From 260082c425742227bedd936cf3a2f2c2eec70fd9 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 16 Sep 2021 11:46:34 +0200
Subject: [PATCH 01/15] fsfw update

---
 fsfw | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fsfw b/fsfw
index bc6b29e6..8f3edc90 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit bc6b29e652a90f5a14bb32a1bcc2a956e410e678
+Subproject commit 8f3edc90ba844b9a4551bb77a71e6dcbdae6e9ee

From adb0147ea994d4ab88fda3cf46014df1cb74545c Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 16 Sep 2021 11:52:03 +0200
Subject: [PATCH 02/15] tmtc update

---
 tmtc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tmtc b/tmtc
index b3bc1fe2..9d1cae08 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit b3bc1fe28c73d51f0b8319cf67705807596e5518
+Subproject commit 9d1cae0809a7784f0dceb01359f723975a5903e7

From 00711c148a362e9cf3a33a6d4d4037d59451a427 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 16 Sep 2021 13:40:29 +0200
Subject: [PATCH 03/15] rm3100 changes

---
 bsp_q7s/core/ObjectFactory.cpp   | 2 ++
 linux/fsfwconfig/FSFWConfig.h.in | 1 +
 2 files changed, 3 insertions(+)

diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index bdad3dac..de34ab7a 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -457,6 +457,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
             objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A);
     mgmRm3100Handler->setStartUpImmediately();
+    mgmRm3100Handler->setToGoToNormalMode(true);
 
     spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
             MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
@@ -469,6 +470,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
             objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B);
     mgmRm3100Handler->setStartUpImmediately();
+    mgmRm3100Handler->setToGoToNormalMode(true);
 
     // Commented until ACS board V2 in in clean room again
     // Gyro 0 Side A
diff --git a/linux/fsfwconfig/FSFWConfig.h.in b/linux/fsfwconfig/FSFWConfig.h.in
index 89d8b9a7..32474f21 100644
--- a/linux/fsfwconfig/FSFWConfig.h.in
+++ b/linux/fsfwconfig/FSFWConfig.h.in
@@ -75,5 +75,6 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
 #define FSFW_HAL_LINUX_SPI_WIRETAPPING          0
 #define FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV   0
 #define FSFW_HAL_L3GD20_GYRO_DEBUG              0
+#define FSFW_HAL_RM3100_MGM_DEBUG               0
 
 #endif /* CONFIG_FSFWCONFIG_H_ */

From 2aa76766af50cfc24265bd2f86afaa2494504901 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 16 Sep 2021 14:51:14 +0200
Subject: [PATCH 04/15] added print commands for PCDU

---
 bsp_linux_board/ObjectFactory.cpp             |  3 +-
 bsp_q7s/core/ObjectFactory.cpp                |  6 +-
 mission/devices/CMakeLists.txt                |  2 +-
 ...ndlerLIS3MDL.cpp => MgmLIS3MDLHandler.cpp} |  7 +-
 ...GMHandlerLIS3MDL.h => MgmLIS3MDLHandler.h} | 62 ++++++++--------
 mission/devices/PDU2Handler.cpp               | 74 +++++++++++++++++++
 mission/devices/PDU2Handler.h                 |  3 +
 .../devicedefinitions/GomspaceDefinitions.h   |  6 +-
 8 files changed, 121 insertions(+), 42 deletions(-)
 rename mission/devices/{MGMHandlerLIS3MDL.cpp => MgmLIS3MDLHandler.cpp} (98%)
 rename mission/devices/{MGMHandlerLIS3MDL.h => MgmLIS3MDLHandler.h} (98%)

diff --git a/bsp_linux_board/ObjectFactory.cpp b/bsp_linux_board/ObjectFactory.cpp
index 372fbf25..60ca5b6e 100644
--- a/bsp_linux_board/ObjectFactory.cpp
+++ b/bsp_linux_board/ObjectFactory.cpp
@@ -14,7 +14,8 @@
 #include "mission/core/GenericFactory.h"
 #include "mission/utility/TmFunnel.h"
 #include <mission/devices/GPSHyperionHandler.h>
-#include "mission/devices/MGMHandlerLIS3MDL.h"
+#include <mission/devices/MgmLIS3MDLHandler.h>
+
 #include "mission/devices/MGMHandlerRM3100.h"
 #include "mission/devices/GyroADIS16507Handler.h"
 
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index de34ab7a..8f88a1c7 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -1,3 +1,4 @@
+#include <mission/devices/MgmLIS3MDLHandler.h>
 #include "ObjectFactory.h"
 #include "OBSWConfig.h"
 #include "devConf.h"
@@ -36,7 +37,6 @@
 #include "mission/devices/GyroADIS16507Handler.h"
 #include "mission/devices/IMTQHandler.h"
 #include "mission/devices/SyrlinksHkHandler.h"
-#include "mission/devices/MGMHandlerLIS3MDL.h"
 #include "mission/devices/PlocMPSoCHandler.h"
 #include "mission/devices/RadiationSensorHandler.h"
 #include "mission/devices/RwHandler.h"
@@ -449,7 +449,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
             MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
     auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
-            objects::SPI_COM_IF, spiCookie);
+            objects::SPI_COM_IF, spiCookie, 0);
     mgmLis3Handler->setStartUpImmediately();
 
     spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
@@ -462,7 +462,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
             MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
     auto mgmLis3Handler2 = new MGMHandlerLIS3MDL(objects::MGM_2_LIS3_HANDLER,
-            objects::SPI_COM_IF, spiCookie);
+            objects::SPI_COM_IF, spiCookie, 0);
     mgmLis3Handler2->setStartUpImmediately();
 
     spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
diff --git a/mission/devices/CMakeLists.txt b/mission/devices/CMakeLists.txt
index b5a1e20f..356115d3 100644
--- a/mission/devices/CMakeLists.txt
+++ b/mission/devices/CMakeLists.txt
@@ -1,6 +1,6 @@
 target_sources(${TARGET_NAME} PUBLIC
 	GPSHyperionHandler.cpp
-	MGMHandlerLIS3MDL.cpp
+	MgmLIS3MDLHandler.cpp
 	GomspaceDeviceHandler.cpp
 	Tmp1075Handler.cpp
 	PCDUHandler.cpp
diff --git a/mission/devices/MGMHandlerLIS3MDL.cpp b/mission/devices/MgmLIS3MDLHandler.cpp
similarity index 98%
rename from mission/devices/MGMHandlerLIS3MDL.cpp
rename to mission/devices/MgmLIS3MDLHandler.cpp
index 0e1da93e..b5701e1e 100644
--- a/mission/devices/MGMHandlerLIS3MDL.cpp
+++ b/mission/devices/MgmLIS3MDLHandler.cpp
@@ -1,12 +1,11 @@
-#include "MGMHandlerLIS3MDL.h"
-
+#include <mission/devices/MgmLIS3MDLHandler.h>
 #include "fsfw/datapool/PoolReadGuard.h"
 #if OBSW_VERBOSE_LEVEL >= 1
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 #endif
 
-MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
-        object_id_t deviceCommunication, CookieIF* comCookie):
+MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId, object_id_t deviceCommunication,
+        CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelay):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
         dataset(this) {
 #if OBSW_VERBOSE_LEVEL >= 1
diff --git a/mission/devices/MGMHandlerLIS3MDL.h b/mission/devices/MgmLIS3MDLHandler.h
similarity index 98%
rename from mission/devices/MGMHandlerLIS3MDL.h
rename to mission/devices/MgmLIS3MDLHandler.h
index 1b7b9c9a..0e36b9d3 100644
--- a/mission/devices/MGMHandlerLIS3MDL.h
+++ b/mission/devices/MgmLIS3MDLHandler.h
@@ -30,8 +30,8 @@ public:
     //Notifies a command to change the setup parameters
     static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
 
-    MGMHandlerLIS3MDL(uint32_t objectId, object_id_t deviceCommunication,
-            CookieIF* comCookie);
+    MGMHandlerLIS3MDL(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie,
+            uint8_t switchId, uint32_t transitionDelay = 10000);
     virtual ~MGMHandlerLIS3MDL();
 
 protected:
@@ -59,6 +59,34 @@ protected:
 
 private:
     MGMLIS3MDL::MgmPrimaryDataset dataset;
+    //Length a sindgle command SPI answer
+    static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
+
+    //Single SPIcommand has 2 bytes, first for adress, second for content
+    size_t singleComandSize = 2;
+    //has the size for all adresses of the lis3mdl + the continous write bit
+    uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
+
+    /**
+     * We want to save the registers we set, so we dont have to read the
+     * registers when we want to change something.
+     * --> everytime we change set a register we have to save it
+     */
+    uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
+
+    uint8_t statusRegister = 0;
+
+    enum class InternalState {
+        STATE_NONE,
+        STATE_FIRST_CONTACT,
+        STATE_SETUP,
+        STATE_CHECK_REGISTERS,
+        STATE_NORMAL
+    };
+
+    InternalState internalState = InternalState::STATE_NONE;
+    CommunicationStep communicationStep = CommunicationStep::DATA;
+    bool commandExecuted = false;
 
     /*------------------------------------------------------------------------*/
     /* Device specific commands and variables */
@@ -119,24 +147,6 @@ private:
     virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
             size_t commandDataLen);
 
-
-    //Length a sindgle command SPI answer
-    static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
-
-    //Single SPIcommand has 2 bytes, first for adress, second for content
-    size_t singleComandSize = 2;
-    //has the size for all adresses of the lis3mdl + the continous write bit
-    uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
-
-    /**
-     * We want to save the registers we set, so we dont have to read the
-     * registers when we want to change something.
-     * --> everytime we change set a register we have to save it
-     */
-    uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
-
-    uint8_t statusRegister = 0;
-
     /**
      * We always update all registers together, so this method updates
      * the rawpacket and rawpacketLen, so we just manipulate the local
@@ -145,18 +155,6 @@ private:
      */
     ReturnValue_t prepareCtrlRegisterWrite();
 
-    enum class InternalState {
-        STATE_NONE,
-        STATE_FIRST_CONTACT,
-        STATE_SETUP,
-        STATE_CHECK_REGISTERS,
-        STATE_NORMAL
-    };
-
-    InternalState internalState = InternalState::STATE_NONE;
-    CommunicationStep communicationStep = CommunicationStep::DATA;
-    bool commandExecuted = false;
-
 #if OBSW_VERBOSE_LEVEL >= 1
     PeriodicOperationDivider* debugDivider;
 #endif
diff --git a/mission/devices/PDU2Handler.cpp b/mission/devices/PDU2Handler.cpp
index 8789695e..bd760d77 100644
--- a/mission/devices/PDU2Handler.cpp
+++ b/mission/devices/PDU2Handler.cpp
@@ -312,6 +312,18 @@ ReturnValue_t PDU2Handler::initializeLocalDataPool(
 
 ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
     switch(cmd) {
+    case(GOMSPACE::PRINT_ALL): {
+        PoolReadGuard pg(&pdu2HkTableDataset);
+        ReturnValue_t readResult = pg.getReadResult();
+        if(readResult != HasReturnvaluesIF::RETURN_OK) {
+            sif::warning << "Reading PDU2 HK table failed!" << std::endl;
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        printOutputSwitchStates();
+        printOutputCurrents();
+        printOutputVoltages();
+        return HasReturnvaluesIF::RETURN_OK;
+    }
     case(GOMSPACE::PRINT_OUT_ENB_STATUS): {
         PoolReadGuard pg(&pdu2HkTableDataset);
         ReturnValue_t readResult = pg.getReadResult();
@@ -322,6 +334,26 @@ ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
         printOutputSwitchStates();
         return HasReturnvaluesIF::RETURN_OK;
     }
+    case(GOMSPACE::PRINT_OUT_CURRENTS): {
+        PoolReadGuard pg(&pdu2HkTableDataset);
+        ReturnValue_t readResult = pg.getReadResult();
+        if(readResult != HasReturnvaluesIF::RETURN_OK) {
+            sif::warning << "Reading PDU2 HK table failed!" << std::endl;
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        printOutputCurrents();
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    case(GOMSPACE::PRINT_OUT_VOLTAGES): {
+        PoolReadGuard pg(&pdu2HkTableDataset);
+        ReturnValue_t readResult = pg.getReadResult();
+        if(readResult != HasReturnvaluesIF::RETURN_OK) {
+            sif::warning << "Reading PDU2 HK table failed!" << std::endl;
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        printOutputVoltages();
+        return HasReturnvaluesIF::RETURN_OK;
+    }
     default: {
         return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -348,3 +380,45 @@ void PDU2Handler::printOutputSwitchStates() {
     sif::info << "PDU2 payload camera enable state: "
             << unsigned(pdu2HkTableDataset.outEnabledPayloadCamera.value) << std::endl;
 }
+
+void PDU2Handler::printOutputCurrents() {
+    sif::info << "PDU2 Q7S current: " <<
+            pdu2HkTableDataset.currentOutQ7S.value << std::endl;
+    sif::info << "PDU2 Payload PCDU current: " <<
+            pdu2HkTableDataset.currentOutPayloadPCDUCh1.value << std::endl;
+    sif::info << "PDU2 RW currents: " <<
+            pdu2HkTableDataset.currentOutReactionWheels.value << std::endl;
+    sif::info << "PDU2 TCS Board Heater In Current: " <<
+            pdu2HkTableDataset.currentOutTCSBoardHeaterIn.value << std::endl;
+    sif::info << "PDU2 SuS Redundant current: " <<
+            pdu2HkTableDataset.currentOutSUSRedundant.value << std::endl;
+    sif::info << "PDU2 Depl-Mechanism current: " <<
+            pdu2HkTableDataset.currentOutDeplMechanism.value << std::endl;
+    sif::info << "PDU2 Payload PCDU current: " <<
+            pdu2HkTableDataset.currentOutPayloadPCDUCh6.value << std::endl;
+    sif::info << "PDU2 ACS Board current: " <<
+            pdu2HkTableDataset.currentOutACSBoardSideB.value << std::endl;
+    sif::info << "PDU2 Payload Camera current: " <<
+            pdu2HkTableDataset.currentOutPayloadCamera.value << std::endl;
+}
+
+void PDU2Handler::printOutputVoltages() {
+    sif::info << "PDU2 Q7S voltage: " <<
+            pdu2HkTableDataset.voltageOutQ7S.value << std::endl;
+    sif::info << "PDU2 Payload PCDU voltage: " <<
+            pdu2HkTableDataset.voltageOutPayloadPCDUCh1.value << std::endl;
+    sif::info << "PDU2 RW voltage: " <<
+            pdu2HkTableDataset.voltageOutReactionWheels.value << std::endl;
+    sif::info << "PDU2 TCS Board Heater In voltage: " <<
+            pdu2HkTableDataset.voltageOutTCSBoardHeaterIn.value << std::endl;
+    sif::info << "PDU2 SuS Redundant voltage: " <<
+            pdu2HkTableDataset.voltageOutSUSRedundant.value << std::endl;
+    sif::info << "PDU2 Depl-Mechanism voltage: " <<
+            pdu2HkTableDataset.voltageOutDeplMechanism.value << std::endl;
+    sif::info << "PDU2 Payload PCDU voltage: " <<
+            pdu2HkTableDataset.voltageOutPayloadPCDUCh6.value << std::endl;
+    sif::info << "PDU2 ACS Board voltage: " <<
+            pdu2HkTableDataset.voltageOutACSBoardSideB.value << std::endl;
+    sif::info << "PDU2 Payload Camera voltage: " <<
+            pdu2HkTableDataset.voltageOutPayloadCamera.value << std::endl;
+}
diff --git a/mission/devices/PDU2Handler.h b/mission/devices/PDU2Handler.h
index 0aa7f0b5..93f9200e 100644
--- a/mission/devices/PDU2Handler.h
+++ b/mission/devices/PDU2Handler.h
@@ -40,6 +40,9 @@ private:
     PDU2::PDU2HkTableDataset pdu2HkTableDataset;
 
     void printOutputSwitchStates();
+    void printOutputCurrents();
+    void printOutputVoltages();
+
     void parseHkTableReply(const uint8_t *packet);
 };
 
diff --git a/mission/devices/devicedefinitions/GomspaceDefinitions.h b/mission/devices/devicedefinitions/GomspaceDefinitions.h
index f4e50466..5f067bed 100644
--- a/mission/devices/devicedefinitions/GomspaceDefinitions.h
+++ b/mission/devices/devicedefinitions/GomspaceDefinitions.h
@@ -33,7 +33,11 @@ static const DeviceCommandId_t GNDWDT_RESET = 9; //!< [EXPORT] : [COMMAND]
 static const DeviceCommandId_t PARAM_GET = 0; //!< [EXPORT] : [COMMAND]
 static const DeviceCommandId_t PARAM_SET = 255; //!< [EXPORT] : [COMMAND]
 static const DeviceCommandId_t REQUEST_HK_TABLE = 16; //!< [EXPORT] : [COMMAND]
-static const DeviceCommandId_t PRINT_OUT_ENB_STATUS = 17; //!< [EXPORT] : [COMMAND]
+static const DeviceCommandId_t PRINT_ALL = 32; //!< [EXPORT] : [COMMAND]
+static const DeviceCommandId_t PRINT_OUT_ENB_STATUS = 33; //!< [EXPORT] : [COMMAND]
+static const DeviceCommandId_t PRINT_OUT_CURRENTS = 34; //!< [EXPORT] : [COMMAND]
+static const DeviceCommandId_t PRINT_OUT_VOLTAGES = 35; //!< [EXPORT] : [COMMAND]
+
 
 }
 

From 0f57fc33c8973ecb150a860ebab1190893b27192 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 16 Sep 2021 14:51:51 +0200
Subject: [PATCH 05/15] tmtc update

---
 tmtc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tmtc b/tmtc
index 9d1cae08..6da94c73 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 9d1cae0809a7784f0dceb01359f723975a5903e7
+Subproject commit 6da94c73d0568c64e41d6c4b803539e09409c942

From 536c0cb0feb9035c4da08d97b12dcc86d61deed4 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 16 Sep 2021 15:00:31 +0200
Subject: [PATCH 06/15] new commands now working

---
 mission/devices/GomspaceDeviceHandler.cpp | 12 +++++--
 mission/devices/PDU2Handler.cpp           | 38 ++++++++++++-----------
 tmtc                                      |  2 +-
 3 files changed, 30 insertions(+), 22 deletions(-)

diff --git a/mission/devices/GomspaceDeviceHandler.cpp b/mission/devices/GomspaceDeviceHandler.cpp
index c7de02bb..72c2766e 100644
--- a/mission/devices/GomspaceDeviceHandler.cpp
+++ b/mission/devices/GomspaceDeviceHandler.cpp
@@ -7,11 +7,11 @@ GomspaceDeviceHandler::GomspaceDeviceHandler(object_id_t objectId, object_id_t c
         DeviceHandlerBase(objectId, comIF, comCookie), maxConfigTableAddress(maxConfigTableAddress),
         maxHkTableAddress(maxHkTableAddress), hkTableReplySize(hkTableReplySize),
         hkTableDataset(hkTableDataset) {
-    if (comCookie == NULL) {
+    if (comCookie == nullptr) {
         sif::error << "GomspaceDeviceHandler::GomspaceDeviceHandler: Invalid com cookie"
                 << std::endl;
     }
-    if (hkTableDataset == NULL) {
+    if (hkTableDataset == nullptr) {
         sif::error << "GomspaceDeviceHandler::GomspaceDeviceHandler: Invalid hk table data set"
                 << std::endl;
     }
@@ -75,7 +75,10 @@ ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(
         }
         break;
     }
-    case(GOMSPACE::PRINT_OUT_ENB_STATUS): {
+    case(GOMSPACE::PRINT_OUT_ENB_STATUS):
+    case(GOMSPACE::PRINT_ALL):
+    case(GOMSPACE::PRINT_OUT_CURRENTS):
+    case(GOMSPACE::PRINT_OUT_VOLTAGES): {
         result = printStatus(deviceCommand);
         break;
     }
@@ -99,7 +102,10 @@ void GomspaceDeviceHandler::fillCommandAndReplyMap(){
     this->insertInCommandAndReplyMap(GOMSPACE::PARAM_GET, 3);
     this->insertInCommandAndReplyMap(GOMSPACE::REQUEST_HK_TABLE, 3);
     this->insertInCommandMap(GOMSPACE::GNDWDT_RESET);
+    this->insertInCommandMap(GOMSPACE::PRINT_ALL);
     this->insertInCommandMap(GOMSPACE::PRINT_OUT_ENB_STATUS);
+    this->insertInCommandMap(GOMSPACE::PRINT_OUT_VOLTAGES);
+    this->insertInCommandMap(GOMSPACE::PRINT_OUT_CURRENTS);
 }
 
 ReturnValue_t GomspaceDeviceHandler::scanForReply(const uint8_t *start,
diff --git a/mission/devices/PDU2Handler.cpp b/mission/devices/PDU2Handler.cpp
index bd760d77..06e60002 100644
--- a/mission/devices/PDU2Handler.cpp
+++ b/mission/devices/PDU2Handler.cpp
@@ -382,43 +382,45 @@ void PDU2Handler::printOutputSwitchStates() {
 }
 
 void PDU2Handler::printOutputCurrents() {
-    sif::info << "PDU2 Q7S current: " <<
+    sif::info << "Printing PDU2 currents [mA]: " << std::endl;
+    sif::info << "PDU2 Q7S:" <<
             pdu2HkTableDataset.currentOutQ7S.value << std::endl;
-    sif::info << "PDU2 Payload PCDU current: " <<
+    sif::info << "PDU2 Payload PCDU:" <<
             pdu2HkTableDataset.currentOutPayloadPCDUCh1.value << std::endl;
-    sif::info << "PDU2 RW currents: " <<
+    sif::info << "PDU2 RW:" <<
             pdu2HkTableDataset.currentOutReactionWheels.value << std::endl;
-    sif::info << "PDU2 TCS Board Heater In Current: " <<
+    sif::info << "PDU2 TCS Board Heater In:" <<
             pdu2HkTableDataset.currentOutTCSBoardHeaterIn.value << std::endl;
-    sif::info << "PDU2 SuS Redundant current: " <<
+    sif::info << "PDU2 SuS Redundant:" <<
             pdu2HkTableDataset.currentOutSUSRedundant.value << std::endl;
-    sif::info << "PDU2 Depl-Mechanism current: " <<
+    sif::info << "PDU2 Depl-Mechanism:" <<
             pdu2HkTableDataset.currentOutDeplMechanism.value << std::endl;
-    sif::info << "PDU2 Payload PCDU current: " <<
+    sif::info << "PDU2 Payload PCDU:" <<
             pdu2HkTableDataset.currentOutPayloadPCDUCh6.value << std::endl;
-    sif::info << "PDU2 ACS Board current: " <<
+    sif::info << "PDU2 ACS Board:" <<
             pdu2HkTableDataset.currentOutACSBoardSideB.value << std::endl;
-    sif::info << "PDU2 Payload Camera current: " <<
+    sif::info << "PDU2 Payload Camera:" <<
             pdu2HkTableDataset.currentOutPayloadCamera.value << std::endl;
 }
 
 void PDU2Handler::printOutputVoltages() {
-    sif::info << "PDU2 Q7S voltage: " <<
+    sif::info << "Printing PDU2 voltages [mV]: " << std::endl;
+    sif::info << "PDU2 Q7S:" <<
             pdu2HkTableDataset.voltageOutQ7S.value << std::endl;
-    sif::info << "PDU2 Payload PCDU voltage: " <<
+    sif::info << "PDU2 Payload PCDU:" <<
             pdu2HkTableDataset.voltageOutPayloadPCDUCh1.value << std::endl;
-    sif::info << "PDU2 RW voltage: " <<
+    sif::info << "PDU2 RW:" <<
             pdu2HkTableDataset.voltageOutReactionWheels.value << std::endl;
-    sif::info << "PDU2 TCS Board Heater In voltage: " <<
+    sif::info << "PDU2 TCS Board Heater In:" <<
             pdu2HkTableDataset.voltageOutTCSBoardHeaterIn.value << std::endl;
-    sif::info << "PDU2 SuS Redundant voltage: " <<
+    sif::info << "PDU2 SuS Redundant:" <<
             pdu2HkTableDataset.voltageOutSUSRedundant.value << std::endl;
-    sif::info << "PDU2 Depl-Mechanism voltage: " <<
+    sif::info << "PDU2 Depl-Mechanism:" <<
             pdu2HkTableDataset.voltageOutDeplMechanism.value << std::endl;
-    sif::info << "PDU2 Payload PCDU voltage: " <<
+    sif::info << "PDU2 Payload PCDU:" <<
             pdu2HkTableDataset.voltageOutPayloadPCDUCh6.value << std::endl;
-    sif::info << "PDU2 ACS Board voltage: " <<
+    sif::info << "PDU2 ACS Board voltage:" <<
             pdu2HkTableDataset.voltageOutACSBoardSideB.value << std::endl;
-    sif::info << "PDU2 Payload Camera voltage: " <<
+    sif::info << "PDU2 Payload Camera voltage:" <<
             pdu2HkTableDataset.voltageOutPayloadCamera.value << std::endl;
 }
diff --git a/tmtc b/tmtc
index 6da94c73..5c65390a 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 6da94c73d0568c64e41d6c4b803539e09409c942
+Subproject commit 5c65390a8b0344c41728d276729cae0a2cc1d9d1

From 00bafd98fe2711c261151c8dbaedc6c867e5413e Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 16 Sep 2021 17:24:34 +0200
Subject: [PATCH 07/15] obsw config, gps update

---
 bsp_q7s/core/ObjectFactory.cpp         | 12 ++++++++----
 common/config/devConf.h                |  4 ++--
 linux/fsfwconfig/OBSWConfig.h.in       |  1 +
 mission/devices/GPSHyperionHandler.cpp | 12 ++++++++++--
 mission/devices/GPSHyperionHandler.h   |  6 +++++-
 5 files changed, 26 insertions(+), 9 deletions(-)

diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 8f88a1c7..7b5247f8 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -457,7 +457,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
             objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A);
     mgmRm3100Handler->setStartUpImmediately();
-    mgmRm3100Handler->setToGoToNormalMode(true);
+    //mgmRm3100Handler->setToGoToNormalMode(true);
 
     spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
             MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
@@ -470,7 +470,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
             objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B);
     mgmRm3100Handler->setStartUpImmediately();
-    mgmRm3100Handler->setToGoToNormalMode(true);
+    //mgmRm3100Handler->setToGoToNormalMode(true);
 
     // Commented until ACS board V2 in in clean room again
     // Gyro 0 Side A
@@ -502,6 +502,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     gyroL3gHandler->setStartUpImmediately();
     //gyroL3gHandler->setGoNormalModeAtStartup();
 
+    bool debugGps = false;
+#if OBSW_DEBUG_GPS == 1
+    debugGps = true;
+#endif
     resetArgsGnss1.gnss1 = true;
     resetArgsGnss1.gpioComIF = gpioComIF;
     resetArgsGnss1.waitPeriodMs = 100;
@@ -517,11 +521,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     uartCookieGps1->setToFlushInput(true);
     uartCookieGps1->setReadCycles(6);
     auto gpsHandler0 = new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF,
-            uartCookieGps0, true);
+            uartCookieGps0, debugGps);
     gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
     gpsHandler0->setStartUpImmediately();
     auto gpsHandler1 = new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF,
-            uartCookieGps1, true);
+            uartCookieGps1, debugGps);
     gpsHandler1->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss1);
     gpsHandler1->setStartUpImmediately();
 }
diff --git a/common/config/devConf.h b/common/config/devConf.h
index 41126fdd..e1d95b5e 100644
--- a/common/config/devConf.h
+++ b/common/config/devConf.h
@@ -26,10 +26,10 @@ static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3;
 static constexpr uint32_t DEFAULT_ADIS16507_SPEED = 976'000;
 static constexpr spi::SpiModes DEFAULT_ADIS16507_MODE = spi::SpiModes::MODE_3;
 
-static constexpr uint32_t RW_SPEED = 300000;
+static constexpr uint32_t RW_SPEED = 300'000;
 static constexpr spi::SpiModes RW_MODE = spi::SpiModes::MODE_0;
 
-static constexpr uint32_t RTD_SPEED = 2000000;
+static constexpr uint32_t RTD_SPEED = 2'000'000;
 
 }
 
diff --git a/linux/fsfwconfig/OBSWConfig.h.in b/linux/fsfwconfig/OBSWConfig.h.in
index dc397635..32f29a09 100644
--- a/linux/fsfwconfig/OBSWConfig.h.in
+++ b/linux/fsfwconfig/OBSWConfig.h.in
@@ -63,6 +63,7 @@ debugging. */
 #define OBSW_DEBUG_P60DOCK                          0
 #define OBSW_DEBUG_PDU1                             0
 #define OBSW_DEBUG_PDU2                             0
+#define OBSW_DEBUG_GPS                              0
 #define OBSW_DEBUG_ACU                              0
 #define OBSW_DEBUG_SYRLINKS                         0
 #define OBSW_DEBUG_IMQT                             0
diff --git a/mission/devices/GPSHyperionHandler.cpp b/mission/devices/GPSHyperionHandler.cpp
index 5e44f89c..26b86a76 100644
--- a/mission/devices/GPSHyperionHandler.cpp
+++ b/mission/devices/GPSHyperionHandler.cpp
@@ -23,7 +23,6 @@ GPSHyperionHandler::~GPSHyperionHandler() {}
 void GPSHyperionHandler::doStartUp() {
     if(internalState == InternalStates::NONE) {
         commandExecuted = false;
-        updatePeriodicReply(true, GpsHyperion::GPS_REPLY);
         internalState = InternalStates::WAIT_FIRST_MESSAGE;
     }
 
@@ -76,7 +75,7 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
         DeviceCommandId_t *foundId, size_t *foundLen) {
     // Pass data to GPS library
     if(len > 0) {
-        sif::debug << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
+        // sif::debug << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
         if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
             // TODO: Check whether data is valid by checking whether NMEA start string is valid?
             commandExecuted = true;
@@ -202,3 +201,12 @@ void GPSHyperionHandler::setResetPinTriggerFunction(gpioResetFunction_t resetCal
 void GPSHyperionHandler::debugInterface(uint8_t positionTracker, object_id_t objectId,
         uint32_t parameter) {
 }
+
+ReturnValue_t GPSHyperionHandler::initialize() {
+    ReturnValue_t result = DeviceHandlerBase::initialize();
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    // Enable reply immediately for now
+    return updatePeriodicReply(true, GpsHyperion::GPS_REPLY);
+}
diff --git a/mission/devices/GPSHyperionHandler.h b/mission/devices/GPSHyperionHandler.h
index 03c572a3..13591b44 100644
--- a/mission/devices/GPSHyperionHandler.h
+++ b/mission/devices/GPSHyperionHandler.h
@@ -14,12 +14,16 @@
  */
 class GPSHyperionHandler: public DeviceHandlerBase {
 public:
-    using gpioResetFunction_t = ReturnValue_t (*) (void* args);
+
 	GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
 	        CookieIF* comCookie, bool debugHyperionGps = false);
 	virtual ~GPSHyperionHandler();
 
+    using gpioResetFunction_t = ReturnValue_t (*) (void* args);
+
 	void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void*args);
+
+	ReturnValue_t initialize() override;
 protected:
 
 	gpioResetFunction_t resetCallback = nullptr;

From 2cb562cdee3f9a3cb8f0a95e06696b7ac8fa0415 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 16 Sep 2021 17:25:16 +0200
Subject: [PATCH 08/15] tmtc update

---
 tmtc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tmtc b/tmtc
index 5c65390a..a5d9fedc 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 5c65390a8b0344c41728d276729cae0a2cc1d9d1
+Subproject commit a5d9fedc649966c901a7ede9bbbe915df9ed9446

From 8dcd2f0c9569e292134b317e6617e1bf35759403 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 16 Sep 2021 17:33:47 +0200
Subject: [PATCH 09/15] some cfg improvements

---
 CMakeLists.txt                   |  1 -
 bsp_q7s/core/ObjectFactory.cpp   | 16 ++++++++++++----
 fsfw                             |  2 +-
 linux/fsfwconfig/FSFWConfig.h.in |  1 +
 linux/fsfwconfig/OBSWConfig.h.in |  1 -
 5 files changed, 14 insertions(+), 7 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f366b744..e9b1b68c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -86,7 +86,6 @@ include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake)
 pre_source_hw_os_config()
 
 if(TGT_BSP)
-    message(STATUS ${TGT_BSP})
     if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi"
         OR TGT_BSP MATCHES "arm/beagleboneblack"
     )
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 7b5247f8..49e036d6 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -457,7 +457,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
             objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A);
     mgmRm3100Handler->setStartUpImmediately();
-    //mgmRm3100Handler->setToGoToNormalMode(true);
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+    mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
 
     spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
             MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
@@ -470,7 +472,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
             objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B);
     mgmRm3100Handler->setStartUpImmediately();
-    //mgmRm3100Handler->setToGoToNormalMode(true);
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+    mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
 
     // Commented until ACS board V2 in in clean room again
     // Gyro 0 Side A
@@ -486,7 +490,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER,
             objects::SPI_COM_IF, spiCookie, 0);
     gyroL3gHandler->setStartUpImmediately();
-    //gyroL3gHandler->setGoNormalModeAtStartup();
+#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+    gyroL3gHandler->setGoNormalModeAtStartup();
+#endif
     // Gyro 2 Side B
     spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
             ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
@@ -500,7 +506,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER,
             objects::SPI_COM_IF, spiCookie, 0);
     gyroL3gHandler->setStartUpImmediately();
-    //gyroL3gHandler->setGoNormalModeAtStartup();
+#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+    gyroL3gHandler->setGoNormalModeAtStartup();
+#endif
 
     bool debugGps = false;
 #if OBSW_DEBUG_GPS == 1
diff --git a/fsfw b/fsfw
index 8f3edc90..6d0d04ac 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 8f3edc90ba844b9a4551bb77a71e6dcbdae6e9ee
+Subproject commit 6d0d04ac230962024580ef3769cc8ec063db4093
diff --git a/linux/fsfwconfig/FSFWConfig.h.in b/linux/fsfwconfig/FSFWConfig.h.in
index 32474f21..4f278cef 100644
--- a/linux/fsfwconfig/FSFWConfig.h.in
+++ b/linux/fsfwconfig/FSFWConfig.h.in
@@ -74,6 +74,7 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
 
 #define FSFW_HAL_LINUX_SPI_WIRETAPPING          0
 #define FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV   0
+
 #define FSFW_HAL_L3GD20_GYRO_DEBUG              0
 #define FSFW_HAL_RM3100_MGM_DEBUG               0
 
diff --git a/linux/fsfwconfig/OBSWConfig.h.in b/linux/fsfwconfig/OBSWConfig.h.in
index 32f29a09..58797c2d 100644
--- a/linux/fsfwconfig/OBSWConfig.h.in
+++ b/linux/fsfwconfig/OBSWConfig.h.in
@@ -68,7 +68,6 @@ debugging. */
 #define OBSW_DEBUG_SYRLINKS                         0
 #define OBSW_DEBUG_IMQT                             0
 #define OBSW_DEBUG_ADIS16507                        0
-#define OBSW_DEBUG_L3GD20_GYRO                      0
 #define OBSW_DEBUG_RAD_SENSOR                       0
 #define OBSW_DEBUG_SUS                              0
 #define OBSW_DEBUG_RTD                              0

From 48a8a52b1c867c01ee2f946057954cb425b34761 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 16 Sep 2021 18:51:06 +0200
Subject: [PATCH 10/15] moved lis3mdl to fsfw

---
 bsp_q7s/core/ObjectFactory.cpp                |  12 +-
 fsfw                                          |   2 +-
 linux/fsfwconfig/FSFWConfig.h.in              |   1 +
 .../pollingSequenceFactory.cpp                | 102 ++--
 mission/devices/CMakeLists.txt                |   1 -
 mission/devices/MgmLIS3MDLHandler.cpp         | 497 ------------------
 mission/devices/MgmLIS3MDLHandler.h           | 163 ------
 .../MGMHandlerLIS3Definitions.h               | 178 -------
 8 files changed, 62 insertions(+), 894 deletions(-)
 delete mode 100644 mission/devices/MgmLIS3MDLHandler.cpp
 delete mode 100644 mission/devices/MgmLIS3MDLHandler.h
 delete mode 100644 mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h

diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 49e036d6..26c4df6d 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -1,4 +1,3 @@
-#include <mission/devices/MgmLIS3MDLHandler.h>
 #include "ObjectFactory.h"
 #include "OBSWConfig.h"
 #include "devConf.h"
@@ -53,6 +52,7 @@
 
 #include "fsfw_hal/linux/uart/UartComIF.h"
 #include "fsfw_hal/linux/uart/UartCookie.h"
+#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
 #include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
 #include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
 #include "fsfw_hal/linux/i2c/I2cCookie.h"
@@ -448,9 +448,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     std::string spiDev = q7s::SPI_DEFAULT_DEV;
     SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
             MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-    auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
+    auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER,
             objects::SPI_COM_IF, spiCookie, 0);
     mgmLis3Handler->setStartUpImmediately();
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+    mgmLis3Handler->setToGoToNormalMode(true);
+#endif
 
     spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
             RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
@@ -463,9 +466,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
 
     spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
             MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-    auto mgmLis3Handler2 = new MGMHandlerLIS3MDL(objects::MGM_2_LIS3_HANDLER,
+    auto mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER,
             objects::SPI_COM_IF, spiCookie, 0);
     mgmLis3Handler2->setStartUpImmediately();
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+    mgmLis3Handler2->setToGoToNormalMode(true);
+#endif
 
     spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
             RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
diff --git a/fsfw b/fsfw
index 6d0d04ac..b1a56a71 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 6d0d04ac230962024580ef3769cc8ec063db4093
+Subproject commit b1a56a71cdba538e82b4052413e1663b34cfee90
diff --git a/linux/fsfwconfig/FSFWConfig.h.in b/linux/fsfwconfig/FSFWConfig.h.in
index 4f278cef..7314b275 100644
--- a/linux/fsfwconfig/FSFWConfig.h.in
+++ b/linux/fsfwconfig/FSFWConfig.h.in
@@ -77,5 +77,6 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
 
 #define FSFW_HAL_L3GD20_GYRO_DEBUG              0
 #define FSFW_HAL_RM3100_MGM_DEBUG               0
+#define FSFW_HAL_LIS3MDL_MGM_DEBUG              0
 
 #endif /* CONFIG_FSFWCONFIG_H_ */
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index f45f5f32..a0064fc5 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -425,16 +425,16 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
 
 #if OBSW_ADD_ACS_BOARD == 1
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
+//    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
+//            DeviceHandlerIF::PERFORM_OPERATION);
+//    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
+//            DeviceHandlerIF::SEND_WRITE);
+//    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
+//            DeviceHandlerIF::GET_WRITE);
+//    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
+//            DeviceHandlerIF::SEND_READ);
+//    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
+//            DeviceHandlerIF::GET_READ);
 
     thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
@@ -447,27 +447,27 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
             DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
+//    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
+//            DeviceHandlerIF::PERFORM_OPERATION);
+//    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
+//            DeviceHandlerIF::SEND_WRITE);
+//    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
+//            DeviceHandlerIF::GET_WRITE);
+//    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
+//            DeviceHandlerIF::SEND_READ);
+//    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
+//            DeviceHandlerIF::GET_READ);
+//
+//    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
+//            DeviceHandlerIF::PERFORM_OPERATION);
+//    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
+//            DeviceHandlerIF::SEND_WRITE);
+//    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
+//            DeviceHandlerIF::GET_WRITE);
+//    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
+//            DeviceHandlerIF::SEND_READ);
+//    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
+//            DeviceHandlerIF::GET_READ);
 
 //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
 //            DeviceHandlerIF::PERFORM_OPERATION);
@@ -480,16 +480,16 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
 //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8,
 //            DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
+//    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
+//            DeviceHandlerIF::PERFORM_OPERATION);
+//    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
+//            DeviceHandlerIF::SEND_WRITE);
+//    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
+//            DeviceHandlerIF::GET_WRITE);
+//    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
+//            DeviceHandlerIF::SEND_READ);
+//    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
+//            DeviceHandlerIF::GET_READ);
 
 //    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
 //            DeviceHandlerIF::PERFORM_OPERATION);
@@ -502,16 +502,16 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
 //    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.8,
 //            DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
+//    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
+//            DeviceHandlerIF::PERFORM_OPERATION);
+//    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2,
+//            DeviceHandlerIF::SEND_WRITE);
+//    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4,
+//            DeviceHandlerIF::GET_WRITE);
+//    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
+//            DeviceHandlerIF::SEND_READ);
+//    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8,
+//            DeviceHandlerIF::GET_READ);
 #endif /* OBSW_ADD_ACS_BOARD == 1 */
 
     if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
diff --git a/mission/devices/CMakeLists.txt b/mission/devices/CMakeLists.txt
index 356115d3..dd17728c 100644
--- a/mission/devices/CMakeLists.txt
+++ b/mission/devices/CMakeLists.txt
@@ -1,6 +1,5 @@
 target_sources(${TARGET_NAME} PUBLIC
 	GPSHyperionHandler.cpp
-	MgmLIS3MDLHandler.cpp
 	GomspaceDeviceHandler.cpp
 	Tmp1075Handler.cpp
 	PCDUHandler.cpp
diff --git a/mission/devices/MgmLIS3MDLHandler.cpp b/mission/devices/MgmLIS3MDLHandler.cpp
deleted file mode 100644
index b5701e1e..00000000
--- a/mission/devices/MgmLIS3MDLHandler.cpp
+++ /dev/null
@@ -1,497 +0,0 @@
-#include <mission/devices/MgmLIS3MDLHandler.h>
-#include "fsfw/datapool/PoolReadGuard.h"
-#if OBSW_VERBOSE_LEVEL >= 1
-#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
-#endif
-
-MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId, object_id_t deviceCommunication,
-        CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelay):
-        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        dataset(this) {
-#if OBSW_VERBOSE_LEVEL >= 1
-    debugDivider = new PeriodicOperationDivider(5);
-#endif
-    /* Set to default values right away. */
-    registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
-    registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
-    registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
-    registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
-    registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
-
-}
-
-MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() {
-}
-
-
-void MGMHandlerLIS3MDL::doStartUp() {
-    switch (internalState) {
-    case(InternalState::STATE_NONE): {
-        internalState = InternalState::STATE_FIRST_CONTACT;
-        break;
-    }
-    case(InternalState::STATE_FIRST_CONTACT): {
-        /* Will be set by checking device ID (WHO AM I register) */
-        if(commandExecuted) {
-            commandExecuted = false;
-            internalState = InternalState::STATE_SETUP;
-        }
-        break;
-    }
-    case(InternalState::STATE_SETUP): {
-        internalState = InternalState::STATE_CHECK_REGISTERS;
-        break;
-    }
-    case(InternalState::STATE_CHECK_REGISTERS): {
-        /* Set up cached registers which will be used to configure the MGM. */
-        if(commandExecuted) {
-            commandExecuted = false;
-#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
-            setMode(MODE_NORMAL);
-#else
-            setMode(_MODE_TO_ON);
-#endif
-        }
-        break;
-    }
-    default:
-        break;
-    }
-
-}
-
-void MGMHandlerLIS3MDL::doShutDown() {
-    setMode(_MODE_POWER_DOWN);
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
-        DeviceCommandId_t *id) {
-    switch (internalState) {
-    case(InternalState::STATE_NONE):
-    case(InternalState::STATE_NORMAL): {
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-    case(InternalState::STATE_FIRST_CONTACT): {
-        *id = MGMLIS3MDL::IDENTIFY_DEVICE;
-        break;
-    }
-    case(InternalState::STATE_SETUP): {
-        *id = MGMLIS3MDL::SETUP_MGM;
-        break;
-    }
-    case(InternalState::STATE_CHECK_REGISTERS): {
-        *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
-        break;
-    }
-    default: {
-        /* might be a configuration error. */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
-                std::endl;
-#else
-        sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-
-    }
-    return buildCommandFromCommand(*id, NULL, 0);
-}
-
-uint8_t MGMHandlerLIS3MDL::readCommand(uint8_t command, bool continuousCom) {
-    command |= (1 << MGMLIS3MDL::RW_BIT);
-    if (continuousCom == true) {
-        command |= (1 << MGMLIS3MDL::MS_BIT);
-    }
-    return command;
-}
-
-uint8_t MGMHandlerLIS3MDL::writeCommand(uint8_t command, bool continuousCom) {
-    command &= ~(1 << MGMLIS3MDL::RW_BIT);
-    if (continuousCom == true) {
-        command |= (1 << MGMLIS3MDL::MS_BIT);
-    }
-    return command;
-}
-
-void MGMHandlerLIS3MDL::setupMgm() {
-
-    registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
-    registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
-    registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
-    registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
-    registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
-
-    prepareCtrlRegisterWrite();
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
-        DeviceCommandId_t *id) {
-    // Data/config register will be read in an alternating manner.
-    if(communicationStep == CommunicationStep::DATA) {
-        *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
-        communicationStep = CommunicationStep::TEMPERATURE;
-        return buildCommandFromCommand(*id, NULL, 0);
-    }
-    else {
-        *id = MGMLIS3MDL::READ_TEMPERATURE;
-        communicationStep = CommunicationStep::DATA;
-        return buildCommandFromCommand(*id, NULL, 0);
-    }
-
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
-        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-        size_t commandDataLen) {
-    switch(deviceCommand) {
-    case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
-        std::memset(commandBuffer, 0, sizeof(commandBuffer));
-        commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
-
-        rawPacket = commandBuffer;
-        rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
-        return RETURN_OK;
-    }
-    case(MGMLIS3MDL::READ_TEMPERATURE): {
-        std::memset(commandBuffer, 0, 3);
-        commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
-
-        rawPacket = commandBuffer;
-        rawPacketLen = 3;
-        return RETURN_OK;
-    }
-    case(MGMLIS3MDL::IDENTIFY_DEVICE): {
-        return identifyDevice();
-    }
-    case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
-        return enableTemperatureSensor(commandData, commandDataLen);
-    }
-    case(MGMLIS3MDL::SETUP_MGM): {
-        setupMgm();
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-    case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
-        return setOperatingMode(commandData, commandDataLen);
-    }
-    default:
-        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
-    }
-    return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() {
-    uint32_t size = 2;
-    commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
-    commandBuffer[1] = 0x00;
-
-    rawPacket = commandBuffer;
-    rawPacketLen = size;
-
-    return RETURN_OK;
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
-        size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
-    *foundLen = len;
-    if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
-        *foundLen = len;
-        *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
-        // Check validity by checking config registers
-        if (start[1] != registers[0] or start[2] != registers[1] or
-                start[3] != registers[2] or start[4] != registers[3] or
-                start[5] != registers[4]) {
-#if OBSW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
-#else
-            sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
-#endif
-#endif
-            return DeviceHandlerIF::INVALID_DATA;
-        }
-        if(mode == _MODE_START_UP) {
-            commandExecuted = true;
-        }
-
-    }
-    else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
-        *foundLen = len;
-        *foundId = MGMLIS3MDL::READ_TEMPERATURE;
-    }
-    else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
-        *foundLen = len;
-        *foundId = MGMLIS3MDL::SETUP_MGM;
-    }
-    else if (len == SINGLE_COMMAND_ANSWER_LEN) {
-        *foundLen = len;
-        *foundId = getPendingCommand();
-        if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
-            if(start[1] != MGMLIS3MDL::DEVICE_ID) {
-#if OBSW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-                sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
-#else
-                sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
-#endif
-#endif
-                return DeviceHandlerIF::INVALID_DATA;
-            }
-
-            if(mode == _MODE_START_UP) {
-                commandExecuted = true;
-            }
-        }
-    }
-    else {
-        return DeviceHandlerIF::INVALID_DATA;
-    }
-
-    /* Data with SPI Interface always has this answer */
-    if (start[0] == 0b11111111) {
-        return RETURN_OK;
-    }
-    else {
-        return DeviceHandlerIF::INVALID_DATA;
-    }
-
-}
-ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
-        const uint8_t *packet) {
-
-    switch (id) {
-    case MGMLIS3MDL::IDENTIFY_DEVICE: {
-        break;
-    }
-    case MGMLIS3MDL::SETUP_MGM: {
-        break;
-    }
-    case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
-        // TODO: Store configuration in new local datasets.
-        float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
-
-        int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
-                | packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
-        int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
-                | packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
-        int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
-                | packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
-
-        /* Target value in microtesla */
-        float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
-                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
-        float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
-                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
-        float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
-                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
-
-#if OBSW_VERBOSE_LEVEL >= 1
-        if(debugDivider->checkAndIncrement()) {
-            /* Set terminal to utf-8 if there is an issue with micro printout. */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "MGMHandlerLIS3: Magnetic field strength in"
-                    " microtesla:" << std::endl;
-            sif::info << "X: " << mgmX << " uT" << std::endl;
-            sif::info << "Y: " << mgmY << " uT" << std::endl;
-            sif::info << "Z: " << mgmZ << " uT" << std::endl;
-#else
-            sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
-            sif::printInfo("X: %f uT\n", mgmX);
-            sif::printInfo("Y: %f uT\n", mgmY);
-            sif::printInfo("Z: %f uT\n", mgmZ);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
-        }
-#endif /* OBSW_VERBOSE_LEVEL >= 1 */
-        PoolReadGuard readHelper(&dataset);
-        if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-            dataset.fieldStrengthX = mgmX;
-            dataset.fieldStrengthY = mgmY;
-            dataset.fieldStrengthZ = mgmZ;
-            dataset.setValidity(true, true);
-        }
-        break;
-    }
-
-    case MGMLIS3MDL::READ_TEMPERATURE: {
-        int16_t tempValueRaw = packet[2] << 8 | packet[1];
-        float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
-#if OBSW_VERBOSE_LEVEL >= 1
-        if(debugDivider->check()) {
-            /* Set terminal to utf-8 if there is an issue with micro printout. */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" <<
-                    std::endl;
-#else
-            sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
-#endif
-        }
-#endif
-        ReturnValue_t result = dataset.read();
-        if(result == HasReturnvaluesIF::RETURN_OK) {
-            dataset.temperature = tempValue;
-            dataset.commit();
-        }
-        break;
-    }
-
-    default: {
-        return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
-    }
-
-    }
-    return RETURN_OK;
-}
-
-MGMLIS3MDL::Sensitivies MGMHandlerLIS3MDL::getSensitivity(uint8_t ctrlRegister2) {
-    bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO);  // Checks if FS0 bit is set
-    bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1);  // Checks if FS1 bit is set
-
-    if (fs0Set && fs1Set)
-        return MGMLIS3MDL::Sensitivies::GAUSS_16;
-    else if (!fs0Set && fs1Set)
-        return MGMLIS3MDL::Sensitivies::GAUSS_12;
-    else if (fs0Set && !fs1Set)
-        return MGMLIS3MDL::Sensitivies::GAUSS_8;
-    else
-        return MGMLIS3MDL::Sensitivies::GAUSS_4;
-}
-
-float MGMHandlerLIS3MDL::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
-    switch(sens) {
-    case(MGMLIS3MDL::GAUSS_4): {
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
-    }
-    case(MGMLIS3MDL::GAUSS_8): {
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
-    }
-    case(MGMLIS3MDL::GAUSS_12): {
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
-    }
-    case(MGMLIS3MDL::GAUSS_16): {
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
-    }
-    default: {
-        // Should never happen
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
-    }
-    }
-}
-
-
-ReturnValue_t MGMHandlerLIS3MDL::enableTemperatureSensor(
-        const uint8_t *commandData, size_t commandDataLen) {
-    triggerEvent(CHANGE_OF_SETUP_PARAMETER);
-    uint32_t size = 2;
-    commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
-    if (commandDataLen > 1) {
-        return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
-    }
-    switch (*commandData) {
-    case (MGMLIS3MDL::ON): {
-        commandBuffer[1] = registers[0] | (1 << 7);
-        break;
-    }
-    case (MGMLIS3MDL::OFF): {
-        commandBuffer[1] = registers[0] & ~(1 << 7);
-        break;
-    }
-    default:
-        return INVALID_COMMAND_PARAMETER;
-    }
-    registers[0] = commandBuffer[1];
-
-    rawPacket = commandBuffer;
-    rawPacketLen = size;
-
-    return RETURN_OK;
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::setOperatingMode(const uint8_t *commandData,
-        size_t commandDataLen) {
-    triggerEvent(CHANGE_OF_SETUP_PARAMETER);
-    if (commandDataLen != 1) {
-        return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
-    }
-
-    switch (commandData[0]) {
-    case MGMLIS3MDL::LOW:
-        registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
-        registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
-        break;
-    case MGMLIS3MDL::MEDIUM:
-        registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
-        registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
-        break;
-
-    case MGMLIS3MDL::HIGH:
-        registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
-        registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
-        break;
-
-    case MGMLIS3MDL::ULTRA:
-        registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
-        registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
-        break;
-    default:
-        break;
-    }
-
-    return prepareCtrlRegisterWrite();
-}
-
-void MGMHandlerLIS3MDL::fillCommandAndReplyMap() {
-    /*
-     * Regarding ArduinoBoard:
-     * Actually SPI answers directly, but as commanding ArduinoBoard the
-     * communication could be delayed
-     * SPI always has to be triggered, so there could be no periodic answer of
-     * the device, the device has to asked with a command, so periodic is zero.
-     *
-     * We dont read single registers, we just expect special
-     * reply from he Readall_MGM
-     */
-    insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
-    insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
-    insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
-    insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
-    insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
-    insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() {
-    commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
-
-    for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
-        commandBuffer[i + 1] = registers[i];
-    }
-    rawPacket = commandBuffer;
-    rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
-
-    /* We dont have to check if this is working because we just did it */
-    return RETURN_OK;
-}
-
-void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
-
-}
-
-uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
-    return 20000;
-}
-
-void MGMHandlerLIS3MDL::modeChanged(void) {
-    internalState = InternalState::STATE_NONE;
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(
-        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
-    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
-            new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
-            new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
-            new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
-            new PoolEntry<float>({0.0}));
-    return HasReturnvaluesIF::RETURN_OK;
-}
diff --git a/mission/devices/MgmLIS3MDLHandler.h b/mission/devices/MgmLIS3MDLHandler.h
deleted file mode 100644
index 0e36b9d3..00000000
--- a/mission/devices/MgmLIS3MDLHandler.h
+++ /dev/null
@@ -1,163 +0,0 @@
-#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
-#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
-
-#include "OBSWConfig.h"
-#include "devicedefinitions/MGMHandlerLIS3Definitions.h"
-#include "events/subsystemIdRanges.h"
-
-#include "fsfw/devicehandlers/DeviceHandlerBase.h"
-
-class PeriodicOperationDivider;
-
-/**
- * @brief   Device handler object for the LIS3MDL 3-axis magnetometer
- *          by STMicroeletronics
- * @details
- * Datasheet can be found online by googling LIS3MDL.
- * Flight manual:
- * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
- * @author  L. Loidold, R. Mueller
- */
-class MGMHandlerLIS3MDL: public DeviceHandlerBase {
-public:
-    enum class CommunicationStep {
-        DATA,
-        TEMPERATURE
-    };
-
-    static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
-    static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
-    //Notifies a command to change the setup parameters
-    static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
-
-    MGMHandlerLIS3MDL(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie,
-            uint8_t switchId, uint32_t transitionDelay = 10000);
-    virtual ~MGMHandlerLIS3MDL();
-
-protected:
-
-    /** DeviceHandlerBase overrides */
-    void doShutDown() override;
-    void doStartUp() override;
-    void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
-    uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
-    ReturnValue_t buildCommandFromCommand(
-            DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-            size_t commandDataLen) override;
-    ReturnValue_t buildTransitionDeviceCommand(
-            DeviceCommandId_t *id) override;
-    ReturnValue_t buildNormalDeviceCommand(
-            DeviceCommandId_t *id) override;
-    ReturnValue_t scanForReply(const uint8_t *start, size_t len,
-            DeviceCommandId_t *foundId, size_t *foundLen) override;
-    ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
-            const uint8_t *packet) override;
-    void fillCommandAndReplyMap() override;
-    void modeChanged(void) override;
-    ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-            LocalDataPoolManager &poolManager) override;
-
-private:
-    MGMLIS3MDL::MgmPrimaryDataset dataset;
-    //Length a sindgle command SPI answer
-    static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
-
-    //Single SPIcommand has 2 bytes, first for adress, second for content
-    size_t singleComandSize = 2;
-    //has the size for all adresses of the lis3mdl + the continous write bit
-    uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
-
-    /**
-     * We want to save the registers we set, so we dont have to read the
-     * registers when we want to change something.
-     * --> everytime we change set a register we have to save it
-     */
-    uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
-
-    uint8_t statusRegister = 0;
-
-    enum class InternalState {
-        STATE_NONE,
-        STATE_FIRST_CONTACT,
-        STATE_SETUP,
-        STATE_CHECK_REGISTERS,
-        STATE_NORMAL
-    };
-
-    InternalState internalState = InternalState::STATE_NONE;
-    CommunicationStep communicationStep = CommunicationStep::DATA;
-    bool commandExecuted = false;
-
-    /*------------------------------------------------------------------------*/
-    /* Device specific commands and variables */
-    /*------------------------------------------------------------------------*/
-    /**
-     * Sets the read bit for the command
-     * @param single command to set the read-bit at
-     * @param boolean to select a continuous read bit, default = false
-     */
-    uint8_t readCommand(uint8_t command, bool continuousCom = false);
-
-    /**
-     * Sets the write bit for the command
-     * @param single command to set the write-bit at
-     * @param boolean to select a continuous write bit, default = false
-     */
-    uint8_t writeCommand(uint8_t command, bool continuousCom = false);
-
-    /**
-     * This Method gets the full scale for the measurement range
-     * e.g.: +- 4 gauss. See p.25 datasheet.
-     *  @return The ReturnValue does not contain the sign of the value
-     */
-    MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
-
-    /**
-     * The 16 bit value needs to be multiplied with a sensitivity factor
-     * which depends on the sensitivity configuration
-     *
-     * @param sens Configured sensitivity of the LIS3 device
-     * @return Multiplication factor to get the sensor value from raw data.
-     */
-    float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
-
-    /**
-     * This Command detects the device ID
-     */
-    ReturnValue_t identifyDevice();
-
-    virtual void setupMgm();
-
-    /*------------------------------------------------------------------------*/
-    /* Non normal commands */
-    /*------------------------------------------------------------------------*/
-    /**
-     * Enables/Disables the integrated Temperaturesensor
-     * @param commandData On or Off
-     * @param length of the commandData: has to be 1
-     */
-    virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData,
-            size_t commandDataLen);
-
-    /**
-     * Sets the accuracy of the measurement of the axis. The noise is changing.
-     * @param commandData LOW, MEDIUM, HIGH, ULTRA
-     * @param length of the command, has to be 1
-     */
-    virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
-            size_t commandDataLen);
-
-    /**
-     * We always update all registers together, so this method updates
-     * the rawpacket and rawpacketLen, so we just manipulate the local
-     * saved register
-     *
-     */
-    ReturnValue_t prepareCtrlRegisterWrite();
-
-#if OBSW_VERBOSE_LEVEL >= 1
-    PeriodicOperationDivider* debugDivider;
-#endif
-};
-
-#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */
diff --git a/mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h b/mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h
deleted file mode 100644
index 98d881cf..00000000
--- a/mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h
+++ /dev/null
@@ -1,178 +0,0 @@
-#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_
-#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_
-
-#include <fsfw/datapoollocal/StaticLocalDataSet.h>
-#include <fsfw/datapoollocal/LocalPoolVariable.h>
-#include <fsfw/devicehandlers/DeviceHandlerIF.h>
-#include <cstdint>
-
-namespace MGMLIS3MDL {
-
-enum Set {
-    ON, OFF
-};
-enum OpMode {
-    LOW, MEDIUM, HIGH, ULTRA
-};
-
-enum Sensitivies: uint8_t {
-    GAUSS_4 = 4,
-    GAUSS_8 = 8,
-    GAUSS_12 = 12,
-    GAUSS_16 = 16
-};
-
-/* Actually 15, we just round up a bit */
-static constexpr size_t MAX_BUFFER_SIZE = 16;
-
-/* Field data register scaling */
-static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
-static constexpr float FIELD_LSB_PER_GAUSS_4_SENS = 1.0 / 6842.0;
-static constexpr float FIELD_LSB_PER_GAUSS_8_SENS = 1.0 / 3421.0;
-static constexpr float FIELD_LSB_PER_GAUSS_12_SENS = 1.0 / 2281.0;
-static constexpr float FIELD_LSB_PER_GAUSS_16_SENS = 1.0 / 1711.0;
-
-static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x00;
-static const DeviceCommandId_t SETUP_MGM = 0x01;
-static const DeviceCommandId_t READ_TEMPERATURE = 0x02;
-static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03;
-static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04;
-static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x05;
-
-/* Number of all control registers */
-static const uint8_t NR_OF_CTRL_REGISTERS = 5;
-/* Number of registers in the MGM */
-static const uint8_t NR_OF_REGISTERS = 19;
-/* Total number of adresses for all registers */
-static const uint8_t TOTAL_NR_OF_ADRESSES = 52;
-static const uint8_t NR_OF_DATA_AND_CFG_REGISTERS = 14;
-static const uint8_t TEMPERATURE_REPLY_LEN = 3;
-static const uint8_t SETUP_REPLY_LEN = 6;
-
-/*------------------------------------------------------------------------*/
-/* Register adresses */
-/*------------------------------------------------------------------------*/
-/* Register adress returns identifier of device with default 0b00111101 */
-static const uint8_t IDENTIFY_DEVICE_REG_ADDR = 0b00001111;
-static const uint8_t DEVICE_ID = 0b00111101;            // Identifier for Device
-
-/* Register adress to access register 1 */
-static const uint8_t CTRL_REG1 = 0b00100000;
-/* Register adress to access register 2 */
-static const uint8_t CTRL_REG2 = 0b00100001;
-/* Register adress to access register 3 */
-static const uint8_t CTRL_REG3 = 0b00100010;
-/* Register adress to access register 4 */
-static const uint8_t CTRL_REG4 = 0b00100011;
-/* Register adress to access register 5 */
-static const uint8_t CTRL_REG5 = 0b00100100;
-
-/* Register adress to access status register */
-static const uint8_t STATUS_REG_IDX = 8;
-static const uint8_t STATUS_REG = 0b00100111;
-
-/* Register adress to access low byte of x-axis */
-static const uint8_t X_LOWBYTE_IDX = 9;
-static const uint8_t X_LOWBYTE = 0b00101000;
-/* Register adress to access high byte of x-axis */
-static const uint8_t X_HIGHBYTE_IDX = 10;
-static const uint8_t X_HIGHBYTE = 0b00101001;
-/* Register adress to access low byte of y-axis */
-static const uint8_t Y_LOWBYTE_IDX = 11;
-static const uint8_t Y_LOWBYTE = 0b00101010;
-/* Register adress to access high byte of y-axis */
-static const uint8_t Y_HIGHBYTE_IDX = 12;
-static const uint8_t Y_HIGHBYTE = 0b00101011;
-/* Register adress to access low byte of z-axis */
-static const uint8_t Z_LOWBYTE_IDX = 13;
-static const uint8_t Z_LOWBYTE = 0b00101100;
-/* Register adress to access high byte of z-axis */
-static const uint8_t Z_HIGHBYTE_IDX = 14;
-static const uint8_t Z_HIGHBYTE = 0b00101101;
-
-/* Register adress to access low byte of temperature sensor */
-static const uint8_t TEMP_LOWBYTE = 0b00101110;
-/* Register adress to access high byte of temperature sensor */
-static const uint8_t TEMP_HIGHBYTE = 0b00101111;
-
-/*------------------------------------------------------------------------*/
-/* Initialize Setup Register set bits                                     */
-/*------------------------------------------------------------------------*/
-/* General transfer bits */
-// Read=1 / Write=0 Bit
-static const uint8_t RW_BIT = 7;
-// Continous Read/Write Bit, increment adress
-static const uint8_t MS_BIT = 6;
-
-/* CTRL_REG1 bits */
-static const uint8_t ST = 0;        // Self test enable bit, enabled = 1
-// Enable rates higher than 80 Hz enabled = 1
-static const uint8_t FAST_ODR = 1;
-static const uint8_t DO0 = 2;       // Output data rate bit 2
-static const uint8_t DO1 = 3;       // Output data rate bit 3
-static const uint8_t DO2 = 4;       // Output data rate bit 4
-static const uint8_t OM0 = 5;       // XY operating mode bit 5
-static const uint8_t OM1 = 6;       // XY operating mode bit 6
-static const uint8_t TEMP_EN = 7;   // Temperature sensor enable enabled = 1
-static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) |
-        (1 << DO0) | (1 << DO1) | (1 << DO2);
-
-/* CTRL_REG2 bits */
-//reset configuration registers and user registers
-static const uint8_t SOFT_RST = 2;
-static const uint8_t REBOOT = 3;    //reboot memory content
-static const uint8_t FSO = 5;       //full-scale selection bit 5
-static const uint8_t FS1 = 6;       //full-scale selection bit 6
-static const uint8_t CTRL_REG2_DEFAULT = 0;
-
-/* CTRL_REG3 bits */
-static const uint8_t MD0 = 0;       //Operating mode bit 0
-static const uint8_t MD1 = 1;       //Operating mode bit 1
-//SPI serial interface mode selection enabled = 3-wire-mode
-static const uint8_t SIM = 2;
-static const uint8_t LP = 5;        //low-power mode
-static const uint8_t CTRL_REG3_DEFAULT = 0;
-
-/* CTRL_REG4 bits */
-//big/little endian data selection enabled = MSb at lower adress
-static const uint8_t BLE = 1;
-static const uint8_t OMZ0 = 2;      //Z operating mode bit 2
-static const uint8_t OMZ1 = 3;      //Z operating mode bit 3
-static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1);
-
-/* CTRL_REG5 bits */
-static const uint8_t BDU = 6;       //Block data update
-static const uint8_t FAST_READ = 7; //Fast read enabled = 1
-static const uint8_t CTRL_REG5_DEFAULT = 0;
-
-static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;
-
-enum MgmPoolIds: lp_id_t {
-    FIELD_STRENGTH_X,
-    FIELD_STRENGTH_Y,
-    FIELD_STRENGTH_Z,
-    TEMPERATURE_CELCIUS
-};
-
-class MgmPrimaryDataset: public StaticLocalDataSet<5> {
-public:
-    MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
-        StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
-
-    MgmPrimaryDataset(object_id_t mgmId):
-        StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
-
-    lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
-            FIELD_STRENGTH_X, this);
-    lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
-            FIELD_STRENGTH_Y, this);
-    lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
-            FIELD_STRENGTH_Z, this);
-    lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
-            TEMPERATURE_CELCIUS, this);
-};
-
-}
-
-
-#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_ */

From 5cb6ab841656bf0b68f2b95f16cb15426aeb7bce Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Fri, 17 Sep 2021 13:08:03 +0200
Subject: [PATCH 11/15] more acs tests

---
 fsfw                                          |   2 +-
 .../pollingSequenceFactory.cpp                | 102 +++++++++---------
 tmtc                                          |   2 +-
 3 files changed, 53 insertions(+), 53 deletions(-)

diff --git a/fsfw b/fsfw
index b1a56a71..7d44aab9 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit b1a56a71cdba538e82b4052413e1663b34cfee90
+Subproject commit 7d44aab98e6861bc7999541e97085ba5a62b6633
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index a0064fc5..f45f5f32 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -425,16 +425,16 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
 
 #if OBSW_ADD_ACS_BOARD == 1
-//    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
-//            DeviceHandlerIF::PERFORM_OPERATION);
-//    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
-//            DeviceHandlerIF::SEND_WRITE);
-//    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
-//            DeviceHandlerIF::GET_WRITE);
-//    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
-//            DeviceHandlerIF::SEND_READ);
-//    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
-//            DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
+            DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
+            DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
+            DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
+            DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
+            DeviceHandlerIF::GET_READ);
 
     thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
@@ -447,27 +447,27 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
             DeviceHandlerIF::GET_READ);
 
-//    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
-//            DeviceHandlerIF::PERFORM_OPERATION);
-//    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
-//            DeviceHandlerIF::SEND_WRITE);
-//    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
-//            DeviceHandlerIF::GET_WRITE);
-//    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
-//            DeviceHandlerIF::SEND_READ);
-//    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
-//            DeviceHandlerIF::GET_READ);
-//
-//    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
-//            DeviceHandlerIF::PERFORM_OPERATION);
-//    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
-//            DeviceHandlerIF::SEND_WRITE);
-//    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
-//            DeviceHandlerIF::GET_WRITE);
-//    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
-//            DeviceHandlerIF::SEND_READ);
-//    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
-//            DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
+            DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
+            DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
+            DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
+            DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
+            DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
+            DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
+            DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
+            DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
+            DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
+            DeviceHandlerIF::GET_READ);
 
 //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
 //            DeviceHandlerIF::PERFORM_OPERATION);
@@ -480,16 +480,16 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
 //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8,
 //            DeviceHandlerIF::GET_READ);
 
-//    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
-//            DeviceHandlerIF::PERFORM_OPERATION);
-//    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
-//            DeviceHandlerIF::SEND_WRITE);
-//    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
-//            DeviceHandlerIF::GET_WRITE);
-//    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
-//            DeviceHandlerIF::SEND_READ);
-//    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
-//            DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
+            DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
+            DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
+            DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
+            DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
+            DeviceHandlerIF::GET_READ);
 
 //    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
 //            DeviceHandlerIF::PERFORM_OPERATION);
@@ -502,16 +502,16 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
 //    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.8,
 //            DeviceHandlerIF::GET_READ);
 
-//    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
-//            DeviceHandlerIF::PERFORM_OPERATION);
-//    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2,
-//            DeviceHandlerIF::SEND_WRITE);
-//    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4,
-//            DeviceHandlerIF::GET_WRITE);
-//    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
-//            DeviceHandlerIF::SEND_READ);
-//    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8,
-//            DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
+            DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2,
+            DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4,
+            DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
+            DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8,
+            DeviceHandlerIF::GET_READ);
 #endif /* OBSW_ADD_ACS_BOARD == 1 */
 
     if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
diff --git a/tmtc b/tmtc
index a5d9fedc..3f29dff6 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit a5d9fedc649966c901a7ede9bbbe915df9ed9446
+Subproject commit 3f29dff6067e8c6a486deda93f071b705b7dc699

From 87d00dbceea39685362130d5c74da34bf5594c97 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Fri, 17 Sep 2021 16:53:15 +0200
Subject: [PATCH 12/15] some more acs board tests

---
 fsfw                                          |  2 +-
 linux/boardtest/SpiTestClass.cpp              |  2 +-
 .../pollingSequenceFactory.cpp                | 22 +++++++++----------
 tmtc                                          |  2 +-
 4 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/fsfw b/fsfw
index 7d44aab9..e8050183 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 7d44aab98e6861bc7999541e97085ba5a62b6633
+Subproject commit e8050183f4f54452caceba67a9d4da50bd230770
diff --git a/linux/boardtest/SpiTestClass.cpp b/linux/boardtest/SpiTestClass.cpp
index 08d7c14c..bdd9a2dd 100644
--- a/linux/boardtest/SpiTestClass.cpp
+++ b/linux/boardtest/SpiTestClass.cpp
@@ -24,7 +24,7 @@ gpioIF(gpioIF) {
     if(gpioIF == nullptr) {
         sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
     }
-    testMode = TestModes::MGM_RM3100;
+    testMode = TestModes::MGM_LIS3MDL;
     spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
     spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
 }
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index f45f5f32..0d189476 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -447,16 +447,16 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
             DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
+//    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
+//            DeviceHandlerIF::PERFORM_OPERATION);
+//    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
+//            DeviceHandlerIF::SEND_WRITE);
+//    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
+//            DeviceHandlerIF::GET_WRITE);
+//    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
+//            DeviceHandlerIF::SEND_READ);
+//    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
+//            DeviceHandlerIF::GET_READ);
 
     thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
@@ -479,7 +479,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
 //            DeviceHandlerIF::SEND_READ);
 //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8,
 //            DeviceHandlerIF::GET_READ);
-
+//
     thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
diff --git a/tmtc b/tmtc
index 3f29dff6..58da80cb 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 3f29dff6067e8c6a486deda93f071b705b7dc699
+Subproject commit 58da80cb9e2426e6b9d7fc1efb661077c35541f5

From 487b6fd5caa1f0731ff6703ad59dc4c913eb3704 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 20 Sep 2021 11:22:11 +0200
Subject: [PATCH 13/15] updated print commands for PDUs

---
 mission/devices/GomspaceDeviceHandler.cpp     |  10 +-
 mission/devices/PDU1Handler.cpp               |  81 +++++++----
 mission/devices/PDU1Handler.h                 |   4 +-
 mission/devices/PDU2Handler.cpp               | 136 ++++++------------
 mission/devices/PDU2Handler.h                 |   4 +-
 .../devicedefinitions/GomspaceDefinitions.h   |   8 +-
 tmtc                                          |   2 +-
 7 files changed, 108 insertions(+), 137 deletions(-)

diff --git a/mission/devices/GomspaceDeviceHandler.cpp b/mission/devices/GomspaceDeviceHandler.cpp
index 72c2766e..348bd35e 100644
--- a/mission/devices/GomspaceDeviceHandler.cpp
+++ b/mission/devices/GomspaceDeviceHandler.cpp
@@ -75,10 +75,7 @@ ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(
         }
         break;
     }
-    case(GOMSPACE::PRINT_OUT_ENB_STATUS):
-    case(GOMSPACE::PRINT_ALL):
-    case(GOMSPACE::PRINT_OUT_CURRENTS):
-    case(GOMSPACE::PRINT_OUT_VOLTAGES): {
+    case(GOMSPACE::PRINT_HK_TABLE): {
         result = printStatus(deviceCommand);
         break;
     }
@@ -102,10 +99,7 @@ void GomspaceDeviceHandler::fillCommandAndReplyMap(){
     this->insertInCommandAndReplyMap(GOMSPACE::PARAM_GET, 3);
     this->insertInCommandAndReplyMap(GOMSPACE::REQUEST_HK_TABLE, 3);
     this->insertInCommandMap(GOMSPACE::GNDWDT_RESET);
-    this->insertInCommandMap(GOMSPACE::PRINT_ALL);
-    this->insertInCommandMap(GOMSPACE::PRINT_OUT_ENB_STATUS);
-    this->insertInCommandMap(GOMSPACE::PRINT_OUT_VOLTAGES);
-    this->insertInCommandMap(GOMSPACE::PRINT_OUT_CURRENTS);
+    this->insertInCommandMap(GOMSPACE::PRINT_HK_TABLE);
 }
 
 ReturnValue_t GomspaceDeviceHandler::scanForReply(const uint8_t *start,
diff --git a/mission/devices/PDU1Handler.cpp b/mission/devices/PDU1Handler.cpp
index 8df972e5..378a9589 100644
--- a/mission/devices/PDU1Handler.cpp
+++ b/mission/devices/PDU1Handler.cpp
@@ -1,7 +1,7 @@
-#include <fsfw/datapool/PoolReadGuard.h>
+#include "OBSWConfig.h"
 #include "PDU1Handler.h"
-#include <mission/devices/devicedefinitions/GomSpacePackets.h>
-#include <OBSWConfig.h>
+
+#include <fsfw/datapool/PoolReadGuard.h>
 
 PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
         GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
@@ -72,27 +72,6 @@ void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
 #endif
 }
 
-void PDU1Handler::printOutputSwitchStates() {
-    sif::info << "PDU1 TCS Board switch: " <<
-            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledTCSBoard3V3.value) << std::endl;
-    sif::info << "PDU1 Syrlinks switch: " <<
-            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSyrlinks.value) << std::endl;
-    sif::info << "PDU1 star tracker switch: " <<
-            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledStarTracker.value) << std::endl;
-    sif::info << "PDU1 MGT switch: " <<
-            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledMGT.value) << std::endl;
-    sif::info << "PDU1 SUS nominal switch: " <<
-            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSUSNominal.value) << std::endl;
-    sif::info << "PDU1 solar cell experiment switch: " <<
-            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSolarCellExp.value) << std::endl;
-    sif::info << "PDU1 PLOC switch: " <<
-            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledPLOC.value) << std::endl;
-    sif::info << "PDU1 ACS Side A switch: " <<
-            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledAcsBoardSideA.value) << std::endl;
-    sif::info << "PDU1 channel 8 switch: " <<
-            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledChannel8.value) << std::endl;
-}
-
 void PDU1Handler::parseHkTableReply(const uint8_t *packet) {
     uint16_t dataOffset = 0;
     PoolReadGuard pg(&pdu1HkTableDataset);
@@ -356,14 +335,14 @@ ReturnValue_t PDU1Handler::initializeLocalDataPool(
 
 ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
     switch(cmd) {
-    case(GOMSPACE::PRINT_OUT_ENB_STATUS): {
+    case(GOMSPACE::PRINT_HK_TABLE): {
         PoolReadGuard pg(&pdu1HkTableDataset);
         ReturnValue_t readResult = pg.getReadResult();
         if(readResult != HasReturnvaluesIF::RETURN_OK) {
             sif::warning << "Reading PDU1 HK table failed!" << std::endl;
             return HasReturnvaluesIF::RETURN_FAILED;
         }
-        printOutputSwitchStates();
+        printHkTable();
         return HasReturnvaluesIF::RETURN_OK;
     }
     default: {
@@ -371,3 +350,53 @@ ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
     }
     }
 }
+
+void PDU1Handler::printHkTable() {
+    sif::info << "PDU1 Info: SwitchState, Voltages [mV], Currents [mA]" << std::endl;
+    sif::info << std::setw(30) << std::left << "TCS Board" << std::dec << "| " <<
+            unsigned(pdu1HkTableDataset.outEnabledTCSBoard3V3.value)  << ", " <<
+            std::setw(4) << std::right <<
+            pdu1HkTableDataset.currentOutTCSBoard3V3.value << ", " << std::setw(4) <<
+            pdu1HkTableDataset.voltageOutTCSBoard3V3.value  << std::endl;
+    sif::info << std::setw(30) << std::left << "Syrlinks" << std::dec << "| " <<
+            unsigned(pdu1HkTableDataset.outEnabledSyrlinks.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu1HkTableDataset.currentOutSyrlinks.value << ", " << std::setw(4) <<
+            pdu1HkTableDataset.currentOutSyrlinks.value << std::endl;
+    sif::info << std::setw(30) << std::left << "Star Tracker" << std::dec << "| " <<
+            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledStarTracker.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu1HkTableDataset.currentOutStarTracker.value << ", " << std::setw(4) <<
+            pdu1HkTableDataset.voltageOutStarTracker.value << std::endl;
+    sif::info << std::setw(30) << std::left << "MGT" << std::dec << "| " <<
+            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledMGT.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu1HkTableDataset.currentOutMGT.value << ", " << std::setw(4) <<
+            pdu1HkTableDataset.voltageOutMGT.value << std::endl;
+    sif::info << std::setw(30) << std::left << "SuS nominal" << std::dec << "| " <<
+            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSUSNominal.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu1HkTableDataset.currentOutSUSNominal.value << ", " << std::setw(4) <<
+            pdu1HkTableDataset.voltageOutSUSNominal.value << std::endl;
+    sif::info << std::setw(30) << std::left << "Solar Cell Experiment" << std::dec << "| " <<
+            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSolarCellExp.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu1HkTableDataset.currentOutSolarCellExp.value << ", " << std::setw(4) <<
+            pdu1HkTableDataset.voltageOutSolarCellExp.value << std::endl;
+    sif::info << std::setw(30) << std::left << "PLOC" << std::dec << "| " <<
+            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledPLOC.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu1HkTableDataset.currentOutPLOC.value << ", " << std::setw(4) <<
+            pdu1HkTableDataset.voltageOutPLOC.value << std::endl;
+    sif::info << std::setw(30) << std::left << "ACS Side A" << std::dec << "| " <<
+            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledAcsBoardSideA.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu1HkTableDataset.currentOutACSBoardSideA.value << ", " << std::setw(4) <<
+            pdu1HkTableDataset.voltageOutACSBoardSideA.value << std::endl;
+    sif::info << std::setw(30) << std::left << "Channel 8" << std::dec << "| " <<
+            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledChannel8.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu1HkTableDataset.currentOutChannel8.value << ", " << std::setw(4) <<
+            pdu1HkTableDataset.voltageOutChannel8.value << std::right << std::endl;
+}
+
diff --git a/mission/devices/PDU1Handler.h b/mission/devices/PDU1Handler.h
index fa73b584..3df99776 100644
--- a/mission/devices/PDU1Handler.h
+++ b/mission/devices/PDU1Handler.h
@@ -2,7 +2,7 @@
 #define MISSION_DEVICES_PDU1Handler_H_
 
 #include "GomspaceDeviceHandler.h"
-#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+#include "devicedefinitions/GomspaceDefinitions.h"
 
 /**
  * @brief	This is the device handler for the PDU1.
@@ -38,7 +38,7 @@ private:
     /** Dataset for the housekeeping table of the PDU1 */
     PDU1::PDU1HkTableDataset pdu1HkTableDataset;
 
-    void printOutputSwitchStates();
+    void printHkTable();
     void parseHkTableReply(const uint8_t *packet);
 };
 
diff --git a/mission/devices/PDU2Handler.cpp b/mission/devices/PDU2Handler.cpp
index 06e60002..15166323 100644
--- a/mission/devices/PDU2Handler.cpp
+++ b/mission/devices/PDU2Handler.cpp
@@ -312,46 +312,14 @@ ReturnValue_t PDU2Handler::initializeLocalDataPool(
 
 ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
     switch(cmd) {
-    case(GOMSPACE::PRINT_ALL): {
+    case(GOMSPACE::PRINT_HK_TABLE): {
         PoolReadGuard pg(&pdu2HkTableDataset);
         ReturnValue_t readResult = pg.getReadResult();
         if(readResult != HasReturnvaluesIF::RETURN_OK) {
-            sif::warning << "Reading PDU2 HK table failed!" << std::endl;
+            sif::warning << "Reading PDU1 HK table failed!" << std::endl;
             return HasReturnvaluesIF::RETURN_FAILED;
         }
-        printOutputSwitchStates();
-        printOutputCurrents();
-        printOutputVoltages();
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-    case(GOMSPACE::PRINT_OUT_ENB_STATUS): {
-        PoolReadGuard pg(&pdu2HkTableDataset);
-        ReturnValue_t readResult = pg.getReadResult();
-        if(readResult != HasReturnvaluesIF::RETURN_OK) {
-            sif::warning << "Reading PDU2 HK table failed!" << std::endl;
-            return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        printOutputSwitchStates();
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-    case(GOMSPACE::PRINT_OUT_CURRENTS): {
-        PoolReadGuard pg(&pdu2HkTableDataset);
-        ReturnValue_t readResult = pg.getReadResult();
-        if(readResult != HasReturnvaluesIF::RETURN_OK) {
-            sif::warning << "Reading PDU2 HK table failed!" << std::endl;
-            return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        printOutputCurrents();
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-    case(GOMSPACE::PRINT_OUT_VOLTAGES): {
-        PoolReadGuard pg(&pdu2HkTableDataset);
-        ReturnValue_t readResult = pg.getReadResult();
-        if(readResult != HasReturnvaluesIF::RETURN_OK) {
-            sif::warning << "Reading PDU2 HK table failed!" << std::endl;
-            return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        printOutputVoltages();
+        printHkTable();
         return HasReturnvaluesIF::RETURN_OK;
     }
     default: {
@@ -360,67 +328,51 @@ ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
     }
 }
 
-void PDU2Handler::printOutputSwitchStates() {
-    sif::info << "PDU2 Q7S enable state: " <<
-            unsigned(pdu2HkTableDataset.outEnabledQ7S.value) << std::endl;
-    sif::info << "PDU2 Payload PCDU channel 1 enable state: "
-            << unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh1.value) << std::endl;
-    sif::info << "PDU2 reaction wheels enable state: "
-            << unsigned(pdu2HkTableDataset.outEnabledReactionWheels.value) << std::endl;
-    sif::info << "PDU2 TCS Board 8V heater input enable state: "
-            << unsigned(pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value) << std::endl;
-    sif::info << "PDU2 redundant SUS group enable state: "
-            << unsigned(pdu2HkTableDataset.outEnabledSUSRedundant.value) << std::endl;
-    sif::info << "PDU2 deployment mechanism enable state: "
-            << unsigned(pdu2HkTableDataset.outEnabledDeplMechanism.value) << std::endl;
-    sif::info << "PDU2 PCDU channel 6 enable state: "
-            << unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh6.value) << std::endl;
-    sif::info << "PDU2 ACS board side B enable state: "
-            << unsigned(pdu2HkTableDataset.outEnabledAcsBoardSideB.value) << std::endl;
-    sif::info << "PDU2 payload camera enable state: "
-            << unsigned(pdu2HkTableDataset.outEnabledPayloadCamera.value) << std::endl;
-}
-
-void PDU2Handler::printOutputCurrents() {
-    sif::info << "Printing PDU2 currents [mA]: " << std::endl;
-    sif::info << "PDU2 Q7S:" <<
-            pdu2HkTableDataset.currentOutQ7S.value << std::endl;
-    sif::info << "PDU2 Payload PCDU:" <<
-            pdu2HkTableDataset.currentOutPayloadPCDUCh1.value << std::endl;
-    sif::info << "PDU2 RW:" <<
-            pdu2HkTableDataset.currentOutReactionWheels.value << std::endl;
-    sif::info << "PDU2 TCS Board Heater In:" <<
-            pdu2HkTableDataset.currentOutTCSBoardHeaterIn.value << std::endl;
-    sif::info << "PDU2 SuS Redundant:" <<
-            pdu2HkTableDataset.currentOutSUSRedundant.value << std::endl;
-    sif::info << "PDU2 Depl-Mechanism:" <<
-            pdu2HkTableDataset.currentOutDeplMechanism.value << std::endl;
-    sif::info << "PDU2 Payload PCDU:" <<
-            pdu2HkTableDataset.currentOutPayloadPCDUCh6.value << std::endl;
-    sif::info << "PDU2 ACS Board:" <<
-            pdu2HkTableDataset.currentOutACSBoardSideB.value << std::endl;
-    sif::info << "PDU2 Payload Camera:" <<
-            pdu2HkTableDataset.currentOutPayloadCamera.value << std::endl;
-}
-
-void PDU2Handler::printOutputVoltages() {
-    sif::info << "Printing PDU2 voltages [mV]: " << std::endl;
-    sif::info << "PDU2 Q7S:" <<
-            pdu2HkTableDataset.voltageOutQ7S.value << std::endl;
-    sif::info << "PDU2 Payload PCDU:" <<
+void PDU2Handler::printHkTable() {
+    sif::info << "PDU2 Info: SwitchState, Voltages [mV], Currents [mA]" << std::endl;
+    sif::info << std::setw(30) << std::left << "Q7S" << std::dec << "| " <<
+            unsigned(pdu2HkTableDataset.outEnabledQ7S.value)  << ", " <<
+            std::setw(4) << std::right <<
+            pdu2HkTableDataset.currentOutQ7S.value << ", " << std::setw(4) <<
+            pdu2HkTableDataset.voltageOutQ7S.value  << std::endl;
+    sif::info << std::setw(30) << std::left << "Payload PCDU Channel 1" << std::dec << "| " <<
+            unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh1.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu2HkTableDataset.currentOutPayloadPCDUCh1.value << ", " << std::setw(4) <<
             pdu2HkTableDataset.voltageOutPayloadPCDUCh1.value << std::endl;
-    sif::info << "PDU2 RW:" <<
+    sif::info << std::setw(30) << std::left << "Reaction Wheels" << std::dec << "| " <<
+            unsigned(pdu2HkTableDataset.outEnabledReactionWheels.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu2HkTableDataset.currentOutReactionWheels.value << ", " << std::setw(4) <<
             pdu2HkTableDataset.voltageOutReactionWheels.value << std::endl;
-    sif::info << "PDU2 TCS Board Heater In:" <<
+    sif::info << std::setw(30) << std::left << "TCS Board 8V heater input" << std::dec << "| " <<
+            unsigned(pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu2HkTableDataset.currentOutTCSBoardHeaterIn.value << ", " << std::setw(4) <<
             pdu2HkTableDataset.voltageOutTCSBoardHeaterIn.value << std::endl;
-    sif::info << "PDU2 SuS Redundant:" <<
+    sif::info << std::setw(30) << std::left << "Redundant SUS group" << std::dec << "| " <<
+            unsigned(pdu2HkTableDataset.outEnabledSUSRedundant.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu2HkTableDataset.currentOutSUSRedundant.value << ", " << std::setw(4) <<
             pdu2HkTableDataset.voltageOutSUSRedundant.value << std::endl;
-    sif::info << "PDU2 Depl-Mechanism:" <<
+    sif::info << std::setw(30) << std::left << "Deployment mechanism" << std::dec << "| " <<
+            unsigned(pdu2HkTableDataset.outEnabledDeplMechanism.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu2HkTableDataset.currentOutDeplMechanism.value << ", " << std::setw(4) <<
             pdu2HkTableDataset.voltageOutDeplMechanism.value << std::endl;
-    sif::info << "PDU2 Payload PCDU:" <<
-            pdu2HkTableDataset.voltageOutPayloadPCDUCh6.value << std::endl;
-    sif::info << "PDU2 ACS Board voltage:" <<
+    sif::info << std::setw(30) << std::left << "Payload PCDU Channel 6" << std::dec << "| " <<
+            unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh6.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu2HkTableDataset.currentOutPayloadPCDUCh6.value << ", " << std::setw(4) <<
+            pdu2HkTableDataset.voltageOutPayloadPCDUCh6.value<< std::endl;
+    sif::info << std::setw(30) << std::left << "ACS Board Side B" << std::dec << "| " <<
+            unsigned(pdu2HkTableDataset.outEnabledAcsBoardSideB.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu2HkTableDataset.currentOutACSBoardSideB.value << ", " << std::setw(4) <<
             pdu2HkTableDataset.voltageOutACSBoardSideB.value << std::endl;
-    sif::info << "PDU2 Payload Camera voltage:" <<
-            pdu2HkTableDataset.voltageOutPayloadCamera.value << std::endl;
+    sif::info << std::setw(30) << std::left << "Payload Camera enable state" << std::dec << "| " <<
+            unsigned(pdu2HkTableDataset.outEnabledPayloadCamera.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu2HkTableDataset.currentOutPayloadCamera.value << ", " << std::setw(4) <<
+            pdu2HkTableDataset.voltageOutPayloadCamera.value <<  std::right << std::endl;
 }
diff --git a/mission/devices/PDU2Handler.h b/mission/devices/PDU2Handler.h
index 93f9200e..c44d1267 100644
--- a/mission/devices/PDU2Handler.h
+++ b/mission/devices/PDU2Handler.h
@@ -39,9 +39,7 @@ private:
     /** Dataset for the housekeeping table of the PDU2 */
     PDU2::PDU2HkTableDataset pdu2HkTableDataset;
 
-    void printOutputSwitchStates();
-    void printOutputCurrents();
-    void printOutputVoltages();
+    void printHkTable();
 
     void parseHkTableReply(const uint8_t *packet);
 };
diff --git a/mission/devices/devicedefinitions/GomspaceDefinitions.h b/mission/devices/devicedefinitions/GomspaceDefinitions.h
index 5f067bed..e14745a4 100644
--- a/mission/devices/devicedefinitions/GomspaceDefinitions.h
+++ b/mission/devices/devicedefinitions/GomspaceDefinitions.h
@@ -9,7 +9,7 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_
 
-#include <stdint.h>
+#include <cstdint>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/datapoollocal/LocalPoolVariable.h>
@@ -33,10 +33,8 @@ static const DeviceCommandId_t GNDWDT_RESET = 9; //!< [EXPORT] : [COMMAND]
 static const DeviceCommandId_t PARAM_GET = 0; //!< [EXPORT] : [COMMAND]
 static const DeviceCommandId_t PARAM_SET = 255; //!< [EXPORT] : [COMMAND]
 static const DeviceCommandId_t REQUEST_HK_TABLE = 16; //!< [EXPORT] : [COMMAND]
-static const DeviceCommandId_t PRINT_ALL = 32; //!< [EXPORT] : [COMMAND]
-static const DeviceCommandId_t PRINT_OUT_ENB_STATUS = 33; //!< [EXPORT] : [COMMAND]
-static const DeviceCommandId_t PRINT_OUT_CURRENTS = 34; //!< [EXPORT] : [COMMAND]
-static const DeviceCommandId_t PRINT_OUT_VOLTAGES = 35; //!< [EXPORT] : [COMMAND]
+//!< [EXPORT] : [COMMAND] Print switch states, voltages and currents to the console
+static const DeviceCommandId_t PRINT_HK_TABLE = 32;
 
 
 }
diff --git a/tmtc b/tmtc
index 58da80cb..f3a2e755 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 58da80cb9e2426e6b9d7fc1efb661077c35541f5
+Subproject commit f3a2e755fdc73ee791ea32dc6f2dfce43af70e60

From cbb7fdfa9969ff090ed2b2f079cabc8dfee4ae05 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 20 Sep 2021 11:47:19 +0200
Subject: [PATCH 14/15] p60 print command

---
 mission/devices/GomspaceDeviceHandler.cpp     |   4 +-
 mission/devices/P60DockHandler.cpp            | 101 ++++++++++++++++--
 mission/devices/P60DockHandler.h              |   8 ++
 mission/devices/PDU1Handler.cpp               |   2 +-
 mission/devices/PDU2Handler.cpp               |   2 +-
 .../devicedefinitions/GomspaceDefinitions.h   |   5 +-
 tmtc                                          |   2 +-
 7 files changed, 109 insertions(+), 15 deletions(-)

diff --git a/mission/devices/GomspaceDeviceHandler.cpp b/mission/devices/GomspaceDeviceHandler.cpp
index 348bd35e..e5912969 100644
--- a/mission/devices/GomspaceDeviceHandler.cpp
+++ b/mission/devices/GomspaceDeviceHandler.cpp
@@ -75,7 +75,7 @@ ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(
         }
         break;
     }
-    case(GOMSPACE::PRINT_HK_TABLE): {
+    case(GOMSPACE::PRINT_SWITCH_V_I): {
         result = printStatus(deviceCommand);
         break;
     }
@@ -99,7 +99,7 @@ void GomspaceDeviceHandler::fillCommandAndReplyMap(){
     this->insertInCommandAndReplyMap(GOMSPACE::PARAM_GET, 3);
     this->insertInCommandAndReplyMap(GOMSPACE::REQUEST_HK_TABLE, 3);
     this->insertInCommandMap(GOMSPACE::GNDWDT_RESET);
-    this->insertInCommandMap(GOMSPACE::PRINT_HK_TABLE);
+    this->insertInCommandMap(GOMSPACE::PRINT_SWITCH_V_I);
 }
 
 ReturnValue_t GomspaceDeviceHandler::scanForReply(const uint8_t *start,
diff --git a/mission/devices/P60DockHandler.cpp b/mission/devices/P60DockHandler.cpp
index 357bee30..928a9883 100644
--- a/mission/devices/P60DockHandler.cpp
+++ b/mission/devices/P60DockHandler.cpp
@@ -1,3 +1,4 @@
+#include <fsfw/datapool/PoolReadGuard.h>
 #include "P60DockHandler.h"
 #include "OBSWConfig.h"
 
@@ -27,15 +28,24 @@ void P60DockHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *
 
 #if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_P60DOCK == 1
     p60dockHkTableDataset.read();
-    sif::info << "P60 Dock: ACU VCC switch: " << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateAcuVcc.value) << std::endl;
-    sif::info << "P60 Dock: PDU1 VCC switch: " << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu1Vcc.value) << std::endl;
-    sif::info << "P60 Dock: PDU2 VCC switch: " << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu2Vcc.value) << std::endl;
-    sif::info << "P60 Dock: ACU VBAT switch: " << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateAcuVbat.value) << std::endl;
-    sif::info << "P60 Dock: PDU1 VBAT switch: " << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu1Vbat.value) << std::endl;
-    sif::info << "P60 Dock: PDU2 VBAT switch: " << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu2Vbat.value) << std::endl;
-    sif::info << "P60 Dock: Stack VBAT switch: " << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStackVbat.value) << std::endl;
-    sif::info << "P60 Dock: Stack 3V3 switch: " << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStack3V3.value) << std::endl;
-    sif::info << "P60 Dock: Stack 5V switch: " << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStack5V.value) << std::endl;
+    sif::info << "P60 Dock: ACU VCC switch: " <<
+            static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateAcuVcc.value) << std::endl;
+    sif::info << "P60 Dock: PDU1 VCC switch: " <<
+            static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu1Vcc.value) << std::endl;
+    sif::info << "P60 Dock: PDU2 VCC switch: " <<
+            static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu2Vcc.value) << std::endl;
+    sif::info << "P60 Dock: ACU VBAT switch: " <<
+            static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateAcuVbat.value) << std::endl;
+    sif::info << "P60 Dock: PDU1 VBAT switch: " <<
+            static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu1Vbat.value) << std::endl;
+    sif::info << "P60 Dock: PDU2 VBAT switch: " <<
+            static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu2Vbat.value) << std::endl;
+    sif::info << "P60 Dock: Stack VBAT switch: " <<
+            static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStackVbat.value) << std::endl;
+    sif::info << "P60 Dock: Stack 3V3 switch: " <<
+            static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStack3V3.value) << std::endl;
+    sif::info << "P60 Dock: Stack 5V switch: " <<
+            static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStack5V.value) << std::endl;
 
     float temperatureC = p60dockHkTableDataset.temperature1.value * 0.1;
     sif::info << "P60 Dock: Temperature 1: " << temperatureC << " °C" << std::endl;
@@ -395,3 +405,76 @@ ReturnValue_t P60DockHandler::initializeLocalDataPool(
 
     return HasReturnvaluesIF::RETURN_OK;
 }
+
+
+ReturnValue_t P60DockHandler::printStatus(DeviceCommandId_t cmd) {
+    switch(cmd) {
+    case(GOMSPACE::PRINT_SWITCH_V_I): {
+        PoolReadGuard pg(&p60dockHkTableDataset);
+        ReturnValue_t readResult = pg.getReadResult();
+        if(readResult != HasReturnvaluesIF::RETURN_OK) {
+            sif::warning << "Reading PDU1 HK table failed!" << std::endl;
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        printHkTable();
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    default: {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    }
+}
+
+void P60DockHandler::printHkTable() {
+    sif::info << "P60 Dock Info: SwitchState, Voltages [mV], Currents [mA]" << std::endl;
+
+    sif::info << std::setw(30) << std::left << "ACU VCC" << std::dec << "| " <<
+            unsigned(p60dockHkTableDataset.outputEnableStateAcuVcc.value)  << ", " <<
+            std::setw(4) << std::right <<
+            p60dockHkTableDataset.currentAcuVcc.value << ", " << std::setw(5) <<
+            p60dockHkTableDataset.voltageAcuVcc.value  << std::endl;
+    sif::info << std::setw(30) << std::left << "ACU VBAT" << std::dec << "| " <<
+            unsigned(p60dockHkTableDataset.outputEnableStateAcuVbat.value)  << ", " <<
+            std::setw(4) << std::right <<
+            p60dockHkTableDataset.currentAcuVbat.value << ", " << std::setw(5) <<
+            p60dockHkTableDataset.voltageAcuVbat.value  << std::endl;
+
+    sif::info << std::setw(30) << std::left << "PDU1 VCC" << std::dec << "| " <<
+            unsigned(p60dockHkTableDataset.outputEnableStatePdu1Vcc.value) << ", " <<
+            std::setw(4) << std::right <<
+            p60dockHkTableDataset.currentPdu1Vcc.value << ", " << std::setw(5) <<
+            p60dockHkTableDataset.voltagePdu1Vcc.value << std::endl;
+    sif::info << std::setw(30) << std::left << "PDU1 VBAT" << std::dec << "| " <<
+            unsigned(p60dockHkTableDataset.outputEnableStatePdu1Vbat.value) << ", " <<
+            std::setw(4) << std::right <<
+            p60dockHkTableDataset.currentPdu1Vbat.value << ", " << std::setw(5) <<
+            p60dockHkTableDataset.voltagePdu1Vbat.value << std::endl;
+
+    sif::info << std::setw(30) << std::left << "PDU2 VCC" << std::dec << "| " <<
+            unsigned(p60dockHkTableDataset.outputEnableStatePdu2Vcc.value) << ", " <<
+            std::setw(4) << std::right <<
+            p60dockHkTableDataset.currentPdu2Vcc.value << ", " << std::setw(5) <<
+            p60dockHkTableDataset.voltagePdu2Vcc.value << std::endl;
+    sif::info << std::setw(30) << std::left << "PDU2 VBAT" << std::dec << "| " <<
+            unsigned(p60dockHkTableDataset.outputEnableStatePdu2Vbat.value) << ", " <<
+            std::setw(4) << std::right <<
+            p60dockHkTableDataset.currentPdu2Vbat.value << ", " << std::setw(5) <<
+            p60dockHkTableDataset.voltagePdu2Vbat.value << std::endl;
+
+    sif::info << std::setw(30) << std::left << "Stack VBAT" << std::dec << "| " <<
+            unsigned(p60dockHkTableDataset.outputEnableStateStackVbat.value) << ", " <<
+            std::setw(4) << std::right <<
+            p60dockHkTableDataset.currentStackVbat.value << ", " << std::setw(5) <<
+            p60dockHkTableDataset.voltageStackVbat.value << std::endl;
+    sif::info << std::setw(30) << std::left << "Stack 3V3" << std::dec << "| " <<
+            unsigned(p60dockHkTableDataset.outputEnableStateStack3V3.value) << ", " <<
+            std::setw(4) << std::right <<
+            p60dockHkTableDataset.currentStack3V3.value << ", " << std::setw(5) <<
+            p60dockHkTableDataset.voltageStack3V3.value << std::endl;
+    sif::info << std::setw(30) << std::left << "Stack 5V" << std::dec << "| " <<
+            unsigned(p60dockHkTableDataset.outputEnableStateStack5V.value) << ", " <<
+            std::setw(4) << std::right <<
+            p60dockHkTableDataset.currentStack5V.value << ", " << std::setw(5) <<
+            p60dockHkTableDataset.voltageStack5V.value << std::endl;
+}
+
diff --git a/mission/devices/P60DockHandler.h b/mission/devices/P60DockHandler.h
index 6326e407..cee0ecec 100644
--- a/mission/devices/P60DockHandler.h
+++ b/mission/devices/P60DockHandler.h
@@ -26,6 +26,14 @@ protected:
 
     virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override;
 
+    /**
+     * This command handles printing the HK table to the console. This is useful for debugging
+     * purposes
+     * @return
+     */
+    ReturnValue_t printStatus(DeviceCommandId_t cmd) override;
+
+    void printHkTable();
 private:
     P60Dock::HkTableDataset p60dockHkTableDataset;
 
diff --git a/mission/devices/PDU1Handler.cpp b/mission/devices/PDU1Handler.cpp
index 378a9589..a17b4abb 100644
--- a/mission/devices/PDU1Handler.cpp
+++ b/mission/devices/PDU1Handler.cpp
@@ -335,7 +335,7 @@ ReturnValue_t PDU1Handler::initializeLocalDataPool(
 
 ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
     switch(cmd) {
-    case(GOMSPACE::PRINT_HK_TABLE): {
+    case(GOMSPACE::PRINT_SWITCH_V_I): {
         PoolReadGuard pg(&pdu1HkTableDataset);
         ReturnValue_t readResult = pg.getReadResult();
         if(readResult != HasReturnvaluesIF::RETURN_OK) {
diff --git a/mission/devices/PDU2Handler.cpp b/mission/devices/PDU2Handler.cpp
index 15166323..e0400b6f 100644
--- a/mission/devices/PDU2Handler.cpp
+++ b/mission/devices/PDU2Handler.cpp
@@ -312,7 +312,7 @@ ReturnValue_t PDU2Handler::initializeLocalDataPool(
 
 ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
     switch(cmd) {
-    case(GOMSPACE::PRINT_HK_TABLE): {
+    case(GOMSPACE::PRINT_SWITCH_V_I): {
         PoolReadGuard pg(&pdu2HkTableDataset);
         ReturnValue_t readResult = pg.getReadResult();
         if(readResult != HasReturnvaluesIF::RETURN_OK) {
diff --git a/mission/devices/devicedefinitions/GomspaceDefinitions.h b/mission/devices/devicedefinitions/GomspaceDefinitions.h
index e14745a4..bd509239 100644
--- a/mission/devices/devicedefinitions/GomspaceDefinitions.h
+++ b/mission/devices/devicedefinitions/GomspaceDefinitions.h
@@ -34,7 +34,7 @@ static const DeviceCommandId_t PARAM_GET = 0; //!< [EXPORT] : [COMMAND]
 static const DeviceCommandId_t PARAM_SET = 255; //!< [EXPORT] : [COMMAND]
 static const DeviceCommandId_t REQUEST_HK_TABLE = 16; //!< [EXPORT] : [COMMAND]
 //!< [EXPORT] : [COMMAND] Print switch states, voltages and currents to the console
-static const DeviceCommandId_t PRINT_HK_TABLE = 32;
+static const DeviceCommandId_t PRINT_SWITCH_V_I = 32;
 
 
 }
@@ -379,6 +379,9 @@ static const uint16_t HK_TABLE_REPLY_SIZE = 407;
 
 /**
  * @brief   This class defines a dataset for the hk table of the P60 Dock.
+ * @details
+ * The GS port and X3 are not required for EIVE. X3 is another slot on the P60 dock and
+ * GS is required for a module from Gomspace which is not used.
  */
 class HkTableDataset:
         public StaticLocalDataSet<HK_TABLE_ENTRIES> {
diff --git a/tmtc b/tmtc
index f3a2e755..53bf6508 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit f3a2e755fdc73ee791ea32dc6f2dfce43af70e60
+Subproject commit 53bf65083889af10f77c3899972b1153ea835f3c

From cf9ff87560680c3f7194ab5d179bcb5a577dec7a Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 20 Sep 2021 14:34:39 +0200
Subject: [PATCH 15/15] bugfixes for new print commands

---
 .../pollingSequenceFactory.cpp                | 186 +++++++++---------
 mission/devices/P60DockHandler.cpp            |   2 +-
 mission/devices/PDU1Handler.cpp               |   4 +-
 mission/devices/PDU2Handler.cpp               |   2 +-
 4 files changed, 101 insertions(+), 93 deletions(-)

diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index 0d189476..727334d2 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -425,93 +425,101 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
 
 #if OBSW_ADD_ACS_BOARD == 1
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
+    bool enableAside = false;
+    bool enableBside = true;
+    if(enableAside) {
+        // A side
+        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
+                DeviceHandlerIF::PERFORM_OPERATION);
+        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
+                DeviceHandlerIF::SEND_WRITE);
+        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
+                DeviceHandlerIF::GET_WRITE);
+        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
+                DeviceHandlerIF::SEND_READ);
+        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
+                DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
+        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
+                DeviceHandlerIF::PERFORM_OPERATION);
+        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
+                DeviceHandlerIF::SEND_WRITE);
+        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
+                DeviceHandlerIF::GET_WRITE);
+        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
+                DeviceHandlerIF::SEND_READ);
+        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
+                DeviceHandlerIF::GET_READ);
 
-//    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
-//            DeviceHandlerIF::PERFORM_OPERATION);
-//    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
-//            DeviceHandlerIF::SEND_WRITE);
-//    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
-//            DeviceHandlerIF::GET_WRITE);
-//    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
-//            DeviceHandlerIF::SEND_READ);
-//    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
-//            DeviceHandlerIF::GET_READ);
+        //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
+        //            DeviceHandlerIF::PERFORM_OPERATION);
+        //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.2,
+        //            DeviceHandlerIF::SEND_WRITE);
+        //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.4,
+        //            DeviceHandlerIF::GET_WRITE);
+        //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6,
+        //            DeviceHandlerIF::SEND_READ);
+        //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8,
+        //            DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
+        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
+                DeviceHandlerIF::PERFORM_OPERATION);
+        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
+                DeviceHandlerIF::SEND_WRITE);
+        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
+                DeviceHandlerIF::GET_WRITE);
+        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
+                DeviceHandlerIF::SEND_READ);
+        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
+                DeviceHandlerIF::GET_READ);
+    }
 
-//    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
-//            DeviceHandlerIF::PERFORM_OPERATION);
-//    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.2,
-//            DeviceHandlerIF::SEND_WRITE);
-//    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.4,
-//            DeviceHandlerIF::GET_WRITE);
-//    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6,
-//            DeviceHandlerIF::SEND_READ);
-//    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8,
-//            DeviceHandlerIF::GET_READ);
-//
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
+    if(enableBside) {
+        // B side
+        thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
+                DeviceHandlerIF::PERFORM_OPERATION);
+        thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
+                DeviceHandlerIF::SEND_WRITE);
+        thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
+                DeviceHandlerIF::GET_WRITE);
+        thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
+                DeviceHandlerIF::SEND_READ);
+        thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
+                DeviceHandlerIF::GET_READ);
 
-//    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
-//            DeviceHandlerIF::PERFORM_OPERATION);
-//    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.2,
-//            DeviceHandlerIF::SEND_WRITE);
-//    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.4,
-//            DeviceHandlerIF::GET_WRITE);
-//    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6,
-//            DeviceHandlerIF::SEND_READ);
-//    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.8,
-//            DeviceHandlerIF::GET_READ);
+        thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
+                DeviceHandlerIF::PERFORM_OPERATION);
+        thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
+                DeviceHandlerIF::SEND_WRITE);
+        thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
+                DeviceHandlerIF::GET_WRITE);
+        thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
+                DeviceHandlerIF::SEND_READ);
+        thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
+                DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
+        //    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
+        //            DeviceHandlerIF::PERFORM_OPERATION);
+        //    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.2,
+        //            DeviceHandlerIF::SEND_WRITE);
+        //    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.4,
+        //            DeviceHandlerIF::GET_WRITE);
+        //    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6,
+        //            DeviceHandlerIF::SEND_READ);
+        //    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.8,
+        //            DeviceHandlerIF::GET_READ);
+
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
+                DeviceHandlerIF::PERFORM_OPERATION);
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2,
+                DeviceHandlerIF::SEND_WRITE);
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4,
+                DeviceHandlerIF::GET_WRITE);
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
+                DeviceHandlerIF::SEND_READ);
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8,
+                DeviceHandlerIF::GET_READ);
+    }
 #endif /* OBSW_ADD_ACS_BOARD == 1 */
 
     if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
@@ -547,13 +555,13 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2,
-                DeviceHandlerIF::SEND_WRITE);
+            DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.4,
-                DeviceHandlerIF::GET_WRITE);
+            DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.6,
-                DeviceHandlerIF::SEND_READ);
+            DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.8,
-                DeviceHandlerIF::GET_READ);
+            DeviceHandlerIF::GET_READ);
 #endif
 
     thisSequence->addSlot(objects::PLOC_UPDATER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -563,13 +571,13 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.2,
-                DeviceHandlerIF::SEND_WRITE);
+            DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.4,
-                DeviceHandlerIF::GET_WRITE);
+            DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.6,
-                DeviceHandlerIF::SEND_READ);
+            DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.8,
-                DeviceHandlerIF::GET_READ);
+            DeviceHandlerIF::GET_READ);
 #endif
 
 #if Q7S_ADD_SYRLINKS_HANDLER == 1
diff --git a/mission/devices/P60DockHandler.cpp b/mission/devices/P60DockHandler.cpp
index 928a9883..4ade2a0b 100644
--- a/mission/devices/P60DockHandler.cpp
+++ b/mission/devices/P60DockHandler.cpp
@@ -426,7 +426,7 @@ ReturnValue_t P60DockHandler::printStatus(DeviceCommandId_t cmd) {
 }
 
 void P60DockHandler::printHkTable() {
-    sif::info << "P60 Dock Info: SwitchState, Voltages [mV], Currents [mA]" << std::endl;
+    sif::info << "P60 Dock Info: SwitchState, Currents [mA], Voltages [mV]" << std::endl;
 
     sif::info << std::setw(30) << std::left << "ACU VCC" << std::dec << "| " <<
             unsigned(p60dockHkTableDataset.outputEnableStateAcuVcc.value)  << ", " <<
diff --git a/mission/devices/PDU1Handler.cpp b/mission/devices/PDU1Handler.cpp
index a17b4abb..1676e488 100644
--- a/mission/devices/PDU1Handler.cpp
+++ b/mission/devices/PDU1Handler.cpp
@@ -352,7 +352,7 @@ ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
 }
 
 void PDU1Handler::printHkTable() {
-    sif::info << "PDU1 Info: SwitchState, Voltages [mV], Currents [mA]" << std::endl;
+    sif::info << "PDU1 Info: SwitchState, Currents [mA], Voltages [mV]" << std::endl;
     sif::info << std::setw(30) << std::left << "TCS Board" << std::dec << "| " <<
             unsigned(pdu1HkTableDataset.outEnabledTCSBoard3V3.value)  << ", " <<
             std::setw(4) << std::right <<
@@ -362,7 +362,7 @@ void PDU1Handler::printHkTable() {
             unsigned(pdu1HkTableDataset.outEnabledSyrlinks.value) << ", " <<
             std::setw(4) << std::right <<
             pdu1HkTableDataset.currentOutSyrlinks.value << ", " << std::setw(4) <<
-            pdu1HkTableDataset.currentOutSyrlinks.value << std::endl;
+            pdu1HkTableDataset.voltageOutSyrlinks.value << std::endl;
     sif::info << std::setw(30) << std::left << "Star Tracker" << std::dec << "| " <<
             static_cast<unsigned int>(pdu1HkTableDataset.outEnabledStarTracker.value) << ", " <<
             std::setw(4) << std::right <<
diff --git a/mission/devices/PDU2Handler.cpp b/mission/devices/PDU2Handler.cpp
index e0400b6f..287fdaf3 100644
--- a/mission/devices/PDU2Handler.cpp
+++ b/mission/devices/PDU2Handler.cpp
@@ -329,7 +329,7 @@ ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
 }
 
 void PDU2Handler::printHkTable() {
-    sif::info << "PDU2 Info: SwitchState, Voltages [mV], Currents [mA]" << std::endl;
+    sif::info << "PDU2 Info: SwitchState, Currents [mA], Voltages [mV]" << std::endl;
     sif::info << std::setw(30) << std::left << "Q7S" << std::dec << "| " <<
             unsigned(pdu2HkTableDataset.outEnabledQ7S.value)  << ", " <<
             std::setw(4) << std::right <<