fixed conflicts

2022-04-22 14:20:17 +02:00 · 2022-04-22 14:20:17 +02:00 · 4a2ba043cb
commit 4a2ba043cb
parent b63c3bb9c3 d6532f8181
26 changed files with 527 additions and 63 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -0,0 +1,26 @@
+Change Log
+=======
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](http://keepachangelog.com/)
+and this project adheres to [Semantic Versioning](http://semver.org/).
+
+The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
+list yields a list of all related PRs for each release.
+
+# [unreleased]
+
+# [v1.11.0]
+
+## Changed
+
+- Update rootfs base of Linux, all related OBSW changes
+- Use gpsd version 3.17 now. Includes API changes
+- Add `/usr/local/bin` to PATH. All shell scripts are there now
+- Rename GPS device to `/dev/gps0`
+
+# [v1.10.0]
+
+For all releases equal or prior to v1.10.0,
+see [milestones](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -16,7 +16,10 @@ set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")

 option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
 option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
-
+option(EIVE_HARDCODED_TOOLCHAIN_FILE "\
+For Linux Board Target BSPs, a default toolchain file will be set. Should be set to OFF \
+if a different toolchain file is set externally" ON
+)
 option(EIVE_SYSROOT_MAGIC "Perform sysroot magic which might not be necessary" OFF)
 option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON)

@ -41,7 +44,7 @@ include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
 pre_project_config()

 # Check whether the user has already installed Catch2 first. This has to come before
-# the project call. We could also exlcude doing this when the Q7S primary OBSW is built..
+# the project call. We could also exclude doing this when the Q7S primary OBSW is built..
 find_package(Catch2 3 CONFIG QUIET)

 # Project Name
@ -99,10 +102,14 @@ include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake)
 pre_source_hw_os_config()

 if(TGT_BSP)
+    set(LIBGPS_VERSION_MAJOR 3)
+    # I assume a newer version than 3.17 will be installed on other Linux board than the Q7S
+    set(LIBGPS_VERSION_MINOR 20)
    if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi"
        OR TGT_BSP MATCHES "arm/beagleboneblack" OR TGT_BSP MATCHES "arm/egse" 
        OR TGT_BSP MATCHES "arm/te0720-1cfa"
    )
+        find_library(${LIB_GPS} gps)
        set(FSFW_CONFIG_PATH "linux/fsfwconfig")
        if(NOT BUILD_Q7S_SIMPLE_MODE)
            set(EIVE_ADD_LINUX_FILES TRUE)
@ -133,6 +140,8 @@ if(TGT_BSP)
    if(TGT_BSP MATCHES "arm/q7s")
        # Used by configure file
        set(XIPHOS_Q7S ON)
+        set(LIBGPS_VERSION_MAJOR 3)
+        set(LIBGPS_VERSION_MINOR 17)
    endif()
    
    if(TGT_BSP MATCHES "arm/te0720-1cfa")
@ -154,8 +163,6 @@ elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse")
    configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
 endif()

-
-
 configure_file(${WATCHDOG_PATH}/watchdogConf.h.in watchdogConf.h)

 # Set common config path for FSFW
@ -243,8 +250,13 @@ else()
 endif()
 set_target_properties(${OBSW_NAME} PROPERTIES OUTPUT_NAME ${OBSW_BIN_NAME})

-#watchdog
-add_executable(${WATCHDOG_NAME} EXCLUDE_FROM_ALL)
+# Watchdog
+if(TGT_BSP MATCHES "arm/q7s")
+    add_executable(${WATCHDOG_NAME})
+else()
+    add_executable(${WATCHDOG_NAME} EXCLUDE_FROM_ALL)
+endif()
+
 add_subdirectory(${WATCHDOG_PATH}) 
 target_link_libraries(${WATCHDOG_NAME} PUBLIC
    ${LIB_CXX_FS}
@ -310,8 +322,8 @@ target_link_libraries(${OBSW_NAME} PRIVATE

 if(TGT_BSP MATCHES "arm/q7s")
    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        ${LIB_ARCSEC}
        ${LIB_GPS}
+        ${LIB_ARCSEC}
    )
 endif()

@ -369,7 +381,7 @@ endif()



-if(${CMAKE_CROSSCOMPILING})
+if(CMAKE_CROSSCOMPILING)
 	include (${CMAKE_SCRIPT_PATH}/HardwareOsPostConfig.cmake)
 	post_source_hw_os_config()
 endif()
@ -391,6 +403,8 @@ else()
    endif()
 endif()

+install(TARGETS ${OBSW_NAME} RUNTIME DESTINATION bin)
+
 string(CONCAT POST_BUILD_COMMENT
    "Build directory: ${CMAKE_BINARY_DIR}\n"
    "Target OSAL: ${FSFW_OSAL}\n"
@ -405,6 +419,5 @@ add_custom_command(
   COMMENT ${POST_BUILD_COMMENT}
 )

-
 include (${CMAKE_SCRIPT_PATH}/BuildType.cmake)
 set_build_type()
--- a/README.md
+++ b/README.md
@ -163,23 +163,26 @@ automatically.

 The EIVE OBSW is the default target if no target is specified.

+**Debug**
+
 ```sh
 mkdir build-Debug-Q7S && cd build-Debug-Q7S
 cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Debug ..
 cmake --build . -j
 ```

-### Q7S Watchdog
-
-To build the EIVE watchdog, the corresponding target must be specified in the build command.
-The configure steps do not need to be repeated if the folder has already been configured.
+**Release**

 ```sh
-mkdir build-Debug-Watchdog && cd build-Debug-Watchdog
-cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Debug ..
-cmake --build . --target eive-watchdog -j
+mkdir build-Release-Q7S && cd build-Release-Q7S
+cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Release ..
+cmake --build . -j
 ```

+### Q7S Watchdog
+
+The watchdog will be built along side the primary OBSW binary.
+
 ### Hosted

 You can also use the FSFW OSAL `host` to build on Windows or for generic OSes.
--- a/automation/Dockerfile
+++ b/automation/Dockerfile
@ -8,13 +8,13 @@ RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl git gcc g++ lcov

 # Q7S root filesystem, required for cross-compilation.
 RUN mkdir -p /usr/rootfs; \
-curl https://buggy.irs.uni-stuttgart.de/eive/tools/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz \
-    | tar -xz -C /usr/rootfs
+curl https://buggy.irs.uni-stuttgart.de/eive/tools/eive-compile-rootfs-v0.1.0-7-gae69838.tar.xz \
+    | tar -xJ -C /usr/rootfs

 # Cross compiler
 RUN mkdir -p /usr/tools; \
 curl https://buggy.irs.uni-stuttgart.de/eive/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.gz \
    | tar -xz -C /usr/tools

-ENV ZYNQ_7020_SYSROOT="/usr/rootfs/cortexa9hf-neon-xiphos-linux-gnueabi"
+ENV ZYNQ_7020_SYSROOT="/usr/rootfs/eive-compile-rootfs"
 ENV PATH=$PATH:"/usr/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
--- a/automation/Jenkinsfile
+++ b/automation/Jenkinsfile
@ -5,7 +5,7 @@ pipeline {
    }
    agent {
        docker {
-            image 'eive-obsw-ci:d3'
+            image 'eive-obsw-ci:d4'
            args '--sysctl fs.mqueue.msg_max=100'
        }
    }
--- a/bsp_q7s/boardconfig/busConf.h
+++ b/bsp_q7s/boardconfig/busConf.h
@ -8,7 +8,7 @@ static constexpr char SPI_RW_DEV[] = "/dev/spi-rw";

 static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-eive";

-static constexpr char UART_GNSS_DEV[] = "/dev/ul-gps";
+static constexpr char UART_GNSS_DEV[] = "/dev/gps0";
 static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul-plmpsoc";
 static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ul-plsv";
 static constexpr char UART_SYRLINKS_DEV[] = "/dev/ul-syrlinks";
--- a/bsp_q7s/boardtest/Q7STestTask.cpp
+++ b/bsp_q7s/boardtest/Q7STestTask.cpp
@ -246,7 +246,11 @@ void Q7STestTask::testGpsDaemon() {
    sif::warning << "Q7STestTask: Reading GPS data failed" << std::endl;
  }
  sif::info << "-- Q7STestTask: GPS shared memory read test --" << std::endl;
+#if LIBGPS_VERSION_MINOR <= 17
+  time_t timeRaw = gps->fix.time;
+#else
  time_t timeRaw = gps->fix.time.tv_sec;
+#endif
  std::tm* time = gmtime(&timeRaw);
  sif::info << "Time: " << std::put_time(time, "%c %Z") << std::endl;
  sif::info << "Visible satellites: " << gps->satellites_visible << std::endl;
@ -254,7 +258,11 @@ void Q7STestTask::testGpsDaemon() {
  sif::info << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
  sif::info << "Latitude: " << gps->fix.latitude << std::endl;
  sif::info << "Longitude: " << gps->fix.longitude << std::endl;
+#if LIBGPS_VERSION_MINOR <= 17
+  sif::info << "Altitude(MSL): " << gps->fix.altitude << std::endl;
+#else
  sif::info << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
+#endif
  sif::info << "Speed(m/s): " << gps->fix.speed << std::endl;
 }

--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@ -29,7 +29,10 @@ xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
 xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;

 CoreController::CoreController(object_id_t objectId)
-    : ExtendedControllerBase(objectId, objects::NO_OBJECT, 5), opDivider(5), hkSet(this) {
+    : ExtendedControllerBase(objectId, objects::NO_OBJECT, 5),
+      opDivider5(5),
+      opDivider10(10),
+      hkSet(this) {
  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  try {
    result = initWatchdogFifo();
@ -75,6 +78,8 @@ void CoreController::performControlOperation() {
  sdStateMachine();
  performMountedSdCardOperations();
  readHkData();
+  opDivider5.checkAndIncrement();
+  opDivider10.checkAndIncrement();
 }

 ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
@ -141,7 +146,7 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
  }
  // Add script folder to path
  char *currentEnvPath = getenv("PATH");
-  std::string updatedEnvPath = std::string(currentEnvPath) + ":/home/root/scripts";
+  std::string updatedEnvPath = std::string(currentEnvPath) + ":/home/root/scripts:/usr/local/bin";
  setenv("PATH", updatedEnvPath.c_str(), true);
  updateProtInfo();
  initPrint();
@ -1200,7 +1205,7 @@ ReturnValue_t CoreController::handleProtInfoUpdateLine(std::string nextLine) {

 void CoreController::performWatchdogControlOperation() {
  // Only perform each fifth iteration
-  if (watchdogFifoFd != 0 and opDivider.checkAndIncrement()) {
+  if (watchdogFifoFd != 0 and opDivider5.check()) {
    if (watchdogFifoFd == RETRY_FIFO_OPEN) {
      // Open FIFO write only and non-blocking
      watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
@ -1692,14 +1697,22 @@ void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::C
 }

 ReturnValue_t CoreController::timeFileHandler() {
-  if (gpsFix == GpsHyperion::FixMode::FIX_2D or gpsFix == GpsHyperion::FixMode::FIX_3D) {
+  // Always set time. We could only set it if it is updated by GPS, but then the backup time would
+  // become obsolete on GPS problems.
+  if (opDivider10.check()) {
    // It is assumed that the system time is set from the GPS time
    timeval currentTime = {};
    ReturnValue_t result = Clock::getClock_timeval(&currentTime);
    if (result != HasReturnvaluesIF::RETURN_OK) {
      return result;
    }
-    std::ofstream timeFile(currMntPrefix + TIME_FILE);
+    std::string fileName = currMntPrefix + TIME_FILE;
+    std::ofstream timeFile(fileName);
+    if (not timeFile.good()) {
+      sif::error << "CoreController::timeFileHandler: Error opening time file: " << strerror(errno)
+                 << std::endl;
+      return RETURN_FAILED;
+    }
    timeFile << "UNIX SECONDS: " << currentTime.tv_sec << std::endl;
  }
  return RETURN_OK;
--- a/bsp_q7s/core/CoreController.h
+++ b/bsp_q7s/core/CoreController.h
@ -48,7 +48,7 @@ class CoreController : public ExtendedControllerBase {
  static xsc::Chip CURRENT_CHIP;
  static xsc::Copy CURRENT_COPY;

-  static constexpr char CHIP_PROT_SCRIPT[] = "/home/root/scripts/get-chip-prot-status.sh";
+  static constexpr char CHIP_PROT_SCRIPT[] = "get-chip-prot-status.sh";
  static constexpr char CHIP_STATE_FILE[] = "/tmp/chip_prot_status.txt";
  static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt";
  static constexpr char CONF_FOLDER[] = "conf";
@ -188,7 +188,8 @@ class CoreController : public ExtendedControllerBase {
   * Index 3: Chip 1 Copy 1
   */
  std::array<bool, 4> protArray;
-  PeriodicOperationDivider opDivider;
+  PeriodicOperationDivider opDivider5;
+  PeriodicOperationDivider opDivider10;

  core::HkSet hkSet;

--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@ -164,11 +164,9 @@ void ObjectFactory::produce(void* args) {
                                     pcdu::Switches::PDU1_CH3_MGT_5V);
  imtqHandler->setPowerSwitcher(pwrSwitcher);
  static_cast<void>(imtqHandler);
-#if OBSW_DEBUG_IMTQ == 1
+#if OBSW_TEST_IMTQ == 1
  imtqHandler->setStartUpImmediately();
  imtqHandler->setToGoToNormal(true);
-#else
-  (void)imtqHandler;
 #endif
 #endif
  createReactionWheelComponents(gpioComIF);
@ -177,12 +175,8 @@ void ObjectFactory::produce(void* args) {
  I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV);
  BpxBatteryHandler* bpxHandler =
      new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
-#if OBSW_TEST_BPX_BATT == 1
-  bpxHandler->setToGoToNormalMode(true);
  bpxHandler->setStartUpImmediately();
-#else
-  static_cast<void>(bpxHandler);
-#endif
+  bpxHandler->setToGoToNormalMode(true);
 #endif

  new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
--- a/bsp_te0720_1cfa/InitMission.cpp
+++ b/bsp_te0720_1cfa/InitMission.cpp
@ -82,7 +82,7 @@ void initmission::initTasks() {

  std::vector<PeriodicTaskIF*> pstTasks;
  FixedTimeslotTaskIF* pst = factory->createFixedTimeslotTask(
-      "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+      "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
  result = pst::pstUart(pst);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
--- a/bsp_te0720_1cfa/ObjectFactory.cpp
+++ b/bsp_te0720_1cfa/ObjectFactory.cpp
@ -47,6 +47,19 @@ void ObjectFactory::produce(void* args) {

 new UartComIF(objects::UART_COM_IF);

+#if OBSW_ADD_PLOC_MPSOC == 1
+  UartCookie* mpsocUartCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, te0720_1cfa::MPSOC_UART,
+                                               uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
+  mpsocUartCookie->setNoFixedSizeReply();
+  PlocMPSoCHelper* plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
+  new UartComIF(objects::UART_COM_IF);
+  auto dummyGpioIF = new DummyGpioIF();
+  PlocMPSoCHandler* plocMPSoCHandler = new PlocMPSoCHandler(
+      objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocUartCookie, plocMpsocHelper,
+      Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF), objects::PLOC_SUPERVISOR_HANDLER);
+  plocMPSoCHandler->setStartUpImmediately();
+#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
+
 #if OBSW_TEST_LIBGPIOD == 1
 #if OBSW_TEST_GPIO_OPEN_BYLABEL == 1
  /* Configure MIO0 as input */
--- a/cmake/HardwareOsPostConfig.cmake
+++ b/cmake/HardwareOsPostConfig.cmake
@ -42,6 +42,7 @@ add_compile_options(
 )

 set(STRIPPED_OBSW_NAME ${OBSW_BIN_NAME}-stripped)
+set(STRIPPED_WATCHDOG_NAME eive-watchdog-stripped)

 add_custom_command(
 	TARGET ${OBSW_NAME}
@ -51,4 +52,12 @@ add_custom_command(
 	COMMENT "Generating stripped executable ${STRIPPED_OBSW_NAME}.."
 )

+add_custom_command(
+    TARGET ${WATCHDOG_NAME}
+    POST_BUILD
+    COMMAND ${CMAKE_STRIP} --strip-all eive-watchdog -o ${STRIPPED_WATCHDOG_NAME}
+    BYPRODUCTS ${STRIPPED_WATCHDOG_NAME}
+    COMMENT "Generating stripped executable ${STRIPPED_WATCHDOG_NAME}.."
+)
+
 endfunction()
--- a/cmake/PreProjectConfig.cmake
+++ b/cmake/PreProjectConfig.cmake
@ -11,7 +11,7 @@ endif()


 # Disable compiler checks for cross-compiling.
-if(FSFW_OSAL MATCHES linux AND TGT_BSP)
+if(FSFW_OSAL MATCHES linux AND TGT_BSP AND EIVE_HARDCODED_TOOLCHAIN_FILE)
 	if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/te0720-1cfa")
 		set(CMAKE_TOOLCHAIN_FILE 
 			"${CMAKE_SCRIPT_PATH}/Zynq7020CrossCompileConfig.cmake"
--- a/cmake/scripts/Q7S/q7s-env.sh
+++ b/cmake/scripts/Q7S/q7s-env.sh
@ -2,6 +2,6 @@
 export PATH=$PATH:"$HOME/EIVE/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
 export CROSS_COMPILE="arm-linux-gnueabihf"

-export ZYNQ_7020_SYSROOT="$HOME/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"
+export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"
 export CONSOLE_PREFIX="[Q7S ENV]"
 /bin/bash
--- a/cmake/scripts/Q7S/win-q7s-env.sh
+++ b/cmake/scripts/Q7S/win-q7s-env.sh
@ -5,7 +5,7 @@ function help () {
 }

 TOOLCHAIN_PATH="/c/Xilinx/Vitis/2019.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
-SYSROOT="/c/Users/${USER}/eive-software/cortexa9hf-neon-xiphos-linux-gnueabi"
+SYSROOT="/c/Users/${USER}/eive-software/eive-compile-rootfs"

 for i in "$@"; do
  case $i in
--- a/generators/bsp_q7s_returnvalues.csv
+++ b/generators/bsp_q7s_returnvalues.csv
@ -1,11 +1,20 @@
 0x0;OK;System-wide code for ok.;RETURN_OK;HasReturnvaluesIF.h;HasReturnvaluesIF
 0x1;Failed;Unspecified system-wide code for failed.;RETURN_FAILED;HasReturnvaluesIF.h;HasReturnvaluesIF
+<<<<<<< HEAD
 0x6000;GOMS_PacketTooLong;;0;mission\devices\GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
 0x6001;GOMS_InvalidTableId;;1;mission\devices\GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
 0x6002;GOMS_InvalidAddress;;2;mission\devices\GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
 0x6003;GOMS_InvalidParamSize;;3;mission\devices\GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
 0x6004;GOMS_InvalidPayloadSize;;4;mission\devices\GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
 0x6005;GOMS_UnknownReplyId;;5;mission\devices\GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
+=======
+0x5f00;GOMS_PacketTooLong;;0;mission\devices\GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
+0x5f01;GOMS_InvalidTableId;;1;mission\devices\GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
+0x5f02;GOMS_InvalidAddress;;2;mission\devices\GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
+0x5f03;GOMS_InvalidParamSize;;3;mission\devices\GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
+0x5f04;GOMS_InvalidPayloadSize;;4;mission\devices\GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
+0x5f05;GOMS_UnknownReplyId;;5;mission\devices\GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
+>>>>>>> develop
 0x52a1;HEATER_CommandNotSupported;;0xA1;mission\devices\HeaterHandler.h;HEATER_HANDLER
 0x52a2;HEATER_InitFailed;;0xA2;mission\devices\HeaterHandler.h;HEATER_HANDLER
 0x52a3;HEATER_InvalidSwitchNr;;0xA3;mission\devices\HeaterHandler.h;HEATER_HANDLER
@ -31,6 +40,7 @@
 0x55a2;RWHA_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;0xA2;mission\devices\RwHandler.h;RW_HANDLER
 0x55a3;RWHA_ExecutionFailed;Command execution failed;0xA3;mission\devices\RwHandler.h;RW_HANDLER
 0x55a4;RWHA_CrcError;Reaction wheel reply has invalid crc;0xA4;mission\devices\RwHandler.h;RW_HANDLER
+<<<<<<< HEAD
 0x69a0;SADPL_CommandNotSupported;;0xA0;mission\devices\SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
 0x69a1;SADPL_DeploymentAlreadyExecuting;;0xA1;mission\devices\SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
 0x69a2;SADPL_MainSwitchTimeoutFailure;;0xA2;mission\devices\SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
@ -38,6 +48,15 @@
 0x69a4;SADPL_SwitchingDeplSa2Failed;;0xA4;mission\devices\SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
 0x5ba0;SUSS_ErrorUnlockMutex;;0xA0;mission\devices\SusHandler.h;SUS_HANDLER
 0x5ba1;SUSS_ErrorLockMutex;;0xA1;mission\devices\SusHandler.h;SUS_HANDLER
+=======
+0x68a0;SADPL_CommandNotSupported;;0xA0;mission\devices\SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
+0x68a1;SADPL_DeploymentAlreadyExecuting;;0xA1;mission\devices\SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
+0x68a2;SADPL_MainSwitchTimeoutFailure;;0xA2;mission\devices\SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
+0x68a3;SADPL_SwitchingDeplSa1Failed;;0xA3;mission\devices\SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
+0x68a4;SADPL_SwitchingDeplSa2Failed;;0xA4;mission\devices\SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
+0x5aa0;SUSS_ErrorUnlockMutex;;0xA0;mission\devices\SusHandler.h;SUS_HANDLER
+0x5aa1;SUSS_ErrorLockMutex;;0xA1;mission\devices\SusHandler.h;SUS_HANDLER
+>>>>>>> develop
 0x53a0;SYRLINKS_CrcFailure;;0xA0;mission\devices\SyrlinksHkHandler.h;SYRLINKS_HANDLER
 0x53a1;SYRLINKS_UartFraminOrParityErrorAck;;0xA1;mission\devices\SyrlinksHkHandler.h;SYRLINKS_HANDLER
 0x53a2;SYRLINKS_BadCharacterAck;;0xA2;mission\devices\SyrlinksHkHandler.h;SYRLINKS_HANDLER
@ -47,8 +66,13 @@
 0x53a6;SYRLINKS_BadCrcAck;;0xA6;mission\devices\SyrlinksHkHandler.h;SYRLINKS_HANDLER
 0x53a7;SYRLINKS_ReplyWrongSize;;0xA7;mission\devices\SyrlinksHkHandler.h;SYRLINKS_HANDLER
 0x53a8;SYRLINKS_MissingStartFrameCharacter;;0xA8;mission\devices\SyrlinksHkHandler.h;SYRLINKS_HANDLER
+<<<<<<< HEAD
 0x66a0;NVMB_KeyNotExists;Specified key does not exist in json file;0xA0;mission\memory\NVMParameterBase.h;NVM_PARAM_BASE
 0x63a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;0xA0;mission\tmtc\CCSDSHandler.h;CCSDS_HANDLER
+=======
+0x65a0;NVMB_KeyNotExists;Specified key does not exist in json file;0xA0;mission\memory\NVMParameterBase.h;NVM_PARAM_BASE
+0x62a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;0xA0;mission\tmtc\CCSDSHandler.h;CCSDS_HANDLER
+>>>>>>> develop
 0x4601; HGIO_UnknownGpioId;;1;fsfw\hal\src\fsfw_hal\linux\gpio\LinuxLibgpioIF.h;HAL_GPIO
 0x4602; HGIO_DriveGpioFailure;;2;fsfw\hal\src\fsfw_hal\linux\gpio\LinuxLibgpioIF.h;HAL_GPIO
 0x4603; HGIO_GpioTypeFailure;;3;fsfw\hal\src\fsfw_hal\linux\gpio\LinuxLibgpioIF.h;HAL_GPIO
@ -444,6 +468,7 @@
 0x1f07; CSB_InvalidReply;;7;fsfw\src\fsfw\tmtcservices\CommandingServiceBase.h;COMMAND_SERVICE_BASE
 0x4a00; SPPA_NoPacketFound;;0x00;fsfw\src\fsfw\tmtcservices\SpacePacketParser.h;SPACE_PACKET_PARSER
 0x4a01; SPPA_SplitPacket;;0x01;fsfw\src\fsfw\tmtcservices\SpacePacketParser.h;SPACE_PACKET_PARSER
+<<<<<<< HEAD
 0x67a0;FSHLP_SdNotMounted;SD card specified with path string not mounted;0xA0;bsp_q7s\memory\FilesystemHelper.h;FILE_SYSTEM_HELPER
 0x67a1;FSHLP_FileNotExists;Specified file does not exist on filesystem;0xA1;bsp_q7s\memory\FilesystemHelper.h;FILE_SYSTEM_HELPER
 0x7300; SCBU_KeyNotFound;;0;bsp_q7s\memory\scratchApi.h;SCRATCH_BUFFER
@ -502,6 +527,61 @@
 0x6501;JSONBASE_JsonFileNotExists;Specified json file does not exist;1;linux\devices\startracker\ArcsecJsonParamBase.h;ARCSEC_JSON_BASE
 0x6502;JSONBASE_SetNotExists;Requested set does not exist in json file;2;linux\devices\startracker\ArcsecJsonParamBase.h;ARCSEC_JSON_BASE
 0x6503;JSONBASE_ParamNotExists;Requested parameter does not exist in json file;3;linux\devices\startracker\ArcsecJsonParamBase.h;ARCSEC_JSON_BASE
+=======
+0x66a0;FSHLP_SdNotMounted;SD card specified with path string not mounted;0xA0;bsp_q7s\memory\FilesystemHelper.h;FILE_SYSTEM_HELPER
+0x66a1;FSHLP_FileNotExists;Specified file does not exist on filesystem;0xA1;bsp_q7s\memory\FilesystemHelper.h;FILE_SYSTEM_HELPER
+0x7100; SCBU_KeyNotFound;;0;bsp_q7s\memory\scratchApi.h;SCRATCH_BUFFER
+0x7000; SDMA_OpOngoing;;0;bsp_q7s\memory\SdCardManager.h;SD_CARD_MANAGER
+0x7001; SDMA_AlreadyOn;;1;bsp_q7s\memory\SdCardManager.h;SD_CARD_MANAGER
+0x7002; SDMA_AlreadyMounted;;2;bsp_q7s\memory\SdCardManager.h;SD_CARD_MANAGER
+0x7003; SDMA_AlreadyOff;;3;bsp_q7s\memory\SdCardManager.h;SD_CARD_MANAGER
+0x700a; SDMA_StatusFileNexists;;10;bsp_q7s\memory\SdCardManager.h;SD_CARD_MANAGER
+0x700b; SDMA_StatusFileFormatInvalid;;11;bsp_q7s\memory\SdCardManager.h;SD_CARD_MANAGER
+0x700c; SDMA_MountError;;12;bsp_q7s\memory\SdCardManager.h;SD_CARD_MANAGER
+0x700d; SDMA_UnmountError;;13;bsp_q7s\memory\SdCardManager.h;SD_CARD_MANAGER
+0x700e; SDMA_SystemCallError;;14;bsp_q7s\memory\SdCardManager.h;SD_CARD_MANAGER
+0x700f; SDMA_PopenCallError;;15;bsp_q7s\memory\SdCardManager.h;SD_CARD_MANAGER
+0x69a0;MPSOCRTVIF_CrcFailure;Space Packet received from PLOC has invalid CRC;0xA0;linux\devices\devicedefinitions\MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
+0x69a1;MPSOCRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC;0xA1;linux\devices\devicedefinitions\MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
+0x69a2;MPSOCRTVIF_ReceivedExeFailure;Received execution failure reply from PLOC;0xA2;linux\devices\devicedefinitions\MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
+0x69a3;MPSOCRTVIF_InvalidApid;Received space packet with invalid APID from PLOC;0xA3;linux\devices\devicedefinitions\MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
+0x69a4;MPSOCRTVIF_InvalidLength;Received command with invalid length;0xA4;linux\devices\devicedefinitions\MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
+0x69a5;MPSOCRTVIF_FilenameTooLong;Filename of file in OBC filesystem is too long;0xA5;linux\devices\devicedefinitions\MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
+0x69a6;MPSOCRTVIF_MpsocHelperExecuting;MPSoC helper is currently executing a command;0xA6;linux\devices\devicedefinitions\MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
+0x69a7;MPSOCRTVIF_MpsocFilenameTooLong;Filename of MPSoC file is to long (max. 256 bytes);0xA7;linux\devices\devicedefinitions\MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
+0x69a8;MPSOCRTVIF_InvalidParameter;Command has invalid parameter;0xA8;linux\devices\devicedefinitions\MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
+0x69a9;MPSOCRTVIF_NameTooLong;Received command has file string with invalid length;0xA9;linux\devices\devicedefinitions\MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
+0x57e0;DWLPWRON_InvalidMode;Received command has invalid JESD mode (valid modes are 0 - 5);0xE0;linux\devices\devicedefinitions\PlocMPSoCDefinitions.h;DWLPWRON_CMD
+0x57e1;DWLPWRON_InvalidLaneRate;Received command has invalid lane rate (valid lane rate are 0 - 9);0xE1;linux\devices\devicedefinitions\PlocMPSoCDefinitions.h;DWLPWRON_CMD
+0x60a0;PLMEMDUMP_MramAddressTooHigh;The capacity of the MRAM amounts to 512 kB. Thus the maximum address must not be higher than 0x7d000.;0xA0;linux\devices\ploc\PlocMemoryDumper.h;PLOC_MEMORY_DUMPER
+0x60a1;PLMEMDUMP_MramInvalidAddressCombination;The specified end address is lower than the start address;0xA1;linux\devices\ploc\PlocMemoryDumper.h;PLOC_MEMORY_DUMPER
+0x67a0; PLMPHLP_FileClosedAccidentally;File accidentally close;0xA0;linux\devices\ploc\PlocMPSoCHelper.h;PLOC_MPSOC_HELPER
+0x59a0;PLSV_CrcFailure;Space Packet received from PLOC supervisor has invalid CRC;0xA0;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x59a1;PLSV_ReceivedAckFailure;Received ACK failure reply from PLOC supervisor;0xA1;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x59a2;PLSV_ReceivedExeFailure;Received execution failure reply from PLOC supervisor;0xA2;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x59a3;PLSV_InvalidApid;Received space packet with invalid APID from PLOC supervisor;0xA3;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x59a4;PLSV_GetTimeFailure;Failed to read current system time;0xA4;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x59a5;PLSV_InvalidWatchdog;Received command with invalid watchdog parameter. Valid watchdogs are 0 for PS, 1 for PL and 2 for INT;0xA5;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x59a6;PLSV_InvalidWatchdogTimeout;Received watchdog timeout config command with invalid timeout. Valid timeouts must be in the range between 1000 and 360000 ms.;0xA6;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x59a7;PLSV_InvalidLatchupId;Received latchup config command with invalid latchup ID;0xA7;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x59a8;PLSV_SweepPeriodTooSmall;Received set adc sweep period command with invalid sweep period. Must be larger than 21.;0xA8;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x59a9;PLSV_InvalidTestParam;Receive auto EM test command with invalid test param. Valid params are 1 and 2.;0xA9;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x59aa;PLSV_MramPacketParsingFailure;Returned when scanning for MRAM dump packets failed.;0xAA;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x59ab;PLSV_InvalidMramAddresses;Returned when the start and stop addresses of the MRAM dump or MRAM  wipe commands are invalid (e.g. start address bigger than stop address);0xAB;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x59ac;PLSV_NoMramPacket;Expect reception of an MRAM dump packet but received space packet with other apid.;0xAC;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x59ad;PLSV_PathDoesNotExist;Path to PLOC directory on SD card does not exist;0xAD;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x59ae;PLSV_MramFileNotExists;MRAM dump file does not exists. The file should actually already have been created with the reception of the first dump packet.;0xAE;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
+0x5da0;PLUD_UpdaterBusy;Updater is already performing an update;0xA0;linux\devices\ploc\PlocUpdater.h;PLOC_UPDATER
+0x5da1;PLUD_NameTooLong;Received update command with invalid path string (too long).;0xA1;linux\devices\ploc\PlocUpdater.h;PLOC_UPDATER
+0x5da2;PLUD_SdNotMounted;Received command to initiate update but SD card with update image not mounted.;0xA2;linux\devices\ploc\PlocUpdater.h;PLOC_UPDATER
+0x5da3;PLUD_FileNotExists;Update file received with update command does not exist.;0xA3;linux\devices\ploc\PlocUpdater.h;PLOC_UPDATER
+0x56a0;STRH_TemperatureReqFailed;Status in temperature reply signals error;0xA0;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
+0x56a1;STRH_PingFailed;Ping command failed;0xA1;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
+0x56a2;STRH_VersionReqFailed;Status in version reply signals error;0xA2;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
+0x6401;JSONBASE_JsonFileNotExists;Specified json file does not exist;1;linux\devices\startracker\ArcsecJsonParamBase.h;ARCSEC_JSON_BASE
+0x6402;JSONBASE_SetNotExists;Requested set does not exist in json file;2;linux\devices\startracker\ArcsecJsonParamBase.h;ARCSEC_JSON_BASE
+0x6403;JSONBASE_ParamNotExists;Requested parameter does not exist in json file;3;linux\devices\startracker\ArcsecJsonParamBase.h;ARCSEC_JSON_BASE
+>>>>>>> develop
 0x56a3;STRH_InterfaceReqFailed;Status in interface reply signals error;0xA3;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
 0x56a4;STRH_PowerReqFailed;Status in power reply signals error;0xA4;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
 0x56a5;STRH_SetParamFailed;Status of reply to parameter set command signals error;0xA5;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
@ -524,6 +604,7 @@
 0x56b6;STRH_StartrackerAlreadyBooted;Star tracker is already in firmware mode;0xB6;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
 0x56b7;STRH_StartrackerRunningFirmware;Star tracker is in firmware mode but must be in bootloader mode to execute this command;0xB7;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
 0x56b8;STRH_StartrackerRunningBootloader;Star tracker is in bootloader mode but must be in firmware mode to execute this command;0xB8;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
+<<<<<<< HEAD
 0x5fa0;STRHLP_SdNotMounted;SD card specified in path string not mounted;0xA0;linux\devices\startracker\StrHelper.h;STR_HELPER
 0x5fa1;STRHLP_FileNotExists;Specified file does not exist on filesystem;0xA1;linux\devices\startracker\StrHelper.h;STR_HELPER
 0x5fa2;STRHLP_PathNotExists;Specified path does not exist;0xA2;linux\devices\startracker\StrHelper.h;STR_HELPER
@ -554,3 +635,35 @@
 0x64a1;RS_BadBitRate;Bad bitrate has been commanded (e.g. 0);0xA1;linux\obc\PtmeConfig.h;RATE_SETTER
 0x64a2;RS_ClkInversionFailed;Failed to invert clock and thus change the time the data is updated with respect to the tx clock;0xA2;linux\obc\PtmeConfig.h;RATE_SETTER
 0x64a3;RS_TxManipulatorConfigFailed;Failed to change configuration bit of tx clock manipulator;0xA3;linux\obc\PtmeConfig.h;RATE_SETTER
+=======
+0x5ea0;STRHLP_SdNotMounted;SD card specified in path string not mounted;0xA0;linux\devices\startracker\StrHelper.h;STR_HELPER
+0x5ea1;STRHLP_FileNotExists;Specified file does not exist on filesystem;0xA1;linux\devices\startracker\StrHelper.h;STR_HELPER
+0x5ea2;STRHLP_PathNotExists;Specified path does not exist;0xA2;linux\devices\startracker\StrHelper.h;STR_HELPER
+0x5ea3;STRHLP_FileCreationFailed;Failed to create download image or read flash file;0xA3;linux\devices\startracker\StrHelper.h;STR_HELPER
+0x5ea4;STRHLP_RegionMismatch;Region in flash write/read reply does not match expected region;0xA4;linux\devices\startracker\StrHelper.h;STR_HELPER
+0x5ea5;STRHLP_AddressMismatch;Address in flash write/read reply does not match expected address;0xA5;linux\devices\startracker\StrHelper.h;STR_HELPER
+0x5ea6;STRHLP_LengthMismatch;Length in flash write/read reply does not match expected length;0xA6;linux\devices\startracker\StrHelper.h;STR_HELPER
+0x5ea7;STRHLP_StatusError;Status field in reply signals error;0xA7;linux\devices\startracker\StrHelper.h;STR_HELPER
+0x5ea8;STRHLP_InvalidTypeId;Reply has invalid type ID (should be of action reply type);0xA8;linux\devices\startracker\StrHelper.h;STR_HELPER
+0x5ba0;IPCI_PapbBusy;;0xA0;linux\obc\PapbVcInterface.h;CCSDS_IP_CORE_BRIDGE
+0x61a0;PDEC_AbandonedCltu;;0xA0;linux\obc\PdecHandler.h;PDEC_HANDLER
+0x61a1;PDEC_FrameDirty;;0xA1;linux\obc\PdecHandler.h;PDEC_HANDLER
+0x61a2;PDEC_FrameIllegalMultipleReasons;;0xA2;linux\obc\PdecHandler.h;PDEC_HANDLER
+0x61a3;PDEC_AdDiscardedLockout;;0xA3;linux\obc\PdecHandler.h;PDEC_HANDLER
+0x61a4;PDEC_AdDiscardedWait;;0xA4;linux\obc\PdecHandler.h;PDEC_HANDLER
+0x61a5;PDEC_AdDiscardedNsVs;;0xA5;linux\obc\PdecHandler.h;PDEC_HANDLER
+0x61b0;PDEC_CommandNotImplemented;Received action message with unknown action id;0xB0;linux\obc\PdecHandler.h;PDEC_HANDLER
+0x61a6;PDEC_NoReport;;0xA6;linux\obc\PdecHandler.h;PDEC_HANDLER
+0x61a7;PDEC_ErrorVersionNumber;;0xA7;linux\obc\PdecHandler.h;PDEC_HANDLER
+0x61a8;PDEC_IllegalCombination;;0xA8;linux\obc\PdecHandler.h;PDEC_HANDLER
+0x61a9;PDEC_InvalidScId;;0xA9;linux\obc\PdecHandler.h;PDEC_HANDLER
+0x61aa;PDEC_InvalidVcIdMsb;;0xAA;linux\obc\PdecHandler.h;PDEC_HANDLER
+0x61ab;PDEC_InvalidVcIdLsb;;0xAB;linux\obc\PdecHandler.h;PDEC_HANDLER
+0x61ac;PDEC_NsNotZero;;0xAC;linux\obc\PdecHandler.h;PDEC_HANDLER
+0x61ae;PDEC_InvalidBcCc;;0xAE;linux\obc\PdecHandler.h;PDEC_HANDLER
+0x5ca0;PTME_UnknownVcId;;0xA0;linux\obc\Ptme.h;PTME
+0x63a0;RS_RateNotSupported;The commanded rate is not supported by the current FPGA design;0xA0;linux\obc\PtmeConfig.h;RATE_SETTER
+0x63a1;RS_BadBitRate;Bad bitrate has been commanded (e.g. 0);0xA1;linux\obc\PtmeConfig.h;RATE_SETTER
+0x63a2;RS_ClkInversionFailed;Failed to invert clock and thus change the time the data is updated with respect to the tx clock;0xA2;linux\obc\PtmeConfig.h;RATE_SETTER
+0x63a3;RS_TxManipulatorConfigFailed;Failed to change configuration bit of tx clock manipulator;0xA3;linux\obc\PtmeConfig.h;RATE_SETTER
+>>>>>>> develop
--- a/linux/devices/GPSHyperionLinuxController.cpp
+++ b/linux/devices/GPSHyperionLinuxController.cpp
@ -1,6 +1,7 @@
 #include "GPSHyperionLinuxController.h"

 #include "OBSWConfig.h"
+#include "fsfw/FSFW.h"
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/timemanager/Clock.h"
 #include "linux/utility/utility.h"
@ -17,7 +18,6 @@ GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, obj
                                                       bool debugHyperionGps)
    : ExtendedControllerBase(objectId, objects::NO_OBJECT),
      gpsSet(this),
-      myGpsmm(GPSD_SHARED_MEMORY, nullptr),
      debugHyperionGps(debugHyperionGps) {
  timeUpdateCd.resetTimer();
 }
@ -36,6 +36,7 @@ ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
                                                           uint32_t *msToReachTheMode) {
  if (not modeCommanded) {
    if (mode == MODE_ON or mode == MODE_OFF) {
+      gpsNotOpenSwitch = true;
      // 5h time to reach fix
      *msToReachTheMode = MAX_SECONDS_TO_REACH_FIX;
      maxTimeToReachFix.resetTimer();
@ -105,18 +106,28 @@ ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *m

 #ifdef FSFW_OSAL_LINUX
 void GPSHyperionLinuxController::readGpsDataFromGpsd() {
+  gpsmm myGpsmm(GPSD_SHARED_MEMORY, nullptr);
  // The data from the device will generally be read all at once. Therefore, we
  // can set all field here
  if (not myGpsmm.is_open()) {
-    // Opening failed
-#if FSFW_VERBOSE_LEVEL >= 1
-    sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM failed" << std::endl;
-#endif
+    if(gpsNotOpenSwitch) {
+      // Opening failed
+  #if FSFW_VERBOSE_LEVEL >= 1
+      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM failed | " <<
+          "Error " << errno << " | " << gps_errstr(errno) << std::endl;
+  #endif
+
+      gpsNotOpenSwitch = false;
+    }
+    return;
  }
  gps_data_t *gps = nullptr;
  gps = myGpsmm.read();
  if (gps == nullptr) {
-    sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed" << std::endl;
+    if(gpsReadFailedSwitch) {
+      gpsReadFailedSwitch = false;
+      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed" << std::endl;
+    }
    return;
  }
  PoolReadGuard pg(&gpsSet);
@ -180,10 +191,19 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
    gpsSet.speed.setValid(false);
  }

+#if LIBGPS_VERSION_MINOR <= 17
+  gpsSet.unixSeconds.value = gps->fix.time;
+#else
  gpsSet.unixSeconds.value = gps->fix.time.tv_sec;
+#endif
  timeval time = {};
  time.tv_sec = gpsSet.unixSeconds.value;
+#if LIBGPS_VERSION_MINOR <= 17
+  double fractionalPart = gps->fix.time - std::floor(gps->fix.time);
+  time.tv_usec = fractionalPart * 1000.0 * 1000.0;
+#else
  time.tv_usec = gps->fix.time.tv_nsec / 1000;
+#endif
  std::time_t t = std::time(nullptr);
  if (time.tv_sec == t) {
    timeIsConstantCounter++;
@ -222,7 +242,11 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
  gpsSet.seconds = timeOfDay.second;
  if (debugHyperionGps) {
    sif::info << "-- Hyperion GPS Data --" << std::endl;
+#if LIBGPS_VERSION_MINOR <= 17
+    time_t timeRaw = gps->fix.time;
+#else
    time_t timeRaw = gps->fix.time.tv_sec;
+#endif
    std::tm *time = gmtime(&timeRaw);
    std::cout << "Time: " << std::put_time(time, "%c %Z") << std::endl;
    std::cout << "Visible satellites: " << gps->satellites_visible << std::endl;
@ -230,7 +254,11 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
    std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
    std::cout << "Latitude: " << gps->fix.latitude << std::endl;
    std::cout << "Longitude: " << gps->fix.longitude << std::endl;
+#if LIBGPS_VERSION_MINOR <= 17
+    std::cout << "Altitude(MSL): " << gps->fix.altitude << std::endl;
+#else
    std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
+#endif
    std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
    std::time_t t = std::time(nullptr);
    std::tm tm = *std::gmtime(&t);
--- a/linux/devices/GPSHyperionLinuxController.h
+++ b/linux/devices/GPSHyperionLinuxController.h
@ -52,7 +52,8 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
  Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
  bool modeCommanded = true;
  bool timeInit = true;
-  gpsmm myGpsmm;
+  bool gpsNotOpenSwitch = true;
+  bool gpsReadFailedSwitch = true;
  bool debugHyperionGps = false;
  uint32_t timeIsConstantCounter = 0;
  Countdown timeUpdateCd = Countdown(60);
--- a/linux/devices/devicedefinitions/PlocMPSoCDefinitions.h
+++ b/linux/devices/devicedefinitions/PlocMPSoCDefinitions.h
@ -26,6 +26,9 @@ static const DeviceCommandId_t TC_REPLAY_WRITE_SEQUENCE = 13;
 static const DeviceCommandId_t TC_DOWNLINK_PWR_ON = 14;
 static const DeviceCommandId_t TC_DOWNLINK_PWR_OFF = 15;
 static const DeviceCommandId_t TC_MODE_REPLAY = 16;
+static const DeviceCommandId_t TC_CAM_CMD_SEND = 17;
+static const DeviceCommandId_t TC_MODE_IDLE = 18;
+static const DeviceCommandId_t TM_CAM_CMD_RPT = 19;

 // Will reset the sequence count of the OBSW
 static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 50;
@ -33,6 +36,7 @@ static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 50;
 static const uint16_t SIZE_ACK_REPORT = 14;
 static const uint16_t SIZE_EXE_REPORT = 14;
 static const uint16_t SIZE_TM_MEM_READ_REPORT = 18;
+static const uint16_t SIZE_TM_CAM_CMD_RPT = 18;

 /**
 * SpacePacket apids of PLOC telecommands and telemetry.
@ -49,18 +53,23 @@ static const uint16_t TC_FLASHFOPEN = 0x119;
 static const uint16_t TC_FLASHFCLOSE = 0x11A;
 static const uint16_t TC_FLASHDELETE = 0x11C;
 static const uint16_t TC_MODE_REPLAY = 0x11F;
+static const uint16_t TC_MODE_IDLE = 0x11E;
 static const uint16_t TC_DOWNLINK_PWR_OFF = 0x124;
+static const uint16_t TC_CAM_CMD_SEND = 0x12C;
 static const uint16_t TM_MEMORY_READ_REPORT = 0x404;
 static const uint16_t ACK_SUCCESS = 0x400;
 static const uint16_t ACK_FAILURE = 0x401;
 static const uint16_t EXE_SUCCESS = 0x402;
 static const uint16_t EXE_FAILURE = 0x403;
+static const uint16_t TM_CAM_CMD_RPT = 0x407;
 }  // namespace apid

 /** Offset from first byte in space packet to first byte of data field */
 static const uint8_t DATA_FIELD_OFFSET = 6;
 static const size_t MEM_READ_RPT_LEN_OFFSET = 10;
 static const char NULL_TERMINATOR = '\0';
+static const uint8_t MIN_SPACE_PACKET_LENGTH = 7;
+static const uint8_t SPACE_PACKET_HEADER_SIZE = 6;

 /**
 * The size of payload data which will be forwarded to the requesting object. e.g. PUS Service
@ -117,11 +126,11 @@ class TcBase : public SpacePacket, public MPSoCReturnValuesIF {
  virtual ReturnValue_t createPacket(const uint8_t* commandData, size_t commandDataLen) {
    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
    result = initPacket(commandData, commandDataLen);
-    if (result != HasReturnvaluesIF::HasReturnvaluesIF::RETURN_OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
      return result;
    }
    result = addCrc();
-    if (result != HasReturnvaluesIF::HasReturnvaluesIF::RETURN_OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
      return result;
    }
    return result;
@ -618,6 +627,45 @@ class TcModeReplay : public TcBase {
  }
 };

+/**
+ * @brief   Class to build mode idle command
+ */
+class TcModeIdle : public TcBase {
+ public:
+  TcModeIdle(uint16_t sequenceCount) : TcBase(apid::TC_MODE_IDLE, sequenceCount) {}
+
+  ReturnValue_t createPacket() {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = addCrc();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    this->setPacketDataLength(static_cast<uint16_t>(CRC_SIZE - 1));
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+class TcCamcmdSend : public TcBase {
+public:
+  TcCamcmdSend(uint16_t sequenceCount) : TcBase(apid::TC_CAM_CMD_SEND, sequenceCount) {}
+
+protected:
+    ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
+      if (commandDataLen > MAX_DATA_LENGTH) {
+        return INVALID_LENGTH;
+      }
+      std::memcpy(this->getPacketData(), commandData, commandDataLen);
+      *(this->getPacketData() + commandDataLen) = CARRIAGE_RETURN;
+      uint16_t trueLength = commandDataLen + sizeof(CARRIAGE_RETURN) + CRC_SIZE;
+      this->setPacketDataLength(trueLength - 1);
+      return HasReturnvaluesIF::RETURN_OK;
+    }
+private:
+    static const uint8_t MAX_DATA_LENGTH = 10;
+    static const uint8_t CARRIAGE_RETURN = 0xD;
+
+};
+
 }  // namespace mpsoc

 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_ */
--- a/linux/devices/ploc/PlocMPSoCHandler.cpp
+++ b/linux/devices/ploc/PlocMPSoCHandler.cpp
@ -133,6 +133,7 @@ ReturnValue_t PlocMPSoCHandler::executeAction(ActionId_t actionId, MessageQueueI
 }

 void PlocMPSoCHandler::doStartUp() {
+#ifdef XIPHOS_Q7S
  switch (powerState) {
    case PowerState::OFF:
      commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
@ -145,6 +146,9 @@ void PlocMPSoCHandler::doStartUp() {
    default:
      break;
  }
+#else
+  setMode(_MODE_TO_ON);
+#endif /* XIPHOS_Q7S */
 }

 void PlocMPSoCHandler::doShutDown() {
@ -211,6 +215,14 @@ ReturnValue_t PlocMPSoCHandler::buildCommandFromCommand(DeviceCommandId_t device
      result = prepareTcModeReplay();
      break;
    }
+    case (mpsoc::TC_MODE_IDLE): {
+      result = prepareTcModeIdle();
+      break;
+    }
+    case (mpsoc::TC_CAM_CMD_SEND): {
+      result = prepareTcCamCmdSend(commandData, commandDataLen);
+      break;
+    }
    default:
      sif::debug << "PlocMPSoCHandler::buildCommandFromCommand: Command not implemented"
                 << std::endl;
@ -238,9 +250,12 @@ void PlocMPSoCHandler::fillCommandAndReplyMap() {
  this->insertInCommandMap(mpsoc::TC_DOWNLINK_PWR_OFF);
  this->insertInCommandMap(mpsoc::TC_REPLAY_WRITE_SEQUENCE);
  this->insertInCommandMap(mpsoc::TC_MODE_REPLAY);
-  this->insertInReplyMap(mpsoc::ACK_REPORT, 1, nullptr, mpsoc::SIZE_ACK_REPORT);
+  this->insertInCommandMap(mpsoc::TC_MODE_IDLE);
+  this->insertInCommandMap(mpsoc::TC_CAM_CMD_SEND);
+  this->insertInReplyMap(mpsoc::ACK_REPORT, 3, nullptr, mpsoc::SIZE_ACK_REPORT);
  this->insertInReplyMap(mpsoc::EXE_REPORT, 3, nullptr, mpsoc::SIZE_EXE_REPORT);
  this->insertInReplyMap(mpsoc::TM_MEMORY_READ_REPORT, 2, nullptr, mpsoc::SIZE_TM_MEM_READ_REPORT);
+   this->insertInReplyMap(mpsoc::TM_CAM_CMD_RPT, 2, nullptr, SpacePacket::PACKET_MAX_SIZE);
 }

 ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
@ -321,7 +336,9 @@ ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remain
                                             DeviceCommandId_t* foundId, size_t* foundLen) {
  ReturnValue_t result = RETURN_OK;

-  uint16_t apid = (*(start) << 8 | *(start + 1)) & APID_MASK;
+  SpacePacket spacePacket;
+  std::memcpy(spacePacket.getWholeData(), start, remainingSize);
+  uint16_t apid = spacePacket.getAPID();

  switch (apid) {
    case (mpsoc::apid::ACK_SUCCESS):
@ -336,6 +353,11 @@ ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remain
      *foundLen = tmMemReadReport.rememberRequestedSize;
      *foundId = mpsoc::TM_MEMORY_READ_REPORT;
      break;
+    case (mpsoc::apid::TM_CAM_CMD_RPT):
+      *foundLen = spacePacket.getFullSize();
+      tmCamCmdRpt.rememberSpacePacketSize = *foundLen;
+      *foundId = mpsoc::TM_CAM_CMD_RPT;
+      break;
    case (mpsoc::apid::EXE_SUCCESS):
      *foundLen = mpsoc::SIZE_EXE_REPORT;
      *foundId = mpsoc::EXE_REPORT;
@ -350,6 +372,7 @@ ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remain
      return MPSoCReturnValuesIF::INVALID_APID;
    }
  }
+
  sequenceCount++;
  uint16_t recvSeqCnt = (*(start + 2) << 8 | *(start + 3)) & PACKET_SEQUENCE_COUNT_MASK;
  if (recvSeqCnt != sequenceCount) {
@ -371,6 +394,10 @@ ReturnValue_t PlocMPSoCHandler::interpretDeviceReply(DeviceCommandId_t id, const
      result = handleMemoryReadReport(packet);
      break;
    }
+    case (mpsoc::TM_CAM_CMD_RPT): {
+      result = handleCamCmdRpt(packet);
+      break;
+    }
    case (mpsoc::EXE_REPORT): {
      result = handleExecutionReport(packet);
      break;
@ -537,6 +564,37 @@ ReturnValue_t PlocMPSoCHandler::prepareTcModeReplay() {
  return RETURN_OK;
 }

+ReturnValue_t PlocMPSoCHandler::prepareTcModeIdle() {
+  ReturnValue_t result = RETURN_OK;
+  sequenceCount++;
+  mpsoc::TcModeIdle tcModeIdle(sequenceCount);
+  result = tcModeIdle.createPacket();
+  if (result != RETURN_OK) {
+    sequenceCount--;
+    return result;
+  }
+  memcpy(commandBuffer, tcModeIdle.getWholeData(), tcModeIdle.getFullSize());
+  rawPacket = commandBuffer;
+  rawPacketLen = tcModeIdle.getFullSize();
+  nextReplyId = mpsoc::ACK_REPORT;
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocMPSoCHandler::prepareTcCamCmdSend(const uint8_t* commandData,
+                                                    size_t commandDataLen) {
+  ReturnValue_t result = RETURN_OK;
+  sequenceCount++;
+  mpsoc::TcCamcmdSend tcCamCmdSend(sequenceCount);
+  result = tcCamCmdSend.createPacket(commandData, commandDataLen);
+  if (result != RETURN_OK) {
+    sequenceCount--;
+    return result;
+  }
+  copyToCommandBuffer(&tcCamCmdSend);
+  nextReplyId = mpsoc::TM_CAM_CMD_RPT;
+  return RETURN_OK;
+}
+
 void PlocMPSoCHandler::copyToCommandBuffer(mpsoc::TcBase* tc) {
  if (tc == nullptr) {
    sif::debug << "PlocMPSoCHandler::copyToCommandBuffer: Invalid TC" << std::endl;
@ -660,6 +718,112 @@ ReturnValue_t PlocMPSoCHandler::handleMemoryReadReport(const uint8_t* data) {
  return result;
 }

+ReturnValue_t PlocMPSoCHandler::handleCamCmdRpt(const uint8_t* data) {
+  ReturnValue_t result = RETURN_OK;
+  SpacePacket packet;
+  std::memcpy(packet.getWholeData(), data, tmCamCmdRpt.rememberSpacePacketSize);
+  result = verifyPacket(data, tmCamCmdRpt.rememberSpacePacketSize);
+  if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
+    sif::warning << "PlocMPSoCHandler::handleCamCmdRpt: CRC failure" << std::endl;
+  }
+  const uint8_t* dataFieldPtr = data + mpsoc::SPACE_PACKET_HEADER_SIZE;
+  std::string camCmdRptMsg(reinterpret_cast<const char*>(
+      dataFieldPtr), tmCamCmdRpt.rememberSpacePacketSize - mpsoc::SPACE_PACKET_HEADER_SIZE - 3);
+  uint8_t ackValue = *(packet.getPacketData() + packet.getPacketDataLength() - 2);
+  sif::info << "CamCmdRpt message: " << camCmdRptMsg << std::endl;
+  sif::info << "CamCmdRpt Ack value: 0x" << std::hex << static_cast<unsigned int>(ackValue)
+            << std::endl;
+  handleDeviceTM(packet.getPacketData(), packet.getPacketDataLength() - 1, mpsoc::TM_CAM_CMD_RPT);
+  return result;
+}
+
+ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
+                                                      uint8_t expectedReplies, bool useAlternateId,
+                                                      DeviceCommandId_t alternateReplyID) {
+  ReturnValue_t result = RETURN_OK;
+
+  uint8_t enabledReplies = 0;
+
+  switch (command->first) {
+    case mpsoc::TC_MEM_WRITE:
+    case mpsoc::TC_FLASHDELETE:
+    case mpsoc::TC_REPLAY_START:
+    case mpsoc::TC_REPLAY_STOP:
+    case mpsoc::TC_DOWNLINK_PWR_ON:
+    case mpsoc::TC_DOWNLINK_PWR_OFF:
+    case mpsoc::TC_REPLAY_WRITE_SEQUENCE:
+    case mpsoc::TC_MODE_REPLAY:
+    case mpsoc::TC_MODE_IDLE:
+      enabledReplies = 2;
+      break;
+    case mpsoc::TC_MEM_READ: {
+      enabledReplies = 3;
+      result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
+                                                        mpsoc::TM_MEMORY_READ_REPORT);
+      if (result != RETURN_OK) {
+        sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
+                   << mpsoc::TM_MEMORY_READ_REPORT << " not in replyMap" << std::endl;
+        return result;
+      }
+      break;
+    }
+    case mpsoc::TC_CAM_CMD_SEND: {
+      enabledReplies = 3;
+      result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
+                                                        mpsoc::TM_CAM_CMD_RPT);
+      if (result != RETURN_OK) {
+        sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
+                   << mpsoc::TM_CAM_CMD_RPT << " not in replyMap" << std::endl;
+        return result;
+      }
+      break;
+    }
+    case mpsoc::OBSW_RESET_SEQ_COUNT:
+      break;
+    default:
+      sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Unknown command id" << std::endl;
+      break;
+  }
+
+  /**
+   * Every command causes at least one acknowledgment and one execution report. Therefore both
+   * replies will be enabled here.
+   */
+  result =
+      DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, mpsoc::ACK_REPORT);
+  if (result != RETURN_OK) {
+    sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id " << mpsoc::ACK_REPORT
+               << " not in replyMap" << std::endl;
+  }
+
+  result =
+      DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, mpsoc::EXE_REPORT);
+  if (result != RETURN_OK) {
+    sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id " << mpsoc::EXE_REPORT
+               << " not in replyMap" << std::endl;
+  }
+
+  switch (command->first) {
+    case mpsoc::TC_REPLAY_WRITE_SEQUENCE: {
+      DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
+      // Overwrite delay cycles because replay write sequence command can required up to
+      // 30 seconds for execution
+      iter->second.delayCycles = mpsoc::TC_WRITE_SEQ_EXECUTION_DELAY;
+      break;
+    }
+    case mpsoc::TC_DOWNLINK_PWR_ON: {
+      DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
+      //
+      iter->second.delayCycles = mpsoc::TC_DOWNLINK_PWR_ON;
+      break;
+    }
+    default:
+      break;
+  }
+
+  return RETURN_OK;
+}
+
 void PlocMPSoCHandler::setNextReplyId() {
  switch (getPendingCommand()) {
    case mpsoc::TC_MEM_READ:
@ -690,6 +854,11 @@ size_t PlocMPSoCHandler::getNextReplyLength(DeviceCommandId_t commandId) {
        replyLen = tmMemReadReport.rememberRequestedSize;
        break;
      }
+      case mpsoc::TM_CAM_CMD_RPT:
+        // Read acknowledgment, camera and execution report in one go because length of camera
+        // report is not fixed
+        replyLen = SpacePacket::PACKET_MAX_SIZE;
+        break;
      default: {
        replyLen = iter->second.replyLen;
        break;
--- a/linux/devices/ploc/PlocMPSoCHandler.h
+++ b/linux/devices/ploc/PlocMPSoCHandler.h
@ -4,6 +4,7 @@
 #include <string>

 #include "PlocMPSoCHelper.h"
+#include "fsfw/tmtcpacket/SpacePacket.h"
 #include "fsfw/action/CommandActionHelper.h"
 #include "fsfw/action/CommandsActionsIF.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
@ -126,14 +127,26 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
  // Used to block incoming commands when MPSoC helper class is currently executing a command
  bool plocMPSoCHelperExecuting = false;

-  class TmMemReadReport {
-   public:
+  struct TmMemReadReport {
    static const uint8_t FIX_SIZE = 14;
    size_t rememberRequestedSize = 0;
  };

  TmMemReadReport tmMemReadReport;

+  struct TmCamCmdRpt {
+    size_t rememberSpacePacketSize = 0;
+  };
+
+  TmCamCmdRpt tmCamCmdRpt;
+
+  struct TelemetryBuffer {
+    uint16_t length = 0;
+    uint8_t buffer[SpacePacket::PACKET_MAX_SIZE];
+  };
+
+  TelemetryBuffer tmBuffer;
+
  enum class PowerState { OFF, BOOTING, SHUTDOWN, ON };

  PowerState powerState = PowerState::OFF;
@ -151,7 +164,8 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
  ReturnValue_t prepareTcDownlinkPwrOn(const uint8_t* commandData, size_t commandDataLen);
  ReturnValue_t prepareTcDownlinkPwrOff();
  ReturnValue_t prepareTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen);
-
+  ReturnValue_t prepareTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t prepareTcModeIdle();
  /**
   * @brief   Copies space packet into command buffer
   */
@ -194,6 +208,8 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
   */
  ReturnValue_t handleMemoryReadReport(const uint8_t* data);

+  ReturnValue_t handleCamCmdRpt(const uint8_t* data);
+
  /**
   * @brief   Depending on the current active command, this function sets the reply id of the
   *          next reply after a successful acknowledgment report has been received. This is
--- a/linux/fsfwconfig/OBSWConfig.h.in
+++ b/linux/fsfwconfig/OBSWConfig.h.in
@ -127,6 +127,8 @@ debugging. */
 #define OBSW_DEBUG_PL_PCDU                          0
 #define OBSW_TEST_BPX_BATT                          0
 #define OBSW_DEBUG_BPX_BATT                         0
+#define OBSW_TEST_IMTQ                              0
+#define OBSW_DEBUG_IMTQ                             0

 #define OBSW_TEST_LIBGPIOD                          0
 #define OBSW_TEST_PLOC_HANDLER                      0
@ -143,9 +145,8 @@ debugging. */
 #define OBSW_DEBUG_GPS                              0
 #define OBSW_DEBUG_ACU                              0
 #define OBSW_DEBUG_SYRLINKS                         0
-#define OBSW_DEBUG_IMTQ                             0
 #define OBSW_DEBUG_RW                               0
-#define OBSW_DEBUG_PDEC_HANDLER	                    0
+#define OBSW_DEBUG_PDEC_HANDLER                     0

 #ifdef TE0720_1CFA
 #define OBSW_DEBUG_PLOC_SUPERVISOR                  1
@ -191,6 +192,9 @@ debugging. */
 /*******************************************************************/
 #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER

+#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
+#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
+
 #ifdef RASPBERRY_PI
 #include "rpiConfig.h"
 #elif defined(XIPHOS_Q7S)
--- a/misc/eclipse/.cproject
+++ b/misc/eclipse/.cproject
@ -589,7 +589,7 @@
 		<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689">
 			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-debug">
 				<macros>
-					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="${HOME}/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"/>
+					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="${HOME}/Xilinx/eive-compile-rootfs"/>
 					<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
 				</macros>
 				<externalSettings/>
@ -603,7 +603,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
+				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null" parent="org.eclipse.cdt.build.core.emptycfg">
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689." name="/" resourcePath="">
 						<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1439714522" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1064018737" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
@ -687,6 +687,7 @@
 									<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}&quot;"/>
 								</option>
 								<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.1331264991" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
 							</tool>
@ -698,6 +699,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.1143219558" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="LINUX=1"/>
@ -714,6 +716,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.1199844227" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="LINUX=1"/>
@ -745,7 +748,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@ -755,8 +758,8 @@
 		<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1939781894">
 			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1939781894" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-release">
 				<macros>
-					<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
 					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_TEXT" value="${HOME}/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"/>
+					<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
 				</macros>
 				<externalSettings/>
 				<extensions>
@ -909,7 +912,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
--- a/misc/eclipse/.project
+++ b/misc/eclipse/.project
@ -7,7 +7,7 @@
 	<buildSpec>
 		<buildCommand>
 			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
-			<triggers>clean,full,incremental,</triggers>
+			<triggers>full,incremental,</triggers>
 			<arguments>
 			</arguments>
 		</buildCommand>
--- a/watchdog/CMakeLists.txt
+++ b/watchdog/CMakeLists.txt
@ -6,3 +6,5 @@ target_sources(${WATCHDOG_NAME} PRIVATE
 target_include_directories(${WATCHDOG_NAME} PRIVATE
    ${CMAKE_CURRENT_SOURCE_DIR}
 )
+
+install(TARGETS ${WATCHDOG_NAME} RUNTIME DESTINATION bin)