Merge branch 'develop' into acs-flp-safe

CHANGELOG.md

@@ -16,6 +16,46 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Fixed
+
+- Bugfixes and improvements for SDC state machine. Internal state was not updated correctly due
+  to a regression, so commanding the SDC state machine externally lead to confusing results.
+- Fixed a bug in persistent TM store, where the active file was not reset of SD card switches.
+  SD card switch from 0 to 1 and vice-versa works without errors from persistent TM stores now.
+
+## Changed
+
+- Added additional logic for SDC state machine so that the SD cards are marked unusable when
+  the active SD card is switched or there is a transition from hot redundant to cold redundant mode.
+  This gives other tasks some time to register the SD cards being unusable, and therefore provides
+  a way for them to perform any re-initialization tasks necessary after SD card switches.
+
+# [v1.44.0] 2023-04-07
+
+- eive-tmtc: v2.22.0
+
+## Added
+
+- Special I2C recovery handling. If the I2C bus is unavailable for whatever reason, the EIVE
+  system component will power-cycle all I2C devices by first going to the OFF/BOOT mode, then
+  power-cycling the 3V3 stack and rebooting the battery, and finally going back to safe mode.
+  If this does not restore the bus, a full reboot will be performed. This special sequence can
+  be commanded as well.
+
+## Fixed
+
+- RW Assembly: Correctly transition back to off when more than 1 devices is OFF. Also do this
+  when this was due to two devices being marked faulty.
+- RW dummy and STR dummy components: Set/Update modes correctly.
+- RW handlers: Bugfix for TM set retrieval and special request handling in general where the CRC
+  check always failed for special request. Also removed an unnecessary delay for special requests.
+- RW handlers: Polling is now disabled for RWs which are off.
+
+## Changed
+
+- RW shutdown now waits for the speed to be near 0 or for a OFF transition countdown to be expired
+  before going to off.
+
 # [v1.43.2] 2023-04-05
 
 ## Changed

CMakeLists.txt

@@ -10,8 +10,8 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 1)
-set(OBSW_VERSION_MINOR 43)
-set(OBSW_VERSION_REVISION 2)
+set(OBSW_VERSION_MINOR 44)
+set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)
 

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 284 translations.
+ * @brief    Auto-generated event translation file. Contains 285 translations.
  * @details
- * Generated on: 2023-04-04 13:59:07
+ * Generated on: 2023-04-07 17:42:57
  */
 #include "translateEvents.h"
 
@@ -266,7 +266,8 @@ const char *VERSION_INFO_STRING = "VERSION_INFO";
 const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
 const char *REBOOT_COUNTER_STRING = "REBOOT_COUNTER";
 const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
-const char *I2C_UNAVAILABLE_REBOOT_STRING = "I2C_UNAVAILABLE_REBOOT";
+const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
+const char *I2C_REBOOT_STRING = "I2C_REBOOT";
 const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
 const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
 const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
@@ -815,7 +816,9 @@ const char *translateEvents(Event event) {
     case (14008):
       return INDIVIDUAL_BOOT_COUNTS_STRING;
     case (14010):
-      return I2C_UNAVAILABLE_REBOOT_STRING;
+      return TRYING_I2C_RECOVERY_STRING;
+    case (14011):
+      return I2C_REBOOT_STRING;
     case (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 171 translations.
- * Generated on: 2023-04-04 13:59:07
+ * Generated on: 2023-04-07 17:42:57
  */
 #include "translateObjects.h"
 

bsp_q7s/callbacks/rwSpiCallback.cpp

@@ -252,7 +252,7 @@ ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpi
   fd = open(devname.c_str(), flags);
   if (fd < 0) {
     sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
-    return SpiComIF::OPENING_FILE_FAILED;
+    return spi::OPENING_FILE_FAILED;
   }
 
   // Pull SPI CS low. For now, no support for active high given

bsp_q7s/core/CoreController.cpp

@@ -9,6 +9,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/timemanager/Stopwatch.h"
 #include "fsfw/version.h"
+#include "mission/sysDefs.h"
 #include "watchdog/definitions.h"
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
 #include "fsfw/osal/common/UdpTmTcBridge.h"
@@ -31,8 +32,7 @@
 xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
 xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
 
-CoreController::CoreController(object_id_t objectId, const std::atomic_uint16_t &i2cErrors,
-                               bool enableHkSet)
+CoreController::CoreController(object_id_t objectId, bool enableHkSet)
     : ExtendedControllerBase(objectId, 5),
       enableHkSet(enableHkSet),
       cmdExecutor(4096),
@@ -40,8 +40,7 @@ CoreController::CoreController(object_id_t objectId, const std::atomic_uint16_t
       cmdRepliesSizes(128),
       opDivider5(5),
       opDivider10(10),
-      hkSet(this),
-      i2cErrors(i2cErrors) {
+      hkSet(this) {
   cmdExecutor.setRingBuffer(&cmdReplyBuf, &cmdRepliesSizes);
   try {
     sdcMan = SdCardManager::instance();
@@ -55,7 +54,6 @@ CoreController::CoreController(object_id_t objectId, const std::atomic_uint16_t
     // Set up state of SD card manager and own initial state.
     // Stopwatch watch;
     sdcMan->updateSdCardStateFile();
-    sdcMan->updateSdStatePair();
     SdCardManager::SdStatePair sdStates;
     sdcMan->getSdCardsStatus(sdStates);
     auto sdCard = sdcMan->getPreferredSdCard();
@@ -110,17 +108,12 @@ void CoreController::performControlOperation() {
   sdStateMachine();
   performMountedSdCardOperations();
   readHkData();
-  if (i2cErrors >= 5) {
-    bool protOpPerformed = false;
-    triggerEvent(I2C_UNAVAILABLE_REBOOT);
-    gracefulShutdownTasks(CURRENT_CHIP, CURRENT_COPY, protOpPerformed);
-    std::system("xsc_boot_copy -r");
-  }
+
   if (shellCmdIsExecuting) {
     bool replyReceived = false;
     // TODO: We could read the data in the ring buffer and send it as an action data reply.
     if (cmdExecutor.check(replyReceived) == CommandExecutor::EXECUTION_FINISHED) {
-      actionHelper.finish(true, successRecipient, EXECUTE_SHELL_CMD);
+      actionHelper.finish(true, successRecipient, core::EXECUTE_SHELL_CMD);
       shellCmdIsExecuting = false;
       cmdReplyBuf.clear();
       while (not cmdRepliesSizes.empty()) {
@@ -163,7 +156,7 @@ ReturnValue_t CoreController::initialize() {
 
   sdStateMachine();
 
-  triggerEvent(REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
+  triggerEvent(core::REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
   EventManagerIF *eventManager =
       ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
   if (eventManager == nullptr or eventQueue == nullptr) {
@@ -202,6 +195,7 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
 
 ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                             const uint8_t *data, size_t size) {
+  using namespace core;
   switch (actionId) {
     case (ANNOUNCE_VERSION): {
       uint32_t p1 = (common::OBSW_VERSION_MAJOR << 24) | (common::OBSW_VERSION_MINOR << 16) |
@@ -373,7 +367,7 @@ ReturnValue_t CoreController::initSdCardBlocking() {
   }
 
   if (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
-    updateSdInfoOther();
+    updateInternalSdInfo();
     sif::info << "Cold redundant SD card configuration, preferred SD card: "
               << static_cast<int>(sdInfo.active) << std::endl;
     result = sdColdRedundantBlockingInit();
@@ -409,23 +403,23 @@ ReturnValue_t CoreController::sdStateMachine() {
     } else {
       // Still update SD state file
       if (sdInfo.cfgMode == SdCfgMode::PASSIVE) {
-        sdFsmState = SdStates::UPDATE_INFO;
+        sdFsmState = SdStates::UPDATE_SD_INFO_END;
       } else {
         sdInfo.cycleCount = 0;
-        sdInfo.commandExecuted = false;
-        sdFsmState = SdStates::GET_INFO;
+        sdInfo.commandPending = false;
+        sdFsmState = SdStates::UPDATE_SD_INFO_START;
       }
     }
   }
 
-  // This lambda checks the non-blocking operation and assigns the new state on success.
-  // It returns true for an operation success and false otherwise
-  auto nonBlockingOpChecking = [&](SdStates newStateOnSuccess, uint16_t maxCycleCount,
-                                   std::string opPrintout) {
+  // This lambda checks the non-blocking operation of the SD card manager and assigns the new
+  // state on success. It returns true for an operation success and false otherwise
+  auto nonBlockingSdcOpChecking = [&](SdStates newStateOnSuccess, uint16_t maxCycleCount,
+                                      std::string opPrintout) {
     SdCardManager::OpStatus status = sdcMan->checkCurrentOp(operation);
     if (status == SdCardManager::OpStatus::SUCCESS) {
       sdFsmState = newStateOnSuccess;
-      sdInfo.commandExecuted = false;
+      sdInfo.commandPending = false;
       sdInfo.cycleCount = 0;
       return true;
     } else if (sdInfo.cycleCount > 4) {
@@ -436,26 +430,29 @@ ReturnValue_t CoreController::sdStateMachine() {
     return false;
   };
 
-  if (sdFsmState == SdStates::GET_INFO) {
-    if (not sdInfo.commandExecuted) {
+  if (sdFsmState == SdStates::UPDATE_SD_INFO_START) {
+    if (not sdInfo.commandPending) {
       // Create updated status file
       result = sdcMan->updateSdCardStateFile();
       if (result != returnvalue::OK) {
         sif::warning << "CoreController::sdStateMachine: Updating SD card state file failed"
                      << std::endl;
       }
-      sdFsmState = SdStates::SET_STATE_SELF;
-      sdInfo.commandExecuted = false;
-      sdInfo.cycleCount = 0;
-    } else {
-      nonBlockingOpChecking(SdStates::SET_STATE_SELF, 4, "Updating SDC file");
-    }
-  }
-
-  if (sdFsmState == SdStates::SET_STATE_SELF) {
-    if (not sdInfo.commandExecuted) {
       result = sdcMan->getSdCardsStatus(sdInfo.currentState);
-      updateSdInfoOther();
+      updateInternalSdInfo();
+      auto currentlyActiveSdc = sdcMan->getActiveSdCard();
+      // Used/active SD card switches, so mark SD card unusable so other tasks have some time
+      // registering the unavailable SD card.
+      if (not currentlyActiveSdc.has_value() or
+          ((currentlyActiveSdc.value() == sd::SdCard::SLOT_0) and
+           (sdInfo.active == sd::SdCard::SLOT_1)) or
+          ((currentlyActiveSdc.value() == sd::SdCard::SLOT_1) and
+           (sdInfo.active == sd::SdCard::SLOT_0))) {
+        sdInfo.lockSdCardUsage = true;
+      }
+      if (sdInfo.lockSdCardUsage) {
+        sdcMan->markUnusable();
+      }
       if (sdInfo.active != sd::SdCard::SLOT_0 and sdInfo.active != sd::SdCard::SLOT_1) {
         sif::warning << "Preferred SD card invalid. Setting to card 0.." << std::endl;
         sdInfo.active = sd::SdCard::SLOT_0;
@@ -467,7 +464,11 @@ ReturnValue_t CoreController::sdStateMachine() {
         sif::info << "Cold redundant SD card configuration, target SD card: "
                   << static_cast<int>(sdInfo.active) << std::endl;
       }
+      SdStates tgtState = SdStates::IDLE;
+      bool skipCycles = sdInfo.lockSdCardUsage;
+      // Need to do different things depending on state of SD card which will be active.
       if (sdInfo.activeState == sd::SdState::MOUNTED) {
+        // Already mounted, so we can perform handling of the other side.
 #if OBSW_VERBOSE_LEVEL >= 1
         std::string mountString;
         if (sdInfo.active == sd::SdCard::SLOT_0) {
@@ -480,27 +481,57 @@ ReturnValue_t CoreController::sdStateMachine() {
 #endif
         sdcMan->setActiveSdCard(sdInfo.active);
         currMntPrefix = sdcMan->getCurrentMountPrefix();
-        sdFsmState = SdStates::DETERMINE_OTHER;
+        tgtState = SdStates::DETERMINE_OTHER;
       } else if (sdInfo.activeState == sd::SdState::OFF) {
+        // It's okay to do the delay after swichting active SD on, no one can use it anyway..
         sdCardSetup(sdInfo.active, sd::SdState::ON, sdInfo.activeChar, false);
-        sdInfo.commandExecuted = true;
+        sdInfo.commandPending = true;
+        // Do not skip cycles here, would mess up the state machine. We skip the cycles after
+        // the SD card was switched on.
+        skipCycles = false;
+        // Remain on the current state.
+        tgtState = sdFsmState;
       } else if (sdInfo.activeState == sd::SdState::ON) {
-        sdFsmState = SdStates::MOUNT_SELF;
+        // We can do the delay before mounting where applicable.
+        tgtState = SdStates::MOUNT_SELF;
+      }
+      if (skipCycles) {
+        sdFsmState = SdStates::SKIP_TWO_CYCLES_IF_SD_LOCKED;
+        fsmStateAfterDelay = tgtState;
+        sdInfo.skippedCyclesCount = 0;
+      } else {
+        sdFsmState = tgtState;
       }
     } else {
-      if (nonBlockingOpChecking(SdStates::MOUNT_SELF, 10, "Setting SDC state")) {
+      if (nonBlockingSdcOpChecking(SdStates::MOUNT_SELF, 10, "Setting SDC state")) {
         sdInfo.activeState = sd::SdState::ON;
         currentStateSetter(sdInfo.active, sd::SdState::ON);
+        // Skip the two cycles now.
+        if (sdInfo.lockSdCardUsage) {
+          sdFsmState = SdStates::SKIP_TWO_CYCLES_IF_SD_LOCKED;
+          fsmStateAfterDelay = SdStates::MOUNT_SELF;
+          sdInfo.skippedCyclesCount = 0;
+        }
       }
     }
   }
 
+  if (sdFsmState == SdStates::SKIP_TWO_CYCLES_IF_SD_LOCKED) {
+    sdInfo.skippedCyclesCount++;
+    // Count to three because this branch will run in the same FSM cycle.
+    if (sdInfo.skippedCyclesCount == 3) {
+      sdFsmState = fsmStateAfterDelay;
+      fsmStateAfterDelay = SdStates::IDLE;
+      sdInfo.skippedCyclesCount = 0;
+    }
+  }
+
   if (sdFsmState == SdStates::MOUNT_SELF) {
-    if (not sdInfo.commandExecuted) {
+    if (not sdInfo.commandPending) {
       result = sdCardSetup(sdInfo.active, sd::SdState::MOUNTED, sdInfo.activeChar);
-      sdInfo.commandExecuted = true;
+      sdInfo.commandPending = true;
     } else {
-      if (nonBlockingOpChecking(SdStates::DETERMINE_OTHER, 5, "Mounting SD card")) {
+      if (nonBlockingSdcOpChecking(SdStates::DETERMINE_OTHER, 5, "Mounting SD card")) {
         sdcMan->setActiveSdCard(sdInfo.active);
         currMntPrefix = sdcMan->getCurrentMountPrefix();
         sdInfo.activeState = sd::SdState::MOUNTED;
@@ -537,23 +568,33 @@ ReturnValue_t CoreController::sdStateMachine() {
   if (sdFsmState == SdStates::SET_STATE_OTHER) {
     // Set state of other SD card to ON or OFF, depending on redundancy mode
     if (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
-      if (not sdInfo.commandExecuted) {
+      if (not sdInfo.commandPending) {
         result = sdCardSetup(sdInfo.other, sd::SdState::OFF, sdInfo.otherChar, false);
-        sdInfo.commandExecuted = true;
+        sdInfo.commandPending = true;
       } else {
-        if (nonBlockingOpChecking(SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE, 10,
-                                  "Switching off other SD card")) {
+        if (nonBlockingSdcOpChecking(SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE, 10,
+                                     "Switching off other SD card")) {
+          sdInfo.otherState = sd::SdState::OFF;
+          currentStateSetter(sdInfo.other, sd::SdState::OFF);
+        } else {
+          // Continue.. avoid being stuck here..
+          sdFsmState = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
           sdInfo.otherState = sd::SdState::OFF;
           currentStateSetter(sdInfo.other, sd::SdState::OFF);
         }
       }
     } else if (sdInfo.cfgMode == SdCfgMode::HOT_REDUNDANT) {
-      if (not sdInfo.commandExecuted) {
+      if (not sdInfo.commandPending) {
         result = sdCardSetup(sdInfo.other, sd::SdState::ON, sdInfo.otherChar, false);
-        sdInfo.commandExecuted = true;
+        sdInfo.commandPending = true;
       } else {
-        if (nonBlockingOpChecking(SdStates::MOUNT_UNMOUNT_OTHER, 10,
-                                  "Switching on other SD card")) {
+        if (nonBlockingSdcOpChecking(SdStates::MOUNT_UNMOUNT_OTHER, 10,
+                                     "Switching on other SD card")) {
+          sdInfo.otherState = sd::SdState::ON;
+          currentStateSetter(sdInfo.other, sd::SdState::ON);
+        } else {
+          // Contnue.. avoid being stuck here.
+          sdFsmState = SdStates::MOUNT_UNMOUNT_OTHER;
           sdInfo.otherState = sd::SdState::ON;
           currentStateSetter(sdInfo.other, sd::SdState::ON);
         }
@@ -564,21 +605,25 @@ ReturnValue_t CoreController::sdStateMachine() {
   if (sdFsmState == SdStates::MOUNT_UNMOUNT_OTHER) {
     // Mount or unmount other SD card, depending on redundancy mode
     if (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
-      if (not sdInfo.commandExecuted) {
+      if (not sdInfo.commandPending) {
         result = sdCardSetup(sdInfo.other, sd::SdState::ON, sdInfo.otherChar);
-        sdInfo.commandExecuted = true;
+        sdInfo.commandPending = true;
       } else {
-        if (nonBlockingOpChecking(SdStates::SET_STATE_OTHER, 10, "Unmounting other SD card")) {
+        if (nonBlockingSdcOpChecking(SdStates::SET_STATE_OTHER, 10, "Unmounting other SD card")) {
           sdInfo.otherState = sd::SdState::ON;
           currentStateSetter(sdInfo.other, sd::SdState::ON);
+        } else {
+          sdInfo.otherState = sd::SdState::ON;
+          currentStateSetter(sdInfo.other, sd::SdState::ON);
+          sdFsmState = SdStates::SET_STATE_OTHER;
         }
       }
     } else if (sdInfo.cfgMode == SdCfgMode::HOT_REDUNDANT) {
-      if (not sdInfo.commandExecuted) {
+      if (not sdInfo.commandPending) {
         result = sdCardSetup(sdInfo.other, sd::SdState::MOUNTED, sdInfo.otherChar);
-        sdInfo.commandExecuted = true;
+        sdInfo.commandPending = true;
       } else {
-        if (nonBlockingOpChecking(SdStates::UPDATE_INFO, 4, "Mounting other SD card")) {
+        if (nonBlockingSdcOpChecking(SdStates::UPDATE_SD_INFO_END, 4, "Mounting other SD card")) {
           sdInfo.otherState = sd::SdState::MOUNTED;
           currentStateSetter(sdInfo.other, sd::SdState::MOUNTED);
         }
@@ -587,14 +632,17 @@ ReturnValue_t CoreController::sdStateMachine() {
   }
 
   if (sdFsmState == SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE) {
-    sdFsmState = SdStates::UPDATE_INFO;
-  } else if (sdFsmState == SdStates::UPDATE_INFO) {
+    sdFsmState = SdStates::UPDATE_SD_INFO_END;
+  } else if (sdFsmState == SdStates::UPDATE_SD_INFO_END) {
     // Update status file
     result = sdcMan->updateSdCardStateFile();
     if (result != returnvalue::OK) {
-      sif::warning << "CoreController::initialize: Updating SD card state file failed" << std::endl;
+      sif::warning << "CoreController: Updating SD card state file failed" << std::endl;
     }
-    sdInfo.commandExecuted = false;
+    updateInternalSdInfo();
+    // Mark usable again in any case.
+    sdcMan->markUsable();
+    sdInfo.commandPending = false;
     sdFsmState = SdStates::IDLE;
     sdInfo.cycleCount = 0;
     sdcMan->setBlocking(false);
@@ -604,8 +652,16 @@ ReturnValue_t CoreController::sdStateMachine() {
       actionHelper.finish(true, sdCommandingInfo.commander, sdCommandingInfo.actionId,
                           returnvalue::OK);
     }
+    const char *modeStr = "UNKNOWN";
+    if (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
+      modeStr = "COLD REDUNDANT";
+    } else if (sdInfo.cfgMode == SdCfgMode::HOT_REDUNDANT) {
+      modeStr = "HOT REDUNDANT";
+    }
+    sif::info << "SD card update into " << modeStr
+              << " mode finished. Active SD: " << sdInfo.activeChar << std::endl;
     if (not sdInfo.initFinished) {
-      updateSdInfoOther();
+      updateInternalSdInfo();
       sdInfo.initFinished = true;
       sif::info << "SD card initialization finished" << std::endl;
     }
@@ -982,7 +1038,7 @@ ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy co
   return result;
 }
 
-void CoreController::updateSdInfoOther() {
+void CoreController::updateInternalSdInfo() {
   if (sdInfo.active == sd::SdCard::SLOT_0) {
     sdInfo.activeChar = "0";
     sdInfo.otherChar = "1";
@@ -1324,7 +1380,7 @@ ReturnValue_t CoreController::performSdCardCheck() {
     someSdCardActive = true;
   }
   if (not someSdCardActive and remountAttemptFlag) {
-    triggerEvent(NO_SD_CARD_ACTIVE);
+    triggerEvent(core::NO_SD_CARD_ACTIVE);
     initSdCardBlocking();
     remountAttemptFlag = false;
   }
@@ -1378,7 +1434,7 @@ void CoreController::performRebootFileHandling(bool recreateFile) {
   if (rebootFile.bootFlag) {
     // Trigger event to inform ground that a reboot was triggered
     uint32_t p1 = rebootFile.lastChip << 16 | rebootFile.lastCopy;
-    triggerEvent(REBOOT_MECHANISM_TRIGGERED, p1, 0);
+    triggerEvent(core::REBOOT_MECHANISM_TRIGGERED, p1, 0);
     // Clear the boot flag
     rebootFile.bootFlag = false;
   }
@@ -2035,6 +2091,11 @@ bool CoreController::startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mo
   }
   sdFsmState = SdStates::START;
   sdInfo.active = targetActiveSd;
+  // If we are going from 2 SD cards to one, lock SD card usage in any case because 1 SD card is
+  // going off.
+  if (sdInfo.cfgMode == SdCfgMode::HOT_REDUNDANT and mode == SdCfgMode::COLD_REDUNDANT) {
+    sdInfo.lockSdCardUsage = true;
+  }
   sdInfo.cfgMode = mode;
   sdCommandingInfo.actionId = actionId;
   sdCommandingInfo.commander = commander;
@@ -2047,8 +2108,9 @@ void CoreController::announceBootCounts() {
       rebootFile.img00Cnt + rebootFile.img01Cnt + rebootFile.img10Cnt + rebootFile.img11Cnt;
   uint32_t individualBootCountsP1 = (rebootFile.img00Cnt << 16) | rebootFile.img01Cnt;
   uint32_t individualBootCountsP2 = (rebootFile.img10Cnt << 16) | rebootFile.img11Cnt;
-  triggerEvent(INDIVIDUAL_BOOT_COUNTS, individualBootCountsP1, individualBootCountsP2);
-  triggerEvent(REBOOT_COUNTER, (totalBootCount >> 32) & 0xffffffff, totalBootCount & 0xffffffff);
+  triggerEvent(core::INDIVIDUAL_BOOT_COUNTS, individualBootCountsP1, individualBootCountsP2);
+  triggerEvent(core::REBOOT_COUNTER, (totalBootCount >> 32) & 0xffffffff,
+               totalBootCount & 0xffffffff);
 }
 
 bool CoreController::isNumber(const std::string &s) {

bsp_q7s/core/CoreController.h

@@ -78,64 +78,7 @@ class CoreController : public ExtendedControllerBase {
   static constexpr dur_millis_t INIT_SD_CARD_CHECK_TIMEOUT = 5000;
   static constexpr dur_millis_t DEFAULT_SD_CARD_CHECK_TIMEOUT = 60000;
 
-  static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
-  static constexpr ActionId_t ANNOUNCE_VERSION = 1;
-  static constexpr ActionId_t ANNOUNCE_CURRENT_IMAGE = 2;
-  static constexpr ActionId_t ANNOUNCE_BOOT_COUNTS = 3;
-  static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
-  static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
-  static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
-  static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
-
-  static constexpr ActionId_t OBSW_UPDATE_FROM_SD_0 = 10;
-  static constexpr ActionId_t OBSW_UPDATE_FROM_SD_1 = 11;
-  static constexpr ActionId_t OBSW_UPDATE_FROM_TMP = 12;
-
-  static constexpr ActionId_t SWITCH_TO_SD_0 = 16;
-  static constexpr ActionId_t SWITCH_TO_SD_1 = 17;
-  static constexpr ActionId_t SWITCH_TO_BOTH_SD_CARDS = 18;
-
-  //! Reboot using the xsc_boot_copy command
-  static constexpr ActionId_t XSC_REBOOT_OBC = 32;
-  static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
-  //! Reboot using the reboot command
-  static constexpr ActionId_t REBOOT_OBC = 34;
-
-  static constexpr ActionId_t EXECUTE_SHELL_CMD = 40;
-
-  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
-
-  static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
-  //! [EXPORT] : [COMMENT]  Software reboot occurred. Can also be a systemd reboot.
-  //! P1: Current Chip, P2: Current Copy
-  static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::LOW);
-  //! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
-  //! P1: First 16 bits: Last Chip, Last 16 bits: Last Copy,
-  //! P2: Each byte is the respective reboot count for the slots
-  static constexpr Event REBOOT_MECHANISM_TRIGGERED =
-      event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
-  //! Trying to find a way how to determine that the reboot came from ProASIC3 or PCDU..
-  static constexpr Event REBOOT_HW = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
-  //! [EXPORT] : [COMMENT] No SD card was active. Core controller will attempt to re-initialize
-  //! a SD card.
-  static constexpr Event NO_SD_CARD_ACTIVE = event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
-  //! [EXPORT] : [COMMENT]
-  //! P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash
-  //! P2: First four letters of Git SHA is the last byte of P1 is set.
-  static constexpr Event VERSION_INFO = event::makeEvent(SUBSYSTEM_ID, 5, severity::INFO);
-  //! [EXPORT] : [COMMENT] P1: Current Chip, P2: Current Copy
-  static constexpr Event CURRENT_IMAGE_INFO = event::makeEvent(SUBSYSTEM_ID, 6, severity::INFO);
-  //! [EXPORT] : [COMMENT] Total reboot counter, which is the sum of the boot count of all
-  //! individual images.
-  static constexpr Event REBOOT_COUNTER = event::makeEvent(SUBSYSTEM_ID, 7, severity::INFO);
-  //! [EXPORT] : [COMMENT] Get the boot count of the individual images.
-  //! P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1.
-  //! P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.
-  static constexpr Event INDIVIDUAL_BOOT_COUNTS = event::makeEvent(SUBSYSTEM_ID, 8, severity::INFO);
-  static constexpr Event I2C_UNAVAILABLE_REBOOT =
-      event::makeEvent(SUBSYSTEM_ID, 10, severity::MEDIUM);
-
-  CoreController(object_id_t objectId, const std::atomic_uint16_t& i2cErrors, bool enableHkSet);
+  CoreController(object_id_t objectId, bool enableHkSet);
   virtual ~CoreController();
 
   ReturnValue_t initialize() override;
@@ -186,8 +129,8 @@ class CoreController : public ExtendedControllerBase {
   enum class SdStates {
     NONE,
     START,
-    GET_INFO,
-    SET_STATE_SELF,
+    UPDATE_SD_INFO_START,
+    SKIP_TWO_CYCLES_IF_SD_LOCKED,
     MOUNT_SELF,
     // Determine operations for other SD card, depending on redundancy configuration
     DETERMINE_OTHER,
@@ -197,7 +140,7 @@ class CoreController : public ExtendedControllerBase {
     // Skip period because the shell command used to generate the info file sometimes is
     // missing the last performed operation if executed too early
     SKIP_CYCLE_BEFORE_INFO_UPDATE,
-    UPDATE_INFO,
+    UPDATE_SD_INFO_END,
     // SD initialization done
     IDLE
   };
@@ -210,22 +153,28 @@ class CoreController : public ExtendedControllerBase {
   MessageQueueIF* eventQueue = nullptr;
 
   SdStates sdFsmState = SdStates::START;
+  SdStates fsmStateAfterDelay = SdStates::IDLE;
   enum SdCfgMode { PASSIVE, COLD_REDUNDANT, HOT_REDUNDANT };
 
   struct SdFsmParams {
     SdCfgMode cfgMode = SdCfgMode::COLD_REDUNDANT;
     sd::SdCard active = sd::SdCard::NONE;
     sd::SdCard other = sd::SdCard::NONE;
-    sd::SdState activeState = sd::SdState::OFF;
-    sd::SdState otherState = sd::SdState::OFF;
     std::string activeChar = "0";
     std::string otherChar = "1";
+    sd::SdState activeState = sd::SdState::OFF;
+    sd::SdState otherState = sd::SdState::OFF;
     std::pair<bool, bool> mountSwitch = {true, true};
-    // Used to track whether a command was executed
-    bool commandExecuted = true;
+    // This flag denotes that the SD card usage is locked. This is relevant if SD cards go off
+    // to leave appliation using the SD cards some time to detect the SD card is not usable anymore.
+    // This is relevant if the active SD card is being switched. The SD card will also be locked
+    // when going from hot-redundant mode to cold-redundant mode.
+    bool lockSdCardUsage = false;
+    bool commandPending = true;
     bool initFinished = false;
     SdCardManager::SdStatePair currentState;
     uint16_t cycleCount = 0;
+    uint16_t skippedCyclesCount = 0;
   } sdInfo;
 
   struct SdCommanding {
@@ -266,7 +215,6 @@ class CoreController : public ExtendedControllerBase {
   PoolEntry<float> plVoltageEntry = PoolEntry<float>(0.0);
 
   core::HkSet hkSet;
-  const std::atomic_uint16_t& i2cErrors;
 
 #if OBSW_SD_CARD_MUST_BE_ON == 1
   bool remountAttemptFlag = true;
@@ -290,7 +238,7 @@ class CoreController : public ExtendedControllerBase {
   void initPrint();
 
   ReturnValue_t sdStateMachine();
-  void updateSdInfoOther();
+  void updateInternalSdInfo();
   ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
                             bool printOutput = true);
   ReturnValue_t executeSwUpdate(SwUpdateSources sourceDir, const uint8_t* data, size_t size);

bsp_q7s/core/ObjectFactory.h

@@ -23,7 +23,6 @@ class HealthTableIF;
 class AcsBoardAssembly;
 class GpioIF;
 
-extern std::atomic_uint16_t I2C_FATAL_ERRORS;
 extern std::atomic_bool PTME_LOCKED;
 
 namespace ObjectFactory {

bsp_q7s/core/scheduling.cpp

@@ -237,7 +237,7 @@ void scheduling::initTasks() {
 
 #if OBSW_ADD_RW == 1
   PeriodicTaskIF* rwPolling =
-      factory->createPeriodicTask("RW_POLLING_TASK", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+      factory->createPeriodicTask("RW_POLLING_TASK", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
                                   0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = rwPolling->addComponent(objects::RW_POLLING_TASK);
   if (result != returnvalue::OK) {

bsp_q7s/em/emObjectFactory.cpp

@@ -5,7 +5,7 @@
 #include <fsfw/power/DummyPowerSwitcher.h>
 #include <fsfw_hal/common/gpio/GpioCookie.h>
 #include <mission/power/gsDefs.h>
-#include <mission/system/tree/system.h>
+#include <mission/system/systemTree.h>
 #include <mission/utility/DummySdCardManager.h>
 
 #include "OBSWConfig.h"
@@ -71,7 +71,7 @@ void ObjectFactory::produce(void* args) {
 
   dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF);
 
-  new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS, enableHkSets);
+  new CoreController(objects::CORE_CONTROLLER, enableHkSets);
 
   // Regular FM code, does not work for EM if the hardware is not connected
   // createPcduComponents(gpioComIF, &pwrSwitcher);

bsp_q7s/fmObjectFactory.cpp

@@ -2,6 +2,7 @@
 #include <fsfw/storagemanager/LocalPool.h>
 #include <fsfw/storagemanager/PoolManager.h>
 #include <mission/power/gsDefs.h>
+#include <mission/system/EiveSystem.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
@@ -13,7 +14,7 @@
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "mission/genericFactory.h"
-#include "mission/system/tree/system.h"
+#include "mission/system/systemTree.h"
 #include "mission/tmtc/tmFilters.h"
 
 void ObjectFactory::produce(void* args) {
@@ -43,8 +44,10 @@ void ObjectFactory::produce(void* args) {
   q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
   gpioCallbacks::disableAllDecoder(gpioComIF);
 
-  new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS, enableHkSets);
+  new CoreController(objects::CORE_CONTROLLER, enableHkSets);
   createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
+  satsystem::EIVE_SYSTEM.setI2cRecoveryParams(pwrSwitcher);
+
   auto* stackHandler = new Stack5VHandler(*pwrSwitcher);
 
 #if OBSW_ADD_RAD_SENSORS == 1

bsp_q7s/fs/SdCardManager.cpp

@@ -309,32 +309,6 @@ void SdCardManager::resetState() {
   currentOp = Operations::IDLE;
 }
 
-ReturnValue_t SdCardManager::updateSdStatePair() {
-  using namespace std;
-
-  std::error_code e;
-  if (not filesystem::exists(SD_STATE_FILE, e)) {
-    return STATUS_FILE_NEXISTS;
-  }
-
-  // Now the file should exist in any case. Still check whether it exists.
-  fstream sdStatus(SD_STATE_FILE);
-  if (not sdStatus.good()) {
-    return STATUS_FILE_NEXISTS;
-  }
-  string line;
-  uint8_t idx = 0;
-  sd::SdCard currentSd = sd::SdCard::SLOT_0;
-  // Process status file line by line
-  while (std::getline(sdStatus, line)) {
-    processSdStatusLine(line, idx, currentSd);
-  }
-  if (sdStates.first != sd::SdState::MOUNTED && sdStates.second != sd::SdState::MOUNTED) {
-    sdCardActive = false;
-  }
-  return returnvalue::OK;
-}
-
 void SdCardManager::processSdStatusLine(std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
   using namespace std;
   istringstream iss(line);
@@ -407,6 +381,7 @@ ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
 }
 
 ReturnValue_t SdCardManager::updateSdCardStateFile() {
+  using namespace std;
   if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
     return CommandExecutor::COMMAND_PENDING;
   }
@@ -414,10 +389,31 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
   std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
   cmdExecutor.load(updateCmd, true, printCmdOutput);
   ReturnValue_t result = cmdExecutor.execute();
-  if (blocking and result != returnvalue::OK) {
+  if (result != returnvalue::OK) {
     utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
   }
-  return result;
+
+  std::error_code e;
+  if (not filesystem::exists(SD_STATE_FILE, e)) {
+    return STATUS_FILE_NEXISTS;
+  }
+
+  // Now the file should exist in any case. Still check whether it exists.
+  fstream sdStatus(SD_STATE_FILE);
+  if (not sdStatus.good()) {
+    return STATUS_FILE_NEXISTS;
+  }
+  string line;
+  uint8_t idx = 0;
+  sd::SdCard currentSd = sd::SdCard::SLOT_0;
+  // Process status file line by line
+  while (std::getline(sdStatus, line)) {
+    processSdStatusLine(line, idx, currentSd);
+  }
+  if (sdStates.first != sd::SdState::MOUNTED && sdStates.second != sd::SdState::MOUNTED) {
+    sdCardActive = false;
+  }
+  return returnvalue::OK;
 }
 
 const char* SdCardManager::getCurrentMountPrefix() const {
@@ -585,3 +581,8 @@ void SdCardManager::markUnusable() {
   MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
   markedUnusable = true;
 }
+
+void SdCardManager::markUsable() {
+  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
+  markedUnusable = false;
+}

bsp_q7s/fs/SdCardManager.h

@@ -117,16 +117,6 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
   ReturnValue_t switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard = true,
                                 SdStatePair* statusPair = nullptr);
 
-  /**
-   * Update the state file or creates one if it does not exist. You need to call this
-   * function before calling #sdCardActive
-   * @return
-   *  - returnvalue::OK if the state file was updated successfully
-   *  - CommandExecutor::COMMAND_PENDING: Non-blocking command is pending
-   *  - returnvalue::FAILED: blocking command failed
-   */
-  ReturnValue_t updateSdCardStateFile();
-
   /**
    * Get the state of the SD cards. If the state file does not exist, this function will
    * take care of updating it. If it does not, the function will use the state file to get
@@ -215,6 +205,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
   ReturnValue_t performFsck(sd::SdCard sdcard, bool printOutput, int& linuxError);
 
   void markUnusable();
+  void markUsable();
 
  private:
   CommandExecutor cmdExecutor;
@@ -234,7 +225,15 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
 
   SdCardManager();
 
-  ReturnValue_t updateSdStatePair();
+  /**
+   * Update the state file or creates one if it does not exist. You need to call this
+   * function before calling #sdCardActive
+   * @return
+   *  - returnvalue::OK if the state file was updated successfully
+   *  - CommandExecutor::COMMAND_PENDING: Non-blocking command is pending
+   *  - returnvalue::FAILED: blocking command failed
+   */
+  ReturnValue_t updateSdCardStateFile();
 
   ReturnValue_t setSdCardState(sd::SdCard sdCard, bool on);
 

bsp_q7s/obsw.cpp

@@ -16,7 +16,7 @@
 #include "fsfw/version.h"
 #include "mission/acs/defs.h"
 #include "mission/com/defs.h"
-#include "mission/system/tree/system.h"
+#include "mission/system/systemTree.h"
 #include "q7sConfig.h"
 #include "watchdog/definitions.h"
 

dummies/BpxDummy.cpp

@@ -37,19 +37,19 @@ uint32_t BpxDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return
 
 ReturnValue_t BpxDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                 LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_1, &battTemp1);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_2, &battTemp2);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_3, &battTemp3);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_4, &battTemp4);
-  localDataPoolMap.emplace(BpxBattery::CHARGE_CURRENT, &chargeCurrent);
-  localDataPoolMap.emplace(BpxBattery::DISCHARGE_CURRENT, &dischargeCurrent);
-  localDataPoolMap.emplace(BpxBattery::HEATER_CURRENT, &heaterCurrent);
-  localDataPoolMap.emplace(BpxBattery::BATT_VOLTAGE, &battVolt);
-  localDataPoolMap.emplace(BpxBattery::REBOOT_COUNTER, &rebootCounter);
-  localDataPoolMap.emplace(BpxBattery::BOOTCAUSE, &bootCause);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_1, &battTemp1);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_2, &battTemp2);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_3, &battTemp3);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_4, &battTemp4);
+  localDataPoolMap.emplace(bpxBat::CHARGE_CURRENT, &chargeCurrent);
+  localDataPoolMap.emplace(bpxBat::DISCHARGE_CURRENT, &dischargeCurrent);
+  localDataPoolMap.emplace(bpxBat::HEATER_CURRENT, &heaterCurrent);
+  localDataPoolMap.emplace(bpxBat::BATT_VOLTAGE, &battVolt);
+  localDataPoolMap.emplace(bpxBat::REBOOT_COUNTER, &rebootCounter);
+  localDataPoolMap.emplace(bpxBat::BOOTCAUSE, &bootCause);
 
-  localDataPoolMap.emplace(BpxBattery::BATTERY_HEATER_MODE, &battheatMode);
-  localDataPoolMap.emplace(BpxBattery::BATTHEAT_LOW_LIMIT, &battheatLow);
-  localDataPoolMap.emplace(BpxBattery::BATTHEAT_HIGH_LIMIT, &battheatHigh);
+  localDataPoolMap.emplace(bpxBat::BATTERY_HEATER_MODE, &battheatMode);
+  localDataPoolMap.emplace(bpxBat::BATTHEAT_LOW_LIMIT, &battheatLow);
+  localDataPoolMap.emplace(bpxBat::BATTHEAT_HIGH_LIMIT, &battheatHigh);
   return returnvalue::OK;
 }

dummies/RwDummy.cpp

@@ -7,9 +7,9 @@ RwDummy::RwDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
 
 RwDummy::~RwDummy() {}
 
-void RwDummy::doStartUp() {}
+void RwDummy::doStartUp() { setMode(MODE_ON); }
 
-void RwDummy::doShutDown() {}
+void RwDummy::doShutDown() { setMode(MODE_OFF); }
 
 ReturnValue_t RwDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
 

dummies/StarTrackerDummy.cpp

@@ -7,9 +7,9 @@ StarTrackerDummy::StarTrackerDummy(object_id_t objectId, object_id_t comif, Cook
 
 StarTrackerDummy::~StarTrackerDummy() {}
 
-void StarTrackerDummy::doStartUp() {}
+void StarTrackerDummy::doStartUp() { setMode(MODE_ON); }
 
-void StarTrackerDummy::doShutDown() {}
+void StarTrackerDummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
 
 ReturnValue_t StarTrackerDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;

fsfw

@@ -1 +1 @@
-Subproject commit 6650c293da09d8851c2bd6c4d6e6c5a8390d003e
+Subproject commit 285d327b97514946f0714e477289f67ee8bd413f

generators/bsp_hosted_events.csv

@@ -101,8 +101,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;No description;mission/tcs/HeaterHandler.h
 11402;0x2c8a;HEATER_WENT_ON;INFO;No description;mission/tcs/HeaterHandler.h
 11403;0x2c8b;HEATER_WENT_OFF;INFO;No description;mission/tcs/HeaterHandler.h
-11404;0x2c8c;SWITCH_ALREADY_ON;LOW;No description;mission/tcs/HeaterHandler.h
-11405;0x2c8d;SWITCH_ALREADY_OFF;LOW;No description;mission/tcs/HeaterHandler.h
+11404;0x2c8c;SWITCH_ALREADY_ON;INFO;No description;mission/tcs/HeaterHandler.h
+11405;0x2c8d;SWITCH_ALREADY_OFF;INFO;No description;mission/tcs/HeaterHandler.h
 11406;0x2c8e;MAIN_SWITCH_TIMEOUT;MEDIUM;No description;mission/tcs/HeaterHandler.h
 11407;0x2c8f;FAULTY_HEATER_WAS_ON;LOW;No description;mission/tcs/HeaterHandler.h
 11500;0x2cec;BURN_PHASE_START;INFO;P1: Burn duration in milliseconds, P2: Dry run flag;mission/SolarArrayDeploymentHandler.h
@@ -251,16 +251,17 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13903;0x364f;INSERT_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13904;0x3650;WRITE_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13905;0x3651;READ_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
-14000;0x36b0;ALLOC_FAILURE;MEDIUM;No description;bsp_q7s/core/CoreController.h
-14001;0x36b1;REBOOT_SW;LOW; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
-14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
-14003;0x36b3;REBOOT_HW;MEDIUM;No description;bsp_q7s/core/CoreController.h
-14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
-14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;bsp_q7s/core/CoreController.h
-14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
-14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;bsp_q7s/core/CoreController.h
-14008;0x36b8;INDIVIDUAL_BOOT_COUNTS;INFO;Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.;bsp_q7s/core/CoreController.h
-14010;0x36ba;I2C_UNAVAILABLE_REBOOT;MEDIUM;No description;bsp_q7s/core/CoreController.h
+14000;0x36b0;ALLOC_FAILURE;MEDIUM;No description;mission/sysDefs.h
+14001;0x36b1;REBOOT_SW;LOW; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;mission/sysDefs.h
+14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;mission/sysDefs.h
+14003;0x36b3;REBOOT_HW;MEDIUM;No description;mission/sysDefs.h
+14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;mission/sysDefs.h
+14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;mission/sysDefs.h
+14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;mission/sysDefs.h
+14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;mission/sysDefs.h
+14008;0x36b8;INDIVIDUAL_BOOT_COUNTS;INFO;Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.;mission/sysDefs.h
+14010;0x36ba;TRYING_I2C_RECOVERY;MEDIUM;I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C devices.;mission/sysDefs.h
+14011;0x36bb;I2C_REBOOT;MEDIUM;I2C is unavailable. Recovery did not work, performing full reboot.;mission/sysDefs.h
 14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/tcsDefs.h
 14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/tcsDefs.h
 14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h

generators/bsp_hosted_returnvalues.csv

@@ -371,8 +371,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x3e03;HKM_PeriodicHelperInvalid;No description;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
 0x3e04;HKM_PoolobjectNotFound;No description;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
 0x3e05;HKM_DatasetNotFound;No description;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3f01;DLEE_NoPacketFound;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x3f02;DLEE_PossiblePacketLoss;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x3f01;DLEE_StreamTooShort;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
+0x3f02;DLEE_DecodingError;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
 0x4201;PUS11_InvalidTypeTimeWindow;No description;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4202;PUS11_InvalidTimeWindow;No description;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4203;PUS11_TimeshiftingNotPossible;No description;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
@@ -402,9 +402,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 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;No description;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
+0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4503;HSPI_Timeout;No description;3;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4504;HSPI_Busy;No description;4;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4505;HSPI_GenericError;No description;5;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
 0x4601;HURT_UartReadFailure;No description;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
 0x4602;HURT_UartReadSizeMissmatch;No description;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
 0x4603;HURT_UartRxBufferTooSmall;No description;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h

generators/bsp_q7s_events.csv

@@ -101,8 +101,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;No description;mission/tcs/HeaterHandler.h
 11402;0x2c8a;HEATER_WENT_ON;INFO;No description;mission/tcs/HeaterHandler.h
 11403;0x2c8b;HEATER_WENT_OFF;INFO;No description;mission/tcs/HeaterHandler.h
-11404;0x2c8c;SWITCH_ALREADY_ON;LOW;No description;mission/tcs/HeaterHandler.h
-11405;0x2c8d;SWITCH_ALREADY_OFF;LOW;No description;mission/tcs/HeaterHandler.h
+11404;0x2c8c;SWITCH_ALREADY_ON;INFO;No description;mission/tcs/HeaterHandler.h
+11405;0x2c8d;SWITCH_ALREADY_OFF;INFO;No description;mission/tcs/HeaterHandler.h
 11406;0x2c8e;MAIN_SWITCH_TIMEOUT;MEDIUM;No description;mission/tcs/HeaterHandler.h
 11407;0x2c8f;FAULTY_HEATER_WAS_ON;LOW;No description;mission/tcs/HeaterHandler.h
 11500;0x2cec;BURN_PHASE_START;INFO;P1: Burn duration in milliseconds, P2: Dry run flag;mission/SolarArrayDeploymentHandler.h
@@ -251,16 +251,17 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13903;0x364f;INSERT_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13904;0x3650;WRITE_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13905;0x3651;READ_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
-14000;0x36b0;ALLOC_FAILURE;MEDIUM;No description;bsp_q7s/core/CoreController.h
-14001;0x36b1;REBOOT_SW;LOW; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
-14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
-14003;0x36b3;REBOOT_HW;MEDIUM;No description;bsp_q7s/core/CoreController.h
-14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
-14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;bsp_q7s/core/CoreController.h
-14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
-14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;bsp_q7s/core/CoreController.h
-14008;0x36b8;INDIVIDUAL_BOOT_COUNTS;INFO;Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.;bsp_q7s/core/CoreController.h
-14010;0x36ba;I2C_UNAVAILABLE_REBOOT;MEDIUM;No description;bsp_q7s/core/CoreController.h
+14000;0x36b0;ALLOC_FAILURE;MEDIUM;No description;mission/sysDefs.h
+14001;0x36b1;REBOOT_SW;LOW; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;mission/sysDefs.h
+14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;mission/sysDefs.h
+14003;0x36b3;REBOOT_HW;MEDIUM;No description;mission/sysDefs.h
+14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;mission/sysDefs.h
+14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;mission/sysDefs.h
+14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;mission/sysDefs.h
+14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;mission/sysDefs.h
+14008;0x36b8;INDIVIDUAL_BOOT_COUNTS;INFO;Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.;mission/sysDefs.h
+14010;0x36ba;TRYING_I2C_RECOVERY;MEDIUM;I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C devices.;mission/sysDefs.h
+14011;0x36bb;I2C_REBOOT;MEDIUM;I2C is unavailable. Recovery did not work, performing full reboot.;mission/sysDefs.h
 14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/tcsDefs.h
 14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/tcsDefs.h
 14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h

generators/bsp_q7s_returnvalues.csv

@@ -371,8 +371,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x3e03;HKM_PeriodicHelperInvalid;No description;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
 0x3e04;HKM_PoolobjectNotFound;No description;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
 0x3e05;HKM_DatasetNotFound;No description;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3f01;DLEE_NoPacketFound;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x3f02;DLEE_PossiblePacketLoss;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x3f01;DLEE_StreamTooShort;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
+0x3f02;DLEE_DecodingError;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
 0x4201;PUS11_InvalidTypeTimeWindow;No description;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4202;PUS11_InvalidTimeWindow;No description;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4203;PUS11_TimeshiftingNotPossible;No description;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
@@ -402,9 +402,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 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;No description;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
+0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4503;HSPI_Timeout;No description;3;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4504;HSPI_Busy;No description;4;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4505;HSPI_GenericError;No description;5;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
 0x4601;HURT_UartReadFailure;No description;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
 0x4602;HURT_UartReadSizeMissmatch;No description;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
 0x4603;HURT_UartRxBufferTooSmall;No description;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
@@ -493,8 +496,6 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x58a3;SUSS_ExecutionFailed;Command execution failed;163;SUS_HANDLER;mission/acs/RwHandler.h
 0x58a4;SUSS_CrcError;Reaction wheel reply has invalid crc;164;SUS_HANDLER;mission/acs/RwHandler.h
 0x58a5;SUSS_ValueNotRead;No description;165;SUS_HANDLER;mission/acs/RwHandler.h
-0x5900;IPCI_NoReplyAvailable;No description;0;CCSDS_IP_CORE_BRIDGE;linux/acs/ImtqPollingTask.h
-0x5901;IPCI_NoPacketFound;No description;1;CCSDS_IP_CORE_BRIDGE;linux/com/SyrlinksComHandler.h
 0x59a0;IPCI_PapbBusy;No description;160;CCSDS_IP_CORE_BRIDGE;linux/ipcore/PapbVcInterface.h
 0x5aa0;PTME_UnknownVcId;No description;160;PTME;linux/ipcore/Ptme.h
 0x5c01;STRHLP_SdNotMounted;SD card specified in path string not mounted;1;STR_HELPER;linux/acs/StrComHandler.h
@@ -542,7 +543,6 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NvmParameterBase.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
-0x6502;PLMPHLP_InvalidCrc;No description;2;PLOC_MPSOC_HELPER;linux/payload/ScexHelper.h
 0x65a0;PLMPHLP_FileClosedAccidentally;File accidentally close;160;PLOC_MPSOC_HELPER;linux/payload/PlocMpsocHelper.h
 0x66a0;SADPL_CommandNotSupported;No description;160;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 0x66a1;SADPL_DeploymentAlreadyExecuting;No description;161;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 284 translations.
+ * @brief    Auto-generated event translation file. Contains 285 translations.
  * @details
- * Generated on: 2023-04-04 13:59:07
+ * Generated on: 2023-04-07 17:42:57
  */
 #include "translateEvents.h"
 
@@ -266,7 +266,8 @@ const char *VERSION_INFO_STRING = "VERSION_INFO";
 const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
 const char *REBOOT_COUNTER_STRING = "REBOOT_COUNTER";
 const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
-const char *I2C_UNAVAILABLE_REBOOT_STRING = "I2C_UNAVAILABLE_REBOOT";
+const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
+const char *I2C_REBOOT_STRING = "I2C_REBOOT";
 const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
 const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
 const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
@@ -815,7 +816,9 @@ const char *translateEvents(Event event) {
     case (14008):
       return INDIVIDUAL_BOOT_COUNTS_STRING;
     case (14010):
-      return I2C_UNAVAILABLE_REBOOT_STRING;
+      return TRYING_I2C_RECOVERY_STRING;
+    case (14011):
+      return I2C_REBOOT_STRING;
     case (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-04-04 13:59:07
+ * Generated on: 2023-04-07 17:42:57
  */
 #include "translateObjects.h"
 

linux/acs/AcsBoardPolling.cpp

@@ -373,7 +373,7 @@ ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen
   std::string device = spiComIF.getSpiDev();
   UnixFileGuard fileHelper(device, fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
   if (fileHelper.getOpenResult() != returnvalue::OK) {
-    return SpiComIF::OPENING_FILE_FAILED;
+    return spi::OPENING_FILE_FAILED;
   }
   spi::SpiModes spiMode = spi::SpiModes::MODE_0;
   uint32_t spiSpeed = 0;
@@ -416,7 +416,7 @@ ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen
     retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie.getTransferStructHandle());
     if (retval < 0) {
       utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
-      result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
+      result = spi::FULL_DUPLEX_TRANSFER_FAILED;
     }
 #if FSFW_HAL_SPI_WIRETAPPING == 1
     comIf->performSpiWiretapping(cookie);

linux/acs/ImtqPollingTask.h

@@ -22,6 +22,7 @@ class ImtqPollingTask : public SystemObject,
   ReturnValue_t initialize() override;
 
  private:
+  //! [EXPORT] : [SKIP]
   static constexpr ReturnValue_t NO_REPLY_AVAILABLE = returnvalue::makeCode(2, 0);
 
   enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;

linux/acs/RwPollingTask.cpp

@@ -11,6 +11,7 @@
 #include <unistd.h>
 
 #include "devConf.h"
+#include "mission/acs/defs.h"
 #include "mission/acs/rwHelpers.h"
 
 RwPollingTask::RwPollingTask(object_id_t objectId, const char* spiDev, GpioIF& gpioIF)
@@ -35,6 +36,7 @@ ReturnValue_t RwPollingTask::performOperation(uint8_t operationCode) {
     semaphore->acquire();
     // This loop takes 50 ms on a debug build.
     // Stopwatch watch;
+    // Give all device handlers some time to submit requests.
     TaskFactory::delayTask(5);
     int fd = 0;
     for (auto& skip : skipCommandingForRw) {
@@ -45,13 +47,24 @@ ReturnValue_t RwPollingTask::performOperation(uint8_t operationCode) {
     if (result != returnvalue::OK) {
       continue;
     }
+    acs::SimpleSensorMode currentMode;
+    rws::SpecialRwRequest specialRequest;
+
     for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
-      if (rwCookies[idx]->specialRequest == rws::SpecialRwRequest::RESET_MCU) {
+      {
+        MutexGuard mg(ipcLock);
+        currentMode = rwRequests[idx].mode;
+        specialRequest = rwRequests[idx].specialRequest;
+        skipSetSpeedReply[idx] = rwRequests[idx].setSpeed;
+      }
+      if (currentMode == acs::SimpleSensorMode::OFF) {
+        skipCommandingForRw[idx] = true;
+      } else if (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) {
+      } else if (skipSetSpeedReply[idx]) {
         prepareSetSpeedCmd(idx);
         if (writeOneRwCmd(idx, fd) != returnvalue::OK) {
           continue;
@@ -121,31 +134,14 @@ ReturnValue_t RwPollingTask::initializeInterface(CookieIF* cookie) {
 
 ReturnValue_t RwPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendData,
                                          size_t sendLen) {
-  if (sendData == nullptr or sendLen < 8) {
+  if (sendData == nullptr or sendLen != sizeof(rws::RwRequest)) {
     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;
-  }
+  const rws::RwRequest* rwRequest = reinterpret_cast<const rws::RwRequest*>(sendData);
+  uint8_t rwIdx = rwRequest->rwIdx;
   {
     MutexGuard mg(ipcLock);
-    rwCookie->setSpeed = setSpeed;
-    rwCookie->currentRwSpeed = speed;
-    rwCookie->currentRampTime = rampTime;
-    rwCookie->specialRequest = specialRequest;
+    std::memcpy(&rwRequests[rwIdx], rwRequest, sizeof(rws::RwRequest));
     if (state == InternalState::IDLE) {
       state = InternalState::IS_BUSY;
       semaphore->release();
@@ -202,7 +198,7 @@ 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 spi::OPENING_FILE_FAILED;
   }
 
   return returnvalue::OK;
@@ -332,7 +328,7 @@ ReturnValue_t RwPollingTask::writeOneRwCmd(uint8_t rwIdx, int fd) {
 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]) {
+    if (((id == rws::SET_SPEED) and !skipSetSpeedReply[idx]) or skipCommandingForRw[idx]) {
       continue;
     }
     uint8_t* replyBuf;
@@ -395,7 +391,7 @@ void RwPollingTask::fillSpecialRequestArray() {
       specialRequestIds[idx] = DeviceHandlerIF::NO_COMMAND_ID;
       continue;
     }
-    switch (rwCookies[idx]->specialRequest) {
+    switch (rwRequests[idx].specialRequest) {
       case (rws::SpecialRwRequest::GET_TM): {
         specialRequestIds[idx] = rws::GET_TM;
         break;
@@ -426,14 +422,14 @@ void RwPollingTask::handleSpecialRequests() {
     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);
-    result = readNextReply(*rwCookies[idx], replyBuf, maxReadLen);
+    // Skip first byte for actual read buffer: Valid byte
+    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.
@@ -455,17 +451,12 @@ void RwPollingTask::setAllReadFlagsFalse() {
   }
 }
 
-// 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.
-}
+void RwPollingTask::closeSpi(int fd) { close(fd); }
 
 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;
+    sif::warning << "RwPollingTask: Mutex or GPIO interface invalid" << std::endl;
     return returnvalue::FAILED;
   }
   // Add datalinklayer like specified in the datasheet.
@@ -473,7 +464,7 @@ ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
   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;
+    sif::error << "RwPollingTask: Write failed!" << std::endl;
     pullCsHigh(gpioId, gpioIF);
     return rws::SPI_WRITE_FAILURE;
   }
@@ -484,7 +475,7 @@ ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
 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;
+    sif::warning << "RwPollingTask::pullCsLow: Failed to lock mutex" << std::endl;
     return result;
   }
   // Pull SPI CS low. For now, no support for active high given
@@ -525,8 +516,8 @@ ReturnValue_t RwPollingTask::prepareSetSpeedCmd(uint8_t rwIdx) {
   uint16_t rampTimeToSet = 10;
   {
     MutexGuard mg(ipcLock);
-    speedToSet = rwCookies[rwIdx]->currentRwSpeed;
-    rampTimeToSet = rwCookies[rwIdx]->currentRampTime;
+    speedToSet = rwRequests[rwIdx].currentRwSpeed;
+    rampTimeToSet = rwRequests[rwIdx].currentRampTime;
   }
   size_t serLen = 1;
   SerializeAdapter::serialize(&speedToSet, &serPtr, &serLen, writeBuffer.size(),

linux/acs/RwPollingTask.h

@@ -8,6 +8,7 @@
 #include <fsfw_hal/common/gpio/GpioIF.h>
 #include <fsfw_hal/linux/spi/SpiComIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
+#include <mission/acs/defs.h>
 
 #include "mission/acs/rwHelpers.h"
 
@@ -26,10 +27,6 @@ class RwCookie : public SpiCookie {
   std::array<uint8_t, REPLY_BUF_LEN> replyBuf{};
   std::array<uint8_t, REPLY_BUF_LEN> exchangeBuf{};
   MutexIF* bufLock;
-  bool setSpeed = true;
-  int32_t currentRwSpeed = 0;
-  uint16_t currentRampTime = 0;
-  rws::SpecialRwRequest specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
   uint8_t rwIdx;
 };
 
@@ -50,8 +47,10 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
   const char* spiDev;
   GpioIF& gpioIF;
   std::array<bool, 4> skipCommandingForRw;
+  std::array<bool, 4> skipSetSpeedReply;
   std::array<DeviceCommandId_t, 4> specialRequestIds;
   std::array<RwCookie*, 4> rwCookies;
+  std::array<rws::RwRequest, 4> rwRequests{};
   std::array<uint8_t, rws::MAX_CMD_SIZE> writeBuffer;
   std::array<uint8_t, rws::MAX_CMD_SIZE * 2> encodedBuffer;
 

linux/boardtest/I2cTestClass.cpp

@@ -37,7 +37,7 @@ void I2cTestClass::battInit() {
   if (ioctl(bpxInfo.fd, I2C_SLAVE, bpxInfo.addr) < 0) {
     sif::error << "Failed to acquire bus access and/or talk to slave" << std::endl;
   }
-  cmdBuf[0] = BpxBattery::PORT_PING;
+  cmdBuf[0] = bpxBat::PORT_PING;
   cmdBuf[1] = 0x42;
   sendLen = 2;
   ReturnValue_t result = i2cWrite(bpxInfo.fd, cmdBuf.data(), sendLen);
@@ -66,7 +66,7 @@ void I2cTestClass::battPeriodic() {
   if (ioctl(bpxInfo.fd, I2C_SLAVE, bpxInfo.addr) < 0) {
     sif::error << "Failed to acquire bus access and/or talk to slave" << std::endl;
   }
-  cmdBuf[0] = BpxBattery::PORT_GET_HK;
+  cmdBuf[0] = bpxBat::PORT_GET_HK;
   sendLen = 1;
   ReturnValue_t result = i2cWrite(bpxInfo.fd, cmdBuf.data(), sendLen);
   if (result != returnvalue::OK) {

linux/com/SyrlinksComHandler.h

@@ -20,6 +20,7 @@ class SyrlinksComHandler : public DeviceCommunicationIF,
 
   //! [EXPORT] : [SKIP]
   static constexpr ReturnValue_t NO_SERIAL_DATA_READ = returnvalue::makeCode(2, 0);
+  //! [EXPORT] : [SKIP]
   static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(2, 1);
 
   enum class State { SLEEPING, ACTIVE } state = State::SLEEPING;

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 284 translations.
+ * @brief    Auto-generated event translation file. Contains 285 translations.
  * @details
- * Generated on: 2023-04-04 13:59:07
+ * Generated on: 2023-04-07 17:42:57
  */
 #include "translateEvents.h"
 
@@ -266,7 +266,8 @@ const char *VERSION_INFO_STRING = "VERSION_INFO";
 const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
 const char *REBOOT_COUNTER_STRING = "REBOOT_COUNTER";
 const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
-const char *I2C_UNAVAILABLE_REBOOT_STRING = "I2C_UNAVAILABLE_REBOOT";
+const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
+const char *I2C_REBOOT_STRING = "I2C_REBOOT";
 const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
 const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
 const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
@@ -815,7 +816,9 @@ const char *translateEvents(Event event) {
     case (14008):
       return INDIVIDUAL_BOOT_COUNTS_STRING;
     case (14010):
-      return I2C_UNAVAILABLE_REBOOT_STRING;
+      return TRYING_I2C_RECOVERY_STRING;
+    case (14011):
+      return I2C_REBOOT_STRING;
     case (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-04-04 13:59:07
+ * Generated on: 2023-04-07 17:42:57
  */
 #include "translateObjects.h"
 

linux/payload/ScexHelper.h

@@ -10,6 +10,7 @@
 
 class ScexHelper : public SerializeIF {
  public:
+  //! [EXPORT] : [SKIP]
   static const ReturnValue_t INVALID_CRC = returnvalue::makeCode(0, 2);
 
   ScexHelper();

mission/acs/RwHandler.cpp

@@ -4,6 +4,7 @@
 #include <fsfw/globalfunctions/CRC.h>
 #include <fsfw/globalfunctions/arrayprinter.h>
 #include <fsfw_hal/common/gpio/GpioIF.h>
+#include <mission/acs/defs.h>
 
 #include "OBSWConfig.h"
 
@@ -23,44 +24,52 @@ RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCooki
   if (gpioComIF == nullptr) {
     sif::error << "RwHandler: Invalid gpio communication interface" << std::endl;
   }
+  currentRequest.rwIdx = rwIdx;
 }
+
 RwHandler::~RwHandler() {}
 
 void RwHandler::doStartUp() {
   internalState = InternalState::DEFAULT;
 
   if (gpioComIF->pullHigh(enableGpio) != returnvalue::OK) {
-    sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high";
+    sif::error << "RW Handler " << rwIdx << ": Failed to pull ENABLE pin high for startup";
   }
+  currentRequest.mode = acs::SimpleSensorMode::NORMAL;
   updatePeriodicReply(true, rws::REPLY_ID);
   statusSet.setReportingEnabled(true);
   setMode(_MODE_TO_ON);
 }
 
 void RwHandler::doShutDown() {
-  if (gpioComIF->pullLow(enableGpio) != returnvalue::OK) {
-    sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to low";
+  if (internalState != InternalState::SHUTDOWN) {
+    internalState = InternalState::SHUTDOWN;
+    shutdownState = ShutdownState::SET_SPEED_ZERO;
+    offTransitionCountdown.resetTimer();
   }
-  internalState = InternalState::DEFAULT;
-  updatePeriodicReply(false, rws::REPLY_ID);
-  {
-    PoolReadGuard pg(&statusSet);
-    statusSet.currSpeed = 0.0;
-    statusSet.referenceSpeed = 0.0;
-    statusSet.state = 0;
-    statusSet.setValidity(false, true);
-    statusSet.setReportingEnabled(false);
+  if ((internalState == InternalState::SHUTDOWN) and
+      (shutdownState == ShutdownState::DONE or offTransitionCountdown.hasTimedOut())) {
+    if (gpioComIF->pullLow(enableGpio) != returnvalue::OK) {
+      sif::error << "RW Handler " << rwIdx << ": Failed to pull ENABLE pin low for shutdown";
+    }
+    updatePeriodicReply(false, rws::REPLY_ID);
+    {
+      PoolReadGuard pg(&statusSet);
+      statusSet.currSpeed = 0.0;
+      statusSet.referenceSpeed = 0.0;
+      statusSet.state = 0;
+      statusSet.setValidity(false, true);
+      statusSet.setReportingEnabled(false);
+    }
+    {
+      PoolReadGuard pg(&tmDataset);
+      tmDataset.setValidity(false, true);
+    }
+    internalState = InternalState::DEFAULT;
+    shutdownState = ShutdownState::NONE;
+    // The power switch is handled by the assembly, so we can go off here directly.
+    setMode(MODE_OFF);
   }
-  {
-    PoolReadGuard pg(&tmDataset);
-    tmDataset.setValidity(false, true);
-  }
-  {
-    PoolReadGuard pg(&rwSpeedActuationSet);
-    rwSpeedActuationSet.setRwSpeed(0, 10);
-  }
-  // 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) {
@@ -77,6 +86,20 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
 }
 
 ReturnValue_t RwHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  if (internalState == InternalState::SHUTDOWN) {
+    if (shutdownState == ShutdownState::SET_SPEED_ZERO) {
+      {
+        PoolReadGuard pg(&rwSpeedActuationSet);
+        rwSpeedActuationSet.setRwSpeed(0, 10);
+      }
+      *id = rws::REQUEST_ID;
+      return buildCommandFromCommand(*id, nullptr, 0);
+    } else if (shutdownState == ShutdownState::STOP_POLLING) {
+      currentRequest.mode = acs::SimpleSensorMode::OFF;
+      *id = rws::REQUEST_ID;
+      return buildCommandFromCommand(*id, nullptr, 0);
+    }
+  }
   return NOTHING_TO_SEND;
 }
 
@@ -119,32 +142,36 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
         return result;
       }
       // 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;
+      currentRequest.setSpeed = true;
+      rwSpeedActuationSet.getRwSpeed(currentRequest.currentRwSpeed, currentRequest.currentRampTime);
+      currentRequest.specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
+      rawPacket = reinterpret_cast<uint8_t*>(&currentRequest);
+      rawPacketLen = sizeof(rws::RwRequest);
       return returnvalue::OK;
     }
     case (rws::RESET_MCU): {
-      commandBuffer[0] = false;
-      commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::RESET_MCU);
+      currentRequest.setSpeed = false;
+      currentRequest.specialRequest = rws::SpecialRwRequest::RESET_MCU;
       internalState = InternalState::RESET_MCU;
+      rawPacket = reinterpret_cast<uint8_t*>(&currentRequest);
+      rawPacketLen = sizeof(rws::RwRequest);
       return returnvalue::OK;
     }
 
     case (rws::INIT_RW_CONTROLLER): {
-      commandBuffer[0] = false;
-      commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::INIT_RW_CONTROLLER);
+      currentRequest.setSpeed = false;
+      currentRequest.specialRequest = rws::SpecialRwRequest::INIT_RW_CONTROLLER;
       internalState = InternalState::INIT_RW_CONTROLLER;
+      rawPacket = reinterpret_cast<uint8_t*>(&currentRequest);
+      rawPacketLen = sizeof(rws::RwRequest);
       return returnvalue::OK;
     }
     case (rws::GET_TM): {
-      commandBuffer[0] = false;
-      commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::GET_TM);
+      currentRequest.setSpeed = false;
+      currentRequest.specialRequest = rws::SpecialRwRequest::GET_TM;
       internalState = InternalState::GET_TM;
+      rawPacket = reinterpret_cast<uint8_t*>(&currentRequest);
+      rawPacketLen = sizeof(rws::RwRequest);
       return returnvalue::OK;
     }
     default:
@@ -172,6 +199,9 @@ ReturnValue_t RwHandler::scanForReply(const uint8_t* start, size_t remainingSize
     *foundLen = remainingSize;
     *foundId = rws::REPLY_ID;
   }
+  if (internalState == InternalState::SHUTDOWN and shutdownState == ShutdownState::STOP_POLLING) {
+    shutdownState = ShutdownState::DONE;
+  }
   return returnvalue::OK;
 }
 
@@ -381,6 +411,12 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
 
   statusSet.setValidity(true, true);
 
+  if (internalState == InternalState::SHUTDOWN and std::abs(tmDataset.rwCurrSpeed.value) <= 2 and
+      shutdownState == ShutdownState::SET_SPEED_ZERO) {
+    // Finish transition to off.
+    shutdownState = ShutdownState::STOP_POLLING;
+  }
+
   if (statusSet.state == rws::STATE_ERROR) {
     // Trigger FDIR reaction, first recovery, then faulty if it doesnt fix the issue.
     triggerEvent(DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT, statusSet.state.value, 0);

mission/acs/RwHandler.h

@@ -75,6 +75,8 @@ class RwHandler : public DeviceHandlerBase {
   GpioIF* gpioComIF = nullptr;
   gpioId_t enableGpio = gpio::NO_GPIO;
   bool debugMode = false;
+  Countdown offTransitionCountdown = Countdown(5000);
+  rws::RwRequest currentRequest;
 
   rws::StatusSet statusSet;
   rws::LastResetSatus lastResetStatusSet;
@@ -87,27 +89,16 @@ class RwHandler : public DeviceHandlerBase {
   PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>({0});
   PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>({10});
 
-  enum class InternalState {
-    DEFAULT,
-    GET_TM,
-    INIT_RW_CONTROLLER,
-    RESET_MCU,
-    // GET_RESET_STATUS,
-    // CLEAR_RESET_STATUS,
-    // READ_TEMPERATURE,
-    // SET_SPEED,
-    // GET_RW_SATUS
-  };
+  enum class InternalState { DEFAULT, GET_TM, INIT_RW_CONTROLLER, RESET_MCU, SHUTDOWN };
+  enum class ShutdownState {
+    NONE,
+    SET_SPEED_ZERO,
+    STOP_POLLING,
+    DONE,
+  } shutdownState = ShutdownState::NONE;
 
   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);
-
   /**
    * @brief   This function checks if the receiced speed and ramp time to set are in a valid
    *          range.
@@ -115,13 +106,6 @@ class RwHandler : public DeviceHandlerBase {
    */
   ReturnValue_t checkSpeedAndRampTime();
 
-  /**
-   * @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.
-   */
-  // ReturnValue_t prepareSetSpeedCmd();
-
   /**
    * @brief   This function writes the last reset status retrieved with the get last reset status
    *          command into the reset status dataset.

mission/acs/rwHelpers.h

@@ -4,6 +4,7 @@
 #include <fsfw/datapoollocal/LocalPoolVariable.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <mission/acs/defs.h>
 
 #include "eive/resultClassIds.h"
 #include "events/subsystemIdRanges.h"
@@ -36,6 +37,15 @@ enum class SpecialRwRequest : uint8_t {
   NUM_REQUESTS
 };
 
+struct RwRequest {
+  acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
+  bool setSpeed = true;
+  int32_t currentRwSpeed = 0;
+  uint16_t currentRampTime = 0;
+  rws::SpecialRwRequest specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
+  uint8_t rwIdx = 0;
+};
+
 static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
 
 static const ReturnValue_t SPI_WRITE_FAILURE = MAKE_RETURN_CODE(0xB0);

mission/com/PersistentLogTmStoreTask.cpp

@@ -45,6 +45,10 @@ ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) {
       // TODO: Might not be necessary
       sif::debug << "VC busy, delaying" << std::endl;
       TaskFactory::delayTask(10);
+    } else {
+      // TODO: Would be best to remove this, but not delaying here can lead to evil issues.
+      // Polling the PAPB of the PTME core too often leads to scheuduling issues.
+      TaskFactory::delayTask(2);
     }
   }
 }

mission/com/PersistentSingleTmStoreTask.cpp

@@ -29,6 +29,7 @@ ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
       TaskFactory::delayTask(10);
     } else {
       // TODO: Would be best to remove this, but not delaying here can lead to evil issues.
+      // Polling the PAPB of the PTME core too often leads to scheuduling issues.
       TaskFactory::delayTask(2);
     }
   }

mission/controller/ThermalController.h

@@ -182,14 +182,10 @@ class ThermalController : public ExtendedControllerBase {
   susMax1227::SusDataset susSet11;
 
   lp_var_t<float> tempQ7s = lp_var_t<float>(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE);
-  lp_var_t<int16_t> battTemp1 =
-      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_1);
-  lp_var_t<int16_t> battTemp2 =
-      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_2);
-  lp_var_t<int16_t> battTemp3 =
-      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_3);
-  lp_var_t<int16_t> battTemp4 =
-      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_4);
+  lp_var_t<int16_t> battTemp1 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_1);
+  lp_var_t<int16_t> battTemp2 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_2);
+  lp_var_t<int16_t> battTemp3 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_3);
+  lp_var_t<int16_t> battTemp4 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_4);
   lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, rws::TEMPERATURE_C);
   lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, rws::TEMPERATURE_C);
   lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, rws::TEMPERATURE_C);

mission/payload/PayloadPcduHandler.cpp

@@ -726,7 +726,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   int fileDescriptor = 0;
   UnixFileGuard fileHelper(comIf->getSpiDev(), fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
   if (fileHelper.getOpenResult() != returnvalue::OK) {
-    return SpiComIF::OPENING_FILE_FAILED;
+    return spi::OPENING_FILE_FAILED;
   }
   spi::SpiModes spiMode = spi::SpiModes::MODE_0;
   uint32_t spiSpeed = 0;
@@ -782,7 +782,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie->getTransferStructHandle());
   if (retval < 0) {
     utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
-    result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
+    result = spi::FULL_DUPLEX_TRANSFER_FAILED;
   }
 #if FSFW_HAL_SPI_WIRETAPPING == 1
   comIf->performSpiWiretapping(cookie);
@@ -804,7 +804,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie->getTransferStructHandle());
   if (retval < 0) {
     utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
-    result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
+    result = spi::FULL_DUPLEX_TRANSFER_FAILED;
   }
 #if FSFW_HAL_SPI_WIRETAPPING == 1
   comIf->performSpiWiretapping(cookie);

mission/power/BpxBatteryHandler.cpp

@@ -27,54 +27,56 @@ void BpxBatteryHandler::doStartUp() {
 void BpxBatteryHandler::doShutDown() {
   // Perform a COM check on reboot
   state = States::CHECK_COM;
+  setMode(MODE_OFF);
 }
 
 ReturnValue_t BpxBatteryHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
-  *id = BpxBattery::GET_HK;
+  *id = bpxBat::GET_HK;
   return buildCommandFromCommand(*id, nullptr, 0);
 }
 
 ReturnValue_t BpxBatteryHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
   if (state == States::CHECK_COM) {
-    *id = BpxBattery::PING;
+    *id = bpxBat::PING;
     return buildCommandFromCommand(*id, nullptr, 0);
   }
   return returnvalue::OK;
 }
 
 void BpxBatteryHandler::fillCommandAndReplyMap() {
-  using namespace BpxBattery;
+  using namespace bpxBat;
   insertInCommandAndReplyMap(GET_HK, 1, &hkSet, GET_HK_REPLY_LEN);
-  insertInCommandAndReplyMap(BpxBattery::PING, 1, nullptr, PING_REPLY_LEN);
-  insertInCommandAndReplyMap(BpxBattery::REBOOT, 1, nullptr, 0);
-  insertInCommandAndReplyMap(BpxBattery::RESET_COUNTERS, 1, nullptr, EMPTY_REPLY_LEN);
-  insertInCommandAndReplyMap(BpxBattery::CONFIG_CMD, 1, nullptr, EMPTY_REPLY_LEN);
-  insertInCommandAndReplyMap(BpxBattery::CONFIG_GET, 1, &cfgSet, CONFIG_GET_REPLY_LEN);
+  insertInCommandAndReplyMap(bpxBat::PING, 1, nullptr, PING_REPLY_LEN);
+  insertInCommandAndReplyMap(bpxBat::REBOOT, 1, nullptr, 0);
+  insertInCommandAndReplyMap(bpxBat::RESET_COUNTERS, 1, nullptr, EMPTY_REPLY_LEN);
+  insertInCommandAndReplyMap(bpxBat::CONFIG_CMD, 1, nullptr, EMPTY_REPLY_LEN);
+  insertInCommandAndReplyMap(bpxBat::CONFIG_GET, 1, &cfgSet, CONFIG_GET_REPLY_LEN);
 }
 
 ReturnValue_t BpxBatteryHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                          const uint8_t* commandData,
                                                          size_t commandDataLen) {
   switch (deviceCommand) {
-    case (BpxBattery::GET_HK): {
-      cmdBuf[0] = BpxBattery::PORT_GET_HK;
+    case (bpxBat::GET_HK): {
+      cmdBuf[0] = bpxBat::PORT_GET_HK;
       this->rawPacketLen = 1;
       break;
     }
-    case (BpxBattery::PING): {
+    case (bpxBat::PING): {
       if (commandDataLen == 1 and commandData != nullptr) {
         sentPingByte = commandData[0];
       } else {
-        sentPingByte = BpxBattery::DEFAULT_PING_SENT_BYTE;
+        sentPingByte = bpxBat::DEFAULT_PING_SENT_BYTE;
       }
 
-      cmdBuf[0] = BpxBattery::PORT_PING;
+      cmdBuf[0] = bpxBat::PORT_PING;
       cmdBuf[1] = sentPingByte;
       this->rawPacketLen = 2;
       break;
     }
-    case (BpxBattery::REBOOT): {
-      cmdBuf[0] = BpxBattery::PORT_REBOOT;
+    case (bpxBat::REBOOT): {
+      sif::info << "BPX BATT: Executing reboot command" << std::endl;
+      cmdBuf[0] = bpxBat::PORT_REBOOT;
       cmdBuf[1] = 0x80;
       cmdBuf[2] = 0x07;
       cmdBuf[3] = 0x80;
@@ -85,26 +87,26 @@ ReturnValue_t BpxBatteryHandler::buildCommandFromCommand(DeviceCommandId_t devic
       triggerEvent(DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT);
       break;
     }
-    case (BpxBattery::RESET_COUNTERS): {
-      cmdBuf[0] = BpxBattery::PORT_RESET_COUNTERS;
-      cmdBuf[1] = BpxBattery::RESET_COUNTERS_MAGIC_VALUE;
+    case (bpxBat::RESET_COUNTERS): {
+      cmdBuf[0] = bpxBat::PORT_RESET_COUNTERS;
+      cmdBuf[1] = bpxBat::RESET_COUNTERS_MAGIC_VALUE;
       this->rawPacketLen = 2;
       break;
     }
-    case (BpxBattery::CONFIG_CMD): {
-      cmdBuf[0] = BpxBattery::PORT_CONFIG_CMD;
+    case (bpxBat::CONFIG_CMD): {
+      cmdBuf[0] = bpxBat::PORT_CONFIG_CMD;
       // Needs to be set to 0x01 according to datasheet
       cmdBuf[1] = 0x01;
       this->rawPacketLen = 2;
       break;
     }
-    case (BpxBattery::CONFIG_GET): {
-      cmdBuf[0] = BpxBattery::PORT_CONFIG_GET;
+    case (bpxBat::CONFIG_GET): {
+      cmdBuf[0] = bpxBat::PORT_CONFIG_GET;
       this->rawPacketLen = 1;
       break;
     }
-    case (BpxBattery::CONFIG_SET): {
-      cmdBuf[0] = BpxBattery::PORT_CONFIG_SET;
+    case (bpxBat::CONFIG_SET): {
+      cmdBuf[0] = bpxBat::PORT_CONFIG_SET;
       if (commandDataLen != 3) {
         return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
       }
@@ -114,8 +116,8 @@ ReturnValue_t BpxBatteryHandler::buildCommandFromCommand(DeviceCommandId_t devic
       this->rawPacketLen = 4;
       break;
     }
-    case (BpxBattery::MAN_HEAT_ON): {
-      cmdBuf[0] = BpxBattery::PORT_MAN_HEAT_ON;
+    case (bpxBat::MAN_HEAT_ON): {
+      cmdBuf[0] = bpxBat::PORT_MAN_HEAT_ON;
       if (commandDataLen != 2) {
         return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
       }
@@ -125,8 +127,8 @@ ReturnValue_t BpxBatteryHandler::buildCommandFromCommand(DeviceCommandId_t devic
       this->rawPacketLen = 3;
       break;
     }
-    case (BpxBattery::MAN_HEAT_OFF): {
-      cmdBuf[0] = BpxBattery::PORT_MAN_HEAT_OFF;
+    case (bpxBat::MAN_HEAT_OFF): {
+      cmdBuf[0] = bpxBat::PORT_MAN_HEAT_OFF;
       this->rawPacketLen = 1;
       break;
     }
@@ -142,35 +144,35 @@ ReturnValue_t BpxBatteryHandler::buildCommandFromCommand(DeviceCommandId_t devic
 
 ReturnValue_t BpxBatteryHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                               DeviceCommandId_t* foundId, size_t* foundLen) {
-  using namespace BpxBattery;
+  using namespace bpxBat;
   switch (lastCmd) {
-    case (BpxBattery::GET_HK): {
+    case (bpxBat::GET_HK): {
       if (remainingSize != GET_HK_REPLY_LEN) {
         return DeviceHandlerIF::LENGTH_MISSMATCH;
       }
       break;
     }
-    case (BpxBattery::PING):
-    case (BpxBattery::MAN_HEAT_ON):
-    case (BpxBattery::MAN_HEAT_OFF): {
+    case (bpxBat::PING):
+    case (bpxBat::MAN_HEAT_ON):
+    case (bpxBat::MAN_HEAT_OFF): {
       if (remainingSize != PING_REPLY_LEN) {
         return DeviceHandlerIF::LENGTH_MISSMATCH;
       }
       break;
     }
-    case (BpxBattery::REBOOT): {
+    case (bpxBat::REBOOT): {
       // Ignore
       break;
     }
-    case (BpxBattery::RESET_COUNTERS):
-    case (BpxBattery::CONFIG_CMD):
-    case (BpxBattery::CONFIG_SET): {
+    case (bpxBat::RESET_COUNTERS):
+    case (bpxBat::CONFIG_CMD):
+    case (bpxBat::CONFIG_SET): {
       if (remainingSize != EMPTY_REPLY_LEN) {
         return DeviceHandlerIF::LENGTH_MISSMATCH;
       }
       break;
     }
-    case (BpxBattery::CONFIG_GET): {
+    case (bpxBat::CONFIG_GET): {
       if (remainingSize != CONFIG_GET_REPLY_LEN) {
         return DeviceHandlerIF::LENGTH_MISSMATCH;
       }
@@ -187,11 +189,11 @@ ReturnValue_t BpxBatteryHandler::scanForReply(const uint8_t* start, size_t remai
 }
 
 ReturnValue_t BpxBatteryHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
-  if (id != BpxBattery::REBOOT and packet[1] != 0) {
+  if (id != bpxBat::REBOOT and packet[1] != 0) {
     return DeviceHandlerIF::DEVICE_REPORTED_ERROR;
   }
   switch (id) {
-    case (BpxBattery::GET_HK): {
+    case (bpxBat::GET_HK): {
       PoolReadGuard rg(&hkSet);
       ReturnValue_t result = hkSet.parseRawHk(packet + 2, 21);
       hkSet.setValidity(true, true);
@@ -213,7 +215,7 @@ ReturnValue_t BpxBatteryHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       }
       break;
     }
-    case (BpxBattery::PING): {
+    case (bpxBat::PING): {
       if (packet[2] != sentPingByte) {
         return DeviceHandlerIF::INVALID_DATA;
       }
@@ -222,19 +224,19 @@ ReturnValue_t BpxBatteryHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       }
       break;
     }
-    case (BpxBattery::RESET_COUNTERS):
-    case (BpxBattery::CONFIG_CMD):
-    case (BpxBattery::CONFIG_SET): {
+    case (bpxBat::RESET_COUNTERS):
+    case (bpxBat::CONFIG_CMD):
+    case (bpxBat::CONFIG_SET): {
       break;
     }
-    case (BpxBattery::MAN_HEAT_ON):
-    case (BpxBattery::MAN_HEAT_OFF): {
+    case (bpxBat::MAN_HEAT_ON):
+    case (bpxBat::MAN_HEAT_OFF): {
       if (packet[2] != 0x01) {
         return DeviceHandlerIF::DEVICE_DID_NOT_EXECUTE;
       }
       break;
     }
-    case (BpxBattery::CONFIG_GET): {
+    case (bpxBat::CONFIG_GET): {
       PoolReadGuard rg(&cfgSet);
       ReturnValue_t result = cfgSet.parseRawHk(packet + 2, 3);
       if (result != returnvalue::OK) {
@@ -243,7 +245,7 @@ ReturnValue_t BpxBatteryHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       cfgSet.setValidity(true, true);
       break;
     }
-    case (BpxBattery::REBOOT): {
+    case (bpxBat::REBOOT): {
       break;
     }
     default: {
@@ -257,20 +259,20 @@ uint32_t BpxBatteryHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo)
 
 ReturnValue_t BpxBatteryHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                          LocalDataPoolManager& poolManager) {
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_1, &battTemp1);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_2, &battTemp2);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_3, &battTemp3);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_4, &battTemp4);
-  localDataPoolMap.emplace(BpxBattery::CHARGE_CURRENT, &chargeCurrent);
-  localDataPoolMap.emplace(BpxBattery::DISCHARGE_CURRENT, &dischargeCurrent);
-  localDataPoolMap.emplace(BpxBattery::HEATER_CURRENT, &heaterCurrent);
-  localDataPoolMap.emplace(BpxBattery::BATT_VOLTAGE, &battVolt);
-  localDataPoolMap.emplace(BpxBattery::REBOOT_COUNTER, &rebootCounter);
-  localDataPoolMap.emplace(BpxBattery::BOOTCAUSE, &bootCause);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_1, &battTemp1);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_2, &battTemp2);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_3, &battTemp3);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_4, &battTemp4);
+  localDataPoolMap.emplace(bpxBat::CHARGE_CURRENT, &chargeCurrent);
+  localDataPoolMap.emplace(bpxBat::DISCHARGE_CURRENT, &dischargeCurrent);
+  localDataPoolMap.emplace(bpxBat::HEATER_CURRENT, &heaterCurrent);
+  localDataPoolMap.emplace(bpxBat::BATT_VOLTAGE, &battVolt);
+  localDataPoolMap.emplace(bpxBat::REBOOT_COUNTER, &rebootCounter);
+  localDataPoolMap.emplace(bpxBat::BOOTCAUSE, &bootCause);
 
-  localDataPoolMap.emplace(BpxBattery::BATTERY_HEATER_MODE, &battheatMode);
-  localDataPoolMap.emplace(BpxBattery::BATTHEAT_LOW_LIMIT, &battheatLow);
-  localDataPoolMap.emplace(BpxBattery::BATTHEAT_HIGH_LIMIT, &battheatHigh);
+  localDataPoolMap.emplace(bpxBat::BATTERY_HEATER_MODE, &battheatMode);
+  localDataPoolMap.emplace(bpxBat::BATTHEAT_LOW_LIMIT, &battheatLow);
+  localDataPoolMap.emplace(bpxBat::BATTHEAT_HIGH_LIMIT, &battheatHigh);
 
   poolManager.subscribeForRegularPeriodicPacket(
       subdp::RegularHkPeriodicParams(hkSet.getSid(), enableHkSets, 20.0));

mission/power/BpxBatteryHandler.h

@@ -25,7 +25,7 @@ class BpxBatteryHandler : public DeviceHandlerBase {
   bool commandExecuted = false;
   bool debugMode = false;
   bool goToNormalModeImmediately = false;
-  uint8_t sentPingByte = BpxBattery::DEFAULT_PING_SENT_BYTE;
+  uint8_t sentPingByte = bpxBat::DEFAULT_PING_SENT_BYTE;
 #if OBSW_THREAD_TRACING == 1
   uint32_t opCounter = 0;
 #endif

mission/power/bpxBattDefs.h

@@ -8,7 +8,7 @@
 
 #include "fsfw/devicehandlers/DeviceHandlerIF.h"
 
-namespace BpxBattery {
+namespace bpxBat {
 
 enum LocalPoolIds {
   CHARGE_CURRENT = 0,
@@ -114,18 +114,18 @@ class BpxHkDeserializer : public SerialLinkedListAdapter<SerializeIF> {
   }
 };
 
-};  // namespace BpxBattery
+};  // namespace bpxBat
 
 /**
  * @brief   BPX HK data holder
  */
-class BpxBatteryHk : public StaticLocalDataSet<BpxBattery::HK_ENTRIES> {
+class BpxBatteryHk : public StaticLocalDataSet<bpxBat::HK_ENTRIES> {
  public:
   /**
    * Constructor for data users
    * @param gyroId
    */
-  BpxBatteryHk(object_id_t bpxId) : StaticLocalDataSet(sid_t(bpxId, BpxBattery::HK_SET_ID)) {
+  BpxBatteryHk(object_id_t bpxId) : StaticLocalDataSet(sid_t(bpxId, bpxBat::HK_SET_ID)) {
     setAllVariablesReadOnly();
   }
 
@@ -176,28 +176,25 @@ class BpxBatteryHk : public StaticLocalDataSet<BpxBattery::HK_ENTRIES> {
   }
 
   //! Charge current in mA
-  lp_var_t<uint16_t> chargeCurrent =
-      lp_var_t<uint16_t>(sid.objectId, BpxBattery::CHARGE_CURRENT, this);
+  lp_var_t<uint16_t> chargeCurrent = lp_var_t<uint16_t>(sid.objectId, bpxBat::CHARGE_CURRENT, this);
   //! Discharge current in mA
   lp_var_t<uint16_t> dischargeCurrent =
-      lp_var_t<uint16_t>(sid.objectId, BpxBattery::DISCHARGE_CURRENT, this);
+      lp_var_t<uint16_t>(sid.objectId, bpxBat::DISCHARGE_CURRENT, this);
   //! Heater current in mA
-  lp_var_t<uint16_t> heaterCurrent =
-      lp_var_t<uint16_t>(sid.objectId, BpxBattery::HEATER_CURRENT, this);
+  lp_var_t<uint16_t> heaterCurrent = lp_var_t<uint16_t>(sid.objectId, bpxBat::HEATER_CURRENT, this);
 
   //! Battery voltage in mV
-  lp_var_t<uint16_t> battVoltage = lp_var_t<uint16_t>(sid.objectId, BpxBattery::BATT_VOLTAGE, this);
+  lp_var_t<uint16_t> battVoltage = lp_var_t<uint16_t>(sid.objectId, bpxBat::BATT_VOLTAGE, this);
   //! Battery temperature 1 in degC
-  lp_var_t<int16_t> battTemp1 = lp_var_t<int16_t>(sid.objectId, BpxBattery::BATT_TEMP_1, this);
+  lp_var_t<int16_t> battTemp1 = lp_var_t<int16_t>(sid.objectId, bpxBat::BATT_TEMP_1, this);
   //! Battery temperature 2 in degC
-  lp_var_t<int16_t> battTemp2 = lp_var_t<int16_t>(sid.objectId, BpxBattery::BATT_TEMP_2, this);
+  lp_var_t<int16_t> battTemp2 = lp_var_t<int16_t>(sid.objectId, bpxBat::BATT_TEMP_2, this);
   //! Battery temperature 3 in degC
-  lp_var_t<int16_t> battTemp3 = lp_var_t<int16_t>(sid.objectId, BpxBattery::BATT_TEMP_3, this);
+  lp_var_t<int16_t> battTemp3 = lp_var_t<int16_t>(sid.objectId, bpxBat::BATT_TEMP_3, this);
   //! Battery temperature 4 in degC
-  lp_var_t<int16_t> battTemp4 = lp_var_t<int16_t>(sid.objectId, BpxBattery::BATT_TEMP_4, this);
-  lp_var_t<uint32_t> rebootCounter =
-      lp_var_t<uint32_t>(sid.objectId, BpxBattery::REBOOT_COUNTER, this);
-  lp_var_t<uint8_t> bootcause = lp_var_t<uint8_t>(sid.objectId, BpxBattery::BOOTCAUSE, this);
+  lp_var_t<int16_t> battTemp4 = lp_var_t<int16_t>(sid.objectId, bpxBat::BATT_TEMP_4, this);
+  lp_var_t<uint32_t> rebootCounter = lp_var_t<uint32_t>(sid.objectId, bpxBat::REBOOT_COUNTER, this);
+  lp_var_t<uint8_t> bootcause = lp_var_t<uint8_t>(sid.objectId, bpxBat::BOOTCAUSE, this);
 
  private:
   friend class BpxBatteryHandler;
@@ -205,16 +202,16 @@ class BpxBatteryHk : public StaticLocalDataSet<BpxBattery::HK_ENTRIES> {
    * Constructor for data creator
    * @param hkOwner
    */
-  BpxBatteryHk(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, BpxBattery::HK_SET_ID) {}
+  BpxBatteryHk(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, bpxBat::HK_SET_ID) {}
 };
 
-class BpxBatteryCfg : public StaticLocalDataSet<BpxBattery::CFG_ENTRIES> {
+class BpxBatteryCfg : public StaticLocalDataSet<bpxBat::CFG_ENTRIES> {
  public:
   /**
    * Constructor for data users
    * @param gyroId
    */
-  BpxBatteryCfg(object_id_t bpxId) : StaticLocalDataSet(sid_t(bpxId, BpxBattery::CFG_SET_ID)) {
+  BpxBatteryCfg(object_id_t bpxId) : StaticLocalDataSet(sid_t(bpxId, bpxBat::CFG_SET_ID)) {
     setAllVariablesReadOnly();
   }
 
@@ -230,13 +227,12 @@ class BpxBatteryCfg : public StaticLocalDataSet<BpxBattery::CFG_ENTRIES> {
 
   //! Mode for battheater [0=OFF,1=Auto]
   lp_var_t<uint8_t> battheatermode =
-      lp_var_t<uint8_t>(sid.objectId, BpxBattery::BATTERY_HEATER_MODE, this);
+      lp_var_t<uint8_t>(sid.objectId, bpxBat::BATTERY_HEATER_MODE, this);
   //! Turn heater on at [degC]
-  lp_var_t<int8_t> battheaterLow =
-      lp_var_t<int8_t>(sid.objectId, BpxBattery::BATTHEAT_LOW_LIMIT, this);
+  lp_var_t<int8_t> battheaterLow = lp_var_t<int8_t>(sid.objectId, bpxBat::BATTHEAT_LOW_LIMIT, this);
   //! Turn heater off at [degC]
   lp_var_t<int8_t> battheaterHigh =
-      lp_var_t<int8_t>(sid.objectId, BpxBattery::BATTHEAT_HIGH_LIMIT, this);
+      lp_var_t<int8_t>(sid.objectId, bpxBat::BATTHEAT_HIGH_LIMIT, this);
 
  private:
   friend class BpxBatteryHandler;
@@ -244,8 +240,7 @@ class BpxBatteryCfg : public StaticLocalDataSet<BpxBattery::CFG_ENTRIES> {
    * Constructor for data creator
    * @param hkOwner
    */
-  BpxBatteryCfg(HasLocalDataPoolIF* hkOwner)
-      : StaticLocalDataSet(hkOwner, BpxBattery::CFG_SET_ID) {}
+  BpxBatteryCfg(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, bpxBat::CFG_SET_ID) {}
 };
 
 #endif /* MISSION_POWER_BPXBATTDEFS_H_ */

mission/sysDefs.h

@@ -1,12 +1,79 @@
 #ifndef MISSION_SYSDEFS_H_
 #define MISSION_SYSDEFS_H_
 
+#include <atomic>
+
 #include "acs/defs.h"
 
+extern std::atomic_uint16_t I2C_FATAL_ERRORS;
+
 namespace satsystem {
 
 enum Mode : Mode_t { BOOT = 5, SAFE = acs::AcsMode::SAFE, PTG_IDLE = acs::AcsMode::PTG_IDLE };
 
 }
 
+namespace core {
+static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
+static constexpr ActionId_t ANNOUNCE_VERSION = 1;
+static constexpr ActionId_t ANNOUNCE_CURRENT_IMAGE = 2;
+static constexpr ActionId_t ANNOUNCE_BOOT_COUNTS = 3;
+static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
+static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
+static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
+static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
+
+static constexpr ActionId_t OBSW_UPDATE_FROM_SD_0 = 10;
+static constexpr ActionId_t OBSW_UPDATE_FROM_SD_1 = 11;
+static constexpr ActionId_t OBSW_UPDATE_FROM_TMP = 12;
+
+static constexpr ActionId_t SWITCH_TO_SD_0 = 16;
+static constexpr ActionId_t SWITCH_TO_SD_1 = 17;
+static constexpr ActionId_t SWITCH_TO_BOTH_SD_CARDS = 18;
+
+//! Reboot using the xsc_boot_copy command
+static constexpr ActionId_t XSC_REBOOT_OBC = 32;
+static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
+//! Reboot using the reboot command
+static constexpr ActionId_t REBOOT_OBC = 34;
+
+static constexpr ActionId_t EXECUTE_SHELL_CMD = 40;
+
+static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
+
+static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+//! [EXPORT] : [COMMENT]  Software reboot occurred. Can also be a systemd reboot.
+//! P1: Current Chip, P2: Current Copy
+static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::LOW);
+//! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
+//! P1: First 16 bits: Last Chip, Last 16 bits: Last Copy,
+//! P2: Each byte is the respective reboot count for the slots
+static constexpr Event REBOOT_MECHANISM_TRIGGERED =
+    event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
+//! Trying to find a way how to determine that the reboot came from ProASIC3 or PCDU..
+static constexpr Event REBOOT_HW = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
+//! [EXPORT] : [COMMENT] No SD card was active. Core controller will attempt to re-initialize
+//! a SD card.
+static constexpr Event NO_SD_CARD_ACTIVE = event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
+//! [EXPORT] : [COMMENT]
+//! P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash
+//! P2: First four letters of Git SHA is the last byte of P1 is set.
+static constexpr Event VERSION_INFO = event::makeEvent(SUBSYSTEM_ID, 5, severity::INFO);
+//! [EXPORT] : [COMMENT] P1: Current Chip, P2: Current Copy
+static constexpr Event CURRENT_IMAGE_INFO = event::makeEvent(SUBSYSTEM_ID, 6, severity::INFO);
+//! [EXPORT] : [COMMENT] Total reboot counter, which is the sum of the boot count of all
+//! individual images.
+static constexpr Event REBOOT_COUNTER = event::makeEvent(SUBSYSTEM_ID, 7, severity::INFO);
+//! [EXPORT] : [COMMENT] Get the boot count of the individual images.
+//! P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1.
+//! P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.
+static constexpr Event INDIVIDUAL_BOOT_COUNTS = event::makeEvent(SUBSYSTEM_ID, 8, severity::INFO);
+//! [EXPORT] : [COMMENT] I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C
+//! devices.
+static constexpr Event TRYING_I2C_RECOVERY = event::makeEvent(SUBSYSTEM_ID, 10, severity::MEDIUM);
+//! [EXPORT] : [COMMENT] I2C is unavailable. Recovery did not work, performing full reboot.
+static constexpr Event I2C_REBOOT = event::makeEvent(SUBSYSTEM_ID, 11, severity::MEDIUM);
+
+}  // namespace core
+
 #endif /* MISSION_SYSDEFS_H_ */

mission/system/CMakeLists.txt

@@ -5,4 +5,6 @@ add_subdirectory(com)
 add_subdirectory(fdir)
 add_subdirectory(power)
 
-target_sources(${LIB_EIVE_MISSION} PRIVATE DualLanePowerStateMachine.cpp)
+target_sources(
+  ${LIB_EIVE_MISSION} PRIVATE systemTree.cpp DualLanePowerStateMachine.cpp
+                              EiveSystem.cpp treeUtil.cpp)

mission/system/EiveSystem.cpp

@@ -0,0 +1,278 @@
+#include "EiveSystem.h"
+
+#include <eive/objects.h>
+#include <fsfw/events/EventManager.h>
+#include <fsfw/ipc/QueueFactory.h>
+#include <fsfw/power/PowerSwitchIF.h>
+#include <mission/acs/defs.h>
+#include <mission/com/defs.h>
+#include <mission/controller/tcsDefs.h>
+
+#include "mission/power/bpxBattDefs.h"
+#include "mission/power/defs.h"
+#include "mission/sysDefs.h"
+
+EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
+                       uint32_t maxNumberOfTables, std::atomic_uint16_t& i2cErrors)
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables),
+      actionHelper(this, commandQueue),
+      i2cErrors(i2cErrors) {
+  auto mqArgs = MqArgs(SubsystemBase::getObjectId(), static_cast<void*>(this));
+  eventQueue =
+      QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+}
+
+void EiveSystem::announceMode(bool recursive) {
+  const char* modeStr = "UNKNOWN";
+  switch (mode) {
+    case (satsystem::Mode::BOOT): {
+      modeStr = "OFF/BOOT";
+      break;
+    }
+    case (satsystem::Mode::SAFE): {
+      modeStr = "SAFE";
+      break;
+    }
+    case (satsystem::Mode::PTG_IDLE): {
+      modeStr = "POINTING IDLE";
+      break;
+    }
+    case (acs::AcsMode::PTG_INERTIAL): {
+      modeStr = "POINTING INERTIAL";
+      break;
+    }
+    case (acs::AcsMode::PTG_TARGET): {
+      modeStr = "POINTING TARGET";
+      break;
+    }
+    case (acs::AcsMode::PTG_TARGET_GS): {
+      modeStr = "POINTING TARGET GS";
+      break;
+    }
+  }
+  sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl;
+  return Subsystem::announceMode(recursive);
+}
+
+void EiveSystem::performChildOperation() {
+  Subsystem::performChildOperation();
+  handleEventMessages();
+  if (not isInTransition and performSafeRecovery) {
+    commandSelfToSafe();
+    performSafeRecovery = false;
+    return;
+  }
+  i2cRecoveryLogic();
+}
+
+ReturnValue_t EiveSystem::initialize() {
+  if (powerSwitcher == nullptr) {
+    return ObjectManager::CHILD_INIT_FAILED;
+  }
+  ReturnValue_t result = actionHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  auto* bpxDest = ObjectManager::instance()->get<HasActionsIF>(objects::BPX_BATT_HANDLER);
+  if (bpxDest == nullptr) {
+    return ObjectManager::CHILD_INIT_FAILED;
+  }
+  bpxBattQueueId = bpxDest->getCommandQueue();
+
+  auto* coreCtrl = ObjectManager::instance()->get<HasActionsIF>(objects::CORE_CONTROLLER);
+  if (coreCtrl == nullptr) {
+    return ObjectManager::CHILD_INIT_FAILED;
+  }
+  coreCtrlQueueId = coreCtrl->getCommandQueue();
+
+  auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  if (manager == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  result = manager->registerListener(eventQueue->getId());
+  if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "AcsSubsystem::registerListener: Failed to register as "
+                    "listener"
+                 << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  manager->subscribeToEvent(eventQueue->getId(),
+                            event::getEventId(tcsCtrl::PCDU_SYSTEM_OVERHEATING));
+  manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::OBC_OVERHEATING));
+
+  // manager->subscribeToEvent(eventQueue->getId(), event::getEventId(CoreController::))
+  return Subsystem::initialize();
+}
+
+void EiveSystem::handleEventMessages() {
+  EventMessage event;
+  for (ReturnValue_t status = eventQueue->receiveMessage(&event); status == returnvalue::OK;
+       status = eventQueue->receiveMessage(&event)) {
+    switch (event.getMessageId()) {
+      case EventMessage::EVENT_MESSAGE:
+        switch (event.getEvent()) {
+          case tcsCtrl::OBC_OVERHEATING:
+          case tcsCtrl::PCDU_SYSTEM_OVERHEATING: {
+            if (isInTransition) {
+              performSafeRecovery = true;
+              return;
+            }
+
+            commandSelfToSafe();
+            break;
+          }
+        }
+        break;
+      default:
+        sif::debug << "EiveSystem: Did not subscribe to event " << event.getEvent() << std::endl;
+        break;
+    }
+  }
+}
+
+MessageQueueId_t EiveSystem::getCommandQueue() const { return Subsystem::getCommandQueue(); }
+
+ReturnValue_t EiveSystem::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                                        const uint8_t* data, size_t size) {
+  switch (actionId) {
+    case (EXECUTE_I2C_REBOOT): {
+      triggerEvent(core::TRYING_I2C_RECOVERY);
+      performI2cReboot = true;
+      i2cRebootState = I2cRebootState::SYSTEM_MODE_BOOT;
+      this->actionCommandedBy = commandedBy;
+      return returnvalue::OK;
+    }
+    default: {
+      return HasActionsIF::INVALID_ACTION_ID;
+    }
+  }
+  return returnvalue::OK;
+}
+
+void EiveSystem::setI2cRecoveryParams(PowerSwitchIF* pwrSwitcher) {
+  this->powerSwitcher = pwrSwitcher;
+}
+
+void EiveSystem::i2cRecoveryLogic() {
+  ReturnValue_t result;
+  if (not performI2cReboot) {
+    // If a recovery worked, need to reset these flags and the error count after some time.
+    if (i2cRecoveryClearCountdown.hasTimedOut()) {
+      i2cErrors = 0;
+      alreadyTriedI2cRecovery = false;
+      i2cRebootHandlingCountdown.resetTimer();
+    }
+    // If an I2C recovery is not ongoing and the I2C error counter is above a threshold, try
+    // recovery or reboot if recovery was already attempted.
+    if (i2cErrors >= 5) {
+      if (not alreadyTriedI2cRecovery) {
+        // Try recovery.
+        executeAction(EXECUTE_I2C_REBOOT, MessageQueueIF::NO_QUEUE, nullptr, 0);
+      } else {
+        // We already tried an I2C recovery but the bus is still broken.
+        // Send full reboot request to core controller.
+        CommandMessage msg;
+        ActionMessage::setCommand(&msg, core::REBOOT_OBC, store_address_t());
+        result = commandQueue->sendMessage(coreCtrlQueueId, &msg);
+      }
+    }
+  }
+  if (not isInTransition and performI2cReboot) {
+    switch (i2cRebootState) {
+      case (I2cRebootState::NONE): {
+        break;
+      }
+      case (I2cRebootState::SYSTEM_MODE_BOOT): {
+        startTransition(satsystem::Mode::BOOT, 0);
+        i2cRebootState = I2cRebootState::SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT;
+        i2cRebootHandlingCountdown.resetTimer();
+        break;
+      }
+      case (I2cRebootState::SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT): {
+        if (mode == satsystem::Mode::BOOT) {
+          result = powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
+                                                    PowerSwitchIF::SWITCH_OFF);
+          if (result != returnvalue::OK) {
+            actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
+            commonI2cRecoverySequenceFinish();
+            return;
+          }
+          CommandMessage msg;
+          store_address_t dummy{};
+          ActionMessage::setCommand(&msg, bpxBat::REBOOT, dummy);
+          result = commandQueue->sendMessage(bpxBattQueueId, &msg);
+          if (result != returnvalue::OK) {
+            actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
+            commonI2cRecoverySequenceFinish();
+            return;
+          }
+          i2cRebootState = I2cRebootState::WAIT_CYCLE;
+        }
+        break;
+      }
+      case (I2cRebootState::WAIT_CYCLE): {
+        i2cRebootState = I2cRebootState::SWITCH_3V3_STACK_ON;
+        break;
+      }
+      case (I2cRebootState::SWITCH_3V3_STACK_ON): {
+        result = powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
+                                                  PowerSwitchIF::SWITCH_ON);
+        if (result != returnvalue::OK) {
+          actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
+          commonI2cRecoverySequenceFinish();
+          return;
+        }
+        i2cRebootState = I2cRebootState::SYSTEM_MODE_SAFE;
+        break;
+      }
+      case (I2cRebootState::SYSTEM_MODE_SAFE): {
+        if (powerSwitcher->getSwitchState(power::Switches::P60_DOCK_3V3_STACK) ==
+            PowerSwitchIF::SWITCH_ON) {
+          // This should always be accepted
+          commonI2cRecoverySequenceFinish();
+          actionHelper.finish(true, actionCommandedBy, EXECUTE_I2C_REBOOT);
+        }
+        break;
+      }
+      default: {
+        sif::error << "EiveSystem: Unexpected I2C reboot state" << std::endl;
+        break;
+      }
+    }
+    // Timeout handling for the internal procedure.
+    if (i2cRebootState != I2cRebootState::NONE and i2cRebootHandlingCountdown.hasTimedOut()) {
+      actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, returnvalue::FAILED);
+      // Command stack back on in any case.
+      powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
+                                       PowerSwitchIF::SWITCH_ON);
+      commonI2cRecoverySequenceFinish();
+    }
+  }
+}
+
+void EiveSystem::commandSelfToSafe() { startTransition(satsystem::Mode::SAFE, 0); }
+
+void EiveSystem::commonI2cRecoverySequenceFinish() {
+  alreadyTriedI2cRecovery = true;
+  performI2cReboot = false;
+  i2cRebootState = I2cRebootState::NONE;
+  // Reset this counter and the recovery clear countdown. If I2C devices are still problematic,
+  // we will get a full reboot next time this count goes above 5.
+  i2cErrors = 0;
+  i2cRecoveryClearCountdown.resetTimer();
+  // This should always be accepted
+  commandSelfToSafe();
+}
+
+ReturnValue_t EiveSystem::handleCommandMessage(CommandMessage* message) {
+  if (message->getMessageType() == messagetypes::ACTION) {
+    return actionHelper.handleActionMessage(message);
+  }
+  return Subsystem::handleCommandMessage(message);
+}

mission/system/EiveSystem.h

@@ -0,0 +1,60 @@
+#ifndef MISSION_SYSTEM_EIVESYSTEM_H_
+#define MISSION_SYSTEM_EIVESYSTEM_H_
+
+#include <fsfw/action/HasActionsIF.h>
+#include <fsfw/power/PowerSwitchIF.h>
+#include <fsfw/subsystem/Subsystem.h>
+
+#include <atomic>
+
+class EiveSystem : public Subsystem, public HasActionsIF {
+ public:
+  static constexpr ActionId_t EXECUTE_I2C_REBOOT = 10;
+
+  EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables,
+             std::atomic_uint16_t& i2cErrors);
+
+  void setI2cRecoveryParams(PowerSwitchIF* pwrSwitcher);
+
+  [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
+
+ private:
+  enum class I2cRebootState {
+    NONE,
+    SYSTEM_MODE_BOOT,
+    SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT,
+    WAIT_CYCLE,
+    SWITCH_3V3_STACK_ON,
+    SYSTEM_MODE_SAFE
+  } i2cRebootState = I2cRebootState::NONE;
+
+  MessageQueueIF* eventQueue = nullptr;
+  bool performSafeRecovery = false;
+  bool performI2cReboot = false;
+  bool alreadyTriedI2cRecovery = false;
+
+  ActionHelper actionHelper;
+  PowerSwitchIF* powerSwitcher = nullptr;
+  std::atomic_uint16_t& i2cErrors;
+
+  MessageQueueId_t bpxBattQueueId = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t coreCtrlQueueId = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t actionCommandedBy = MessageQueueIF::NO_QUEUE;
+  Countdown i2cRebootHandlingCountdown = Countdown(10000);
+  //  After 1 minute, clear the flag to avoid full reboots on I2C issues.
+  Countdown i2cRecoveryClearCountdown = Countdown(60000);
+  ReturnValue_t initialize() override;
+  void performChildOperation() override;
+  void announceMode(bool recursive) override;
+
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size) override;
+  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
+
+  void i2cRecoveryLogic();
+  void handleEventMessages();
+  void commandSelfToSafe();
+  void commonI2cRecoverySequenceFinish();
+};
+
+#endif /* MISSION_SYSTEM_EIVESYSTEM_H_ */

mission/system/acs/RwAssembly.cpp

@@ -56,12 +56,12 @@ ReturnValue_t RwAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t want
       }
     }
   } catch (const std::out_of_range& e) {
-    sif::error << "RwAssembly: Invalid children map: " << e.what() << std::endl;
+    sif::error << "RW ASSY: Invalid children map: " << e.what() << std::endl;
   }
   if (devsInCorrectMode < 3) {
     if (warningSwitch) {
-      sif::warning << "RwAssembly::checkChildrenStateOn: Only " << devsInCorrectMode
-                   << " devices in correct mode" << std::endl;
+      sif::warning << "RW ASSY: Only " << devsInCorrectMode << " devices in correct mode"
+                   << std::endl;
       warningSwitch = false;
     }
     return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
@@ -106,46 +106,18 @@ void RwAssembly::handleModeReached() {
   }
 }
 
-void RwAssembly::handleChildrenLostMode(ReturnValue_t result) {
-  AssemblyBase::handleChildrenLostMode(result);
-}
-
 ReturnValue_t RwAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
   ReturnValue_t result = returnvalue::OK;
-  bool needsSecondStep = false;
-  Mode_t devMode = 0;
   object_id_t objId = 0;
   try {
     for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
-      devMode = childrenMap.at(helper.rwIds[idx]).mode;
-      objId = helper.rwIds[idx];
-      if (mode == devMode) {
+      if (isUseable(objId, mode)) {
         modeTable[idx].setMode(mode);
-      } else if (mode == DeviceHandlerIF::MODE_NORMAL) {
-        if (isUseable(objId, devMode)) {
-          if (devMode == MODE_ON) {
-            modeTable[idx].setMode(mode);
-            modeTable[idx].setSubmode(SUBMODE_NONE);
-          } else {
-            modeTable[idx].setMode(MODE_ON);
-            modeTable[idx].setSubmode(SUBMODE_NONE);
-            if (internalState != STATE_SECOND_STEP) {
-              needsSecondStep = true;
-            }
-          }
-        }
-      } else if (mode == MODE_ON) {
-        if (isUseable(objId, devMode)) {
-          modeTable[idx].setMode(MODE_ON);
-          modeTable[idx].setSubmode(SUBMODE_NONE);
-        }
+        modeTable[idx].setSubmode(submode);
       }
     }
   } catch (const std::out_of_range& e) {
-    sif::error << "TcsBoardAssembly: Invalid children map: " << e.what() << std::endl;
-  }
-  if (needsSecondStep) {
-    result = NEED_SECOND_STEP;
+    sif::error << "RW ASSY: Invalid children map: " << e.what() << std::endl;
   }
   return result;
 }
@@ -172,15 +144,3 @@ ReturnValue_t RwAssembly::initialize() {
   }
   return AssemblyBase::initialize();
 }
-
-void RwAssembly::handleModeTransitionFailed(ReturnValue_t result) {
-  if (targetMode == MODE_OFF) {
-    AssemblyBase::handleModeTransitionFailed(result);
-  } else {
-    if (modeTransitionFailedSwitch) {
-      // To avoid transitioning back to off
-      triggerEvent(MODE_TRANSITION_FAILED, result);
-      modeTransitionFailedSwitch = false;
-    }
-  }
-}

mission/system/acs/RwAssembly.h

@@ -41,11 +41,6 @@ class RwAssembly : public AssemblyBase {
   ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
   void startTransition(Mode_t mode, Submode_t submode) override;
   void handleModeReached() override;
-
-  // These two overrides prevent a transition of the whole assembly back to off just because
-  // some devices are not working
-  void handleChildrenLostMode(ReturnValue_t result) override;
-  void handleModeTransitionFailed(ReturnValue_t result) override;
 };
 
 #endif /* MISSION_SYSTEM_RWASS_H_ */

mission/system/acs/acsModeTree.cpp

@@ -11,7 +11,7 @@
 #include "eive/objects.h"
 #include "mission/acs/defs.h"
 #include "mission/power/defs.h"
-#include "mission/system/tree/util.h"
+#include "mission/system/treeUtil.h"
 
 AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
 

mission/system/com/ComSubsystem.cpp

@@ -228,3 +228,27 @@ bool ComSubsystem::isTxMode(Mode_t mode) {
   }
   return false;
 }
+
+void ComSubsystem::announceMode(bool recursive) {
+  const char *modeStr = "UNKNOWN";
+  switch (mode) {
+    case (com::RX_ONLY): {
+      modeStr = "RX_ONLY";
+      break;
+    }
+    case (com::RX_AND_TX_LOW_DATARATE): {
+      modeStr = "RX_AND_TX_LOW_DATARATE";
+      break;
+    }
+    case (com::RX_AND_TX_HIGH_DATARATE): {
+      modeStr = "RX_AND_TX_HIGH_DATARATE";
+      break;
+    }
+    case (com::RX_AND_TX_DEFAULT_DATARATE): {
+      modeStr = "RX_AND_TX_DEFAULT_DATARATE";
+      break;
+    }
+  }
+  sif::info << "COM subsystem is now in " << modeStr << " mode" << std::endl;
+  return Subsystem::announceMode(recursive);
+}

mission/system/com/ComSubsystem.h

@@ -47,6 +47,7 @@ class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
   ReturnValue_t initialize() override;
 
   void startTransition(Mode_t mode, Submode_t submode) override;
+  void announceMode(bool recursive) override;
 
   void readEventQueue();
   void handleEventMessage(EventMessage *eventMessage);

mission/system/com/comModeTree.cpp

@@ -6,7 +6,7 @@
 
 #include "eive/objects.h"
 #include "mission/com/defs.h"
-#include "mission/system/tree/util.h"
+#include "mission/system/treeUtil.h"
 
 const auto check = subsystem::checkInsert;
 

mission/system/objects/CMakeLists.txt

@@ -1,9 +1,4 @@
 target_sources(
   ${LIB_EIVE_MISSION}
-  PRIVATE EiveSystem.cpp
-          CamSwitcher.cpp
-          TcsSubsystem.cpp
-          PayloadSubsystem.cpp
-          Stack5VHandler.cpp
-          PowerStateMachineBase.cpp
-          TcsBoardAssembly.cpp)
+  PRIVATE CamSwitcher.cpp TcsSubsystem.cpp PayloadSubsystem.cpp
+          Stack5VHandler.cpp PowerStateMachineBase.cpp TcsBoardAssembly.cpp)

mission/system/objects/EiveSystem.cpp

@@ -1,111 +0,0 @@
-#include "EiveSystem.h"
-
-#include <eive/objects.h>
-#include <fsfw/events/EventManager.h>
-#include <fsfw/ipc/QueueFactory.h>
-#include <mission/acs/defs.h>
-#include <mission/com/defs.h>
-#include <mission/controller/tcsDefs.h>
-
-#include "mission/sysDefs.h"
-
-EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
-                       uint32_t maxNumberOfTables)
-    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {
-  auto mqArgs = MqArgs(SubsystemBase::getObjectId(), static_cast<void*>(this));
-  eventQueue =
-      QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
-}
-
-void EiveSystem::announceMode(bool recursive) {
-  const char* modeStr = "UNKNOWN";
-  switch (mode) {
-    case (satsystem::Mode::BOOT): {
-      modeStr = "OFF/BOOT";
-      break;
-    }
-    case (satsystem::Mode::SAFE): {
-      modeStr = "SAFE";
-      break;
-    }
-    case (satsystem::Mode::PTG_IDLE): {
-      modeStr = "POINTING IDLE";
-      break;
-    }
-    case (acs::AcsMode::PTG_INERTIAL): {
-      modeStr = "POINTING INERTIAL";
-      break;
-    }
-    case (acs::AcsMode::PTG_TARGET): {
-      modeStr = "POINTING TARGET";
-      break;
-    }
-    case (acs::AcsMode::PTG_TARGET_GS): {
-      modeStr = "POINTING TARGET GS";
-      break;
-    }
-  }
-  sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl;
-  return Subsystem::announceMode(recursive);
-}
-
-void EiveSystem::performChildOperation() {
-  Subsystem::performChildOperation();
-  handleEventMessages();
-  if (not isInTransition and performSafeRecovery) {
-    commandSelfToSafe();
-    performSafeRecovery = false;
-  }
-}
-
-ReturnValue_t EiveSystem::initialize() {
-  auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
-  if (manager == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
-#endif
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-  ReturnValue_t result = manager->registerListener(eventQueue->getId());
-  if (result != returnvalue::OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "AcsSubsystem::registerListener: Failed to register as "
-                    "listener"
-                 << std::endl;
-#endif
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-  manager->subscribeToEvent(eventQueue->getId(),
-                            event::getEventId(tcsCtrl::PCDU_SYSTEM_OVERHEATING));
-  manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::OBC_OVERHEATING));
-
-  return Subsystem::initialize();
-}
-
-void EiveSystem::handleEventMessages() {
-  EventMessage event;
-  for (ReturnValue_t status = eventQueue->receiveMessage(&event); status == returnvalue::OK;
-       status = eventQueue->receiveMessage(&event)) {
-    switch (event.getMessageId()) {
-      case EventMessage::EVENT_MESSAGE:
-        switch (event.getEvent()) {
-          case tcsCtrl::OBC_OVERHEATING:
-          case tcsCtrl::PCDU_SYSTEM_OVERHEATING: {
-            if (isInTransition) {
-              performSafeRecovery = true;
-              return;
-            }
-
-            commandSelfToSafe();
-            break;
-          }
-        }
-        break;
-      default:
-        sif::debug << "EiveSystem: Did not subscribe to event " << event.getEvent() << std::endl;
-        break;
-    }
-  }
-}
-
-void EiveSystem::commandSelfToSafe() { startTransition(satsystem::Mode::SAFE, 0); }

mission/system/objects/EiveSystem.h

@@ -1,21 +0,0 @@
-#ifndef MISSION_SYSTEM_EIVESYSTEM_H_
-#define MISSION_SYSTEM_EIVESYSTEM_H_
-
-#include <fsfw/subsystem/Subsystem.h>
-
-class EiveSystem : public Subsystem {
- public:
-  EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
-
- private:
-  MessageQueueIF* eventQueue = nullptr;
-  bool performSafeRecovery = false;
-
-  ReturnValue_t initialize() override;
-  void performChildOperation() override;
-  void announceMode(bool recursive) override;
-  void handleEventMessages();
-  void commandSelfToSafe();
-};
-
-#endif /* MISSION_SYSTEM_EIVESYSTEM_H_ */

mission/system/systemTree.cpp

@@ -1,4 +1,4 @@
-#include "system.h"
+#include "systemTree.h"
 
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/subsystem/Subsystem.h>
@@ -6,12 +6,14 @@
 #include <mission/sysDefs.h>
 #include <mission/system/com/comModeTree.h>
 
+#include <atomic>
+
 #include "eive/objects.h"
 #include "mission/com/defs.h"
 #include "mission/system/acs/acsModeTree.h"
-#include "payloadModeTree.h"
-#include "tcsModeTree.h"
-#include "util.h"
+#include "mission/system/tree/payloadModeTree.h"
+#include "mission/system/tree/tcsModeTree.h"
+#include "treeUtil.h"
 
 namespace {
 // Alias for checker function
@@ -41,7 +43,7 @@ void satsystem::init() {
   EIVE_SYSTEM.setInitialMode(satsystem::Mode::BOOT, 0);
 }
 
-EiveSystem satsystem::EIVE_SYSTEM = EiveSystem(objects::EIVE_SYSTEM, 12, 24);
+EiveSystem satsystem::EIVE_SYSTEM = EiveSystem(objects::EIVE_SYSTEM, 12, 24, I2C_FATAL_ERRORS);
 
 auto EIVE_SEQUENCE_BOOT = std::make_pair(satsystem::Mode::BOOT, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_BOOT_TGT =

mission/system/systemTree.h

@@ -1,7 +1,7 @@
 #ifndef MISSION_SYSTEM_TREE_SYSTEM_H_
 #define MISSION_SYSTEM_TREE_SYSTEM_H_
 
-#include <mission/system/objects/EiveSystem.h>
+#include <mission/system/EiveSystem.h>
 
 namespace satsystem {
 

mission/system/tree/CMakeLists.txt

@@ -1,2 +1 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp tcsModeTree.cpp
-                                           system.cpp util.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp tcsModeTree.cpp)

mission/system/tree/payloadModeTree.cpp

@@ -10,7 +10,7 @@
 #include "eive/objects.h"
 #include "mission/power/defs.h"
 #include "mission/system/objects/PayloadSubsystem.h"
-#include "util.h"
+#include "mission/system/treeUtil.h"
 
 namespace {
 void initOffSequence(Subsystem& ss, ModeListEntry& eh);

mission/system/tree/tcsModeTree.cpp

@@ -3,7 +3,7 @@
 #include "eive/objects.h"
 #include "fsfw/devicehandlers/DeviceHandlerIF.h"
 #include "fsfw/subsystem/Subsystem.h"
-#include "mission/system/tree/util.h"
+#include "mission/system/treeUtil.h"
 
 TcsSubsystem satsystem::tcs::SUBSYSTEM(objects::TCS_SUBSYSTEM, 12, 24);
 

mission/system/treeUtil.cpp

@@ -1,4 +1,4 @@
-#include "util.h"
+#include "treeUtil.h"
 
 #include "fsfw/container/FixedMap.h"
 #include "fsfw/serviceinterface.h"

mission/tcs/HeaterHandler.cpp

@@ -331,7 +331,6 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
       }
     }
   } else {
-    sif::info << "HeaterHandler::handleSwitchOffCommand: Switch already off" << std::endl;
     triggerEvent(SWITCH_ALREADY_OFF, heaterIdx);
   }
   if (heater.replyQueue != NO_COMMANDER) {

mission/tcs/HeaterHandler.h

@@ -101,8 +101,8 @@ class HeaterHandler : public ExecutableObjectIF,
   static constexpr Event GPIO_PULL_LOW_FAILED = MAKE_EVENT(1, severity::LOW);
   static constexpr Event HEATER_WENT_ON = event::makeEvent(SUBSYSTEM_ID, 2, severity::INFO);
   static constexpr Event HEATER_WENT_OFF = event::makeEvent(SUBSYSTEM_ID, 3, severity::INFO);
-  static constexpr Event SWITCH_ALREADY_ON = MAKE_EVENT(4, severity::LOW);
-  static constexpr Event SWITCH_ALREADY_OFF = MAKE_EVENT(5, severity::LOW);
+  static constexpr Event SWITCH_ALREADY_ON = MAKE_EVENT(4, severity::INFO);
+  static constexpr Event SWITCH_ALREADY_OFF = MAKE_EVENT(5, severity::INFO);
   static constexpr Event MAIN_SWITCH_TIMEOUT = MAKE_EVENT(6, severity::MEDIUM);
   //! A faulty heater was one. The SW will autonomously attempt to shut it down. P1: Heater Index
   static constexpr Event FAULTY_HEATER_WAS_ON = event::makeEvent(SUBSYSTEM_ID, 7, severity::LOW);

mission/tmtc/PersistentTmStore.cpp

@@ -338,6 +338,8 @@ ReturnValue_t PersistentTmStore::createMostRecentFile(std::optional<uint8_t> suf
 ReturnValue_t PersistentTmStore::initializeTmStore() {
   Clock::getClock_timeval(&currentTv);
   updateBaseDir();
+  // Reset active file, base directory might have changed.
+  activeFile = std::nullopt;
   return assignAndOrCreateMostRecentFile();
 }
 

tmtc

@@ -1 +1 @@
-Subproject commit dcf7d0af71f6ba9d569f9f56604e9245a0233427
+Subproject commit 43b530cdb7dfe6774962bf4b8a880e1c9a6e6580