From 3bdad61ac0797e5488928c0e4961dab410060d02 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 23 May 2022 10:42:57 +0200
Subject: [PATCH 01/20] split ACU HK set

---
 mission/devices/ACUHandler.cpp                | 310 ++++++------------
 mission/devices/ACUHandler.h                  |   5 +-
 .../devicedefinitions/GomspaceDefinitions.h   | 229 ++++---------
 tmtc                                          |   2 +-
 4 files changed, 159 insertions(+), 387 deletions(-)

diff --git a/mission/devices/ACUHandler.cpp b/mission/devices/ACUHandler.cpp
index f881479d..bbb22f86 100644
--- a/mission/devices/ACUHandler.cpp
+++ b/mission/devices/ACUHandler.cpp
@@ -6,7 +6,7 @@ ACUHandler::ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCoo
                        FailureIsolationBase *customFdir)
     : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir, ACU::MAX_CONFIGTABLE_ADDRESS,
                             ACU::MAX_HKTABLE_ADDRESS, ACU::HK_TABLE_REPLY_SIZE),
-      acuHkTableDataset(this) {}
+      coreHk(this), auxHk(this) {}
 
 ACUHandler::~ACUHandler() {}
 
@@ -22,236 +22,141 @@ void ACUHandler::fillCommandAndReplyMap() {
 
 void ACUHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
   parseHkTableReply(packet);
-  handleDeviceTM(&acuHkTableDataset, id, true);
-
   if (debugMode) {
 #if OBSW_VERBOSE_LEVEL >= 1
-    acuHkTableDataset.read();
-    float temperatureC_1 = acuHkTableDataset.temperature1.value * 0.1;
-    float temperatureC_2 = acuHkTableDataset.temperature2.value * 0.1;
-    float temperatureC_3 = acuHkTableDataset.temperature3.value * 0.1;
-    sif::info << "ACU: Temperature 1: " << temperatureC_1 << " °C" << std::endl;
-    sif::info << "ACU: Temperature 2: " << temperatureC_2 << " °C" << std::endl;
-    sif::info << "ACU: Temperature 3: " << temperatureC_3 << " °C" << std::endl;
-    sif::info << "ACU: Ground Watchdog Timer Count: " << acuHkTableDataset.wdtCntGnd.value
+    PoolReadGuard pg0(&auxHk);
+    PoolReadGuard pg1(&coreHk);
+    if(pg0.getReadResult() != RETURN_OK or pg1.getReadResult() != RETURN_OK) {
+      return;
+    }
+    for(size_t idx = 0; idx < 3; idx++) {
+      float tempC = coreHk.temperatures[idx] * 0.1;
+      sif::info << "ACU: Temperature " << idx << ": " << tempC << " °C" << std::endl;
+    }
+    sif::info << "ACU: Ground Watchdog Timer Count: " << auxHk.wdtCntGnd.value
               << std::endl;
     sif::info << "ACU: Ground watchdog timer, seconds left before reboot: "
-              << acuHkTableDataset.wdtGndLeft.value << std::endl;
-    acuHkTableDataset.commit();
+              << auxHk.wdtGndLeft.value << std::endl;
 #endif
   }
 }
 
 LocalPoolDataSetBase *ACUHandler::getDataSetHandle(sid_t sid) {
-  if (sid == acuHkTableDataset.getSid()) {
-    return &acuHkTableDataset;
+  if (sid == coreHk.getSid()) {
+    return &coreHk;
+  } else if(sid == auxHk.getSid()) {
+    return &auxHk;
   }
   return nullptr;
 }
 
-void ACUHandler::parseHkTableReply(const uint8_t *packet) {
+ReturnValue_t ACUHandler::parseHkTableReply(const uint8_t *packet) {
   uint16_t dataOffset = 0;
-  acuHkTableDataset.read();
+  PoolReadGuard pg0(&coreHk);
+  PoolReadGuard pg1(&auxHk);
+  auto res0 = pg0.getReadResult();
+  auto res1 = pg1.getReadResult();
+  if(res0 != RETURN_OK) {
+    return res0;
+  }
+  if(res1 != RETURN_OK) {
+    return res1;
+  }
   dataOffset += 12;
-  acuHkTableDataset.currentInChannel0 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+  for(size_t idx = 0; idx < 6; idx++) {
+    coreHk.currentInChannels[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
+    dataOffset += 4;
+  }
+  for(size_t idx = 0; idx < 6; idx++) {
+    coreHk.voltageInChannels[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
+    dataOffset += 4;
+  }
+
+
+  coreHk.vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
   dataOffset += 4;
-  acuHkTableDataset.currentInChannel1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.currentInChannel2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.currentInChannel3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.currentInChannel4 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.currentInChannel5 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+  coreHk.vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
   dataOffset += 4;
 
-  acuHkTableDataset.voltageInChannel0 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.voltageInChannel1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.voltageInChannel2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.voltageInChannel3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.voltageInChannel4 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.voltageInChannel5 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
+  for(size_t idx = 0; idx < 3; idx++) {
+    coreHk.temperatures[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
+    dataOffset += 4;
+  }
 
-  acuHkTableDataset.vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-
-  acuHkTableDataset.temperature1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.temperature2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.temperature3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-
-  acuHkTableDataset.mpptMode = *(packet + dataOffset);
+  coreHk.mpptMode = packet[dataOffset];
   dataOffset += 3;
 
-  acuHkTableDataset.vboostInChannel0 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.vboostInChannel1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.vboostInChannel2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.vboostInChannel3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.vboostInChannel4 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.vboostInChannel5 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
+  for(size_t idx = 0; idx < 6; idx++) {
+    coreHk.vboostInChannels[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
+    dataOffset += 4;
+  }
+  for(size_t idx = 0; idx < 6; idx++) {
+    coreHk.powerInChannels[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
+    dataOffset += 4;
+  }
+  for(size_t idx = 0; idx < 3; idx++) {
+    auxHk.dacEnables[idx] = packet[dataOffset];
+    dataOffset += 3;
+  }
+  for(size_t idx = 0; idx < 6; idx++) {
+    auxHk.dacRawChannelVal0[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
+    dataOffset += 4;
+  }
 
-  acuHkTableDataset.powerInChannel0 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.powerInChannel1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.powerInChannel2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.powerInChannel3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.powerInChannel4 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.powerInChannel5 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-
-  acuHkTableDataset.dac0Enable = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.dac1Enable = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.dac2Enable = *(packet + dataOffset);
-  dataOffset += 3;
-
-  acuHkTableDataset.dacRawChannelVal0 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.dacRawChannelVal1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.dacRawChannelVal2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.dacRawChannelVal3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.dacRawChannelVal4 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.dacRawChannelVal5 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-
-  acuHkTableDataset.bootCause = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+  auxHk.bootCause = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                                 *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
   dataOffset += 6;
-  acuHkTableDataset.bootcnt = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+  coreHk.bootcnt = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                               *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
   dataOffset += 6;
-  acuHkTableDataset.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+  coreHk.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                              *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
   dataOffset += 6;
-  acuHkTableDataset.resetCause = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+  auxHk.resetCause = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
   dataOffset += 4;
-  acuHkTableDataset.mpptTime = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+  coreHk.mpptTime = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
   /* +12 because here starts the second csp packet */
   dataOffset += 2 + 12;
 
-  acuHkTableDataset.mpptPeriod = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+  coreHk.mpptPeriod = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
   dataOffset += 4;
 
-  acuHkTableDataset.device0 = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device1 = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device2 = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device3 = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device4 = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device5 = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device6 = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device7 = *(packet + dataOffset);
-  dataOffset += 3;
+  for(size_t idx = 0; idx < 8; idx++) {
+    auxHk.deviceTypes[idx] = packet[dataOffset];
+    dataOffset += 3;
+  }
+  for(size_t idx = 0; idx < 8; idx++) {
+    auxHk.devicesStatus[idx] = packet[dataOffset];
+    dataOffset += 3;
+  }
 
-  acuHkTableDataset.device0Status = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device1Status = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device2Status = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device3Status = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device4Status = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device5Status = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device6Status = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device7Status = *(packet + dataOffset);
-  dataOffset += 3;
-
-  acuHkTableDataset.wdtCntGnd = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+  auxHk.wdtCntGnd = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                                 *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
   dataOffset += 6;
-  acuHkTableDataset.wdtGndLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+  auxHk.wdtGndLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                                  *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
   dataOffset += 6;
-
-  acuHkTableDataset.commit();
+  return RETURN_OK;
 }
 
 ReturnValue_t ACUHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                   LocalDataPoolManager &poolManager) {
   using namespace P60System;
-  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNEL0, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNEL1, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNEL2, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNEL3, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNEL4, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNEL5, new PoolEntry<int16_t>({0}));
-
-  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNEL0, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNEL1, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNEL2, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNEL3, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNEL4, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNEL5, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNELS, new PoolEntry<int16_t>(6));
+  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNELS, new PoolEntry<uint16_t>(6));
 
   localDataPoolMap.emplace(pool::ACU_VCC, new PoolEntry<uint16_t>({0}));
   localDataPoolMap.emplace(pool::ACU_VBAT, new PoolEntry<uint16_t>({0}));
 
-  localDataPoolMap.emplace(pool::ACU_TEMPERATURE_1, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_TEMPERATURE_2, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_TEMPERATURE_3, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_TEMPERATURES, new PoolEntry<int16_t>(3));
 
   localDataPoolMap.emplace(pool::ACU_MPPT_MODE, new PoolEntry<uint8_t>({0}));
 
-  localDataPoolMap.emplace(pool::ACU_VBOOST_CHANNEL0, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_VBOOST_CHANNEL1, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_VBOOST_CHANNEL2, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_VBOOST_CHANNEL3, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_VBOOST_CHANNEL4, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_VBOOST_CHANNEL5, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_VBOOST_IN_CHANNELS, new PoolEntry<uint16_t>(6));
+  localDataPoolMap.emplace(pool::ACU_POWER_IN_CHANNELS, new PoolEntry<uint16_t>(6));
 
-  localDataPoolMap.emplace(pool::ACU_POWER_CHANNEL0, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_POWER_CHANNEL1, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_POWER_CHANNEL2, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_POWER_CHANNEL3, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_POWER_CHANNEL4, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_POWER_CHANNEL5, new PoolEntry<uint16_t>({0}));
-
-  localDataPoolMap.emplace(pool::ACU_DAC_EN_0, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DAC_EN_1, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DAC_EN_2, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(pool::ACU_DAC_RAW_0, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DAC_RAW_1, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DAC_RAW_2, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DAC_RAW_3, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DAC_RAW_4, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DAC_RAW_5, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_DAC_ENABLES, new PoolEntry<uint8_t>(3));
+  localDataPoolMap.emplace(pool::ACU_DAC_RAW_CHANNELS, new PoolEntry<uint16_t>(6));
 
   localDataPoolMap.emplace(pool::ACU_BOOTCAUSE, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(pool::ACU_BOOTCNT, new PoolEntry<uint32_t>({0}));
@@ -260,28 +165,14 @@ ReturnValue_t ACUHandler::initializeLocalDataPool(localpool::DataPool &localData
   localDataPoolMap.emplace(pool::ACU_MPPT_TIME, new PoolEntry<uint16_t>({0}));
   localDataPoolMap.emplace(pool::ACU_MPPT_PERIOD, new PoolEntry<uint16_t>({0}));
 
-  localDataPoolMap.emplace(pool::ACU_DEVICE_0, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_1, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_2, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_3, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_4, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_5, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_6, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_7, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(pool::ACU_DEVICE_0_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_1_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_2_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_3_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_4_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_5_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_6_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_7_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_DEVICES, new PoolEntry<uint8_t>(8));
+  localDataPoolMap.emplace(pool::ACU_DEVICES_STATUS, new PoolEntry<uint8_t>(8));
 
   localDataPoolMap.emplace(pool::ACU_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(pool::ACU_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
 
-  poolManager.subscribeForPeriodicPacket(acuHkTableDataset.getSid(), false, 30.0, false);
+  poolManager.subscribeForPeriodicPacket(coreHk.getSid(), false, 10.0, true);
+  poolManager.subscribeForPeriodicPacket(auxHk.getSid(), false, 30.0, false);
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -299,26 +190,13 @@ ReturnValue_t ACUHandler::childCommandHook(DeviceCommandId_t cmd, const uint8_t
 }
 
 void ACUHandler::printChannelStats() {
-  PoolReadGuard pg(&acuHkTableDataset);
+  PoolReadGuard pg(&coreHk);
   sif::info << "ACU Info: Current [mA], Voltage [mV]" << std::endl;
-  sif::info << std::setw(8) << std::left << "Ch0" << std::dec << "| "
-            << static_cast<unsigned int>(acuHkTableDataset.currentInChannel0.value) << std::setw(15)
-            << std::right << acuHkTableDataset.voltageInChannel0.value << std::endl;
-  sif::info << std::setw(8) << std::left << "Ch1" << std::dec << "| "
-            << static_cast<unsigned int>(acuHkTableDataset.currentInChannel1.value) << std::setw(15)
-            << std::right << acuHkTableDataset.voltageInChannel1.value << std::endl;
-  sif::info << std::setw(8) << std::left << "Ch2" << std::dec << "| "
-            << static_cast<unsigned int>(acuHkTableDataset.currentInChannel2.value) << std::setw(15)
-            << std::right << acuHkTableDataset.voltageInChannel2.value << std::endl;
-  sif::info << std::setw(8) << std::left << "Ch3" << std::dec << "| "
-            << static_cast<unsigned int>(acuHkTableDataset.currentInChannel3.value) << std::setw(15)
-            << std::right << acuHkTableDataset.voltageInChannel3.value << std::endl;
-  sif::info << std::setw(8) << std::left << "Ch4" << std::dec << "| "
-            << static_cast<unsigned int>(acuHkTableDataset.currentInChannel4.value) << std::setw(15)
-            << std::right << acuHkTableDataset.voltageInChannel4.value << std::endl;
-  sif::info << std::setw(8) << std::left << "Ch5" << std::dec << "| "
-            << static_cast<unsigned int>(acuHkTableDataset.currentInChannel5.value) << std::setw(15)
-            << std::right << acuHkTableDataset.voltageInChannel5.value << std::endl;
+  for(size_t idx = 0; idx < 6; idx++) {
+    sif::info << std::setw(8) << std::left << "Channel " << idx << std::dec << "| "
+              << static_cast<unsigned int>(coreHk.currentInChannels[idx]) << std::setw(15)
+              << std::right << coreHk.voltageInChannels[idx] << std::endl;
+  }
 }
 
 void ACUHandler::setDebugMode(bool enable) { this->debugMode = enable; }
diff --git a/mission/devices/ACUHandler.h b/mission/devices/ACUHandler.h
index 16a7c6db..ca0ccd2d 100644
--- a/mission/devices/ACUHandler.h
+++ b/mission/devices/ACUHandler.h
@@ -39,14 +39,15 @@ class ACUHandler : public GomspaceDeviceHandler {
  private:
   static const DeviceCommandId_t PRINT_CHANNEL_STATS = 51;
 
-  ACU::HkTableDataset acuHkTableDataset;
+  ACU::CoreHk coreHk;
+  ACU::AuxHk auxHk;
   bool debugMode = false;
 
   /**
    * @brief   Function extracts the hk table information from the received csp packet and stores
    *          the values in the acuHkTableDataset.
    */
-  void parseHkTableReply(const uint8_t* packet);
+  ReturnValue_t parseHkTableReply(const uint8_t* packet);
 
   /**
    * @brief   Prints channel statistics (current and voltage) to console
diff --git a/mission/devices/devicedefinitions/GomspaceDefinitions.h b/mission/devices/devicedefinitions/GomspaceDefinitions.h
index 5c59d3d8..5314a280 100644
--- a/mission/devices/devicedefinitions/GomspaceDefinitions.h
+++ b/mission/devices/devicedefinitions/GomspaceDefinitions.h
@@ -55,7 +55,8 @@ enum class SetIds : uint32_t {
   PDU_2_AUX = 4,
   P60_CORE = 5,
   P60_AUX = 6,
-  ACU = 7
+  ACU_CORE = 7,
+  ACU_AUX = 8
 };
 
 namespace pool {
@@ -129,67 +130,24 @@ enum Ids : lp_id_t {
   PDU_WDT_CSP_LEFT2,
 
   /** ACU Ids */
-  ACU_CURRENT_IN_CHANNEL0,
-  ACU_CURRENT_IN_CHANNEL1,
-  ACU_CURRENT_IN_CHANNEL2,
-  ACU_CURRENT_IN_CHANNEL3,
-  ACU_CURRENT_IN_CHANNEL4,
-  ACU_CURRENT_IN_CHANNEL5,
-  ACU_VOLTAGE_IN_CHANNEL0,
-  ACU_VOLTAGE_IN_CHANNEL1,
-  ACU_VOLTAGE_IN_CHANNEL2,
-  ACU_VOLTAGE_IN_CHANNEL3,
-  ACU_VOLTAGE_IN_CHANNEL4,
-  ACU_VOLTAGE_IN_CHANNEL5,
+  ACU_CURRENT_IN_CHANNELS,
+  ACU_VOLTAGE_IN_CHANNELS,
   ACU_VCC,
   ACU_VBAT,
-  ACU_TEMPERATURE_1,
-  ACU_TEMPERATURE_2,
-  ACU_TEMPERATURE_3,
+  ACU_TEMPERATURES,
   ACU_MPPT_MODE,
-  ACU_VBOOST_CHANNEL0,
-  ACU_VBOOST_CHANNEL1,
-  ACU_VBOOST_CHANNEL2,
-  ACU_VBOOST_CHANNEL3,
-  ACU_VBOOST_CHANNEL4,
-  ACU_VBOOST_CHANNEL5,
-  ACU_POWER_CHANNEL0,
-  ACU_POWER_CHANNEL1,
-  ACU_POWER_CHANNEL2,
-  ACU_POWER_CHANNEL3,
-  ACU_POWER_CHANNEL4,
-  ACU_POWER_CHANNEL5,
-  ACU_DAC_EN_0,
-  ACU_DAC_EN_1,
-  ACU_DAC_EN_2,
-  ACU_DAC_RAW_0,
-  ACU_DAC_RAW_1,
-  ACU_DAC_RAW_2,
-  ACU_DAC_RAW_3,
-  ACU_DAC_RAW_4,
-  ACU_DAC_RAW_5,
+  ACU_VBOOST_IN_CHANNELS,
+  ACU_POWER_IN_CHANNELS,
+  ACU_DAC_ENABLES,
+  ACU_DAC_RAW_CHANNELS,
   ACU_BOOTCAUSE,
   ACU_BOOTCNT,
   ACU_UPTIME,
   ACU_RESET_CAUSE,
   ACU_MPPT_TIME,
   ACU_MPPT_PERIOD,
-  ACU_DEVICE_0,
-  ACU_DEVICE_1,
-  ACU_DEVICE_2,
-  ACU_DEVICE_3,
-  ACU_DEVICE_4,
-  ACU_DEVICE_5,
-  ACU_DEVICE_6,
-  ACU_DEVICE_7,
-  ACU_DEVICE_0_STATUS,
-  ACU_DEVICE_1_STATUS,
-  ACU_DEVICE_2_STATUS,
-  ACU_DEVICE_3_STATUS,
-  ACU_DEVICE_4_STATUS,
-  ACU_DEVICE_5_STATUS,
-  ACU_DEVICE_6_STATUS,
-  ACU_DEVICE_7_STATUS,
+  ACU_DEVICES,
+  ACU_DEVICES_STATUS,
   ACU_WDT_CNT_GND,
   ACU_WDT_GND_LEFT,
 };
@@ -592,138 +550,73 @@ static const uint16_t MAX_HKTABLE_ADDRESS = 120;
 static const uint8_t HK_TABLE_ENTRIES = 64;
 static const uint16_t HK_TABLE_REPLY_SIZE = 262;
 
-/**
- * @brief   This class defines a dataset for the hk table of the ACU.
- */
-class HkTableDataset : public StaticLocalDataSet<HK_TABLE_ENTRIES> {
- public:
-  HkTableDataset(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::ACU)) {}
+class CoreHk: public StaticLocalDataSet<14> {
+public:
+  CoreHk(HasLocalDataPoolIF* owner)
+      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::ACU_CORE)) {}
 
-  HkTableDataset(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::ACU))) {}
-
-  lp_var_t<int16_t> currentInChannel0 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::ACU_CURRENT_IN_CHANNEL0, this);
-  lp_var_t<int16_t> currentInChannel1 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::ACU_CURRENT_IN_CHANNEL1, this);
-  lp_var_t<int16_t> currentInChannel2 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::ACU_CURRENT_IN_CHANNEL2, this);
-  lp_var_t<int16_t> currentInChannel3 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::ACU_CURRENT_IN_CHANNEL3, this);
-  lp_var_t<int16_t> currentInChannel4 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::ACU_CURRENT_IN_CHANNEL4, this);
-  lp_var_t<int16_t> currentInChannel5 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::ACU_CURRENT_IN_CHANNEL5, this);
-
-  lp_var_t<uint16_t> voltageInChannel0 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VOLTAGE_IN_CHANNEL0, this);
-  lp_var_t<uint16_t> voltageInChannel1 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VOLTAGE_IN_CHANNEL1, this);
-  lp_var_t<uint16_t> voltageInChannel2 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VOLTAGE_IN_CHANNEL2, this);
-  lp_var_t<uint16_t> voltageInChannel3 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VOLTAGE_IN_CHANNEL3, this);
-  lp_var_t<uint16_t> voltageInChannel4 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VOLTAGE_IN_CHANNEL4, this);
-  lp_var_t<uint16_t> voltageInChannel5 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VOLTAGE_IN_CHANNEL5, this);
-
-  lp_var_t<uint16_t> vcc = lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VCC, this);
-  lp_var_t<uint16_t> vbat = lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VBAT, this);
-
-  lp_var_t<int16_t> temperature1 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::ACU_TEMPERATURE_1, this);
-  lp_var_t<int16_t> temperature2 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::ACU_TEMPERATURE_2, this);
-  lp_var_t<int16_t> temperature3 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::ACU_TEMPERATURE_3, this);
+  CoreHk(object_id_t objectId)
+      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::ACU_CORE))) {}
 
   lp_var_t<uint8_t> mpptMode =
       lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_MPPT_MODE, this);
 
-  lp_var_t<uint16_t> vboostInChannel0 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VBOOST_CHANNEL0, this);
-  lp_var_t<uint16_t> vboostInChannel1 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VBOOST_CHANNEL1, this);
-  lp_var_t<uint16_t> vboostInChannel2 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VBOOST_CHANNEL2, this);
-  lp_var_t<uint16_t> vboostInChannel3 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VBOOST_CHANNEL3, this);
-  lp_var_t<uint16_t> vboostInChannel4 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VBOOST_CHANNEL4, this);
-  lp_var_t<uint16_t> vboostInChannel5 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VBOOST_CHANNEL5, this);
+  lp_vec_t<int16_t, 6> currentInChannels =
+      lp_vec_t<int16_t, 6>(sid.objectId, P60System::pool::ACU_CURRENT_IN_CHANNELS, this);
+  lp_vec_t<uint16_t, 6> voltageInChannels =
+      lp_vec_t<uint16_t, 6>(sid.objectId, P60System::pool::ACU_VOLTAGE_IN_CHANNELS, this);
 
-  lp_var_t<uint16_t> powerInChannel0 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_POWER_CHANNEL0, this);
-  lp_var_t<uint16_t> powerInChannel1 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_POWER_CHANNEL1, this);
-  lp_var_t<uint16_t> powerInChannel2 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_POWER_CHANNEL2, this);
-  lp_var_t<uint16_t> powerInChannel3 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_POWER_CHANNEL3, this);
-  lp_var_t<uint16_t> powerInChannel4 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_POWER_CHANNEL4, this);
-  lp_var_t<uint16_t> powerInChannel5 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_POWER_CHANNEL5, this);
+  lp_var_t<uint16_t> vcc = lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VCC, this);
+  lp_var_t<uint16_t> vbat = lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VBAT, this);
 
-  lp_var_t<uint8_t> dac0Enable =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DAC_EN_0, this);
-  lp_var_t<uint8_t> dac1Enable =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DAC_EN_1, this);
-  lp_var_t<uint8_t> dac2Enable =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DAC_EN_2, this);
+  lp_vec_t<uint16_t, 6> vboostInChannels =
+      lp_vec_t<uint16_t, 6>(sid.objectId, P60System::pool::ACU_VBOOST_IN_CHANNELS, this);
+  lp_vec_t<uint16_t, 6> powerInChannels =
+      lp_vec_t<uint16_t, 6>(sid.objectId, P60System::pool::ACU_POWER_IN_CHANNELS, this);
 
-  lp_var_t<uint16_t> dacRawChannelVal0 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_DAC_RAW_0, this);
-  lp_var_t<uint16_t> dacRawChannelVal1 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_DAC_RAW_1, this);
-  lp_var_t<uint16_t> dacRawChannelVal2 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_DAC_RAW_2, this);
-  lp_var_t<uint16_t> dacRawChannelVal3 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_DAC_RAW_3, this);
-  lp_var_t<uint16_t> dacRawChannelVal4 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_DAC_RAW_4, this);
-  lp_var_t<uint16_t> dacRawChannelVal5 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_DAC_RAW_5, this);
+  lp_vec_t<int16_t, 3> temperatures =
+      lp_vec_t<int16_t, 3>(sid.objectId, P60System::pool::ACU_TEMPERATURES, this);
 
-  lp_var_t<uint32_t> bootCause =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::ACU_BOOTCAUSE, this);
   lp_var_t<uint32_t> bootcnt = lp_var_t<uint32_t>(sid.objectId, P60System::pool::ACU_BOOTCNT, this);
   lp_var_t<uint32_t> uptime = lp_var_t<uint32_t>(sid.objectId, P60System::pool::ACU_UPTIME, this);
-  lp_var_t<uint16_t> resetCause =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_RESET_CAUSE, this);
   lp_var_t<uint16_t> mpptTime =
       lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_MPPT_TIME, this);
   lp_var_t<uint16_t> mpptPeriod =
       lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_MPPT_PERIOD, this);
 
-  lp_var_t<uint8_t> device0 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_0, this);
-  lp_var_t<uint8_t> device1 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_1, this);
-  lp_var_t<uint8_t> device2 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_2, this);
-  lp_var_t<uint8_t> device3 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_3, this);
-  lp_var_t<uint8_t> device4 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_4, this);
-  lp_var_t<uint8_t> device5 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_5, this);
-  lp_var_t<uint8_t> device6 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_6, this);
-  lp_var_t<uint8_t> device7 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_7, this);
+};
+/**
+ * @brief   This class defines a dataset for the hk table of the ACU.
+ */
+class AuxHk : public StaticLocalDataSet<12> {
+ public:
+  AuxHk(HasLocalDataPoolIF* owner)
+      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::ACU_AUX)) {}
 
-  lp_var_t<uint8_t> device0Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_0_STATUS, this);
-  lp_var_t<uint8_t> device1Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_1_STATUS, this);
-  lp_var_t<uint8_t> device2Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_2_STATUS, this);
-  lp_var_t<uint8_t> device3Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_3_STATUS, this);
-  lp_var_t<uint8_t> device4Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_4_STATUS, this);
-  lp_var_t<uint8_t> device5Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_5_STATUS, this);
-  lp_var_t<uint8_t> device6Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_6_STATUS, this);
-  lp_var_t<uint8_t> device7Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_7_STATUS, this);
+  AuxHk(object_id_t objectId)
+      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::ACU_AUX))) {}
+
+
+  lp_vec_t<uint8_t, 3> dacEnables =
+      lp_vec_t<uint8_t, 3>(sid.objectId, P60System::pool::ACU_DAC_ENABLES, this);
+
+  lp_vec_t<uint16_t, 6> dacRawChannelVal0 =
+      lp_vec_t<uint16_t, 6>(sid.objectId, P60System::pool::ACU_DAC_RAW_CHANNELS, this);
+
+  lp_var_t<uint32_t> bootCause =
+      lp_var_t<uint32_t>(sid.objectId, P60System::pool::ACU_BOOTCAUSE, this);
+  lp_var_t<uint16_t> resetCause =
+      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_RESET_CAUSE, this);
+
+  /**
+   * There are 8 devices on the PDU. FRAM, ADCs, temperature sensor etc. Each device is
+   * identified by an ID. Refer also to gs-man-nanopower-p60-pdu-200-1.pdf on pages 17 and 18.
+   */
+  lp_vec_t<uint8_t, 8> deviceTypes =
+      lp_vec_t<uint8_t, 8>(sid.objectId, P60System::pool::ACU_DEVICES, this);
+  /** The status of each device. 0 = None, 1 = Ok, 2 = Error, 3 = Not found */
+  lp_vec_t<uint8_t, 8> devicesStatus =
+      lp_vec_t<uint8_t, 8>(sid.objectId, P60System::pool::ACU_DEVICES_STATUS, this);
 
   lp_var_t<uint32_t> wdtCntGnd =
       lp_var_t<uint32_t>(sid.objectId, P60System::pool::ACU_WDT_CNT_GND, this);
diff --git a/tmtc b/tmtc
index 480e0f07..ff66dd5d 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 480e0f07e03edeb55a3d6e3d629e7601b6bf90a2
+Subproject commit ff66dd5dd2bc2ee3150ce45160303bc79ed2599d

From 99e27a5a635b0a47adf5fff9c581be7bb6a77b0c Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 23 May 2022 11:25:58 +0200
Subject: [PATCH 02/20] run afmt

---
 bsp_q7s/em/emObjectFactory.cpp                |  1 +
 bsp_q7s/obsw.cpp                              |  2 +-
 mission/devices/ACUHandler.cpp                | 87 ++++++++++---------
 mission/devices/ACUHandler.h                  |  7 +-
 mission/devices/P60DockHandler.cpp            |  2 +-
 mission/devices/PDU1Handler.cpp               |  2 +-
 mission/devices/PDU2Handler.cpp               |  2 +-
 .../devicedefinitions/GomspaceDefinitions.h   |  9 +-
 tmtc                                          |  2 +-
 9 files changed, 58 insertions(+), 56 deletions(-)

diff --git a/bsp_q7s/em/emObjectFactory.cpp b/bsp_q7s/em/emObjectFactory.cpp
index d4500e0b..327e7b87 100644
--- a/bsp_q7s/em/emObjectFactory.cpp
+++ b/bsp_q7s/em/emObjectFactory.cpp
@@ -1,4 +1,5 @@
 #include <fsfw/health/HealthTableIF.h>
+
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
 #include "bsp_q7s/core/ObjectFactory.h"
diff --git a/bsp_q7s/obsw.cpp b/bsp_q7s/obsw.cpp
index 1da60783..530c4904 100644
--- a/bsp_q7s/obsw.cpp
+++ b/bsp_q7s/obsw.cpp
@@ -4,11 +4,11 @@
 #include <iostream>
 
 #include "OBSWConfig.h"
-#include "q7sConfig.h"
 #include "commonConfig.h"
 #include "core/InitMission.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/version.h"
+#include "q7sConfig.h"
 #include "watchdog/definitions.h"
 
 static int OBSW_ALREADY_RUNNING = -2;
diff --git a/mission/devices/ACUHandler.cpp b/mission/devices/ACUHandler.cpp
index bbb22f86..77386610 100644
--- a/mission/devices/ACUHandler.cpp
+++ b/mission/devices/ACUHandler.cpp
@@ -6,7 +6,8 @@ ACUHandler::ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCoo
                        FailureIsolationBase *customFdir)
     : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir, ACU::MAX_CONFIGTABLE_ADDRESS,
                             ACU::MAX_HKTABLE_ADDRESS, ACU::HK_TABLE_REPLY_SIZE),
-      coreHk(this), auxHk(this) {}
+      coreHk(this),
+      auxHk(this) {}
 
 ACUHandler::~ACUHandler() {}
 
@@ -15,10 +16,7 @@ ReturnValue_t ACUHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return buildCommandFromCommand(*id, NULL, 0);
 }
 
-void ACUHandler::fillCommandAndReplyMap() {
-  GomspaceDeviceHandler::fillCommandAndReplyMap();
-  this->insertInCommandMap(PRINT_CHANNEL_STATS);
-}
+void ACUHandler::fillCommandAndReplyMap() { GomspaceDeviceHandler::fillCommandAndReplyMap(); }
 
 void ACUHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
   parseHkTableReply(packet);
@@ -26,15 +24,14 @@ void ACUHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pack
 #if OBSW_VERBOSE_LEVEL >= 1
     PoolReadGuard pg0(&auxHk);
     PoolReadGuard pg1(&coreHk);
-    if(pg0.getReadResult() != RETURN_OK or pg1.getReadResult() != RETURN_OK) {
+    if (pg0.getReadResult() != RETURN_OK or pg1.getReadResult() != RETURN_OK) {
       return;
     }
-    for(size_t idx = 0; idx < 3; idx++) {
+    for (size_t idx = 0; idx < 3; idx++) {
       float tempC = coreHk.temperatures[idx] * 0.1;
       sif::info << "ACU: Temperature " << idx << ": " << tempC << " °C" << std::endl;
     }
-    sif::info << "ACU: Ground Watchdog Timer Count: " << auxHk.wdtCntGnd.value
-              << std::endl;
+    sif::info << "ACU: Ground Watchdog Timer Count: " << auxHk.wdtCntGnd.value << std::endl;
     sif::info << "ACU: Ground watchdog timer, seconds left before reboot: "
               << auxHk.wdtGndLeft.value << std::endl;
 #endif
@@ -44,7 +41,7 @@ void ACUHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pack
 LocalPoolDataSetBase *ACUHandler::getDataSetHandle(sid_t sid) {
   if (sid == coreHk.getSid()) {
     return &coreHk;
-  } else if(sid == auxHk.getSid()) {
+  } else if (sid == auxHk.getSid()) {
     return &auxHk;
   }
   return nullptr;
@@ -56,29 +53,28 @@ ReturnValue_t ACUHandler::parseHkTableReply(const uint8_t *packet) {
   PoolReadGuard pg1(&auxHk);
   auto res0 = pg0.getReadResult();
   auto res1 = pg1.getReadResult();
-  if(res0 != RETURN_OK) {
+  if (res0 != RETURN_OK) {
     return res0;
   }
-  if(res1 != RETURN_OK) {
+  if (res1 != RETURN_OK) {
     return res1;
   }
   dataOffset += 12;
-  for(size_t idx = 0; idx < 6; idx++) {
+  for (size_t idx = 0; idx < 6; idx++) {
     coreHk.currentInChannels[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
     dataOffset += 4;
   }
-  for(size_t idx = 0; idx < 6; idx++) {
+  for (size_t idx = 0; idx < 6; idx++) {
     coreHk.voltageInChannels[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
     dataOffset += 4;
   }
 
-
   coreHk.vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
   dataOffset += 4;
   coreHk.vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
   dataOffset += 4;
 
-  for(size_t idx = 0; idx < 3; idx++) {
+  for (size_t idx = 0; idx < 3; idx++) {
     coreHk.temperatures[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
     dataOffset += 4;
   }
@@ -86,31 +82,31 @@ ReturnValue_t ACUHandler::parseHkTableReply(const uint8_t *packet) {
   coreHk.mpptMode = packet[dataOffset];
   dataOffset += 3;
 
-  for(size_t idx = 0; idx < 6; idx++) {
+  for (size_t idx = 0; idx < 6; idx++) {
     coreHk.vboostInChannels[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
     dataOffset += 4;
   }
-  for(size_t idx = 0; idx < 6; idx++) {
+  for (size_t idx = 0; idx < 6; idx++) {
     coreHk.powerInChannels[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
     dataOffset += 4;
   }
-  for(size_t idx = 0; idx < 3; idx++) {
+  for (size_t idx = 0; idx < 3; idx++) {
     auxHk.dacEnables[idx] = packet[dataOffset];
     dataOffset += 3;
   }
-  for(size_t idx = 0; idx < 6; idx++) {
+  for (size_t idx = 0; idx < 6; idx++) {
     auxHk.dacRawChannelVal0[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
     dataOffset += 4;
   }
 
   auxHk.bootCause = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-                                *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+                    *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
   dataOffset += 6;
   coreHk.bootcnt = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-                              *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+                   *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
   dataOffset += 6;
   coreHk.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-                             *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+                  *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
   dataOffset += 6;
   auxHk.resetCause = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
   dataOffset += 4;
@@ -121,20 +117,20 @@ ReturnValue_t ACUHandler::parseHkTableReply(const uint8_t *packet) {
   coreHk.mpptPeriod = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
   dataOffset += 4;
 
-  for(size_t idx = 0; idx < 8; idx++) {
+  for (size_t idx = 0; idx < 8; idx++) {
     auxHk.deviceTypes[idx] = packet[dataOffset];
     dataOffset += 3;
   }
-  for(size_t idx = 0; idx < 8; idx++) {
+  for (size_t idx = 0; idx < 8; idx++) {
     auxHk.devicesStatus[idx] = packet[dataOffset];
     dataOffset += 3;
   }
 
   auxHk.wdtCntGnd = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-                                *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+                    *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
   dataOffset += 6;
   auxHk.wdtGndLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-                                 *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+                     *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
   dataOffset += 6;
   return RETURN_OK;
 }
@@ -176,23 +172,10 @@ ReturnValue_t ACUHandler::initializeLocalDataPool(localpool::DataPool &localData
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t ACUHandler::childCommandHook(DeviceCommandId_t cmd, const uint8_t *commandData,
-                                           size_t commandDataLen) {
-  switch (cmd) {
-    case PRINT_CHANNEL_STATS: {
-      printChannelStats();
-      return RETURN_OK;
-    }
-    default: {
-      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
-    }
-  }
-}
-
 void ACUHandler::printChannelStats() {
   PoolReadGuard pg(&coreHk);
   sif::info << "ACU Info: Current [mA], Voltage [mV]" << std::endl;
-  for(size_t idx = 0; idx < 6; idx++) {
+  for (size_t idx = 0; idx < 6; idx++) {
     sif::info << std::setw(8) << std::left << "Channel " << idx << std::dec << "| "
               << static_cast<unsigned int>(coreHk.currentInChannels[idx]) << std::setw(15)
               << std::right << coreHk.voltageInChannels[idx] << std::endl;
@@ -200,3 +183,25 @@ void ACUHandler::printChannelStats() {
 }
 
 void ACUHandler::setDebugMode(bool enable) { this->debugMode = enable; }
+
+ReturnValue_t ACUHandler::printStatus(DeviceCommandId_t cmd) {
+  ReturnValue_t result = RETURN_OK;
+  switch (cmd) {
+    case (GOMSPACE::PRINT_SWITCH_V_I): {
+      PoolReadGuard pg(&coreHk);
+      result = pg.getReadResult();
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+        break;
+      }
+      printChannelStats();
+      break;
+    }
+    default: {
+      return DeviceHandlerIF::COMMAND_NOT_SUPPORTED;
+    }
+  }
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "Reading PDU1 HK table failed!" << std::endl;
+  }
+  return result;
+}
diff --git a/mission/devices/ACUHandler.h b/mission/devices/ACUHandler.h
index ca0ccd2d..3154e547 100644
--- a/mission/devices/ACUHandler.h
+++ b/mission/devices/ACUHandler.h
@@ -29,16 +29,13 @@ class ACUHandler : public GomspaceDeviceHandler {
    */
   virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
 
-  virtual void fillCommandAndReplyMap() override;
+  ReturnValue_t printStatus(DeviceCommandId_t cmd) override;
 
-  virtual ReturnValue_t childCommandHook(DeviceCommandId_t cmd, const uint8_t* commandData,
-                                         size_t commandDataLen) override;
+  virtual void fillCommandAndReplyMap() override;
 
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
 
  private:
-  static const DeviceCommandId_t PRINT_CHANNEL_STATS = 51;
-
   ACU::CoreHk coreHk;
   ACU::AuxHk auxHk;
   bool debugMode = false;
diff --git a/mission/devices/P60DockHandler.cpp b/mission/devices/P60DockHandler.cpp
index f1df649d..25fb238f 100644
--- a/mission/devices/P60DockHandler.cpp
+++ b/mission/devices/P60DockHandler.cpp
@@ -251,7 +251,7 @@ ReturnValue_t P60DockHandler::printStatus(DeviceCommandId_t cmd) {
       return HasReturnvaluesIF::RETURN_OK;
     }
     default: {
-      return HasReturnvaluesIF::RETURN_FAILED;
+      return DeviceHandlerIF::COMMAND_NOT_SUPPORTED;
     }
   }
   sif::warning << "Reading P60 Dock HK table failed" << std::endl;
diff --git a/mission/devices/PDU1Handler.cpp b/mission/devices/PDU1Handler.cpp
index 44f8fb04..fca0fbeb 100644
--- a/mission/devices/PDU1Handler.cpp
+++ b/mission/devices/PDU1Handler.cpp
@@ -122,7 +122,7 @@ ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
       break;
     }
     default: {
-      return HasReturnvaluesIF::RETURN_FAILED;
+      return DeviceHandlerIF::COMMAND_NOT_SUPPORTED;
     }
   }
   if (result != HasReturnvaluesIF::RETURN_OK) {
diff --git a/mission/devices/PDU2Handler.cpp b/mission/devices/PDU2Handler.cpp
index 1476f95d..d0cef3f5 100644
--- a/mission/devices/PDU2Handler.cpp
+++ b/mission/devices/PDU2Handler.cpp
@@ -76,7 +76,7 @@ ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
       break;
     }
     default: {
-      return HasReturnvaluesIF::RETURN_FAILED;
+      return DeviceHandlerIF::COMMAND_NOT_SUPPORTED;
     }
   }
   if (result != HasReturnvaluesIF::RETURN_OK) {
diff --git a/mission/devices/devicedefinitions/GomspaceDefinitions.h b/mission/devices/devicedefinitions/GomspaceDefinitions.h
index 5314a280..0c7cc2d7 100644
--- a/mission/devices/devicedefinitions/GomspaceDefinitions.h
+++ b/mission/devices/devicedefinitions/GomspaceDefinitions.h
@@ -38,7 +38,8 @@ static const DeviceCommandId_t PARAM_GET = 0;          //!< [EXPORT] : [COMMAND]
 static const DeviceCommandId_t PARAM_SET = 255;        //!< [EXPORT] : [COMMAND]
 static const DeviceCommandId_t REQUEST_HK_TABLE = 16;  //!< [EXPORT] : [COMMAND]
 
-//!< [EXPORT] : [COMMAND] Print switch states, voltages and currents to the console
+//! [EXPORT] : [COMMAND] Print switch states, voltages and currents to the console
+//! For the ACU device, only print voltages and currents of the 6 ACU channels
 static const DeviceCommandId_t PRINT_SWITCH_V_I = 32;
 static const DeviceCommandId_t PRINT_LATCHUPS = 33;
 
@@ -550,8 +551,8 @@ static const uint16_t MAX_HKTABLE_ADDRESS = 120;
 static const uint8_t HK_TABLE_ENTRIES = 64;
 static const uint16_t HK_TABLE_REPLY_SIZE = 262;
 
-class CoreHk: public StaticLocalDataSet<14> {
-public:
+class CoreHk : public StaticLocalDataSet<14> {
+ public:
   CoreHk(HasLocalDataPoolIF* owner)
       : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::ACU_CORE)) {}
 
@@ -583,7 +584,6 @@ public:
       lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_MPPT_TIME, this);
   lp_var_t<uint16_t> mpptPeriod =
       lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_MPPT_PERIOD, this);
-
 };
 /**
  * @brief   This class defines a dataset for the hk table of the ACU.
@@ -596,7 +596,6 @@ class AuxHk : public StaticLocalDataSet<12> {
   AuxHk(object_id_t objectId)
       : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::ACU_AUX))) {}
 
-
   lp_vec_t<uint8_t, 3> dacEnables =
       lp_vec_t<uint8_t, 3>(sid.objectId, P60System::pool::ACU_DAC_ENABLES, this);
 
diff --git a/tmtc b/tmtc
index ff66dd5d..c01f1d01 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit ff66dd5dd2bc2ee3150ce45160303bc79ed2599d
+Subproject commit c01f1d01916160888cf745ee3db6a2c46d795408

From 4e62f3b11218ec3575d15ce6216498ec17725fc3 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 23 May 2022 11:35:55 +0200
Subject: [PATCH 03/20] bugfixes for cp script

---
 scripts/q7s-cp.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/q7s-cp.py b/scripts/q7s-cp.py
index a189e3e6..d0543b45 100755
--- a/scripts/q7s-cp.py
+++ b/scripts/q7s-cp.py
@@ -27,7 +27,7 @@ def prompt_ssh_key_removal():
             print("Invalid port detected")
         else:
             break
-    cmd = f'ssh-keygen -f "${{HOME}}/.ssh/known_hosts" -R "[localhost]:${port}"'
+    cmd = f'ssh-keygen -f "$HOME/.ssh/known_hosts" -R "[localhost]:{port}"'
     print(f"Removing problematic SSH key with command {cmd}..")
     os.system(cmd)
 

From 8ae6fe0be5fa7f14526b16be922760738a9e4615 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 23 May 2022 12:39:10 +0200
Subject: [PATCH 04/20] moved HK defs

---
 .../devices/devicedefinitions/GomspaceDefinitions.h    | 10 +++++-----
 tmtc                                                   |  2 +-
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/mission/devices/devicedefinitions/GomspaceDefinitions.h b/mission/devices/devicedefinitions/GomspaceDefinitions.h
index 0c7cc2d7..4faf5299 100644
--- a/mission/devices/devicedefinitions/GomspaceDefinitions.h
+++ b/mission/devices/devicedefinitions/GomspaceDefinitions.h
@@ -607,6 +607,11 @@ class AuxHk : public StaticLocalDataSet<12> {
   lp_var_t<uint16_t> resetCause =
       lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_RESET_CAUSE, this);
 
+  lp_var_t<uint32_t> wdtCntGnd =
+      lp_var_t<uint32_t>(sid.objectId, P60System::pool::ACU_WDT_CNT_GND, this);
+  lp_var_t<uint32_t> wdtGndLeft =
+      lp_var_t<uint32_t>(sid.objectId, P60System::pool::ACU_WDT_GND_LEFT, this);
+
   /**
    * There are 8 devices on the PDU. FRAM, ADCs, temperature sensor etc. Each device is
    * identified by an ID. Refer also to gs-man-nanopower-p60-pdu-200-1.pdf on pages 17 and 18.
@@ -616,11 +621,6 @@ class AuxHk : public StaticLocalDataSet<12> {
   /** The status of each device. 0 = None, 1 = Ok, 2 = Error, 3 = Not found */
   lp_vec_t<uint8_t, 8> devicesStatus =
       lp_vec_t<uint8_t, 8>(sid.objectId, P60System::pool::ACU_DEVICES_STATUS, this);
-
-  lp_var_t<uint32_t> wdtCntGnd =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::ACU_WDT_CNT_GND, this);
-  lp_var_t<uint32_t> wdtGndLeft =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::ACU_WDT_GND_LEFT, this);
 };
 }  // namespace ACU
 
diff --git a/tmtc b/tmtc
index c01f1d01..580b3818 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit c01f1d01916160888cf745ee3db6a2c46d795408
+Subproject commit 580b3818489a87f9ea1b31754c7b0285c2bb6a10

From e522aadd44dc865257418fb36da6134a0dd79ca2 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 23 May 2022 14:04:46 +0200
Subject: [PATCH 05/20] set HKs valid

---
 mission/devices/ACUHandler.cpp | 2 ++
 tmtc                           | 2 +-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/mission/devices/ACUHandler.cpp b/mission/devices/ACUHandler.cpp
index 77386610..15b2c2a0 100644
--- a/mission/devices/ACUHandler.cpp
+++ b/mission/devices/ACUHandler.cpp
@@ -132,6 +132,8 @@ ReturnValue_t ACUHandler::parseHkTableReply(const uint8_t *packet) {
   auxHk.wdtGndLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                      *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
   dataOffset += 6;
+  coreHk.setValidity(true, true);
+  auxHk.setValidity(true, true);
   return RETURN_OK;
 }
 
diff --git a/tmtc b/tmtc
index 580b3818..b9de13ff 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 580b3818489a87f9ea1b31754c7b0285c2bb6a10
+Subproject commit b9de13ffe7a4f8112e2e7732049816833f89d17d

From 660f0d2dcd6195b5d1428e35fe8cf9c5412e337d Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 23 May 2022 14:19:57 +0200
Subject: [PATCH 06/20] some minor fixes

---
 mission/devices/ACUHandler.cpp                          | 2 +-
 mission/devices/devicedefinitions/GomspaceDefinitions.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/mission/devices/ACUHandler.cpp b/mission/devices/ACUHandler.cpp
index 15b2c2a0..a3b5eeee 100644
--- a/mission/devices/ACUHandler.cpp
+++ b/mission/devices/ACUHandler.cpp
@@ -95,7 +95,7 @@ ReturnValue_t ACUHandler::parseHkTableReply(const uint8_t *packet) {
     dataOffset += 3;
   }
   for (size_t idx = 0; idx < 6; idx++) {
-    auxHk.dacRawChannelVal0[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
+    auxHk.dacRawChannelVals[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
     dataOffset += 4;
   }
 
diff --git a/mission/devices/devicedefinitions/GomspaceDefinitions.h b/mission/devices/devicedefinitions/GomspaceDefinitions.h
index 4faf5299..18059fc8 100644
--- a/mission/devices/devicedefinitions/GomspaceDefinitions.h
+++ b/mission/devices/devicedefinitions/GomspaceDefinitions.h
@@ -599,7 +599,7 @@ class AuxHk : public StaticLocalDataSet<12> {
   lp_vec_t<uint8_t, 3> dacEnables =
       lp_vec_t<uint8_t, 3>(sid.objectId, P60System::pool::ACU_DAC_ENABLES, this);
 
-  lp_vec_t<uint16_t, 6> dacRawChannelVal0 =
+  lp_vec_t<uint16_t, 6> dacRawChannelVals =
       lp_vec_t<uint16_t, 6>(sid.objectId, P60System::pool::ACU_DAC_RAW_CHANNELS, this);
 
   lp_var_t<uint32_t> bootCause =

From 62ef9c7e70a7b0662818573332e1f47299abe837 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 23 May 2022 18:25:39 +0200
Subject: [PATCH 07/20] set datapool entries of rad sensor valid

---
 mission/devices/RadiationSensorHandler.cpp | 2 +-
 tmtc                                       | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/mission/devices/RadiationSensorHandler.cpp b/mission/devices/RadiationSensorHandler.cpp
index b3a9954a..19f72d68 100644
--- a/mission/devices/RadiationSensorHandler.cpp
+++ b/mission/devices/RadiationSensorHandler.cpp
@@ -169,7 +169,7 @@ ReturnValue_t RadiationSensorHandler::interpretDeviceReply(DeviceCommandId_t id,
       dataset.ain6 = (*(packet + offset) << 8 | *(packet + offset + 1));
       offset += 2;
       dataset.ain7 = (*(packet + offset) << 8 | *(packet + offset + 1));
-
+      dataset.setValidity(true, true);
       if (printPeriodicData) {
         sif::info << "Radiation sensor temperature: " << dataset.temperatureCelcius << " °C"
                   << std::dec << std::endl;
diff --git a/tmtc b/tmtc
index fe36485e..4de3e7d1 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit fe36485e854c4433ee98efe15616b9baa528316f
+Subproject commit 4de3e7d107ae16c7c89eae340419ec92097fb92f

From a2fad6061a89efd6f4c2593b191a00cba5c25935 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 23 May 2022 18:36:38 +0200
Subject: [PATCH 08/20] repoint tmtc

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

diff --git a/tmtc b/tmtc
index 4de3e7d1..e7cb7ca0 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 4de3e7d107ae16c7c89eae340419ec92097fb92f
+Subproject commit e7cb7ca0963663a9674591c2945c5f24647cb00c

From 2f155d835098f36bd63f47509f79b2021e7bf708 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 23 May 2022 18:39:13 +0200
Subject: [PATCH 09/20] bump changelog

---
 CHANGELOG.md | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2128a01d..6d963b7e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -27,6 +27,11 @@ list yields a list of all related PRs for each release.
   username appended at the end is created as a side-product now
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/248
 
+## Fixed
+
+- `q7s-cp.py` bugfix
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/256
+
 ### Heater
 
 - Adds `HealthIF` to heaters. Heaters are own system object with queues now which allows to set them faulty.

From 5df905182c0577404ebc0c6f4a06b0b242b63b34 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 23 May 2022 18:40:17 +0200
Subject: [PATCH 10/20] these brackets are less confusing

---
 mission/devices/RadiationSensorHandler.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/mission/devices/RadiationSensorHandler.cpp b/mission/devices/RadiationSensorHandler.cpp
index 19f72d68..f2694476 100644
--- a/mission/devices/RadiationSensorHandler.cpp
+++ b/mission/devices/RadiationSensorHandler.cpp
@@ -158,17 +158,17 @@ ReturnValue_t RadiationSensorHandler::interpretDeviceReply(DeviceCommandId_t id,
       int16_t tempRaw = ((packet[offset] & 0x0f) << 8) | packet[offset + 1];
       dataset.temperatureCelcius = tempRaw * 0.125;
       offset += 2;
-      dataset.ain0 = (*(packet + offset) << 8 | *(packet + offset + 1));
+      dataset.ain0 = (*(packet + offset) << 8) | *(packet + offset + 1);
       offset += 2;
-      dataset.ain1 = (*(packet + offset) << 8 | *(packet + offset + 1));
+      dataset.ain1 = (*(packet + offset) << 8) | *(packet + offset + 1);
       offset += 6;
-      dataset.ain4 = (*(packet + offset) << 8 | *(packet + offset + 1));
+      dataset.ain4 = (*(packet + offset) << 8) | *(packet + offset + 1);
       offset += 2;
-      dataset.ain5 = (*(packet + offset) << 8 | *(packet + offset + 1));
+      dataset.ain5 = (*(packet + offset) << 8) | *(packet + offset + 1);
       offset += 2;
-      dataset.ain6 = (*(packet + offset) << 8 | *(packet + offset + 1));
+      dataset.ain6 = (*(packet + offset) << 8) | *(packet + offset + 1);
       offset += 2;
-      dataset.ain7 = (*(packet + offset) << 8 | *(packet + offset + 1));
+      dataset.ain7 = (*(packet + offset) << 8) | *(packet + offset + 1);
       dataset.setValidity(true, true);
       if (printPeriodicData) {
         sif::info << "Radiation sensor temperature: " << dataset.temperatureCelcius << " °C"

From f111001572c0c582aad7a8576cd43aea5c522cfe Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 23 May 2022 18:59:31 +0200
Subject: [PATCH 11/20] bump tmtc

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

diff --git a/tmtc b/tmtc
index e7cb7ca0..7f03dcb3 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit e7cb7ca0963663a9674591c2945c5f24647cb00c
+Subproject commit 7f03dcb3a613d26462ac2571140ed6ecb91dd9f0

From 3fff3ba21e1aa9a690cd3c880d00dc020f05ad13 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 24 May 2022 15:21:37 +0200
Subject: [PATCH 12/20] add and schedule PUS11

---
 CMakeLists.txt                                  |  2 ++
 bsp_q7s/core/InitMission.cpp                    | 17 +++++++++++------
 common/config/commonConfig.h.in                 |  3 +++
 .../fsfwconfig => common/config}/tmtc/pusIds.h  |  7 ++++---
 fsfw                                            |  2 +-
 mission/core/GenericFactory.cpp                 |  6 +++++-
 tmtc                                            |  2 +-
 7 files changed, 27 insertions(+), 12 deletions(-)
 rename {linux/fsfwconfig => common/config}/tmtc/pusIds.h (74%)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index eb44bd41..ef87352e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -64,6 +64,8 @@ include(EiveHelpers)
 option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
 option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
 
+set(OBSW_MAX_SCHEDULED_TCS 500)
+
 if(EIVE_Q7S_EM)
   set(OBSW_Q7S_EM
       1
diff --git a/bsp_q7s/core/InitMission.cpp b/bsp_q7s/core/InitMission.cpp
index 1b9cc374..d824bb95 100644
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@@ -424,13 +424,22 @@ void initmission::createPusTasks(TaskFactory& factory,
 
   PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
       "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
+  }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
   }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_11_TC_SCHEDULER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Object add component failed" << std::endl;
+    initmission::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
   if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -440,10 +449,6 @@ void initmission::createPusTasks(TaskFactory& factory,
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
   }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
-  }
   taskVec.push_back(pusMedPrio);
 
   PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
diff --git a/common/config/commonConfig.h.in b/common/config/commonConfig.h.in
index ad19e135..9581e751 100644
--- a/common/config/commonConfig.h.in
+++ b/common/config/commonConfig.h.in
@@ -33,6 +33,9 @@ static constexpr uint8_t OBSW_VERSION_REVISION = @OBSW_VERSION_REVISION@;
 // CST: Commits since tag
 static const char OBSW_VERSION_CST_GIT_SHA1[] = "@OBSW_VERSION_CST_GIT_SHA1@";
 
+
+static constexpr uint32_t OBSW_MAX_SCHEDULED_TCS = @OBSW_MAX_SCHEDULED_TCS@;
+
 extern const fsfw::Version OBSW_VERSION;
 
 extern const uint16_t PUS_PACKET_ID;
diff --git a/linux/fsfwconfig/tmtc/pusIds.h b/common/config/tmtc/pusIds.h
similarity index 74%
rename from linux/fsfwconfig/tmtc/pusIds.h
rename to common/config/tmtc/pusIds.h
index 37503786..75c40176 100644
--- a/linux/fsfwconfig/tmtc/pusIds.h
+++ b/common/config/tmtc/pusIds.h
@@ -1,5 +1,5 @@
-#ifndef CONFIG_TMTC_PUSIDS_HPP_
-#define CONFIG_TMTC_PUSIDS_HPP_
+#ifndef CONFIG_TMTC_PUSIDS_H_
+#define CONFIG_TMTC_PUSIDS_H_
 
 namespace pus {
 enum Ids {
@@ -11,6 +11,7 @@ enum Ids {
   PUS_SERVICE_6 = 6,
   PUS_SERVICE_8 = 8,
   PUS_SERVICE_9 = 9,
+  PUS_SERVICE_11 = 11,
   PUS_SERVICE_17 = 17,
   PUS_SERVICE_19 = 19,
   PUS_SERVICE_20 = 20,
@@ -20,4 +21,4 @@ enum Ids {
 };
 };
 
-#endif /* CONFIG_TMTC_PUSIDS_HPP_ */
+#endif /* CONFIG_TMTC_PUSIDS_H_ */
diff --git a/fsfw b/fsfw
index 4b128d24..d11bf5ff 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 4b128d243569e0c87ae8868c545bdd80a354a2e6
+Subproject commit d11bf5ffe3d67525cf681f5592e29d1be130053e
diff --git a/mission/core/GenericFactory.cpp b/mission/core/GenericFactory.cpp
index 3ab598f3..416ea199 100644
--- a/mission/core/GenericFactory.cpp
+++ b/mission/core/GenericFactory.cpp
@@ -13,6 +13,7 @@
 #include <fsfw/pus/Service5EventReporting.h>
 #include <fsfw/pus/Service8FunctionManagement.h>
 #include <fsfw/pus/Service9TimeManagement.h>
+#include "fsfw/pus/Service11TelecommandScheduling.h"
 #include <fsfw/storagemanager/PoolManager.h>
 #include <fsfw/tcdistribution/CCSDSDistributor.h>
 #include <fsfw/tcdistribution/PUSDistributor.h>
@@ -73,7 +74,7 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) {
     new PoolManager(objects::IPC_STORE, poolCfg);
   }
 
-  new CCSDSDistributor(apid::EIVE_OBSW, objects::CCSDS_PACKET_DISTRIBUTOR);
+  auto* ccsdsDistrib = new CCSDSDistributor(apid::EIVE_OBSW, objects::CCSDS_PACKET_DISTRIBUTOR);
   new PUSDistributor(apid::EIVE_OBSW, objects::PUS_PACKET_DISTRIBUTOR,
                      objects::CCSDS_PACKET_DISTRIBUTOR);
 
@@ -96,6 +97,9 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) {
   new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT, apid::EIVE_OBSW,
                                  pus::PUS_SERVICE_8, 3, 60);
   new Service9TimeManagement(objects::PUS_SERVICE_9_TIME_MGMT, apid::EIVE_OBSW, pus::PUS_SERVICE_9);
+
+  new Service11TelecommandScheduling<common::OBSW_MAX_SCHEDULED_TCS>(objects::PUS_SERVICE_11_TC_SCHEDULER,
+                  apid::EIVE_OBSW, pus::PUS_SERVICE_11, ccsdsDistrib);
   new Service17Test(objects::PUS_SERVICE_17_TEST, apid::EIVE_OBSW, pus::PUS_SERVICE_17);
   new Service20ParameterManagement(objects::PUS_SERVICE_20_PARAMETERS, apid::EIVE_OBSW,
                                    pus::PUS_SERVICE_20);
diff --git a/tmtc b/tmtc
index 9332fb86..4b902ce0 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 9332fb8690de200070e712a70b1fa339d5b6b8d8
+Subproject commit 4b902ce01b444908ae5c0bf47b7eb018bbb10f81

From 3eb85254197d52064432f517303895c18ae26fcf Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 24 May 2022 15:22:45 +0200
Subject: [PATCH 13/20] update changelog

---
 CHANGELOG.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 95ec7400..5d52e2a5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -14,6 +14,8 @@ list yields a list of all related PRs for each release.
 
 ## Added
 
+- PUS11 TC scheduler
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/259
 - Commands for individual RTD devices
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/84
 - `RwAssembly` added to system components. Assembly works in principle,

From 59d0d880bb6e4156d44b8508b088f752b6d3d80f Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 24 May 2022 15:45:12 +0200
Subject: [PATCH 14/20] bump fsfw

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

diff --git a/fsfw b/fsfw
index d11bf5ff..40cc5579 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit d11bf5ffe3d67525cf681f5592e29d1be130053e
+Subproject commit 40cc557978de5b50cf51909206620f05b101e5f5

From c0da8aef2ea18514c5df3b8560a6bdc41d90608b Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 24 May 2022 15:50:39 +0200
Subject: [PATCH 15/20] delete obsolete folder

---
 bsp_hosted/fsfwconfig/tmtc/apid.h   | 18 ------------------
 bsp_hosted/fsfwconfig/tmtc/pusIds.h | 23 -----------------------
 common/config/tmtc/pusIds.h         |  6 +++---
 3 files changed, 3 insertions(+), 44 deletions(-)
 delete mode 100644 bsp_hosted/fsfwconfig/tmtc/apid.h
 delete mode 100644 bsp_hosted/fsfwconfig/tmtc/pusIds.h

diff --git a/bsp_hosted/fsfwconfig/tmtc/apid.h b/bsp_hosted/fsfwconfig/tmtc/apid.h
deleted file mode 100644
index 9d5c9ed5..00000000
--- a/bsp_hosted/fsfwconfig/tmtc/apid.h
+++ /dev/null
@@ -1,18 +0,0 @@
-#ifndef FSFWCONFIG_TMTC_APID_H_
-#define FSFWCONFIG_TMTC_APID_H_
-
-#include <stdint.h>
-
-/**
- * Application Process Definition: entity, uniquely identified by an
- * application process ID (APID), capable of generating telemetry source
- * packets and receiving telecommand packets
- *
- * SOURCE APID: 0x73 / 115 / s
- * APID is a 11 bit number
- */
-namespace apid {
-static const uint16_t EIVE_OBSW = 0x65;
-}
-
-#endif /* FSFWCONFIG_TMTC_APID_H_ */
diff --git a/bsp_hosted/fsfwconfig/tmtc/pusIds.h b/bsp_hosted/fsfwconfig/tmtc/pusIds.h
deleted file mode 100644
index 37503786..00000000
--- a/bsp_hosted/fsfwconfig/tmtc/pusIds.h
+++ /dev/null
@@ -1,23 +0,0 @@
-#ifndef CONFIG_TMTC_PUSIDS_HPP_
-#define CONFIG_TMTC_PUSIDS_HPP_
-
-namespace pus {
-enum Ids {
-  PUS_SERVICE_1 = 1,
-  PUS_SERVICE_2 = 2,
-  PUS_SERVICE_3 = 3,
-  PUS_SERVICE_3_PSB = 3,
-  PUS_SERVICE_5 = 5,
-  PUS_SERVICE_6 = 6,
-  PUS_SERVICE_8 = 8,
-  PUS_SERVICE_9 = 9,
-  PUS_SERVICE_17 = 17,
-  PUS_SERVICE_19 = 19,
-  PUS_SERVICE_20 = 20,
-  PUS_SERVICE_23 = 23,
-  PUS_SERVICE_200 = 200,
-  PUS_SERVICE_201 = 201,
-};
-};
-
-#endif /* CONFIG_TMTC_PUSIDS_HPP_ */
diff --git a/common/config/tmtc/pusIds.h b/common/config/tmtc/pusIds.h
index 75c40176..0891992d 100644
--- a/common/config/tmtc/pusIds.h
+++ b/common/config/tmtc/pusIds.h
@@ -1,5 +1,5 @@
-#ifndef CONFIG_TMTC_PUSIDS_H_
-#define CONFIG_TMTC_PUSIDS_H_
+#ifndef COMMON_CONFIG_TMTC_PUSIDS_H_
+#define COMMON_CONFIG_TMTC_PUSIDS_H_
 
 namespace pus {
 enum Ids {
@@ -21,4 +21,4 @@ enum Ids {
 };
 };
 
-#endif /* CONFIG_TMTC_PUSIDS_H_ */
+#endif /* COMMON_CONFIG_TMTC_PUSIDS_H_ */

From 88faf8f87d071f0642037205673b401301f3f00b Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 24 May 2022 16:23:00 +0200
Subject: [PATCH 16/20] bump fsfw

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

diff --git a/fsfw b/fsfw
index 40cc5579..24069dfd 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 40cc557978de5b50cf51909206620f05b101e5f5
+Subproject commit 24069dfd78a5905b3e327fab3528baacbc913757

From 01bac87afbd607e77b5936071f0745a97eb2272e Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Wed, 25 May 2022 10:59:20 +0200
Subject: [PATCH 17/20] update reset pin handling

---
 bsp_q7s/callbacks/gnssCallback.cpp                 | 14 +++++++++-----
 bsp_q7s/callbacks/gnssCallback.h                   |  3 +--
 bsp_q7s/core/ObjectFactory.cpp                     | 11 +++++++++--
 linux/devices/GPSHyperionLinuxController.cpp       |  4 ++--
 linux/devices/GPSHyperionLinuxController.h         |  2 +-
 mission/devices/devicedefinitions/GPSDefinitions.h |  2 +-
 6 files changed, 23 insertions(+), 13 deletions(-)

diff --git a/bsp_q7s/callbacks/gnssCallback.cpp b/bsp_q7s/callbacks/gnssCallback.cpp
index d5dbc3b0..3d29ca4c 100644
--- a/bsp_q7s/callbacks/gnssCallback.cpp
+++ b/bsp_q7s/callbacks/gnssCallback.cpp
@@ -1,9 +1,14 @@
 #include "gnssCallback.h"
 
+#include "fsfw/action/HasActionsIF.h"
 #include "devices/gpioIds.h"
 #include "fsfw/tasks/TaskFactory.h"
 
-ReturnValue_t gps::triggerGpioResetPin(void* args) {
+ReturnValue_t gps::triggerGpioResetPin(const uint8_t* actionData, size_t len, void* args) {
+  // At least one byte which denotes which GPS to reset is required
+  if(len < 1 or actionData == nullptr) {
+    return HasActionsIF::INVALID_PARAMETERS;
+  }
   ResetArgs* resetArgs = reinterpret_cast<ResetArgs*>(args);
   if (args == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
@@ -12,11 +17,10 @@ ReturnValue_t gps::triggerGpioResetPin(void* args) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   gpioId_t gpioId;
-  if (resetArgs->gnss1) {
-    gpioId = gpioIds::GNSS_1_NRESET;
-
-  } else {
+  if (actionData[0] == 0) {
     gpioId = gpioIds::GNSS_0_NRESET;
+  } else {
+    gpioId = gpioIds::GNSS_1_NRESET;
   }
   resetArgs->gpioComIF->pullLow(gpioId);
   TaskFactory::delayTask(resetArgs->waitPeriodMs);
diff --git a/bsp_q7s/callbacks/gnssCallback.h b/bsp_q7s/callbacks/gnssCallback.h
index 3e769899..cd69f5a6 100644
--- a/bsp_q7s/callbacks/gnssCallback.h
+++ b/bsp_q7s/callbacks/gnssCallback.h
@@ -5,14 +5,13 @@
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 
 struct ResetArgs {
-  bool gnss1 = false;
   LinuxLibgpioIF* gpioComIF = nullptr;
   uint32_t waitPeriodMs = 100;
 };
 
 namespace gps {
 
-ReturnValue_t triggerGpioResetPin(void* args);
+ReturnValue_t triggerGpioResetPin(const uint8_t* actionData, size_t len, void* args);
 
 }
 
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 490b5251..8b057b2f 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -93,8 +93,7 @@
 #include "mission/tmtc/VirtualChannel.h"
 #include "mission/utility/TmFunnel.h"
 
-ResetArgs resetArgsGnss0;
-ResetArgs resetArgsGnss1;
+ResetArgs RESET_ARGS_GNSS;
 
 void Factory::setStaticFrameworkObjectIds() {
   PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
@@ -462,6 +461,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #if OBSW_DEBUG_GPS == 1
   debugGps = true;
 #endif
+<<<<<<< Updated upstream
   resetArgsGnss1.gnss1 = true;
   resetArgsGnss1.gpioComIF = gpioComIF;
   resetArgsGnss1.waitPeriodMs = 100;
@@ -471,6 +471,13 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   auto gpsHandler0 =
       new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
   gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
+=======
+  RESET_ARGS_GNSS.gpioComIF = gpioComIF;
+  RESET_ARGS_GNSS.waitPeriodMs = 100;
+  auto gpsCtrl =
+      new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
+  gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
+>>>>>>> Stashed changes
 
   AcsBoardHelper acsBoardHelper = AcsBoardHelper(
       objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
diff --git a/linux/devices/GPSHyperionLinuxController.cpp b/linux/devices/GPSHyperionLinuxController.cpp
index dee3c9af..5d97554a 100644
--- a/linux/devices/GPSHyperionLinuxController.cpp
+++ b/linux/devices/GPSHyperionLinuxController.cpp
@@ -57,12 +57,12 @@ ReturnValue_t GPSHyperionLinuxController::executeAction(ActionId_t actionId,
                                                         MessageQueueId_t commandedBy,
                                                         const uint8_t *data, size_t size) {
   switch (actionId) {
-    case (GpsHyperion::TRIGGER_RESET_PIN): {
+    case (GpsHyperion::TRIGGER_RESET_PIN_GNSS): {
       if (resetCallback != nullptr) {
         PoolReadGuard pg(&gpsSet);
         // Set HK entries invalid
         gpsSet.setValidity(false, true);
-        resetCallback(resetCallbackArgs);
+        resetCallback(data, size, resetCallbackArgs);
         return HasActionsIF::EXECUTION_FINISHED;
       }
       return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
diff --git a/linux/devices/GPSHyperionLinuxController.h b/linux/devices/GPSHyperionLinuxController.h
index 94e82023..35ce0a63 100644
--- a/linux/devices/GPSHyperionLinuxController.h
+++ b/linux/devices/GPSHyperionLinuxController.h
@@ -30,7 +30,7 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
                              bool debugHyperionGps = false);
   virtual ~GPSHyperionLinuxController();
 
-  using gpioResetFunction_t = ReturnValue_t (*)(void* args);
+  using gpioResetFunction_t = ReturnValue_t (*)(const uint8_t* actionData, size_t len, void* args);
 
   void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
diff --git a/mission/devices/devicedefinitions/GPSDefinitions.h b/mission/devices/devicedefinitions/GPSDefinitions.h
index f953da22..e842f54b 100644
--- a/mission/devices/devicedefinitions/GPSDefinitions.h
+++ b/mission/devices/devicedefinitions/GPSDefinitions.h
@@ -14,7 +14,7 @@ static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::GPS_HANDLER;
 static constexpr Event GPS_FIX_CHANGE = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
 
 static constexpr DeviceCommandId_t GPS_REPLY = 0;
-static constexpr DeviceCommandId_t TRIGGER_RESET_PIN = 5;
+static constexpr DeviceCommandId_t TRIGGER_RESET_PIN_GNSS = 5;
 
 static constexpr uint32_t DATASET_ID = 0;
 

From bb1e1d80cc20f25e333ed140bcf30e967189f6f7 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Wed, 25 May 2022 11:00:18 +0200
Subject: [PATCH 18/20] resolve merge conflict

---
 bsp_q7s/core/ObjectFactory.cpp | 12 ------------
 1 file changed, 12 deletions(-)

diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 8b057b2f..b5b5f06d 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -461,23 +461,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #if OBSW_DEBUG_GPS == 1
   debugGps = true;
 #endif
-<<<<<<< Updated upstream
-  resetArgsGnss1.gnss1 = true;
-  resetArgsGnss1.gpioComIF = gpioComIF;
-  resetArgsGnss1.waitPeriodMs = 100;
-  resetArgsGnss0.gnss1 = false;
-  resetArgsGnss0.gpioComIF = gpioComIF;
-  resetArgsGnss0.waitPeriodMs = 100;
-  auto gpsHandler0 =
-      new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
-  gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
-=======
   RESET_ARGS_GNSS.gpioComIF = gpioComIF;
   RESET_ARGS_GNSS.waitPeriodMs = 100;
   auto gpsCtrl =
       new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
   gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
->>>>>>> Stashed changes
 
   AcsBoardHelper acsBoardHelper = AcsBoardHelper(
       objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,

From ae434853aa994b91c3bfbadb1e49d9bbc6d467b7 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Wed, 25 May 2022 13:14:36 +0200
Subject: [PATCH 19/20] bump number stored packets

---
 mission/core/GenericFactory.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mission/core/GenericFactory.cpp b/mission/core/GenericFactory.cpp
index 3ab598f3..1a57a502 100644
--- a/mission/core/GenericFactory.cpp
+++ b/mission/core/GenericFactory.cpp
@@ -120,6 +120,6 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) {
   tcpServer->enableWiretapping(true);
 #endif /* OBSW_TCP_SERVER_WIRETAPPING == 1 */
 #endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
-  tmtcBridge->setMaxNumberOfPacketsStored(70);
+  tmtcBridge->setMaxNumberOfPacketsStored(300);
 #endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */
 }

From 335d3ba3b02a83f221000925b5d1dda7339c3477 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Wed, 25 May 2022 15:45:11 +0200
Subject: [PATCH 20/20] bump submodules

---
 fsfw | 2 +-
 tmtc | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/fsfw b/fsfw
index c8355251..76a459a0 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit c8355251967009559ea790b63c3ebfc67a27efef
+Subproject commit 76a459a02c9374d3edcb5c52d5c71e94c69d2f0f
diff --git a/tmtc b/tmtc
index 6a209e1a..8a008557 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 6a209e1a0badc0db91a03e1ef32d43de54d58958
+Subproject commit 8a008557983d496239a0afe252c8bb38983d2f11