From 60c99fdbfb3f0d79033de583495a76cf356edc0c Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Mon, 13 Feb 2023 11:28:27 +0100
Subject: [PATCH 01/15] local parameter handler wip

---
 bsp_q7s/core/ObjectFactory.cpp                |   6 +
 bsp_q7s/core/ObjectFactory.h                  |   2 +
 bsp_q7s/fmObjectFactory.cpp                   |   2 +
 bsp_q7s/memory/CMakeLists.txt                 |   2 +-
 bsp_q7s/memory/LocalParameterHandler.cpp      |  22 +++
 bsp_q7s/memory/LocalParameterHandler.h        |  66 +++++++++
 linux/ipcore/PdecConfig.cpp                   | 139 ++++++++++++++----
 linux/ipcore/PdecConfig.h                     |  91 +++++++++++-
 linux/ipcore/PdecHandler.cpp                  | 107 +++++++-------
 linux/ipcore/PdecHandler.h                    |  58 ++++----
 mission/config/configfile.h                   |   9 ++
 mission/system/objects/ComSubsystem.h         |   1 +
 mission/utility/GlobalConfigFileDefinitions.h |   2 +
 mission/utility/GlobalConfigHandler.cpp       |  47 +++---
 mission/utility/GlobalConfigHandler.h         |  15 +-
 15 files changed, 417 insertions(+), 152 deletions(-)
 create mode 100644 bsp_q7s/memory/LocalParameterHandler.cpp
 create mode 100644 bsp_q7s/memory/LocalParameterHandler.h
 create mode 100644 mission/config/configfile.h

diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 1fb9efed..47ca4e18 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -51,6 +51,8 @@
 #include "mission/system/tree/comModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
 #include "mission/system/tree/tcsModeTree.h"
+#include "mission/utility/GlobalConfigHandler.h"
+#include "mission/config/configfile.h"
 #include "tmtc/pusIds.h"
 #if OBSW_TEST_LIBGPIOD == 1
 #include "linux/boardtest/LibgpiodTest.h"
@@ -966,3 +968,7 @@ void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
     sif::warning << "Sending mode command failed" << std::endl;
   }
 }
+
+void ObjectFactory::createGlobalConfigHandler() {
+	new GlobalConfigHandler(objects::GLOBAL_JSON_CFG, configfile::sdrelative);
+}
diff --git a/bsp_q7s/core/ObjectFactory.h b/bsp_q7s/core/ObjectFactory.h
index c55e8452..853fd9ce 100644
--- a/bsp_q7s/core/ObjectFactory.h
+++ b/bsp_q7s/core/ObjectFactory.h
@@ -48,6 +48,8 @@ void createTestComponents(LinuxLibgpioIF* gpioComIF);
 
 void testAcsBrdAss(AcsBoardAssembly* assAss);
 
+void createGlobalConfigHandler();
+
 };  // namespace ObjectFactory
 
 #endif /* BSP_Q7S_OBJECTFACTORY_H_ */
diff --git a/bsp_q7s/fmObjectFactory.cpp b/bsp_q7s/fmObjectFactory.cpp
index 44b53225..40d2454e 100644
--- a/bsp_q7s/fmObjectFactory.cpp
+++ b/bsp_q7s/fmObjectFactory.cpp
@@ -86,6 +86,8 @@ void ObjectFactory::produce(void* args) {
   createTestComponents(gpioComIF);
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 
+  createGlobalConfigHandler();
+
   createMiscComponents();
   createThermalController();
   createAcsController(true);
diff --git a/bsp_q7s/memory/CMakeLists.txt b/bsp_q7s/memory/CMakeLists.txt
index 06909a0a..4ff840c8 100644
--- a/bsp_q7s/memory/CMakeLists.txt
+++ b/bsp_q7s/memory/CMakeLists.txt
@@ -1 +1 @@
-target_sources(${OBSW_NAME} PRIVATE scratchApi.cpp)
+target_sources(${OBSW_NAME} PRIVATE scratchApi.cpp LocalParameterHandler.cpp)
diff --git a/bsp_q7s/memory/LocalParameterHandler.cpp b/bsp_q7s/memory/LocalParameterHandler.cpp
new file mode 100644
index 00000000..03a5ba82
--- /dev/null
+++ b/bsp_q7s/memory/LocalParameterHandler.cpp
@@ -0,0 +1,22 @@
+#include "LocalParameterHandler.h"
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+LocalParameterHandler::LocalParameterHandler(std::string sdRelativeName, SdCardMountedIF* sdcMan)
+    : sdRelativeName(sdRelativeName), sdcMan(sdcMan) {}
+
+LocalParameterHandler::~LocalParameterHandler() {
+}
+
+ReturnValue_t LocalParameterHandler::initialize() {
+	std::string mountPrefix = sdcMan->getCurrentMountPrefix();
+	std::string fullname = mountPrefix + "/" + sdRelativeName;
+	setFullName(fullname);
+	ReturnValue_t result = readJsonFile();
+	if (result != returnvalue::OK) {
+		sif::warning << "LocalParameterHandler::initialize: Failed to read json file"
+				<< getFullName() << std::endl;
+		return result;
+	}
+	return returnvalue::OK;
+}
+
diff --git a/bsp_q7s/memory/LocalParameterHandler.h b/bsp_q7s/memory/LocalParameterHandler.h
new file mode 100644
index 00000000..57d646cb
--- /dev/null
+++ b/bsp_q7s/memory/LocalParameterHandler.h
@@ -0,0 +1,66 @@
+#ifndef BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_
+#define BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_
+
+#include <string>
+
+#include <mission/memory/NVMParameterBase.h>
+#include <mission/memory/SdCardMountedIF.h>
+
+/**
+ * @brief	Class to handle persistent parameters
+ *
+ * @details Use the insertValue function to add parameters
+ */
+class LocalParameterHandler : public NVMParameterBase {
+ public:
+	/**
+	 * @brief	Constructor
+	 *
+	 * @param sdRelativeName	Absolute name of json file relative to mount
+	 * 												directory	of SD card. E.g. conf/example.json
+	 * @param sdcMan	Pointer to SD card manager
+	 */
+  LocalParameterHandler(std::string sdRelativeName, SdCardMountedIF* sdcMan);
+  virtual ~LocalParameterHandler();
+
+  /**
+   * @brief Will initialize the local parameter handler
+   *
+   * @return OK if successful, otherwise error return value
+   */
+  ReturnValue_t initialize();
+
+  /**
+   * @brief Function to add parameter to json file
+   *
+   * @param key	The string to identify the parameter
+   * @param value	The value to set for this parameter
+   *
+   * @return OK if successful, otherwise error return value
+   *
+   * @details The function will add the parameter only if it is not already
+   * 					present in the json file
+   */
+  template<typename T> ReturnValue_t addParameter(std::string key, T value);
+
+ private:
+
+  // Name relative to mount point of SD card where parameters will be stored
+  std::string sdRelativeName;
+
+  SdCardMountedIF* sdcMan;
+};
+
+template<typename T> inline ReturnValue_t LocalParameterHandler::addParameter(std::string key, T value) {
+	ReturnValue_t result = insertValue(key, value);
+	if (result != returnvalue::OK) {
+		return result;
+	}
+	result = writeJsonFile();
+	if (result != returnvalue::OK) {
+		return result;
+	}
+	return returnvalue::OK;
+}
+
+#endif /* BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_ */
diff --git a/linux/ipcore/PdecConfig.cpp b/linux/ipcore/PdecConfig.cpp
index 21de4610..152ea320 100644
--- a/linux/ipcore/PdecConfig.cpp
+++ b/linux/ipcore/PdecConfig.cpp
@@ -2,41 +2,126 @@
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-PdecConfig::PdecConfig() { initialize(); }
+PdecConfig::PdecConfig()
+    : localParameterHandler("conf/pdecconfig", SdCardManager::instance()) {
+}
 
 PdecConfig::~PdecConfig() {}
 
-void PdecConfig::initialize() {
-  uint32_t word = 0;
-  word |= (VERSION_ID << 30);
-
-  // Setting the bypass flag and the control command flag should not have any
-  // implication on the operation of the PDEC IP Core
-  word |= (BYPASS_FLAG << 29);
-  word |= (CONTROL_COMMAND_FLAG << 28);
-
-  word |= (RESERVED_FIELD_A << 26);
-  word |= (SPACECRAFT_ID << 16);
-  word |= (VIRTUAL_CHANNEL << 10);
-  word |= (DUMMY_BITS << 8);
-  word |= POSITIVE_WINDOW;
-  configWords[0] = word;
-  word = 0;
-  word |= (NEGATIVE_WINDOW << 24);
-  word |= (HIGH_AU_MAP_ID << 16);
-  word |= (ENABLE_DERANDOMIZER << 8);
-  configWords[1] = word;
+void PdecConfig::setMemoryBaseAddress(uint32_t* memoryBaseAddress_) {
+	memoryBaseAddress = memoryBaseAddress_;
 }
 
-uint32_t PdecConfig::getConfigWord(uint8_t wordNo) {
-  if (wordNo >= CONFIG_WORDS_NUM) {
-    sif::error << "PdecConfig::getConfigWord: Invalid word number" << std::endl;
-    return 0;
-  }
-  return configWords[wordNo];
+ReturnValue_t PdecConfig::write() {
+	if (memoryBaseAddress == nullptr) {
+		sif::error << "PdecConfig::write: Memory base address not set" << std::endl;
+		return returnvalue::FAILED;
+	}
+
+	writeFrameHeaderFirstOctet();
+	writeFrameHeaderSecondOctet();
+	writeMapConfig();
+	return returnvalue::FAILED;
 }
 
 uint32_t PdecConfig::getImrReg() {
   return static_cast<uint32_t>(enableNewFarIrq << 2) |
          static_cast<uint32_t>(enableTcAbortIrq << 1) | static_cast<uint32_t>(enableTcNewIrq);
 }
+
+ReturnValue_t PdecConfig::setPositiveWindow(uint8_t pw) {
+	if (memoryBaseAddress == nullptr) {
+		sif::error << "PdecConfig::setPositiveWindow: Memory base address not set"
+				<< std::endl;
+		return returnvalue::FAILED;
+	}
+	positiveWindow = pw;
+	// Rewrite second config word which contains the positive window parameter
+	writeFrameHeaderSecondOctet();
+	return returnvalue::OK;
+}
+
+ReturnValue_t PdecConfig::setNegativeWindow(uint8_t nw) {
+	if (memoryBaseAddress == nullptr) {
+		sif::error << "PdecConfig::setPositiveWindow: Memory base address not set"
+					<< std::endl;
+		return returnvalue::FAILED;
+	}
+	negativeWindow = nw;
+	// Rewrite second config word which contains the negative window parameter
+	writeFrameHeaderSecondOctet();
+	return returnvalue::OK;
+}
+
+uint8_t PdecConfig::getPositiveWindow() {
+	return positiveWindow;
+}
+
+uint8_t PdecConfig::getNegativeWindow() {
+	return negativeWindow;
+}
+
+void PdecConfig::writeFrameHeaderFirstOctet() {
+	uint32_t word = 0;
+	word |= (VERSION_ID << 30);
+
+	// Setting the bypass flag and the control command flag should not have any
+	// implication on the operation of the PDEC IP Core
+	word |= (BYPASS_FLAG << 29);
+	word |= (CONTROL_COMMAND_FLAG << 28);
+
+	word |= (RESERVED_FIELD_A << 26);
+	word |= (SPACECRAFT_ID << 16);
+	word |= (VIRTUAL_CHANNEL << 10);
+	word |= (DUMMY_BITS << 8);
+	word |= positiveWindow;
+	*(memoryBaseAddress + FRAME_HEADER_OFFSET) = word;
+}
+
+void PdecConfig::writeFrameHeaderSecondOctet() {
+	uint32_t word = 0;
+	word = 0;
+	word |= (negativeWindow << 24);
+	word |= (HIGH_AU_MAP_ID << 16);
+	word |= (ENABLE_DERANDOMIZER << 8);
+	*(memoryBaseAddress + FRAME_HEADER_OFFSET + 1) = word;
+}
+
+void PdecConfig::writeMapConfig() {
+	// Configure all MAP IDs as invalid
+	for (int idx = 0; idx <= MAX_MAP_ADDR; idx += 4) {
+		*(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + idx / 4) =
+				NO_DESTINATION << 24 | NO_DESTINATION << 16 | NO_DESTINATION << 8 | NO_DESTINATION;
+	}
+
+	// All TCs with MAP ID 7 will be routed to the PM module (can then be read from memory)
+	uint8_t routeToPm = calcMapAddrEntry(PM_BUFFER);
+	*(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + 1) =
+			(NO_DESTINATION << 24) | (NO_DESTINATION << 16) | (NO_DESTINATION << 8) | routeToPm;
+
+	// Write map id clock frequencies
+	for (int idx = 0; idx <= MAX_MAP_ADDR; idx += 4) {
+		*(memoryBaseAddress + MAP_CLK_FREQ_OFFSET + idx / 4) =
+				MAP_CLK_FREQ << 24 | MAP_CLK_FREQ << 16 | MAP_CLK_FREQ << 8 | MAP_CLK_FREQ;
+	}
+}
+
+uint8_t PdecConfig::calcMapAddrEntry(uint8_t moduleId) {
+  uint8_t lutEntry = 0;
+  uint8_t parity = getOddParity(moduleId | (1 << VALID_POSITION));
+  lutEntry = (parity << PARITY_POSITION) | (1 << VALID_POSITION) | moduleId;
+  return lutEntry;
+}
+
+uint8_t PdecConfig::getOddParity(uint8_t number) {
+  uint8_t parityBit = 0;
+  uint8_t countBits = 0;
+  for (unsigned int idx = 0; idx < sizeof(number) * 8; idx++) {
+    countBits += (number >> idx) & 0x1;
+  }
+  parityBit = ~(countBits & 0x1) & 0x1;
+  return parityBit;
+}
+
+
+
diff --git a/linux/ipcore/PdecConfig.h b/linux/ipcore/PdecConfig.h
index 3d909581..0b665c6c 100644
--- a/linux/ipcore/PdecConfig.h
+++ b/linux/ipcore/PdecConfig.h
@@ -3,28 +3,51 @@
 
 #include <cstring>
 
+#include "bsp_q7s/memory/LocalParameterHandler.h"
+#include "bsp_q7s/fs/SdCardManager.h"
 #include "fsfw/returnvalues/returnvalue.h"
+#include "pdec.h"
 
 /**
  * @brief   This class generates the configuration words for the configuration memory of the PDEC
  *          IP Cores.
  *
- * @details Fields are initialized according to pecification in PDEC datasheet section 6.11.3.1
+ * @details Fields are initialized according to specification in PDEC datasheet section 6.11.3.1
  *          PROM usage.
  *
  * @author  J. Meier
  */
 class PdecConfig {
  public:
+	/**
+	 * @brief	Constructor
+	 */
   PdecConfig();
   virtual ~PdecConfig();
 
   /**
-   * @brief   Returns the configuration word by specifying the position.
+   * @brief	Sets the memory base address pointer
+   */
+  void setMemoryBaseAddress(uint32_t* memoryBaseAddress_);
+
+  /**
+   * @brief	Will write the config to the PDEC configuration memory. New config
+   * 				becomes active after resetting PDEC.
+   */
+  ReturnValue_t write();
+
+  /**
+   * @brief	Returns the value to write to the interrupt mask register. This
+   * 				value defines which interrupts should be enabled/disabled.
    */
-  uint32_t getConfigWord(uint8_t wordNo);
   uint32_t getImrReg();
 
+  ReturnValue_t setPositiveWindow(uint8_t pw);
+  ReturnValue_t setNegativeWindow(uint8_t nw);
+
+  uint8_t getPositiveWindow();
+  uint8_t getNegativeWindow();
+
  private:
   // TC transfer frame configuration parameters
   static const uint8_t VERSION_ID = 0;
@@ -36,21 +59,73 @@ class PdecConfig {
   static const uint8_t RESERVED_FIELD_A = 0;
   static const uint16_t SPACECRAFT_ID = 0x3DC;
   static const uint16_t DUMMY_BITS = 0;
-  // Parameters to control the FARM for AD frames
-  // Set here for future use
-  static const uint8_t POSITIVE_WINDOW = 10;
-  static const uint8_t NEGATIVE_WINDOW = 151;
   static const uint8_t HIGH_AU_MAP_ID = 0xF;
   static const uint8_t ENABLE_DERANDOMIZER = 1;
 
   static const uint8_t CONFIG_WORDS_NUM = 2;
 
+  // 0x200 / 4 = 0x80
+	static const uint32_t FRAME_HEADER_OFFSET = 0x80;
+
+	static const uint32_t MAP_ADDR_LUT_OFFSET = 0xA0;
+	static const uint32_t MAP_CLK_FREQ_OFFSET = 0x90;
+	// MAP clock frequency. Must be a value between 1 and 13 otherwise the TC segment will be
+	// discarded
+	static const uint8_t MAP_CLK_FREQ = 2;
+
+	static const uint8_t MAX_MAP_ADDR = 63;
+	// Writing this to the map address in the look up table will invalidate a MAP ID.
+	static const uint8_t NO_DESTINATION = 0;
+	static const uint8_t VALID_POSITION = 6;
+	static const uint8_t PARITY_POSITION = 7;
+
+	/**
+	 * TCs with map addresses (also know as Map IDs) assigned to this channel will be stored in
+	 * the PDEC memory.
+	 */
+	static const uint8_t PM_BUFFER = 7;
+
+  uint32_t* memoryBaseAddress = nullptr;
+
+  // Pointer to object providing access to persistent configuration parameters
+  LocalParameterHandler localParameterHandler;
+
   uint32_t configWords[CONFIG_WORDS_NUM];
   bool enableTcNewIrq = true;
   bool enableTcAbortIrq = true;
   bool enableNewFarIrq = true;
 
-  void initialize();
+  NVMParameterBase persistenParams;
+
+  // Parameters to control the FARM for AD frames
+	// Set here for future use
+	uint8_t positiveWindow = 10;
+	uint8_t negativeWindow = 151;
+
+	void writeFrameHeaderFirstOctet();
+	void writeFrameHeaderSecondOctet();
+	void writeMapConfig();
+
+	/**
+	 * @brief   This function calculates the entry for the configuration of the MAP ID routing.
+	 *
+	 * @param mapAddr   The MAP ID to configure
+	 * @param moduleId  The destination module where all TCs with the map id mapAddr will be routed
+	 *                  to.
+	 *
+	 * @details The PDEC has different modules where the TCs can be routed to. A lookup table is
+	 *          used which links the MAP ID field to the destination module. The entry for this
+	 *          lookup table is created by this function and must be stored in the configuration
+	 *          memory region of the PDEC. The entry has a specific format
+	 */
+	uint8_t calcMapAddrEntry(uint8_t moduleId);
+
+	/**
+	 * @brief   This functions calculates the odd parity of the bits in number.
+	 *
+	 * @param number    The number from which to calculate the odd parity.
+	 */
+	uint8_t getOddParity(uint8_t number);
 };
 
 #endif /* LINUX_OBC_PDECCONFIG_H_ */
diff --git a/linux/ipcore/PdecHandler.cpp b/linux/ipcore/PdecHandler.cpp
index 57d59841..3d1b9d58 100644
--- a/linux/ipcore/PdecHandler.cpp
+++ b/linux/ipcore/PdecHandler.cpp
@@ -22,13 +22,15 @@ using namespace pdec;
 uint32_t PdecHandler::CURRENT_FAR = 0;
 
 PdecHandler::PdecHandler(object_id_t objectId, object_id_t tcDestinationId,
-                         LinuxLibgpioIF* gpioComIF, gpioId_t pdecReset, UioNames names)
+                         LinuxLibgpioIF* gpioComIF, gpioId_t pdecReset, UioNames names,
+                         object_id_t globalConfigHandlerId)
     : SystemObject(objectId),
       tcDestinationId(tcDestinationId),
       gpioComIF(gpioComIF),
       pdecReset(pdecReset),
       actionHelper(this, nullptr),
-      uioNames(names) {
+      uioNames(names),
+      globalConfigHandlerId(globalConfigHandlerId) {
   auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
       QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
@@ -61,6 +63,8 @@ ReturnValue_t PdecHandler::initialize() {
   result = configMemMapper.getMappedAdress(&memoryBaseAddress, UioMapper::Permissions::READ_WRITE);
   if (result != returnvalue::OK) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
+  } else {
+    pdecConfig.setMemoryBaseAddress(memoryBaseAddress);
   }
   UioMapper ramMapper(uioNames.ramMemory);
   result = ramMapper.getMappedAdress(&ramBaseAddress, UioMapper::Permissions::READ_WRITE);
@@ -72,8 +76,19 @@ ReturnValue_t PdecHandler::initialize() {
     sif::error << "Can not use IRQ mode if IRQ UIO name is invalid" << std::endl;
     return returnvalue::FAILED;
   }
-  PdecConfig pdecConfig;
-  writePdecConfigDuringReset(pdecConfig);
+
+  globalConfigHandler = ObjectManager::instance()->get<StorageManagerIF>(objects::GLOBAL_JSON_CFG);
+	if (globalConfigHandler == nullptr) {
+		sif::error << "PdecHandler::initialize: Invalid global config handler" << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+
+	pdecConfig.setGlobalConfigHandler(globalConfigHandler);
+  result = pdecConfig.write();
+  if (result != returnvalue::OK) {
+    sif::error << "PdecHandler::initialize: Failed to write PDEC config" << std::endl;
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
 
   result = releasePdec();
   if (result != returnvalue::OK) {
@@ -233,26 +248,45 @@ void PdecHandler::readCommandQueue(void) {
 
 MessageQueueId_t PdecHandler::getCommandQueue() const { return commandQueue->getId(); }
 
-void PdecHandler::writePdecConfigDuringReset(PdecConfig& pdecConfig) {
-  *(memoryBaseAddress + FRAME_HEADER_OFFSET) = pdecConfig.getConfigWord(0);
-  *(memoryBaseAddress + FRAME_HEADER_OFFSET + 1) = pdecConfig.getConfigWord(1);
-
-  // Configure all MAP IDs as invalid
-  for (int idx = 0; idx <= MAX_MAP_ADDR; idx += 4) {
-    *(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + idx / 4) =
-        NO_DESTINATION << 24 | NO_DESTINATION << 16 | NO_DESTINATION << 8 | NO_DESTINATION;
+ReturnValue_t PdecHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                                         const uint8_t* data, size_t size) {
+  switch (actionId) {
+    case PRINT_CLCW:
+      printClcw();
+      return EXECUTION_FINISHED;
+    case PRINT_PDEC_MON:
+      printPdecMon();
+      return EXECUTION_FINISHED;
+    default:
+      return COMMAND_NOT_IMPLEMENTED;
   }
+}
 
-  // All TCs with MAP ID 7 will be routed to the PM module (can then be read from memory)
-  uint8_t routeToPm = calcMapAddrEntry(PM_BUFFER);
-  *(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + 1) =
-      (NO_DESTINATION << 24) | (NO_DESTINATION << 16) | (NO_DESTINATION << 8) | routeToPm;
-
-  // Write map id clock frequencies
-  for (int idx = 0; idx <= MAX_MAP_ADDR; idx += 4) {
-    *(memoryBaseAddress + MAP_CLK_FREQ_OFFSET + idx / 4) =
-        MAP_CLK_FREQ << 24 | MAP_CLK_FREQ << 16 | MAP_CLK_FREQ << 8 | MAP_CLK_FREQ;
+ReturnValue_t PdecHandler::getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
+                                        ParameterWrapper* parameterWrapper,
+                                        const ParameterWrapper* newValues, uint16_t startAtIndex) {
+  if ((domainId == 0) and (uniqueIdentifier == ParameterId::POSITIVE_WINDOW)) {
+    uint8_t newVal = 0;
+    ReturnValue_t result = newValues->getElement(&newVal);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    parameterWrapper->set();
+    com::setCurrentDatarate(static_cast<com::Datarate>(newVal));
+    return returnvalue::OK;
+  } else if ((domainId == 0) and
+             (uniqueIdentifier == static_cast<uint8_t>(com::ParameterId::TRANSMITTER_TIMEOUT))) {
+    uint8_t newVal = 0;
+    ReturnValue_t result = newValues->getElement(&newVal);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    parameterWrapper->set(transmitterTimeout);
+    transmitterTimeout = newVal;
+    transmitterCountdown.setTimeout(transmitterTimeout);
+    return returnvalue::OK;
   }
+  return returnvalue::OK;
 }
 
 ReturnValue_t PdecHandler::resetFarStatFlag() {
@@ -518,23 +552,6 @@ void PdecHandler::printTC(uint32_t tcLength) {
   sif::info << tcSegmentStream.str() << std::endl;
 }
 
-uint8_t PdecHandler::calcMapAddrEntry(uint8_t moduleId) {
-  uint8_t lutEntry = 0;
-  uint8_t parity = getOddParity(moduleId | (1 << VALID_POSITION));
-  lutEntry = (parity << PARITY_POSITION) | (1 << VALID_POSITION) | moduleId;
-  return lutEntry;
-}
-
-uint8_t PdecHandler::getOddParity(uint8_t number) {
-  uint8_t parityBit = 0;
-  uint8_t countBits = 0;
-  for (unsigned int idx = 0; idx < sizeof(number) * 8; idx++) {
-    countBits += (number >> idx) & 0x1;
-  }
-  parityBit = ~(countBits & 0x1) & 0x1;
-  return parityBit;
-}
-
 uint32_t PdecHandler::getClcw() { return *(registerBaseAddress + PDEC_CLCW_OFFSET); }
 
 uint32_t PdecHandler::getPdecMon() { return *(registerBaseAddress + PDEC_MON_OFFSET); }
@@ -620,17 +637,3 @@ std::string PdecHandler::getMonStatusString(uint32_t status) {
       break;
   }
 }
-
-ReturnValue_t PdecHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                         const uint8_t* data, size_t size) {
-  switch (actionId) {
-    case PRINT_CLCW:
-      printClcw();
-      return EXECUTION_FINISHED;
-    case PRINT_PDEC_MON:
-      printPdecMon();
-      return EXECUTION_FINISHED;
-    default:
-      return COMMAND_NOT_IMPLEMENTED;
-  }
-}
diff --git a/linux/ipcore/PdecHandler.h b/linux/ipcore/PdecHandler.h
index 6ebd9ce6..8664e732 100644
--- a/linux/ipcore/PdecHandler.h
+++ b/linux/ipcore/PdecHandler.h
@@ -8,6 +8,8 @@
 #include "eive/definitions.h"
 #include "fsfw/action/ActionHelper.h"
 #include "fsfw/action/HasActionsIF.h"
+#include "fsfw/parameters/HasParametersIF.h"
+#include "fsfw/parameters/ParameterHelper.h"
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
@@ -15,6 +17,7 @@
 #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
 #include "fsfw_hal/common/gpio/gpioDefinitions.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
+#include "mission/utility/GlobalConfigHandler.h"
 
 struct UioNames {
   const char* configMemory;
@@ -41,7 +44,10 @@ struct UioNames {
  *
  * @author  J. Meier
  */
-class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasActionsIF {
+class PdecHandler : public SystemObject,
+                    public ExecutableObjectIF,
+                    public HasActionsIF,
+                    public HasParametersIF {
  public:
   static constexpr dur_millis_t IRQ_TIMEOUT_MS = 500;
 
@@ -55,9 +61,10 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
    * @param pdecReset GPIO ID of GPIO connected to the reset signal of the PDEC.
    * @param uioConfigMemory String of uio device file same mapped to the PDEC memory space
    * @param uioregsiters  String of uio device file same mapped to the PDEC register space
+   * @param globalConfigHandler	Object ID of global config file handler
    */
   PdecHandler(object_id_t objectId, object_id_t tcDestinationId, LinuxLibgpioIF* gpioComIF,
-              gpioId_t pdecReset, UioNames names);
+              gpioId_t pdecReset, UioNames names, object_id_t globalConfigHandlerId);
 
   virtual ~PdecHandler();
 
@@ -70,6 +77,10 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
   ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                               const uint8_t* data, size_t size) override;
 
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
+                             ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
+                             uint16_t startAtIndex) override;
+
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PDEC_HANDLER;
 
   //! [EXPORT] : [COMMENT] Frame acceptance report signals an invalid frame
@@ -138,9 +149,6 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
   static const int REGISTER_MAP_SIZE = 0x4000;
 #endif /* BOARD_TE0720 == 1 */
 
-  // 0x200 / 4 = 0x80
-  static const uint32_t FRAME_HEADER_OFFSET = 0x80;
-
   static const size_t MAX_TC_SEGMENT_SIZE = 1017;
   static const uint8_t MAP_ID_MASK = 0x3F;
 
@@ -150,15 +158,6 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
   static const uint32_t PHYSICAL_RAM_BASE_ADDRESS = 0x26000000;
 #endif
 
-  static const uint32_t MAP_ADDR_LUT_OFFSET = 0xA0;
-  static const uint32_t MAP_CLK_FREQ_OFFSET = 0x90;
-
-  static const uint8_t MAX_MAP_ADDR = 63;
-  // Writing this to the map address in the look up table will invalidate a MAP ID.
-  static const uint8_t NO_DESTINATION = 0;
-  static const uint8_t VALID_POSITION = 6;
-  static const uint8_t PARITY_POSITION = 7;
-
   // Expected value stored in FAR register after reset
   static const uint32_t FAR_RESET = 0x7FE0;
 
@@ -167,15 +166,13 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
   static const uint32_t NO_RF_MASK = 0x8000;
   static const uint32_t NO_BITLOCK_MASK = 0x4000;
 
-  /**
-   * TCs with map addresses (also know as Map IDs) assigned to this channel will be stored in
-   * the PDEC memory.
-   */
-  static const uint8_t PM_BUFFER = 7;
-
-  // MAP clock frequency. Must be a value between 1 and 13 otherwise the TC segment will be
-  // discarded
-  static const uint8_t MAP_CLK_FREQ = 2;
+  class ParameterId {
+		public:
+			// ID of the parameter to update the positive window of AD frames
+			static const uint8_t POSITIVE_WINDOW = 0;
+			// ID of the parameter to update the negative window of AD frames
+			static const uint8_t NEGATIVE_WINDOW = 1;
+  };
 
   enum class FrameAna_t : uint8_t {
     ABANDONED_CLTU,
@@ -249,6 +246,15 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
 
   UioNames uioNames;
 
+  // Object ID of global config file handler
+  object_id_t globalConfigHandlerId;
+
+  ParameterHelper paramHelper;
+
+  GlobalConfigHandler* globalConfigHandler = nullptr;
+
+  PdecConfig pdecConfig;
+
   /**
    * @brief   Reads and handles messages stored in the commandQueue
    */
@@ -341,12 +347,6 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
    */
   uint8_t calcMapAddrEntry(uint8_t moduleId);
 
-  /**
-   * @brief   This functions calculates the odd parity of the bits in number.
-   *
-   * @param number    The number from which to calculate the odd parity.
-   */
-  uint8_t getOddParity(uint8_t number);
 
   /**
    * brief    Returns the 32-bit wide communication link control word (CLCW)
diff --git a/mission/config/configfile.h b/mission/config/configfile.h
new file mode 100644
index 00000000..eb8fb0a5
--- /dev/null
+++ b/mission/config/configfile.h
@@ -0,0 +1,9 @@
+#ifndef MISSION_CONFIG_CONFIGFILE_H_
+#define MISSION_CONFIG_CONFIGFILE_H_
+
+namespace configfile {
+	// Name of global config file relative to currently mounted SD card
+	static const char sdrelative[] = "config/global_config.json";
+}
+
+#endif /* MISSION_CONFIG_CONFIGFILE_H_ */
diff --git a/mission/system/objects/ComSubsystem.h b/mission/system/objects/ComSubsystem.h
index ac8cc60f..b1bbeed9 100644
--- a/mission/system/objects/ComSubsystem.h
+++ b/mission/system/objects/ComSubsystem.h
@@ -50,6 +50,7 @@ class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
   // Maximum time after which the transmitter will be turned of. This is a
 	// protection mechanism due prevent the syrlinks from overheating
 	uint32_t transmitterTimeout = 0;
+
   ParameterHelper paramHelper;
 
   MessageQueueIF* eventQueue = nullptr;
diff --git a/mission/utility/GlobalConfigFileDefinitions.h b/mission/utility/GlobalConfigFileDefinitions.h
index 2e7d133a..2c9b6b66 100644
--- a/mission/utility/GlobalConfigFileDefinitions.h
+++ b/mission/utility/GlobalConfigFileDefinitions.h
@@ -15,6 +15,8 @@ enum ParamIds : uint8_t {
   PARAM0 = 0,
   PARAM1 = 1,
   PARAM2 = 2,
+	PDEC_PW = 3,
+	PDEC_NW = 4
 };
 
 #endif /* MISSION_UTILITY_GLOBALCONFIGFILEDEFINITIONS_H_ */
diff --git a/mission/utility/GlobalConfigHandler.cpp b/mission/utility/GlobalConfigHandler.cpp
index bb4b3d7d..ffd1963b 100644
--- a/mission/utility/GlobalConfigHandler.cpp
+++ b/mission/utility/GlobalConfigHandler.cpp
@@ -23,23 +23,24 @@ GlobalConfigHandler::GlobalConfigHandler(object_id_t objectId, std::string confi
     CONFIG_LOCK = MutexFactory::instance()->createMutex();
   }
 }
+
 ReturnValue_t GlobalConfigHandler::initialize() {
   ReturnValue_t result = SystemObject::initialize();
   if (result != returnvalue::OK) {
 #if OBSW_VERBOSE_LEVEL >= 1
-    sif::info << "GlobalConfigHandler::initialize: SystemObject::initialize() failed with "
+    sif::info << "GlobalConfigHandler::initialize: SystemObject::initialize failed with "
               << result << std::endl;
 #endif
     return result;
   }
 
-  result = ReadConfigFile();
+  result = readConfigFile();
   if (result != returnvalue::OK) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "GlobalConfigHandler::initialize: Creating JSON file at " << getFullName()
               << std::endl;
 #endif
-    result = ResetConfigFile();
+    result = resetConfigFile();
     if (result != returnvalue::OK) {
       return result;
     }
@@ -63,6 +64,7 @@ ReturnValue_t GlobalConfigHandler::lockConfigFile() {
   result = CONFIG_LOCK->lockMutex(MutexIF::TimeoutType::WAITING, 10);
   return result;
 }
+
 ReturnValue_t GlobalConfigHandler::unlockConfigFile() {
   ReturnValue_t result = returnvalue::OK;
   result = CONFIG_LOCK->unlockMutex();
@@ -70,34 +72,21 @@ ReturnValue_t GlobalConfigHandler::unlockConfigFile() {
 }
 
 template <typename T>
-ReturnValue_t GlobalConfigHandler::setConfigFileValue(ParamIds paramID, T data) {
+ReturnValue_t GlobalConfigHandler::setConfigFileValue(std::string paramName, T data) {
   ReturnValue_t result = returnvalue::OK;
   ReturnValue_t resultSet = returnvalue::OK;
 
   result = lockConfigFile();
   if (result != returnvalue::OK) {
 #if OBSW_VERBOSE_LEVEL >= 1
-    sif::info << "GlobalConfigHandler::setConfigFileValue lock mutex failed with " << result
+    sif::info << "GlobalConfigHandler::setConfigFileValue: Lock mutex failed with " << result
               << std::endl;
 #endif
     return result;
   }
 
-  std::string paramString;
-  paramString = PARAM_KEY_MAP[paramID];
-
-  // Check if key exists in map before setting value. No check is done in setValue! Somehow
-  // PARAM_KEY_MAP.count(paramID) == 0 does not work
-  if (paramString.empty() == true) {
-#if OBSW_VERBOSE_LEVEL >= 1
-    sif::info << "GlobalConfigHandler::setConfigFileValue ParamId " << PARAM_KEY_MAP[paramID]
-              << " not found!" << std::endl;
-#endif
-    triggerEvent(SET_CONFIGFILEVALUE_FAILED, 1, 0);
-    return returnvalue::FAILED;
-  }
-
-  resultSet = setValue(PARAM_KEY_MAP[paramID], data);
+  // If value exists it is updated otherwise a new entry will be created
+  resultSet = insertValue(paramName, data);
   if (resultSet != returnvalue::OK) {
     triggerEvent(SET_CONFIGFILEVALUE_FAILED, 0, 0);
 #if OBSW_VERBOSE_LEVEL >= 1
@@ -117,6 +106,7 @@ ReturnValue_t GlobalConfigHandler::setConfigFileValue(ParamIds paramID, T data)
 
   return resultSet;
 }
+
 template <typename T>
 ReturnValue_t GlobalConfigHandler::getConfigFileValue(ParamIds paramID, T& data) {
   ReturnValue_t result = returnvalue::OK;
@@ -161,8 +151,10 @@ ReturnValue_t GlobalConfigHandler::resetConfigFileValues() {
 #endif
     return result;
   }
-  insertValue(PARAM_KEY_MAP[PARAM0], PARAM0_DEFAULT);
-  insertValue(PARAM_KEY_MAP[PARAM1], PARAM1_DEFAULT);
+
+  for(const auto& keyMap: PARAM_KEY_MAP) {
+  	insertValue(keyMap.second, PARAM0_DEFAULT);
+  }
 
   result = unlockConfigFile();
   if (result != returnvalue::OK) {
@@ -174,7 +166,8 @@ ReturnValue_t GlobalConfigHandler::resetConfigFileValues() {
   }
   return result;
 }
-ReturnValue_t GlobalConfigHandler::WriteConfigFile() {
+
+ReturnValue_t GlobalConfigHandler::writeConfigFile() {
   ReturnValue_t result = returnvalue::OK;
   ReturnValue_t resultWrite = returnvalue::OK;
   result = lockConfigFile();
@@ -205,7 +198,8 @@ ReturnValue_t GlobalConfigHandler::WriteConfigFile() {
   }
   return resultWrite;
 }
-ReturnValue_t GlobalConfigHandler::ReadConfigFile() {
+
+ReturnValue_t GlobalConfigHandler::readConfigFile() {
   ReturnValue_t result = returnvalue::OK;
   ReturnValue_t resultRead = returnvalue::OK;
   result = lockConfigFile();
@@ -237,7 +231,8 @@ ReturnValue_t GlobalConfigHandler::ReadConfigFile() {
 
   return resultRead;
 }
-ReturnValue_t GlobalConfigHandler::ResetConfigFile() {
+
+ReturnValue_t GlobalConfigHandler::resetConfigFile() {
   ReturnValue_t result = returnvalue::OK;
   result = resetConfigFileValues();
   if (result != returnvalue::OK) {
@@ -253,7 +248,7 @@ ReturnValue_t GlobalConfigHandler::ResetConfigFile() {
 ReturnValue_t GlobalConfigHandler::setConfigFileName(std::string configFileName) {
   ReturnValue_t result = returnvalue::OK;
   setFullName(configFileName);
-  result = ResetConfigFile();
+  result = resetConfigFile();
   return result;
 }
 std::string GlobalConfigHandler::getConfigFileName() { return getFullName(); }
diff --git a/mission/utility/GlobalConfigHandler.h b/mission/utility/GlobalConfigHandler.h
index 80e141c6..1a2fe07f 100644
--- a/mission/utility/GlobalConfigHandler.h
+++ b/mission/utility/GlobalConfigHandler.h
@@ -15,6 +15,7 @@
 #include <fsfw/storagemanager/StorageManagerIF.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
 
+#include <utility>
 #include <sstream>
 #include <string>
 
@@ -24,10 +25,6 @@
 #include "fsfw/parameters/ParameterHelper.h"
 #include "mission/memory/NVMParameterBase.h"
 
-static std::map<ParamIds, std::string> PARAM_KEY_MAP = {
-    {PARAM0, "Parameter0"},
-    {PARAM1, "Parameter1"},
-};
 /*
  * Idea: This class is intended to be used as a subclass for the Core Controller.
  * Its tasks is managing a configuration JSON file containing config values important for various
@@ -54,12 +51,12 @@ class GlobalConfigHandler : public SystemObject,
   ReturnValue_t initialize();
 
   template <typename T>
-  ReturnValue_t setConfigFileValue(ParamIds paramID, T data);
+  ReturnValue_t setConfigFileValue(std::string paramName, T data);
   template <typename T>
-  ReturnValue_t getConfigFileValue(ParamIds paramID, T& data);
+  ReturnValue_t getConfigFileValue(std::string paramName, T& data);
 
-  ReturnValue_t ResetConfigFile();
-  ReturnValue_t WriteConfigFile();
+  ReturnValue_t resetConfigFile();
+  ReturnValue_t writeConfigFile();
   std::string getConfigFileName();
 
  private:
@@ -71,7 +68,7 @@ class GlobalConfigHandler : public SystemObject,
 
   ReturnValue_t setConfigFileName(std::string configFileName);
 
-  ReturnValue_t ReadConfigFile();
+  ReturnValue_t readConfigFile();
 
   MessageQueueIF* commandQueue;
 };

From a13ae7abcc5666e60c6077d498ec6eb32aaed725 Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Wed, 15 Feb 2023 10:21:35 +0100
Subject: [PATCH 02/15] pdec ad frame config, wip

---
 fsfw                          |  2 +-
 linux/ipcore/PdecConfig.cpp   |  6 +++++-
 linux/ipcore/PdecConfig.h     | 10 ++--------
 linux/ipcore/pdecconfigdefs.h | 20 ++++++++++++++++++++
 tmtc                          |  2 +-
 5 files changed, 29 insertions(+), 11 deletions(-)
 create mode 100644 linux/ipcore/pdecconfigdefs.h

diff --git a/fsfw b/fsfw
index 01cc619e..dac2d210 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 01cc619e67b84cef514b045377771ff1e11caf80
+Subproject commit dac2d210b597adfaf45bd5ae6a4c027599927601
diff --git a/linux/ipcore/PdecConfig.cpp b/linux/ipcore/PdecConfig.cpp
index 152ea320..173ee477 100644
--- a/linux/ipcore/PdecConfig.cpp
+++ b/linux/ipcore/PdecConfig.cpp
@@ -1,4 +1,5 @@
 #include "PdecConfig.h"
+#include "pdecconfigdefs.h"
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
@@ -74,11 +75,14 @@ void PdecConfig::writeFrameHeaderFirstOctet() {
 	word |= (SPACECRAFT_ID << 16);
 	word |= (VIRTUAL_CHANNEL << 10);
 	word |= (DUMMY_BITS << 8);
-	word |= positiveWindow;
+	word |= localParameterHandler.getValue(pdecconfigdefs::paramkeys::POSITIVE_WINDOW,
+																				 pdecconfigdefs::defaultvalue::positiveWindow);
 	*(memoryBaseAddress + FRAME_HEADER_OFFSET) = word;
 }
 
 void PdecConfig::writeFrameHeaderSecondOctet() {
+	uint8_t negativeWindow = localParameterHandler.getValue(pdecconfigdefs::paramkeys::NEGATIVE_WINDOW,
+			 pdecconfigdefs::defaultvalue::negativeWindow);
 	uint32_t word = 0;
 	word = 0;
 	word |= (negativeWindow << 24);
diff --git a/linux/ipcore/PdecConfig.h b/linux/ipcore/PdecConfig.h
index 0b665c6c..fa471775 100644
--- a/linux/ipcore/PdecConfig.h
+++ b/linux/ipcore/PdecConfig.h
@@ -1,7 +1,7 @@
 #ifndef LINUX_OBC_PDECCONFIG_H_
 #define LINUX_OBC_PDECCONFIG_H_
 
-#include <cstring>
+#include <string>
 
 #include "bsp_q7s/memory/LocalParameterHandler.h"
 #include "bsp_q7s/fs/SdCardManager.h"
@@ -49,6 +49,7 @@ class PdecConfig {
   uint8_t getNegativeWindow();
 
  private:
+
   // TC transfer frame configuration parameters
   static const uint8_t VERSION_ID = 0;
   // BD Frames
@@ -95,13 +96,6 @@ class PdecConfig {
   bool enableTcAbortIrq = true;
   bool enableNewFarIrq = true;
 
-  NVMParameterBase persistenParams;
-
-  // Parameters to control the FARM for AD frames
-	// Set here for future use
-	uint8_t positiveWindow = 10;
-	uint8_t negativeWindow = 151;
-
 	void writeFrameHeaderFirstOctet();
 	void writeFrameHeaderSecondOctet();
 	void writeMapConfig();
diff --git a/linux/ipcore/pdecconfigdefs.h b/linux/ipcore/pdecconfigdefs.h
new file mode 100644
index 00000000..bc2cfa8c
--- /dev/null
+++ b/linux/ipcore/pdecconfigdefs.h
@@ -0,0 +1,20 @@
+#ifndef LINUX_IPCORE_PDECCONFIGDEFS_H_
+#define LINUX_IPCORE_PDECCONFIGDEFS_H_
+
+#include <string>
+
+namespace pdecconfigdefs {
+
+namespace paramkeys {
+ 	static const std::string POSITIVE_WINDOW = "positive_window";
+ 	static const std::string NEGATIVE_WINDOW = "negattive_window";
+}
+
+namespace defaultvalue {
+	static const uint8_t positiveWindow = 10;
+	static const uint8_t negativeWindow = 151;
+}
+
+}
+
+#endif /* LINUX_IPCORE_PDECCONFIGDEFS_H_ */
diff --git a/tmtc b/tmtc
index a3a3aaa8..8d036bcd 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit a3a3aaa8836b425c923eb97e49ed29b452377bf6
+Subproject commit 8d036bcd4fed1211ad5b15ddae7b42e61e22fcfd

From 7dae81c1228fd6166f7d8a8a77004e92f2393436 Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Tue, 21 Feb 2023 14:13:46 +0100
Subject: [PATCH 03/15] added local parameter handler

---
 bsp_q7s/memory/LocalParameterHandler.h  |  26 ++-
 fsfw                                    |   2 +-
 linux/ipcore/PdecConfig.cpp             | 211 +++++++++++++++---------
 linux/ipcore/PdecConfig.h               |  15 +-
 linux/ipcore/PdecHandler.cpp            |  43 +++--
 mission/utility/GlobalConfigHandler.cpp |  47 +++---
 mission/utility/GlobalConfigHandler.h   |  15 +-
 thirdparty/lwgps                        |   2 +-
 tmtc                                    |   2 +-
 9 files changed, 241 insertions(+), 122 deletions(-)

diff --git a/bsp_q7s/memory/LocalParameterHandler.h b/bsp_q7s/memory/LocalParameterHandler.h
index 57d646cb..4f872131 100644
--- a/bsp_q7s/memory/LocalParameterHandler.h
+++ b/bsp_q7s/memory/LocalParameterHandler.h
@@ -31,7 +31,8 @@ class LocalParameterHandler : public NVMParameterBase {
   ReturnValue_t initialize();
 
   /**
-   * @brief Function to add parameter to json file
+   * @brief Function to add parameter to json file. If the json file does
+   * 				not yet exist it will be created here.
    *
    * @param key	The string to identify the parameter
    * @param value	The value to set for this parameter
@@ -43,6 +44,17 @@ class LocalParameterHandler : public NVMParameterBase {
    */
   template<typename T> ReturnValue_t addParameter(std::string key, T value);
 
+  /**
+   * @brief	Function will update a parameter which already exists in the json
+   * 				file
+   *
+   * @param key 	The unique string to identify the parameter to update
+   * @param value The new new value to set
+   *
+   * @return OK if successful, otherwise error return value
+   */
+  template<typename T> ReturnValue_t updateParameter(std::string key, T value);
+
  private:
 
   // Name relative to mount point of SD card where parameters will be stored
@@ -63,4 +75,16 @@ template<typename T> inline ReturnValue_t LocalParameterHandler::addParameter(st
 	return returnvalue::OK;
 }
 
+template<typename T> inline ReturnValue_t LocalParameterHandler::updateParameter(std::string key, T value) {
+	ReturnValue_t result = setValue(key, value);
+	if (result != returnvalue::OK) {
+		return result;
+	}
+	result = writeJsonFile();
+	if (result != returnvalue::OK) {
+		return result;
+	}
+	return returnvalue::OK;
+}
+
 #endif /* BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_ */
diff --git a/fsfw b/fsfw
index dac2d210..c8469ca6 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit dac2d210b597adfaf45bd5ae6a4c027599927601
+Subproject commit c8469ca6473f64676e007e2e2f1c733fe6252053
diff --git a/linux/ipcore/PdecConfig.cpp b/linux/ipcore/PdecConfig.cpp
index 173ee477..fb554063 100644
--- a/linux/ipcore/PdecConfig.cpp
+++ b/linux/ipcore/PdecConfig.cpp
@@ -1,28 +1,65 @@
 #include "PdecConfig.h"
+
+#include "fsfw/filesystem/HasFileSystemIF.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
 #include "pdecconfigdefs.h"
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
-
-PdecConfig::PdecConfig()
-    : localParameterHandler("conf/pdecconfig", SdCardManager::instance()) {
-}
+PdecConfig::PdecConfig() : localParameterHandler("conf/pdecconfig", SdCardManager::instance()) {}
 
 PdecConfig::~PdecConfig() {}
 
 void PdecConfig::setMemoryBaseAddress(uint32_t* memoryBaseAddress_) {
-	memoryBaseAddress = memoryBaseAddress_;
+  memoryBaseAddress = memoryBaseAddress_;
 }
 
 ReturnValue_t PdecConfig::write() {
-	if (memoryBaseAddress == nullptr) {
-		sif::error << "PdecConfig::write: Memory base address not set" << std::endl;
-		return returnvalue::FAILED;
+  if (memoryBaseAddress == nullptr) {
+    sif::error << "PdecConfig::write: Memory base address not set" << std::endl;
+    return returnvalue::FAILED;
+  }
+  ReturnValue_t result = initializePersistentParameters();
+  if (result != returnvalue::OK) {
+  	return result;
+  }
+  result = writeFrameHeaderFirstOctet();
+  if (result != returnvalue::OK) {
+		return result;
 	}
+  result = writeFrameHeaderSecondOctet();
+  if (result != returnvalue::OK) {
+		return result;
+	}
+  writeMapConfig();
+  return returnvalue::FAILED;
+}
 
-	writeFrameHeaderFirstOctet();
-	writeFrameHeaderSecondOctet();
-	writeMapConfig();
-	return returnvalue::FAILED;
+ReturnValue_t PdecConfig::initializePersistentParameters() {
+  ReturnValue_t result = localParameterHandler.initialize();
+  if (result != returnvalue::OK) {
+    if (result == HasFileSystemIF::FILE_DOES_NOT_EXIST) {
+      result = createPersistentConfig();
+      if (result != returnvalue::OK) {
+        return result;
+      }
+    }
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t PdecConfig::createPersistentConfig() {
+  ReturnValue_t result = localParameterHandler.addParameter(
+      pdecconfigdefs::paramkeys::POSITIVE_WINDOW, pdecconfigdefs::defaultvalue::positiveWindow);
+  if (result != returnvalue::OK) {
+    sif::error << "PdecConfig::createPersistentConfig: Failed to set positive window" << std::endl;
+    return result;
+  }
+  ReturnValue_t result = localParameterHandler.addParameter(
+      pdecconfigdefs::paramkeys::NEGATIVE_WINDOW, pdecconfigdefs::defaultvalue::negativeWindow);
+  if (result != returnvalue::OK) {
+    sif::error << "PdecConfig::createPersistentConfig: Failed to set negative window" << std::endl;
+    return result;
+  }
+  return returnvalue::OK;
 }
 
 uint32_t PdecConfig::getImrReg() {
@@ -31,83 +68,110 @@ uint32_t PdecConfig::getImrReg() {
 }
 
 ReturnValue_t PdecConfig::setPositiveWindow(uint8_t pw) {
-	if (memoryBaseAddress == nullptr) {
-		sif::error << "PdecConfig::setPositiveWindow: Memory base address not set"
-				<< std::endl;
-		return returnvalue::FAILED;
-	}
-	positiveWindow = pw;
-	// Rewrite second config word which contains the positive window parameter
-	writeFrameHeaderSecondOctet();
-	return returnvalue::OK;
+  if (memoryBaseAddress == nullptr) {
+    sif::error << "PdecConfig::setPositiveWindow: Memory base address not set" << std::endl;
+    return returnvalue::FAILED;
+  }
+  ReturnValue_t result =
+      localParameterHandler.updateParameter(pdecconfigdefs::paramkeys::POSITIVE_WINDOW, pw);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  // Rewrite second config word which contains the positive window parameter
+  writeFrameHeaderSecondOctet();
+  return returnvalue::OK;
 }
 
 ReturnValue_t PdecConfig::setNegativeWindow(uint8_t nw) {
-	if (memoryBaseAddress == nullptr) {
-		sif::error << "PdecConfig::setPositiveWindow: Memory base address not set"
-					<< std::endl;
-		return returnvalue::FAILED;
-	}
-	negativeWindow = nw;
-	// Rewrite second config word which contains the negative window parameter
-	writeFrameHeaderSecondOctet();
-	return returnvalue::OK;
+  if (memoryBaseAddress == nullptr) {
+    sif::error << "PdecConfig::setPositiveWindow: Memory base address not set" << std::endl;
+    return returnvalue::FAILED;
+  }
+  ReturnValue_t result =
+      localParameterHandler.updateParameter(pdecconfigdefs::paramkeys::NEGATIVE_WINDOW, nw);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  // Rewrite second config word which contains the negative window parameter
+  writeFrameHeaderSecondOctet();
+  return returnvalue::OK;
 }
 
-uint8_t PdecConfig::getPositiveWindow() {
-	return positiveWindow;
+ReturnValue_t PdecConfig::getPositiveWindow(uint8_t& positiveWindow) {
+  ReturnValue_t result =
+      localParameterHandler.getValue(pdecconfigdefs::paramkeys::POSITIVE_WINDOW, positiveWindow);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return returnvalue::OK;
 }
 
-uint8_t PdecConfig::getNegativeWindow() {
-	return negativeWindow;
+ReturnValue_t PdecConfig::getNegativeWindow(uint8_t& negativeWindow) {
+  ReturnValue_t result =
+      localParameterHandler.getValue(pdecconfigdefs::paramkeys::NEGATIVE_WINDOW, negativeWindow);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return returnvalue::OK;
 }
 
-void PdecConfig::writeFrameHeaderFirstOctet() {
-	uint32_t word = 0;
-	word |= (VERSION_ID << 30);
+ReturnValue_t PdecConfig::writeFrameHeaderFirstOctet() {
+  uint32_t word = 0;
+  word |= (VERSION_ID << 30);
 
-	// Setting the bypass flag and the control command flag should not have any
-	// implication on the operation of the PDEC IP Core
-	word |= (BYPASS_FLAG << 29);
-	word |= (CONTROL_COMMAND_FLAG << 28);
+  // Setting the bypass flag and the control command flag should not have any
+  // implication on the operation of the PDEC IP Core
+  word |= (BYPASS_FLAG << 29);
+  word |= (CONTROL_COMMAND_FLAG << 28);
 
-	word |= (RESERVED_FIELD_A << 26);
-	word |= (SPACECRAFT_ID << 16);
-	word |= (VIRTUAL_CHANNEL << 10);
-	word |= (DUMMY_BITS << 8);
-	word |= localParameterHandler.getValue(pdecconfigdefs::paramkeys::POSITIVE_WINDOW,
-																				 pdecconfigdefs::defaultvalue::positiveWindow);
-	*(memoryBaseAddress + FRAME_HEADER_OFFSET) = word;
+  word |= (RESERVED_FIELD_A << 26);
+  word |= (SPACECRAFT_ID << 16);
+  word |= (VIRTUAL_CHANNEL << 10);
+  word |= (DUMMY_BITS << 8);
+  uint8_t negativeWindow = 0;
+  ReturnValue_t result =
+      localParameterHandler.getValue(pdecconfigdefs::paramkeys::NEGATIVE_WINDOW, negativeWindow);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  word |= negativeWindow;
+  *(memoryBaseAddress + FRAME_HEADER_OFFSET) = word;
+  return returnvalue::OK;
 }
 
-void PdecConfig::writeFrameHeaderSecondOctet() {
-	uint8_t negativeWindow = localParameterHandler.getValue(pdecconfigdefs::paramkeys::NEGATIVE_WINDOW,
-			 pdecconfigdefs::defaultvalue::negativeWindow);
-	uint32_t word = 0;
-	word = 0;
-	word |= (negativeWindow << 24);
-	word |= (HIGH_AU_MAP_ID << 16);
-	word |= (ENABLE_DERANDOMIZER << 8);
-	*(memoryBaseAddress + FRAME_HEADER_OFFSET + 1) = word;
+ReturnValue_t PdecConfig::writeFrameHeaderSecondOctet() {
+  uint8_t negativeWindow = 0;
+  ReturnValue_t result =
+      localParameterHandler.getValue(pdecconfigdefs::paramkeys::NEGATIVE_WINDOW, negativeWindow);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  uint32_t word = 0;
+  word = 0;
+  word |= (negativeWindow << 24);
+  word |= (HIGH_AU_MAP_ID << 16);
+  word |= (ENABLE_DERANDOMIZER << 8);
+  *(memoryBaseAddress + FRAME_HEADER_OFFSET + 1) = word;
+  return returnvalue::OK;
 }
 
 void PdecConfig::writeMapConfig() {
-	// Configure all MAP IDs as invalid
-	for (int idx = 0; idx <= MAX_MAP_ADDR; idx += 4) {
-		*(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + idx / 4) =
-				NO_DESTINATION << 24 | NO_DESTINATION << 16 | NO_DESTINATION << 8 | NO_DESTINATION;
-	}
+  // Configure all MAP IDs as invalid
+  for (int idx = 0; idx <= MAX_MAP_ADDR; idx += 4) {
+    *(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + idx / 4) =
+        NO_DESTINATION << 24 | NO_DESTINATION << 16 | NO_DESTINATION << 8 | NO_DESTINATION;
+  }
 
-	// All TCs with MAP ID 7 will be routed to the PM module (can then be read from memory)
-	uint8_t routeToPm = calcMapAddrEntry(PM_BUFFER);
-	*(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + 1) =
-			(NO_DESTINATION << 24) | (NO_DESTINATION << 16) | (NO_DESTINATION << 8) | routeToPm;
+  // All TCs with MAP ID 7 will be routed to the PM module (can then be read from memory)
+  uint8_t routeToPm = calcMapAddrEntry(PM_BUFFER);
+  *(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + 1) =
+      (NO_DESTINATION << 24) | (NO_DESTINATION << 16) | (NO_DESTINATION << 8) | routeToPm;
 
-	// Write map id clock frequencies
-	for (int idx = 0; idx <= MAX_MAP_ADDR; idx += 4) {
-		*(memoryBaseAddress + MAP_CLK_FREQ_OFFSET + idx / 4) =
-				MAP_CLK_FREQ << 24 | MAP_CLK_FREQ << 16 | MAP_CLK_FREQ << 8 | MAP_CLK_FREQ;
-	}
+  // Write map id clock frequencies
+  for (int idx = 0; idx <= MAX_MAP_ADDR; idx += 4) {
+    *(memoryBaseAddress + MAP_CLK_FREQ_OFFSET + idx / 4) =
+        MAP_CLK_FREQ << 24 | MAP_CLK_FREQ << 16 | MAP_CLK_FREQ << 8 | MAP_CLK_FREQ;
+  }
 }
 
 uint8_t PdecConfig::calcMapAddrEntry(uint8_t moduleId) {
@@ -126,6 +190,3 @@ uint8_t PdecConfig::getOddParity(uint8_t number) {
   parityBit = ~(countBits & 0x1) & 0x1;
   return parityBit;
 }
-
-
-
diff --git a/linux/ipcore/PdecConfig.h b/linux/ipcore/PdecConfig.h
index fa471775..0cff9871 100644
--- a/linux/ipcore/PdecConfig.h
+++ b/linux/ipcore/PdecConfig.h
@@ -45,8 +45,8 @@ class PdecConfig {
   ReturnValue_t setPositiveWindow(uint8_t pw);
   ReturnValue_t setNegativeWindow(uint8_t nw);
 
-  uint8_t getPositiveWindow();
-  uint8_t getNegativeWindow();
+  ReturnValue_t getPositiveWindow(uint8_t& positiveWindow);
+  ReturnValue_t getNegativeWindow(uint8_t& negativeWindow);
 
  private:
 
@@ -96,8 +96,15 @@ class PdecConfig {
   bool enableTcAbortIrq = true;
   bool enableNewFarIrq = true;
 
-	void writeFrameHeaderFirstOctet();
-	void writeFrameHeaderSecondOctet();
+  ReturnValue_t initializePersistentParameters();
+  /**
+   * @brief	If the json file containing the persistent config parameters does
+   * 				not exist it will be created here.
+   */
+  ReturnValue_t createPersistentConfig();
+
+	ReturnValue_t writeFrameHeaderFirstOctet();
+	ReturnValue_t writeFrameHeaderSecondOctet();
 	void writeMapConfig();
 
 	/**
diff --git a/linux/ipcore/PdecHandler.cpp b/linux/ipcore/PdecHandler.cpp
index 3d1b9d58..69c99feb 100644
--- a/linux/ipcore/PdecHandler.cpp
+++ b/linux/ipcore/PdecHandler.cpp
@@ -78,12 +78,11 @@ ReturnValue_t PdecHandler::initialize() {
   }
 
   globalConfigHandler = ObjectManager::instance()->get<StorageManagerIF>(objects::GLOBAL_JSON_CFG);
-	if (globalConfigHandler == nullptr) {
-		sif::error << "PdecHandler::initialize: Invalid global config handler" << std::endl;
-		return ObjectManagerIF::CHILD_INIT_FAILED;
-	}
+  if (globalConfigHandler == nullptr) {
+    sif::error << "PdecHandler::initialize: Invalid global config handler" << std::endl;
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
 
-	pdecConfig.setGlobalConfigHandler(globalConfigHandler);
   result = pdecConfig.write();
   if (result != returnvalue::OK) {
     sif::error << "PdecHandler::initialize: Failed to write PDEC config" << std::endl;
@@ -271,19 +270,39 @@ ReturnValue_t PdecHandler::getParameter(uint8_t domainId, uint8_t uniqueIdentifi
     if (result != returnvalue::OK) {
       return result;
     }
-    parameterWrapper->set();
-    com::setCurrentDatarate(static_cast<com::Datarate>(newVal));
+    uint8_t positiveWindow = 0;
+    result = pdecConfig.getPositiveWindow(positiveWindow);
+    if (result != returnvalue::OK) {
+      sif::warning << "PdecHandler::getParameter: Failed to get positive window from pdec config"
+                   << std::endl;
+      return returnvalue::FAILED;
+    }
+    parameterWrapper->set(positiveWindow);
+    result = pdecConfig.setPositiveWindow(newVal);
+    if (result != returnvalue::OK) {
+      sif::warning << "PdecHandler::getParameter: Failed to set positive window" << std::endl;
+      return returnvalue::FAILED;
+    }
     return returnvalue::OK;
-  } else if ((domainId == 0) and
-             (uniqueIdentifier == static_cast<uint8_t>(com::ParameterId::TRANSMITTER_TIMEOUT))) {
+  } else if ((domainId == 0) and (uniqueIdentifier == ParameterId::NEGATIVE_WINDOW)) {
     uint8_t newVal = 0;
     ReturnValue_t result = newValues->getElement(&newVal);
     if (result != returnvalue::OK) {
       return result;
     }
-    parameterWrapper->set(transmitterTimeout);
-    transmitterTimeout = newVal;
-    transmitterCountdown.setTimeout(transmitterTimeout);
+    uint8_t negativeWindow = 0;
+    result = pdecConfig.getNegativeWindow(negativeWindow);
+    if (result != returnvalue::OK) {
+      sif::warning << "PdecHandler::getParameter: Failed to get negative window from pdec config"
+                   << std::endl;
+      return returnvalue::FAILED;
+    }
+    parameterWrapper->set(negativeWindow);
+    result = pdecConfig.setNegativeWindow(negativeWindow);
+    if (result != returnvalue::OK) {
+      sif::warning << "PdecHandler::getParameter: Failed to set negative window" << std::endl;
+      return returnvalue::FAILED;
+    }
     return returnvalue::OK;
   }
   return returnvalue::OK;
diff --git a/mission/utility/GlobalConfigHandler.cpp b/mission/utility/GlobalConfigHandler.cpp
index ffd1963b..bb4b3d7d 100644
--- a/mission/utility/GlobalConfigHandler.cpp
+++ b/mission/utility/GlobalConfigHandler.cpp
@@ -23,24 +23,23 @@ GlobalConfigHandler::GlobalConfigHandler(object_id_t objectId, std::string confi
     CONFIG_LOCK = MutexFactory::instance()->createMutex();
   }
 }
-
 ReturnValue_t GlobalConfigHandler::initialize() {
   ReturnValue_t result = SystemObject::initialize();
   if (result != returnvalue::OK) {
 #if OBSW_VERBOSE_LEVEL >= 1
-    sif::info << "GlobalConfigHandler::initialize: SystemObject::initialize failed with "
+    sif::info << "GlobalConfigHandler::initialize: SystemObject::initialize() failed with "
               << result << std::endl;
 #endif
     return result;
   }
 
-  result = readConfigFile();
+  result = ReadConfigFile();
   if (result != returnvalue::OK) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "GlobalConfigHandler::initialize: Creating JSON file at " << getFullName()
               << std::endl;
 #endif
-    result = resetConfigFile();
+    result = ResetConfigFile();
     if (result != returnvalue::OK) {
       return result;
     }
@@ -64,7 +63,6 @@ ReturnValue_t GlobalConfigHandler::lockConfigFile() {
   result = CONFIG_LOCK->lockMutex(MutexIF::TimeoutType::WAITING, 10);
   return result;
 }
-
 ReturnValue_t GlobalConfigHandler::unlockConfigFile() {
   ReturnValue_t result = returnvalue::OK;
   result = CONFIG_LOCK->unlockMutex();
@@ -72,21 +70,34 @@ ReturnValue_t GlobalConfigHandler::unlockConfigFile() {
 }
 
 template <typename T>
-ReturnValue_t GlobalConfigHandler::setConfigFileValue(std::string paramName, T data) {
+ReturnValue_t GlobalConfigHandler::setConfigFileValue(ParamIds paramID, T data) {
   ReturnValue_t result = returnvalue::OK;
   ReturnValue_t resultSet = returnvalue::OK;
 
   result = lockConfigFile();
   if (result != returnvalue::OK) {
 #if OBSW_VERBOSE_LEVEL >= 1
-    sif::info << "GlobalConfigHandler::setConfigFileValue: Lock mutex failed with " << result
+    sif::info << "GlobalConfigHandler::setConfigFileValue lock mutex failed with " << result
               << std::endl;
 #endif
     return result;
   }
 
-  // If value exists it is updated otherwise a new entry will be created
-  resultSet = insertValue(paramName, data);
+  std::string paramString;
+  paramString = PARAM_KEY_MAP[paramID];
+
+  // Check if key exists in map before setting value. No check is done in setValue! Somehow
+  // PARAM_KEY_MAP.count(paramID) == 0 does not work
+  if (paramString.empty() == true) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "GlobalConfigHandler::setConfigFileValue ParamId " << PARAM_KEY_MAP[paramID]
+              << " not found!" << std::endl;
+#endif
+    triggerEvent(SET_CONFIGFILEVALUE_FAILED, 1, 0);
+    return returnvalue::FAILED;
+  }
+
+  resultSet = setValue(PARAM_KEY_MAP[paramID], data);
   if (resultSet != returnvalue::OK) {
     triggerEvent(SET_CONFIGFILEVALUE_FAILED, 0, 0);
 #if OBSW_VERBOSE_LEVEL >= 1
@@ -106,7 +117,6 @@ ReturnValue_t GlobalConfigHandler::setConfigFileValue(std::string paramName, T d
 
   return resultSet;
 }
-
 template <typename T>
 ReturnValue_t GlobalConfigHandler::getConfigFileValue(ParamIds paramID, T& data) {
   ReturnValue_t result = returnvalue::OK;
@@ -151,10 +161,8 @@ ReturnValue_t GlobalConfigHandler::resetConfigFileValues() {
 #endif
     return result;
   }
-
-  for(const auto& keyMap: PARAM_KEY_MAP) {
-  	insertValue(keyMap.second, PARAM0_DEFAULT);
-  }
+  insertValue(PARAM_KEY_MAP[PARAM0], PARAM0_DEFAULT);
+  insertValue(PARAM_KEY_MAP[PARAM1], PARAM1_DEFAULT);
 
   result = unlockConfigFile();
   if (result != returnvalue::OK) {
@@ -166,8 +174,7 @@ ReturnValue_t GlobalConfigHandler::resetConfigFileValues() {
   }
   return result;
 }
-
-ReturnValue_t GlobalConfigHandler::writeConfigFile() {
+ReturnValue_t GlobalConfigHandler::WriteConfigFile() {
   ReturnValue_t result = returnvalue::OK;
   ReturnValue_t resultWrite = returnvalue::OK;
   result = lockConfigFile();
@@ -198,8 +205,7 @@ ReturnValue_t GlobalConfigHandler::writeConfigFile() {
   }
   return resultWrite;
 }
-
-ReturnValue_t GlobalConfigHandler::readConfigFile() {
+ReturnValue_t GlobalConfigHandler::ReadConfigFile() {
   ReturnValue_t result = returnvalue::OK;
   ReturnValue_t resultRead = returnvalue::OK;
   result = lockConfigFile();
@@ -231,8 +237,7 @@ ReturnValue_t GlobalConfigHandler::readConfigFile() {
 
   return resultRead;
 }
-
-ReturnValue_t GlobalConfigHandler::resetConfigFile() {
+ReturnValue_t GlobalConfigHandler::ResetConfigFile() {
   ReturnValue_t result = returnvalue::OK;
   result = resetConfigFileValues();
   if (result != returnvalue::OK) {
@@ -248,7 +253,7 @@ ReturnValue_t GlobalConfigHandler::resetConfigFile() {
 ReturnValue_t GlobalConfigHandler::setConfigFileName(std::string configFileName) {
   ReturnValue_t result = returnvalue::OK;
   setFullName(configFileName);
-  result = resetConfigFile();
+  result = ResetConfigFile();
   return result;
 }
 std::string GlobalConfigHandler::getConfigFileName() { return getFullName(); }
diff --git a/mission/utility/GlobalConfigHandler.h b/mission/utility/GlobalConfigHandler.h
index 1a2fe07f..80e141c6 100644
--- a/mission/utility/GlobalConfigHandler.h
+++ b/mission/utility/GlobalConfigHandler.h
@@ -15,7 +15,6 @@
 #include <fsfw/storagemanager/StorageManagerIF.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
 
-#include <utility>
 #include <sstream>
 #include <string>
 
@@ -25,6 +24,10 @@
 #include "fsfw/parameters/ParameterHelper.h"
 #include "mission/memory/NVMParameterBase.h"
 
+static std::map<ParamIds, std::string> PARAM_KEY_MAP = {
+    {PARAM0, "Parameter0"},
+    {PARAM1, "Parameter1"},
+};
 /*
  * Idea: This class is intended to be used as a subclass for the Core Controller.
  * Its tasks is managing a configuration JSON file containing config values important for various
@@ -51,12 +54,12 @@ class GlobalConfigHandler : public SystemObject,
   ReturnValue_t initialize();
 
   template <typename T>
-  ReturnValue_t setConfigFileValue(std::string paramName, T data);
+  ReturnValue_t setConfigFileValue(ParamIds paramID, T data);
   template <typename T>
-  ReturnValue_t getConfigFileValue(std::string paramName, T& data);
+  ReturnValue_t getConfigFileValue(ParamIds paramID, T& data);
 
-  ReturnValue_t resetConfigFile();
-  ReturnValue_t writeConfigFile();
+  ReturnValue_t ResetConfigFile();
+  ReturnValue_t WriteConfigFile();
   std::string getConfigFileName();
 
  private:
@@ -68,7 +71,7 @@ class GlobalConfigHandler : public SystemObject,
 
   ReturnValue_t setConfigFileName(std::string configFileName);
 
-  ReturnValue_t readConfigFile();
+  ReturnValue_t ReadConfigFile();
 
   MessageQueueIF* commandQueue;
 };
diff --git a/thirdparty/lwgps b/thirdparty/lwgps
index 52999ddf..18ce34fa 160000
--- a/thirdparty/lwgps
+++ b/thirdparty/lwgps
@@ -1 +1 @@
-Subproject commit 52999ddfe5177493b96b55871961a8a97131596d
+Subproject commit 18ce34faf729ed63c94517b2ae6a3d3741e0a054
diff --git a/tmtc b/tmtc
index 8d036bcd..a3a3aaa8 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 8d036bcd4fed1211ad5b15ddae7b42e61e22fcfd
+Subproject commit a3a3aaa8836b425c923eb97e49ed29b452377bf6

From 62cadd16abacf354a94a3d0a23ae91762e05ee65 Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Wed, 22 Feb 2023 07:15:19 +0100
Subject: [PATCH 04/15] missing constructor call in LocalParameterHandler

---
 bsp_q7s/memory/LocalParameterHandler.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/bsp_q7s/memory/LocalParameterHandler.cpp b/bsp_q7s/memory/LocalParameterHandler.cpp
index 03a5ba82..9428837d 100644
--- a/bsp_q7s/memory/LocalParameterHandler.cpp
+++ b/bsp_q7s/memory/LocalParameterHandler.cpp
@@ -2,7 +2,7 @@
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
 LocalParameterHandler::LocalParameterHandler(std::string sdRelativeName, SdCardMountedIF* sdcMan)
-    : sdRelativeName(sdRelativeName), sdcMan(sdcMan) {}
+    : NVMParameterBase(), sdRelativeName(sdRelativeName), sdcMan(sdcMan) {}
 
 LocalParameterHandler::~LocalParameterHandler() {
 }

From ce72e4308ebaa5d17c03b3356e5686e037f711f6 Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Wed, 22 Feb 2023 14:50:24 +0100
Subject: [PATCH 05/15] tmtc update

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

diff --git a/tmtc b/tmtc
index a3a3aaa8..24e9c25b 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit a3a3aaa8836b425c923eb97e49ed29b452377bf6
+Subproject commit 24e9c25ba4c677ae900b6ad477272ae32bd3bc0d

From 28f3b07c5c4f334253cf058b9234ff0aeb4bc942 Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Wed, 22 Feb 2023 15:57:24 +0100
Subject: [PATCH 06/15] removed global config handler

---
 bsp_hosted/ObjectFactory.cpp             | 1 -
 bsp_q7s/core/ObjectFactory.cpp           | 4 ----
 bsp_q7s/core/ObjectFactory.h             | 2 --
 bsp_q7s/fmObjectFactory.cpp              | 2 --
 bsp_q7s/memory/LocalParameterHandler.cpp | 2 --
 linux/ipcore/PdecConfig.cpp              | 2 +-
 6 files changed, 1 insertion(+), 12 deletions(-)

diff --git a/bsp_hosted/ObjectFactory.cpp b/bsp_hosted/ObjectFactory.cpp
index d2c3c3da..b0c4ad7f 100644
--- a/bsp_hosted/ObjectFactory.cpp
+++ b/bsp_hosted/ObjectFactory.cpp
@@ -29,7 +29,6 @@
 #include <dummies/CoreControllerDummy.h>
 
 #include "dummies/helpers.h"
-#include "mission/utility/GlobalConfigHandler.h"
 
 #ifdef PLATFORM_UNIX
 #include <fsfw_hal/linux/serial/SerialComIF.h>
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 70ccd08c..b3378221 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -943,7 +943,3 @@ void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
     sif::warning << "Sending mode command failed" << std::endl;
   }
 }
-
-void ObjectFactory::createGlobalConfigHandler() {
-	new GlobalConfigHandler(objects::GLOBAL_JSON_CFG, configfile::sdrelative);
-}
diff --git a/bsp_q7s/core/ObjectFactory.h b/bsp_q7s/core/ObjectFactory.h
index b835b032..2118e3d7 100644
--- a/bsp_q7s/core/ObjectFactory.h
+++ b/bsp_q7s/core/ObjectFactory.h
@@ -49,8 +49,6 @@ void createTestComponents(LinuxLibgpioIF* gpioComIF);
 
 void testAcsBrdAss(AcsBoardAssembly* assAss);
 
-void createGlobalConfigHandler();
-
 };  // namespace ObjectFactory
 
 #endif /* BSP_Q7S_OBJECTFACTORY_H_ */
diff --git a/bsp_q7s/fmObjectFactory.cpp b/bsp_q7s/fmObjectFactory.cpp
index f24feb5d..d640ac35 100644
--- a/bsp_q7s/fmObjectFactory.cpp
+++ b/bsp_q7s/fmObjectFactory.cpp
@@ -86,8 +86,6 @@ void ObjectFactory::produce(void* args) {
   createTestComponents(gpioComIF);
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 
-  createGlobalConfigHandler();
-
   createMiscComponents();
   createThermalController(*heaterHandler);
   createAcsController(true);
diff --git a/bsp_q7s/memory/LocalParameterHandler.cpp b/bsp_q7s/memory/LocalParameterHandler.cpp
index 9428837d..953d79a2 100644
--- a/bsp_q7s/memory/LocalParameterHandler.cpp
+++ b/bsp_q7s/memory/LocalParameterHandler.cpp
@@ -13,8 +13,6 @@ ReturnValue_t LocalParameterHandler::initialize() {
 	setFullName(fullname);
 	ReturnValue_t result = readJsonFile();
 	if (result != returnvalue::OK) {
-		sif::warning << "LocalParameterHandler::initialize: Failed to read json file"
-				<< getFullName() << std::endl;
 		return result;
 	}
 	return returnvalue::OK;
diff --git a/linux/ipcore/PdecConfig.cpp b/linux/ipcore/PdecConfig.cpp
index f468c410..f299b060 100644
--- a/linux/ipcore/PdecConfig.cpp
+++ b/linux/ipcore/PdecConfig.cpp
@@ -30,7 +30,7 @@ ReturnValue_t PdecConfig::write() {
 		return result;
 	}
   writeMapConfig();
-  return returnvalue::FAILED;
+  return returnvalue::OK;
 }
 
 ReturnValue_t PdecConfig::initializePersistentParameters() {

From 3b17af9d07adb14d0114a8064ec29aeb6976eb56 Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Thu, 23 Feb 2023 10:09:04 +0100
Subject: [PATCH 07/15] added local parameter handler to PdecConfig to store
 persistent parameters

---
 bsp_q7s/fs/FilesystemHelper.cpp          |  2 +-
 bsp_q7s/memory/LocalParameterHandler.cpp |  9 ++-
 bsp_q7s/memory/LocalParameterHandler.h   |  4 ++
 linux/fsfwconfig/returnvalues/classIds.h |  1 +
 linux/ipcore/PdecConfig.cpp              | 18 +++--
 linux/ipcore/PdecHandler.cpp             | 87 +++++++++++++++---------
 linux/ipcore/PdecHandler.h               | 13 ++++
 mission/devices/PayloadPcduHandler.cpp   |  2 +-
 8 files changed, 89 insertions(+), 47 deletions(-)

diff --git a/bsp_q7s/fs/FilesystemHelper.cpp b/bsp_q7s/fs/FilesystemHelper.cpp
index bc435d1c..8f49d109 100644
--- a/bsp_q7s/fs/FilesystemHelper.cpp
+++ b/bsp_q7s/fs/FilesystemHelper.cpp
@@ -22,7 +22,7 @@ ReturnValue_t FilesystemHelper::checkPath(std::string path) {
     }
   } else if (path.substr(0, sizeof(config::SD_1_MOUNT_POINT)) ==
              std::string(config::SD_1_MOUNT_POINT)) {
-    if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
+    if (!sdcMan->isSdCardUsable(sd::SLOT_1)) {
       sif::warning << "FilesystemHelper::checkPath: SD card 1 not mounted" << std::endl;
       return SD_NOT_MOUNTED;
     }
diff --git a/bsp_q7s/memory/LocalParameterHandler.cpp b/bsp_q7s/memory/LocalParameterHandler.cpp
index 953d79a2..b24a3e08 100644
--- a/bsp_q7s/memory/LocalParameterHandler.cpp
+++ b/bsp_q7s/memory/LocalParameterHandler.cpp
@@ -8,7 +8,14 @@ LocalParameterHandler::~LocalParameterHandler() {
 }
 
 ReturnValue_t LocalParameterHandler::initialize() {
-	std::string mountPrefix = sdcMan->getCurrentMountPrefix();
+	std::string mountPrefix;
+	auto activeSd = sdcMan->getActiveSdCard();
+	if (activeSd and sdcMan->isSdCardUsable(activeSd.value())) {
+		mountPrefix = sdcMan->getCurrentMountPrefix();
+	} else {
+		return SD_NOT_READY;
+	}
+	mountPrefix = sdcMan->getCurrentMountPrefix();
 	std::string fullname = mountPrefix + "/" + sdRelativeName;
 	setFullName(fullname);
 	ReturnValue_t result = readJsonFile();
diff --git a/bsp_q7s/memory/LocalParameterHandler.h b/bsp_q7s/memory/LocalParameterHandler.h
index 4f872131..37fa7f2c 100644
--- a/bsp_q7s/memory/LocalParameterHandler.h
+++ b/bsp_q7s/memory/LocalParameterHandler.h
@@ -13,6 +13,10 @@
  */
 class LocalParameterHandler : public NVMParameterBase {
  public:
+
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_PARAM_HANDLER;
+
+	static constexpr ReturnValue_t SD_NOT_READY = returnvalue::makeCode(INTERFACE_ID, 0);
 	/**
 	 * @brief	Constructor
 	 *
diff --git a/linux/fsfwconfig/returnvalues/classIds.h b/linux/fsfwconfig/returnvalues/classIds.h
index abd8f785..e42c3c3f 100644
--- a/linux/fsfwconfig/returnvalues/classIds.h
+++ b/linux/fsfwconfig/returnvalues/classIds.h
@@ -15,6 +15,7 @@ enum {
   CLASS_ID_START = COMMON_CLASS_ID_END,
   SD_CARD_MANAGER,  // SDMA
   SCRATCH_BUFFER,   // SCBU
+	LOCAL_PARAM_HANDLER, // LPH
   CLASS_ID_END      // [EXPORT] : [END]
 };
 }
diff --git a/linux/ipcore/PdecConfig.cpp b/linux/ipcore/PdecConfig.cpp
index f299b060..4051fe09 100644
--- a/linux/ipcore/PdecConfig.cpp
+++ b/linux/ipcore/PdecConfig.cpp
@@ -4,7 +4,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "pdecconfigdefs.h"
 
-PdecConfig::PdecConfig() : localParameterHandler("conf/pdecconfig", SdCardManager::instance()) {}
+PdecConfig::PdecConfig() : localParameterHandler("conf/pdecconfig.json", SdCardManager::instance()) {}
 
 PdecConfig::~PdecConfig() {}
 
@@ -35,15 +35,13 @@ ReturnValue_t PdecConfig::write() {
 
 ReturnValue_t PdecConfig::initializePersistentParameters() {
   ReturnValue_t result = localParameterHandler.initialize();
-  if (result != returnvalue::OK) {
-    if (result == HasFileSystemIF::FILE_DOES_NOT_EXIST) {
-      result = createPersistentConfig();
-      if (result != returnvalue::OK) {
-        return result;
-      }
-    }
-  }
-  return returnvalue::OK;
+	if (result == HasFileSystemIF::FILE_DOES_NOT_EXIST) {
+		result = createPersistentConfig();
+		if (result != returnvalue::OK) {
+			return result;
+		}
+	}
+  return result;
 }
 
 ReturnValue_t PdecConfig::createPersistentConfig() {
diff --git a/linux/ipcore/PdecHandler.cpp b/linux/ipcore/PdecHandler.cpp
index 0f43c6f7..ebf9376a 100644
--- a/linux/ipcore/PdecHandler.cpp
+++ b/linux/ipcore/PdecHandler.cpp
@@ -77,22 +77,6 @@ ReturnValue_t PdecHandler::initialize() {
     return returnvalue::FAILED;
   }
 
-  result = pdecConfig.write();
-  if (result != returnvalue::OK) {
-    sif::error << "PdecHandler::initialize: Failed to write PDEC config" << std::endl;
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  result = releasePdec();
-  if (result != returnvalue::OK) {
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  // This configuration must be done while the PDEC is not held in reset.
-  if (OP_MODE == Modes::IRQ) {
-    // Configure interrupt mask register to enable interrupts
-    *(registerBaseAddress + PDEC_IMR_OFFSET) = pdecConfig.getImrReg();
-  }
   result = actionHelper.initialize(commandQueue);
   if (result != returnvalue::OK) {
     return result;
@@ -101,6 +85,36 @@ ReturnValue_t PdecHandler::initialize() {
   return returnvalue::OK;
 }
 
+ReturnValue_t PdecHandler::firstLoop() {
+	ReturnValue_t result = pdecConfig.write();
+	if (result != returnvalue::OK) {
+		if (result == LocalParameterHandler::SD_NOT_READY) {
+			return result;
+		} else {
+			sif::error << "PdecHandler::firstLoop: Failed to write PDEC config" << std::endl;
+		}
+		return returnvalue::FAILED;
+	}
+
+	result = releasePdec();
+	if (result != returnvalue::OK) {
+		return returnvalue::FAILED;
+	}
+
+	// This configuration must be done while the PDEC is not held in reset.
+	if (OP_MODE == Modes::IRQ) {
+		// Configure interrupt mask register to enable interrupts
+		*(registerBaseAddress + PDEC_IMR_OFFSET) = pdecConfig.getImrReg();
+	}
+	result = resetFarStatFlag();
+	if (result != returnvalue::OK) {
+		// Requires reconfiguration and reinitialization of PDEC
+		triggerEvent(INVALID_FAR);
+		return result;
+	}
+	return returnvalue::OK;
+}
+
 ReturnValue_t PdecHandler::performOperation(uint8_t operationCode) {
   if (OP_MODE == Modes::POLLED) {
     return polledOperation();
@@ -111,19 +125,11 @@ ReturnValue_t PdecHandler::performOperation(uint8_t operationCode) {
 }
 
 ReturnValue_t PdecHandler::polledOperation() {
-  ReturnValue_t result = returnvalue::OK;
   readCommandQueue();
 
   switch (state) {
     case State::INIT:
-      resetFarStatFlag();
-      if (result != returnvalue::OK) {
-        // Requires reconfiguration and reinitialization of PDEC
-        triggerEvent(INVALID_FAR);
-        state = State::WAIT_FOR_RECOVERY;
-        break;
-      }
-      state = State::RUNNING;
+    	handleInitState();
       break;
     case State::RUNNING:
       if (newTcReceived()) {
@@ -143,7 +149,6 @@ ReturnValue_t PdecHandler::polledOperation() {
 
 // See https://yurovsky.github.io/2014/10/10/linux-uio-gpio-interrupt.html for more information.
 ReturnValue_t PdecHandler::irqOperation() {
-  ReturnValue_t result = returnvalue::OK;
   int fd = open(uioNames.irq, O_RDWR);
   if (fd < 0) {
     sif::error << "PdecHandler::irqOperation: Opening UIO IRQ file" << uioNames.irq << " failed"
@@ -166,14 +171,7 @@ ReturnValue_t PdecHandler::irqOperation() {
     readCommandQueue();
     switch (state) {
       case State::INIT:
-        result = resetFarStatFlag();
-        if (result != returnvalue::OK) {
-          // Requires reconfiguration and reinitialization of PDEC
-          triggerEvent(INVALID_FAR);
-          state = State::WAIT_FOR_RECOVERY;
-          return result;
-        }
-        state = State::RUNNING;
+        handleInitState();
         break;
       case State::RUNNING: {
         checkAndHandleIrqs(fd, info);
@@ -194,6 +192,27 @@ ReturnValue_t PdecHandler::irqOperation() {
   return returnvalue::OK;
 }
 
+void PdecHandler::handleInitState() {
+	ReturnValue_t result = firstLoop();
+	if (result != returnvalue::OK) {
+		if (result == LocalParameterHandler::SD_NOT_READY) {
+			TaskFactory::delayTask(400);
+			if (initTries == MAX_INIT_TRIES) {
+				sif::error << "PdecHandler::handleInitState: SD card never "
+						"becomes ready"
+						<< std::endl;
+				state = State::WAIT_FOR_RECOVERY;
+				return;
+			} else {
+				state = State::INIT;
+				return;
+			}
+		}
+		state = State::WAIT_FOR_RECOVERY;
+	}
+	state = State::RUNNING;
+}
+
 ReturnValue_t PdecHandler::checkAndHandleIrqs(int fd, uint32_t& info) {
   ssize_t nb = write(fd, &info, sizeof(info));
   if (nb != static_cast<ssize_t>(sizeof(info))) {
diff --git a/linux/ipcore/PdecHandler.h b/linux/ipcore/PdecHandler.h
index 2c8da14c..d43c86e3 100644
--- a/linux/ipcore/PdecHandler.h
+++ b/linux/ipcore/PdecHandler.h
@@ -169,6 +169,8 @@ class PdecHandler : public SystemObject,
   static const uint32_t NO_RF_MASK = 0x8000;
   static const uint32_t NO_BITLOCK_MASK = 0x4000;
 
+  static const uint32_t MAX_INIT_TRIES = 20;
+
   class ParameterId {
 		public:
 			// ID of the parameter to update the positive window of AD frames
@@ -258,6 +260,16 @@ class PdecHandler : public SystemObject,
 
   PdecConfig pdecConfig;
 
+  uint32_t initTries = 0;
+
+  /**
+   * @brief	Performs initialization stuff which must be performed in first
+   * 				loop of running task
+   *
+   * @return OK if successful, otherwise FAILED
+   */
+  ReturnValue_t firstLoop();
+
   /**
    * @brief   Reads and handles messages stored in the commandQueue
    */
@@ -265,6 +277,7 @@ class PdecHandler : public SystemObject,
 
   ReturnValue_t polledOperation();
   ReturnValue_t irqOperation();
+  void handleInitState();
   ReturnValue_t checkAndHandleIrqs(int fd, uint32_t& info);
 
   uint32_t readFar();
diff --git a/mission/devices/PayloadPcduHandler.cpp b/mission/devices/PayloadPcduHandler.cpp
index 44dd667c..efefb16b 100644
--- a/mission/devices/PayloadPcduHandler.cpp
+++ b/mission/devices/PayloadPcduHandler.cpp
@@ -664,7 +664,7 @@ ReturnValue_t PayloadPcduHandler::getParameter(uint8_t domainId, uint8_t uniqueI
 }
 
 void PayloadPcduHandler::handleFailureInjection(std::string output, Event event) {
-  sif::info << "PayloadPcduHandler::checkAdcValues: " << output
+  sif::info << "PayloadPcduHandler::handleFailureInjection: " << output
             << " failure injection. "
                "Transitioning back to off"
             << std::endl;

From 1e45bff0cc888e228fa5cd570e547b4d41d75304 Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Thu, 23 Feb 2023 15:23:35 +0100
Subject: [PATCH 08/15] tmtc update

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

diff --git a/tmtc b/tmtc
index 24e9c25b..e47eb577 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 24e9c25ba4c677ae900b6ad477272ae32bd3bc0d
+Subproject commit e47eb577fada9e1d84abc4d5fdd13862f5f4e7bf

From 5db1f7185455b814eb9458bd7a755cb9d8fd3963 Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Thu, 23 Feb 2023 15:27:24 +0100
Subject: [PATCH 09/15] run clang formatting script

---
 bsp_q7s/core/ObjectFactory.cpp                |   2 +-
 bsp_q7s/memory/LocalParameterHandler.cpp      |  53 ++++----
 bsp_q7s/memory/LocalParameterHandler.h        |  73 +++++------
 linux/fsfwconfig/returnvalues/classIds.h      |   8 +-
 linux/ipcore/PdecConfig.cpp                   |  29 ++---
 linux/ipcore/PdecConfig.h                     |  85 +++++++------
 linux/ipcore/PdecHandler.cpp                  | 119 +++++++++---------
 linux/ipcore/PdecHandler.h                    |  18 ++-
 linux/ipcore/pdecconfigdefs.h                 |  14 +--
 mission/config/configfile.h                   |   6 +-
 mission/controller/acs/Guidance.cpp           |   3 +-
 .../acs/MultiplicativeKalmanFilter.cpp        |   7 +-
 mission/memory/NVMParameterBase.h             |   2 +-
 mission/system/objects/ComSubsystem.h         |   4 +-
 mission/utility/GlobalConfigFileDefinitions.h |   8 +-
 15 files changed, 212 insertions(+), 219 deletions(-)

diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 30fecf60..41098175 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -40,6 +40,7 @@
 #include "linux/ipcore/PdecHandler.h"
 #include "linux/ipcore/Ptme.h"
 #include "linux/ipcore/PtmeConfig.h"
+#include "mission/config/configfile.h"
 #include "mission/csp/CspCookie.h"
 #include "mission/system/fdir/AcsBoardFdir.h"
 #include "mission/system/fdir/GomspacePowerFdir.h"
@@ -54,7 +55,6 @@
 #include "mission/system/tree/payloadModeTree.h"
 #include "mission/system/tree/tcsModeTree.h"
 #include "mission/utility/GlobalConfigHandler.h"
-#include "mission/config/configfile.h"
 #include "tmtc/pusIds.h"
 #if OBSW_TEST_LIBGPIOD == 1
 #include "linux/boardtest/LibgpiodTest.h"
diff --git a/bsp_q7s/memory/LocalParameterHandler.cpp b/bsp_q7s/memory/LocalParameterHandler.cpp
index 90c15f39..d1fb6353 100644
--- a/bsp_q7s/memory/LocalParameterHandler.cpp
+++ b/bsp_q7s/memory/LocalParameterHandler.cpp
@@ -1,42 +1,41 @@
 #include "LocalParameterHandler.h"
+
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
 LocalParameterHandler::LocalParameterHandler(std::string sdRelativeName, SdCardMountedIF* sdcMan)
     : NVMParameterBase(), sdRelativeName(sdRelativeName), sdcMan(sdcMan) {}
 
-LocalParameterHandler::~LocalParameterHandler() {
-}
+LocalParameterHandler::~LocalParameterHandler() {}
 
 ReturnValue_t LocalParameterHandler::initialize() {
-	ReturnValue_t result = updateFullName();
-	if (result != returnvalue::OK) {
-		return result;
-	}
-	result = readJsonFile();
-	if (result != returnvalue::OK) {
-		return result;
-	}
-	return returnvalue::OK;
+  ReturnValue_t result = updateFullName();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = readJsonFile();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return returnvalue::OK;
 }
 
 ReturnValue_t LocalParameterHandler::writeJsonFile() {
-	ReturnValue_t result = updateFullName();
-	if (result != returnvalue::OK) {
-		return result;
-	}
-	return NVMParameterBase::writeJsonFile();
+  ReturnValue_t result = updateFullName();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return NVMParameterBase::writeJsonFile();
 }
 
 ReturnValue_t LocalParameterHandler::updateFullName() {
-	std::string mountPrefix;
-	auto activeSd = sdcMan->getActiveSdCard();
-	if (activeSd and sdcMan->isSdCardUsable(activeSd.value())) {
-		mountPrefix = sdcMan->getCurrentMountPrefix();
-	} else {
-		return SD_NOT_READY;
-	}
-	std::string fullname = mountPrefix + "/" + sdRelativeName;
-	NVMParameterBase::setFullName(fullname);
-	return returnvalue::OK;
+  std::string mountPrefix;
+  auto activeSd = sdcMan->getActiveSdCard();
+  if (activeSd and sdcMan->isSdCardUsable(activeSd.value())) {
+    mountPrefix = sdcMan->getCurrentMountPrefix();
+  } else {
+    return SD_NOT_READY;
+  }
+  std::string fullname = mountPrefix + "/" + sdRelativeName;
+  NVMParameterBase::setFullName(fullname);
+  return returnvalue::OK;
 }
-
diff --git a/bsp_q7s/memory/LocalParameterHandler.h b/bsp_q7s/memory/LocalParameterHandler.h
index bb5eae55..b32761ef 100644
--- a/bsp_q7s/memory/LocalParameterHandler.h
+++ b/bsp_q7s/memory/LocalParameterHandler.h
@@ -1,11 +1,11 @@
 #ifndef BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_
 #define BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_
 
-#include <string>
-
 #include <mission/memory/NVMParameterBase.h>
 #include <mission/memory/SdCardMountedIF.h>
 
+#include <string>
+
 /**
  * @brief	Class to handle persistent parameters
  *
@@ -13,17 +13,17 @@
  */
 class LocalParameterHandler : public NVMParameterBase {
  public:
+  static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_PARAM_HANDLER;
 
-	static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_PARAM_HANDLER;
-
-	static constexpr ReturnValue_t SD_NOT_READY = returnvalue::makeCode(INTERFACE_ID, 0);
-	/**
-	 * @brief	Constructor
-	 *
-	 * @param sdRelativeName	Absolute name of json file relative to mount
-	 * 												directory	of SD card. E.g. conf/example.json
-	 * @param sdcMan	Pointer to SD card manager
-	 */
+  static constexpr ReturnValue_t SD_NOT_READY = returnvalue::makeCode(INTERFACE_ID, 0);
+  /**
+   * @brief	Constructor
+   *
+   * @param sdRelativeName	Absolute name of json file relative to mount
+   * 												directory	of SD card.
+   * E.g. conf/example.json
+   * @param sdcMan	Pointer to SD card manager
+   */
   LocalParameterHandler(std::string sdRelativeName, SdCardMountedIF* sdcMan);
   virtual ~LocalParameterHandler();
 
@@ -46,7 +46,8 @@ class LocalParameterHandler : public NVMParameterBase {
    * @details The function will add the parameter only if it is not already
    * 					present in the json file
    */
-  template<typename T> ReturnValue_t addParameter(std::string key, T value);
+  template <typename T>
+  ReturnValue_t addParameter(std::string key, T value);
 
   /**
    * @brief	Function will update a parameter which already exists in the json
@@ -57,10 +58,10 @@ class LocalParameterHandler : public NVMParameterBase {
    *
    * @return OK if successful, otherwise error return value
    */
-  template<typename T> ReturnValue_t updateParameter(std::string key, T value);
+  template <typename T>
+  ReturnValue_t updateParameter(std::string key, T value);
 
  private:
-
   // Name relative to mount point of SD card where parameters will be stored
   std::string sdRelativeName;
 
@@ -77,28 +78,30 @@ class LocalParameterHandler : public NVMParameterBase {
   ReturnValue_t updateFullName();
 };
 
-template<typename T> inline ReturnValue_t LocalParameterHandler::addParameter(std::string key, T value) {
-	ReturnValue_t result = insertValue(key, value);
-	if (result != returnvalue::OK) {
-		return result;
-	}
-	result = writeJsonFile();
-	if (result != returnvalue::OK) {
-		return result;
-	}
-	return returnvalue::OK;
+template <typename T>
+inline ReturnValue_t LocalParameterHandler::addParameter(std::string key, T value) {
+  ReturnValue_t result = insertValue(key, value);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = writeJsonFile();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return returnvalue::OK;
 }
 
-template<typename T> inline ReturnValue_t LocalParameterHandler::updateParameter(std::string key, T value) {
-	ReturnValue_t result = setValue(key, value);
-	if (result != returnvalue::OK) {
-		return result;
-	}
-	result = writeJsonFile();
-	if (result != returnvalue::OK) {
-		return result;
-	}
-	return returnvalue::OK;
+template <typename T>
+inline ReturnValue_t LocalParameterHandler::updateParameter(std::string key, T value) {
+  ReturnValue_t result = setValue(key, value);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = writeJsonFile();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return returnvalue::OK;
 }
 
 #endif /* BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_ */
diff --git a/linux/fsfwconfig/returnvalues/classIds.h b/linux/fsfwconfig/returnvalues/classIds.h
index e42c3c3f..0e1b2c7c 100644
--- a/linux/fsfwconfig/returnvalues/classIds.h
+++ b/linux/fsfwconfig/returnvalues/classIds.h
@@ -13,10 +13,10 @@
 namespace CLASS_ID {
 enum {
   CLASS_ID_START = COMMON_CLASS_ID_END,
-  SD_CARD_MANAGER,  // SDMA
-  SCRATCH_BUFFER,   // SCBU
-	LOCAL_PARAM_HANDLER, // LPH
-  CLASS_ID_END      // [EXPORT] : [END]
+  SD_CARD_MANAGER,      // SDMA
+  SCRATCH_BUFFER,       // SCBU
+  LOCAL_PARAM_HANDLER,  // LPH
+  CLASS_ID_END          // [EXPORT] : [END]
 };
 }
 
diff --git a/linux/ipcore/PdecConfig.cpp b/linux/ipcore/PdecConfig.cpp
index 4051fe09..a41c5ba6 100644
--- a/linux/ipcore/PdecConfig.cpp
+++ b/linux/ipcore/PdecConfig.cpp
@@ -4,7 +4,8 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "pdecconfigdefs.h"
 
-PdecConfig::PdecConfig() : localParameterHandler("conf/pdecconfig.json", SdCardManager::instance()) {}
+PdecConfig::PdecConfig()
+    : localParameterHandler("conf/pdecconfig.json", SdCardManager::instance()) {}
 
 PdecConfig::~PdecConfig() {}
 
@@ -19,28 +20,28 @@ ReturnValue_t PdecConfig::write() {
   }
   ReturnValue_t result = initializePersistentParameters();
   if (result != returnvalue::OK) {
-  	return result;
+    return result;
   }
   result = writeFrameHeaderFirstOctet();
   if (result != returnvalue::OK) {
-		return result;
-	}
+    return result;
+  }
   result = writeFrameHeaderSecondOctet();
   if (result != returnvalue::OK) {
-		return result;
-	}
+    return result;
+  }
   writeMapConfig();
   return returnvalue::OK;
 }
 
 ReturnValue_t PdecConfig::initializePersistentParameters() {
   ReturnValue_t result = localParameterHandler.initialize();
-	if (result == HasFileSystemIF::FILE_DOES_NOT_EXIST) {
-		result = createPersistentConfig();
-		if (result != returnvalue::OK) {
-			return result;
-		}
-	}
+  if (result == HasFileSystemIF::FILE_DOES_NOT_EXIST) {
+    result = createPersistentConfig();
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
   return result;
 }
 
@@ -51,8 +52,8 @@ ReturnValue_t PdecConfig::createPersistentConfig() {
     sif::error << "PdecConfig::createPersistentConfig: Failed to set positive window" << std::endl;
     return result;
   }
-  result = localParameterHandler.addParameter(
-      pdecconfigdefs::paramkeys::NEGATIVE_WINDOW, pdecconfigdefs::defaultvalue::negativeWindow);
+  result = localParameterHandler.addParameter(pdecconfigdefs::paramkeys::NEGATIVE_WINDOW,
+                                              pdecconfigdefs::defaultvalue::negativeWindow);
   if (result != returnvalue::OK) {
     sif::error << "PdecConfig::createPersistentConfig: Failed to set negative window" << std::endl;
     return result;
diff --git a/linux/ipcore/PdecConfig.h b/linux/ipcore/PdecConfig.h
index 0cff9871..f7203eec 100644
--- a/linux/ipcore/PdecConfig.h
+++ b/linux/ipcore/PdecConfig.h
@@ -3,8 +3,8 @@
 
 #include <string>
 
-#include "bsp_q7s/memory/LocalParameterHandler.h"
 #include "bsp_q7s/fs/SdCardManager.h"
+#include "bsp_q7s/memory/LocalParameterHandler.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "pdec.h"
 
@@ -19,9 +19,9 @@
  */
 class PdecConfig {
  public:
-	/**
-	 * @brief	Constructor
-	 */
+  /**
+   * @brief	Constructor
+   */
   PdecConfig();
   virtual ~PdecConfig();
 
@@ -49,7 +49,6 @@ class PdecConfig {
   ReturnValue_t getNegativeWindow(uint8_t& negativeWindow);
 
  private:
-
   // TC transfer frame configuration parameters
   static const uint8_t VERSION_ID = 0;
   // BD Frames
@@ -66,25 +65,25 @@ class PdecConfig {
   static const uint8_t CONFIG_WORDS_NUM = 2;
 
   // 0x200 / 4 = 0x80
-	static const uint32_t FRAME_HEADER_OFFSET = 0x80;
+  static const uint32_t FRAME_HEADER_OFFSET = 0x80;
 
-	static const uint32_t MAP_ADDR_LUT_OFFSET = 0xA0;
-	static const uint32_t MAP_CLK_FREQ_OFFSET = 0x90;
-	// MAP clock frequency. Must be a value between 1 and 13 otherwise the TC segment will be
-	// discarded
-	static const uint8_t MAP_CLK_FREQ = 2;
+  static const uint32_t MAP_ADDR_LUT_OFFSET = 0xA0;
+  static const uint32_t MAP_CLK_FREQ_OFFSET = 0x90;
+  // MAP clock frequency. Must be a value between 1 and 13 otherwise the TC segment will be
+  // discarded
+  static const uint8_t MAP_CLK_FREQ = 2;
 
-	static const uint8_t MAX_MAP_ADDR = 63;
-	// Writing this to the map address in the look up table will invalidate a MAP ID.
-	static const uint8_t NO_DESTINATION = 0;
-	static const uint8_t VALID_POSITION = 6;
-	static const uint8_t PARITY_POSITION = 7;
+  static const uint8_t MAX_MAP_ADDR = 63;
+  // Writing this to the map address in the look up table will invalidate a MAP ID.
+  static const uint8_t NO_DESTINATION = 0;
+  static const uint8_t VALID_POSITION = 6;
+  static const uint8_t PARITY_POSITION = 7;
 
-	/**
-	 * TCs with map addresses (also know as Map IDs) assigned to this channel will be stored in
-	 * the PDEC memory.
-	 */
-	static const uint8_t PM_BUFFER = 7;
+  /**
+   * TCs with map addresses (also know as Map IDs) assigned to this channel will be stored in
+   * the PDEC memory.
+   */
+  static const uint8_t PM_BUFFER = 7;
 
   uint32_t* memoryBaseAddress = nullptr;
 
@@ -103,30 +102,30 @@ class PdecConfig {
    */
   ReturnValue_t createPersistentConfig();
 
-	ReturnValue_t writeFrameHeaderFirstOctet();
-	ReturnValue_t writeFrameHeaderSecondOctet();
-	void writeMapConfig();
+  ReturnValue_t writeFrameHeaderFirstOctet();
+  ReturnValue_t writeFrameHeaderSecondOctet();
+  void writeMapConfig();
 
-	/**
-	 * @brief   This function calculates the entry for the configuration of the MAP ID routing.
-	 *
-	 * @param mapAddr   The MAP ID to configure
-	 * @param moduleId  The destination module where all TCs with the map id mapAddr will be routed
-	 *                  to.
-	 *
-	 * @details The PDEC has different modules where the TCs can be routed to. A lookup table is
-	 *          used which links the MAP ID field to the destination module. The entry for this
-	 *          lookup table is created by this function and must be stored in the configuration
-	 *          memory region of the PDEC. The entry has a specific format
-	 */
-	uint8_t calcMapAddrEntry(uint8_t moduleId);
+  /**
+   * @brief   This function calculates the entry for the configuration of the MAP ID routing.
+   *
+   * @param mapAddr   The MAP ID to configure
+   * @param moduleId  The destination module where all TCs with the map id mapAddr will be routed
+   *                  to.
+   *
+   * @details The PDEC has different modules where the TCs can be routed to. A lookup table is
+   *          used which links the MAP ID field to the destination module. The entry for this
+   *          lookup table is created by this function and must be stored in the configuration
+   *          memory region of the PDEC. The entry has a specific format
+   */
+  uint8_t calcMapAddrEntry(uint8_t moduleId);
 
-	/**
-	 * @brief   This functions calculates the odd parity of the bits in number.
-	 *
-	 * @param number    The number from which to calculate the odd parity.
-	 */
-	uint8_t getOddParity(uint8_t number);
+  /**
+   * @brief   This functions calculates the odd parity of the bits in number.
+   *
+   * @param number    The number from which to calculate the odd parity.
+   */
+  uint8_t getOddParity(uint8_t number);
 };
 
 #endif /* LINUX_OBC_PDECCONFIG_H_ */
diff --git a/linux/ipcore/PdecHandler.cpp b/linux/ipcore/PdecHandler.cpp
index 3ac9a465..3c901b42 100644
--- a/linux/ipcore/PdecHandler.cpp
+++ b/linux/ipcore/PdecHandler.cpp
@@ -30,7 +30,7 @@ PdecHandler::PdecHandler(object_id_t objectId, object_id_t tcDestinationId,
       pdecReset(pdecReset),
       actionHelper(this, nullptr),
       uioNames(names),
-			paramHelper(this) {
+      paramHelper(this) {
   auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
       QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
@@ -91,33 +91,33 @@ ReturnValue_t PdecHandler::initialize() {
 }
 
 ReturnValue_t PdecHandler::firstLoop() {
-	ReturnValue_t result = pdecConfig.write();
-	if (result != returnvalue::OK) {
-		if (result == LocalParameterHandler::SD_NOT_READY) {
-			return result;
-		} else {
-			sif::error << "PdecHandler::firstLoop: Failed to write PDEC config" << std::endl;
-		}
-		return returnvalue::FAILED;
-	}
+  ReturnValue_t result = pdecConfig.write();
+  if (result != returnvalue::OK) {
+    if (result == LocalParameterHandler::SD_NOT_READY) {
+      return result;
+    } else {
+      sif::error << "PdecHandler::firstLoop: Failed to write PDEC config" << std::endl;
+    }
+    return returnvalue::FAILED;
+  }
 
-	result = releasePdec();
-	if (result != returnvalue::OK) {
-		return returnvalue::FAILED;
-	}
+  result = releasePdec();
+  if (result != returnvalue::OK) {
+    return returnvalue::FAILED;
+  }
 
-	// This configuration must be done while the PDEC is not held in reset.
-	if (OP_MODE == Modes::IRQ) {
-		// Configure interrupt mask register to enable interrupts
-		*(registerBaseAddress + PDEC_IMR_OFFSET) = pdecConfig.getImrReg();
-	}
-	result = resetFarStatFlag();
-	if (result != returnvalue::OK) {
-		// Requires reconfiguration and reinitialization of PDEC
-		triggerEvent(INVALID_FAR);
-		return result;
-	}
-	return returnvalue::OK;
+  // This configuration must be done while the PDEC is not held in reset.
+  if (OP_MODE == Modes::IRQ) {
+    // Configure interrupt mask register to enable interrupts
+    *(registerBaseAddress + PDEC_IMR_OFFSET) = pdecConfig.getImrReg();
+  }
+  result = resetFarStatFlag();
+  if (result != returnvalue::OK) {
+    // Requires reconfiguration and reinitialization of PDEC
+    triggerEvent(INVALID_FAR);
+    return result;
+  }
+  return returnvalue::OK;
 }
 
 ReturnValue_t PdecHandler::performOperation(uint8_t operationCode) {
@@ -134,7 +134,7 @@ ReturnValue_t PdecHandler::polledOperation() {
 
   switch (state) {
     case State::INIT: {
-    	handleInitState();
+      handleInitState();
       break;
     }
     case State::RUNNING: {
@@ -145,13 +145,13 @@ ReturnValue_t PdecHandler::polledOperation() {
       break;
     }
     case State::PDEC_RESET: {
-			ReturnValue_t result = pdecToReset();
-			if (result != returnvalue::OK) {
-				triggerEvent(PDEC_RESET_FAILED);
-			}
-			state = State::INIT;
-			break;
-		}
+      ReturnValue_t result = pdecToReset();
+      if (result != returnvalue::OK) {
+        triggerEvent(PDEC_RESET_FAILED);
+      }
+      state = State::INIT;
+      break;
+    }
     case State::WAIT_FOR_RECOVERY:
       break;
     default:
@@ -191,12 +191,12 @@ ReturnValue_t PdecHandler::irqOperation() {
         break;
       }
       case State::PDEC_RESET: {
-      	ReturnValue_t result = pdecToReset();
-      	if (result != returnvalue::OK) {
-      		triggerEvent(PDEC_RESET_FAILED);
-      	}
-      	state = State::INIT;
-      	break;
+        ReturnValue_t result = pdecToReset();
+        if (result != returnvalue::OK) {
+          triggerEvent(PDEC_RESET_FAILED);
+        }
+        state = State::INIT;
+        break;
       }
       case State::RUNNING: {
         checkAndHandleIrqs(fd, info);
@@ -218,24 +218,24 @@ ReturnValue_t PdecHandler::irqOperation() {
 }
 
 void PdecHandler::handleInitState() {
-	ReturnValue_t result = firstLoop();
-	if (result != returnvalue::OK) {
-		if (result == LocalParameterHandler::SD_NOT_READY) {
-			TaskFactory::delayTask(400);
-			if (initTries == MAX_INIT_TRIES) {
-				sif::error << "PdecHandler::handleInitState: SD card never "
-						"becomes ready"
-						<< std::endl;
-				state = State::WAIT_FOR_RECOVERY;
-				return;
-			} else {
-				state = State::INIT;
-				return;
-			}
-		}
-		state = State::WAIT_FOR_RECOVERY;
-	}
-	state = State::RUNNING;
+  ReturnValue_t result = firstLoop();
+  if (result != returnvalue::OK) {
+    if (result == LocalParameterHandler::SD_NOT_READY) {
+      TaskFactory::delayTask(400);
+      if (initTries == MAX_INIT_TRIES) {
+        sif::error << "PdecHandler::handleInitState: SD card never "
+                      "becomes ready"
+                   << std::endl;
+        state = State::WAIT_FOR_RECOVERY;
+        return;
+      } else {
+        state = State::INIT;
+        return;
+      }
+    }
+    state = State::WAIT_FOR_RECOVERY;
+  }
+  state = State::RUNNING;
 }
 
 ReturnValue_t PdecHandler::checkAndHandleIrqs(int fd, uint32_t& info) {
@@ -422,7 +422,8 @@ ReturnValue_t PdecHandler::pdecToReset() {
   result = gpioComIF->pullLow(pdecReset);
   if (result != returnvalue::OK) {
     sif::error << "PdecHandler::pdecToReset: Failed to pull PDEC reset line"
-    		" to low" << std::endl;
+                  " to low"
+               << std::endl;
   }
   return result;
 }
diff --git a/linux/ipcore/PdecHandler.h b/linux/ipcore/PdecHandler.h
index b15736c1..d3507211 100644
--- a/linux/ipcore/PdecHandler.h
+++ b/linux/ipcore/PdecHandler.h
@@ -8,9 +8,9 @@
 #include "eive/definitions.h"
 #include "fsfw/action/ActionHelper.h"
 #include "fsfw/action/HasActionsIF.h"
-#include "fsfw/parameters/ReceivesParameterMessagesIF.h"
-#include "fsfw/parameters/ParameterHelper.h"
 #include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/parameters/ParameterHelper.h"
+#include "fsfw/parameters/ReceivesParameterMessagesIF.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
@@ -103,8 +103,7 @@ class PdecHandler : public SystemObject,
   static constexpr Event WRITE_SYSCALL_ERROR_PDEC =
       event::makeEvent(SUBSYSTEM_ID, 9, severity::MEDIUM);
   //! [EXPORT] : [COMMENT] Failed to pull PDEC reset to low
-  static constexpr Event PDEC_RESET_FAILED =
-      event::makeEvent(SUBSYSTEM_ID, 10, severity::HIGH);
+  static constexpr Event PDEC_RESET_FAILED = event::makeEvent(SUBSYSTEM_ID, 10, severity::HIGH);
 
  private:
   static const uint8_t INTERFACE_ID = CLASS_ID::PDEC_HANDLER;
@@ -175,11 +174,11 @@ class PdecHandler : public SystemObject,
   static const uint32_t MAX_INIT_TRIES = 20;
 
   class ParameterId {
-		public:
-			// ID of the parameter to update the positive window of AD frames
-			static const uint8_t POSITIVE_WINDOW = 0;
-			// ID of the parameter to update the negative window of AD frames
-			static const uint8_t NEGATIVE_WINDOW = 1;
+   public:
+    // ID of the parameter to update the positive window of AD frames
+    static const uint8_t POSITIVE_WINDOW = 0;
+    // ID of the parameter to update the negative window of AD frames
+    static const uint8_t NEGATIVE_WINDOW = 1;
   };
 
   static constexpr uint32_t MAX_ALLOWED_IRQS_PER_WINDOW = 800;
@@ -377,7 +376,6 @@ class PdecHandler : public SystemObject,
    */
   uint8_t calcMapAddrEntry(uint8_t moduleId);
 
-
   /**
    * brief    Returns the 32-bit wide communication link control word (CLCW)
    */
diff --git a/linux/ipcore/pdecconfigdefs.h b/linux/ipcore/pdecconfigdefs.h
index bc2cfa8c..0b7f392c 100644
--- a/linux/ipcore/pdecconfigdefs.h
+++ b/linux/ipcore/pdecconfigdefs.h
@@ -6,15 +6,15 @@
 namespace pdecconfigdefs {
 
 namespace paramkeys {
- 	static const std::string POSITIVE_WINDOW = "positive_window";
- 	static const std::string NEGATIVE_WINDOW = "negattive_window";
-}
+static const std::string POSITIVE_WINDOW = "positive_window";
+static const std::string NEGATIVE_WINDOW = "negattive_window";
+}  // namespace paramkeys
 
 namespace defaultvalue {
-	static const uint8_t positiveWindow = 10;
-	static const uint8_t negativeWindow = 151;
-}
+static const uint8_t positiveWindow = 10;
+static const uint8_t negativeWindow = 151;
+}  // namespace defaultvalue
 
-}
+}  // namespace pdecconfigdefs
 
 #endif /* LINUX_IPCORE_PDECCONFIGDEFS_H_ */
diff --git a/mission/config/configfile.h b/mission/config/configfile.h
index eb8fb0a5..3fa9f070 100644
--- a/mission/config/configfile.h
+++ b/mission/config/configfile.h
@@ -2,8 +2,8 @@
 #define MISSION_CONFIG_CONFIGFILE_H_
 
 namespace configfile {
-	// Name of global config file relative to currently mounted SD card
-	static const char sdrelative[] = "config/global_config.json";
-}
+// Name of global config file relative to currently mounted SD card
+static const char sdrelative[] = "config/global_config.json";
+}  // namespace configfile
 
 #endif /* MISSION_CONFIG_CONFIGFILE_H_ */
diff --git a/mission/controller/acs/Guidance.cpp b/mission/controller/acs/Guidance.cpp
index 2346d18f..031cd384 100644
--- a/mission/controller/acs/Guidance.cpp
+++ b/mission/controller/acs/Guidance.cpp
@@ -111,8 +111,7 @@ void Guidance::targetQuatPtgSingleAxis(timeval now, double posSatE[3], double ve
       if (sightAngleSun < critSightAngle) {
         strBlindAvoidFlag = true;
       }
-    }
-    else {
+    } else {
       if (sightAngleSun < blindEnd * exclAngle) {
         double normBlindRefRate = acsParameters.targetModeControllerParameters.blindRotRate;
         double blindRefRate[3] = {0, 0, 0};
diff --git a/mission/controller/acs/MultiplicativeKalmanFilter.cpp b/mission/controller/acs/MultiplicativeKalmanFilter.cpp
index d90f3f51..5bae4624 100644
--- a/mission/controller/acs/MultiplicativeKalmanFilter.cpp
+++ b/mission/controller/acs/MultiplicativeKalmanFilter.cpp
@@ -1098,7 +1098,7 @@ void MultiplicativeKalmanFilter::reset(acsctrl::MekfData *mekfData) {
 }
 
 void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::MekfData *mekfData,
-                                                         MekfStatus mekfStatus) {
+                                                          MekfStatus mekfStatus) {
   {
     PoolReadGuard pg(mekfData);
     if (pg.getReadResult() == returnvalue::OK) {
@@ -1114,9 +1114,8 @@ void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::MekfData *mek
   }
 }
 
-void MultiplicativeKalmanFilter::updateDataSet(acsctrl::MekfData *mekfData,
-                                                             MekfStatus mekfStatus, double quat[4],
-                                                             double satRotRate[3]) {
+void MultiplicativeKalmanFilter::updateDataSet(acsctrl::MekfData *mekfData, MekfStatus mekfStatus,
+                                               double quat[4], double satRotRate[3]) {
   {
     PoolReadGuard pg(mekfData);
     if (pg.getReadResult() == returnvalue::OK) {
diff --git a/mission/memory/NVMParameterBase.h b/mission/memory/NVMParameterBase.h
index ba5c57da..8487c990 100644
--- a/mission/memory/NVMParameterBase.h
+++ b/mission/memory/NVMParameterBase.h
@@ -69,7 +69,7 @@ inline ReturnValue_t NVMParameterBase::insertValue(std::string key, T value) {
 
 template <typename T>
 inline ReturnValue_t NVMParameterBase::setValue(std::string key, T value) {
-	json[key] = value;
+  json[key] = value;
   return returnvalue::OK;
 }
 
diff --git a/mission/system/objects/ComSubsystem.h b/mission/system/objects/ComSubsystem.h
index 85bb4273..fb97f226 100644
--- a/mission/system/objects/ComSubsystem.h
+++ b/mission/system/objects/ComSubsystem.h
@@ -17,8 +17,8 @@ class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
    * @param maxNumberOfSequences
    * @param maxNumberOfTables
    * @param transmitterTimeout	Maximum time the transmitter of the syrlinks
-   * 														will be
-   * enabled
+   * 														will
+   * be enabled
    */
   ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables,
                uint32_t transmitterTimeout);
diff --git a/mission/utility/GlobalConfigFileDefinitions.h b/mission/utility/GlobalConfigFileDefinitions.h
index 2c9b6b66..13d8cdfa 100644
--- a/mission/utility/GlobalConfigFileDefinitions.h
+++ b/mission/utility/GlobalConfigFileDefinitions.h
@@ -11,12 +11,6 @@
 static constexpr double PARAM0_DEFAULT = 5.0;
 static constexpr int PARAM1_DEFAULT = 905;
 
-enum ParamIds : uint8_t {
-  PARAM0 = 0,
-  PARAM1 = 1,
-  PARAM2 = 2,
-	PDEC_PW = 3,
-	PDEC_NW = 4
-};
+enum ParamIds : uint8_t { PARAM0 = 0, PARAM1 = 1, PARAM2 = 2, PDEC_PW = 3, PDEC_NW = 4 };
 
 #endif /* MISSION_UTILITY_GLOBALCONFIGFILEDEFINITIONS_H_ */

From ee4db78a9595efb4a045cb88428e976e4b8ca7c0 Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Thu, 23 Feb 2023 15:37:20 +0100
Subject: [PATCH 10/15] removed wrong comment

---
 bsp_q7s/memory/LocalParameterHandler.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/bsp_q7s/memory/LocalParameterHandler.h b/bsp_q7s/memory/LocalParameterHandler.h
index b32761ef..a8b96950 100644
--- a/bsp_q7s/memory/LocalParameterHandler.h
+++ b/bsp_q7s/memory/LocalParameterHandler.h
@@ -9,7 +9,6 @@
 /**
  * @brief	Class to handle persistent parameters
  *
- * @details Use the insertValue function to add parameters
  */
 class LocalParameterHandler : public NVMParameterBase {
  public:

From 316971c6bc9e754339f87b743b3587c6814eca5d Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Mon, 27 Feb 2023 07:49:09 +0100
Subject: [PATCH 11/15] * added event when transmitter is turned on due to
 bitlock detection * added event when tx timer has expired

---
 common/config/eive/eventSubsystemIds.h  |  1 +
 linux/ipcore/PdecHandler.cpp            |  4 +---
 mission/system/objects/ComSubsystem.cpp |  2 ++
 mission/system/objects/ComSubsystem.h   | 13 +++++++++++--
 4 files changed, 15 insertions(+), 5 deletions(-)

diff --git a/common/config/eive/eventSubsystemIds.h b/common/config/eive/eventSubsystemIds.h
index 32397f9f..923a06ad 100644
--- a/common/config/eive/eventSubsystemIds.h
+++ b/common/config/eive/eventSubsystemIds.h
@@ -37,6 +37,7 @@ enum : uint8_t {
   CONFIGHANDLER = 139,
   CORE = 140,
   TCS_CONTROLLER = 141,
+  COM_SUBSYSTEM = 142,
   COMMON_SUBSYSTEM_ID_END
 
 };
diff --git a/linux/ipcore/PdecHandler.cpp b/linux/ipcore/PdecHandler.cpp
index 3c901b42..db93bd6e 100644
--- a/linux/ipcore/PdecHandler.cpp
+++ b/linux/ipcore/PdecHandler.cpp
@@ -187,7 +187,6 @@ ReturnValue_t PdecHandler::irqOperation() {
     switch (state) {
       case State::INIT: {
         handleInitState();
-        checkLocks();
         break;
       }
       case State::PDEC_RESET: {
@@ -199,6 +198,7 @@ ReturnValue_t PdecHandler::irqOperation() {
         break;
       }
       case State::RUNNING: {
+      	checkLocks();
         checkAndHandleIrqs(fd, info);
         break;
       }
@@ -251,7 +251,6 @@ ReturnValue_t PdecHandler::checkAndHandleIrqs(int fd, uint32_t& info) {
   int ret = poll(&fds, 1, IRQ_TIMEOUT_MS);
   if (ret == 0) {
     // No TCs for timeout period
-    checkLocks();
     genericCheckCd.resetTimer();
     resetIrqLimiters();
   } else if (ret >= 1) {
@@ -278,7 +277,6 @@ ReturnValue_t PdecHandler::checkAndHandleIrqs(int fd, uint32_t& info) {
       static_cast<void>(dummy);
 
       if (genericCheckCd.hasTimedOut()) {
-        checkLocks();
         genericCheckCd.resetTimer();
         if (interruptWindowCd.hasTimedOut()) {
           if (interruptCounter >= MAX_ALLOWED_IRQS_PER_WINDOW) {
diff --git a/mission/system/objects/ComSubsystem.cpp b/mission/system/objects/ComSubsystem.cpp
index a30f441b..9df7e72b 100644
--- a/mission/system/objects/ComSubsystem.cpp
+++ b/mission/system/objects/ComSubsystem.cpp
@@ -166,6 +166,7 @@ void ComSubsystem::handleBitLockEvent() {
     rememberBitLock = true;
     return;
   }
+  triggerEvent(BIT_LOCK_TX_ON);
   startRxAndTxLowRateSeq();
 }
 
@@ -183,6 +184,7 @@ void ComSubsystem::startRxAndTxLowRateSeq() {
 
 void ComSubsystem::checkTransmitterCountdown() {
   if (transmitterCountdown.hasTimedOut()) {
+  	triggerEvent(TX_TIMER_EXPIRED, transmitterTimeout);
     startTransition(com::Submode::RX_ONLY, SUBMODE_NONE);
     countdownActive = false;
   }
diff --git a/mission/system/objects/ComSubsystem.h b/mission/system/objects/ComSubsystem.h
index fb97f226..831b4cec 100644
--- a/mission/system/objects/ComSubsystem.h
+++ b/mission/system/objects/ComSubsystem.h
@@ -5,11 +5,21 @@
 #include <fsfw/parameters/HasParametersIF.h>
 #include <fsfw/parameters/ParameterHelper.h>
 #include <fsfw/subsystem/Subsystem.h>
+#include <common/config/eive/eventSubsystemIds.h>
 
 #include "mission/comDefs.h"
 
 class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
  public:
+
+	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::COM_SUBSYSTEM;
+
+	//! [EXPORT] : [COMMENT] The transmit timer to protect the Syrlinks expired
+	//! P1: The current timer value
+	static const Event TX_TIMER_EXPIRED = MAKE_EVENT(1, severity::INFO);
+	//! [EXPORT] : [COMMENT] Transmitter will be turned on due to detection of bitlock
+	static const Event BIT_LOCK_TX_ON = MAKE_EVENT(2, severity::INFO);
+
   /**
    * @brief Constructor
    *
@@ -17,8 +27,7 @@ class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
    * @param maxNumberOfSequences
    * @param maxNumberOfTables
    * @param transmitterTimeout	Maximum time the transmitter of the syrlinks
-   * 														will
-   * be enabled
+   * 														will be enabled
    */
   ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables,
                uint32_t transmitterTimeout);

From 20edbf6213a47c281e4ee7691803d0d97ab96568 Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Mon, 27 Feb 2023 08:50:47 +0100
Subject: [PATCH 12/15] included classIds in ComSubsystem

---
 bsp_q7s/memory/LocalParameterHandler.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/bsp_q7s/memory/LocalParameterHandler.h b/bsp_q7s/memory/LocalParameterHandler.h
index a8b96950..77822d49 100644
--- a/bsp_q7s/memory/LocalParameterHandler.h
+++ b/bsp_q7s/memory/LocalParameterHandler.h
@@ -3,6 +3,7 @@
 
 #include <mission/memory/NVMParameterBase.h>
 #include <mission/memory/SdCardMountedIF.h>
+#include <linux/fsfwconfig/returnvalues/classIds.h>
 
 #include <string>
 

From 0df5070fa675a6f8f3033bd547561e9df551c607 Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Mon, 27 Feb 2023 09:03:06 +0100
Subject: [PATCH 13/15] moved sd card manager and local param handler class ids
 to commonClassIds

---
 common/config/eive/resultClassIds.h      | 2 ++
 linux/fsfwconfig/returnvalues/classIds.h | 2 --
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/common/config/eive/resultClassIds.h b/common/config/eive/resultClassIds.h
index 310d9e0b..f7bf26c1 100644
--- a/common/config/eive/resultClassIds.h
+++ b/common/config/eive/resultClassIds.h
@@ -40,6 +40,8 @@ enum commonClassIds : uint8_t {
   ACS_SAFE,                 // ACSSAF
   ACS_PTG,                  // ACSPTG
   ACS_DETUMBLE,             // ACSDTB
+	SD_CARD_MANAGER,          // SDMA
+	LOCAL_PARAM_HANDLER,      // LPH
   COMMON_CLASS_ID_END       // [EXPORT] : [END]
 };
 }
diff --git a/linux/fsfwconfig/returnvalues/classIds.h b/linux/fsfwconfig/returnvalues/classIds.h
index 0e1b2c7c..0a71a8b6 100644
--- a/linux/fsfwconfig/returnvalues/classIds.h
+++ b/linux/fsfwconfig/returnvalues/classIds.h
@@ -13,9 +13,7 @@
 namespace CLASS_ID {
 enum {
   CLASS_ID_START = COMMON_CLASS_ID_END,
-  SD_CARD_MANAGER,      // SDMA
   SCRATCH_BUFFER,       // SCBU
-  LOCAL_PARAM_HANDLER,  // LPH
   CLASS_ID_END          // [EXPORT] : [END]
 };
 }

From 89ba9f7009bc72e2463b1d472e75c01948ea11bf Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Mon, 27 Feb 2023 09:12:50 +0100
Subject: [PATCH 14/15] removed class id header

---
 bsp_q7s/memory/LocalParameterHandler.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/bsp_q7s/memory/LocalParameterHandler.h b/bsp_q7s/memory/LocalParameterHandler.h
index 77822d49..a8b96950 100644
--- a/bsp_q7s/memory/LocalParameterHandler.h
+++ b/bsp_q7s/memory/LocalParameterHandler.h
@@ -3,7 +3,6 @@
 
 #include <mission/memory/NVMParameterBase.h>
 #include <mission/memory/SdCardMountedIF.h>
-#include <linux/fsfwconfig/returnvalues/classIds.h>
 
 #include <string>
 

From c06dd15303331429b781843a65cb8a4d8f427f9e Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Mon, 27 Feb 2023 11:35:43 +0100
Subject: [PATCH 15/15] minor bugfix in PDEC Handler

---
 linux/ipcore/PdecHandler.cpp | 33 +++++++++++++++++++++------------
 linux/ipcore/PdecHandler.h   |  8 ++++++--
 2 files changed, 27 insertions(+), 14 deletions(-)

diff --git a/linux/ipcore/PdecHandler.cpp b/linux/ipcore/PdecHandler.cpp
index db93bd6e..80327c94 100644
--- a/linux/ipcore/PdecHandler.cpp
+++ b/linux/ipcore/PdecHandler.cpp
@@ -164,13 +164,8 @@ ReturnValue_t PdecHandler::polledOperation() {
 
 // See https://yurovsky.github.io/2014/10/10/linux-uio-gpio-interrupt.html for more information.
 ReturnValue_t PdecHandler::irqOperation() {
-  int fd = open(uioNames.irq, O_RDWR);
-  if (fd < 0) {
-    sif::error << "PdecHandler::irqOperation: Opening UIO IRQ file" << uioNames.irq << " failed"
-               << std::endl;
-    return returnvalue::FAILED;
-  }
-
+	ReturnValue_t result = returnvalue::OK;
+	int fd = -1;
   // Used to unmask IRQ
   uint32_t info = 1;
 
@@ -186,11 +181,14 @@ ReturnValue_t PdecHandler::irqOperation() {
     readCommandQueue();
     switch (state) {
       case State::INIT: {
-        handleInitState();
+        result = handleInitState();
+        if (result == returnvalue::OK) {
+        	openIrqFile(&fd);
+        }
         break;
       }
       case State::PDEC_RESET: {
-        ReturnValue_t result = pdecToReset();
+        result = pdecToReset();
         if (result != returnvalue::OK) {
           triggerEvent(PDEC_RESET_FAILED);
         }
@@ -217,7 +215,7 @@ ReturnValue_t PdecHandler::irqOperation() {
   return returnvalue::OK;
 }
 
-void PdecHandler::handleInitState() {
+ReturnValue_t PdecHandler::handleInitState() {
   ReturnValue_t result = firstLoop();
   if (result != returnvalue::OK) {
     if (result == LocalParameterHandler::SD_NOT_READY) {
@@ -227,15 +225,26 @@ void PdecHandler::handleInitState() {
                       "becomes ready"
                    << std::endl;
         state = State::WAIT_FOR_RECOVERY;
-        return;
       } else {
         state = State::INIT;
-        return;
       }
+      return result;
     }
     state = State::WAIT_FOR_RECOVERY;
+    return result;
   }
   state = State::RUNNING;
+  return returnvalue::OK;
+}
+
+void PdecHandler::openIrqFile(int* fd) {
+	*fd = open(uioNames.irq, O_RDWR);
+	if (*fd < 0) {
+		sif::error << "PdecHandler::irqOperation: Opening UIO IRQ file" << uioNames.irq << " failed"
+							 << std::endl;
+		triggerEvent(OPEN_IRQ_FILE_FAILED);
+		state = State::WAIT_FOR_RECOVERY;
+	}
 }
 
 ReturnValue_t PdecHandler::checkAndHandleIrqs(int fd, uint32_t& info) {
diff --git a/linux/ipcore/PdecHandler.h b/linux/ipcore/PdecHandler.h
index d3507211..e98e939c 100644
--- a/linux/ipcore/PdecHandler.h
+++ b/linux/ipcore/PdecHandler.h
@@ -101,9 +101,12 @@ class PdecHandler : public SystemObject,
   static constexpr Event POLL_SYSCALL_ERROR_PDEC =
       event::makeEvent(SUBSYSTEM_ID, 8, severity::MEDIUM);
   static constexpr Event WRITE_SYSCALL_ERROR_PDEC =
-      event::makeEvent(SUBSYSTEM_ID, 9, severity::MEDIUM);
+      event::makeEvent(SUBSYSTEM_ID, 9, severity::HIGH);
   //! [EXPORT] : [COMMENT] Failed to pull PDEC reset to low
   static constexpr Event PDEC_RESET_FAILED = event::makeEvent(SUBSYSTEM_ID, 10, severity::HIGH);
+  //! [EXPORT] : [COMMENT] Failed to open the IRQ uio file
+  static constexpr Event OPEN_IRQ_FILE_FAILED =
+      event::makeEvent(SUBSYSTEM_ID, 11, severity::HIGH);
 
  private:
   static const uint8_t INTERFACE_ID = CLASS_ID::PDEC_HANDLER;
@@ -279,7 +282,8 @@ class PdecHandler : public SystemObject,
 
   ReturnValue_t polledOperation();
   ReturnValue_t irqOperation();
-  void handleInitState();
+  ReturnValue_t handleInitState();
+  void openIrqFile(int* fd);
   ReturnValue_t checkAndHandleIrqs(int fd, uint32_t& info);
 
   uint32_t readFar();