATURE;
-      break;
-    case InternalState::READ_TEMPERATURE:
-      *id = RwDefinitions::GET_TEMPERATURE;
-      internalState = InternalState::GET_RW_SATUS;
-      break;
-    case InternalState::GET_RW_SATUS:
-      *id = RwDefinitions::GET_RW_STATUS;
-      internalState = InternalState::GET_RESET_STATUS;
-      break;
-    case InternalState::CLEAR_RESET_STATUS:
-      *id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
-      /** After reset status is cleared, reset status will be polled again for verification */
-      internalState = InternalState::GET_RESET_STATUS;
+    case InternalState::DEFAULT: {
+      *id = rws::REQUEST_ID;
       break;
+    }
     default:
       sif::debug << "RwHandler::buildNormalDeviceCommand: Invalid internal step" << std::endl;
       break;
@@ -76,45 +70,65 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
   ReturnValue_t result = returnvalue::OK;
 
   switch (deviceCommand) {
-    case (RwDefinitions::RESET_MCU): {
-      prepareSimpleCommand(deviceCommand);
-      return returnvalue::OK;
-    }
-    case (RwDefinitions::GET_LAST_RESET_STATUS): {
-      prepareSimpleCommand(deviceCommand);
-      return returnvalue::OK;
-    }
-    case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
-      prepareSimpleCommand(deviceCommand);
-      return returnvalue::OK;
-    }
-    case (RwDefinitions::GET_RW_STATUS): {
-      prepareSimpleCommand(deviceCommand);
-      return returnvalue::OK;
-    }
-    case (RwDefinitions::INIT_RW_CONTROLLER): {
-      prepareSimpleCommand(deviceCommand);
-      return returnvalue::OK;
-    }
-    case (RwDefinitions::SET_SPEED): {
-      if (commandDataLen != 6) {
+    case (rws::SET_SPEED):
+    case (rws::REQUEST_ID): {
+      if (commandData != nullptr && commandDataLen != 6) {
         sif::error << "RwHandler::buildCommandFromCommand: Received set speed command with"
                    << " invalid length" << std::endl;
         return SET_SPEED_COMMAND_INVALID_LENGTH;
       }
-      result = checkSpeedAndRampTime(commandData, commandDataLen);
+
+      {
+        PoolReadGuard pg(&rwSpeedActuationSet);
+        // Commands override anything which was set in the software
+        if (commandData != nullptr) {
+          rwSpeedActuationSet.setValidityBufferGeneration(false);
+          result = rwSpeedActuationSet.deSerialize(&commandData, &commandDataLen,
+                                                   SerializeIF::Endianness::NETWORK);
+          rwSpeedActuationSet.setValidityBufferGeneration(true);
+          if (result != returnvalue::OK) {
+            return result;
+          }
+        }
+      }
+      if (ACTUATION_WIRETAPPING) {
+        int32_t speed = 0;
+        uint16_t rampTime = 0;
+        rwSpeedActuationSet.getRwSpeed(speed, rampTime);
+        sif::debug << "Actuating RW " << static_cast<int>(rwIdx) << " with speed = " << speed
+                   << " and rampTime = " << rampTime << std::endl;
+      }
+      result = checkSpeedAndRampTime();
       if (result != returnvalue::OK) {
         return result;
       }
-      prepareSetSpeedCmd(commandData, commandDataLen);
-      return result;
-    }
-    case (RwDefinitions::GET_TEMPERATURE): {
-      prepareSimpleCommand(deviceCommand);
+      // set speed flag.
+      commandBuffer[0] = true;
+      rawPacketLen = 1;
+      uint8_t* currentCmdBuf = commandBuffer + 1;
+      rwSpeedActuationSet.serialize(&currentCmdBuf, &rawPacketLen, sizeof(commandBuffer),
+                                    SerializeIF::Endianness::MACHINE);
+      commandBuffer[rawPacketLen++] = static_cast<uint8_t>(rws::SpecialRwRequest::REQUEST_NONE);
+      rawPacket = commandBuffer;
       return returnvalue::OK;
     }
-    case (RwDefinitions::GET_TM): {
-      prepareSimpleCommand(deviceCommand);
+    case (rws::RESET_MCU): {
+      commandBuffer[0] = false;
+      commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::RESET_MCU);
+      internalState = InternalState::RESET_MCU;
+      return returnvalue::OK;
+    }
+
+    case (rws::INIT_RW_CONTROLLER): {
+      commandBuffer[0] = false;
+      commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::INIT_RW_CONTROLLER);
+      internalState = InternalState::INIT_RW_CONTROLLER;
+      return returnvalue::OK;
+    }
+    case (rws::GET_TM): {
+      commandBuffer[0] = false;
+      commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::GET_TM);
+      internalState = InternalState::GET_TM;
       return returnvalue::OK;
     }
     default:
@@ -124,159 +138,161 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
 }
 
 void RwHandler::fillCommandAndReplyMap() {
-  this->insertInCommandMap(RwDefinitions::RESET_MCU);
-  this->insertInCommandAndReplyMap(RwDefinitions::GET_LAST_RESET_STATUS, 1, &lastResetStatusSet,
-                                   RwDefinitions::SIZE_GET_RESET_STATUS);
-  this->insertInCommandAndReplyMap(RwDefinitions::CLEAR_LAST_RESET_STATUS, 1, nullptr,
-                                   RwDefinitions::SIZE_CLEAR_RESET_STATUS);
-  this->insertInCommandAndReplyMap(RwDefinitions::GET_RW_STATUS, 1, &statusSet,
-                                   RwDefinitions::SIZE_GET_RW_STATUS);
-  this->insertInCommandAndReplyMap(RwDefinitions::INIT_RW_CONTROLLER, 1, nullptr,
-                                   RwDefinitions::SIZE_INIT_RW);
-  this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, nullptr,
-                                   RwDefinitions::SIZE_GET_TEMPERATURE_REPLY);
-  this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr,
-                                   RwDefinitions::SIZE_SET_SPEED_REPLY);
-  this->insertInCommandAndReplyMap(RwDefinitions::GET_TM, 1, &tmDataset,
-                                   RwDefinitions::SIZE_GET_TELEMETRY_REPLY);
+  insertInCommandMap(rws::REQUEST_ID);
+  insertInReplyMap(rws::REPLY_ID, 5, nullptr, 0, true);
+
+  insertInCommandMap(rws::RESET_MCU);
+  insertInCommandMap(rws::SET_SPEED);
+  insertInCommandAndReplyMap(rws::INIT_RW_CONTROLLER, 5, nullptr, 0, false, true, rws::REPLY_ID);
+  insertInCommandAndReplyMap(rws::GET_TM, 5, nullptr, 0, false, true, rws::REPLY_ID);
 }
 
 ReturnValue_t RwHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                       DeviceCommandId_t* foundId, size_t* foundLen) {
-  uint8_t replyByte = *start;
-  switch (replyByte) {
-    case (RwDefinitions::GET_LAST_RESET_STATUS): {
-      *foundLen = RwDefinitions::SIZE_GET_RESET_STATUS;
-      *foundId = RwDefinitions::GET_LAST_RESET_STATUS;
-      break;
-    }
-    case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
-      *foundLen = RwDefinitions::SIZE_CLEAR_RESET_STATUS;
-      *foundId = RwDefinitions::CLEAR_LAST_RESET_STATUS;
-      break;
-    }
-    case (RwDefinitions::GET_RW_STATUS): {
-      *foundLen = RwDefinitions::SIZE_GET_RW_STATUS;
-      *foundId = RwDefinitions::GET_RW_STATUS;
-      break;
-    }
-    case (RwDefinitions::INIT_RW_CONTROLLER): {
-      *foundLen = RwDefinitions::SIZE_INIT_RW;
-      *foundId = RwDefinitions::INIT_RW_CONTROLLER;
-      break;
-    }
-    case (RwDefinitions::SET_SPEED): {
-      *foundLen = RwDefinitions::SIZE_SET_SPEED_REPLY;
-      *foundId = RwDefinitions::SET_SPEED;
-      break;
-    }
-    case (RwDefinitions::GET_TEMPERATURE): {
-      *foundLen = RwDefinitions::SIZE_GET_TEMPERATURE_REPLY;
-      *foundId = RwDefinitions::GET_TEMPERATURE;
-      break;
-    }
-    case (RwDefinitions::GET_TM): {
-      *foundLen = RwDefinitions::SIZE_GET_TELEMETRY_REPLY;
-      *foundId = RwDefinitions::GET_TM;
-      break;
-    }
-    default: {
-      sif::warning << "RwHandler::scanForReply: Reply contains invalid command code" << std::endl;
-      *foundLen = remainingSize;
-      return returnvalue::FAILED;
-    }
+  if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON) {
+    return IGNORE_FULL_PACKET;
+  }
+  if (remainingSize > 0) {
+    *foundLen = remainingSize;
+    *foundId = rws::REPLY_ID;
   }
-
-  sizeOfReply = *foundLen;
-
   return returnvalue::OK;
 }
 
 ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
-  /** Check result code */
-  if (*(packet + 1) == RwDefinitions::STATE_ERROR) {
-    sif::error << "RwHandler::interpretDeviceReply: Command execution failed. Command id: " << id
-               << std::endl;
-    return EXECUTION_FAILED;
-  }
-
-  /** Received in little endian byte order */
-  uint16_t replyCrc = *(packet + sizeOfReply - 1) << 8 | *(packet + sizeOfReply - 2);
-
-  if (CRC::crc16ccitt(packet, sizeOfReply - 2, 0xFFFF) != replyCrc) {
-    sif::error << "RwHandler::interpretDeviceReply: cRC error" << std::endl;
-    return CRC_ERROR;
-  }
-
-  switch (id) {
-    case (RwDefinitions::GET_LAST_RESET_STATUS): {
-      handleResetStatusReply(packet);
-      break;
+  RwReplies replies(packet);
+  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t status;
+  auto checkPacket = [&](DeviceCommandId_t id, const uint8_t* packetPtr) {
+    // This is just the packet length of the frame from the RW. The actual
+    // data is one more flag byte to show whether the value was read at least once.
+    auto packetLen = rws::idToPacketLen(id);
+    // arrayprinter::print(packetPtr, packetLen);
+    uint16_t replyCrc;
+    size_t dummy = 0;
+    SerializeAdapter::deSerialize(&replyCrc, packetPtr + packetLen - 2, &dummy,
+                                  SerializeIF::Endianness::LITTLE);
+    if (CRC::crc16ccitt(packetPtr, packetLen - 2) != replyCrc) {
+      sif::error << "RwHandler::interpretDeviceReply: CRC error for ID " << id << std::endl;
+      return CRC_ERROR;
     }
-    case (RwDefinitions::GET_RW_STATUS): {
-      handleGetRwStatusReply(packet);
-      break;
+    if (packetPtr[1] == rws::STATE_ERROR) {
+      sif::error << "RwHandler::interpretDeviceReply: Command execution failed. Command id: " << id
+                 << std::endl;
+      result = EXECUTION_FAILED;
     }
-    case (RwDefinitions::CLEAR_LAST_RESET_STATUS):
-    case (RwDefinitions::INIT_RW_CONTROLLER):
-    case (RwDefinitions::SET_SPEED):
-      // no reply data expected
-      break;
-    case (RwDefinitions::GET_TEMPERATURE): {
-      handleTemperatureReply(packet);
-      break;
-    }
-    case (RwDefinitions::GET_TM): {
-      handleGetTelemetryReply(packet);
-      break;
-    }
-    default: {
-      sif::debug << "RwHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
-      return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
+    return returnvalue::OK;
+  };
+  if (replies.wasSetSpeedReplyRead()) {
+    status = checkPacket(rws::DeviceCommandId::SET_SPEED, replies.getSetSpeedReply());
+    if (status != returnvalue::OK) {
+      result = status;
     }
   }
 
-  return returnvalue::OK;
+  if (replies.wasRwStatusRead()) {
+    status = checkPacket(rws::DeviceCommandId::GET_RW_STATUS, replies.getRwStatusReply());
+    if (status == returnvalue::OK) {
+      handleGetRwStatusReply(replies.getRwStatusReply());
+    } else {
+      result = status;
+    }
+  }
+
+  if (replies.wasGetLastStatusReplyRead()) {
+    status = checkPacket(rws::DeviceCommandId::GET_LAST_RESET_STATUS,
+                         replies.getGetLastResetStatusReply());
+    if (status == returnvalue::OK) {
+      handleResetStatusReply(replies.getGetLastResetStatusReply());
+    } else {
+      result = status;
+    }
+  }
+
+  if (replies.wasClearLastRsetStatusReplyRead()) {
+    status = checkPacket(rws::DeviceCommandId::CLEAR_LAST_RESET_STATUS,
+                         replies.getClearLastResetStatusReply());
+    if (status != returnvalue::OK) {
+      result = status;
+    }
+  }
+
+  if (replies.wasReadTemperatureReplySet()) {
+    status = checkPacket(rws::DeviceCommandId::GET_TEMPERATURE, replies.getReadTemperatureReply());
+    if (status == returnvalue::OK) {
+      handleTemperatureReply(replies.getReadTemperatureReply());
+    } else {
+      result = status;
+    }
+  }
+  if (internalState == InternalState::GET_TM) {
+    if (replies.wasHkDataReplyRead()) {
+      status = checkPacket(rws::DeviceCommandId::GET_TM, replies.getHkDataReply());
+      if (status == returnvalue::OK) {
+        handleGetTelemetryReply(replies.getHkDataReply());
+      } else {
+        result = status;
+      }
+      internalState = InternalState::DEFAULT;
+    }
+  }
+  if (internalState == InternalState::INIT_RW_CONTROLLER) {
+    if (replies.wasInitRwControllerReplyRead()) {
+      status =
+          checkPacket(rws::DeviceCommandId::INIT_RW_CONTROLLER, replies.getInitRwControllerReply());
+      if (status != returnvalue::OK) {
+        result = status;
+      }
+      internalState = InternalState::DEFAULT;
+    }
+  }
+  if (internalState == InternalState::RESET_MCU) {
+    internalState = InternalState::DEFAULT;
+  }
+  return result;
 }
 
 uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }
 
 ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                  LocalDataPoolManager& poolManager) {
-  localDataPoolMap.emplace(RwDefinitions::TEMPERATURE_C, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::RW_SPEED, &rwSpeed);
+  localDataPoolMap.emplace(rws::RAMP_TIME, &rampTime);
 
-  localDataPoolMap.emplace(RwDefinitions::CURR_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::STATE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::CLC_MODE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TEMPERATURE_C, new PoolEntry<int32_t>({0}));
 
-  localDataPoolMap.emplace(RwDefinitions::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::CURR_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::STATE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::CLC_MODE, new PoolEntry<uint8_t>({0}));
 
-  localDataPoolMap.emplace(RwDefinitions::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::PRESSURE_SENSOR_TEMPERATURE, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(RwDefinitions::PRESSURE, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_STATE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_CLC_MODE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_CURR_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_REF_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::EXECUTED_REPLIES, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::COMMAND_REPLIES, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_BYTES_READ, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_PARITY_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_NOISE_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_FRAME_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+
+  localDataPoolMap.emplace(rws::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::PRESSURE_SENSOR_TEMPERATURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(rws::PRESSURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_STATE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TM_CLC_MODE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_CURR_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_REF_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::EXECUTED_REPLIES, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::COMMAND_REPLIES, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_BYTES_READ, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_PARITY_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_NOISE_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_FRAME_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
+  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, 5.0));
   poolManager.subscribeForRegularPeriodicPacket(
@@ -286,26 +302,15 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
   return returnvalue::OK;
 }
 
-void RwHandler::prepareSimpleCommand(DeviceCommandId_t id) {
-  commandBuffer[0] = static_cast<uint8_t>(id);
-  uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
-  commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
-  commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
-  rawPacket = commandBuffer;
-  rawPacketLen = 3;
-}
-
-ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_t commandDataLen) {
-  int32_t speed =
-      *commandData << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 | *(commandData + 3);
-
+ReturnValue_t RwHandler::checkSpeedAndRampTime() {
+  int32_t speed = 0;
+  uint16_t rampTime = 0;
+  rwSpeedActuationSet.getRwSpeed(speed, rampTime);
   if ((speed < -65000 || speed > 65000 || (speed > -1000 && speed < 1000)) && (speed != 0)) {
     sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid speed" << std::endl;
     return INVALID_SPEED;
   }
 
-  uint16_t rampTime = (*(commandData + 4) << 8) | *(commandData + 5);
-
   if (rampTime < 10 || rampTime > 20000) {
     sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid ramp time" << std::endl;
     return INVALID_RAMP_TIME;
@@ -314,33 +319,14 @@ ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_
   return returnvalue::OK;
 }
 
-void RwHandler::prepareSetSpeedCmd(const uint8_t* commandData, size_t commandDataLen) {
-  commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::SET_SPEED);
-
-  /** Speed (0.1 RPM) */
-  commandBuffer[1] = *(commandData + 3);
-  commandBuffer[2] = *(commandData + 2);
-  commandBuffer[3] = *(commandData + 1);
-  commandBuffer[4] = *commandData;
-  /** Ramp time (ms) */
-  commandBuffer[5] = *(commandData + 5);
-  commandBuffer[6] = *(commandData + 4);
-
-  uint16_t crc = CRC::crc16ccitt(commandBuffer, 7, 0xFFFF);
-  commandBuffer[7] = static_cast<uint8_t>(crc & 0xFF);
-  commandBuffer[8] = static_cast<uint8_t>(crc >> 8 & 0xFF);
-  rawPacket = commandBuffer;
-  rawPacketLen = 9;
-}
-
 void RwHandler::handleResetStatusReply(const uint8_t* packet) {
   PoolReadGuard rg(&lastResetStatusSet);
   uint8_t offset = 2;
   uint8_t resetStatus = packet[offset];
   if (resetStatus != 0) {
-    internalState = InternalState::CLEAR_RESET_STATUS;
+    // internalState = InternalState::CLEAR_RESET_STATUS;
     lastResetStatusSet.lastNonClearedResetStatus = resetStatus;
-    triggerEvent(RwDefinitions::RESET_OCCURED, resetStatus, 0);
+    triggerEvent(rws::RESET_OCCURED, resetStatus, 0);
   }
   lastResetStatusSet.currentResetStatus = resetStatus;
   if (debugMode) {
@@ -379,10 +365,10 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
 
   statusSet.setValidity(true, true);
 
-  if (statusSet.state == RwDefinitions::STATE_ERROR) {
+  if (statusSet.state == rws::STATE_ERROR) {
     // This requires the commanding of the init reaction wheel controller command to recover
     // from error state which must be handled by the FDIR instance.
-    triggerEvent(RwDefinitions::ERROR_STATE, statusSet.state.value, 0);
+    triggerEvent(rws::ERROR_STATE, statusSet.state.value, 0);
     sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state" << std::endl;
   }
 
@@ -413,6 +399,24 @@ void RwHandler::handleTemperatureReply(const uint8_t* packet) {
   }
 }
 
+LocalPoolDataSetBase* RwHandler::getDataSetHandle(sid_t sid) {
+  switch (sid.ownerSetId) {
+    case (rws::SetIds::STATUS_SET_ID): {
+      return &statusSet;
+    }
+    case (rws::SetIds::LAST_RESET_ID): {
+      return &lastResetStatusSet;
+    }
+    case (rws::SetIds::SPEED_CMD_SET): {
+      return &rwSpeedActuationSet;
+    }
+    case (rws::SetIds::TM_SET_ID): {
+      return &tmDataset;
+    }
+  }
+  return nullptr;
+}
+
 void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
   PoolReadGuard rg(&tmDataset);
   uint8_t offset = 2;
diff --git a/mission/devices/RwHandler.h b/mission/devices/RwHandler.h
index f9f66bd5..cdb72de1 100644
--- a/mission/devices/RwHandler.h
+++ b/mission/devices/RwHandler.h
@@ -3,12 +3,14 @@
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw_hal/common/gpio/gpioDefinitions.h>
-#include <mission/devices/devicedefinitions/RwDefinitions.h>
+#include <mission/devices/devicedefinitions/rwHelpers.h>
 #include <string.h>
 
 #include "events/subsystemIdRanges.h"
 #include "returnvalues/classIds.h"
 
+static constexpr bool ACTUATION_WIRETAPPING = false;
+
 class GpioIF;
 
 /**
@@ -34,30 +36,12 @@ class RwHandler : public DeviceHandlerBase {
    * 						to high to enable the device.
    */
   RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, GpioIF* gpioComIF,
-            gpioId_t enableGpio);
+            gpioId_t enableGpio, uint8_t rwIdx);
 
   void setDebugMode(bool enable);
 
   virtual ~RwHandler();
 
-  static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
-
-  static const ReturnValue_t SPI_WRITE_FAILURE = MAKE_RETURN_CODE(0xB0);
-  //! [EXPORT] : [COMMENT] Used by the spi send function to tell a failing read call
-  static const ReturnValue_t SPI_READ_FAILURE = MAKE_RETURN_CODE(0xB1);
-  //! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about a missing
-  //! start sign 0x7E
-  static const ReturnValue_t MISSING_START_SIGN = MAKE_RETURN_CODE(0xB2);
-  //! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about an invalid
-  //! substitution combination
-  static const ReturnValue_t INVALID_SUBSTITUTE = MAKE_RETURN_CODE(0xB3);
-  //! [EXPORT] : [COMMENT] HDLC decoding mechanism never receives the end sign 0x7E
-  static const ReturnValue_t MISSING_END_SIGN = MAKE_RETURN_CODE(0xB4);
-  //! [EXPORT] : [COMMENT] Reaction wheel only responds with empty frames.
-  static const ReturnValue_t NO_REPLY = MAKE_RETURN_CODE(0xB5);
-  //! [EXPORT] : [COMMENT] Expected a start marker as first byte
-  static const ReturnValue_t NO_START_MARKER = MAKE_RETURN_CODE(0xB6);
-
  protected:
   void doStartUp() override;
   void doShutDown() override;
@@ -72,6 +56,7 @@ class RwHandler : public DeviceHandlerBase {
   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;
 
  private:
   //! [EXPORT] : [COMMENT] Action Message with invalid speed was received. Valid speeds must be in
@@ -85,42 +70,57 @@ class RwHandler : public DeviceHandlerBase {
   static const ReturnValue_t EXECUTION_FAILED = MAKE_RETURN_CODE(0xA3);
   //! [EXPORT] : [COMMENT] Reaction wheel reply has invalid crc
   static const ReturnValue_t CRC_ERROR = MAKE_RETURN_CODE(0xA4);
+  static const ReturnValue_t VALUE_NOT_READ = MAKE_RETURN_CODE(0xA5);
 
   GpioIF* gpioComIF = nullptr;
   gpioId_t enableGpio = gpio::NO_GPIO;
   bool debugMode = false;
 
-  RwDefinitions::StatusSet statusSet;
-  RwDefinitions::LastResetSatus lastResetStatusSet;
-  RwDefinitions::TmDataset tmDataset;
+  rws::StatusSet statusSet;
+  rws::LastResetSatus lastResetStatusSet;
+  rws::TmDataset tmDataset;
+  rws::RwSpeedActuationSet rwSpeedActuationSet;
 
-  uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE];
+  uint8_t commandBuffer[32];
+  uint8_t rwIdx;
 
-  enum class InternalState { GET_RESET_STATUS, CLEAR_RESET_STATUS, READ_TEMPERATURE, GET_RW_SATUS };
+  PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>({0});
+  PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>({10});
 
-  InternalState internalState = InternalState::GET_RESET_STATUS;
+  enum class InternalState {
+    DEFAULT,
+    GET_TM,
+    INIT_RW_CONTROLLER,
+    RESET_MCU,
+    // GET_RESET_STATUS,
+    // CLEAR_RESET_STATUS,
+    // READ_TEMPERATURE,
+    // SET_SPEED,
+    // GET_RW_SATUS
+  };
 
-  size_t sizeOfReply = 0;
+  InternalState internalState = InternalState::DEFAULT;
 
   /**
    * @brief   This function can be used to build commands which do not contain any data apart
    *          from the command id and the CRC.
    * @param commandId The command id of the command to build.
    */
-  void prepareSimpleCommand(DeviceCommandId_t id);
+  // void prepareSimpleCommand(DeviceCommandId_t id);
 
   /**
    * @brief   This function checks if the receiced speed and ramp time to set are in a valid
    *          range.
    * @return  returnvalue::OK if successful, otherwise error code.
    */
-  ReturnValue_t checkSpeedAndRampTime(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t checkSpeedAndRampTime();
 
   /**
-   * @brief   This function prepares the set speed command from the commandData received with
-   *          an action message.
+   * @brief   This function prepares the set speed command from the dataSet received with
+   *          an action message or set in the software.
+   * @return  returnvalue::OK if successful, otherwise error code.
    */
-  void prepareSetSpeedCmd(const uint8_t* commandData, size_t commandDataLen);
+  // ReturnValue_t prepareSetSpeedCmd();
 
   /**
    * @brief   This function writes the last reset status retrieved with the get last reset status
diff --git a/mission/devices/devicedefinitions/CMakeLists.txt b/mission/devices/devicedefinitions/CMakeLists.txt
index 0ecd64e6..cee48ea8 100644
--- a/mission/devices/devicedefinitions/CMakeLists.txt
+++ b/mission/devices/devicedefinitions/CMakeLists.txt
@@ -1 +1 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE ScexDefinitions.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE ScexDefinitions.cpp rwHelpers.cpp)
diff --git a/mission/devices/devicedefinitions/imtqHandlerDefinitions.h b/mission/devices/devicedefinitions/imtqHandlerDefinitions.h
index 2abf1c21..c3bc3d36 100644
--- a/mission/devices/devicedefinitions/imtqHandlerDefinitions.h
+++ b/mission/devices/devicedefinitions/imtqHandlerDefinitions.h
@@ -492,14 +492,14 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
   void setDipoles(int16_t xDipole_, int16_t yDipole_, int16_t zDipole_,
                   uint16_t currentTorqueDurationMs_) {
     if (xDipole.value != xDipole_) {
+      xDipole = xDipole_;
     }
-    xDipole = xDipole_;
     if (yDipole.value != yDipole_) {
+      yDipole = yDipole_;
     }
-    yDipole = yDipole_;
     if (zDipole.value != zDipole_) {
+      zDipole = zDipole_;
     }
-    zDipole = zDipole_;
     currentTorqueDurationMs = currentTorqueDurationMs_;
   }
 
diff --git a/mission/devices/devicedefinitions/rwHelpers.cpp b/mission/devices/devicedefinitions/rwHelpers.cpp
new file mode 100644
index 00000000..d1f6a1bd
--- /dev/null
+++ b/mission/devices/devicedefinitions/rwHelpers.cpp
@@ -0,0 +1,54 @@
+#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_CPP_
+#define MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_CPP_
+
+#include "rwHelpers.h"
+
+void rws::encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, uint8_t* encodedBuffer,
+                     size_t& encodedLen) {
+  encodedBuffer[0] = rws::FRAME_DELIMITER;
+  encodedLen = 1;
+  for (size_t sourceIdx = 0; sourceIdx < sourceLen; sourceIdx++) {
+    if (sourceBuf[sourceIdx] == 0x7E) {
+      encodedBuffer[encodedLen++] = 0x7D;
+      encodedBuffer[encodedLen++] = 0x5E;
+    } else if (sourceBuf[sourceIdx] == 0x7D) {
+      encodedBuffer[encodedLen++] = 0x7D;
+      encodedBuffer[encodedLen++] = 0x5D;
+    } else {
+      encodedBuffer[encodedLen++] = sourceBuf[sourceIdx];
+    }
+  }
+  encodedBuffer[encodedLen++] = rws::FRAME_DELIMITER;
+}
+
+size_t rws::idToPacketLen(DeviceCommandId_t id) {
+  switch (id) {
+    case (rws::GET_RW_STATUS): {
+      return rws::SIZE_GET_RW_STATUS;
+    }
+    case (rws::SET_SPEED): {
+      return rws::SIZE_SET_SPEED_REPLY;
+    }
+    case (rws::CLEAR_LAST_RESET_STATUS): {
+      return rws::SIZE_CLEAR_RESET_STATUS;
+    }
+    case (rws::GET_LAST_RESET_STATUS): {
+      return rws::SIZE_GET_RESET_STATUS;
+    }
+    case (rws::GET_TEMPERATURE): {
+      return rws::SIZE_GET_TEMPERATURE_REPLY;
+    }
+    case (rws::GET_TM): {
+      return rws::SIZE_GET_TELEMETRY_REPLY;
+    }
+    case (rws::INIT_RW_CONTROLLER): {
+      return rws::SIZE_INIT_RW;
+    }
+    default: {
+      sif::error << "no reply buffer for rw command " << id << std::endl;
+      return 0;
+    }
+  }
+}
+
+#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_CPP_ */
diff --git a/mission/devices/devicedefinitions/RwDefinitions.h b/mission/devices/devicedefinitions/rwHelpers.h
similarity index 50%
rename from mission/devices/devicedefinitions/RwDefinitions.h
rename to mission/devices/devicedefinitions/rwHelpers.h
index 2923b41b..05e63db0 100644
--- a/mission/devices/devicedefinitions/RwDefinitions.h
+++ b/mission/devices/devicedefinitions/rwHelpers.h
@@ -1,14 +1,60 @@
-#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_
-#define MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_
+#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_H_
+#define MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_H_
 
 #include <fsfw/datapoollocal/LocalPoolVariable.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 
+#include "eive/resultClassIds.h"
 #include "events/subsystemIdRanges.h"
 #include "objects/systemObjectList.h"
 
-namespace RwDefinitions {
+namespace rws {
+
+void encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, uint8_t* encodedBuffer,
+                size_t& encodedLen);
+size_t idToPacketLen(DeviceCommandId_t id);
+
+static const size_t SIZE_GET_RESET_STATUS = 5;
+static const size_t SIZE_CLEAR_RESET_STATUS = 4;
+static const size_t SIZE_INIT_RW = 4;
+static const size_t SIZE_GET_RW_STATUS = 14;
+static const size_t SIZE_SET_SPEED_REPLY = 4;
+static const size_t SIZE_GET_TEMPERATURE_REPLY = 8;
+/** Max size when requesting telemetry */
+static const size_t SIZE_GET_TELEMETRY_REPLY = 91;
+
+//! This is the end and start marker of the frame datalinklayer. Also called frame delimiter
+//! in the NanoAvionics datasheet.
+static constexpr uint8_t FRAME_DELIMITER = 0x7E;
+
+enum class SpecialRwRequest : uint8_t {
+  REQUEST_NONE = 0,
+  RESET_MCU = 1,
+  INIT_RW_CONTROLLER = 2,
+  GET_TM = 3,
+  NUM_REQUESTS
+};
+
+static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
+
+static const ReturnValue_t SPI_WRITE_FAILURE = MAKE_RETURN_CODE(0xB0);
+//! [EXPORT] : [COMMENT] Used by the spi send function to tell a failing read call
+static const ReturnValue_t SPI_READ_FAILURE = MAKE_RETURN_CODE(0xB1);
+//! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about a missing
+//! start sign 0x7E
+static const ReturnValue_t MISSING_START_SIGN = MAKE_RETURN_CODE(0xB2);
+//! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about an invalid
+//! substitution combination
+static const ReturnValue_t INVALID_SUBSTITUTE = MAKE_RETURN_CODE(0xB3);
+//! [EXPORT] : [COMMENT] HDLC decoding mechanism never receives the end sign 0x7E
+static const ReturnValue_t MISSING_END_SIGN = MAKE_RETURN_CODE(0xB4);
+//! [EXPORT] : [COMMENT] Reaction wheel only responds with empty frames.
+static const ReturnValue_t NO_REPLY = MAKE_RETURN_CODE(0xB5);
+//! [EXPORT] : [COMMENT] Expected a start marker as first byte
+static const ReturnValue_t NO_START_MARKER = MAKE_RETURN_CODE(0xB6);
+//! [EXPORT] : [COMMENT] Timeout when reading reply
+static const ReturnValue_t SPI_READ_TIMEOUT = MAKE_RETURN_CODE(0xB7);
 
 static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::RW_HANDLER;
 
@@ -17,7 +63,8 @@ static constexpr Event ERROR_STATE = MAKE_EVENT(1, severity::HIGH);
 
 static constexpr Event RESET_OCCURED = event::makeEvent(SUBSYSTEM_ID, 2, severity::LOW);
 
-static const uint32_t SPI_REPLY_DELAY = 70000;  // us
+//! Minimal delay as specified by the datasheet.
+static const uint32_t SPI_REPLY_DELAY = 20000;  // us
 
 enum PoolIds : lp_id_t {
   TEMPERATURE_C,
@@ -51,7 +98,10 @@ enum PoolIds : lp_id_t {
   SPI_BYTES_WRITTEN,
   SPI_BYTES_READ,
   SPI_REG_OVERRUN_ERRORS,
-  SPI_TOTAL_ERRORS
+  SPI_TOTAL_ERRORS,
+
+  RW_SPEED,
+  RAMP_TIME,
 };
 
 enum States : uint8_t { STATE_ERROR, IDLE, COASTING, RUNNING_SPEED_STABLE, RUNNING_SPEED_CHANGING };
@@ -65,29 +115,28 @@ enum LastResetStatusBitPos : uint8_t {
   LOW_POWER_RESET = 5
 };
 
-static const DeviceCommandId_t RESET_MCU = 1;
-static const DeviceCommandId_t GET_LAST_RESET_STATUS = 2;
-static const DeviceCommandId_t CLEAR_LAST_RESET_STATUS = 3;
-static const DeviceCommandId_t GET_RW_STATUS = 4;
-/** This command is needed to recover from error state */
-static const DeviceCommandId_t INIT_RW_CONTROLLER = 5;
-static const DeviceCommandId_t SET_SPEED = 6;
-static const DeviceCommandId_t GET_TEMPERATURE = 8;
-static const DeviceCommandId_t GET_TM = 9;
+enum DeviceCommandId : DeviceCommandId_t {
+  RESET_MCU = 1,
 
-static const uint32_t TEMPERATURE_SET_ID = GET_TEMPERATURE;
-static const uint32_t STATUS_SET_ID = GET_RW_STATUS;
-static const uint32_t LAST_RESET_ID = GET_LAST_RESET_STATUS;
-static const uint32_t TM_SET_ID = GET_TM;
+  GET_LAST_RESET_STATUS = 2,
+  CLEAR_LAST_RESET_STATUS = 3,
+  GET_RW_STATUS = 4,
+  INIT_RW_CONTROLLER = 5,
+  SET_SPEED = 6,
+  GET_TEMPERATURE = 8,
+  GET_TM = 9
+};
 
-static const size_t SIZE_GET_RESET_STATUS = 5;
-static const size_t SIZE_CLEAR_RESET_STATUS = 4;
-static const size_t SIZE_INIT_RW = 4;
-static const size_t SIZE_GET_RW_STATUS = 14;
-static const size_t SIZE_SET_SPEED_REPLY = 4;
-static const size_t SIZE_GET_TEMPERATURE_REPLY = 8;
-/** Max size when requesting telemetry */
-static const size_t SIZE_GET_TELEMETRY_REPLY = 91;
+static constexpr DeviceCommandId_t REQUEST_ID = 0x77;
+static constexpr DeviceCommandId_t REPLY_ID = 0x78;
+
+enum SetIds : uint32_t {
+  TEMPERATURE_SET_ID = DeviceCommandId::GET_TEMPERATURE,
+  STATUS_SET_ID = DeviceCommandId::GET_RW_STATUS,
+  LAST_RESET_ID = DeviceCommandId::GET_LAST_RESET_STATUS,
+  TM_SET_ID = DeviceCommandId::GET_TM,
+  SPEED_CMD_SET = 10,
+};
 
 /** Set speed command has maximum size */
 static const size_t MAX_CMD_SIZE = 9;
@@ -106,9 +155,10 @@ static const uint8_t TM_SET_ENTRIES = 24;
  */
 class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
  public:
-  StatusSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, STATUS_SET_ID) {}
+  StatusSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, rws::SetIds::STATUS_SET_ID) {}
 
-  StatusSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, STATUS_SET_ID)) {}
+  StatusSet(object_id_t objectId)
+      : StaticLocalDataSet(sid_t(objectId, rws::SetIds::STATUS_SET_ID)) {}
 
   lp_var_t<int32_t> temperatureCelcius =
       lp_var_t<int32_t>(sid.objectId, PoolIds::TEMPERATURE_C, this);
@@ -124,9 +174,11 @@ class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
  */
 class LastResetSatus : public StaticLocalDataSet<LAST_RESET_ENTRIES> {
  public:
-  LastResetSatus(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, LAST_RESET_ID) {}
+  LastResetSatus(HasLocalDataPoolIF* owner)
+      : StaticLocalDataSet(owner, rws::SetIds::LAST_RESET_ID) {}
 
-  LastResetSatus(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, LAST_RESET_ID)) {}
+  LastResetSatus(object_id_t objectId)
+      : StaticLocalDataSet(sid_t(objectId, rws::SetIds::LAST_RESET_ID)) {}
 
   // If a reset occurs, the status code will be cached into this variable
   lp_var_t<uint8_t> lastNonClearedResetStatus =
@@ -143,9 +195,9 @@ class LastResetSatus : public StaticLocalDataSet<LAST_RESET_ENTRIES> {
  */
 class TmDataset : public StaticLocalDataSet<TM_SET_ENTRIES> {
  public:
-  TmDataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TM_SET_ID) {}
+  TmDataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, rws::SetIds::TM_SET_ID) {}
 
-  TmDataset(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TM_SET_ID)) {}
+  TmDataset(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, rws::SetIds::TM_SET_ID)) {}
 
   lp_var_t<uint8_t> lastResetStatus =
       lp_var_t<uint8_t>(sid.objectId, PoolIds::TM_LAST_RESET_STATUS, this);
@@ -192,6 +244,95 @@ class TmDataset : public StaticLocalDataSet<TM_SET_ENTRIES> {
       lp_var_t<uint32_t>(sid.objectId, PoolIds::SPI_TOTAL_ERRORS, this);
 };
 
-}  // namespace RwDefinitions
+class RwSpeedActuationSet : public StaticLocalDataSet<2> {
+  friend class RwHandler;
 
-#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_ */
+ public:
+  RwSpeedActuationSet(HasLocalDataPoolIF& owner)
+      : StaticLocalDataSet(&owner, rws::SetIds::SPEED_CMD_SET) {}
+  RwSpeedActuationSet(object_id_t objectId)
+      : StaticLocalDataSet(sid_t(objectId, rws::SetIds::SPEED_CMD_SET)) {}
+
+  void setRwSpeed(int32_t rwSpeed_, uint16_t rampTime_) {
+    if (rwSpeed.value != rwSpeed_) {
+      rwSpeed = rwSpeed_;
+    }
+    if (rampTime.value != rampTime_) {
+      rampTime = rampTime_;
+    }
+  }
+
+  void getRwSpeed(int32_t& rwSpeed_, uint16_t& rampTime_) {
+    rwSpeed_ = rwSpeed.value;
+    rampTime_ = rampTime.value;
+  }
+
+ private:
+  lp_var_t<int32_t> rwSpeed = lp_var_t<int32_t>(sid.objectId, rws::PoolIds::RW_SPEED, this);
+  lp_var_t<uint16_t> rampTime = lp_var_t<uint16_t>(sid.objectId, rws::PoolIds::RAMP_TIME, this);
+};
+
+}  // namespace rws
+
+/**
+ * Raw pointer overlay to hold the different frames received from the reaction
+ * wheel in a raw buffer and send them to the device handler.
+ */
+struct RwReplies {
+  friend class RwPollingTask;
+
+ public:
+  RwReplies(const uint8_t* rawData) : rawData(const_cast<uint8_t*>(rawData)) { initPointers(); }
+
+  const uint8_t* getClearLastResetStatusReply() const { return clearLastResetStatusReply + 1; }
+  bool wasClearLastRsetStatusReplyRead() const { return clearLastResetStatusReply[0]; }
+
+  const uint8_t* getGetLastResetStatusReply() const { return getLastResetStatusReply + 1; }
+  bool wasGetLastStatusReplyRead() const { return getLastResetStatusReply[0]; }
+
+  const uint8_t* getHkDataReply() const { return hkDataReply + 1; }
+  bool wasHkDataReplyRead() const { return hkDataReply[0]; }
+
+  const uint8_t* getInitRwControllerReply() const { return initRwControllerReply + 1; }
+  bool wasInitRwControllerReplyRead() const { return initRwControllerReply[0]; }
+
+  const uint8_t* getRawData() const { return rawData; }
+
+  const uint8_t* getReadTemperatureReply() const { return readTemperatureReply + 1; }
+  bool wasReadTemperatureReplySet() const { return readTemperatureReply[0]; }
+
+  const uint8_t* getRwStatusReply() const { return rwStatusReply + 1; }
+  bool wasRwStatusRead() const { return rwStatusReply[0]; }
+
+  const uint8_t* getSetSpeedReply() const { return setSpeedReply + 1; }
+  bool wasSetSpeedReplyRead() const { return setSpeedReply[0]; }
+
+ private:
+  RwReplies(uint8_t* rwData) : rawData(rwData) { initPointers(); }
+
+  /**
+   * The first byte of the reply buffers contains a flag which shows whether that
+   * frame was read from the reaction wheel at least once.
+   */
+  void initPointers() {
+    rwStatusReply = rawData;
+    setSpeedReply = rawData + rws::SIZE_GET_RW_STATUS + 1;
+    getLastResetStatusReply = setSpeedReply + rws::SIZE_SET_SPEED_REPLY + 1;
+    clearLastResetStatusReply = getLastResetStatusReply + rws::SIZE_GET_RESET_STATUS + 1;
+    readTemperatureReply = clearLastResetStatusReply + rws::SIZE_CLEAR_RESET_STATUS + 1;
+    hkDataReply = readTemperatureReply + rws::SIZE_GET_TEMPERATURE_REPLY + 1;
+    initRwControllerReply = hkDataReply + rws::SIZE_GET_TELEMETRY_REPLY + 1;
+    dummyPointer = initRwControllerReply + rws::SIZE_INIT_RW + 1;
+  }
+  uint8_t* rawData;
+  uint8_t* rwStatusReply;
+  uint8_t* setSpeedReply;
+  uint8_t* getLastResetStatusReply;
+  uint8_t* clearLastResetStatusReply;
+  uint8_t* readTemperatureReply;
+  uint8_t* hkDataReply;
+  uint8_t* initRwControllerReply;
+  uint8_t* dummyPointer;
+};
+
+#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_H_ */
diff --git a/mission/system/objects/AcsSubsystem.cpp b/mission/system/objects/AcsSubsystem.cpp
index b4ee3d52..d24572af 100644
--- a/mission/system/objects/AcsSubsystem.cpp
+++ b/mission/system/objects/AcsSubsystem.cpp
@@ -42,6 +42,11 @@ ReturnValue_t AcsSubsystem::initialize() {
   if (result != returnvalue::OK) {
     sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_RECOVERY failed" << std::endl;
   }
+  result =
+      manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::MULTIPLE_RW_INVALID));
+  if (result != returnvalue::OK) {
+    sif::error << "AcsSubsystem: Subscribing for acs::MULTIPLE_RW_INVALID failed" << std::endl;
+  }
   return Subsystem::initialize();
 }
 
@@ -64,12 +69,13 @@ void AcsSubsystem::handleEventMessages() {
             sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
           }
         }
-        if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
+        if (event.getEvent() == acs::SAFE_RATE_RECOVERY ||
+            event.getEvent() == acs::MULTIPLE_RW_INVALID) {
           CommandMessage msg;
           ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
           ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
           if (result != returnvalue::OK) {
-            sif::error << "AcsSubsystem: sending IDLE mode cmd to self has failed" << std::endl;
+            sif::error << "AcsSubsystem: sending SAFE mode cmd to self has failed" << std::endl;
           }
         }
         break;
diff --git a/mission/system/objects/RwAssembly.cpp b/mission/system/objects/RwAssembly.cpp
index 6e1c86ae..886ec5ce 100644
--- a/mission/system/objects/RwAssembly.cpp
+++ b/mission/system/objects/RwAssembly.cpp
@@ -167,7 +167,12 @@ bool RwAssembly::isUseable(object_id_t object, Mode_t mode) {
   return false;
 }
 
-ReturnValue_t RwAssembly::initialize() { return SubsystemBase::initialize(); }
+ReturnValue_t RwAssembly::initialize() {
+  for (auto objId : helper.rwIds) {
+    updateChildModeByObjId(objId, MODE_OFF, SUBMODE_NONE);
+  }
+  return AssemblyBase::initialize();
+}
 
 void RwAssembly::handleModeTransitionFailed(ReturnValue_t result) {
   if (targetMode == MODE_OFF) {
diff --git a/tmtc b/tmtc
index 1e143ea6..d9945d40 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 1e143ea6faa608baf3118512416f5a495dbd606c
+Subproject commit d9945d4054ad07dd6b17df798ca76220abfe1c6d
diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
index 977b794f..20b98979 100644
--- a/unittest/CMakeLists.txt
+++ b/unittest/CMakeLists.txt
@@ -5,5 +5,6 @@ target_sources(${UNITTEST_NAME} PRIVATE
     main.cpp
     testEnvironment.cpp
     testStampInFilename.cpp
+    hdlcEncodingRw.cpp
     printChar.cpp
 )
\ No newline at end of file
diff --git a/unittest/hdlcEncodingRw.cpp b/unittest/hdlcEncodingRw.cpp
new file mode 100644
index 00000000..88587414
--- /dev/null
+++ b/unittest/hdlcEncodingRw.cpp
@@ -0,0 +1,38 @@
+
+
+#include <catch2/catch_test_macros.hpp>
+
+#include "mission/devices/devicedefinitions/rwHelpers.h"
+
+TEST_CASE("HDLC Encoding RW", "[acs]") {
+  std::array<uint8_t, 256> encodedBuffer{};
+  size_t encodedLen = 0;
+  SECTION("Basic No Escaped Bytes") {
+    std::array<uint8_t, 4> dummyNoEscaped = {1, 2, 3, 4};
+
+    rws::encodeHdlc(dummyNoEscaped.data(), dummyNoEscaped.size(), encodedBuffer.data(), encodedLen);
+    REQUIRE(encodedLen == 6);
+    REQUIRE(encodedBuffer[0] == rws::FRAME_DELIMITER);
+    REQUIRE(encodedBuffer[1] == 1);
+    REQUIRE(encodedBuffer[2] == 2);
+    REQUIRE(encodedBuffer[3] == 3);
+    REQUIRE(encodedBuffer[4] == 4);
+    REQUIRE(encodedBuffer[5] == rws::FRAME_DELIMITER);
+  }
+
+  SECTION("Basic Some Escaped Bytes") {
+    std::array<uint8_t, 4> dummySomeEscaped = {1, 0x7D, 0x7E, 4};
+
+    rws::encodeHdlc(dummySomeEscaped.data(), dummySomeEscaped.size(), encodedBuffer.data(),
+                    encodedLen);
+    REQUIRE(encodedLen == 8);
+    REQUIRE(encodedBuffer[0] == rws::FRAME_DELIMITER);
+    REQUIRE(encodedBuffer[1] == 1);
+    REQUIRE(encodedBuffer[2] == 0x7D);
+    REQUIRE(encodedBuffer[3] == 0x5D);
+    REQUIRE(encodedBuffer[4] == 0x7D);
+    REQUIRE(encodedBuffer[5] == 0x5E);
+    REQUIRE(encodedBuffer[6] == 4);
+    REQUIRE(encodedBuffer[7] == rws::FRAME_DELIMITER);
+  }
+}