merged develop

2023-02-20 14:34:57 +01:00 · 2023-02-20 14:34:57 +01:00 · 6074e9246e
commit 6074e9246e
parent bf65d13849 a918d61f2b
66 changed files with 1460 additions and 771 deletions
--- a/.idea/cmake.xml
+++ b/.idea/cmake.xml
@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CMakeSharedSettings">
+    <configurations>
+      <configuration PROFILE_NAME="Debug" ENABLED="true" CONFIG_NAME="Debug" NO_GENERATOR="true" />
+      <configuration PROFILE_NAME="Debug Q7S" ENABLED="true" CONFIG_NAME="Debug" TOOLCHAIN_NAME="Q7S" GENERATION_OPTIONS="-DTGT_BSP=&quot;arm/q7s&quot;" NO_GENERATOR="true">
+        <ADDITIONAL_GENERATION_ENVIRONMENT>
+          <envs>
+            <env name="ZYNQ_7020_ROOTFS" value="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi" />
+            <env name="CROSS_COMPILE" value="/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin/arm-linux-gnueabihf" />
+          </envs>
+        </ADDITIONAL_GENERATION_ENVIRONMENT>
+      </configuration>
+    </configurations>
+  </component>
+</project>
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -19,19 +19,46 @@ change warranting a new major release:

 ## Changed

+- Add `-Wshadow=local` shadowing warnings and fixed all of them
+
+## Added
+
+- git post checkout hook which initializes and updates the submodules
+  automatically.
+
+# [v1.28.0] 2023-02-17
+
+eive-tmtc: v2.12.7
+
+## Added
+
+- In case the ACS Controller does recognize more than one RW to be invalid and therefore not
+  available, it does not perform pointing control but aborts shortly after `sensorProcessing`. If the
+  problem persits for 5 ACS cycles, the `MULTIPLE_RW_INVALID` event is triggered, which invokes the
+  transition of the `AcsSubsystem` to safe mode.
+
+## Changed
+
 - Igrf13 model vector now outputs as uT instead of nT
- Changed timings for `AcsPst`
+- Changed timings for `AcsPst`, more time for sun sensors.
 - Added values for MGM sensor fusion
+- Refactored RW Software: Polling runs in separate thread, all RWs are now polled in under 60 ms.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/381
+- Bumped FSFW to allow initializing child modes in `SubsystemBase` derived objects.

 ## Fixed
+
 - Fixed values for GYR sensor fusion
+- Fixed speed types for `rwHandlingParameter`
+- Pseudo inverse used for allocating torque to RWs and RW antistiction now actually consider the
+  state of the RWs

 # [v1.27.2] 2023-02-14

 Reaction Wheel handling was determined to be (quasi) broken and needs to be fixed in future release
 to be usable by ACS controller.

-eive-tmtc: v2.15.6
+eive-tmtc: v2.12.6

 ## Added

--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -10,8 +10,8 @@
 cmake_minimum_required(VERSION 3.13)

 set(OBSW_VERSION_MAJOR 1)
-set(OBSW_VERSION_MINOR 27)
-set(OBSW_VERSION_REVISION 2)
+set(OBSW_VERSION_MINOR 28)
+set(OBSW_VERSION_REVISION 0)

 # set(CMAKE_VERBOSE TRUE)

@ -358,6 +358,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
      "-Wimplicit-fallthrough=1"
      "-Wno-unused-parameter"
      "-Wno-psabi"
+      "-Wshadow=local"
      "-Wduplicated-cond" # check for duplicate conditions
      "-Wduplicated-branches" # check for duplicate branches
      "-Wlogical-op" # Search for bitwise operations instead of logical
--- a/bsp_hosted/fsfwconfig/events/translateEvents.cpp
+++ b/bsp_hosted/fsfwconfig/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 256 translations.
+ * @brief    Auto-generated event translation file. Contains 257 translations.
 * @details
- * Generated on: 2023-02-13 10:07:30
+ * Generated on: 2023-02-17 13:15:51
 */
 #include "translateEvents.h"

@ -92,6 +92,7 @@ const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
 const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
 const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
+const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@ -129,8 +130,8 @@ const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAIL
 const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
 const char *ERROR_STATE_STRING = "ERROR_STATE";
 const char *RESET_OCCURED_STRING = "RESET_OCCURED";
-const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
-const char *BOOTING_BOOTLOADER_FAILED_STRING = "BOOTING_BOOTLOADER_FAILED";
+const char *BOOTING_FIRMWARE_FAILED_EVENT_STRING = "BOOTING_FIRMWARE_FAILED_EVENT";
+const char *BOOTING_BOOTLOADER_FAILED_EVENT_STRING = "BOOTING_BOOTLOADER_FAILED_EVENT";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
 const char *SUPV_UNKNOWN_TM_STRING = "SUPV_UNKNOWN_TM";
 const char *SUPV_UNINIMPLEMENTED_TM_STRING = "SUPV_UNINIMPLEMENTED_TM";
@ -433,6 +434,8 @@ const char *translateEvents(Event event) {
      return SAFE_RATE_VIOLATION_STRING;
    case (11201):
      return SAFE_RATE_RECOVERY_STRING;
+    case (11202):
+      return MULTIPLE_RW_INVALID_STRING;
    case (11300):
      return SWITCH_CMD_SENT_STRING;
    case (11301):
@ -508,9 +511,9 @@ const char *translateEvents(Event event) {
    case (11802):
      return RESET_OCCURED_STRING;
    case (11901):
-      return BOOTING_FIRMWARE_FAILED_STRING;
+      return BOOTING_FIRMWARE_FAILED_EVENT_STRING;
    case (11902):
-      return BOOTING_BOOTLOADER_FAILED_STRING;
+      return BOOTING_BOOTLOADER_FAILED_EVENT_STRING;
    case (12001):
      return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
    case (12002):
--- a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
+++ b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 147 translations.
- * Generated on: 2023-02-13 10:07:30
+ * Generated on: 2023-02-17 13:15:51
 */
 #include "translateObjects.h"

--- a/bsp_q7s/callbacks/rwSpiCallback.cpp
+++ b/bsp_q7s/callbacks/rwSpiCallback.cpp
@ -76,7 +76,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
  if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
    sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
    closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-    return RwHandler::SPI_WRITE_FAILURE;
+    return rws::SPI_WRITE_FAILURE;
  }

  /** Encoding and sending command */
@ -101,7 +101,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
    if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
      sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
      closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-      return RwHandler::SPI_WRITE_FAILURE;
+      return rws::SPI_WRITE_FAILURE;
    }
    idx++;
  }
@ -113,7 +113,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
  if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
    sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
    closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-    return RwHandler::SPI_WRITE_FAILURE;
+    return rws::SPI_WRITE_FAILURE;
  }

  uint8_t* rxBuf = nullptr;
@ -128,7 +128,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
  // There must be a delay of at least 20 ms after sending the command.
  // Delay for 70 ms here and release the SPI bus for that duration.
  closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-  usleep(RwDefinitions::SPI_REPLY_DELAY);
+  usleep(rws::SPI_REPLY_DELAY);
  result = openSpi(dev, O_RDWR, &gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
  if (result != returnvalue::OK) {
    return result;
@ -139,17 +139,17 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   * However, receiving more than 5 empty frames will be interpreted as an error.
   */
  uint8_t byteRead = 0;
-  for (int idx = 0; idx < 10; idx++) {
+  for (idx = 0; idx < 10; idx++) {
    if (read(fileDescriptor, &byteRead, 1) != 1) {
      sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
      closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-      return RwHandler::SPI_READ_FAILURE;
+      return rws::SPI_READ_FAILURE;
    }
    if (idx == 0) {
      if (byteRead != FLAG_BYTE) {
        sif::error << "Invalid data, expected start marker" << std::endl;
        closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-        return RwHandler::NO_START_MARKER;
+        return rws::NO_START_MARKER;
      }
    }

@ -160,7 +160,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
    if (idx == 9) {
      sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
      closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-      return RwHandler::NO_REPLY;
+      return rws::NO_REPLY;
    }
  }

@ -175,7 +175,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
      byteRead = 0;
      if (read(fileDescriptor, &byteRead, 1) != 1) {
        sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-        result = RwHandler::SPI_READ_FAILURE;
+        result = rws::SPI_READ_FAILURE;
        break;
      }
    }
@ -186,7 +186,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
    } else if (byteRead == 0x7D) {
      if (read(fileDescriptor, &byteRead, 1) != 1) {
        sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-        result = RwHandler::SPI_READ_FAILURE;
+        result = rws::SPI_READ_FAILURE;
        break;
      }
      if (byteRead == 0x5E) {
@ -200,7 +200,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
      } else {
        sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
        closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-        result = RwHandler::INVALID_SUBSTITUTE;
+        result = rws::INVALID_SUBSTITUTE;
        break;
      }
    } else {
@ -217,14 +217,14 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
    if (decodedFrameLen == replyBufferSize) {
      if (read(fileDescriptor, &byteRead, 1) != 1) {
        sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
-        result = RwHandler::SPI_READ_FAILURE;
+        result = rws::SPI_READ_FAILURE;
        break;
      }
      if (byteRead != FLAG_BYTE) {
        sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
                   << std::endl;
        decodedFrameLen--;
-        result = RwHandler::MISSING_END_SIGN;
+        result = rws::MISSING_END_SIGN;
        break;
      }
    }
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@ -160,7 +160,7 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
  sdcMan->setActiveSdCard(sdInfo.active);
  currMntPrefix = sdcMan->getCurrentMountPrefix();
  if (BLOCKING_SD_INIT) {
-    ReturnValue_t result = initSdCardBlocking();
+    result = initSdCardBlocking();
    if (result != returnvalue::OK and result != SdCardManager::ALREADY_MOUNTED) {
      sif::warning << "CoreController::CoreController: SD card init failed" << std::endl;
    }
@ -1163,7 +1163,7 @@ ReturnValue_t CoreController::updateProtInfo(bool regenerateChipStateFile) {
  uint8_t lineCounter = 0;
  string word;
  while (getline(chipStateFile, nextLine)) {
-    ReturnValue_t result = handleProtInfoUpdateLine(nextLine);
+    result = handleProtInfoUpdateLine(nextLine);
    if (result != returnvalue::OK) {
      sif::warning << "CoreController::updateProtInfo: Protection info update failed!" << std::endl;
      return result;
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@ -1,6 +1,7 @@
 #include "ObjectFactory.h"

 #include <fsfw/subsystem/Subsystem.h>
+#include <linux/devices/RwPollingTask.h>
 #include <mission/system/objects/CamSwitcher.h>

 #include "OBSWConfig.h"
@ -58,6 +59,7 @@
 #include <mission/devices/ImtqHandler.h>
 #include <mission/devices/PcduHandler.h>
 #include <mission/devices/SyrlinksHandler.h>
+#include <mission/devices/devicedefinitions/rwHelpers.h>

 #include <sstream>

@ -94,7 +96,6 @@
 #include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
-#include "mission/devices/devicedefinitions/RwDefinitions.h"
 #include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
 #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
 #include "mission/system/objects/AcsBoardAssembly.h"
@ -150,9 +151,8 @@ void ObjectFactory::createTmpComponents() {

 void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
                                                  SerialComIF** uartComIF, SpiComIF** spiMainComIF,
-                                                  I2cComIF** i2cComIF, SpiComIF** spiRWComIF) {
-  if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr or
-      spiRWComIF == nullptr) {
+                                                  I2cComIF** i2cComIF) {
+  if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr) {
    sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
               << std::endl;
  }
@ -163,7 +163,7 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
  *i2cComIF = new I2cComIF(objects::I2C_COM_IF);
  *uartComIF = new SerialComIF(objects::UART_COM_IF);
  *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
-  *spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
+  //*spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
 }

 void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
@ -678,13 +678,12 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
  std::array<gpioId_t, 4> rwGpioIds = {gpioIds::EN_RW1, gpioIds::EN_RW2, gpioIds::EN_RW3,
                                       gpioIds::EN_RW4};
  std::array<DeviceHandlerBase*, 4> rws = {};
+  new RwPollingTask(objects::RW_POLLING_TASK, q7s::SPI_RW_DEV, *gpioComIF);
  for (uint8_t idx = 0; idx < rwCookies.size(); idx++) {
-    rwCookies[idx] = new SpiCookie(rwCookieParams[idx].first, rwCookieParams[idx].second,
-                                   RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED,
-                                   &rwSpiCallback::spiCallback, nullptr);
-    auto* rwHandler = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF,
+    rwCookies[idx] = new RwCookie(idx, rwCookieParams[idx].first, rwCookieParams[idx].second,
+                                  rws::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED);
+    auto* rwHandler = new RwHandler(rwIds[idx], objects::RW_POLLING_TASK, rwCookies[idx], gpioComIF,
                                    rwGpioIds[idx], idx);
-    rwCookies[idx]->setCallbackArgs(rwHandler);
 #if OBSW_TEST_RW == 1
    rws[idx]->setStartUpImmediately();
 #endif
--- a/bsp_q7s/core/ObjectFactory.h
+++ b/bsp_q7s/core/ObjectFactory.h
@ -25,8 +25,7 @@ void setStatics();
 void produce(void* args);

 void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, SerialComIF** uartComIF,
-                                   SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
-                                   SpiComIF** spiRwComIF);
+                                   SpiComIF** spiMainComIF, I2cComIF** i2cComIF);
 void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
                            PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
--- a/bsp_q7s/core/scheduling.cpp
+++ b/bsp_q7s/core/scheduling.cpp
@ -196,6 +196,15 @@ void scheduling::initTasks() {
  }
 #endif /* OBSW_ADD_GPS_CTRL */

+#if OBSW_ADD_RW == 1
+  PeriodicTaskIF* rwPolling = factory->createPeriodicTask(
+      "RW_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  result = rwPolling->addComponent(objects::RW_POLLING_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
+  }
+#endif
+
  PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
      "ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
  static_cast<void>(acsSysTask);
@ -355,6 +364,9 @@ void scheduling::initTasks() {
  strHelperTask->startTask();
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */

+#if OBSW_ADD_RW == 1
+  rwPolling->startTask();
+#endif
 #if OBSW_ADD_GPS_CTRL == 1
  gpsTask->startTask();
 #endif
--- a/bsp_q7s/fmObjectFactory.cpp
+++ b/bsp_q7s/fmObjectFactory.cpp
@ -25,8 +25,7 @@ void ObjectFactory::produce(void* args) {
  SpiComIF* spiMainComIF = nullptr;
  I2cComIF* i2cComIF = nullptr;
  PowerSwitchIF* pwrSwitcher = nullptr;
-  SpiComIF* spiRwComIF = nullptr;
-  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
  /* Adding gpios for chip select decoding to the gpioComIf */
  q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
  gpioCallbacks::disableAllDecoder(gpioComIF);
--- a/bsp_q7s/obsw.cpp
+++ b/bsp_q7s/obsw.cpp
@ -74,16 +74,23 @@ int obsw::obsw() {

  scheduling::initMission();

-#if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
  // Command the EIVE system to safe mode
  auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
  CommandMessage msg;
+#if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
  ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
  ReturnValue_t result =
      MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
  if (result != returnvalue::OK) {
    sif::error << "Sending safe mode command to EIVE system failed" << std::endl;
  }
+#else
+  ModeMessage::setModeAnnounceMessage(msg, true);
+  ReturnValue_t result =
+      MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
+  if (result != returnvalue::OK) {
+    sif::error << "Sending safe mode command to EIVE system failed" << std::endl;
+  }
 #endif

  for (;;) {
--- a/clone-submodules-no-privlibs.sh
+++ b/clone-submodules-no-privlibs.sh
@ -1,3 +1,6 @@
 #!/bin/bash

+root="$(pwd)"
+ln -s "$root/hooks" "$root/.git/hooks"
+
 git submodule update --init fsfw thirdparty/rapidcsv thirdparty/lwgps thirdparty/json
--- a/common/config/eive/definitions.h
+++ b/common/config/eive/definitions.h
@ -61,6 +61,7 @@ static constexpr uint32_t SCHED_BLOCK_1_SUS_READ_MS = 15;
 static constexpr uint32_t SCHED_BLOCK_2_SENSOR_READ_MS = 30;
 static constexpr uint32_t SCHED_BLOCK_3_ACS_CTRL_MS = 45;
 static constexpr uint32_t SCHED_BLOCK_4_ACTUATOR_MS = 50;
+static constexpr uint32_t SCHED_BLOCK_5_RW_READ_MS = 300;

 // 15 ms for FM
 static constexpr float SCHED_BLOCK_1_PERIOD = static_cast<float>(SCHED_BLOCK_1_SUS_READ_MS) / 400.0;
@ -68,6 +69,7 @@ static constexpr float SCHED_BLOCK_2_PERIOD =
    static_cast<float>(SCHED_BLOCK_2_SENSOR_READ_MS) / 400.0;
 static constexpr float SCHED_BLOCK_3_PERIOD = static_cast<float>(SCHED_BLOCK_3_ACS_CTRL_MS) / 400.0;
 static constexpr float SCHED_BLOCK_4_PERIOD = static_cast<float>(SCHED_BLOCK_4_ACTUATOR_MS) / 400.0;
+static constexpr float SCHED_BLOCK_5_PERIOD = static_cast<float>(SCHED_BLOCK_5_RW_READ_MS) / 400.0;

 }  // namespace acs

--- a/dummies/RwDummy.cpp
+++ b/dummies/RwDummy.cpp
@ -1,6 +1,6 @@
 #include "RwDummy.h"

-#include <mission/devices/devicedefinitions/RwDefinitions.h>
+#include <mission/devices/devicedefinitions/rwHelpers.h>

 RwDummy::RwDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
    : DeviceHandlerBase(objectId, comif, comCookie) {}
@ -37,39 +37,39 @@ uint32_t RwDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return

 ReturnValue_t RwDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                               LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(RwDefinitions::TEMPERATURE_C, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::TEMPERATURE_C, new PoolEntry<int32_t>({0}));

-  localDataPoolMap.emplace(RwDefinitions::CURR_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::STATE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::CLC_MODE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::CURR_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::STATE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::CLC_MODE, new PoolEntry<uint8_t>({0}));

-  localDataPoolMap.emplace(RwDefinitions::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>({0}));

-  localDataPoolMap.emplace(RwDefinitions::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::PRESSURE_SENSOR_TEMPERATURE, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(RwDefinitions::PRESSURE, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_STATE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_CLC_MODE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_CURR_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_REF_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::EXECUTED_REPLIES, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::COMMAND_REPLIES, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_BYTES_READ, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_PARITY_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_NOISE_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_FRAME_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::PRESSURE_SENSOR_TEMPERATURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(rws::PRESSURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_STATE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TM_CLC_MODE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_CURR_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_REF_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::EXECUTED_REPLIES, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::COMMAND_REPLIES, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_BYTES_READ, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_PARITY_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_NOISE_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_FRAME_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
  return returnvalue::OK;
 }
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 9de6c4b3aa20ee63c28051d486be8a12df147f22
+Subproject commit c8469ca6473f64676e007e2e2f1c733fe6252053
--- a/generators/bsp_hosted_events.csv
+++ b/generators/bsp_hosted_events.csv
@ -86,6 +86,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 10802;0x2a32;SERIALIZATION_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
 11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/acsDefs.h
 11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;;mission/acsDefs.h
+11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;;mission/acsDefs.h
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
@ -121,10 +122,10 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11706;0x2dba;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
 11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
 11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/devices/ImtqHandler.h
-11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/devicedefinitions/RwDefinitions.h
-11802;0x2e1a;RESET_OCCURED;LOW;;mission/devices/devicedefinitions/RwDefinitions.h
-11901;0x2e7d;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
-11902;0x2e7e;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
+11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/devicedefinitions/rwHelpers.h
+11802;0x2e1a;RESET_OCCURED;LOW;;mission/devices/devicedefinitions/rwHelpers.h
+11901;0x2e7d;BOOTING_FIRMWARE_FAILED_EVENT;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
+11902;0x2e7e;BOOTING_BOOTLOADER_FAILED_EVENT;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
 12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/devices/ploc/PlocSupervisorHandler.h
 12002;0x2ee2;SUPV_UNKNOWN_TM;LOW;Unhandled event. P1: APID, P2: Service ID;linux/devices/ploc/PlocSupervisorHandler.h
 12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;;linux/devices/ploc/PlocSupervisorHandler.h
--- a/generators/bsp_hosted_returnvalues.csv
+++ b/generators/bsp_hosted_returnvalues.csv
@ -2,24 +2,26 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0000;OK;System-wide code for ok.;0;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
 0x0001;Failed;Unspecified system-wide code for failed.;1;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
 0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
+0x52b0;RWHA_SpiWriteFailure;;176;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b3;RWHA_InvalidSubstitute;Can be used by the HDLC decoding mechanism to inform about an invalid substitution combination;179;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b4;RWHA_MissingEndSign;HDLC decoding mechanism never receives the end sign 0x7E;180;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b5;RWHA_NoReply;Reaction wheel only responds with empty frames.;181;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b6;RWHA_NoStartMarker;Expected a start marker as first byte;182;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b7;RWHA_SpiReadTimeout;Timeout when reading reply;183;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
 0x5d00;GOMS_PacketTooLong;;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d01;GOMS_InvalidTableId;;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d02;GOMS_InvalidAddress;;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d03;GOMS_InvalidParamSize;;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d04;GOMS_InvalidPayloadSize;;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d05;GOMS_UnknownReplyId;;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x52b0;RWHA_SpiWriteFailure;;176;RW_HANDLER;mission/devices/RwHandler.h
-0x52b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/devices/RwHandler.h
-0x52b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/devices/RwHandler.h
-0x52b3;RWHA_InvalidSubstitute;Can be used by the HDLC decoding mechanism to inform about an invalid substitution combination;179;RW_HANDLER;mission/devices/RwHandler.h
-0x52b4;RWHA_MissingEndSign;HDLC decoding mechanism never receives the end sign 0x7E;180;RW_HANDLER;mission/devices/RwHandler.h
-0x52b5;RWHA_NoReply;Reaction wheel only responds with empty frames.;181;RW_HANDLER;mission/devices/RwHandler.h
-0x52b6;RWHA_NoStartMarker;Expected a start marker as first byte;182;RW_HANDLER;mission/devices/RwHandler.h
-0x52a0;RWHA_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;RW_HANDLER;mission/devices/RwHandler.h
-0x52a1;RWHA_InvalidRampTime;Action Message with invalid ramp time was received.;161;RW_HANDLER;mission/devices/RwHandler.h
-0x52a2;RWHA_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;RW_HANDLER;mission/devices/RwHandler.h
-0x52a3;RWHA_ExecutionFailed;Command execution failed;163;RW_HANDLER;mission/devices/RwHandler.h
-0x52a4;RWHA_CrcError;Reaction wheel reply has invalid crc;164;RW_HANDLER;mission/devices/RwHandler.h
+0x5da0;GOMS_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
+0x5da1;GOMS_InvalidRampTime;Action Message with invalid ramp time was received.;161;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
+0x5da2;GOMS_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
+0x5da3;GOMS_ExecutionFailed;Command execution failed;163;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
+0x5da4;GOMS_CrcError;Reaction wheel reply has invalid crc;164;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
+0x5da5;GOMS_ValueNotRead;;165;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
 0x4fa1;HEATER_CommandNotSupported;;161;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa2;HEATER_InitFailed;;162;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa3;HEATER_InvalidSwitchNr;;163;HEATER_HANDLER;mission/devices/HeaterHandler.h
--- a/generators/bsp_q7s_events.csv
+++ b/generators/bsp_q7s_events.csv
@ -86,6 +86,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 10802;0x2a32;SERIALIZATION_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
 11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/acsDefs.h
 11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;;mission/acsDefs.h
+11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;;mission/acsDefs.h
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
@ -121,10 +122,10 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11706;0x2dba;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
 11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
 11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/devices/ImtqHandler.h
-11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/devicedefinitions/RwDefinitions.h
-11802;0x2e1a;RESET_OCCURED;LOW;;mission/devices/devicedefinitions/RwDefinitions.h
-11901;0x2e7d;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
-11902;0x2e7e;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
+11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/devicedefinitions/rwHelpers.h
+11802;0x2e1a;RESET_OCCURED;LOW;;mission/devices/devicedefinitions/rwHelpers.h
+11901;0x2e7d;BOOTING_FIRMWARE_FAILED_EVENT;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
+11902;0x2e7e;BOOTING_BOOTLOADER_FAILED_EVENT;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
 12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/devices/ploc/PlocSupervisorHandler.h
 12002;0x2ee2;SUPV_UNKNOWN_TM;LOW;Unhandled event. P1: APID, P2: Service ID;linux/devices/ploc/PlocSupervisorHandler.h
 12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;;linux/devices/ploc/PlocSupervisorHandler.h
--- a/generators/bsp_q7s_objects.csv
+++ b/generators/bsp_q7s_objects.csv
@ -76,7 +76,7 @@
 0x49010005;GPIO_IF
 0x49010006;SCEX_UART_READER
 0x49020004;SPI_MAIN_COM_IF
-0x49020005;SPI_RW_COM_IF
+0x49020005;RW_POLLING_TASK
 0x49020006;SPI_RTD_COM_IF
 0x49030003;UART_COM_IF
 0x49040002;I2C_COM_IF
--- a/generators/bsp_q7s_returnvalues.csv
+++ b/generators/bsp_q7s_returnvalues.csv
@ -2,24 +2,26 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0000;OK;System-wide code for ok.;0;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
 0x0001;Failed;Unspecified system-wide code for failed.;1;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
 0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
+0x52b0;RWHA_SpiWriteFailure;;176;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b3;RWHA_InvalidSubstitute;Can be used by the HDLC decoding mechanism to inform about an invalid substitution combination;179;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b4;RWHA_MissingEndSign;HDLC decoding mechanism never receives the end sign 0x7E;180;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b5;RWHA_NoReply;Reaction wheel only responds with empty frames.;181;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b6;RWHA_NoStartMarker;Expected a start marker as first byte;182;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x52b7;RWHA_SpiReadTimeout;Timeout when reading reply;183;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
 0x5d00;GOMS_PacketTooLong;;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d01;GOMS_InvalidTableId;;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d02;GOMS_InvalidAddress;;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d03;GOMS_InvalidParamSize;;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d04;GOMS_InvalidPayloadSize;;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d05;GOMS_UnknownReplyId;;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x52b0;RWHA_SpiWriteFailure;;176;RW_HANDLER;mission/devices/RwHandler.h
-0x52b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/devices/RwHandler.h
-0x52b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/devices/RwHandler.h
-0x52b3;RWHA_InvalidSubstitute;Can be used by the HDLC decoding mechanism to inform about an invalid substitution combination;179;RW_HANDLER;mission/devices/RwHandler.h
-0x52b4;RWHA_MissingEndSign;HDLC decoding mechanism never receives the end sign 0x7E;180;RW_HANDLER;mission/devices/RwHandler.h
-0x52b5;RWHA_NoReply;Reaction wheel only responds with empty frames.;181;RW_HANDLER;mission/devices/RwHandler.h
-0x52b6;RWHA_NoStartMarker;Expected a start marker as first byte;182;RW_HANDLER;mission/devices/RwHandler.h
-0x52a0;RWHA_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;RW_HANDLER;mission/devices/RwHandler.h
-0x52a1;RWHA_InvalidRampTime;Action Message with invalid ramp time was received.;161;RW_HANDLER;mission/devices/RwHandler.h
-0x52a2;RWHA_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;RW_HANDLER;mission/devices/RwHandler.h
-0x52a3;RWHA_ExecutionFailed;Command execution failed;163;RW_HANDLER;mission/devices/RwHandler.h
-0x52a4;RWHA_CrcError;Reaction wheel reply has invalid crc;164;RW_HANDLER;mission/devices/RwHandler.h
+0x5da0;GOMS_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
+0x5da1;GOMS_InvalidRampTime;Action Message with invalid ramp time was received.;161;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
+0x5da2;GOMS_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
+0x5da3;GOMS_ExecutionFailed;Command execution failed;163;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
+0x5da4;GOMS_CrcError;Reaction wheel reply has invalid crc;164;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
+0x5da5;GOMS_ValueNotRead;;165;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
 0x4fa1;HEATER_CommandNotSupported;;161;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa2;HEATER_InitFailed;;162;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa3;HEATER_InvalidSwitchNr;;163;HEATER_HANDLER;mission/devices/HeaterHandler.h
@ -573,20 +575,20 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x5402;DWLPWRON_InvalidCrc;;2;DWLPWRON_CMD;linux/devices/ScexHelper.h
 0x59a0;IPCI_PapbBusy;;160;CCSDS_IP_CORE_BRIDGE;linux/ipcore/PapbVcInterface.h
 0x5aa0;PTME_UnknownVcId;;160;PTME;linux/ipcore/Ptme.h
-0x5fa0;PDEC_AbandonedCltu;;160;PDEC_HANDLER;linux/ipcore/PdecHandler.h
-0x5fa1;PDEC_FrameDirty;;161;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fa0;PDEC_AbandonedCltuRetval;;160;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fa1;PDEC_FrameDirtyRetval;;161;PDEC_HANDLER;linux/ipcore/PdecHandler.h
 0x5fa2;PDEC_FrameIllegalMultipleReasons;;162;PDEC_HANDLER;linux/ipcore/PdecHandler.h
-0x5fa3;PDEC_AdDiscardedLockout;;163;PDEC_HANDLER;linux/ipcore/PdecHandler.h
-0x5fa4;PDEC_AdDiscardedWait;;164;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fa3;PDEC_AdDiscardedLockoutRetval;;163;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fa4;PDEC_AdDiscardedWaitRetval;;164;PDEC_HANDLER;linux/ipcore/PdecHandler.h
 0x5fa5;PDEC_AdDiscardedNsVs;;165;PDEC_HANDLER;linux/ipcore/PdecHandler.h
 0x5fb0;PDEC_CommandNotImplemented;Received action message with unknown action id;176;PDEC_HANDLER;linux/ipcore/PdecHandler.h
-0x5fa6;PDEC_NoReport;;166;PDEC_HANDLER;linux/ipcore/PdecHandler.h
-0x5fa7;PDEC_ErrorVersionNumber;;167;PDEC_HANDLER;linux/ipcore/PdecHandler.h
-0x5fa8;PDEC_IllegalCombination;;168;PDEC_HANDLER;linux/ipcore/PdecHandler.h
-0x5fa9;PDEC_InvalidScId;;169;PDEC_HANDLER;linux/ipcore/PdecHandler.h
-0x5faa;PDEC_InvalidVcIdMsb;;170;PDEC_HANDLER;linux/ipcore/PdecHandler.h
-0x5fab;PDEC_InvalidVcIdLsb;;171;PDEC_HANDLER;linux/ipcore/PdecHandler.h
-0x5fac;PDEC_NsNotZero;;172;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fa6;PDEC_NoReportRetval;;166;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fa7;PDEC_ErrorVersionNumberRetval;;167;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fa8;PDEC_IllegalCombinationRetval;;168;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fa9;PDEC_InvalidScIdRetval;;169;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5faa;PDEC_InvalidVcIdMsbRetval;;170;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fab;PDEC_InvalidVcIdLsbRetval;;171;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fac;PDEC_NsNotZeroRetval;;172;PDEC_HANDLER;linux/ipcore/PdecHandler.h
 0x5fae;PDEC_InvalidBcCc;;174;PDEC_HANDLER;linux/ipcore/PdecHandler.h
 0x61a0;RS_RateNotSupported;The commanded rate is not supported by the current FPGA design;160;RATE_SETTER;linux/ipcore/PtmeConfig.h
 0x61a1;RS_BadBitRate;Bad bitrate has been commanded (e.g. 0);161;RATE_SETTER;linux/ipcore/PtmeConfig.h
--- a/generators/events/translateEvents.cpp
+++ b/generators/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 256 translations.
+ * @brief    Auto-generated event translation file. Contains 257 translations.
 * @details
- * Generated on: 2023-02-13 10:07:30
+ * Generated on: 2023-02-17 13:15:51
 */
 #include "translateEvents.h"

@ -92,6 +92,7 @@ const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
 const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
 const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
+const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@ -129,8 +130,8 @@ const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAIL
 const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
 const char *ERROR_STATE_STRING = "ERROR_STATE";
 const char *RESET_OCCURED_STRING = "RESET_OCCURED";
-const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
-const char *BOOTING_BOOTLOADER_FAILED_STRING = "BOOTING_BOOTLOADER_FAILED";
+const char *BOOTING_FIRMWARE_FAILED_EVENT_STRING = "BOOTING_FIRMWARE_FAILED_EVENT";
+const char *BOOTING_BOOTLOADER_FAILED_EVENT_STRING = "BOOTING_BOOTLOADER_FAILED_EVENT";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
 const char *SUPV_UNKNOWN_TM_STRING = "SUPV_UNKNOWN_TM";
 const char *SUPV_UNINIMPLEMENTED_TM_STRING = "SUPV_UNINIMPLEMENTED_TM";
@ -433,6 +434,8 @@ const char *translateEvents(Event event) {
      return SAFE_RATE_VIOLATION_STRING;
    case (11201):
      return SAFE_RATE_RECOVERY_STRING;
+    case (11202):
+      return MULTIPLE_RW_INVALID_STRING;
    case (11300):
      return SWITCH_CMD_SENT_STRING;
    case (11301):
@ -508,9 +511,9 @@ const char *translateEvents(Event event) {
    case (11802):
      return RESET_OCCURED_STRING;
    case (11901):
-      return BOOTING_FIRMWARE_FAILED_STRING;
+      return BOOTING_FIRMWARE_FAILED_EVENT_STRING;
    case (11902):
-      return BOOTING_BOOTLOADER_FAILED_STRING;
+      return BOOTING_BOOTLOADER_FAILED_EVENT_STRING;
    case (12001):
      return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
    case (12002):
--- a/generators/objects/translateObjects.cpp
+++ b/generators/objects/translateObjects.cpp
@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 152 translations.
- * Generated on: 2023-02-13 10:07:30
+ * Generated on: 2023-02-17 13:15:51
 */
 #include "translateObjects.h"

@ -84,7 +84,7 @@ const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
 const char *SPI_MAIN_COM_IF_STRING = "SPI_MAIN_COM_IF";
-const char *SPI_RW_COM_IF_STRING = "SPI_RW_COM_IF";
+const char *RW_POLLING_TASK_STRING = "RW_POLLING_TASK";
 const char *SPI_RTD_COM_IF_STRING = "SPI_RTD_COM_IF";
 const char *UART_COM_IF_STRING = "UART_COM_IF";
 const char *I2C_COM_IF_STRING = "I2C_COM_IF";
@ -318,7 +318,7 @@ const char *translateObject(object_id_t object) {
    case 0x49020004:
      return SPI_MAIN_COM_IF_STRING;
    case 0x49020005:
-      return SPI_RW_COM_IF_STRING;
+      return RW_POLLING_TASK_STRING;
    case 0x49020006:
      return SPI_RTD_COM_IF_STRING;
    case 0x49030003:
--- a/hooks/post-checkout
+++ b/hooks/post-checkout
@ -0,0 +1,6 @@
+#!/bin/bash
+#
+# update submodules after checkout
+
+git submodule init
+git submodule update
--- a/linux/boardtest/I2cTestClass.cpp
+++ b/linux/boardtest/I2cTestClass.cpp
@ -29,7 +29,7 @@ ReturnValue_t I2cTestClass::performPeriodicAction() {

 void I2cTestClass::battInit() {
  sif::info << "I2cTestClass: BPX Initialization" << std::endl;
-  UnixFileGuard fileHelper(i2cdev, &bpxInfo.fd, O_RDWR, "I2cTestClass::sendMessage");
+  UnixFileGuard fileHelper(i2cdev, bpxInfo.fd, O_RDWR, "I2cTestClass::sendMessage");
  if (fileHelper.getOpenResult() != returnvalue::OK) {
    sif::error << "Opening I2C device" << i2cdev << " failed" << std::endl;
    return;
@ -58,7 +58,7 @@ void I2cTestClass::battInit() {
 }

 void I2cTestClass::battPeriodic() {
-  UnixFileGuard fileHelper(i2cdev, &bpxInfo.fd, O_RDWR, "I2cTestClass::sendMessage");
+  UnixFileGuard fileHelper(i2cdev, bpxInfo.fd, O_RDWR, "I2cTestClass::sendMessage");
  if (fileHelper.getOpenResult() != returnvalue::OK) {
    sif::error << "Opening I2C device" << i2cdev << " failed" << std::endl;
    return;
--- a/linux/boardtest/SpiTestClass.cpp
+++ b/linux/boardtest/SpiTestClass.cpp
@ -94,7 +94,7 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
 #endif
  int fileDescriptor = 0;

-  UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
+  UnixFileGuard fileHelper(deviceName, fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
  if (fileHelper.getOpenResult()) {
    sif::error << "SpiTestClass::performRm3100Test: File descriptor could not be opened!"
               << std::endl;
@ -137,7 +137,7 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
  if ((statusReg & 0b1000'0000) == 0) {
    sif::warning << "SpiTestClass::performRm3100Test: Data not ready!" << std::endl;
    TaskFactory::delayTask(10);
-    uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
+    statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
    if ((statusReg & 0b1000'0000) == 0) {
      return;
    }
@ -191,7 +191,7 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
 #endif
  int fileDescriptor = 0;

-  UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
+  UnixFileGuard fileHelper(deviceName, fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
  if (fileHelper.getOpenResult()) {
    sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
               << std::endl;
@ -231,7 +231,7 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
 #endif
  int fileDescriptor = 0;

-  UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
+  UnixFileGuard fileHelper(deviceName, fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
  if (fileHelper.getOpenResult()) {
    sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
               << std::endl;
@ -341,7 +341,7 @@ void SpiTestClass::performMax1227Test() {
 #elif defined(TE0720_1CFA)
 #endif
  int fd = 0;
-  UnixFileGuard fileHelper(deviceName, &fd, O_RDWR, "SpiComIF::initializeInterface");
+  UnixFileGuard fileHelper(deviceName, fd, O_RDWR, "SpiComIF::initializeInterface");
  if (fileHelper.getOpenResult()) {
    sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
               << std::endl;
--- a/linux/csp/CspComIF.cpp
+++ b/linux/csp/CspComIF.cpp
@ -141,7 +141,7 @@ ReturnValue_t CspComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
          requestStruct.mem_id = P60PDU_PARAM;
          requestStruct.count = p60pdu_config_count;
          requestStruct.size = P60PDU_PARAM_SIZE;
-          int result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
+          result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
                                         requestStruct.mem_id, cspCookie->getTimeout());
          if (result != 0) {
            return returnvalue::FAILED;
@ -151,7 +151,7 @@ ReturnValue_t CspComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
          requestStruct.mem_id = P60ACU_PARAM;
          requestStruct.count = p60acu_config_count;
          requestStruct.size = P60ACU_PARAM_SIZE;
-          int result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
+          result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
                                         requestStruct.mem_id, cspCookie->getTimeout());
          if (result != 0) {
            return returnvalue::FAILED;
@ -161,7 +161,7 @@ ReturnValue_t CspComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
          requestStruct.mem_id = P60DOCK_PARAM;
          requestStruct.count = p60dock_config_count;
          requestStruct.size = P60DOCK_PARAM_SIZE;
-          int result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
+          result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
                                         requestStruct.mem_id, cspCookie->getTimeout());
          if (result != 0) {
            return returnvalue::FAILED;
@ -171,7 +171,7 @@ ReturnValue_t CspComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
            return returnvalue::FAILED;
          }
          const TableInfo* tableInfo = reinterpret_cast<const TableInfo*>(sendData);
-          int result = gs_rparam_save(cspAddress, cspCookie->getTimeout(), tableInfo->sourceTable,
+          result = gs_rparam_save(cspAddress, cspCookie->getTimeout(), tableInfo->sourceTable,
                                  tableInfo->targetTable);
          if (result != 0) {
            return returnvalue::FAILED;
@ -181,7 +181,7 @@ ReturnValue_t CspComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
            return returnvalue::FAILED;
          }
          const TableInfo* tableInfo = reinterpret_cast<const TableInfo*>(sendData);
-          int result = gs_rparam_load(cspAddress, cspCookie->getTimeout(), tableInfo->sourceTable,
+          result = gs_rparam_load(cspAddress, cspCookie->getTimeout(), tableInfo->sourceTable,
                                  tableInfo->targetTable);
          if (result != 0) {
            return returnvalue::FAILED;
--- a/linux/devices/CMakeLists.txt
+++ b/linux/devices/CMakeLists.txt
@ -4,7 +4,7 @@ endif()

 target_sources(
  ${OBSW_NAME} PRIVATE Max31865RtdLowlevelHandler.cpp ScexUartReader.cpp
-                       ScexDleParser.cpp ScexHelper.cpp)
+                       ScexDleParser.cpp ScexHelper.cpp RwPollingTask.cpp)

 add_subdirectory(ploc)

--- a/linux/devices/Max31865RtdLowlevelHandler.cpp
+++ b/linux/devices/Max31865RtdLowlevelHandler.cpp
@ -232,7 +232,7 @@ ReturnValue_t Max31865RtdReader::sendMessage(CookieIF* cookie, const uint8_t* se
    return returnvalue::FAILED;
  }

-  auto thresholdHandler = [](Max31865ReaderCookie* rtdCookie, const uint8_t* sendData) {
+  auto thresholdHandler = [&]() {
    rtdCookie->lowThreshold = (sendData[1] << 8) | sendData[2];
    rtdCookie->highThreshold = (sendData[3] << 8) | sendData[4];
    rtdCookie->writeLowThreshold = true;
@ -249,7 +249,7 @@ ReturnValue_t Max31865RtdReader::sendMessage(CookieIF* cookie, const uint8_t* se
        rtdCookie->db.active = false;
        rtdCookie->db.configured = false;
        if (sendLen == 5) {
-          thresholdHandler(rtdCookie, sendData);
+          thresholdHandler();
        }
      }
      break;
@ -265,7 +265,7 @@ ReturnValue_t Max31865RtdReader::sendMessage(CookieIF* cookie, const uint8_t* se
        rtdCookie->db.active = true;
      }
      if (sendLen == 5) {
-        thresholdHandler(rtdCookie, sendData);
+        thresholdHandler();
      }
      break;
    }
--- a/linux/devices/RwPollingTask.cpp
+++ b/linux/devices/RwPollingTask.cpp
@ -0,0 +1,532 @@
+#include "RwPollingTask.h"
+
+#include <fcntl.h>
+#include <fsfw/globalfunctions/CRC.h>
+#include <fsfw/tasks/SemaphoreFactory.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
+#include <fsfw_hal/common/spi/spiCommon.h>
+#include <fsfw_hal/linux/utility.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+
+#include "devConf.h"
+#include "mission/devices/devicedefinitions/rwHelpers.h"
+
+RwPollingTask::RwPollingTask(object_id_t objectId, const char* spiDev, GpioIF& gpioIF)
+    : SystemObject(objectId), spiDev(spiDev), gpioIF(gpioIF) {
+  semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
+  semaphore->acquire();
+  ipcLock = MutexFactory::instance()->createMutex();
+  spiLock = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t RwPollingTask::performOperation(uint8_t operationCode) {
+  for (unsigned i = 0; i < 4; i++) {
+    if (rwCookies[i] == nullptr) {
+      sif::error << "Invalid RW cookie at index" << i << std::endl;
+      return returnvalue::FAILED;
+    }
+  }
+  while (true) {
+    ipcLock->lockMutex();
+    state = InternalState::IDLE;
+    ipcLock->unlockMutex();
+    semaphore->acquire();
+    // This loop takes 50 ms on a debug build.
+    // Stopwatch watch;
+    TaskFactory::delayTask(5);
+    int fd = 0;
+    for (auto& skip : skipCommandingForRw) {
+      skip = false;
+    }
+    setAllReadFlagsFalse();
+    ReturnValue_t result = openSpi(O_RDWR, fd);
+    if (result != returnvalue::OK) {
+      continue;
+    }
+    for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
+      if (rwCookies[idx]->specialRequest == rws::SpecialRwRequest::RESET_MCU) {
+        prepareSimpleCommand(rws::RESET_MCU);
+        // No point in commanding that specific RW for the cycle.
+        skipCommandingForRw[idx] = true;
+        writeOneRwCmd(idx, fd);
+      } else if (rwCookies[idx]->setSpeed) {
+        prepareSetSpeedCmd(idx);
+        if (writeOneRwCmd(idx, fd) != returnvalue::OK) {
+          continue;
+        }
+      }
+    }
+    closeSpi(fd);
+    if (readAllRws(rws::SET_SPEED) != returnvalue::OK) {
+      continue;
+    }
+    prepareSimpleCommand(rws::GET_LAST_RESET_STATUS);
+    if (writeAndReadAllRws(rws::GET_LAST_RESET_STATUS) != returnvalue::OK) {
+      continue;
+    }
+    prepareSimpleCommand(rws::GET_RW_STATUS);
+    if (writeAndReadAllRws(rws::GET_RW_STATUS) != returnvalue::OK) {
+      continue;
+    }
+    prepareSimpleCommand(rws::GET_TEMPERATURE);
+    if (writeAndReadAllRws(rws::GET_TEMPERATURE) != returnvalue::OK) {
+      continue;
+    }
+    prepareSimpleCommand(rws::CLEAR_LAST_RESET_STATUS);
+    if (writeAndReadAllRws(rws::CLEAR_LAST_RESET_STATUS) != returnvalue::OK) {
+      continue;
+    }
+    handleSpecialRequests();
+  }
+
+  return returnvalue::OK;
+}
+
+ReturnValue_t RwPollingTask::initialize() { return returnvalue::OK; }
+
+ReturnValue_t RwPollingTask::initializeInterface(CookieIF* cookie) {
+  // We don't need to set the speed because a SPI core is used, but the mode has to be set once
+  // correctly for all RWs
+  if (not modeAndSpeedWasSet) {
+    int fd = open(spiDev, O_RDWR);
+    if (fd < 0) {
+      sif::error << "could not open RW SPI bus" << std::endl;
+      return returnvalue::FAILED;
+    }
+    spi::SpiModes mode = spi::RW_MODE;
+    int retval = ioctl(fd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
+    if (retval != 0) {
+      utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
+    }
+
+    retval = ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi::RW_SPEED);
+    if (retval != 0) {
+      utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
+    }
+    close(fd);
+    modeAndSpeedWasSet = true;
+  }
+
+  auto* rwCookie = dynamic_cast<RwCookie*>(cookie);
+  if (rwCookie == nullptr) {
+    sif::error << "RwPollingTask::initializeInterface: Wrong cookie" << std::endl;
+    return returnvalue::FAILED;
+  }
+  rwCookies[rwCookie->rwIdx] = rwCookie;
+
+  return returnvalue::OK;
+}
+
+ReturnValue_t RwPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendData,
+                                         size_t sendLen) {
+  if (sendData == nullptr or sendLen < 8) {
+    return DeviceHandlerIF::INVALID_DATA;
+  }
+  int32_t speed = 0;
+  uint16_t rampTime = 0;
+  const uint8_t* currentBuf = sendData;
+  bool setSpeed = currentBuf[0];
+  currentBuf += 1;
+  sendLen -= 1;
+  SerializeAdapter::deSerialize(&speed, &currentBuf, &sendLen, SerializeIF::Endianness::MACHINE);
+  SerializeAdapter::deSerialize(&rampTime, &currentBuf, &sendLen, SerializeIF::Endianness::MACHINE);
+  rws::SpecialRwRequest specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
+  if (sendLen == 8 and sendData[7] < static_cast<uint8_t>(rws::SpecialRwRequest::NUM_REQUESTS)) {
+    specialRequest = static_cast<rws::SpecialRwRequest>(sendData[7]);
+  }
+  RwCookie* rwCookie = dynamic_cast<RwCookie*>(cookie);
+  if (rwCookie == nullptr) {
+    return returnvalue::FAILED;
+  }
+  {
+    MutexGuard mg(ipcLock);
+    rwCookie->setSpeed = setSpeed;
+    rwCookie->currentRwSpeed = speed;
+    rwCookie->currentRampTime = rampTime;
+    rwCookie->specialRequest = specialRequest;
+    if (state == InternalState::IDLE) {
+      state = InternalState::BUSY;
+      semaphore->release();
+    }
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t RwPollingTask::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
+
+ReturnValue_t RwPollingTask::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t RwPollingTask::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
+  RwCookie* rwCookie = dynamic_cast<RwCookie*>(cookie);
+  {
+    MutexGuard mg(ipcLock);
+    *buffer = rwCookie->replyBuf.data();
+    *size = rwCookie->replyBuf.size();
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t RwPollingTask::writeAndReadAllRws(DeviceCommandId_t id) {
+  // Stopwatch watch;
+  ReturnValue_t result = returnvalue::OK;
+
+  int fd = 0;
+  result = openSpi(O_RDWR, fd);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
+    if (skipCommandingForRw[idx]) {
+      continue;
+    }
+    result = sendOneMessage(fd, *rwCookies[idx]);
+    if (result != returnvalue::OK) {
+      closeSpi(fd);
+      return returnvalue::FAILED;
+    }
+  }
+
+  closeSpi(fd);
+  return readAllRws(id);
+}
+
+ReturnValue_t RwPollingTask::openSpi(int flags, int& fd) {
+  fd = open(spiDev, flags);
+  if (fd < 0) {
+    sif::error << "RwPollingTask::openSpi: Failed to open device file" << std::endl;
+    return SpiComIF::OPENING_FILE_FAILED;
+  }
+
+  return returnvalue::OK;
+}
+
+ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf,
+                                           size_t maxReplyLen) {
+  ReturnValue_t result = returnvalue::OK;
+  int fd = 0;
+  gpioId_t gpioId = rwCookie.getChipSelectPin();
+  uint8_t byteRead = 0;
+  result = openSpi(O_RDWR, fd);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  pullCsLow(gpioId, gpioIF);
+  bool lastByteWasFrameMarker = false;
+  Countdown cd(3000);
+  size_t readIdx = 0;
+
+  while (true) {
+    lastByteWasFrameMarker = false;
+    if (read(fd, &byteRead, 1) != 1) {
+      sif::error << "RwPollingTask: Read failed. " << strerror(errno) << std::endl;
+      pullCsHigh(gpioId, gpioIF);
+      closeSpi(fd);
+      return rws::SPI_READ_FAILURE;
+    }
+    if (byteRead == rws::FRAME_DELIMITER) {
+      lastByteWasFrameMarker = true;
+    }
+    // Start of frame detected.
+    if (byteRead != rws::FRAME_DELIMITER and not lastByteWasFrameMarker) {
+      break;
+    }
+
+    if (readIdx % 100 == 0 && cd.hasTimedOut()) {
+      pullCsHigh(gpioId, gpioIF);
+      closeSpi(fd);
+      return rws::SPI_READ_FAILURE;
+    }
+    readIdx++;
+  }
+
+#if FSFW_HAL_SPI_WIRETAPPING == 1
+  sif::info << "RW start marker detected" << std::endl;
+#endif
+
+  size_t decodedFrameLen = 0;
+
+  while (decodedFrameLen < maxReplyLen) {
+    // First byte already read in
+    if (decodedFrameLen != 0) {
+      byteRead = 0;
+      if (read(fd, &byteRead, 1) != 1) {
+        sif::error << "RwPollingTask: Read failed" << std::endl;
+        result = rws::SPI_READ_FAILURE;
+        break;
+      }
+    }
+
+    if (byteRead == rws::FRAME_DELIMITER) {
+      // Reached end of frame
+      break;
+    } else if (byteRead == 0x7D) {
+      if (read(fd, &byteRead, 1) != 1) {
+        sif::error << "RwPollingTask: Read failed" << std::endl;
+        result = rws::SPI_READ_FAILURE;
+        break;
+      }
+      if (byteRead == 0x5E) {
+        *(replyBuf + decodedFrameLen) = 0x7E;
+        decodedFrameLen++;
+        continue;
+      } else if (byteRead == 0x5D) {
+        *(replyBuf + decodedFrameLen) = 0x7D;
+        decodedFrameLen++;
+        continue;
+      } else {
+        sif::error << "RwPollingTask: Invalid substitute" << std::endl;
+        result = rws::INVALID_SUBSTITUTE;
+        break;
+      }
+    } else {
+      *(replyBuf + decodedFrameLen) = byteRead;
+      decodedFrameLen++;
+      continue;
+    }
+
+    // Check end marker.
+    /**
+     * There might be the unlikely case that each byte in a get-telemetry reply has been
+     * replaced by its substitute. Then the next byte must correspond to the end sign 0x7E.
+     * Otherwise there might be something wrong.
+     */
+    if (decodedFrameLen == maxReplyLen) {
+      if (read(fd, &byteRead, 1) != 1) {
+        sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
+        result = rws::SPI_READ_FAILURE;
+        break;
+      }
+      if (byteRead != rws::FRAME_DELIMITER) {
+        sif::error << "rwSpiCallback::spiCallback: Missing end sign "
+                   << static_cast<int>(rws::FRAME_DELIMITER) << std::endl;
+        decodedFrameLen--;
+        result = rws::MISSING_END_SIGN;
+        break;
+      }
+    }
+    result = returnvalue::OK;
+  }
+
+  pullCsHigh(gpioId, gpioIF);
+  closeSpi(fd);
+  return result;
+}
+
+ReturnValue_t RwPollingTask::writeOneRwCmd(uint8_t rwIdx, int fd) {
+  ReturnValue_t result = sendOneMessage(fd, *rwCookies[rwIdx]);
+  if (result != returnvalue::OK) {
+    return returnvalue::FAILED;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t RwPollingTask::readAllRws(DeviceCommandId_t id) {
+  // SPI dev will be opened in readNextReply on demand.
+  for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
+    if (((id == rws::SET_SPEED) and !rwCookies[idx]->setSpeed) or skipCommandingForRw[idx]) {
+      continue;
+    }
+    uint8_t* replyBuf;
+    size_t maxReadLen = idAndIdxToReadBuffer(id, idx, &replyBuf);
+    ReturnValue_t result = readNextReply(*rwCookies[idx], replyBuf + 1, maxReadLen);
+    if (result == returnvalue::OK) {
+      // The first byte is always a flag which shows whether the value was read
+      // properly at least once.
+      replyBuf[0] = true;
+    }
+  }
+  // SPI is closed in readNextReply as well.
+  return returnvalue::OK;
+}
+
+size_t RwPollingTask::idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx, uint8_t** ptr) {
+  uint8_t* rawStart = rwCookies[rwIdx]->replyBuf.data();
+  RwReplies replies(rawStart);
+  switch (id) {
+    case (rws::GET_RW_STATUS): {
+      *ptr = replies.rwStatusReply;
+      break;
+    }
+    case (rws::SET_SPEED): {
+      *ptr = replies.setSpeedReply;
+      break;
+    }
+    case (rws::CLEAR_LAST_RESET_STATUS): {
+      *ptr = replies.clearLastResetStatusReply;
+      break;
+    }
+    case (rws::GET_LAST_RESET_STATUS): {
+      *ptr = replies.getLastResetStatusReply;
+      break;
+    }
+    case (rws::GET_TEMPERATURE): {
+      *ptr = replies.readTemperatureReply;
+      break;
+    }
+    case (rws::GET_TM): {
+      *ptr = replies.hkDataReply;
+      break;
+    }
+    case (rws::INIT_RW_CONTROLLER): {
+      *ptr = replies.initRwControllerReply;
+      break;
+    }
+    default: {
+      sif::error << "no reply buffer for rw command " << id << std::endl;
+      *ptr = replies.dummyPointer;
+      return 0;
+    }
+  }
+  return rws::idToPacketLen(id);
+}
+
+void RwPollingTask::fillSpecialRequestArray() {
+  for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
+    if (skipCommandingForRw[idx]) {
+      specialRequestIds[idx] = DeviceHandlerIF::NO_COMMAND_ID;
+      continue;
+    }
+    switch (rwCookies[idx]->specialRequest) {
+      case (rws::SpecialRwRequest::GET_TM): {
+        specialRequestIds[idx] = rws::GET_TM;
+        break;
+      }
+      case (rws::SpecialRwRequest::INIT_RW_CONTROLLER): {
+        specialRequestIds[idx] = rws::INIT_RW_CONTROLLER;
+        break;
+      }
+      default: {
+        specialRequestIds[idx] = DeviceHandlerIF::NO_COMMAND_ID;
+      }
+    }
+  }
+}
+
+void RwPollingTask::handleSpecialRequests() {
+  int fd = 0;
+  fillSpecialRequestArray();
+  ReturnValue_t result = openSpi(O_RDWR, fd);
+  if (result != returnvalue::OK) {
+    return;
+  }
+  for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
+    if (specialRequestIds[idx] == DeviceHandlerIF::NO_COMMAND_ID) {
+      continue;
+    }
+    prepareSimpleCommand(specialRequestIds[idx]);
+    writeOneRwCmd(idx, fd);
+  }
+  closeSpi(fd);
+  usleep(rws::SPI_REPLY_DELAY);
+  for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
+    if (specialRequestIds[idx] == DeviceHandlerIF::NO_COMMAND_ID) {
+      continue;
+    }
+    uint8_t* replyBuf;
+    size_t maxReadLen = idAndIdxToReadBuffer(specialRequestIds[idx], idx, &replyBuf);
+    readNextReply(*rwCookies[idx], replyBuf, maxReadLen);
+  }
+}
+
+void RwPollingTask::setAllReadFlagsFalse() {
+  for (auto& rwCookie : rwCookies) {
+    RwReplies replies(rwCookie->replyBuf.data());
+    replies.getLastResetStatusReply[0] = false;
+    replies.clearLastResetStatusReply[0] = false;
+    replies.hkDataReply[0] = false;
+    replies.readTemperatureReply[0] = false;
+    replies.rwStatusReply[0] = false;
+    replies.setSpeedReply[0] = false;
+    replies.initRwControllerReply[0] = false;
+  }
+}
+
+// This closes the SPI
+void RwPollingTask::closeSpi(int fd) {
+  // This will perform the function to close the SPI
+  close(fd);
+  // The SPI is now closed.
+}
+
+ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
+  gpioId_t gpioId = rwCookie.getChipSelectPin();
+  if (spiLock == nullptr) {
+    sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
+    return returnvalue::FAILED;
+  }
+  // Add datalinklayer like specified in the datasheet.
+  size_t lenToSend = 0;
+  rws::encodeHdlc(writeBuffer.data(), writeLen, encodedBuffer.data(), lenToSend);
+  pullCsLow(gpioId, gpioIF);
+  if (write(fd, encodedBuffer.data(), lenToSend) != static_cast<ssize_t>(lenToSend)) {
+    sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
+    pullCsHigh(gpioId, gpioIF);
+    return rws::SPI_WRITE_FAILURE;
+  }
+  pullCsHigh(gpioId, gpioIF);
+  return returnvalue::OK;
+}
+
+ReturnValue_t RwPollingTask::pullCsLow(gpioId_t gpioId, GpioIF& gpioIF) {
+  ReturnValue_t result = spiLock->lockMutex(TIMEOUT_TYPE, TIMEOUT_MS);
+  if (result != returnvalue::OK) {
+    sif::debug << "RwPollingTask::pullCsLow: Failed to lock mutex" << std::endl;
+    return result;
+  }
+  // Pull SPI CS low. For now, no support for active high given
+  if (gpioId != gpio::NO_GPIO) {
+    result = gpioIF.pullLow(gpioId);
+    if (result != returnvalue::OK) {
+      sif::error << "RwPollingTask::pullCsLow: Failed to pull chip select low" << std::endl;
+      return result;
+    }
+  }
+  return returnvalue::OK;
+}
+
+void RwPollingTask::pullCsHigh(gpioId_t gpioId, GpioIF& gpioIF) {
+  if (gpioId != gpio::NO_GPIO) {
+    if (gpioIF.pullHigh(gpioId) != returnvalue::OK) {
+      sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
+    }
+  }
+  if (spiLock->unlockMutex() != returnvalue::OK) {
+    sif::error << "RwPollingTask::pullCsHigh: Failed to unlock mutex" << std::endl;
+    ;
+  }
+}
+
+void RwPollingTask::prepareSimpleCommand(DeviceCommandId_t id) {
+  writeBuffer[0] = static_cast<uint8_t>(id);
+  uint16_t crc = CRC::crc16ccitt(writeBuffer.data(), 1, 0xFFFF);
+  writeBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
+  writeBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
+  writeLen = 3;
+}
+
+ReturnValue_t RwPollingTask::prepareSetSpeedCmd(uint8_t rwIdx) {
+  writeBuffer[0] = static_cast<uint8_t>(rws::SET_SPEED);
+  uint8_t* serPtr = writeBuffer.data() + 1;
+  int32_t speedToSet = 0;
+  uint16_t rampTimeToSet = 10;
+  {
+    MutexGuard mg(ipcLock);
+    speedToSet = rwCookies[rwIdx]->currentRwSpeed;
+    rampTimeToSet = rwCookies[rwIdx]->currentRampTime;
+  }
+  size_t serLen = 1;
+  SerializeAdapter::serialize(&speedToSet, &serPtr, &serLen, writeBuffer.size(),
+                              SerializeIF::Endianness::LITTLE);
+  SerializeAdapter::serialize(&rampTimeToSet, &serPtr, &serLen, writeBuffer.size(),
+                              SerializeIF::Endianness::LITTLE);
+
+  uint16_t crc = CRC::crc16ccitt(writeBuffer.data(), 7, 0xFFFF);
+  writeBuffer[7] = static_cast<uint8_t>(crc & 0xFF);
+  writeBuffer[8] = static_cast<uint8_t>((crc >> 8) & 0xFF);
+  writeLen = 9;
+  return returnvalue::OK;
+}
--- a/linux/devices/RwPollingTask.h
+++ b/linux/devices/RwPollingTask.h
@ -0,0 +1,89 @@
+#ifndef LINUX_DEVICES_RWPOLLINGTASK_H_
+#define LINUX_DEVICES_RWPOLLINGTASK_H_
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/tasks/SemaphoreIF.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
+#include <fsfw_hal/linux/spi/SpiComIF.h>
+#include <fsfw_hal/linux/spi/SpiCookie.h>
+
+#include "mission/devices/devicedefinitions/rwHelpers.h"
+
+class RwCookie : public SpiCookie {
+  friend class RwPollingTask;
+
+ public:
+  static constexpr size_t REPLY_BUF_LEN = 524;
+  RwCookie(uint8_t rwIdx, address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
+           spi::SpiModes spiMode, uint32_t spiSpeed)
+      : SpiCookie(spiAddress, chipSelect, maxSize, spiMode, spiSpeed), rwIdx(rwIdx) {}
+
+ private:
+  std::array<uint8_t, REPLY_BUF_LEN> replyBuf{};
+  bool setSpeed = true;
+  int32_t currentRwSpeed = 0;
+  uint16_t currentRampTime = 0;
+  rws::SpecialRwRequest specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
+  uint8_t rwIdx;
+};
+
+class RwPollingTask : public SystemObject, public ExecutableObjectIF, public DeviceCommunicationIF {
+ public:
+  RwPollingTask(object_id_t objectId, const char* spiDev, GpioIF& gpioIF);
+
+  ReturnValue_t performOperation(uint8_t operationCode) override;
+  ReturnValue_t initialize() override;
+
+ private:
+  enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
+  SemaphoreIF* semaphore;
+  bool debugMode = false;
+  bool modeAndSpeedWasSet = false;
+  MutexIF* ipcLock;
+  MutexIF* spiLock;
+  const char* spiDev;
+  GpioIF& gpioIF;
+  std::array<bool, 4> skipCommandingForRw;
+  std::array<DeviceCommandId_t, 4> specialRequestIds;
+  std::array<RwCookie*, 4> rwCookies;
+  std::array<uint8_t, rws::MAX_CMD_SIZE> writeBuffer;
+  std::array<uint8_t, rws::MAX_CMD_SIZE * 2> encodedBuffer;
+
+  size_t writeLen = 0;
+  static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
+  static constexpr uint32_t TIMEOUT_MS = 20;
+  static constexpr uint8_t MAX_RETRIES_REPLY = 5;
+
+  ReturnValue_t writeAndReadAllRws(DeviceCommandId_t id);
+  ReturnValue_t writeOneRwCmd(uint8_t rwIdx, int fd);
+  ReturnValue_t readAllRws(DeviceCommandId_t id);
+
+  ReturnValue_t sendOneMessage(int fd, RwCookie& rwCookie);
+  ReturnValue_t readNextReply(RwCookie& rwCookie, uint8_t* replyBuf, size_t maxReplyLen);
+  void handleSpecialRequests();
+
+  ReturnValue_t initializeInterface(CookieIF* cookie) override;
+
+  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
+
+  ReturnValue_t getSendSuccess(CookieIF* cookie) override;
+
+  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
+
+  ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
+  ReturnValue_t openSpi(int flags, int& fd);
+  ReturnValue_t pullCsLow(gpioId_t gpioId, GpioIF& gpioIF);
+  void prepareSimpleCommand(DeviceCommandId_t id);
+  ReturnValue_t prepareSetSpeedCmd(uint8_t rwIdx);
+
+  size_t idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx, uint8_t** readPtr);
+  void fillSpecialRequestArray();
+  void setAllReadFlagsFalse();
+
+  void pullCsHigh(gpioId_t gpioId, GpioIF& gpioIF);
+  void closeSpi(int);
+};
+
+#endif /* LINUX_DEVICES_RWPOLLINGTASK_H_ */
--- a/linux/devices/ploc/PlocSupervisorHandler.cpp
+++ b/linux/devices/ploc/PlocSupervisorHandler.cpp
@ -119,7 +119,7 @@ ReturnValue_t PlocSupervisorHandler::executeAction(ActionId_t actionId,
    case MEMORY_CHECK_WITH_FILE: {
      shutdownCmdSent = false;
      UpdateParams params;
-      ReturnValue_t result = extractBaseParams(&data, size, params);
+      result = extractBaseParams(&data, size, params);
      if (result != returnvalue::OK) {
        return result;
      }
--- a/linux/devices/startracker/StarTrackerHandler.cpp
+++ b/linux/devices/startracker/StarTrackerHandler.cpp
@ -1909,7 +1909,7 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
      if (internalState == InternalState::VERIFY_BOOT) {
        sif::warning << "StarTrackerHandler::checkProgram: Failed to boot firmware" << std::endl;
        // Device handler will run into timeout and fall back to transition source mode
-        triggerEvent(BOOTING_FIRMWARE_FAILED);
+        triggerEvent(BOOTING_FIRMWARE_FAILED_EVENT);
        internalState = InternalState::FAILED_FIRMWARE_BOOT;
      } else if (internalState == InternalState::BOOTLOADER_CHECK) {
        internalState = InternalState::DONE;
@ -1922,7 +1922,7 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
      if (internalState == InternalState::VERIFY_BOOT) {
        internalState = InternalState::LOGLEVEL;
      } else if (internalState == InternalState::BOOTLOADER_CHECK) {
-        triggerEvent(BOOTING_BOOTLOADER_FAILED);
+        triggerEvent(BOOTING_BOOTLOADER_FAILED_EVENT);
        internalState = InternalState::BOOTING_BOOTLOADER_FAILED;
      }
      break;
--- a/linux/devices/startracker/StarTrackerHandler.h
+++ b/linux/devices/startracker/StarTrackerHandler.h
@ -140,9 +140,9 @@ class StarTrackerHandler : public DeviceHandlerBase {
  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;

  //! [EXPORT] : [COMMENT] Failed to boot firmware
-  static const Event BOOTING_FIRMWARE_FAILED = MAKE_EVENT(1, severity::LOW);
+  static const Event BOOTING_FIRMWARE_FAILED_EVENT = MAKE_EVENT(1, severity::LOW);
  //! [EXPORT] : [COMMENT] Failed to boot star tracker into bootloader mode
-  static const Event BOOTING_BOOTLOADER_FAILED = MAKE_EVENT(2, severity::LOW);
+  static const Event BOOTING_BOOTLOADER_FAILED_EVENT = MAKE_EVENT(2, severity::LOW);

  static const size_t MAX_PATH_SIZE = 50;
  static const size_t MAX_FILE_NAME = 30;
--- a/linux/fsfwconfig/events/translateEvents.cpp
+++ b/linux/fsfwconfig/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 256 translations.
+ * @brief    Auto-generated event translation file. Contains 257 translations.
 * @details
- * Generated on: 2023-02-13 10:07:30
+ * Generated on: 2023-02-17 13:15:51
 */
 #include "translateEvents.h"

@ -92,6 +92,7 @@ const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
 const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
 const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
+const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@ -129,8 +130,8 @@ const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAIL
 const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
 const char *ERROR_STATE_STRING = "ERROR_STATE";
 const char *RESET_OCCURED_STRING = "RESET_OCCURED";
-const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
-const char *BOOTING_BOOTLOADER_FAILED_STRING = "BOOTING_BOOTLOADER_FAILED";
+const char *BOOTING_FIRMWARE_FAILED_EVENT_STRING = "BOOTING_FIRMWARE_FAILED_EVENT";
+const char *BOOTING_BOOTLOADER_FAILED_EVENT_STRING = "BOOTING_BOOTLOADER_FAILED_EVENT";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
 const char *SUPV_UNKNOWN_TM_STRING = "SUPV_UNKNOWN_TM";
 const char *SUPV_UNINIMPLEMENTED_TM_STRING = "SUPV_UNINIMPLEMENTED_TM";
@ -433,6 +434,8 @@ const char *translateEvents(Event event) {
      return SAFE_RATE_VIOLATION_STRING;
    case (11201):
      return SAFE_RATE_RECOVERY_STRING;
+    case (11202):
+      return MULTIPLE_RW_INVALID_STRING;
    case (11300):
      return SWITCH_CMD_SENT_STRING;
    case (11301):
@ -508,9 +511,9 @@ const char *translateEvents(Event event) {
    case (11802):
      return RESET_OCCURED_STRING;
    case (11901):
-      return BOOTING_FIRMWARE_FAILED_STRING;
+      return BOOTING_FIRMWARE_FAILED_EVENT_STRING;
    case (11902):
-      return BOOTING_BOOTLOADER_FAILED_STRING;
+      return BOOTING_BOOTLOADER_FAILED_EVENT_STRING;
    case (12001):
      return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
    case (12002):
--- a/linux/fsfwconfig/objects/systemObjectList.h
+++ b/linux/fsfwconfig/objects/systemObjectList.h
@ -47,7 +47,7 @@ enum sourceObjects : uint32_t {
  GPIO_IF = 0x49010005,

  /* Custom device handler */
-  SPI_RW_COM_IF = 0x49020005,
+  RW_POLLING_TASK = 0x49020005,

  /* 0x54 ('T') for test handlers */
  TEST_TASK = 0x54694269,
--- a/linux/fsfwconfig/objects/translateObjects.cpp
+++ b/linux/fsfwconfig/objects/translateObjects.cpp
@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 152 translations.
- * Generated on: 2023-02-13 10:07:30
+ * Generated on: 2023-02-17 13:15:51
 */
 #include "translateObjects.h"

@ -84,7 +84,7 @@ const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
 const char *SPI_MAIN_COM_IF_STRING = "SPI_MAIN_COM_IF";
-const char *SPI_RW_COM_IF_STRING = "SPI_RW_COM_IF";
+const char *RW_POLLING_TASK_STRING = "RW_POLLING_TASK";
 const char *SPI_RTD_COM_IF_STRING = "SPI_RTD_COM_IF";
 const char *UART_COM_IF_STRING = "UART_COM_IF";
 const char *I2C_COM_IF_STRING = "I2C_COM_IF";
@ -318,7 +318,7 @@ const char *translateObject(object_id_t object) {
    case 0x49020004:
      return SPI_MAIN_COM_IF_STRING;
    case 0x49020005:
-      return SPI_RW_COM_IF_STRING;
+      return RW_POLLING_TASK_STRING;
    case 0x49020006:
      return SPI_RTD_COM_IF_STRING;
    case 0x49030003:
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@ -632,83 +632,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                          DeviceHandlerIF::GET_READ);
  }

-  if (cfg.scheduleRws) {
-    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    //
-    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
-    //
-    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
-    //
-    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
-    //
-    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
-    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
-    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
-    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
-    //
-    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    //
-    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
-    //
-    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
-    //
-    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
-    //
-    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
-    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
-    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
-    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
-    //
-    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    //
-    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
-    //
-    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
-    //
-    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
-    //
-    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
-    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
-    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
-    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
-  }
-
  if (cfg.scheduleRws) {
    // this is the torquing cycle
    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
@ -738,67 +661,22 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
                          DeviceHandlerIF::GET_WRITE);

-    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_5_PERIOD,
                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_5_PERIOD,
                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_5_PERIOD,
                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_5_PERIOD,
                          DeviceHandlerIF::SEND_READ);

-    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_5_PERIOD,
                          DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_5_PERIOD,
                          DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_5_PERIOD,
                          DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-
-    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-
-    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-
-    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
-
-    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_5_PERIOD,
                          DeviceHandlerIF::GET_READ);
  }

--- a/linux/ipcore/PdecHandler.cpp
+++ b/linux/ipcore/PdecHandler.cpp
@ -331,12 +331,12 @@ bool PdecHandler::checkFrameAna(uint32_t pdecFar) {
  FrameAna_t frameAna = static_cast<FrameAna_t>((pdecFar & FRAME_ANA_MASK) >> FRAME_ANA_POSITION);
  switch (frameAna) {
    case (FrameAna_t::ABANDONED_CLTU): {
-      triggerEvent(INVALID_TC_FRAME, ABANDONED_CLTU);
+      triggerEvent(INVALID_TC_FRAME, ABANDONED_CLTU_RETVAL);
      sif::warning << "PdecHandler::checkFrameAna: Abondoned CLTU" << std::endl;
      break;
    }
    case (FrameAna_t::FRAME_DIRTY): {
-      triggerEvent(INVALID_TC_FRAME, FRAME_DIRTY);
+      triggerEvent(INVALID_TC_FRAME, FRAME_DIRTY_RETVAL);
      sif::warning << "PdecHandler::checkFrameAna: Frame dirty" << std::endl;
      break;
    }
@ -351,13 +351,13 @@ bool PdecHandler::checkFrameAna(uint32_t pdecFar) {
      break;
    }
    case (FrameAna_t::AD_DISCARDED_LOCKOUT): {
-      triggerEvent(INVALID_TC_FRAME, AD_DISCARDED_LOCKOUT);
+      triggerEvent(INVALID_TC_FRAME, AD_DISCARDED_LOCKOUT_RETVAL);
      sif::warning << "PdecHandler::checkFrameAna: AD frame discarded because of lockout"
                   << std::endl;
      break;
    }
    case (FrameAna_t::AD_DISCARDED_WAIT): {
-      triggerEvent(INVALID_TC_FRAME, AD_DISCARDED_LOCKOUT);
+      triggerEvent(INVALID_TC_FRAME, AD_DISCARDED_LOCKOUT_RETVAL);
      sif::warning << "PdecHandler::checkFrameAna: AD frame discarded because of wait" << std::endl;
      break;
    }
@ -386,40 +386,40 @@ void PdecHandler::handleIReason(uint32_t pdecFar, ReturnValue_t parameter1) {
  IReason_t ireason = static_cast<IReason_t>((pdecFar & IREASON_MASK) >> IREASON_POSITION);
  switch (ireason) {
    case (IReason_t::NO_REPORT): {
-      triggerEvent(INVALID_TC_FRAME, parameter1, NO_REPORT);
+      triggerEvent(INVALID_TC_FRAME, parameter1, NO_REPORT_RETVAL);
      sif::info << "PdecHandler::handleIReason: No illegal report" << std::endl;
      break;
    }
    case (IReason_t::ERROR_VERSION_NUMBER): {
-      triggerEvent(INVALID_TC_FRAME, parameter1, ERROR_VERSION_NUMBER);
+      triggerEvent(INVALID_TC_FRAME, parameter1, ERROR_VERSION_NUMBER_RETVAL);
      sif::info << "PdecHandler::handleIReason: Error in version number and reserved A and B "
                << "fields" << std::endl;
      break;
    }
    case (IReason_t::ILLEGAL_COMBINATION): {
-      triggerEvent(INVALID_TC_FRAME, parameter1, ILLEGAL_COMBINATION);
+      triggerEvent(INVALID_TC_FRAME, parameter1, ILLEGAL_COMBINATION_RETVAL);
      sif::info << "PdecHandler::handleIReason: Illegal combination (AC) of bypass and control "
                << "command flags" << std::endl;
      break;
    }
    case (IReason_t::INVALID_SC_ID): {
-      triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_SC_ID);
+      triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_SC_ID_RETVAL);
      sif::info << "PdecHandler::handleIReason: Invalid spacecraft identifier " << std::endl;
      break;
    }
    case (IReason_t::INVALID_VC_ID_MSB): {
-      triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_VC_ID_MSB);
+      triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_VC_ID_MSB_RETVAL);
      sif::info << "PdecHandler::handleIReason: VC identifier bit 0 to 4 did not match "
                << std::endl;
      break;
    }
    case (IReason_t::INVALID_VC_ID_LSB): {
-      triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_VC_ID_LSB);
+      triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_VC_ID_LSB_RETVAL);
      sif::info << "PdecHandler::handleIReason: VC identifier bit 5 did not match " << std::endl;
      break;
    }
    case (IReason_t::NS_NOT_ZERO): {
-      triggerEvent(INVALID_TC_FRAME, parameter1, NS_NOT_ZERO);
+      triggerEvent(INVALID_TC_FRAME, parameter1, NS_NOT_ZERO_RETVAL);
      sif::info << "PdecHandler::handleIReason: N(S) of BC or BD frame not set to all zeros"
                << std::endl;
      break;
--- a/linux/ipcore/PdecHandler.h
+++ b/linux/ipcore/PdecHandler.h
@ -97,30 +97,30 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc

  static constexpr Modes OP_MODE = Modes::IRQ;

-  static const ReturnValue_t ABANDONED_CLTU = MAKE_RETURN_CODE(0xA0);
-  static const ReturnValue_t FRAME_DIRTY = MAKE_RETURN_CODE(0xA1);
+  static const ReturnValue_t ABANDONED_CLTU_RETVAL = MAKE_RETURN_CODE(0xA0);
+  static const ReturnValue_t FRAME_DIRTY_RETVAL = MAKE_RETURN_CODE(0xA1);
  static const ReturnValue_t FRAME_ILLEGAL_ONE_REASON = MAKE_RETURN_CODE(0xA2);
  static const ReturnValue_t FRAME_ILLEGAL_MULTIPLE_REASONS = MAKE_RETURN_CODE(0xA2);
-  static const ReturnValue_t AD_DISCARDED_LOCKOUT = MAKE_RETURN_CODE(0xA3);
-  static const ReturnValue_t AD_DISCARDED_WAIT = MAKE_RETURN_CODE(0xA4);
+  static const ReturnValue_t AD_DISCARDED_LOCKOUT_RETVAL = MAKE_RETURN_CODE(0xA3);
+  static const ReturnValue_t AD_DISCARDED_WAIT_RETVAL = MAKE_RETURN_CODE(0xA4);
  static const ReturnValue_t AD_DISCARDED_NS_VS = MAKE_RETURN_CODE(0xA5);

  //! [EXPORT] : [COMMENT] Received action message with unknown action id
  static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xB0);

-  static const ReturnValue_t NO_REPORT = MAKE_RETURN_CODE(0xA6);
+  static const ReturnValue_t NO_REPORT_RETVAL = MAKE_RETURN_CODE(0xA6);
  //! Error in version number and reserved A and B fields
-  static const ReturnValue_t ERROR_VERSION_NUMBER = MAKE_RETURN_CODE(0xA7);
+  static const ReturnValue_t ERROR_VERSION_NUMBER_RETVAL = MAKE_RETURN_CODE(0xA7);
  //! Illegal combination of bypass and control command flag
-  static const ReturnValue_t ILLEGAL_COMBINATION = MAKE_RETURN_CODE(0xA8);
+  static const ReturnValue_t ILLEGAL_COMBINATION_RETVAL = MAKE_RETURN_CODE(0xA8);
  //! Spacecraft identifier did not match
-  static const ReturnValue_t INVALID_SC_ID = MAKE_RETURN_CODE(0xA9);
+  static const ReturnValue_t INVALID_SC_ID_RETVAL = MAKE_RETURN_CODE(0xA9);
  //! VC identifier bits 0 to 4 did not match
-  static const ReturnValue_t INVALID_VC_ID_MSB = MAKE_RETURN_CODE(0xAA);
+  static const ReturnValue_t INVALID_VC_ID_MSB_RETVAL = MAKE_RETURN_CODE(0xAA);
  //! VC identifier bit 5 did not match
-  static const ReturnValue_t INVALID_VC_ID_LSB = MAKE_RETURN_CODE(0xAB);
+  static const ReturnValue_t INVALID_VC_ID_LSB_RETVAL = MAKE_RETURN_CODE(0xAB);
  //! N(S) of BC or BD frame not set to all zeros
-  static const ReturnValue_t NS_NOT_ZERO = MAKE_RETURN_CODE(0xAC);
+  static const ReturnValue_t NS_NOT_ZERO_RETVAL = MAKE_RETURN_CODE(0xAC);
  //! Invalid BC control command
  static const ReturnValue_t INVALID_BC_CC = MAKE_RETURN_CODE(0xAE);

--- a/misc/eclipse/.cproject
+++ b/misc/eclipse/.cproject
@ -57,7 +57,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="thirdparty/json/tests|thirdparty/json/docs|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-release-q7s|bsp_linux_board|thirdparty/json/single_include|cmake-build-debug-q7s-em|cmake-build-debug-q7s/_deps/etl-src/temp|thirdparty/rapidcsv/examples|cmake-build-debug-q7s/_deps/etl-src/images|fsfwconfig|cmake-build-debug-q7s/_deps/etl-src/subprojects|thirdparty/json/third_party|bsp_q7s|thirdparty/json/test|bsp_te0720_1cfa|scripts|cmake-build-debug-q7s/_deps/etl-src/cmake|bsp_egse|build-Debug-RPi|thirdparty/rapidcsv/doc|thirdparty/json/doc|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-release-q7s-em|cmake-build-debug-q7s|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug/_deps|thirdparty/rapidcsv/tests|archive|thirdparty/json/cmake|thirdparty/json/benchmarks" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@ -119,7 +119,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="thirdparty/json/tests|thirdparty/json/docs|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-release-q7s|bsp_linux_board|thirdparty/json/single_include|cmake-build-debug-q7s-em|cmake-build-debug-q7s/_deps/etl-src/temp|thirdparty/rapidcsv/examples|cmake-build-debug-q7s/_deps/etl-src/images|fsfwconfig|cmake-build-debug-q7s/_deps/etl-src/subprojects|thirdparty/json/third_party|bsp_q7s|thirdparty/json/test|bsp_te0720_1cfa|scripts|cmake-build-debug-q7s/_deps/etl-src/cmake|bsp_egse|build-Debug-RPi|thirdparty/rapidcsv/doc|thirdparty/json/doc|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-release-q7s-em|cmake-build-debug-q7s|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug/_deps|thirdparty/rapidcsv/tests|archive|thirdparty/json/cmake|thirdparty/json/benchmarks" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@ -187,7 +187,7 @@
 						</toolChain>
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+						<entry excluding="cmake-build-debug/_deps/etl-src/uml|cmake-build-debug/_deps/etl-src/test|cmake-build-debug/_deps/etl-src/temp|cmake-build-debug/_deps/etl-src/support|cmake-build-debug/_deps/etl-src/subprojects|cmake-build-debug/_deps/etl-src/scripts|cmake-build-debug/_deps/etl-src/images|cmake-build-debug/_deps/etl-src/examples|cmake-build-debug/_deps/etl-src/cmake|cmake-build-debug/_deps/etl-src/arduino|cmake-build-release-q7s-em|build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
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@ -1149,7 +1149,7 @@
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+						<entry excluding="cmake-build-debug/_deps/etl-src/uml|cmake-build-debug/_deps/etl-src/test|cmake-build-debug/_deps/etl-src/temp|cmake-build-debug/_deps/etl-src/support|cmake-build-debug/_deps/etl-src/subprojects|cmake-build-debug/_deps/etl-src/scripts|cmake-build-debug/_deps/etl-src/images|cmake-build-debug/_deps/etl-src/examples|cmake-build-debug/_deps/etl-src/cmake|cmake-build-debug/_deps/etl-src/arduino|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
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@ -1317,7 +1317,7 @@
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+						<entry excluding="cmake-build-debug-q7s|cmake-build-release-q7s-em|build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
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@ -1386,7 +1386,7 @@
 						</toolChain>
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+						<entry excluding="cmake-build-debug/_deps/etl-src/uml|cmake-build-debug/_deps/etl-src/test|cmake-build-debug/_deps/etl-src/temp|cmake-build-debug/_deps/etl-src/support|cmake-build-debug/_deps/etl-src/subprojects|cmake-build-debug/_deps/etl-src/scripts|cmake-build-debug/_deps/etl-src/images|cmake-build-debug/_deps/etl-src/examples|cmake-build-debug/_deps/etl-src/cmake|cmake-build-debug/_deps/etl-src/arduino|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
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@ -1487,9 +1487,6 @@
 		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1939781894;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1939781894.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.2002501811;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.1316209993">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.1898420988;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.2134154524">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
 		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.646655988;cdt.managedbuild.tool.gnu.cpp.compiler.input.1437856797">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
@ -1532,9 +1529,6 @@
 		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.1477130926;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.779990384">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.978379831;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.780507143">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
 		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.1595165802;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.1925043110">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
--- a/mission/acsDefs.h
+++ b/mission/acsDefs.h
@ -23,6 +23,8 @@ static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
 static const Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
 //!< The system has recovered from a safe rate rotation violation.
 static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
+//!< Multiple RWs are invalid, not commandable and therefore higher ACS modes cannot be maintained.
+static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);

 extern const char* getModeStr(AcsMode mode);

--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@ -15,6 +15,7 @@ AcsController::AcsController(object_id_t objectId)
      detumble(&acsParameters),
      ptgCtrl(&acsParameters),
      detumbleCounter{0},
+      multipleRwUnavailableCounter{0},
      parameterHelper(this),
      mgmDataRaw(this),
      mgmDataProcessed(this),
@ -263,7 +264,16 @@ void AcsController::performPointingCtrl() {
  double quatErrorComplete[4] = {0, 0, 0, 0}, quatError[3] = {0, 0, 0},
         deltaRate[3] = {0, 0, 0};  // ToDo: check if pointer needed
  double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
+  ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
+  if (result == returnvalue::FAILED) {
+    multipleRwUnavailableCounter++;
+    if (multipleRwUnavailableCounter > 4) {
+      triggerEvent(acs::MULTIPLE_RW_INVALID);
+    }
+    return;
+  } else {
+    multipleRwUnavailableCounter = 0;
+  }
  double torquePtgRws[4] = {0, 0, 0, 0}, rwTrqNs[4] = {0, 0, 0, 0};
  double torqueRws[4] = {0, 0, 0, 0}, torqueRwsScaled[4] = {0, 0, 0, 0};
  double mgtDpDes[3] = {0, 0, 0};
@ -385,10 +395,7 @@ void AcsController::performPointingCtrl() {
  }

  if (enableAntiStiction) {
-    bool rwAvailable[4] = {true, true, true, true};  // WHICH INPUT SENSOR SET?
-    int32_t rwSpeed[4] = {sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-                          sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value};
-    ptgCtrl.rwAntistiction(rwAvailable, rwSpeed, torqueRwsScaled);
+    ptgCtrl.rwAntistiction(&sensorValues, torqueRwsScaled);
  }

  int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@ -5,6 +5,7 @@
 #include <fsfw/globalfunctions/math/VectorOperations.h>
 #include <fsfw/parameters/ParameterHelper.h>
 #include <fsfw/parameters/ReceivesParameterMessagesIF.h>
+#include <mission/devices/devicedefinitions/rwHelpers.h>

 #include "acs/ActuatorCmd.h"
 #include "acs/Guidance.h"
@ -17,7 +18,6 @@
 #include "eive/objects.h"
 #include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
 #include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
-#include "mission/devices/devicedefinitions/RwDefinitions.h"
 #include "mission/devices/devicedefinitions/SusDefinitions.h"
 #include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
 #include "mission/trace.h"
@ -50,6 +50,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
  PtgCtrl ptgCtrl;

  uint8_t detumbleCounter;
+  uint8_t multipleRwUnavailableCounter;

  ParameterHelper parameterHelper;

@ -84,10 +85,10 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes

  /* ACS Actuation Datasets */
  IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
-  RwDefinitions::RwSpeedActuationSet rw1SpeedSet = RwDefinitions::RwSpeedActuationSet(objects::RW1);
-  RwDefinitions::RwSpeedActuationSet rw2SpeedSet = RwDefinitions::RwSpeedActuationSet(objects::RW2);
-  RwDefinitions::RwSpeedActuationSet rw3SpeedSet = RwDefinitions::RwSpeedActuationSet(objects::RW3);
-  RwDefinitions::RwSpeedActuationSet rw4SpeedSet = RwDefinitions::RwSpeedActuationSet(objects::RW4);
+  rws::RwSpeedActuationSet rw1SpeedSet = rws::RwSpeedActuationSet(objects::RW1);
+  rws::RwSpeedActuationSet rw2SpeedSet = rws::RwSpeedActuationSet(objects::RW2);
+  rws::RwSpeedActuationSet rw3SpeedSet = rws::RwSpeedActuationSet(objects::RW3);
+  rws::RwSpeedActuationSet rw4SpeedSet = rws::RwSpeedActuationSet(objects::RW4);
  /* ACS Datasets */
  // MGMs
  acsctrl::MgmDataRaw mgmDataRaw;
--- a/mission/controller/ThermalController.cpp
+++ b/mission/controller/ThermalController.cpp
@ -9,10 +9,10 @@
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 #include <mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h>
 #include <mission/devices/devicedefinitions/GyroL3GD20Definitions.h>
-#include <mission/devices/devicedefinitions/RwDefinitions.h>
 #include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
 #include <mission/devices/devicedefinitions/imtqHandlerDefinitions.h>
 #include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
+#include <mission/devices/devicedefinitions/rwHelpers.h>
 #include <objects/systemObjectList.h>

 ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater)
@ -689,7 +689,7 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, RwDefinitions::TEMPERATURE_C);
+    lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, rws::TEMPERATURE_C);
    PoolReadGuard pg(&tempRw1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read reaction wheel 1 temperature" << std::endl;
@ -702,7 +702,7 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, RwDefinitions::TEMPERATURE_C);
+    lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, rws::TEMPERATURE_C);
    PoolReadGuard pg(&tempRw2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read reaction wheel 2 temperature" << std::endl;
@ -715,7 +715,7 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, RwDefinitions::TEMPERATURE_C);
+    lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, rws::TEMPERATURE_C);
    PoolReadGuard pg(&tempRw3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read reaction wheel 3 temperature" << std::endl;
@ -728,7 +728,7 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, RwDefinitions::TEMPERATURE_C);
+    lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, rws::TEMPERATURE_C);
    PoolReadGuard pg(&tempRw4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read reaction wheel 4 temperature" << std::endl;
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@ -294,17 +294,17 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
          parameterWrapper->set(rwMatrices.pseudoInverse);
          break;
        case 0x2:
-          parameterWrapper->set(rwMatrices.without0);
-          break;
-        case 0x3:
          parameterWrapper->set(rwMatrices.without1);
          break;
-        case 0x4:
+        case 0x3:
          parameterWrapper->set(rwMatrices.without2);
          break;
-        case 0x5:
+        case 0x4:
          parameterWrapper->set(rwMatrices.without3);
          break;
+        case 0x5:
+          parameterWrapper->set(rwMatrices.without4);
+          break;
        case 0x6:
          parameterWrapper->set(rwMatrices.nullspace);
          break;
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@ -789,8 +789,8 @@ class AcsParameters : public HasParametersIF {
  struct RwHandlingParameters {
    double inertiaWheel = 0.000028198;
    double maxTrq = 0.0032;              // 3.2 [mNm]
-    double stictionSpeed = 100;         // 80;          // RPM
-    double stictionReleaseSpeed = 120;  // RPM
+    int32_t stictionSpeed = 100;         // RPM
+    int32_t stictionReleaseSpeed = 120;  // RPM
    double stictionTorque = 0.0006;

    uint16_t rampTime = 10;
@ -802,13 +802,13 @@ class AcsParameters : public HasParametersIF {
                                    {0.3907, 0.3907, 0.3907, 0.3907}};
    double pseudoInverse[4][3] = {
        {0.5432, 0, 0.6398}, {0, -0.5432, 0.6398}, {-0.5432, 0, 0.6398}, {0, 0.5432, 0.6398}};
-    double without0[4][3] = {
-        {0, 0, 0}, {0.5432, -0.5432, 1.2797}, {-1.0864, 0, 0}, {0.5432, 0.5432, 1.2797}};
    double without1[4][3] = {
-        {0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 1.0864, 0}};
+        {0, 0, 0}, {0.5432, -0.5432, 1.2797}, {-1.0864, 0, 0}, {0.5432, 0.5432, 1.2797}};
    double without2[4][3] = {
-        {1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}};
+        {0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 1.0864, 0}};
    double without3[4][3] = {
+        {1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}};
+    double without4[4][3] = {
        {0.5432, 0.5432, 1.2797}, {0, -1.0864, 0}, {-0.5432, 0.5432, 1.2797}, {0, 0, 0}};
    double nullspace[4] = {-0.5000, 0.5000, -0.5000, 0.5000};
  } rwMatrices;
--- a/mission/controller/acs/Guidance.cpp
+++ b/mission/controller/acs/Guidance.cpp
@ -610,104 +610,33 @@ void Guidance::comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, dou
  // under 150 arcsec ??
 }

-void Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv) {
-  if (sensorValues->rw1Set.isValid() && sensorValues->rw2Set.isValid() &&
-      sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
-    rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0];
-    rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1];
-    rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2];
-    rwPseudoInv[3] = acsParameters.rwMatrices.pseudoInverse[1][0];
-    rwPseudoInv[4] = acsParameters.rwMatrices.pseudoInverse[1][1];
-    rwPseudoInv[5] = acsParameters.rwMatrices.pseudoInverse[1][2];
-    rwPseudoInv[6] = acsParameters.rwMatrices.pseudoInverse[2][0];
-    rwPseudoInv[7] = acsParameters.rwMatrices.pseudoInverse[2][1];
-    rwPseudoInv[8] = acsParameters.rwMatrices.pseudoInverse[2][2];
-    rwPseudoInv[9] = acsParameters.rwMatrices.pseudoInverse[3][0];
-    rwPseudoInv[10] = acsParameters.rwMatrices.pseudoInverse[3][1];
-    rwPseudoInv[11] = acsParameters.rwMatrices.pseudoInverse[3][2];
+ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
+                                                double *rwPseudoInv) {
+  bool rw1valid = (sensorValues->rw1Set.state.value && sensorValues->rw1Set.state.isValid());
+  bool rw2valid = (sensorValues->rw2Set.state.value && sensorValues->rw2Set.state.isValid());
+  bool rw3valid = (sensorValues->rw3Set.state.value && sensorValues->rw3Set.state.isValid());
+  bool rw4valid = (sensorValues->rw4Set.state.value && sensorValues->rw4Set.state.isValid());

-  }
-
-  else if (!(sensorValues->rw1Set.isValid()) && sensorValues->rw2Set.isValid() &&
-           sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
-    rwPseudoInv[0] = acsParameters.rwMatrices.without0[0][0];
-    rwPseudoInv[1] = acsParameters.rwMatrices.without0[0][1];
-    rwPseudoInv[2] = acsParameters.rwMatrices.without0[0][2];
-    rwPseudoInv[3] = acsParameters.rwMatrices.without0[1][0];
-    rwPseudoInv[4] = acsParameters.rwMatrices.without0[1][1];
-    rwPseudoInv[5] = acsParameters.rwMatrices.without0[1][2];
-    rwPseudoInv[6] = acsParameters.rwMatrices.without0[2][0];
-    rwPseudoInv[7] = acsParameters.rwMatrices.without0[2][1];
-    rwPseudoInv[8] = acsParameters.rwMatrices.without0[2][2];
-    rwPseudoInv[9] = acsParameters.rwMatrices.without0[3][0];
-    rwPseudoInv[10] = acsParameters.rwMatrices.without0[3][1];
-    rwPseudoInv[11] = acsParameters.rwMatrices.without0[3][2];
-  }
-
-  else if ((sensorValues->rw1Set.isValid()) && !(sensorValues->rw2Set.isValid()) &&
-           sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
-    rwPseudoInv[0] = acsParameters.rwMatrices.without1[0][0];
-    rwPseudoInv[1] = acsParameters.rwMatrices.without1[0][1];
-    rwPseudoInv[2] = acsParameters.rwMatrices.without1[0][2];
-    rwPseudoInv[3] = acsParameters.rwMatrices.without1[1][0];
-    rwPseudoInv[4] = acsParameters.rwMatrices.without1[1][1];
-    rwPseudoInv[5] = acsParameters.rwMatrices.without1[1][2];
-    rwPseudoInv[6] = acsParameters.rwMatrices.without1[2][0];
-    rwPseudoInv[7] = acsParameters.rwMatrices.without1[2][1];
-    rwPseudoInv[8] = acsParameters.rwMatrices.without1[2][2];
-    rwPseudoInv[9] = acsParameters.rwMatrices.without1[3][0];
-    rwPseudoInv[10] = acsParameters.rwMatrices.without1[3][1];
-    rwPseudoInv[11] = acsParameters.rwMatrices.without1[3][2];
-  }
-
-  else if ((sensorValues->rw1Set.isValid()) && (sensorValues->rw2Set.isValid()) &&
-           !(sensorValues->rw3Set.isValid()) && sensorValues->rw4Set.isValid()) {
-    rwPseudoInv[0] = acsParameters.rwMatrices.without2[0][0];
-    rwPseudoInv[1] = acsParameters.rwMatrices.without2[0][1];
-    rwPseudoInv[2] = acsParameters.rwMatrices.without2[0][2];
-    rwPseudoInv[3] = acsParameters.rwMatrices.without2[1][0];
-    rwPseudoInv[4] = acsParameters.rwMatrices.without2[1][1];
-    rwPseudoInv[5] = acsParameters.rwMatrices.without2[1][2];
-    rwPseudoInv[6] = acsParameters.rwMatrices.without2[2][0];
-    rwPseudoInv[7] = acsParameters.rwMatrices.without2[2][1];
-    rwPseudoInv[8] = acsParameters.rwMatrices.without2[2][2];
-    rwPseudoInv[9] = acsParameters.rwMatrices.without2[3][0];
-    rwPseudoInv[10] = acsParameters.rwMatrices.without2[3][1];
-    rwPseudoInv[11] = acsParameters.rwMatrices.without2[3][2];
-  }
-
-  else if ((sensorValues->rw1Set.isValid()) && (sensorValues->rw2Set.isValid()) &&
-           (sensorValues->rw3Set.isValid()) && !(sensorValues->rw4Set.isValid())) {
-    rwPseudoInv[0] = acsParameters.rwMatrices.without3[0][0];
-    rwPseudoInv[1] = acsParameters.rwMatrices.without3[0][1];
-    rwPseudoInv[2] = acsParameters.rwMatrices.without3[0][2];
-    rwPseudoInv[3] = acsParameters.rwMatrices.without3[1][0];
-    rwPseudoInv[4] = acsParameters.rwMatrices.without3[1][1];
-    rwPseudoInv[5] = acsParameters.rwMatrices.without3[1][2];
-    rwPseudoInv[6] = acsParameters.rwMatrices.without3[2][0];
-    rwPseudoInv[7] = acsParameters.rwMatrices.without3[2][1];
-    rwPseudoInv[8] = acsParameters.rwMatrices.without3[2][2];
-    rwPseudoInv[9] = acsParameters.rwMatrices.without3[3][0];
-    rwPseudoInv[10] = acsParameters.rwMatrices.without3[3][1];
-    rwPseudoInv[11] = acsParameters.rwMatrices.without3[3][2];
-  }
-
-  else {
+  if (rw1valid && rw2valid && rw3valid && rw4valid) {
+    std::memcpy(rwPseudoInv, acsParameters.rwMatrices.pseudoInverse, 12 * sizeof(double));
+    return returnvalue::OK;
+  } else if (!rw1valid && rw2valid && rw3valid && rw4valid) {
+    std::memcpy(rwPseudoInv, acsParameters.rwMatrices.without1, 12 * sizeof(double));
+    return returnvalue::OK;
+  } else if (rw1valid && !rw2valid && rw3valid && rw4valid) {
+    std::memcpy(rwPseudoInv, acsParameters.rwMatrices.without2, 12 * sizeof(double));
+    return returnvalue::OK;
+  } else if (rw1valid && rw2valid && !rw3valid && rw4valid) {
+    std::memcpy(rwPseudoInv, acsParameters.rwMatrices.without3, 12 * sizeof(double));
+    return returnvalue::OK;
+  } else if (rw1valid && rw2valid && rw3valid && !rw4valid) {
+    std::memcpy(rwPseudoInv, acsParameters.rwMatrices.without4, 12 * sizeof(double));
+    return returnvalue::OK;
+  } else {
    // 	    @note: This one takes the normal pseudoInverse of all four raction wheels valid.
    //		Does not make sense, but is implemented that way in MATLAB ?!
    //		Thought: It does not really play a role, because in case there are more then one
    //		reaction wheel invalid the pointing control is destined to fail.
-    rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0];
-    rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1];
-    rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2];
-    rwPseudoInv[3] = acsParameters.rwMatrices.pseudoInverse[1][0];
-    rwPseudoInv[4] = acsParameters.rwMatrices.pseudoInverse[1][1];
-    rwPseudoInv[5] = acsParameters.rwMatrices.pseudoInverse[1][2];
-    rwPseudoInv[6] = acsParameters.rwMatrices.pseudoInverse[2][0];
-    rwPseudoInv[7] = acsParameters.rwMatrices.pseudoInverse[2][1];
-    rwPseudoInv[8] = acsParameters.rwMatrices.pseudoInverse[2][2];
-    rwPseudoInv[9] = acsParameters.rwMatrices.pseudoInverse[3][0];
-    rwPseudoInv[10] = acsParameters.rwMatrices.pseudoInverse[3][1];
-    rwPseudoInv[11] = acsParameters.rwMatrices.pseudoInverse[3][2];
+    return returnvalue::FAILED;
  }
 }
--- a/mission/controller/acs/Guidance.h
+++ b/mission/controller/acs/Guidance.h
@ -67,7 +67,7 @@ class Guidance {

  //	@note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
  // reation wheel 	maybe can be done in "commanding.h"
-  void getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv);
+  ReturnValue_t getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv);

 private:
  AcsParameters acsParameters;
--- a/mission/controller/acs/SensorProcessing.cpp
+++ b/mission/controller/acs/SensorProcessing.cpp
@ -567,7 +567,7 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
    gcLatitude = atan(factor * tan(latitudeRad));

    // Calculation of the satellite velocity in earth fixed frame
-    double posSatE[3] = {0, 0, 0}, deltaDistance[3] = {0, 0, 0}, gpsVelocityE[3] = {0, 0, 0};
+    double deltaDistance[3] = {0, 0, 0};
    MathOperations<double>::cartesianFromLatLongAlt(latitudeRad, gdLongitude, gpsAltitude, posSatE);
    if (validSavedPosSatE &&
        (gpsUnixSeconds - timeOfSavedPosSatE) < (gpsParameters->timeDiffVelocityMax)) {
--- a/mission/controller/acs/SensorValues.h
+++ b/mission/controller/acs/SensorValues.h
@ -1,13 +1,14 @@
 #ifndef SENSORVALUES_H_
 #define SENSORVALUES_H_

+#include <mission/devices/devicedefinitions/rwHelpers.h>
+
 #include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
 #include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
 #include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 #include "mission/devices/devicedefinitions/GPSDefinitions.h"
 #include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
-#include "mission/devices/devicedefinitions/RwDefinitions.h"
 #include "mission/devices/devicedefinitions/SusDefinitions.h"
 #include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"

@ -62,10 +63,10 @@ class SensorValues {

  //  bool mgt0valid;

-  RwDefinitions::StatusSet rw1Set = RwDefinitions::StatusSet(objects::RW1);
-  RwDefinitions::StatusSet rw2Set = RwDefinitions::StatusSet(objects::RW2);
-  RwDefinitions::StatusSet rw3Set = RwDefinitions::StatusSet(objects::RW3);
-  RwDefinitions::StatusSet rw4Set = RwDefinitions::StatusSet(objects::RW4);
+  rws::StatusSet rw1Set = rws::StatusSet(objects::RW1);
+  rws::StatusSet rw2Set = rws::StatusSet(objects::RW2);
+  rws::StatusSet rw3Set = rws::StatusSet(objects::RW3);
+  rws::StatusSet rw4Set = rws::StatusSet(objects::RW4);
 };
 } /* namespace ACS */

--- a/mission/controller/acs/control/PtgCtrl.cpp
+++ b/mission/controller/acs/control/PtgCtrl.cpp
@ -161,8 +161,14 @@ void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawPara
  VectorOperations<double>::mulScalar(rwTrqNs, -1, rwTrqNs, 4);
 }

-void PtgCtrl::rwAntistiction(const bool *rwAvailable, const int32_t *omegaRw,
-                             double *torqueCommand) {
+void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, double *torqueCommand) {
+  bool rwAvailable[4] = {
+      (sensorValues->rw1Set.state.value && sensorValues->rw1Set.state.isValid()),
+      (sensorValues->rw2Set.state.value && sensorValues->rw2Set.state.isValid()),
+      (sensorValues->rw3Set.state.value && sensorValues->rw3Set.state.isValid()),
+      (sensorValues->rw4Set.state.value && sensorValues->rw4Set.state.isValid())};
+  int32_t omegaRw[4] = {sensorValues->rw1Set.currSpeed.value, sensorValues->rw2Set.currSpeed.value,
+                        sensorValues->rw3Set.currSpeed.value, sensorValues->rw4Set.currSpeed.value};
  for (uint8_t i = 0; i < 4; i++) {
    if (rwAvailable[i]) {
      if (torqueMemory[i] != 0) {
--- a/mission/controller/acs/control/PtgCtrl.h
+++ b/mission/controller/acs/control/PtgCtrl.h
@ -54,11 +54,10 @@ class PtgCtrl {
                    const int32_t *speedRw3, double *rwTrqNs);

  /* @brief: Commands the stiction torque in case wheel speed is to low
-   * @param: rwAvailable 	Boolean Flag for all reaction wheels
-   * 		 omegaRw		current wheel speed of reaction wheels
+   * @param: sensorValues 	class containing all RW related values
   * 		 torqueCommand  modified torque after antistiction
   */
-  void rwAntistiction(const bool *rwAvailable, const int32_t *omegaRw, double *torqueCommand);
+  void rwAntistiction(ACS::SensorValues *sensorValues, double *torqueCommand);

 private:
  AcsParameters::RwHandlingParameters *rwHandlingParameters;
--- a/mission/devices/GyroADIS1650XHandler.cpp
+++ b/mission/devices/GyroADIS1650XHandler.cpp
@ -434,7 +434,7 @@ ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *
      // Prepare transfer
      int fileDescriptor = 0;
      std::string device = comIf->getSpiDev();
-      UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
+      UnixFileGuard fileHelper(device, fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
      if (fileHelper.getOpenResult() != returnvalue::OK) {
        return SpiComIF::OPENING_FILE_FAILED;
      }
--- a/mission/devices/HeaterHandler.cpp
+++ b/mission/devices/HeaterHandler.cpp
@ -289,7 +289,7 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
                 << " low" << std::endl;
      triggerEvent(GPIO_PULL_LOW_FAILED, result);
    } else {
-      auto result = heaterMutex->lockMutex();
+      result = heaterMutex->lockMutex();
      heater.switchState = OFF;
      if (result == returnvalue::OK) {
        heaterMutex->unlockMutex();
--- a/mission/devices/PayloadPcduHandler.cpp
+++ b/mission/devices/PayloadPcduHandler.cpp
@ -722,7 +722,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
  int retval = 0;
  // Prepare transfer
  int fileDescriptor = 0;
-  UnixFileGuard fileHelper(comIf->getSpiDev(), &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
+  UnixFileGuard fileHelper(comIf->getSpiDev(), fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
  if (fileHelper.getOpenResult() != returnvalue::OK) {
    return SpiComIF::OPENING_FILE_FAILED;
  }
--- a/mission/devices/RwHandler.cpp
+++ b/mission/devices/RwHandler.cpp
@ -2,6 +2,7 @@

 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/globalfunctions/CRC.h>
+#include <fsfw/globalfunctions/arrayprinter.h>
 #include <fsfw_hal/common/gpio/GpioIF.h>

 #include "OBSWConfig.h"
@ -27,11 +28,12 @@ RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCooki
 RwHandler::~RwHandler() {}

 void RwHandler::doStartUp() {
-  internalState = InternalState::GET_RESET_STATUS;
+  internalState = InternalState::DEFAULT;

  if (gpioComIF->pullHigh(enableGpio) != returnvalue::OK) {
    sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high";
  }
+  updatePeriodicReply(true, rws::REPLY_ID);
  setMode(_MODE_TO_ON);
 }

@ -39,32 +41,18 @@ void RwHandler::doShutDown() {
  if (gpioComIF->pullLow(enableGpio) != returnvalue::OK) {
    sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to low";
  }
-  setMode(_MODE_POWER_DOWN);
+  internalState = InternalState::DEFAULT;
+  updatePeriodicReply(false, rws::REPLY_ID);
+  // The power switch is handled by the assembly, so we can go off here directly.
+  setMode(MODE_OFF);
 }

 ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
  switch (internalState) {
-    case InternalState::SET_SPEED:
-      *id = RwDefinitions::SET_SPEED;
-      internalState = InternalState::GET_RESET_STATUS;
-      break;
-    case InternalState::GET_RESET_STATUS:
-      *id = RwDefinitions::GET_LAST_RESET_STATUS;
-      internalState = InternalState::READ_TEMPERATURE;
-      break;
-    case InternalState::READ_TEMPERATURE:
-      *id = RwDefinitions::GET_TEMPERATURE;
-      internalState = InternalState::GET_RW_SATUS;
-      break;
-    case InternalState::GET_RW_SATUS:
-      *id = RwDefinitions::GET_RW_STATUS;
-      internalState = InternalState::CLEAR_RESET_STATUS;
-      break;
-    case InternalState::CLEAR_RESET_STATUS:
-      *id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
-      /** After reset status is cleared, reset status will be polled again for verification */
-      internalState = InternalState::GET_RESET_STATUS;
+    case InternalState::DEFAULT: {
+      *id = rws::REQUEST_ID;
      break;
+    }
    default:
      sif::debug << "RwHandler::buildNormalDeviceCommand: Invalid internal step" << std::endl;
      break;
@ -82,27 +70,8 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
  ReturnValue_t result = returnvalue::OK;

  switch (deviceCommand) {
-    case (RwDefinitions::RESET_MCU): {
-      prepareSimpleCommand(deviceCommand);
-      return returnvalue::OK;
-    }
-    case (RwDefinitions::GET_LAST_RESET_STATUS): {
-      prepareSimpleCommand(deviceCommand);
-      return returnvalue::OK;
-    }
-    case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
-      prepareSimpleCommand(deviceCommand);
-      return returnvalue::OK;
-    }
-    case (RwDefinitions::GET_RW_STATUS): {
-      prepareSimpleCommand(deviceCommand);
-      return returnvalue::OK;
-    }
-    case (RwDefinitions::INIT_RW_CONTROLLER): {
-      prepareSimpleCommand(deviceCommand);
-      return returnvalue::OK;
-    }
-    case (RwDefinitions::SET_SPEED): {
+    case (rws::SET_SPEED):
+    case (rws::REQUEST_ID): {
      if (commandData != nullptr && commandDataLen != 6) {
        sif::error << "RwHandler::buildCommandFromCommand: Received set speed command with"
                   << " invalid length" << std::endl;
@ -133,15 +102,33 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
      if (result != returnvalue::OK) {
        return result;
      }
-      result = prepareSetSpeedCmd();
-      return result;
-    }
-    case (RwDefinitions::GET_TEMPERATURE): {
-      prepareSimpleCommand(deviceCommand);
+      // set speed flag.
+      commandBuffer[0] = true;
+      rawPacketLen = 1;
+      uint8_t* currentCmdBuf = commandBuffer + 1;
+      rwSpeedActuationSet.serialize(&currentCmdBuf, &rawPacketLen, sizeof(commandBuffer),
+                                    SerializeIF::Endianness::MACHINE);
+      commandBuffer[rawPacketLen++] = static_cast<uint8_t>(rws::SpecialRwRequest::REQUEST_NONE);
+      rawPacket = commandBuffer;
      return returnvalue::OK;
    }
-    case (RwDefinitions::GET_TM): {
-      prepareSimpleCommand(deviceCommand);
+    case (rws::RESET_MCU): {
+      commandBuffer[0] = false;
+      commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::RESET_MCU);
+      internalState = InternalState::RESET_MCU;
+      return returnvalue::OK;
+    }
+
+    case (rws::INIT_RW_CONTROLLER): {
+      commandBuffer[0] = false;
+      commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::INIT_RW_CONTROLLER);
+      internalState = InternalState::INIT_RW_CONTROLLER;
+      return returnvalue::OK;
+    }
+    case (rws::GET_TM): {
+      commandBuffer[0] = false;
+      commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::GET_TM);
+      internalState = InternalState::GET_TM;
      return returnvalue::OK;
    }
    default:
@ -151,162 +138,161 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
 }

 void RwHandler::fillCommandAndReplyMap() {
-  this->insertInCommandMap(RwDefinitions::RESET_MCU);
-  this->insertInCommandAndReplyMap(RwDefinitions::GET_LAST_RESET_STATUS, 1, &lastResetStatusSet,
-                                   RwDefinitions::SIZE_GET_RESET_STATUS);
-  this->insertInCommandAndReplyMap(RwDefinitions::CLEAR_LAST_RESET_STATUS, 1, nullptr,
-                                   RwDefinitions::SIZE_CLEAR_RESET_STATUS);
-  this->insertInCommandAndReplyMap(RwDefinitions::GET_RW_STATUS, 1, &statusSet,
-                                   RwDefinitions::SIZE_GET_RW_STATUS);
-  this->insertInCommandAndReplyMap(RwDefinitions::INIT_RW_CONTROLLER, 1, nullptr,
-                                   RwDefinitions::SIZE_INIT_RW);
-  this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, nullptr,
-                                   RwDefinitions::SIZE_GET_TEMPERATURE_REPLY);
-  this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr,
-                                   RwDefinitions::SIZE_SET_SPEED_REPLY);
-  this->insertInCommandAndReplyMap(RwDefinitions::GET_TM, 1, &tmDataset,
-                                   RwDefinitions::SIZE_GET_TELEMETRY_REPLY);
+  insertInCommandMap(rws::REQUEST_ID);
+  insertInReplyMap(rws::REPLY_ID, 5, nullptr, 0, true);
+
+  insertInCommandMap(rws::RESET_MCU);
+  insertInCommandMap(rws::SET_SPEED);
+  insertInCommandAndReplyMap(rws::INIT_RW_CONTROLLER, 5, nullptr, 0, false, true, rws::REPLY_ID);
+  insertInCommandAndReplyMap(rws::GET_TM, 5, nullptr, 0, false, true, rws::REPLY_ID);
 }

 ReturnValue_t RwHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                      DeviceCommandId_t* foundId, size_t* foundLen) {
-  uint8_t replyByte = *start;
-  switch (replyByte) {
-    case (RwDefinitions::GET_LAST_RESET_STATUS): {
-      *foundLen = RwDefinitions::SIZE_GET_RESET_STATUS;
-      *foundId = RwDefinitions::GET_LAST_RESET_STATUS;
-      break;
+  if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON) {
+    return IGNORE_FULL_PACKET;
  }
-    case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
-      *foundLen = RwDefinitions::SIZE_CLEAR_RESET_STATUS;
-      *foundId = RwDefinitions::CLEAR_LAST_RESET_STATUS;
-      break;
-    }
-    case (RwDefinitions::GET_RW_STATUS): {
-      *foundLen = RwDefinitions::SIZE_GET_RW_STATUS;
-      *foundId = RwDefinitions::GET_RW_STATUS;
-      break;
-    }
-    case (RwDefinitions::INIT_RW_CONTROLLER): {
-      *foundLen = RwDefinitions::SIZE_INIT_RW;
-      *foundId = RwDefinitions::INIT_RW_CONTROLLER;
-      break;
-    }
-    case (RwDefinitions::SET_SPEED): {
-      *foundLen = RwDefinitions::SIZE_SET_SPEED_REPLY;
-      *foundId = RwDefinitions::SET_SPEED;
-      break;
-    }
-    case (RwDefinitions::GET_TEMPERATURE): {
-      *foundLen = RwDefinitions::SIZE_GET_TEMPERATURE_REPLY;
-      *foundId = RwDefinitions::GET_TEMPERATURE;
-      break;
-    }
-    case (RwDefinitions::GET_TM): {
-      *foundLen = RwDefinitions::SIZE_GET_TELEMETRY_REPLY;
-      *foundId = RwDefinitions::GET_TM;
-      break;
-    }
-    default: {
-      sif::warning << "RwHandler::scanForReply: Reply contains invalid command code" << std::endl;
+  if (remainingSize > 0) {
    *foundLen = remainingSize;
-      return returnvalue::FAILED;
+    *foundId = rws::REPLY_ID;
  }
-  }
-
-  sizeOfReply = *foundLen;
-
  return returnvalue::OK;
 }

 ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
-  /** Check result code */
-  if (*(packet + 1) == RwDefinitions::STATE_ERROR) {
-    sif::error << "RwHandler::interpretDeviceReply: Command execution failed. Command id: " << id
-               << std::endl;
-    return EXECUTION_FAILED;
-  }
-
-  /** Received in little endian byte order */
-  uint16_t replyCrc = *(packet + sizeOfReply - 1) << 8 | *(packet + sizeOfReply - 2);
-
-  if (CRC::crc16ccitt(packet, sizeOfReply - 2, 0xFFFF) != replyCrc) {
-    sif::error << "RwHandler::interpretDeviceReply: cRC error" << std::endl;
+  RwReplies replies(packet);
+  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t status;
+  auto checkPacket = [&](DeviceCommandId_t currentId, const uint8_t* packetPtr) {
+    // This is just the packet length of the frame from the RW. The actual
+    // data is one more flag byte to show whether the value was read at least once.
+    auto packetLen = rws::idToPacketLen(currentId);
+    // arrayprinter::print(packetPtr, packetLen);
+    uint16_t replyCrc = 0;
+    size_t dummy = 0;
+    SerializeAdapter::deSerialize(&replyCrc, packetPtr + packetLen - 2, &dummy,
+                                  SerializeIF::Endianness::LITTLE);
+    if (CRC::crc16ccitt(packetPtr, packetLen - 2) != replyCrc) {
+      sif::error << "RwHandler::interpretDeviceReply: CRC error for ID " << id << std::endl;
      return CRC_ERROR;
    }
-
-  switch (id) {
-    case (RwDefinitions::GET_LAST_RESET_STATUS): {
-      handleResetStatusReply(packet);
-      break;
+    if (packetPtr[1] == rws::STATE_ERROR) {
+      sif::error << "RwHandler::interpretDeviceReply: Command execution failed. Command id: " << id
+                 << std::endl;
+      result = EXECUTION_FAILED;
    }
-    case (RwDefinitions::GET_RW_STATUS): {
-      handleGetRwStatusReply(packet);
-      break;
-    }
-    case (RwDefinitions::CLEAR_LAST_RESET_STATUS):
-    case (RwDefinitions::INIT_RW_CONTROLLER):
-    case (RwDefinitions::SET_SPEED):
-      // no reply data expected
-      break;
-    case (RwDefinitions::GET_TEMPERATURE): {
-      handleTemperatureReply(packet);
-      break;
-    }
-    case (RwDefinitions::GET_TM): {
-      handleGetTelemetryReply(packet);
-      break;
-    }
-    default: {
-      sif::debug << "RwHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
-      return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
-    }
-  }
-
    return returnvalue::OK;
+  };
+  if (replies.wasSetSpeedReplyRead()) {
+    status = checkPacket(rws::DeviceCommandId::SET_SPEED, replies.getSetSpeedReply());
+    if (status != returnvalue::OK) {
+      result = status;
+    }
+  }
+
+  if (replies.wasRwStatusRead()) {
+    status = checkPacket(rws::DeviceCommandId::GET_RW_STATUS, replies.getRwStatusReply());
+    if (status == returnvalue::OK) {
+      handleGetRwStatusReply(replies.getRwStatusReply());
+    } else {
+      result = status;
+    }
+  }
+
+  if (replies.wasGetLastStatusReplyRead()) {
+    status = checkPacket(rws::DeviceCommandId::GET_LAST_RESET_STATUS,
+                         replies.getGetLastResetStatusReply());
+    if (status == returnvalue::OK) {
+      handleResetStatusReply(replies.getGetLastResetStatusReply());
+    } else {
+      result = status;
+    }
+  }
+
+  if (replies.wasClearLastRsetStatusReplyRead()) {
+    status = checkPacket(rws::DeviceCommandId::CLEAR_LAST_RESET_STATUS,
+                         replies.getClearLastResetStatusReply());
+    if (status != returnvalue::OK) {
+      result = status;
+    }
+  }
+
+  if (replies.wasReadTemperatureReplySet()) {
+    status = checkPacket(rws::DeviceCommandId::GET_TEMPERATURE, replies.getReadTemperatureReply());
+    if (status == returnvalue::OK) {
+      handleTemperatureReply(replies.getReadTemperatureReply());
+    } else {
+      result = status;
+    }
+  }
+  if (internalState == InternalState::GET_TM) {
+    if (replies.wasHkDataReplyRead()) {
+      status = checkPacket(rws::DeviceCommandId::GET_TM, replies.getHkDataReply());
+      if (status == returnvalue::OK) {
+        handleGetTelemetryReply(replies.getHkDataReply());
+      } else {
+        result = status;
+      }
+      internalState = InternalState::DEFAULT;
+    }
+  }
+  if (internalState == InternalState::INIT_RW_CONTROLLER) {
+    if (replies.wasInitRwControllerReplyRead()) {
+      status =
+          checkPacket(rws::DeviceCommandId::INIT_RW_CONTROLLER, replies.getInitRwControllerReply());
+      if (status != returnvalue::OK) {
+        result = status;
+      }
+      internalState = InternalState::DEFAULT;
+    }
+  }
+  if (internalState == InternalState::RESET_MCU) {
+    internalState = InternalState::DEFAULT;
+  }
+  return result;
 }

 uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }

 ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                 LocalDataPoolManager& poolManager) {
-  localDataPoolMap.emplace(RwDefinitions::RW_SPEED, &rwSpeed);
-  localDataPoolMap.emplace(RwDefinitions::RAMP_TIME, &rampTime);
+  localDataPoolMap.emplace(rws::RW_SPEED, &rwSpeed);
+  localDataPoolMap.emplace(rws::RAMP_TIME, &rampTime);

-  localDataPoolMap.emplace(RwDefinitions::TEMPERATURE_C, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::TEMPERATURE_C, new PoolEntry<int32_t>({0}));

-  localDataPoolMap.emplace(RwDefinitions::CURR_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::STATE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::CLC_MODE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::CURR_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::STATE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::CLC_MODE, new PoolEntry<uint8_t>({0}));

-  localDataPoolMap.emplace(RwDefinitions::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>({0}));

-  localDataPoolMap.emplace(RwDefinitions::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::PRESSURE_SENSOR_TEMPERATURE, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(RwDefinitions::PRESSURE, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_STATE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_CLC_MODE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_CURR_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_REF_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::EXECUTED_REPLIES, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::COMMAND_REPLIES, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_BYTES_READ, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_PARITY_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_NOISE_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_FRAME_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::PRESSURE_SENSOR_TEMPERATURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(rws::PRESSURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_STATE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TM_CLC_MODE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_CURR_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_REF_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::EXECUTED_REPLIES, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::COMMAND_REPLIES, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_BYTES_READ, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_PARITY_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_NOISE_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_FRAME_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
  poolManager.subscribeForDiagPeriodicPacket(
      subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 5.0));
  poolManager.subscribeForRegularPeriodicPacket(
@ -316,15 +302,6 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
  return returnvalue::OK;
 }

-void RwHandler::prepareSimpleCommand(DeviceCommandId_t id) {
-  commandBuffer[0] = static_cast<uint8_t>(id);
-  uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
-  commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
-  commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
-  rawPacket = commandBuffer;
-  rawPacketLen = 3;
-}
-
 ReturnValue_t RwHandler::checkSpeedAndRampTime() {
  int32_t speed = 0;
  uint16_t rampTime = 0;
@ -342,34 +319,14 @@ ReturnValue_t RwHandler::checkSpeedAndRampTime() {
  return returnvalue::OK;
 }

-ReturnValue_t RwHandler::prepareSetSpeedCmd() {
-  commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::SET_SPEED);
-  uint8_t* serPtr = commandBuffer + 1;
-  size_t serSize = 1;
-  rwSpeedActuationSet.setValidityBufferGeneration(false);
-  ReturnValue_t result = rwSpeedActuationSet.serialize(&serPtr, &serSize, sizeof(commandBuffer),
-                                                       SerializeIF::Endianness::LITTLE);
-  rwSpeedActuationSet.setValidityBufferGeneration(true);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-
-  uint16_t crc = CRC::crc16ccitt(commandBuffer, 7, 0xFFFF);
-  commandBuffer[7] = static_cast<uint8_t>(crc & 0xFF);
-  commandBuffer[8] = static_cast<uint8_t>((crc >> 8) & 0xFF);
-  rawPacket = commandBuffer;
-  rawPacketLen = 9;
-  return result;
-}
-
 void RwHandler::handleResetStatusReply(const uint8_t* packet) {
  PoolReadGuard rg(&lastResetStatusSet);
  uint8_t offset = 2;
  uint8_t resetStatus = packet[offset];
  if (resetStatus != 0) {
-    internalState = InternalState::CLEAR_RESET_STATUS;
+    // internalState = InternalState::CLEAR_RESET_STATUS;
    lastResetStatusSet.lastNonClearedResetStatus = resetStatus;
-    triggerEvent(RwDefinitions::RESET_OCCURED, resetStatus, 0);
+    triggerEvent(rws::RESET_OCCURED, resetStatus, 0);
  }
  lastResetStatusSet.currentResetStatus = resetStatus;
  if (debugMode) {
@ -408,10 +365,10 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {

  statusSet.setValidity(true, true);

-  if (statusSet.state == RwDefinitions::STATE_ERROR) {
+  if (statusSet.state == rws::STATE_ERROR) {
    // This requires the commanding of the init reaction wheel controller command to recover
    // from error state which must be handled by the FDIR instance.
-    triggerEvent(RwDefinitions::ERROR_STATE, statusSet.state.value, 0);
+    triggerEvent(rws::ERROR_STATE, statusSet.state.value, 0);
    sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state" << std::endl;
  }

@ -442,6 +399,24 @@ void RwHandler::handleTemperatureReply(const uint8_t* packet) {
  }
 }

+LocalPoolDataSetBase* RwHandler::getDataSetHandle(sid_t sid) {
+  switch (sid.ownerSetId) {
+    case (rws::SetIds::STATUS_SET_ID): {
+      return &statusSet;
+    }
+    case (rws::SetIds::LAST_RESET_ID): {
+      return &lastResetStatusSet;
+    }
+    case (rws::SetIds::SPEED_CMD_SET): {
+      return &rwSpeedActuationSet;
+    }
+    case (rws::SetIds::TM_SET_ID): {
+      return &tmDataset;
+    }
+  }
+  return nullptr;
+}
+
 void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
  PoolReadGuard rg(&tmDataset);
  uint8_t offset = 2;
--- a/mission/devices/RwHandler.h
+++ b/mission/devices/RwHandler.h
@ -3,7 +3,7 @@

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw_hal/common/gpio/gpioDefinitions.h>
-#include <mission/devices/devicedefinitions/RwDefinitions.h>
+#include <mission/devices/devicedefinitions/rwHelpers.h>
 #include <string.h>

 #include "events/subsystemIdRanges.h"
@ -42,24 +42,6 @@ class RwHandler : public DeviceHandlerBase {

  virtual ~RwHandler();

-  static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
-
-  static const ReturnValue_t SPI_WRITE_FAILURE = MAKE_RETURN_CODE(0xB0);
-  //! [EXPORT] : [COMMENT] Used by the spi send function to tell a failing read call
-  static const ReturnValue_t SPI_READ_FAILURE = MAKE_RETURN_CODE(0xB1);
-  //! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about a missing
-  //! start sign 0x7E
-  static const ReturnValue_t MISSING_START_SIGN = MAKE_RETURN_CODE(0xB2);
-  //! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about an invalid
-  //! substitution combination
-  static const ReturnValue_t INVALID_SUBSTITUTE = MAKE_RETURN_CODE(0xB3);
-  //! [EXPORT] : [COMMENT] HDLC decoding mechanism never receives the end sign 0x7E
-  static const ReturnValue_t MISSING_END_SIGN = MAKE_RETURN_CODE(0xB4);
-  //! [EXPORT] : [COMMENT] Reaction wheel only responds with empty frames.
-  static const ReturnValue_t NO_REPLY = MAKE_RETURN_CODE(0xB5);
-  //! [EXPORT] : [COMMENT] Expected a start marker as first byte
-  static const ReturnValue_t NO_START_MARKER = MAKE_RETURN_CODE(0xB6);
-
 protected:
  void doStartUp() override;
  void doShutDown() override;
@ -74,6 +56,7 @@ class RwHandler : public DeviceHandlerBase {
  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                        LocalDataPoolManager& poolManager) override;
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;

 private:
  //! [EXPORT] : [COMMENT] Action Message with invalid speed was received. Valid speeds must be in
@ -87,40 +70,43 @@ class RwHandler : public DeviceHandlerBase {
  static const ReturnValue_t EXECUTION_FAILED = MAKE_RETURN_CODE(0xA3);
  //! [EXPORT] : [COMMENT] Reaction wheel reply has invalid crc
  static const ReturnValue_t CRC_ERROR = MAKE_RETURN_CODE(0xA4);
+  static const ReturnValue_t VALUE_NOT_READ = MAKE_RETURN_CODE(0xA5);

  GpioIF* gpioComIF = nullptr;
  gpioId_t enableGpio = gpio::NO_GPIO;
  bool debugMode = false;

-  RwDefinitions::StatusSet statusSet;
-  RwDefinitions::LastResetSatus lastResetStatusSet;
-  RwDefinitions::TmDataset tmDataset;
-  RwDefinitions::RwSpeedActuationSet rwSpeedActuationSet;
+  rws::StatusSet statusSet;
+  rws::LastResetSatus lastResetStatusSet;
+  rws::TmDataset tmDataset;
+  rws::RwSpeedActuationSet rwSpeedActuationSet;

-  uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE];
+  uint8_t commandBuffer[32];
  uint8_t rwIdx;

  PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>({0});
  PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>({10});

  enum class InternalState {
-    GET_RESET_STATUS,
-    CLEAR_RESET_STATUS,
-    READ_TEMPERATURE,
-    SET_SPEED,
-    GET_RW_SATUS
+    DEFAULT,
+    GET_TM,
+    INIT_RW_CONTROLLER,
+    RESET_MCU,
+    // GET_RESET_STATUS,
+    // CLEAR_RESET_STATUS,
+    // READ_TEMPERATURE,
+    // SET_SPEED,
+    // GET_RW_SATUS
  };

-  InternalState internalState = InternalState::GET_RESET_STATUS;
-
-  size_t sizeOfReply = 0;
+  InternalState internalState = InternalState::DEFAULT;

  /**
   * @brief   This function can be used to build commands which do not contain any data apart
   *          from the command id and the CRC.
   * @param commandId The command id of the command to build.
   */
-  void prepareSimpleCommand(DeviceCommandId_t id);
+  // void prepareSimpleCommand(DeviceCommandId_t id);

  /**
   * @brief   This function checks if the receiced speed and ramp time to set are in a valid
@ -134,7 +120,7 @@ class RwHandler : public DeviceHandlerBase {
   *          an action message or set in the software.
   * @return  returnvalue::OK if successful, otherwise error code.
   */
-  ReturnValue_t prepareSetSpeedCmd();
+  // ReturnValue_t prepareSetSpeedCmd();

  /**
   * @brief   This function writes the last reset status retrieved with the get last reset status
--- a/mission/devices/SyrlinksHandler.cpp
+++ b/mission/devices/SyrlinksHandler.cpp
@ -279,7 +279,7 @@ ReturnValue_t SyrlinksHandler::scanForReply(const uint8_t* start, size_t remaini
      break;
    default:
      sif::warning << "SyrlinksHkHandler::scanForReply: Unknown reply identifier" << std::endl;
-      result = IGNORE_REPLY_DATA;
+      result = IGNORE_FULL_PACKET;
      break;
  }

--- a/mission/devices/devicedefinitions/CMakeLists.txt
+++ b/mission/devices/devicedefinitions/CMakeLists.txt
@ -1 +1 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE ScexDefinitions.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE ScexDefinitions.cpp rwHelpers.cpp)
--- a/mission/devices/devicedefinitions/rwHelpers.cpp
+++ b/mission/devices/devicedefinitions/rwHelpers.cpp
@ -0,0 +1,54 @@
+#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_CPP_
+#define MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_CPP_
+
+#include "rwHelpers.h"
+
+void rws::encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, uint8_t* encodedBuffer,
+                     size_t& encodedLen) {
+  encodedBuffer[0] = rws::FRAME_DELIMITER;
+  encodedLen = 1;
+  for (size_t sourceIdx = 0; sourceIdx < sourceLen; sourceIdx++) {
+    if (sourceBuf[sourceIdx] == 0x7E) {
+      encodedBuffer[encodedLen++] = 0x7D;
+      encodedBuffer[encodedLen++] = 0x5E;
+    } else if (sourceBuf[sourceIdx] == 0x7D) {
+      encodedBuffer[encodedLen++] = 0x7D;
+      encodedBuffer[encodedLen++] = 0x5D;
+    } else {
+      encodedBuffer[encodedLen++] = sourceBuf[sourceIdx];
+    }
+  }
+  encodedBuffer[encodedLen++] = rws::FRAME_DELIMITER;
+}
+
+size_t rws::idToPacketLen(DeviceCommandId_t id) {
+  switch (id) {
+    case (rws::GET_RW_STATUS): {
+      return rws::SIZE_GET_RW_STATUS;
+    }
+    case (rws::SET_SPEED): {
+      return rws::SIZE_SET_SPEED_REPLY;
+    }
+    case (rws::CLEAR_LAST_RESET_STATUS): {
+      return rws::SIZE_CLEAR_RESET_STATUS;
+    }
+    case (rws::GET_LAST_RESET_STATUS): {
+      return rws::SIZE_GET_RESET_STATUS;
+    }
+    case (rws::GET_TEMPERATURE): {
+      return rws::SIZE_GET_TEMPERATURE_REPLY;
+    }
+    case (rws::GET_TM): {
+      return rws::SIZE_GET_TELEMETRY_REPLY;
+    }
+    case (rws::INIT_RW_CONTROLLER): {
+      return rws::SIZE_INIT_RW;
+    }
+    default: {
+      sif::error << "no reply buffer for rw command " << id << std::endl;
+      return 0;
+    }
+  }
+}
+
+#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_CPP_ */
--- a/mission/devices/devicedefinitions/RwDefinitions.h
+++ b/mission/devices/devicedefinitions/RwDefinitions.h
@ -1,14 +1,60 @@
-#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_
-#define MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_
+#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_H_
+#define MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_H_

 #include <fsfw/datapoollocal/LocalPoolVariable.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>

+#include "eive/resultClassIds.h"
 #include "events/subsystemIdRanges.h"
 #include "objects/systemObjectList.h"

-namespace RwDefinitions {
+namespace rws {
+
+void encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, uint8_t* encodedBuffer,
+                size_t& encodedLen);
+size_t idToPacketLen(DeviceCommandId_t id);
+
+static const size_t SIZE_GET_RESET_STATUS = 5;
+static const size_t SIZE_CLEAR_RESET_STATUS = 4;
+static const size_t SIZE_INIT_RW = 4;
+static const size_t SIZE_GET_RW_STATUS = 14;
+static const size_t SIZE_SET_SPEED_REPLY = 4;
+static const size_t SIZE_GET_TEMPERATURE_REPLY = 8;
+/** Max size when requesting telemetry */
+static const size_t SIZE_GET_TELEMETRY_REPLY = 91;
+
+//! This is the end and start marker of the frame datalinklayer. Also called frame delimiter
+//! in the NanoAvionics datasheet.
+static constexpr uint8_t FRAME_DELIMITER = 0x7E;
+
+enum class SpecialRwRequest : uint8_t {
+  REQUEST_NONE = 0,
+  RESET_MCU = 1,
+  INIT_RW_CONTROLLER = 2,
+  GET_TM = 3,
+  NUM_REQUESTS
+};
+
+static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
+
+static const ReturnValue_t SPI_WRITE_FAILURE = MAKE_RETURN_CODE(0xB0);
+//! [EXPORT] : [COMMENT] Used by the spi send function to tell a failing read call
+static const ReturnValue_t SPI_READ_FAILURE = MAKE_RETURN_CODE(0xB1);
+//! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about a missing
+//! start sign 0x7E
+static const ReturnValue_t MISSING_START_SIGN = MAKE_RETURN_CODE(0xB2);
+//! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about an invalid
+//! substitution combination
+static const ReturnValue_t INVALID_SUBSTITUTE = MAKE_RETURN_CODE(0xB3);
+//! [EXPORT] : [COMMENT] HDLC decoding mechanism never receives the end sign 0x7E
+static const ReturnValue_t MISSING_END_SIGN = MAKE_RETURN_CODE(0xB4);
+//! [EXPORT] : [COMMENT] Reaction wheel only responds with empty frames.
+static const ReturnValue_t NO_REPLY = MAKE_RETURN_CODE(0xB5);
+//! [EXPORT] : [COMMENT] Expected a start marker as first byte
+static const ReturnValue_t NO_START_MARKER = MAKE_RETURN_CODE(0xB6);
+//! [EXPORT] : [COMMENT] Timeout when reading reply
+static const ReturnValue_t SPI_READ_TIMEOUT = MAKE_RETURN_CODE(0xB7);

 static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::RW_HANDLER;

@ -17,7 +63,8 @@ static constexpr Event ERROR_STATE = MAKE_EVENT(1, severity::HIGH);

 static constexpr Event RESET_OCCURED = event::makeEvent(SUBSYSTEM_ID, 2, severity::LOW);

-static const uint32_t SPI_REPLY_DELAY = 70000;  // us
+//! Minimal delay as specified by the datasheet.
+static const uint32_t SPI_REPLY_DELAY = 20000;  // us

 enum PoolIds : lp_id_t {
  TEMPERATURE_C,
@ -68,32 +115,28 @@ enum LastResetStatusBitPos : uint8_t {
  LOW_POWER_RESET = 5
 };

-static const DeviceCommandId_t RESET_MCU = 1;
-static const DeviceCommandId_t GET_LAST_RESET_STATUS = 2;
-static const DeviceCommandId_t CLEAR_LAST_RESET_STATUS = 3;
-static const DeviceCommandId_t GET_RW_STATUS = 4;
-/** This command is needed to recover from error state */
-static const DeviceCommandId_t INIT_RW_CONTROLLER = 5;
-static const DeviceCommandId_t SET_SPEED = 6;
-static const DeviceCommandId_t GET_TEMPERATURE = 8;
-static const DeviceCommandId_t GET_TM = 9;
+enum DeviceCommandId : DeviceCommandId_t {
+  RESET_MCU = 1,

-enum SetIds : uint32_t {
-  TEMPERATURE_SET_ID = GET_TEMPERATURE,
-  STATUS_SET_ID = GET_RW_STATUS,
-  LAST_RESET_ID = GET_LAST_RESET_STATUS,
-  TM_SET_ID = GET_TM,
-  SPEED_CMD_SET = 10,
+  GET_LAST_RESET_STATUS = 2,
+  CLEAR_LAST_RESET_STATUS = 3,
+  GET_RW_STATUS = 4,
+  INIT_RW_CONTROLLER = 5,
+  SET_SPEED = 6,
+  GET_TEMPERATURE = 8,
+  GET_TM = 9
 };

-static const size_t SIZE_GET_RESET_STATUS = 5;
-static const size_t SIZE_CLEAR_RESET_STATUS = 4;
-static const size_t SIZE_INIT_RW = 4;
-static const size_t SIZE_GET_RW_STATUS = 14;
-static const size_t SIZE_SET_SPEED_REPLY = 4;
-static const size_t SIZE_GET_TEMPERATURE_REPLY = 8;
-/** Max size when requesting telemetry */
-static const size_t SIZE_GET_TELEMETRY_REPLY = 91;
+static constexpr DeviceCommandId_t REQUEST_ID = 0x77;
+static constexpr DeviceCommandId_t REPLY_ID = 0x78;
+
+enum SetIds : uint32_t {
+  TEMPERATURE_SET_ID = DeviceCommandId::GET_TEMPERATURE,
+  STATUS_SET_ID = DeviceCommandId::GET_RW_STATUS,
+  LAST_RESET_ID = DeviceCommandId::GET_LAST_RESET_STATUS,
+  TM_SET_ID = DeviceCommandId::GET_TM,
+  SPEED_CMD_SET = 10,
+};

 /** Set speed command has maximum size */
 static const size_t MAX_CMD_SIZE = 9;
@ -112,11 +155,10 @@ static const uint8_t TM_SET_ENTRIES = 24;
 */
 class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
 public:
-  StatusSet(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, RwDefinitions::SetIds::STATUS_SET_ID) {}
+  StatusSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, rws::SetIds::STATUS_SET_ID) {}

  StatusSet(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::STATUS_SET_ID)) {}
+      : StaticLocalDataSet(sid_t(objectId, rws::SetIds::STATUS_SET_ID)) {}

  lp_var_t<int32_t> temperatureCelcius =
      lp_var_t<int32_t>(sid.objectId, PoolIds::TEMPERATURE_C, this);
@ -133,10 +175,10 @@ class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
 class LastResetSatus : public StaticLocalDataSet<LAST_RESET_ENTRIES> {
 public:
  LastResetSatus(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, RwDefinitions::SetIds::LAST_RESET_ID) {}
+      : StaticLocalDataSet(owner, rws::SetIds::LAST_RESET_ID) {}

  LastResetSatus(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::LAST_RESET_ID)) {}
+      : StaticLocalDataSet(sid_t(objectId, rws::SetIds::LAST_RESET_ID)) {}

  // If a reset occurs, the status code will be cached into this variable
  lp_var_t<uint8_t> lastNonClearedResetStatus =
@ -153,11 +195,9 @@ class LastResetSatus : public StaticLocalDataSet<LAST_RESET_ENTRIES> {
 */
 class TmDataset : public StaticLocalDataSet<TM_SET_ENTRIES> {
 public:
-  TmDataset(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, RwDefinitions::SetIds::TM_SET_ID) {}
+  TmDataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, rws::SetIds::TM_SET_ID) {}

-  TmDataset(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::TM_SET_ID)) {}
+  TmDataset(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, rws::SetIds::TM_SET_ID)) {}

  lp_var_t<uint8_t> lastResetStatus =
      lp_var_t<uint8_t>(sid.objectId, PoolIds::TM_LAST_RESET_STATUS, this);
@ -209,9 +249,9 @@ class RwSpeedActuationSet : public StaticLocalDataSet<2> {

 public:
  RwSpeedActuationSet(HasLocalDataPoolIF& owner)
-      : StaticLocalDataSet(&owner, RwDefinitions::SetIds::SPEED_CMD_SET) {}
+      : StaticLocalDataSet(&owner, rws::SetIds::SPEED_CMD_SET) {}
  RwSpeedActuationSet(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::SPEED_CMD_SET)) {}
+      : StaticLocalDataSet(sid_t(objectId, rws::SetIds::SPEED_CMD_SET)) {}

  void setRwSpeed(int32_t rwSpeed_, uint16_t rampTime_) {
    if (rwSpeed.value != rwSpeed_) {
@ -228,12 +268,71 @@ class RwSpeedActuationSet : public StaticLocalDataSet<2> {
  }

 private:
-  lp_var_t<int32_t> rwSpeed =
-      lp_var_t<int32_t>(sid.objectId, RwDefinitions::PoolIds::RW_SPEED, this);
-  lp_var_t<uint16_t> rampTime =
-      lp_var_t<uint16_t>(sid.objectId, RwDefinitions::PoolIds::RAMP_TIME, this);
+  lp_var_t<int32_t> rwSpeed = lp_var_t<int32_t>(sid.objectId, rws::PoolIds::RW_SPEED, this);
+  lp_var_t<uint16_t> rampTime = lp_var_t<uint16_t>(sid.objectId, rws::PoolIds::RAMP_TIME, this);
 };

-}  // namespace RwDefinitions
+}  // namespace rws

-#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_ */
+/**
+ * Raw pointer overlay to hold the different frames received from the reaction
+ * wheel in a raw buffer and send them to the device handler.
+ */
+struct RwReplies {
+  friend class RwPollingTask;
+
+ public:
+  RwReplies(const uint8_t* rawData) : rawData(const_cast<uint8_t*>(rawData)) { initPointers(); }
+
+  const uint8_t* getClearLastResetStatusReply() const { return clearLastResetStatusReply + 1; }
+  bool wasClearLastRsetStatusReplyRead() const { return clearLastResetStatusReply[0]; }
+
+  const uint8_t* getGetLastResetStatusReply() const { return getLastResetStatusReply + 1; }
+  bool wasGetLastStatusReplyRead() const { return getLastResetStatusReply[0]; }
+
+  const uint8_t* getHkDataReply() const { return hkDataReply + 1; }
+  bool wasHkDataReplyRead() const { return hkDataReply[0]; }
+
+  const uint8_t* getInitRwControllerReply() const { return initRwControllerReply + 1; }
+  bool wasInitRwControllerReplyRead() const { return initRwControllerReply[0]; }
+
+  const uint8_t* getRawData() const { return rawData; }
+
+  const uint8_t* getReadTemperatureReply() const { return readTemperatureReply + 1; }
+  bool wasReadTemperatureReplySet() const { return readTemperatureReply[0]; }
+
+  const uint8_t* getRwStatusReply() const { return rwStatusReply + 1; }
+  bool wasRwStatusRead() const { return rwStatusReply[0]; }
+
+  const uint8_t* getSetSpeedReply() const { return setSpeedReply + 1; }
+  bool wasSetSpeedReplyRead() const { return setSpeedReply[0]; }
+
+ private:
+  RwReplies(uint8_t* rwData) : rawData(rwData) { initPointers(); }
+
+  /**
+   * The first byte of the reply buffers contains a flag which shows whether that
+   * frame was read from the reaction wheel at least once.
+   */
+  void initPointers() {
+    rwStatusReply = rawData;
+    setSpeedReply = rawData + rws::SIZE_GET_RW_STATUS + 1;
+    getLastResetStatusReply = setSpeedReply + rws::SIZE_SET_SPEED_REPLY + 1;
+    clearLastResetStatusReply = getLastResetStatusReply + rws::SIZE_GET_RESET_STATUS + 1;
+    readTemperatureReply = clearLastResetStatusReply + rws::SIZE_CLEAR_RESET_STATUS + 1;
+    hkDataReply = readTemperatureReply + rws::SIZE_GET_TEMPERATURE_REPLY + 1;
+    initRwControllerReply = hkDataReply + rws::SIZE_GET_TELEMETRY_REPLY + 1;
+    dummyPointer = initRwControllerReply + rws::SIZE_INIT_RW + 1;
+  }
+  uint8_t* rawData;
+  uint8_t* rwStatusReply;
+  uint8_t* setSpeedReply;
+  uint8_t* getLastResetStatusReply;
+  uint8_t* clearLastResetStatusReply;
+  uint8_t* readTemperatureReply;
+  uint8_t* hkDataReply;
+  uint8_t* initRwControllerReply;
+  uint8_t* dummyPointer;
+};
+
+#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_H_ */
--- a/mission/system/objects/AcsSubsystem.cpp
+++ b/mission/system/objects/AcsSubsystem.cpp
@ -42,6 +42,11 @@ ReturnValue_t AcsSubsystem::initialize() {
  if (result != returnvalue::OK) {
    sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_RECOVERY failed" << std::endl;
  }
+  result =
+      manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::MULTIPLE_RW_INVALID));
+  if (result != returnvalue::OK) {
+    sif::error << "AcsSubsystem: Subscribing for acs::MULTIPLE_RW_INVALID failed" << std::endl;
+  }
  return Subsystem::initialize();
 }

@ -54,22 +59,24 @@ void AcsSubsystem::handleEventMessages() {
  EventMessage event;
  for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
       result = eventQueue->receiveMessage(&event)) {
+    ReturnValue_t status;
    switch (event.getMessageId()) {
      case EventMessage::EVENT_MESSAGE:
        if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
          CommandMessage msg;
          ModeMessage::setCmdModeMessage(msg, acs::AcsMode::DETUMBLE, 0);
-          ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
+          status = commandQueue->sendMessage(commandQueue->getId(), &msg);
          if (result != returnvalue::OK) {
            sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
          }
        }
-        if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
+        if (event.getEvent() == acs::SAFE_RATE_RECOVERY ||
+            event.getEvent() == acs::MULTIPLE_RW_INVALID) {
          CommandMessage msg;
          ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
-          ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
-          if (result != returnvalue::OK) {
-            sif::error << "AcsSubsystem: sending IDLE mode cmd to self has failed" << std::endl;
+          status = commandQueue->sendMessage(commandQueue->getId(), &msg);
+          if (status != returnvalue::OK) {
+            sif::error << "AcsSubsystem: sending SAFE mode cmd to self has failed" << std::endl;
          }
        }
        break;
--- a/mission/system/objects/RwAssembly.cpp
+++ b/mission/system/objects/RwAssembly.cpp
@ -167,7 +167,12 @@ bool RwAssembly::isUseable(object_id_t object, Mode_t mode) {
  return false;
 }

-ReturnValue_t RwAssembly::initialize() { return SubsystemBase::initialize(); }
+ReturnValue_t RwAssembly::initialize() {
+  for (auto objId : helper.rwIds) {
+    updateChildModeByObjId(objId, MODE_OFF, SUBMODE_NONE);
+  }
+  return AssemblyBase::initialize();
+}

 void RwAssembly::handleModeTransitionFailed(ReturnValue_t result) {
  if (targetMode == MODE_OFF) {
--- a/unittest/CMakeLists.txt
+++ b/unittest/CMakeLists.txt
@ -4,5 +4,6 @@ add_subdirectory(mocks)
 target_sources(${UNITTEST_NAME} PRIVATE
    main.cpp
    testEnvironment.cpp
+    hdlcEncodingRw.cpp
    printChar.cpp
 )
--- a/unittest/hdlcEncodingRw.cpp
+++ b/unittest/hdlcEncodingRw.cpp
@ -0,0 +1,38 @@
+
+
+#include <catch2/catch_test_macros.hpp>
+
+#include "mission/devices/devicedefinitions/rwHelpers.h"
+
+TEST_CASE("HDLC Encoding RW", "[acs]") {
+  std::array<uint8_t, 256> encodedBuffer{};
+  size_t encodedLen = 0;
+  SECTION("Basic No Escaped Bytes") {
+    std::array<uint8_t, 4> dummyNoEscaped = {1, 2, 3, 4};
+
+    rws::encodeHdlc(dummyNoEscaped.data(), dummyNoEscaped.size(), encodedBuffer.data(), encodedLen);
+    REQUIRE(encodedLen == 6);
+    REQUIRE(encodedBuffer[0] == rws::FRAME_DELIMITER);
+    REQUIRE(encodedBuffer[1] == 1);
+    REQUIRE(encodedBuffer[2] == 2);
+    REQUIRE(encodedBuffer[3] == 3);
+    REQUIRE(encodedBuffer[4] == 4);
+    REQUIRE(encodedBuffer[5] == rws::FRAME_DELIMITER);
+  }
+
+  SECTION("Basic Some Escaped Bytes") {
+    std::array<uint8_t, 4> dummySomeEscaped = {1, 0x7D, 0x7E, 4};
+
+    rws::encodeHdlc(dummySomeEscaped.data(), dummySomeEscaped.size(), encodedBuffer.data(),
+                    encodedLen);
+    REQUIRE(encodedLen == 8);
+    REQUIRE(encodedBuffer[0] == rws::FRAME_DELIMITER);
+    REQUIRE(encodedBuffer[1] == 1);
+    REQUIRE(encodedBuffer[2] == 0x7D);
+    REQUIRE(encodedBuffer[3] == 0x5D);
+    REQUIRE(encodedBuffer[4] == 0x7D);
+    REQUIRE(encodedBuffer[5] == 0x5E);
+    REQUIRE(encodedBuffer[6] == 4);
+    REQUIRE(encodedBuffer[7] == rws::FRAME_DELIMITER);
+  }
+}