Merge remote-tracking branch 'origin/develop' into tweak_papb_busy_polling

2023-03-23 18:42:24 +01:00 · 2023-03-23 18:42:24 +01:00 · abf689872d
commit abf689872d
parent 45054cc863 7f36bd365f
39 changed files with 867 additions and 669 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -26,7 +26,18 @@ will consitute of a breaking change warranting a new major release:
 ## Added

 - The persistent TM stores now have low priorities and behave like background threads now. This
-  should prevent them from blocking or slowing down the system even during dumps.
+  should prevent them from blocking or slowing down the system even during dumps
+  (at least in theory).
+- STR: Fix weird issues on datalink layer data reception which sometimes occur.
+
+## Changed
+
+- STR: Move datalink layer to `StrComHandler` completely. DLL is now completely hidden from
+  device handler.
+- STR: Is now scheduled twice in ACS PST.
+- `StrHelper` renamed to `StrComHandler`, is now a `DeviceHandlerIF` directly and does not wrap
+  a separate UART COM interface anymore.
+- TCS: Local pool variables are members now.

 # [v1.39.1] 2023-03-22

--- a/bsp_hosted/fsfwconfig/events/translateEvents.cpp
+++ b/bsp_hosted/fsfwconfig/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
 * @brief    Auto-generated event translation file. Contains 279 translations.
 * @details
- * Generated on: 2023-03-21 23:59:36
+ * Generated on: 2023-03-22 01:14:08
 */
 #include "translateEvents.h"

@ -172,7 +172,7 @@ const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL";
 const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED";
 const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
 const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
-const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
+const char *STR_HELPER_REPLY_TIMEOUT_STRING = "STR_HELPER_REPLY_TIMEOUT";
 const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR";
 const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
 const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
@ -617,16 +617,16 @@ const char *translateEvents(Event event) {
    case (12510):
      return STR_HELPER_COM_ERROR_STRING;
    case (12511):
-      return STR_HELPER_NO_REPLY_STRING;
-    case (12512):
-      return STR_HELPER_DEC_ERROR_STRING;
+      return STR_HELPER_REPLY_TIMEOUT_STRING;
    case (12513):
-      return POSITION_MISMATCH_STRING;
+      return STR_HELPER_DEC_ERROR_STRING;
    case (12514):
-      return STR_HELPER_FILE_NOT_EXISTS_STRING;
+      return POSITION_MISMATCH_STRING;
    case (12515):
-      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+      return STR_HELPER_FILE_NOT_EXISTS_STRING;
    case (12516):
+      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+    case (12517):
      return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
    case (12600):
      return MPSOC_FLASH_WRITE_FAILED_STRING;
--- a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
+++ b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 169 translations.
- * Generated on: 2023-03-21 23:59:36
+ * Generated on: 2023-03-22 01:14:08
 */
 #include "translateObjects.h"

@ -50,7 +50,7 @@ const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER";
 const char *RAD_SENSOR_STRING = "RAD_SENSOR";
 const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
 const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
-const char *STR_HELPER_STRING = "STR_HELPER";
+const char *STR_COM_IF_STRING = "STR_COM_IF";
 const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
 const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
 const char *PTME_CONFIG_STRING = "PTME_CONFIG";
@ -267,7 +267,7 @@ const char *translateObject(object_id_t object) {
    case 0x44330001:
      return PLOC_MEMORY_DUMPER_STRING;
    case 0x44330002:
-      return STR_HELPER_STRING;
+      return STR_COM_IF_STRING;
    case 0x44330003:
      return PLOC_MPSOC_HELPER_STRING;
    case 0x44330004:
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@ -4,6 +4,7 @@
 #include <linux/devices/AcsBoardPolling.h>
 #include <linux/devices/ImtqPollingTask.h>
 #include <linux/devices/RwPollingTask.h>
+#include <linux/devices/startracker/StrComHandler.h>
 #include <mission/devices/GyrL3gCustomHandler.h>
 #include <mission/devices/MgmLis3CustomHandler.h>
 #include <mission/devices/MgmRm3100CustomHandler.h>
@ -45,7 +46,6 @@
 #include "linux/devices/ploc/PlocMemoryDumper.h"
 #include "linux/devices/ploc/PlocSupervisorHandler.h"
 #include "linux/devices/startracker/StarTrackerHandler.h"
-#include "linux/devices/startracker/StrHelper.h"
 #include "linux/ipcore/AxiPtmeConfig.h"
 #include "linux/ipcore/PapbVcInterface.h"
 #include "linux/ipcore/PdecHandler.h"
@ -592,7 +592,7 @@ void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitc

 void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
  auto* syrlinksUartCookie =
-      new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
+      new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, serial::SYRLINKS_BAUD,
                       syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
  syrlinksUartCookie->setParityEven();

@ -623,8 +623,8 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
  mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
  gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC");
  auto mpsocCookie =
-      new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
-                       mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+      new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
+                       serial::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
  mpsocCookie->setNoFixedSizeReply();
  auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
  auto* mpsocHandler = new PlocMPSoCHandler(
@ -639,9 +639,9 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
  auto supvGpioCookie = new GpioCookie;
  supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
  gpioComIF->addGpios(supvGpioCookie);
-  auto supervisorCookie =
-      new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV,
-                       uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
+  auto supervisorCookie = new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER,
+                                           q7s::UART_PLOC_SUPERVSIOR_DEV, serial::PLOC_SUPV_BAUD,
+                                           supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
  supervisorCookie->setNoFixedSizeReply();
  auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
  auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
@ -934,10 +934,10 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
  auto* strAssy = new StrAssembly(objects::STR_ASSY);
  strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
  auto* starTrackerCookie =
-      new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
+      new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, serial::STAR_TRACKER_BAUD,
                       startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
  starTrackerCookie->setNoFixedSizeReply();
-  StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
+  StrComHandler* strComIF = new StrComHandler(objects::STR_COM_IF);

  const char* paramJsonFile = nullptr;
 #ifdef EGSE
@ -954,8 +954,8 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
  }
  auto strFdir = new StrFdir(objects::STAR_TRACKER);
  auto starTracker =
-      new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
-                             paramJsonFile, strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
+      new StarTrackerHandler(objects::STAR_TRACKER, objects::STR_COM_IF, starTrackerCookie,
+                             paramJsonFile, strComIF, pcdu::PDU1_CH2_STAR_TRACKER_5V);
  starTracker->setPowerSwitcher(pwrSwitcher);
  starTracker->connectModeTreeParent(*strAssy);
  starTracker->setCustomFdir(strFdir);
--- a/bsp_q7s/core/scheduling.cpp
+++ b/bsp_q7s/core/scheduling.cpp
@ -307,11 +307,12 @@ void scheduling::initTasks() {
 #endif

 #if OBSW_ADD_STAR_TRACKER == 1
+  // Relatively high priority to make sure STR COM works well.
  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
-      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = strHelperTask->addComponent(objects::STR_HELPER);
+      "STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = strHelperTask->addComponent(objects::STR_COM_IF);
  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("STR_HELPER", objects::STR_HELPER);
+    scheduling::printAddObjectError("STR_HELPER", objects::STR_COM_IF);
  }
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */

--- a/common/config/devConf.h
+++ b/common/config/devConf.h
@ -63,7 +63,7 @@ static constexpr dur_millis_t ACS_BOARD_CS_TIMEOUT = 50 * CS_FACTOR;

 }  // namespace spi

-namespace uart {
+namespace serial {

 static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024;
 static constexpr UartBaudRate SYRLINKS_BAUD = UartBaudRate::RATE_38400;
@ -73,6 +73,6 @@ static constexpr UartBaudRate PLOC_MPSOC_BAUD = UartBaudRate::RATE_115200;
 static constexpr UartBaudRate PLOC_SUPV_BAUD = UartBaudRate::RATE_921600;
 static constexpr UartBaudRate STAR_TRACKER_BAUD = UartBaudRate::RATE_921600;

-}  // namespace uart
+}  // namespace serial

 #endif /* COMMON_CONFIG_DEVCONF_H_ */
--- a/common/config/eive/objects.h
+++ b/common/config/eive/objects.h
@ -62,7 +62,7 @@ enum commonObjects : uint32_t {
  RAD_SENSOR = 0x443200A5,
  PLOC_UPDATER = 0x44330000,
  PLOC_MEMORY_DUMPER = 0x44330001,
-  STR_HELPER = 0x44330002,
+  STR_COM_IF = 0x44330002,
  PLOC_MPSOC_HELPER = 0x44330003,
  AXI_PTME_CONFIG = 0x44330004,
  PTME_CONFIG = 0x44330005,
--- a/generators/bsp_hosted_events.csv
+++ b/generators/bsp_hosted_events.csv
@ -155,23 +155,23 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12409;0x3079;WRITE_SYSCALL_ERROR_PDEC;HIGH;No description;linux/ipcore/PdecHandler.h
 12410;0x307a;PDEC_RESET_FAILED;HIGH;Failed to pull PDEC reset to low;linux/ipcore/PdecHandler.h
 12411;0x307b;OPEN_IRQ_FILE_FAILED;HIGH;Failed to open the IRQ uio file;linux/ipcore/PdecHandler.h
-12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h
-12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h
-12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h
-12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrHelper.h
-12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrHelper.h
-12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrHelper.h
-12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrHelper.h
-12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrHelper.h
-12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrHelper.h
-12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
-12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
-12511;0x30df;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;linux/devices/startracker/StrHelper.h
-12512;0x30e0;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrHelper.h
-12513;0x30e1;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrHelper.h
-12514;0x30e2;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrHelper.h
-12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h
-12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h
+12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrComHandler.h
+12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrComHandler.h
+12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrComHandler.h
+12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrComHandler.h
+12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrComHandler.h
+12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrComHandler.h
+12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrComHandler.h
+12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrComHandler.h
+12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrComHandler.h
+12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrComHandler.h
+12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrComHandler.h
+12511;0x30df;STR_HELPER_REPLY_TIMEOUT;LOW;Star tracker did not send a valid reply for a certain timeout. P1: Position of upload or download packet for which the packet wa sent. P2: Timeout;linux/devices/startracker/StrComHandler.h
+12513;0x30e1;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrComHandler.h
+12514;0x30e2;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrComHandler.h
+12515;0x30e3;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrComHandler.h
+12516;0x30e4;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrComHandler.h
+12517;0x30e5;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrComHandler.h
 12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/devices/ploc/PlocMPSoCHelper.h
 12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/devices/ploc/PlocMPSoCHelper.h
 12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/devices/ploc/PlocMPSoCHelper.h
--- a/generators/bsp_hosted_objects.csv
+++ b/generators/bsp_hosted_objects.csv
@ -42,7 +42,7 @@
 0x443200A5;RAD_SENSOR
 0x44330000;PLOC_UPDATER
 0x44330001;PLOC_MEMORY_DUMPER
-0x44330002;STR_HELPER
+0x44330002;STR_COM_IF
 0x44330003;PLOC_MPSOC_HELPER
 0x44330004;AXI_PTME_CONFIG
 0x44330005;PTME_CONFIG
--- a/generators/bsp_q7s_events.csv
+++ b/generators/bsp_q7s_events.csv
@ -155,23 +155,23 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12409;0x3079;WRITE_SYSCALL_ERROR_PDEC;HIGH;No description;linux/ipcore/PdecHandler.h
 12410;0x307a;PDEC_RESET_FAILED;HIGH;Failed to pull PDEC reset to low;linux/ipcore/PdecHandler.h
 12411;0x307b;OPEN_IRQ_FILE_FAILED;HIGH;Failed to open the IRQ uio file;linux/ipcore/PdecHandler.h
-12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h
-12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h
-12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h
-12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrHelper.h
-12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrHelper.h
-12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrHelper.h
-12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrHelper.h
-12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrHelper.h
-12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrHelper.h
-12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
-12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
-12511;0x30df;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;linux/devices/startracker/StrHelper.h
-12512;0x30e0;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrHelper.h
-12513;0x30e1;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrHelper.h
-12514;0x30e2;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrHelper.h
-12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h
-12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h
+12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrComHandler.h
+12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrComHandler.h
+12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrComHandler.h
+12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrComHandler.h
+12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrComHandler.h
+12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrComHandler.h
+12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrComHandler.h
+12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrComHandler.h
+12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrComHandler.h
+12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrComHandler.h
+12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrComHandler.h
+12511;0x30df;STR_HELPER_REPLY_TIMEOUT;LOW;Star tracker did not send a valid reply for a certain timeout. P1: Position of upload or download packet for which the packet wa sent. P2: Timeout;linux/devices/startracker/StrComHandler.h
+12513;0x30e1;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrComHandler.h
+12514;0x30e2;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrComHandler.h
+12515;0x30e3;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrComHandler.h
+12516;0x30e4;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrComHandler.h
+12517;0x30e5;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrComHandler.h
 12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/devices/ploc/PlocMPSoCHelper.h
 12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/devices/ploc/PlocMPSoCHelper.h
 12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/devices/ploc/PlocMPSoCHelper.h
--- a/generators/bsp_q7s_objects.csv
+++ b/generators/bsp_q7s_objects.csv
@ -41,7 +41,7 @@
 0x443200A5;RAD_SENSOR
 0x44330000;PLOC_UPDATER
 0x44330001;PLOC_MEMORY_DUMPER
-0x44330002;STR_HELPER
+0x44330002;STR_COM_IF
 0x44330003;PLOC_MPSOC_HELPER
 0x44330004;AXI_PTME_CONFIG
 0x44330005;PTME_CONFIG
--- a/generators/bsp_q7s_returnvalues.csv
+++ b/generators/bsp_q7s_returnvalues.csv
@ -491,15 +491,18 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x58a1;SUSS_ErrorLockMutex;No description;161;SUS_HANDLER;mission/devices/LegacySusHandler.h
 0x59a0;IPCI_PapbBusy;No description;160;CCSDS_IP_CORE_BRIDGE;linux/ipcore/PapbVcInterface.h
 0x5aa0;PTME_UnknownVcId;No description;160;PTME;linux/ipcore/Ptme.h
-0x5ca0;STRHLP_SdNotMounted;SD card specified in path string not mounted;160;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca1;STRHLP_FileNotExists;Specified file does not exist on filesystem;161;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca2;STRHLP_PathNotExists;Specified path does not exist;162;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca3;STRHLP_FileCreationFailed;Failed to create download image or read flash file;163;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca4;STRHLP_RegionMismatch;Region in flash write/read reply does not match expected region;164;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca5;STRHLP_AddressMismatch;Address in flash write/read reply does not match expected address;165;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca6;STRHLP_LengthMismatch;Length in flash write/read reply does not match expected length;166;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca7;STRHLP_StatusError;Status field in reply signals error;167;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca8;STRHLP_InvalidTypeId;Reply has invalid type ID (should be of action reply type);168;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x5c00;STRHLP_Busy;No description;0;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c01;STRHLP_SdNotMounted;SD card specified in path string not mounted;1;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c02;STRHLP_FileNotExists;Specified file does not exist on filesystem;2;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c03;STRHLP_PathNotExists;Specified path does not exist;3;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c04;STRHLP_FileCreationFailed;Failed to create download image or read flash file;4;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c05;STRHLP_RegionMismatch;Region in flash write/read reply does not match expected region;5;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c06;STRHLP_AddressMismatch;Address in flash write/read reply does not match expected address;6;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c07;STRHLP_LengthMismatch;Length in flash write/read reply does not match expected length;7;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c08;STRHLP_StatusError;Status field in reply signals error;8;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c09;STRHLP_InvalidTypeId;Reply has invalid type ID (should be of action reply type);9;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c0a;STRHLP_ReceptionTimeout;No description;10;STR_HELPER;linux/devices/startracker/StrComHandler.h
+0x5c0b;STRHLP_DecodingError;No description;11;STR_HELPER;linux/devices/startracker/StrComHandler.h
 0x5d00;GOMS_PacketTooLong;No description;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d01;GOMS_InvalidTableId;No description;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d02;GOMS_InvalidAddress;No description;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
--- a/generators/events/translateEvents.cpp
+++ b/generators/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
 * @brief    Auto-generated event translation file. Contains 279 translations.
 * @details
- * Generated on: 2023-03-21 23:59:36
+ * Generated on: 2023-03-22 01:14:08
 */
 #include "translateEvents.h"

@ -172,7 +172,7 @@ const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL";
 const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED";
 const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
 const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
-const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
+const char *STR_HELPER_REPLY_TIMEOUT_STRING = "STR_HELPER_REPLY_TIMEOUT";
 const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR";
 const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
 const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
@ -617,16 +617,16 @@ const char *translateEvents(Event event) {
    case (12510):
      return STR_HELPER_COM_ERROR_STRING;
    case (12511):
-      return STR_HELPER_NO_REPLY_STRING;
-    case (12512):
-      return STR_HELPER_DEC_ERROR_STRING;
+      return STR_HELPER_REPLY_TIMEOUT_STRING;
    case (12513):
-      return POSITION_MISMATCH_STRING;
+      return STR_HELPER_DEC_ERROR_STRING;
    case (12514):
-      return STR_HELPER_FILE_NOT_EXISTS_STRING;
+      return POSITION_MISMATCH_STRING;
    case (12515):
-      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+      return STR_HELPER_FILE_NOT_EXISTS_STRING;
    case (12516):
+      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+    case (12517):
      return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
    case (12600):
      return MPSOC_FLASH_WRITE_FAILED_STRING;
--- a/generators/objects/translateObjects.cpp
+++ b/generators/objects/translateObjects.cpp
@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 173 translations.
- * Generated on: 2023-03-21 23:59:36
+ * Generated on: 2023-03-22 01:14:08
 */
 #include "translateObjects.h"

@ -49,7 +49,7 @@ const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER";
 const char *RAD_SENSOR_STRING = "RAD_SENSOR";
 const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
 const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
-const char *STR_HELPER_STRING = "STR_HELPER";
+const char *STR_COM_IF_STRING = "STR_COM_IF";
 const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
 const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
 const char *PTME_CONFIG_STRING = "PTME_CONFIG";
@ -269,7 +269,7 @@ const char *translateObject(object_id_t object) {
    case 0x44330001:
      return PLOC_MEMORY_DUMPER_STRING;
    case 0x44330002:
-      return STR_HELPER_STRING;
+      return STR_COM_IF_STRING;
    case 0x44330003:
      return PLOC_MPSOC_HELPER_STRING;
    case 0x44330004:
--- a/linux/ObjectFactory.cpp
+++ b/linux/ObjectFactory.cpp
@ -314,7 +314,7 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
 void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,
                                         SdCardMountedIF& mountedIF, bool onImmediately,
                                         std::optional<power::Switch_t> switchId) {
-  auto* cookie = new SerialCookie(objects::SCEX, uartDev, uart::SCEX_BAUD, 4096);
+  auto* cookie = new SerialCookie(objects::SCEX, uartDev, serial::SCEX_BAUD, 4096);
  cookie->setTwoStopBits();
  // cookie->setParityEven();
  auto scexUartReader = new ScexUartReader(objects::SCEX_UART_READER);
--- a/linux/devices/ScexUartReader.cpp
+++ b/linux/devices/ScexUartReader.cpp
@ -98,11 +98,11 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
  }
  // Setting up UART parameters
  tty.c_cflag &= ~PARENB;  // Clear parity bit
-  uart::setStopbits(tty, uartCookie->getStopBits());
-  uart::setBitsPerWord(tty, BitsPerWord::BITS_8);
+  serial::setStopbits(tty, uartCookie->getStopBits());
+  serial::setBitsPerWord(tty, BitsPerWord::BITS_8);
  tty.c_cflag &= ~CRTSCTS;  // Disable RTS/CTS hardware flow control
-  uart::enableRead(tty);
-  uart::ignoreCtrlLines(tty);
+  serial::enableRead(tty);
+  serial::ignoreCtrlLines(tty);

  // Use non-canonical mode and clear echo flag
  tty.c_lflag &= ~(ICANON | ECHO);
@ -111,7 +111,7 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
  tty.c_cc[VTIME] = 0;
  tty.c_cc[VMIN] = 0;

-  uart::setBaudrate(tty, uartCookie->getBaudrate());
+  serial::setBaudrate(tty, uartCookie->getBaudrate());
  if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
    sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error ["
                 << errno << ", " << strerror(errno) << std::endl;
@ -148,8 +148,7 @@ ReturnValue_t ScexUartReader::sendMessage(CookieIF *cookie, const uint8_t *sendD
  }
  size_t bytesWritten = write(serialPort, cmdbuf.data(), encodedLen);
  if (bytesWritten != encodedLen) {
-    sif::warning << "ScexUartReader::sendMessage: Sending ping command to solar experiment failed"
-                 << std::endl;
+    sif::warning << "ScexUartReader::sendMessage: Sending command failed" << std::endl;
    return FAILED;
  }

--- a/linux/devices/ploc/PlocSupvUartMan.cpp
+++ b/linux/devices/ploc/PlocSupvUartMan.cpp
@ -58,12 +58,12 @@ ReturnValue_t PlocSupvUartManager::initializeInterface(CookieIF* cookie) {
  }
  // Setting up UART parameters
  tty.c_cflag &= ~PARENB;  // Clear parity bit
-  uart::setParity(tty, uartCookie->getParity());
-  uart::setStopbits(tty, uartCookie->getStopBits());
-  uart::setBitsPerWord(tty, BitsPerWord::BITS_8);
+  serial::setParity(tty, uartCookie->getParity());
+  serial::setStopbits(tty, uartCookie->getStopBits());
+  serial::setBitsPerWord(tty, BitsPerWord::BITS_8);
  tty.c_cflag &= ~CRTSCTS;  // Disable RTS/CTS hardware flow control
-  uart::enableRead(tty);
-  uart::ignoreCtrlLines(tty);
+  serial::enableRead(tty);
+  serial::ignoreCtrlLines(tty);

  // Use non-canonical mode and clear echo flag
  tty.c_lflag &= ~(ICANON | ECHO);
@ -72,7 +72,7 @@ ReturnValue_t PlocSupvUartManager::initializeInterface(CookieIF* cookie) {
  tty.c_cc[VTIME] = 2;
  tty.c_cc[VMIN] = 0;

-  uart::setBaudrate(tty, uartCookie->getBaudrate());
+  serial::setBaudrate(tty, uartCookie->getBaudrate());
  if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
    sif::warning << "PlocSupvUartManager::initializeInterface: tcsetattr call failed with error ["
                 << errno << ", " << strerror(errno) << std::endl;
--- a/linux/devices/ploc/PlocSupvUartMan.h
+++ b/linux/devices/ploc/PlocSupvUartMan.h
@ -246,9 +246,9 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
  std::array<uint8_t, 2048> recBuf = {};
  std::array<uint8_t, 2048> encodedBuf = {};
  std::array<uint8_t, 1200> decodedBuf = {};
-  std::array<uint8_t, 1200> ipcBuffer = {};
  SimpleRingBuffer decodedRingBuf;
  FIFO<size_t, MAX_STORED_DECODED_PACKETS> decodedQueue;
+  std::array<uint8_t, 1200> ipcBuffer = {};
  SimpleRingBuffer ipcRingBuf;
  FIFO<size_t, MAX_STORED_DECODED_PACKETS> ipcQueue;

--- a/linux/devices/startracker/ArcsecDatalinkLayer.cpp
+++ b/linux/devices/startracker/ArcsecDatalinkLayer.cpp
@ -1,39 +1,36 @@
 #include "ArcsecDatalinkLayer.h"

-ArcsecDatalinkLayer::ArcsecDatalinkLayer() { slipInit(); }
+ArcsecDatalinkLayer::ArcsecDatalinkLayer() : decodeRingBuf(BUFFER_LENGTHS, true) { slipInit(); }

 ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {}

-void ArcsecDatalinkLayer::slipInit() {
-  slipInfo.buffer = rxBuffer;
-  slipInfo.maxlength = startracker::MAX_FRAME_SIZE;
-  slipInfo.length = 0;
-  slipInfo.unescape_next = 0;
-  slipInfo.prev_state = SLIP_COMPLETE;
-}
-
-ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t rawDataSize,
-                                               size_t* bytesLeft) {
-  size_t bytePos = 0;
-  for (bytePos = 0; bytePos < rawDataSize; bytePos++) {
+ReturnValue_t ArcsecDatalinkLayer::checkRingBufForFrame(const uint8_t** decodedFrame,
+                                                        size_t& frameLen) {
+  size_t currentLen = decodeRingBuf.getAvailableReadData();
+  decodeRingBuf.readData(rxAnalysisBuffer, currentLen);
+  for (size_t idx = 0; idx < currentLen; idx++) {
    enum arc_dec_result decResult =
-        arc_transport_decode_body(*(rawData + bytePos), &slipInfo, decodedFrame, &decFrameSize);
-    *bytesLeft = rawDataSize - bytePos - 1;
+        arc_transport_decode_body(rxAnalysisBuffer[idx], &slipInfo, decodedRxFrame, &rxFrameSize);
    switch (decResult) {
      case ARC_DEC_INPROGRESS: {
-        if (bytePos == rawDataSize - 1) {
-          return DEC_IN_PROGRESS;
+        break;
      }
-        continue;
-      }
-      case ARC_DEC_ERROR_FRAME_SHORT:
+      case ARC_DEC_ERROR_FRAME_SHORT: {
+        decodeRingBuf.deleteData(idx);
        return REPLY_TOO_SHORT;
+      }
      case ARC_DEC_ERROR_CHECKSUM:
+        decodeRingBuf.deleteData(idx);
        return CRC_FAILURE;
      case ARC_DEC_ASYNC:
      case ARC_DEC_SYNC: {
        // Reset length of SLIP struct for next frame
        slipInfo.length = 0;
+        if (decodedFrame != nullptr) {
+          *decodedFrame = decodedRxFrame;
+        }
+        frameLen = rxFrameSize;
+        decodeRingBuf.deleteData(idx);
        return returnvalue::OK;
      }
      default:
@ -42,21 +39,32 @@ ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t ra
        return returnvalue::FAILED;
    }
  }
+  decodeRingBuf.deleteData(currentLen);
+  return DEC_IN_PROGRESS;
+}
+
+ReturnValue_t ArcsecDatalinkLayer::feedData(const uint8_t* rawData, size_t rawDataLen) {
+  if (rawDataLen > 4096) {
+    sif::error << "ArcsecDatalinklayer: Can not write more than 4096 bytes to ring buffer"
+               << std::endl;
    return returnvalue::FAILED;
+  }
+  return decodeRingBuf.writeData(rawData, rawDataLen);
 }

-uint8_t ArcsecDatalinkLayer::getReplyFrameType() { return decodedFrame[0]; }
-
-const uint8_t* ArcsecDatalinkLayer::getReply() { return &decodedFrame[1]; }
-
-void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, uint32_t length) {
-  arc_transport_encode_body(data, length, encBuffer, &encFrameSize);
+void ArcsecDatalinkLayer::reset() {
+  slipInit();
+  decodeRingBuf.clear();
 }

-uint8_t* ArcsecDatalinkLayer::getEncodedFrame() { return encBuffer; }
+void ArcsecDatalinkLayer::slipInit() {
+  slip_decode_init(rxBufferArc, sizeof(rxBufferArc), &slipInfo);
+}

-uint32_t ArcsecDatalinkLayer::getEncodedLength() { return encFrameSize; }
-
-uint8_t ArcsecDatalinkLayer::getStatusField() { return *(decodedFrame + STATUS_OFFSET); }
-
-uint8_t ArcsecDatalinkLayer::getId() { return *(decodedFrame + ID_OFFSET); }
+void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, size_t length, const uint8_t** txFrame,
+                                      size_t& size) {
+  arc_transport_encode_body(data, length, txEncoded, &size);
+  if (txFrame != nullptr) {
+    *txFrame = txEncoded;
+  }
+}
--- a/linux/devices/startracker/ArcsecDatalinkLayer.h
+++ b/linux/devices/startracker/ArcsecDatalinkLayer.h
@ -1,14 +1,14 @@
 #ifndef BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
 #define BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_

+#include <fsfw/container/SimpleRingBuffer.h>
+#include <fsfw/devicehandlers/CookieIF.h>
+
+#include "arcsec/common/misc.h"
 #include "eive/resultClassIds.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"

-extern "C" {
-#include "common/misc.h"
-}
-
 /**
 * @brief   Helper class to handle the datalinklayer of replies from the star tracker of arcsec.
 */
@ -25,17 +25,30 @@ class ArcsecDatalinkLayer {

  static const uint8_t STATUS_OK = 0;

+  static constexpr size_t BUFFER_LENGTHS = 4096;
+
  ArcsecDatalinkLayer();
  virtual ~ArcsecDatalinkLayer();

  /**
-   * @brief   Applies decoding to data referenced by rawData pointer
-   *
-   * @param rawData          Pointer to raw data received from star tracker
-   * @param rawDataSize      Size of raw data stream
-   * @param remainingBytes   Number of bytes left
+   * Feed received data to the internal ring buffer.
+   * @param rawData
+   * @param rawDataLen
+   * @return
   */
-  ReturnValue_t decodeFrame(const uint8_t* rawData, size_t rawDataSize, size_t* bytesLeft);
+  ReturnValue_t feedData(const uint8_t* rawData, size_t rawDataLen);
+
+  /**
+   * Runs the arcsec datalink layer decoding algorithm on the data in the ring buffer, decoding
+   * frames in the process.
+   * @param decodedFrame
+   * @param frameLen
+   * @return
+   *   - returnvalue::OK if a frame was found
+   *   - DEC_IN_PROGRESS if frame decoding is in progress
+   *   - Anything else is a decoding error
+   */
+  ReturnValue_t checkRingBufForFrame(const uint8_t** decodedFrame, size_t& frameLen);

  /**
   * @brief   SLIP encodes data pointed to by data pointer.
@ -43,53 +56,31 @@ class ArcsecDatalinkLayer {
   * @param data   Pointer to data to encode
   * @param length Length of buffer to encode
   */
-  void encodeFrame(const uint8_t* data, uint32_t length);
+  void encodeFrame(const uint8_t* data, size_t length, const uint8_t** txFrame, size_t& frameLen);

-  /**
-   * @brief    Returns the frame type field of a decoded frame.
-   */
-  uint8_t getReplyFrameType();
-
-  /**
-   * @brief   Returns pointer to reply packet (first entry normally action ID, telemetry ID etc.)
-   */
-  const uint8_t* getReply();
-
-  /**
-   * @brief   Returns size of encoded frame
-   */
-  uint32_t getEncodedLength();
-
-  /**
-   * @brief   Returns pointer to encoded frame
-   */
-  uint8_t* getEncodedFrame();
-
-  /**
-   * @brief   Returns status of reply
-   */
-  uint8_t getStatusField();
-
-  /**
-   * @brief   Returns ID of reply
-   */
-  uint8_t getId();
+  void reset();

 private:
  static const uint8_t ID_OFFSET = 1;
  static const uint8_t STATUS_OFFSET = 2;

-  // Used by arcsec slip decoding function process received data
-  uint8_t rxBuffer[startracker::MAX_FRAME_SIZE];
+  // User to buffer and analyse data and allow feeding and checking for frames asychronously.
+  SimpleRingBuffer decodeRingBuf;
+  uint8_t rxAnalysisBuffer[BUFFER_LENGTHS];
+
+  // Used by arcsec slip decoding function to process received data. This should only be written
+  // to or read from by arcsec functions!
+  uint8_t rxBufferArc[startracker::MAX_FRAME_SIZE];
  // Decoded frame will be copied to this buffer
-  uint8_t decodedFrame[startracker::MAX_FRAME_SIZE];
+  uint8_t decodedRxFrame[startracker::MAX_FRAME_SIZE];
+  // Size of decoded frame
+  uint32_t rxFrameSize = 0;
+
  // Buffer where encoded frames will be stored. First byte of encoded frame represents type of
  // reply
-  uint8_t encBuffer[startracker::MAX_FRAME_SIZE * 2 + 2];
-  // Size of decoded frame
-  uint32_t decFrameSize = 0;
+  uint8_t txEncoded[startracker::MAX_FRAME_SIZE * 2 + 2];
  // Size of encoded frame
-  uint32_t encFrameSize = 0;
+  uint32_t txFrameSize = 0;

  slip_decode_state slipInfo;

--- a/linux/devices/startracker/ArcsecJsonParamBase.cpp
+++ b/linux/devices/startracker/ArcsecJsonParamBase.cpp
@ -1,17 +1,10 @@
 #include "ArcsecJsonParamBase.h"

-#include "ArcsecJsonKeys.h"
+#include "arcsecJsonKeys.h"

 ArcsecJsonParamBase::ArcsecJsonParamBase(std::string setName) : setName(setName) {}

-ReturnValue_t ArcsecJsonParamBase::create(std::string fullname, uint8_t* buffer) {
-  // ReturnValue_t result = returnvalue::OK;
-  //  result = init(fullname);
-  //  if (result != returnvalue::OK) {
-  //    sif::warning << "ArcsecJsonParamBase::create: Failed to init parameter command for set "
-  //                 << setName << std::endl;
-  //    return result;
-  //  }
+ReturnValue_t ArcsecJsonParamBase::create(uint8_t* buffer) {
  ReturnValue_t result = createCommand(buffer);
  if (result != returnvalue::OK) {
    sif::warning << "ArcsecJsonParamBase::create: Failed to create parameter command for set "
--- a/linux/devices/startracker/ArcsecJsonParamBase.h
+++ b/linux/devices/startracker/ArcsecJsonParamBase.h
@ -5,15 +5,12 @@
 #include <fstream>
 #include <nlohmann/json.hpp>

+#include "arcsec/common/generated/tmtcstructs.h"
+#include "arcsec/common/genericstructs.h"
 #include "eive/resultClassIds.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"

-extern "C" {
-#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
-#include "thirdparty/arcsec_star_tracker/common/genericstructs.h"
-}
-
 using json = nlohmann::json;

 /**
@ -59,7 +56,7 @@ class ArcsecJsonParamBase {
   *                  parameter set.
   * @param buffer    Pointer to the buffer the command will be written to
   */
-  ReturnValue_t create(std::string fullname, uint8_t* buffer);
+  ReturnValue_t create(uint8_t* buffer);

  /**
   * @brief   Returns the size of the parameter command.
--- a/linux/devices/startracker/CMakeLists.txt
+++ b/linux/devices/startracker/CMakeLists.txt
@ -1,4 +1,4 @@
 target_sources(
  ${OBSW_NAME}
-  PRIVATE StarTrackerHandler.cpp StarTrackerJsonCommands.cpp
-          ArcsecDatalinkLayer.cpp ArcsecJsonParamBase.cpp StrHelper.cpp)
+  PRIVATE StarTrackerHandler.cpp strJsonCommands.cpp ArcsecDatalinkLayer.cpp
+          ArcsecJsonParamBase.cpp StrComHandler.cpp helpers.cpp)
--- a/linux/devices/startracker/StarTrackerHandler.cpp
+++ b/linux/devices/startracker/StarTrackerHandler.cpp
@ -1,5 +1,8 @@
 #include "StarTrackerHandler.h"

+#include <arcsec/client/generated/actionreq.h>
+#include <arcsec/client/generated/parameter.h>
+#include <arcsec/client/generated/telemetry.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>

@ -8,19 +11,14 @@
 #include <thread>

 #include "OBSWConfig.h"
-#include "StarTrackerJsonCommands.h"
-extern "C" {
-#include <thirdparty/arcsec_star_tracker/client/generated/actionreq.h>
-#include <thirdparty/arcsec_star_tracker/client/generated/parameter.h>
-#include <thirdparty/arcsec_star_tracker/client/generated/telemetry.h>
-
-#include "common/misc.h"
-}
+#include "arcsec/common/misc.h"
+#include "helpers.h"
+#include "strJsonCommands.h"

 std::atomic_bool JCFG_DONE(false);

 StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                                       const char* jsonFileStr, StrHelper* strHelper,
+                                       const char* jsonFileStr, StrComHandler* strHelper,
                                       power::Switch_t powerSwitch)
    : DeviceHandlerBase(objectId, comIF, comCookie),
      temperatureSet(this),
@ -84,8 +82,8 @@ ReturnValue_t StarTrackerHandler::initialize() {
    return result;
  }
  result = manager->subscribeToEventRange(eventQueue->getId(),
-                                          event::getEventId(StrHelper::IMAGE_UPLOAD_FAILED),
-                                          event::getEventId(StrHelper::FIRMWARE_UPDATE_FAILED));
+                                          event::getEventId(StrComHandler::IMAGE_UPLOAD_FAILED),
+                                          event::getEventId(StrComHandler::FIRMWARE_UPDATE_FAILED));
  if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "StarTrackerHandler::initialize: Failed to subscribe to events from "
@ -95,11 +93,6 @@ ReturnValue_t StarTrackerHandler::initialize() {
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }

-  result = strHelper->setComIF(communicationInterface);
-  if (result != returnvalue::OK) {
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-  strHelper->setComCookie(comCookie);
  return returnvalue::OK;
 }

@ -828,41 +821,36 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t rema
  ReturnValue_t result = returnvalue::OK;
  size_t bytesLeft = 0;

-  result = dataLinkLayer.decodeFrame(start, remainingSize, &bytesLeft);
-  switch (result) {
-    case ArcsecDatalinkLayer::DEC_IN_PROGRESS: {
-      remainingSize = bytesLeft;
-      // Need a second doSendRead pass to reaa in whole packet
-      return IGNORE_REPLY_DATA;
+  if (remainingSize == 0) {
+    *foundLen = remainingSize;
+    return returnvalue::OK;
  }
-    case returnvalue::OK: {
-      break;
-    }
-    default:
-      remainingSize = bytesLeft;
-      return result;
+  if (remainingSize < 3) {
+    sif::error << "StarTrackerHandler: Reply packet with length less than 3 is invalid"
+               << std::endl;
+    return returnvalue::FAILED;
  }

-  switch (dataLinkLayer.getReplyFrameType()) {
+  switch (str::getReplyFrameType(start)) {
    case TMTC_ACTIONREPLY: {
      *foundLen = remainingSize - bytesLeft;
-      result = scanForActionReply(foundId);
+      result = scanForActionReply(str::getId(start), foundId);
      break;
    }
    case TMTC_SETPARAMREPLY: {
      *foundLen = remainingSize - bytesLeft;
-      result = scanForSetParameterReply(foundId);
+      result = scanForSetParameterReply(str::getId(start), foundId);
      break;
    }
    case TMTC_PARAMREPLY: {
      *foundLen = remainingSize - bytesLeft;
-      result = scanForGetParameterReply(foundId);
+      result = scanForGetParameterReply(str::getId(start), foundId);
      break;
    }
    case TMTC_TELEMETRYREPLYA:
    case TMTC_TELEMETRYREPLY: {
      *foundLen = remainingSize - bytesLeft;
-      result = scanForTmReply(foundId);
+      result = scanForTmReply(str::getId(start), foundId);
      break;
    }
    default: {
@ -882,22 +870,22 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,

  switch (id) {
    case (startracker::REQ_TIME): {
-      result = handleTm(timeSet, startracker::TimeSet::SIZE);
+      result = handleTm(packet, timeSet, startracker::TimeSet::SIZE);
      break;
    }
    case (startracker::PING_REQUEST): {
-      result = handlePingReply();
+      result = handlePingReply(packet);
      break;
    }
    case (startracker::BOOT):
    case (startracker::TAKE_IMAGE):
      break;
    case (startracker::CHECKSUM): {
-      result = handleChecksumReply();
+      result = handleChecksumReply(packet);
      break;
    }
    case (startracker::REQ_VERSION): {
-      result = handleTm(versionSet, startracker::VersionSet::SIZE);
+      result = handleTm(packet, versionSet, startracker::VersionSet::SIZE);
      if (result != returnvalue::OK) {
        return result;
      }
@ -908,23 +896,23 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
      break;
    }
    case (startracker::REQ_INTERFACE): {
-      result = handleTm(interfaceSet, startracker::InterfaceSet::SIZE);
+      result = handleTm(packet, interfaceSet, startracker::InterfaceSet::SIZE);
      break;
    }
    case (startracker::REQ_POWER): {
-      result = handleTm(powerSet, startracker::PowerSet::SIZE);
+      result = handleTm(packet, powerSet, startracker::PowerSet::SIZE);
      break;
    }
    case (startracker::REQ_SOLUTION): {
-      result = handleTm(solutionSet, startracker::SolutionSet::SIZE);
+      result = handleTm(packet, solutionSet, startracker::SolutionSet::SIZE);
      break;
    }
    case (startracker::REQ_TEMPERATURE): {
-      result = handleTm(temperatureSet, startracker::TemperatureSet::SIZE);
+      result = handleTm(packet, temperatureSet, startracker::TemperatureSet::SIZE);
      break;
    }
    case (startracker::REQ_HISTOGRAM): {
-      result = handleTm(histogramSet, startracker::HistogramSet::SIZE);
+      result = handleTm(packet, histogramSet, startracker::HistogramSet::SIZE);
      break;
    }
    case (startracker::SUBSCRIPTION):
@ -941,63 +929,63 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
    case (startracker::VALIDATION):
    case (startracker::IMAGE_PROCESSOR):
    case (startracker::ALGO): {
-      result = handleSetParamReply();
+      result = handleSetParamReply(packet);
      break;
    }
    case (startracker::REQ_CAMERA): {
-      handleParamRequest(cameraSet, startracker::CameraSet::SIZE);
+      handleParamRequest(packet, cameraSet, startracker::CameraSet::SIZE);
      break;
    }
    case (startracker::REQ_LIMITS): {
-      handleParamRequest(limitsSet, startracker::LimitsSet::SIZE);
+      handleParamRequest(packet, limitsSet, startracker::LimitsSet::SIZE);
      break;
    }
    case (startracker::REQ_LOG_LEVEL): {
-      handleParamRequest(loglevelSet, startracker::LogLevelSet::SIZE);
+      handleParamRequest(packet, loglevelSet, startracker::LogLevelSet::SIZE);
      break;
    }
    case (startracker::REQ_MOUNTING): {
-      handleParamRequest(mountingSet, startracker::MountingSet::SIZE);
+      handleParamRequest(packet, mountingSet, startracker::MountingSet::SIZE);
      break;
    }
    case (startracker::REQ_IMAGE_PROCESSOR): {
-      handleParamRequest(imageProcessorSet, startracker::ImageProcessorSet::SIZE);
+      handleParamRequest(packet, imageProcessorSet, startracker::ImageProcessorSet::SIZE);
      break;
    }
    case (startracker::REQ_CENTROIDING): {
-      handleParamRequest(centroidingSet, startracker::CentroidingSet::SIZE);
+      handleParamRequest(packet, centroidingSet, startracker::CentroidingSet::SIZE);
      break;
    }
    case (startracker::REQ_LISA): {
-      handleParamRequest(lisaSet, startracker::LisaSet::SIZE);
+      handleParamRequest(packet, lisaSet, startracker::LisaSet::SIZE);
      break;
    }
    case (startracker::REQ_MATCHING): {
-      handleParamRequest(matchingSet, startracker::MatchingSet::SIZE);
+      handleParamRequest(packet, matchingSet, startracker::MatchingSet::SIZE);
      break;
    }
    case (startracker::REQ_TRACKING): {
-      handleParamRequest(trackingSet, startracker::TrackingSet::SIZE);
+      handleParamRequest(packet, trackingSet, startracker::TrackingSet::SIZE);
      break;
    }
    case (startracker::REQ_VALIDATION): {
-      handleParamRequest(validationSet, startracker::ValidationSet::SIZE);
+      handleParamRequest(packet, validationSet, startracker::ValidationSet::SIZE);
      break;
    }
    case (startracker::REQ_ALGO): {
-      handleParamRequest(algoSet, startracker::AlgoSet::SIZE);
+      handleParamRequest(packet, algoSet, startracker::AlgoSet::SIZE);
      break;
    }
    case (startracker::REQ_SUBSCRIPTION): {
-      handleParamRequest(subscriptionSet, startracker::SubscriptionSet::SIZE);
+      handleParamRequest(packet, subscriptionSet, startracker::SubscriptionSet::SIZE);
      break;
    }
    case (startracker::REQ_LOG_SUBSCRIPTION): {
-      handleParamRequest(logSubscriptionSet, startracker::LogSubscriptionSet::SIZE);
+      handleParamRequest(packet, logSubscriptionSet, startracker::LogSubscriptionSet::SIZE);
      break;
    }
    case (startracker::REQ_DEBUG_CAMERA): {
-      handleParamRequest(debugCameraSet, startracker::DebugCameraSet::SIZE);
+      handleParamRequest(packet, debugCameraSet, startracker::DebugCameraSet::SIZE);
      break;
    }
    default: {
@ -1328,9 +1316,8 @@ ReturnValue_t StarTrackerHandler::checkMode(ActionId_t actionId) {
  return returnvalue::OK;
 }

-ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t* foundId) {
-  const uint8_t* reply = dataLinkLayer.getReply();
-  switch (*reply) {
+ReturnValue_t StarTrackerHandler::scanForActionReply(uint8_t replyId, DeviceCommandId_t* foundId) {
+  switch (replyId) {
    case (startracker::ID::PING): {
      *foundId = startracker::PING_REQUEST;
      break;
@ -1359,9 +1346,9 @@ ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t* foundId)
  return returnvalue::OK;
 }

-ReturnValue_t StarTrackerHandler::scanForSetParameterReply(DeviceCommandId_t* foundId) {
-  const uint8_t* reply = dataLinkLayer.getReply();
-  switch (*reply) {
+ReturnValue_t StarTrackerHandler::scanForSetParameterReply(uint8_t replyId,
+                                                           DeviceCommandId_t* foundId) {
+  switch (replyId) {
    case (startracker::ID::SUBSCRIPTION): {
      *foundId = startracker::SUBSCRIPTION;
      break;
@ -1426,9 +1413,9 @@ ReturnValue_t StarTrackerHandler::scanForSetParameterReply(DeviceCommandId_t* fo
  return returnvalue::OK;
 }

-ReturnValue_t StarTrackerHandler::scanForGetParameterReply(DeviceCommandId_t* foundId) {
-  const uint8_t* reply = dataLinkLayer.getReply();
-  switch (*reply) {
+ReturnValue_t StarTrackerHandler::scanForGetParameterReply(uint8_t replyId,
+                                                           DeviceCommandId_t* foundId) {
+  switch (replyId) {
    case (startracker::ID::CAMERA): {
      *foundId = startracker::REQ_CAMERA;
      break;
@ -1494,9 +1481,8 @@ ReturnValue_t StarTrackerHandler::scanForGetParameterReply(DeviceCommandId_t* fo
  return returnvalue::OK;
 }

-ReturnValue_t StarTrackerHandler::scanForTmReply(DeviceCommandId_t* foundId) {
-  const uint8_t* reply = dataLinkLayer.getReply();
-  switch (*reply) {
+ReturnValue_t StarTrackerHandler::scanForTmReply(uint8_t replyId, DeviceCommandId_t* foundId) {
+  switch (replyId) {
    case (startracker::ID::VERSION): {
      *foundId = startracker::REQ_VERSION;
      break;
@ -1527,7 +1513,7 @@ ReturnValue_t StarTrackerHandler::scanForTmReply(DeviceCommandId_t* foundId) {
    }
    default: {
      sif::debug << "StarTrackerHandler::scanForTmReply: Reply contains invalid reply id: "
-                 << static_cast<unsigned int>(*reply) << std::endl;
+                 << static_cast<unsigned int>(replyId) << std::endl;
      return returnvalue::FAILED;
      break;
    }
@ -1538,7 +1524,7 @@ ReturnValue_t StarTrackerHandler::scanForTmReply(DeviceCommandId_t* foundId) {
 void StarTrackerHandler::handleEvent(EventMessage* eventMessage) {
  object_id_t objectId = eventMessage->getReporter();
  switch (objectId) {
-    case objects::STR_HELPER: {
+    case objects::STR_COM_IF: {
      // All events from image loader signal either that the operation was successful or that it
      // failed
      strHelperHandlingSpecialRequest = false;
@ -1586,9 +1572,8 @@ void StarTrackerHandler::prepareBootCommand() {
  uint32_t length = 0;
  struct BootActionRequest bootRequest = {BOOT_REGION_ID};
  arc_pack_boot_action_req(&bootRequest, commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }

 ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandData,
@ -1620,9 +1605,8 @@ ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandD
  }
  uint32_t rawCmdLength = 0;
  arc_pack_checksum_action_req(&req, commandBuffer, &rawCmdLength);
-  dataLinkLayer.encodeFrame(commandBuffer, rawCmdLength);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = rawCmdLength;
  checksumCmd.rememberRegion = req.region;
  checksumCmd.rememberAddress = req.address;
  checksumCmd.rememberLength = req.length;
@ -1632,51 +1616,45 @@ ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandD
 void StarTrackerHandler::prepareTimeRequest() {
  uint32_t length = 0;
  arc_tm_pack_time_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }

 void StarTrackerHandler::preparePingRequest() {
  uint32_t length = 0;
  struct PingActionRequest pingRequest = {PING_ID};
  arc_pack_ping_action_req(&pingRequest, commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }

 void StarTrackerHandler::prepareVersionRequest() {
  uint32_t length = 0;
  arc_tm_pack_version_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }

 void StarTrackerHandler::prepareInterfaceRequest() {
  uint32_t length = 0;
  arc_tm_pack_interface_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }

 void StarTrackerHandler::preparePowerRequest() {
  uint32_t length = 0;
  arc_tm_pack_power_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }

 void StarTrackerHandler::prepareSwitchToBootloaderCmd() {
  uint32_t length = 0;
  struct RebootActionRequest rebootReq {};
  arc_pack_reboot_action_req(&rebootReq, commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }

 void StarTrackerHandler::prepareTakeImageCommand(const uint8_t* commandData) {
@ -1684,33 +1662,29 @@ void StarTrackerHandler::prepareTakeImageCommand(const uint8_t* commandData) {
  struct CameraActionRequest camReq;
  camReq.actionid = *commandData;
  arc_pack_camera_action_req(&camReq, commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }

 void StarTrackerHandler::prepareSolutionRequest() {
  uint32_t length = 0;
  arc_tm_pack_solution_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }

 void StarTrackerHandler::prepareTemperatureRequest() {
  uint32_t length = 0;
  arc_tm_pack_temperature_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }

 void StarTrackerHandler::prepareHistogramRequest() {
  uint32_t length = 0;
  arc_tm_pack_histogram_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
 }

 ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData,
@ -1721,182 +1695,164 @@ ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData
  if (commandDataLen > MAX_PATH_SIZE) {
    return FILE_PATH_TOO_LONG;
  }
-  std::string fullName(reinterpret_cast<const char*>(commandData), commandDataLen);

-  result = paramSet.create(fullName, commandBuffer);
+  result = paramSet.create(commandBuffer);
  if (result != returnvalue::OK) {
    return result;
  }
-  dataLinkLayer.encodeFrame(commandBuffer, paramSet.getSize());
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = paramSet.getSize();
  return returnvalue::OK;
 }

 ReturnValue_t StarTrackerHandler::prepareRequestCameraParams() {
  uint32_t length = 0;
  arc_pack_camera_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
  return returnvalue::OK;
 }

 ReturnValue_t StarTrackerHandler::prepareRequestLimitsParams() {
  uint32_t length = 0;
  arc_pack_limits_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
  return returnvalue::OK;
 }

 ReturnValue_t StarTrackerHandler::prepareRequestLogLevelParams() {
  uint32_t length = 0;
  arc_pack_loglevel_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
  return returnvalue::OK;
 }

 ReturnValue_t StarTrackerHandler::prepareRequestMountingParams() {
  uint32_t length = 0;
  arc_pack_mounting_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
  return returnvalue::OK;
 }

 ReturnValue_t StarTrackerHandler::prepareRequestImageProcessorParams() {
  uint32_t length = 0;
  arc_pack_imageprocessor_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
  return returnvalue::OK;
 }

 ReturnValue_t StarTrackerHandler::prepareRequestCentroidingParams() {
  uint32_t length = 0;
  arc_pack_centroiding_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
  return returnvalue::OK;
 }

 ReturnValue_t StarTrackerHandler::prepareRequestLisaParams() {
  uint32_t length = 0;
  arc_pack_lisa_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
  return returnvalue::OK;
 }

 ReturnValue_t StarTrackerHandler::prepareRequestMatchingParams() {
  uint32_t length = 0;
  arc_pack_matching_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
  return returnvalue::OK;
 }

 ReturnValue_t StarTrackerHandler::prepareRequestTrackingParams() {
  uint32_t length = 0;
  arc_pack_tracking_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
  return returnvalue::OK;
 }

 ReturnValue_t StarTrackerHandler::prepareRequestValidationParams() {
  uint32_t length = 0;
  arc_pack_validation_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
  return returnvalue::OK;
 }

 ReturnValue_t StarTrackerHandler::prepareRequestAlgoParams() {
  uint32_t length = 0;
  arc_pack_algo_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
  return returnvalue::OK;
 }

 ReturnValue_t StarTrackerHandler::prepareRequestSubscriptionParams() {
  uint32_t length = 0;
  arc_pack_subscription_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
  return returnvalue::OK;
 }

 ReturnValue_t StarTrackerHandler::prepareRequestLogSubscriptionParams() {
  uint32_t length = 0;
  arc_pack_logsubscription_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
  return returnvalue::OK;
 }

 ReturnValue_t StarTrackerHandler::prepareRequestDebugCameraParams() {
  uint32_t length = 0;
  arc_pack_debugcamera_parameter_req(commandBuffer, &length);
-  dataLinkLayer.encodeFrame(commandBuffer, length);
-  rawPacket = dataLinkLayer.getEncodedFrame();
-  rawPacketLen = dataLinkLayer.getEncodedLength();
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
  return returnvalue::OK;
 }

-ReturnValue_t StarTrackerHandler::handleSetParamReply() {
-  const uint8_t* reply = dataLinkLayer.getReply();
-  uint8_t status = *(reply + STATUS_OFFSET);
+ReturnValue_t StarTrackerHandler::handleSetParamReply(const uint8_t* rawFrame) {
+  uint8_t status = str::getStatusField(rawFrame);
  if (status != startracker::STATUS_OK) {
    sif::warning << "StarTrackerHandler::handleSetParamReply: Failed to execute parameter set "
                    " command with parameter ID"
-                 << static_cast<unsigned int>(*(reply + PARAMETER_ID_OFFSET)) << std::endl;
+                 << static_cast<unsigned int>(*(rawFrame + PARAMETER_ID_OFFSET)) << std::endl;
    if (internalState != InternalState::IDLE) {
      internalState = InternalState::IDLE;
    }
    return SET_PARAM_FAILED;
  }
  if (internalState != InternalState::IDLE) {
-    handleStartup(reply + PARAMETER_ID_OFFSET);
+    handleStartup(*(rawFrame + PARAMETER_ID_OFFSET));
  }
  return returnvalue::OK;
 }

-ReturnValue_t StarTrackerHandler::handleActionReply() {
-  const uint8_t* reply = dataLinkLayer.getReply();
-  uint8_t status = *(reply + STATUS_OFFSET);
+ReturnValue_t StarTrackerHandler::handleActionReply(const uint8_t* rawFrame) {
+  uint8_t status = str::getStatusField(rawFrame);
  if (status != startracker::STATUS_OK) {
    sif::warning << "StarTrackerHandler::handleActionReply: Failed to execute action "
                 << "command with action ID "
-                 << static_cast<unsigned int>(*(reply + ACTION_ID_OFFSET)) << " and status "
+                 << static_cast<unsigned int>(*(rawFrame + ACTION_ID_OFFSET)) << " and status "
                 << static_cast<unsigned int>(status) << std::endl;
    return ACTION_FAILED;
  }
  return returnvalue::OK;
 }

-ReturnValue_t StarTrackerHandler::handleChecksumReply() {
+ReturnValue_t StarTrackerHandler::handleChecksumReply(const uint8_t* rawFrame) {
  ReturnValue_t result = returnvalue::OK;
-  result = handleActionReply();
+  result = handleActionReply(rawFrame);
  if (result != returnvalue::OK) {
    return result;
  }
-  const uint8_t* replyData = dataLinkLayer.getReply() + ACTION_DATA_OFFSET;
+  const uint8_t* replyData = rawFrame + ACTION_DATA_OFFSET;
  startracker::ChecksumReply checksumReply(replyData);
  if (checksumReply.getRegion() != checksumCmd.rememberRegion) {
    sif::warning << "StarTrackerHandler::handleChecksumReply: Region mismatch" << std::endl;
@ -1919,13 +1875,14 @@ ReturnValue_t StarTrackerHandler::handleChecksumReply() {
  return returnvalue::OK;
 }

-ReturnValue_t StarTrackerHandler::handleParamRequest(LocalPoolDataSetBase& dataset, size_t size) {
+ReturnValue_t StarTrackerHandler::handleParamRequest(const uint8_t* rawFrame,
+                                                     LocalPoolDataSetBase& dataset, size_t size) {
  ReturnValue_t result = returnvalue::OK;
  result = dataset.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
  if (result != returnvalue::OK) {
    return result;
  }
-  const uint8_t* reply = dataLinkLayer.getReply() + PARAMS_OFFSET;
+  const uint8_t* reply = rawFrame + PARAMS_OFFSET;
  dataset.setValidityBufferGeneration(false);
  result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
  if (result != returnvalue::OK) {
@ -1943,25 +1900,20 @@ ReturnValue_t StarTrackerHandler::handleParamRequest(LocalPoolDataSetBase& datas
  return result;
 }

-ReturnValue_t StarTrackerHandler::handlePingReply() {
+ReturnValue_t StarTrackerHandler::handlePingReply(const uint8_t* rawFrame) {
  ReturnValue_t result = returnvalue::OK;
  uint32_t pingId = 0;
-  const uint8_t* reply = dataLinkLayer.getReply();
-  uint8_t status = dataLinkLayer.getStatusField();
-  const uint8_t* buffer = reply + ACTION_DATA_OFFSET;
+  uint8_t status = str::getStatusField(rawFrame);
+  const uint8_t* buffer = rawFrame + ACTION_DATA_OFFSET;
  size_t size = sizeof(pingId);
  SerializeAdapter::deSerialize(&pingId, &buffer, &size, SerializeIF::Endianness::LITTLE);
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
  sif::info << "StarTracker: Ping status: " << static_cast<unsigned int>(status) << std::endl;
-  sif::info << "Ping id: 0x" << std::hex << pingId << std::endl;
-#endif /* OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 */
+  sif::info << "Ping ID: 0x" << std::hex << pingId << std::endl;
  if (status != startracker::STATUS_OK || pingId != PING_ID) {
-    sif::warning << "StarTrackerHandler::handlePingReply: Ping failed" << std::endl;
+    sif::warning << "STR: Ping failed" << std::endl;
    result = PING_FAILED;
  } else {
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
-    sif::info << "StarTracker: Ping successful" << std::endl;
-#endif
+    sif::info << "STR: Ping OK" << std::endl;
  }
  return result;
 }
@ -2001,9 +1953,10 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
  return returnvalue::OK;
 }

-ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t size) {
+ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
+                                           size_t size) {
  ReturnValue_t result = returnvalue::OK;
-  uint8_t status = *(dataLinkLayer.getReply() + STATUS_OFFSET);
+  uint8_t status = str::getStatusField(rawFrame);
  if (status != startracker::STATUS_OK) {
    sif::warning << "StarTrackerHandler::handleTm: Reply error: "
                 << static_cast<unsigned int>(status) << std::endl;
@ -2013,7 +1966,7 @@ ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t
  if (result != returnvalue::OK) {
    return result;
  }
-  const uint8_t* reply = dataLinkLayer.getReply() + TICKS_OFFSET;
+  const uint8_t* reply = rawFrame + TICKS_OFFSET;
  dataset.setValidityBufferGeneration(false);
  result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
  if (result != returnvalue::OK) {
@ -2031,9 +1984,10 @@ ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t
  return result;
 }

-ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dataset, size_t size) {
+ReturnValue_t StarTrackerHandler::handleActionReplySet(const uint8_t* rawFrame,
+                                                       LocalPoolDataSetBase& dataset, size_t size) {
  ReturnValue_t result = returnvalue::OK;
-  uint8_t status = *(dataLinkLayer.getReply() + STATUS_OFFSET);
+  uint8_t status = str::getStatusField(rawFrame);
  if (status != startracker::STATUS_OK) {
    sif::warning << "StarTrackerHandler::handleActionReplySet: Reply error: "
                 << static_cast<unsigned int>(status) << std::endl;
@ -2043,7 +1997,7 @@ ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dat
  if (result != returnvalue::OK) {
    return result;
  }
-  const uint8_t* reply = dataLinkLayer.getReply() + ACTION_DATA_OFFSET;
+  const uint8_t* reply = rawFrame + ACTION_DATA_OFFSET;
  dataset.setValidityBufferGeneration(false);
  result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
  if (result != returnvalue::OK) {
@ -2061,8 +2015,8 @@ ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dat
  return result;
 }

-void StarTrackerHandler::handleStartup(const uint8_t* parameterId) {
-  switch (*parameterId) {
+void StarTrackerHandler::handleStartup(uint8_t parameterId) {
+  switch (parameterId) {
    case (startracker::ID::LOG_LEVEL): {
      bootState = FwBootState::LIMITS;
      break;
@ -2117,8 +2071,8 @@ void StarTrackerHandler::handleStartup(const uint8_t* parameterId) {
      break;
    }
    default: {
-      sif::debug << "StarTrackerHandler::handleStartup: Received parameter reply with unexpected"
-                 << " parameter ID" << std::endl;
+      sif::warning << "StarTrackerHandler::handleStartup: Received parameter reply with unexpected"
+                   << " parameter ID " << (int)parameterId << std::endl;
      break;
    }
  }
--- a/linux/devices/startracker/StarTrackerHandler.h
+++ b/linux/devices/startracker/StarTrackerHandler.h
@ -2,20 +2,19 @@
 #define MISSION_DEVICES_STARTRACKERHANDLER_H_

 #include <fsfw/datapool/PoolReadGuard.h>
-#include <linux/devices/startracker/StarTrackerJsonCommands.h>

 #include <thread>

-#include "ArcsecDatalinkLayer.h"
 #include "ArcsecJsonParamBase.h"
 #include "OBSWConfig.h"
-#include "StrHelper.h"
+#include "StrComHandler.h"
+#include "arcsec/common/SLIP.h"
 #include "devices/powerSwitcherList.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/src/fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/timemanager/Countdown.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
-#include "thirdparty/arcsec_star_tracker/common/SLIP.h"
+#include "strJsonCommands.h"

 /**
 * @brief	This is the device handler for the star tracker from arcsec.
@ -38,7 +37,8 @@ class StarTrackerHandler : public DeviceHandlerBase {
   * 						to high to enable the device.
   */
  StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                     const char* jsonFileStr, StrHelper* strHelper, power::Switch_t powerSwitch);
+                     const char* jsonFileStr, StrComHandler* strHelper,
+                     power::Switch_t powerSwitch);
  virtual ~StarTrackerHandler();

  ReturnValue_t initialize() override;
@ -147,14 +147,14 @@ class StarTrackerHandler : public DeviceHandlerBase {
  static const size_t MAX_PATH_SIZE = 50;
  static const size_t MAX_FILE_NAME = 30;

-  static const uint8_t STATUS_OFFSET = 1;
-  static const uint8_t PARAMS_OFFSET = 1;
-  static const uint8_t TICKS_OFFSET = 2;
-  static const uint8_t TIME_OFFSET = 6;
-  static const uint8_t TM_DATA_FIELD_OFFSET = 14;
-  static const uint8_t PARAMETER_ID_OFFSET = 0;
-  static const uint8_t ACTION_ID_OFFSET = 0;
-  static const uint8_t ACTION_DATA_OFFSET = 2;
+  static const uint8_t STATUS_OFFSET = 2;
+  static const uint8_t PARAMS_OFFSET = 2;
+  static const uint8_t TICKS_OFFSET = 3;
+  static const uint8_t TIME_OFFSET = 7;
+  static const uint8_t PARAMETER_ID_OFFSET = 1;
+  static const uint8_t ACTION_ID_OFFSET = 1;
+  static const uint8_t ACTION_DATA_OFFSET = 3;
+
  // Ping request will reply ping with this ID (data field)
  static const uint32_t PING_ID = 0x55;
  static const uint32_t BOOT_REGION_ID = 1;
@ -182,8 +182,6 @@ class StarTrackerHandler : public DeviceHandlerBase {

  MessageQueueIF* eventQueue = nullptr;

-  ArcsecDatalinkLayer dataLinkLayer;
-
  startracker::TemperatureSet temperatureSet;
  startracker::VersionSet versionSet;
  startracker::PowerSet powerSet;
@ -208,7 +206,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
  startracker::DebugCameraSet debugCameraSet;

  // Pointer to object responsible for uploading and downloading images to/from the star tracker
-  StrHelper* strHelper = nullptr;
+  StrComHandler* strHelper = nullptr;

  uint8_t commandBuffer[startracker::MAX_FRAME_SIZE];

@ -310,10 +308,10 @@ class StarTrackerHandler : public DeviceHandlerBase {
   */
  void slipInit();

-  ReturnValue_t scanForActionReply(DeviceCommandId_t* foundId);
-  ReturnValue_t scanForSetParameterReply(DeviceCommandId_t* foundId);
-  ReturnValue_t scanForGetParameterReply(DeviceCommandId_t* foundId);
-  ReturnValue_t scanForTmReply(DeviceCommandId_t* foundId);
+  ReturnValue_t scanForActionReply(uint8_t replyId, DeviceCommandId_t* foundId);
+  ReturnValue_t scanForSetParameterReply(uint8_t replyId, DeviceCommandId_t* foundId);
+  ReturnValue_t scanForGetParameterReply(uint8_t replyId, DeviceCommandId_t* foundId);
+  ReturnValue_t scanForTmReply(uint8_t replyId, DeviceCommandId_t* foundId);

  /**
   * @brief   Fills command buffer with data to ping the star tracker
@ -435,12 +433,13 @@ class StarTrackerHandler : public DeviceHandlerBase {
  /**
   * @brief   Handles action replies with datasets.
   */
-  ReturnValue_t handleActionReplySet(LocalPoolDataSetBase& dataset, size_t size);
+  ReturnValue_t handleActionReplySet(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
+                                     size_t size);

  /**
   * @brief   Default function to handle action replies
   */
-  ReturnValue_t handleActionReply();
+  ReturnValue_t handleActionReply(const uint8_t* rawFrame);

  /**
   * @brief   Handles reply to upload centroid command
@ -450,16 +449,17 @@ class StarTrackerHandler : public DeviceHandlerBase {
  /**
   * @brief   Handles reply to checksum command
   */
-  ReturnValue_t handleChecksumReply();
+  ReturnValue_t handleChecksumReply(const uint8_t* rawFrame);

  /**
   * @brief   Handles all set parameter replies
   */
-  ReturnValue_t handleSetParamReply();
+  ReturnValue_t handleSetParamReply(const uint8_t* rawFrame);

-  ReturnValue_t handlePingReply();
+  ReturnValue_t handlePingReply(const uint8_t* rawFrame);

-  ReturnValue_t handleParamRequest(LocalPoolDataSetBase& dataset, size_t size);
+  ReturnValue_t handleParamRequest(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
+                                   size_t size);

  /**
   * @brief   Checks the loaded program by means of the version set
@ -469,7 +469,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
  /**
   * @brief   Handles the startup state machine
   */
-  void handleStartup(const uint8_t* parameterId);
+  void handleStartup(uint8_t parameterId);

  /**
   * @brief   Handles telemtry replies and fills the appropriate dataset
@ -479,7 +479,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
   *
   * @return  returnvalue::OK if successful, otherwise error return value
   */
-  ReturnValue_t handleTm(LocalPoolDataSetBase& dataset, size_t size);
+  ReturnValue_t handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset, size_t size);

  /**
   * @brief Checks if star tracker is in valid mode for executing the received command.
--- a/linux/devices/startracker/StrComHandler.cpp
+++ b/linux/devices/startracker/StrComHandler.cpp
@ -1,6 +1,9 @@
-#include "StrHelper.h"
-
+#include <fcntl.h>
 #include <fsfw/filesystem/HasFileSystemIF.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
+#include <linux/devices/startracker/StrComHandler.h>
+#include <unistd.h>

 #include <filesystem>
 #include <fstream>
@ -8,16 +11,22 @@
 #include "OBSWConfig.h"
 #include "eive/definitions.h"
 #include "fsfw/timemanager/Countdown.h"
+#include "helpers.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 #include "mission/utility/Filenaming.h"
 #include "mission/utility/ProgressPrinter.h"
 #include "mission/utility/Timestamp.h"

-StrHelper::StrHelper(object_id_t objectId) : SystemObject(objectId) {}
+using namespace returnvalue;

-StrHelper::~StrHelper() {}
+StrComHandler::StrComHandler(object_id_t objectId) : SystemObject(objectId) {
+  lock = MutexFactory::instance()->createMutex();
+  semaphore.acquire();
+}

-ReturnValue_t StrHelper::initialize() {
+StrComHandler::~StrComHandler() {}
+
+ReturnValue_t StrComHandler::initialize() {
 #ifdef XIPHOS_Q7S
  sdcMan = SdCardManager::instance();
  if (sdcMan == nullptr) {
@ -28,53 +37,63 @@ ReturnValue_t StrHelper::initialize() {
  return returnvalue::OK;
 }

-ReturnValue_t StrHelper::performOperation(uint8_t operationCode) {
+ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
  ReturnValue_t result = returnvalue::OK;
-  semaphore.acquire();
  while (true) {
-    switch (internalState) {
-      case InternalState::IDLE: {
+    lock->lockMutex();
+    state = InternalState::SLEEPING;
+    datalinkLayer.reset();
+    lock->unlockMutex();
    semaphore.acquire();
+    switch (state) {
+      case InternalState::POLL_ONE_REPLY: {
+        // Stopwatch watch;
+        replyTimeout.setTimeout(200);
+        replyResult = readOneReply(static_cast<uint32_t>(state));
+        {
+          MutexGuard mg(lock);
+          replyWasReceived = true;
+        }
        break;
      }
      case InternalState::UPLOAD_IMAGE: {
+        replyTimeout.setTimeout(200);
        result = performImageUpload();
        if (result == returnvalue::OK) {
          triggerEvent(IMAGE_UPLOAD_SUCCESSFUL);
        } else {
          triggerEvent(IMAGE_UPLOAD_FAILED);
        }
-        internalState = InternalState::IDLE;
        break;
      }
      case InternalState::DOWNLOAD_IMAGE: {
+        replyTimeout.setTimeout(200);
        result = performImageDownload();
        if (result == returnvalue::OK) {
          triggerEvent(IMAGE_DOWNLOAD_SUCCESSFUL);
        } else {
          triggerEvent(IMAGE_DOWNLOAD_FAILED);
        }
-        internalState = InternalState::IDLE;
        break;
      }
      case InternalState::FLASH_READ: {
+        replyTimeout.setTimeout(200);
        result = performFlashRead();
        if (result == returnvalue::OK) {
          triggerEvent(FLASH_READ_SUCCESSFUL);
        } else {
          triggerEvent(FLASH_READ_FAILED);
        }
-        internalState = InternalState::IDLE;
        break;
      }
      case InternalState::FIRMWARE_UPDATE: {
+        replyTimeout.setTimeout(200);
        result = performFirmwareUpdate();
        if (result == returnvalue::OK) {
          triggerEvent(FIRMWARE_UPDATE_SUCCESSFUL);
        } else {
          triggerEvent(FIRMWARE_UPDATE_FAILED);
        }
-        internalState = InternalState::IDLE;
        break;
      }
      default:
@ -84,18 +103,13 @@ ReturnValue_t StrHelper::performOperation(uint8_t operationCode) {
  }
 }

-ReturnValue_t StrHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
-  uartComIF = dynamic_cast<SerialComIF*>(communicationInterface_);
-  if (uartComIF == nullptr) {
-    sif::warning << "StrHelper::initialize: Invalid uart com if" << std::endl;
-    return returnvalue::FAILED;
+ReturnValue_t StrComHandler::startImageUpload(std::string fullname) {
+  {
+    MutexGuard mg(lock);
+    if (state != InternalState::SLEEPING) {
+      return BUSY;
+    }
  }
-  return returnvalue::OK;
-}
-
-void StrHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
-
-ReturnValue_t StrHelper::startImageUpload(std::string fullname) {
 #ifdef XIPHOS_Q7S
  ReturnValue_t result = checkPath(fullname);
  if (result != returnvalue::OK) {
@ -106,13 +120,22 @@ ReturnValue_t StrHelper::startImageUpload(std::string fullname) {
  if (not std::filesystem::exists(fullname)) {
    return FILE_NOT_EXISTS;
  }
-  internalState = InternalState::UPLOAD_IMAGE;
+  {
+    MutexGuard mg(lock);
+    state = InternalState::UPLOAD_IMAGE;
+  }
  semaphore.release();
  terminate = false;
  return returnvalue::OK;
 }

-ReturnValue_t StrHelper::startImageDownload(std::string path) {
+ReturnValue_t StrComHandler::startImageDownload(std::string path) {
+  {
+    MutexGuard mg(lock);
+    if (state != InternalState::SLEEPING) {
+      return BUSY;
+    }
+  }
 #ifdef XIPHOS_Q7S
  ReturnValue_t result = checkPath(path);
  if (result != returnvalue::OK) {
@ -123,19 +146,32 @@ ReturnValue_t StrHelper::startImageDownload(std::string path) {
    return PATH_NOT_EXISTS;
  }
  downloadImage.path = path;
-  internalState = InternalState::DOWNLOAD_IMAGE;
+  {
+    MutexGuard mg(lock);
+    state = InternalState::DOWNLOAD_IMAGE;
+  }
  terminate = false;
  semaphore.release();
  return returnvalue::OK;
 }

-void StrHelper::stopProcess() { terminate = true; }
+void StrComHandler::stopProcess() {
+  terminate = true;
+}

-void StrHelper::setDownloadImageName(std::string filename) { downloadImage.filename = filename; }
+void StrComHandler::setDownloadImageName(std::string filename) {
+  downloadImage.filename = filename;
+}

-void StrHelper::setFlashReadFilename(std::string filename) { flashRead.filename = filename; }
+void StrComHandler::setFlashReadFilename(std::string filename) { flashRead.filename = filename; }

-ReturnValue_t StrHelper::startFirmwareUpdate(std::string fullname) {
+ReturnValue_t StrComHandler::startFirmwareUpdate(std::string fullname) {
+  {
+    MutexGuard mg(lock);
+    if (state != InternalState::SLEEPING) {
+      return BUSY;
+    }
+  }
 #ifdef XIPHOS_Q7S
  ReturnValue_t result = checkPath(fullname);
  if (result != returnvalue::OK) {
@ -148,13 +184,23 @@ ReturnValue_t StrHelper::startFirmwareUpdate(std::string fullname) {
  }
  flashWrite.firstRegion = static_cast<uint8_t>(startracker::FirmwareRegions::FIRST);
  flashWrite.lastRegion = static_cast<uint8_t>(startracker::FirmwareRegions::LAST);
-  internalState = InternalState::FIRMWARE_UPDATE;
+  {
+    MutexGuard mg(lock);
+    state = InternalState::FIRMWARE_UPDATE;
+  }
  semaphore.release();
  terminate = false;
  return returnvalue::OK;
 }

-ReturnValue_t StrHelper::startFlashRead(std::string path, uint8_t startRegion, uint32_t length) {
+ReturnValue_t StrComHandler::startFlashRead(std::string path, uint8_t startRegion,
+                                            uint32_t length) {
+  {
+    MutexGuard mg(lock);
+    if (state != InternalState::SLEEPING) {
+      return BUSY;
+    }
+  }
 #ifdef XIPHOS_Q7S
  ReturnValue_t result = checkPath(path);
  if (result != returnvalue::OK) {
@ -167,17 +213,20 @@ ReturnValue_t StrHelper::startFlashRead(std::string path, uint8_t startRegion, u
  }
  flashRead.startRegion = startRegion;
  flashRead.size = length;
-  internalState = InternalState::FLASH_READ;
+  {
+    MutexGuard mg(lock);
+    state = InternalState::FLASH_READ;
+  }
  semaphore.release();
  terminate = false;
  return returnvalue::OK;
 }

-void StrHelper::disableTimestamping() { timestamping = false; }
+void StrComHandler::disableTimestamping() { timestamping = false; }

-void StrHelper::enableTimestamping() { timestamping = true; }
+void StrComHandler::enableTimestamping() { timestamping = true; }

-ReturnValue_t StrHelper::performImageDownload() {
+ReturnValue_t StrComHandler::performImageDownload() {
 #ifdef XIPHOS_Q7S
  if (not sdcMan->getActiveSdCard()) {
    return HasFileSystemIF::FILESYSTEM_INACTIVE;
@ -190,6 +239,7 @@ ReturnValue_t StrHelper::performImageDownload() {
  struct DownloadActionRequest downloadReq;
  uint32_t size = 0;
  uint32_t retries = 0;
+  size_t replySize = 0;
  std::string image = Filenaming::generateAbsoluteFilename(downloadImage.path,
                                                           downloadImage.filename, timestamping);
  std::ofstream file(image, std::ios_base::out);
@ -202,21 +252,21 @@ ReturnValue_t StrHelper::performImageDownload() {
      file.close();
      return returnvalue::OK;
    }
-    arc_pack_download_action_req(&downloadReq, commandBuffer, &size);
+    arc_pack_download_action_req(&downloadReq, cmdBuf.data(), &size);
    result = sendAndRead(size, downloadReq.position);
    if (result != returnvalue::OK) {
      if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
-        uartComIF->flushUartRxBuffer(comCookie);
+        serial::flushRxBuf(serialPort);
        retries++;
        continue;
      }
      file.close();
      return result;
    }
-    result = checkActionReply();
+    result = checkActionReply(replySize);
    if (result != returnvalue::OK) {
      if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
-        uartComIF->flushUartRxBuffer(comCookie);
+        serial::flushRxBuf(serialPort);
        retries++;
        continue;
      }
@ -226,15 +276,14 @@ ReturnValue_t StrHelper::performImageDownload() {
    result = checkReplyPosition(downloadReq.position);
    if (result != returnvalue::OK) {
      if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
-        uartComIF->flushUartRxBuffer(comCookie);
+        serial::flushRxBuf(serialPort);
        retries++;
        continue;
      }
      file.close();
      return result;
    }
-    file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + IMAGE_DATA_OFFSET),
-               CHUNK_SIZE);
+    file.write(reinterpret_cast<const char*>(replyPtr + IMAGE_DATA_OFFSET), CHUNK_SIZE);
 #if OBSW_DEBUG_STARTRACKER == 1
    progressPrinter.print(downloadReq.position);
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */
@ -245,7 +294,7 @@ ReturnValue_t StrHelper::performImageDownload() {
  return returnvalue::OK;
 }

-ReturnValue_t StrHelper::performImageUpload() {
+ReturnValue_t StrComHandler::performImageUpload() {
  ReturnValue_t result = returnvalue::OK;
  uint32_t size = 0;
  uint32_t imageSize = 0;
@ -258,8 +307,7 @@ ReturnValue_t StrHelper::performImageUpload() {
 #endif
  std::memset(&uploadReq.data, 0, sizeof(uploadReq.data));
  if (not std::filesystem::exists(uploadImage.uploadFile)) {
-    triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
-    internalState = InternalState::IDLE;
+    triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(state));
    return returnvalue::FAILED;
  }
  std::ifstream file(uploadImage.uploadFile, std::ifstream::binary);
@ -276,26 +324,29 @@ ReturnValue_t StrHelper::performImageUpload() {
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */
  while ((uploadReq.position + 1) * SIZE_IMAGE_PART < imageSize) {
    if (terminate) {
-      file.close();
      return returnvalue::OK;
    }
    file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
    file.read(reinterpret_cast<char*>(uploadReq.data), SIZE_IMAGE_PART);
-    arc_pack_upload_action_req(&uploadReq, commandBuffer, &size);
+    arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size);
    result = sendAndRead(size, uploadReq.position);
    if (result != returnvalue::OK) {
-      file.close();
      return returnvalue::FAILED;
    }
-    result = checkActionReply();
+    result = checkActionReply(replyLen);
    if (result != returnvalue::OK) {
-      file.close();
      return result;
    }
 #if OBSW_DEBUG_STARTRACKER == 1
    progressPrinter.print((uploadReq.position + 1) * SIZE_IMAGE_PART);
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */
    uploadReq.position++;
+
+    // This does a bit of delaying roughly every second
+    if (uploadReq.position % 50 == 0) {
+      // Some grace time for other tasks
+      TaskFactory::delayTask(2);
+    }
  }
  std::memset(uploadReq.data, 0, sizeof(uploadReq.data));
  uint32_t remainder = imageSize - uploadReq.position * SIZE_IMAGE_PART;
@ -303,12 +354,12 @@ ReturnValue_t StrHelper::performImageUpload() {
  file.read(reinterpret_cast<char*>(uploadReq.data), remainder);
  file.close();
  uploadReq.position++;
-  arc_pack_upload_action_req(&uploadReq, commandBuffer, &size);
+  arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size);
  result = sendAndRead(size, uploadReq.position);
  if (result != returnvalue::OK) {
    return returnvalue::FAILED;
  }
-  result = checkActionReply();
+  result = checkActionReply(replyLen);
  if (result != returnvalue::OK) {
    return result;
  }
@ -318,7 +369,7 @@ ReturnValue_t StrHelper::performImageUpload() {
  return returnvalue::OK;
 }

-ReturnValue_t StrHelper::performFirmwareUpdate() {
+ReturnValue_t StrComHandler::performFirmwareUpdate() {
  using namespace startracker;
  ReturnValue_t result = returnvalue::OK;
  result = unlockAndEraseRegions(static_cast<uint32_t>(startracker::FirmwareRegions::FIRST),
@ -330,7 +381,7 @@ ReturnValue_t StrHelper::performFirmwareUpdate() {
  return result;
 }

-ReturnValue_t StrHelper::performFlashWrite() {
+ReturnValue_t StrComHandler::performFlashWrite() {
 #ifdef XIPHOS_Q7S
  if (not sdcMan->getActiveSdCard()) {
    return HasFileSystemIF::FILESYSTEM_INACTIVE;
@ -340,13 +391,16 @@ ReturnValue_t StrHelper::performFlashWrite() {
  uint32_t size = 0;
  uint32_t bytesWritten = 0;
  uint32_t fileSize = 0;
+
  struct WriteActionRequest req;
  if (not std::filesystem::exists(flashWrite.fullname)) {
-    triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
-    internalState = InternalState::IDLE;
+    triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(state));
    return returnvalue::FAILED;
  }
  std::ifstream file(flashWrite.fullname, std::ifstream::binary);
+  if (file.bad()) {
+    return returnvalue::FAILED;
+  }
  file.seekg(0, file.end);
  fileSize = file.tellg();
  if (fileSize > FLASH_REGION_SIZE * (flashWrite.lastRegion - flashWrite.firstRegion)) {
@ -362,7 +416,6 @@ ReturnValue_t StrHelper::performFlashWrite() {
  req.length = CHUNK_SIZE;
  for (uint32_t idx = 0; idx < fileChunks; idx++) {
    if (terminate) {
-      file.close();
      return returnvalue::OK;
    }
    file.seekg(idx * CHUNK_SIZE, file.beg);
@ -372,21 +425,23 @@ ReturnValue_t StrHelper::performFlashWrite() {
      bytesWritten = 0;
    }
    req.address = bytesWritten;
-    arc_pack_write_action_req(&req, commandBuffer, &size);
+    arc_pack_write_action_req(&req, cmdBuf.data(), &size);
    result = sendAndRead(size, req.address);
    if (result != returnvalue::OK) {
-      file.close();
      return result;
    }
-    result = checkActionReply();
+    result = checkActionReply(replyLen);
    if (result != returnvalue::OK) {
-      file.close();
      return result;
    }
    bytesWritten += CHUNK_SIZE;
 #if OBSW_DEBUG_STARTRACKER == 1
    progressPrinter.print(idx * CHUNK_SIZE);
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */
+    if (idx % 50 == 0) {
+      // Some grace time for other tasks
+      TaskFactory::delayTask(2);
+    }
  }
  uint32_t remainingBytes = fileSize - fileChunks * CHUNK_SIZE;
  file.seekg((fileChunks - 1) * CHUNK_SIZE, file.beg);
@ -399,12 +454,12 @@ ReturnValue_t StrHelper::performFlashWrite() {
  req.address = bytesWritten;
  req.length = remainingBytes;
  bytesWritten += remainingBytes;
-  arc_pack_write_action_req(&req, commandBuffer, &size);
+  arc_pack_write_action_req(&req, cmdBuf.data(), &size);
  result = sendAndRead(size, req.address);
  if (result != returnvalue::OK) {
    return result;
  }
-  result = checkActionReply();
+  result = checkActionReply(replyLen);
  if (result != returnvalue::OK) {
    return result;
  }
@ -414,7 +469,7 @@ ReturnValue_t StrHelper::performFlashWrite() {
  return returnvalue::OK;
 }

-ReturnValue_t StrHelper::performFlashRead() {
+ReturnValue_t StrComHandler::performFlashRead() {
 #ifdef XIPHOS_Q7S
  if (not sdcMan->getActiveSdCard()) {
    return HasFileSystemIF::FILESYSTEM_INACTIVE;
@ -446,29 +501,28 @@ ReturnValue_t StrHelper::performFlashRead() {
    } else {
      req.length = CHUNK_SIZE;
    }
-    arc_pack_read_action_req(&req, commandBuffer, &size);
+    arc_pack_read_action_req(&req, cmdBuf.data(), &size);
    result = sendAndRead(size, req.address);
    if (result != returnvalue::OK) {
      if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
-        uartComIF->flushUartRxBuffer(comCookie);
+        serial::flushRxBuf(serialPort);
        retries++;
        continue;
      }
      file.close();
      return result;
    }
-    result = checkActionReply();
+    result = checkActionReply(replyLen);
    if (result != returnvalue::OK) {
      if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
-        uartComIF->flushUartRxBuffer(comCookie);
+        serial::flushRxBuf(serialPort);
        retries++;
        continue;
      }
      file.close();
      return result;
    }
-    file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + FLASH_READ_DATA_OFFSET),
-               req.length);
+    file.write(reinterpret_cast<const char*>(replyPtr + FLASH_READ_DATA_OFFSET), req.length);
    bytesRead += req.length;
    req.address += req.length;
    if (req.address >= FLASH_REGION_SIZE) {
@ -484,70 +538,29 @@ ReturnValue_t StrHelper::performFlashRead() {
  return returnvalue::OK;
 }

-ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter, uint32_t delayMs) {
+ReturnValue_t StrComHandler::sendAndRead(size_t size, uint32_t failParameter) {
  ReturnValue_t result = returnvalue::OK;
-  ReturnValue_t decResult = returnvalue::OK;
-  size_t receivedDataLen = 0;
-  uint8_t* receivedData = nullptr;
-  size_t bytesLeft = 0;
-  uint32_t missedReplies = 0;
-  datalinkLayer.encodeFrame(commandBuffer, size);
-  result = uartComIF->sendMessage(comCookie, datalinkLayer.getEncodedFrame(),
-                                  datalinkLayer.getEncodedLength());
-  if (result != returnvalue::OK) {
+
+  const uint8_t* sendData;
+  size_t txFrameLen = 0;
+  datalinkLayer.encodeFrame(cmdBuf.data(), size, &sendData, txFrameLen);
+  int writeResult = write(serialPort, sendData, txFrameLen);
+  if (writeResult < 0) {
    sif::warning << "StrHelper::sendAndRead: Failed to send packet" << std::endl;
-    triggerEvent(STR_HELPER_SENDING_PACKET_FAILED, result, parameter);
+    triggerEvent(STR_HELPER_SENDING_PACKET_FAILED, result, failParameter);
    return returnvalue::FAILED;
  }
-  decResult = ArcsecDatalinkLayer::DEC_IN_PROGRESS;
-  while (decResult == ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
-    Countdown delay(delayMs);
-    delay.resetTimer();
-    while (delay.isBusy()) {
-    }
-    result = uartComIF->requestReceiveMessage(comCookie, startracker::MAX_FRAME_SIZE * 2 + 2);
-    if (result != returnvalue::OK) {
-      sif::warning << "StrHelper::sendAndRead: Failed to request reply" << std::endl;
-      triggerEvent(STR_HELPER_REQUESTING_MSG_FAILED, result, parameter);
-      return returnvalue::FAILED;
-    }
-    result = uartComIF->readReceivedMessage(comCookie, &receivedData, &receivedDataLen);
-    if (result != returnvalue::OK) {
-      sif::warning << "StrHelper::sendAndRead: Failed to read received message" << std::endl;
-      triggerEvent(STR_HELPER_READING_REPLY_FAILED, result, parameter);
-      return returnvalue::FAILED;
-    }
-    if (receivedDataLen == 0 && missedReplies < MAX_POLLS) {
-      missedReplies++;
-      continue;
-    } else if ((receivedDataLen == 0) && (missedReplies >= MAX_POLLS)) {
-      triggerEvent(STR_HELPER_NO_REPLY, parameter);
-      return returnvalue::FAILED;
-    } else {
-      missedReplies = 0;
-    }
-    decResult = datalinkLayer.decodeFrame(receivedData, receivedDataLen, &bytesLeft);
-    if (bytesLeft != 0) {
-      // This should never happen
-      sif::warning << "StrHelper::sendAndRead: Bytes left after decoding" << std::endl;
-      triggerEvent(STR_HELPER_COM_ERROR, result, parameter);
-      return returnvalue::FAILED;
-    }
-  }
-  if (decResult != returnvalue::OK) {
-    triggerEvent(STR_HELPER_DEC_ERROR, decResult, parameter);
-    return returnvalue::FAILED;
-  }
-  return returnvalue::OK;
+
+  return readOneReply(failParameter);
 }

-ReturnValue_t StrHelper::checkActionReply() {
-  uint8_t type = datalinkLayer.getReplyFrameType();
+ReturnValue_t StrComHandler::checkActionReply(size_t replySize) {
+  uint8_t type = str::getReplyFrameType(replyPtr);
  if (type != TMTC_ACTIONREPLY) {
    sif::warning << "StrHelper::checkActionReply: Received reply with invalid type ID" << std::endl;
    return INVALID_TYPE_ID;
  }
-  uint8_t status = datalinkLayer.getStatusField();
+  uint8_t status = str::getStatusField(replyPtr);
  if (status != ArcsecDatalinkLayer::STATUS_OK) {
    sif::warning << "StrHelper::checkActionReply: Status failure: "
                 << static_cast<unsigned int>(status) << std::endl;
@ -556,9 +569,9 @@ ReturnValue_t StrHelper::checkActionReply() {
  return returnvalue::OK;
 }

-ReturnValue_t StrHelper::checkReplyPosition(uint32_t expectedPosition) {
+ReturnValue_t StrComHandler::checkReplyPosition(uint32_t expectedPosition) {
  uint32_t receivedPosition = 0;
-  std::memcpy(&receivedPosition, datalinkLayer.getReply() + POS_OFFSET, sizeof(receivedPosition));
+  std::memcpy(&receivedPosition, replyPtr + POS_OFFSET, sizeof(receivedPosition));
  if (receivedPosition != expectedPosition) {
    triggerEvent(POSITION_MISMATCH, receivedPosition);
    return returnvalue::FAILED;
@ -567,7 +580,7 @@ ReturnValue_t StrHelper::checkReplyPosition(uint32_t expectedPosition) {
 }

 #ifdef XIPHOS_Q7S
-ReturnValue_t StrHelper::checkPath(std::string name) {
+ReturnValue_t StrComHandler::checkPath(std::string name) {
  if (name.substr(0, sizeof(config::SD_0_MOUNT_POINT)) == std::string(config::SD_0_MOUNT_POINT)) {
    if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
      sif::warning << "StrHelper::checkPath: SD card 0 not mounted" << std::endl;
@ -584,7 +597,113 @@ ReturnValue_t StrHelper::checkPath(std::string name) {
 }
 #endif

-ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) {
+ReturnValue_t StrComHandler::initializeInterface(CookieIF* cookie) {
+  if (cookie == nullptr) {
+    return returnvalue::FAILED;
+  }
+  SerialCookie* serCookie = dynamic_cast<SerialCookie*>(cookie);
+  if (serCookie == nullptr) {
+    return DeviceCommunicationIF::INVALID_COOKIE_TYPE;
+  }
+  // comCookie = serCookie;
+  std::string devname = serCookie->getDeviceFile();
+  /* Get file descriptor */
+  serialPort = open(devname.c_str(), O_RDWR);
+  if (serialPort < 0) {
+    sif::warning << "StrComHandler: open call failed with error [" << errno << ", "
+                 << strerror(errno) << std::endl;
+    return returnvalue::FAILED;
+  }
+  // Setting up UART parameters
+  tty.c_cflag &= ~PARENB;  // Clear parity bit
+  serial::setStopbits(tty, serCookie->getStopBits());
+  serial::setBitsPerWord(tty, BitsPerWord::BITS_8);
+  tty.c_cflag &= ~CRTSCTS;  // Disable RTS/CTS hardware flow control
+  serial::enableRead(tty);
+  serial::ignoreCtrlLines(tty);
+
+  // Use non-canonical mode and clear echo flag
+  tty.c_lflag &= ~(ICANON | ECHO);
+
+  // Non-blocking mode, use polling
+  tty.c_cc[VTIME] = 0;
+  tty.c_cc[VMIN] = 0;
+
+  serial::setBaudrate(tty, serCookie->getBaudrate());
+  if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
+    sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error ["
+                 << errno << ", " << strerror(errno) << std::endl;
+  }
+  // Flush received and unread data
+  tcflush(serialPort, TCIOFLUSH);
+  return returnvalue::OK;
+}
+
+ReturnValue_t StrComHandler::sendMessage(CookieIF* cookie, const uint8_t* sendData,
+                                         size_t sendLen) {
+  {
+    MutexGuard mg(lock);
+    if (state != InternalState::SLEEPING) {
+      return BUSY;
+    }
+  }
+  serial::flushRxBuf(serialPort);
+
+  const uint8_t* txFrame;
+  size_t frameLen;
+  datalinkLayer.encodeFrame(sendData, sendLen, &txFrame, frameLen);
+  size_t bytesWritten = write(serialPort, txFrame, frameLen);
+  if (bytesWritten != frameLen) {
+    sif::warning << "ScexUartReader::sendMessage: Sending ping command to solar experiment failed"
+                 << std::endl;
+    return returnvalue::FAILED;
+  }
+  // Hacky, but the alternatives look bleak. The raw data contains the information we need
+  // and there are not too many special cases.
+  if (sendData[0] == TMTC_ACTIONREQ) {
+    // 1 is a firmware boot request and 7 is a reboot request. For both, no reply is expected.
+    if (sendData[1] == 7 or sendData[1] == 1) {
+      return returnvalue::OK;
+    }
+  }
+  {
+    MutexGuard mg(lock);
+    state = InternalState::POLL_ONE_REPLY;
+  }
+  // Unlock task to perform reply reading.
+  semaphore.release();
+  return returnvalue::OK;
+}
+
+ReturnValue_t StrComHandler::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
+
+ReturnValue_t StrComHandler::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
+  // Consider it a configuration error if the task is not done with a command -> reply cycle
+  // in time.
+  bool replyWasReceived = false;
+  {
+    MutexGuard mg(lock);
+    if (state != InternalState::SLEEPING) {
+      return BUSY;
+    }
+    replyWasReceived = this->replyWasReceived;
+  }
+  if (not replyWasReceived) {
+    *size = 0;
+    return returnvalue::OK;
+  }
+  if (replyResult == returnvalue::OK) {
+    *buffer = const_cast<uint8_t*>(replyPtr);
+    *size = replyLen;
+  }
+  return replyResult;
+}
+
+ReturnValue_t StrComHandler::unlockAndEraseRegions(uint32_t from, uint32_t to) {
  ReturnValue_t result = returnvalue::OK;
 #if OBSW_DEBUG_STARTRACKER == 1
  ProgressPrinter progressPrinter("Unlock and erase", to - from);
@ -595,17 +714,20 @@ ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) {
  for (uint32_t idx = from; idx <= to; idx++) {
    unlockReq.region = idx;
    unlockReq.code = startracker::region_secrets::secret[idx];
-    arc_pack_unlock_action_req(&unlockReq, commandBuffer, &size);
-    sendAndRead(size, unlockReq.region);
-    result = checkActionReply();
+    arc_pack_unlock_action_req(&unlockReq, cmdBuf.data(), &size);
+    result = sendAndRead(size, unlockReq.region);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = checkActionReply(replyLen);
    if (result != returnvalue::OK) {
      sif::warning << "StrHelper::unlockAndEraseRegions: Failed to unlock region with id "
                   << static_cast<unsigned int>(unlockReq.region) << std::endl;
      return result;
    }
    eraseReq.region = idx;
-    arc_pack_erase_action_req(&eraseReq, commandBuffer, &size);
-    result = sendAndRead(size, eraseReq.region, FLASH_ERASE_DELAY);
+    arc_pack_erase_action_req(&eraseReq, cmdBuf.data(), &size);
+    result = sendAndRead(size, eraseReq.region);
    if (result != returnvalue::OK) {
      sif::warning << "StrHelper::unlockAndEraseRegions: Failed to erase region with id "
                   << static_cast<unsigned int>(eraseReq.region) << std::endl;
@ -617,3 +739,48 @@ ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) {
  }
  return result;
 }
+
+ReturnValue_t StrComHandler::handleSerialReception() {
+  ssize_t bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
+                           static_cast<unsigned int>(recBuf.size()));
+  if (bytesRead == 0) {
+    return NO_SERIAL_DATA_READ;
+  } else if (bytesRead < 0) {
+    sif::warning << "PlocSupvHelper::performOperation: read call failed with error [" << errno
+                 << ", " << strerror(errno) << "]" << std::endl;
+    return FAILED;
+  } else if (bytesRead >= static_cast<int>(recBuf.size())) {
+    sif::error << "PlocSupvHelper::performOperation: Receive buffer too small for " << bytesRead
+               << " bytes" << std::endl;
+    return FAILED;
+  } else if (bytesRead > 0) {
+    // sif::info << "Received " << bytesRead << " bytes from the STR" << std::endl;
+    // arrayprinter::print(recBuf.data(), bytesRead);
+    datalinkLayer.feedData(recBuf.data(), bytesRead);
+  }
+  return OK;
+}
+
+ReturnValue_t StrComHandler::readOneReply(uint32_t failParameter) {
+  ReturnValue_t result;
+  uint32_t nextDelayMs = 1;
+  replyTimeout.resetTimer();
+  while (true) {
+    handleSerialReception();
+    result = datalinkLayer.checkRingBufForFrame(&replyPtr, replyLen);
+    if (result == returnvalue::OK) {
+      return returnvalue::OK;
+    } else if (result != ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
+      triggerEvent(STR_HELPER_DEC_ERROR, result, failParameter);
+      return DECODING_ERROR;
+    }
+    if (replyTimeout.hasTimedOut()) {
+      triggerEvent(STR_COM_REPLY_TIMEOUT, failParameter, replyTimeout.getTimeoutMs());
+      return RECEPTION_TIMEOUT;
+    }
+    TaskFactory::delayTask(nextDelayMs);
+    if (nextDelayMs < 32) {
+      nextDelayMs *= 2;
+    }
+  }
+}
--- a/linux/devices/startracker/StrComHandler.h
+++ b/linux/devices/startracker/StrComHandler.h
@ -10,6 +10,8 @@
 #include "bsp_q7s/fs/SdCardManager.h"
 #endif

+#include "arcsec/client/generated/actionreq.h"
+#include "arcsec/common/generated/tmtcstructs.h"
 #include "fsfw/devicehandlers/CookieIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/osal/linux/BinarySemaphore.h"
@ -17,18 +19,37 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw_hal/linux/serial/SerialComIF.h"

-extern "C" {
-#include "thirdparty/arcsec_star_tracker/client/generated/actionreq.h"
-#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
-}
-
 /**
 * @brief   Helper class for the star tracker handler to accelerate large data transfers.
 *
 * @author  J. Meier
 */
-class StrHelper : public SystemObject, public ExecutableObjectIF {
+class StrComHandler : public SystemObject, public DeviceCommunicationIF, public ExecutableObjectIF {
 public:
+  static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
+
+  static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0);
+  //! [EXPORT] : [COMMENT] SD card specified in path string not mounted
+  static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(1);
+  //! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
+  static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(2);
+  //! [EXPORT] : [COMMENT] Specified path does not exist
+  static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(3);
+  //! [EXPORT] : [COMMENT] Failed to create download image or read flash file
+  static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(4);
+  //! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region
+  static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(5);
+  //! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address
+  static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(6);
+  //! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length
+  static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(7);
+  //! [EXPORT] : [COMMENT] Status field in reply signals error
+  static const ReturnValue_t STATUS_ERROR = MAKE_RETURN_CODE(8);
+  //! [EXPORT] : [COMMENT] Reply has invalid type ID (should be of action reply type)
+  static const ReturnValue_t INVALID_TYPE_ID = MAKE_RETURN_CODE(9);
+  static const ReturnValue_t RECEPTION_TIMEOUT = MAKE_RETURN_CODE(10);
+  static const ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(11);
+
  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HELPER;

  //! [EXPORT] : [COMMENT] Image upload failed
@ -57,39 +78,36 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {
  //! P1: Return code of failed communication interface read call
  //! P1: Upload/download position for which the read call failed
  static const Event STR_HELPER_COM_ERROR = MAKE_EVENT(10, severity::LOW);
-  //! [EXPORT] : [COMMENT] Star tracker did not send replies (maybe device is powered off)
-  //! P1: Position of upload or download packet for which no reply was sent
-  static const Event STR_HELPER_NO_REPLY = MAKE_EVENT(11, severity::LOW);
+  //! [EXPORT] : [COMMENT] Star tracker did not send a valid reply for a certain timeout.
+  //! P1: Position of upload or download packet for which the packet wa sent. P2: Timeout
+  static const Event STR_COM_REPLY_TIMEOUT = MAKE_EVENT(11, severity::LOW);
  //! [EXPORT] : [COMMENT] Error during decoding of received reply occurred
-  // P1: Return value of decoding function
-  // P2: Position of upload/download packet, or address of flash write/read request
-  static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(12, severity::LOW);
+  //! P1: Return value of decoding function
+  //! P2: Position of upload/download packet, or address of flash write/read request
+  static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(13, severity::LOW);
  //! [EXPORT] : [COMMENT] Position mismatch
  //! P1: The expected position and thus the position for which the image upload/download failed
-  static const Event POSITION_MISMATCH = MAKE_EVENT(13, severity::LOW);
+  static const Event POSITION_MISMATCH = MAKE_EVENT(14, severity::LOW);
  //! [EXPORT] : [COMMENT] Specified file does not exist
  //! P1: Internal state of str helper
-  static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(14, severity::LOW);
+  static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(15, severity::LOW);
  //! [EXPORT] : [COMMENT] Sending packet to star tracker failed
  //! P1: Return code of communication interface sendMessage function
  //! P2: Position of upload/download packet, or address of flash write/read request for which
  //! sending failed
-  static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(15, severity::LOW);
+  static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(16, severity::LOW);
  //! [EXPORT] : [COMMENT] Communication interface requesting reply failed
  //! P1: Return code of failed request
  //! P1: Upload/download position, or address of flash write/read request for which transmission
  //! failed
-  static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(16, severity::LOW);
+  static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(17, severity::LOW);

-  StrHelper(object_id_t objectId);
-  virtual ~StrHelper();
+  StrComHandler(object_id_t objectId);
+  virtual ~StrComHandler();

  ReturnValue_t initialize() override;
  ReturnValue_t performOperation(uint8_t operationCode = 0) override;

-  ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
-  void setComCookie(CookieIF* comCookie_);
-
  /**
   * @brief   Starts sequence to upload image to star tracker
   *
@ -148,26 +166,8 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {
  void enableTimestamping();

 private:
-  static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
-
-  //! [EXPORT] : [COMMENT] SD card specified in path string not mounted
-  static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA0);
-  //! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
-  static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA1);
-  //! [EXPORT] : [COMMENT] Specified path does not exist
-  static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(0xA2);
-  //! [EXPORT] : [COMMENT] Failed to create download image or read flash file
-  static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(0xA3);
-  //! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region
-  static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xA4);
-  //! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address
-  static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xA5);
-  //! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length
-  static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(0xA6);
-  //! [EXPORT] : [COMMENT] Status field in reply signals error
-  static const ReturnValue_t STATUS_ERROR = MAKE_RETURN_CODE(0xA7);
-  //! [EXPORT] : [COMMENT] Reply has invalid type ID (should be of action reply type)
-  static const ReturnValue_t INVALID_TYPE_ID = MAKE_RETURN_CODE(0xA8);
+  //! [EXPORT] : [SKIP]
+  static constexpr ReturnValue_t NO_SERIAL_DATA_READ = MAKE_RETURN_CODE(128);

  // Size of one image part which can be sent per action request
  static const size_t SIZE_IMAGE_PART = 1024;
@ -179,25 +179,34 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {

  static const uint32_t MAX_POLLS = 10000;

-  static const uint8_t ACTION_DATA_OFFSET = 2;
-  static const uint8_t POS_OFFSET = 2;
-  static const uint8_t IMAGE_DATA_OFFSET = 5;
-  static const uint8_t FLASH_READ_DATA_OFFSET = 8;
-  static const uint8_t REGION_OFFSET = 2;
-  static const uint8_t ADDRESS_OFFSET = 3;
-  static const uint8_t LENGTH_OFFSET = 7;
+  static const uint8_t ACTION_DATA_OFFSET = 3;
+  static const uint8_t POS_OFFSET = 3;
+  static const uint8_t IMAGE_DATA_OFFSET = 6;
+  static const uint8_t FLASH_READ_DATA_OFFSET = 9;
+  static const uint8_t REGION_OFFSET = 3;
+  static const uint8_t ADDRESS_OFFSET = 4;
  static const size_t CHUNK_SIZE = 1024;
  static const size_t CONFIG_MAX_DOWNLOAD_RETRIES = 3;
  static const uint32_t FLASH_ERASE_DELAY = 500;

-  enum class InternalState { IDLE, UPLOAD_IMAGE, DOWNLOAD_IMAGE, FLASH_READ, FIRMWARE_UPDATE };
+  enum class InternalState {
+    SLEEPING,
+    POLL_ONE_REPLY,
+    UPLOAD_IMAGE,
+    DOWNLOAD_IMAGE,
+    FLASH_READ,
+    FIRMWARE_UPDATE
+  };

-  InternalState internalState = InternalState::IDLE;
+  InternalState state = InternalState::SLEEPING;

  ArcsecDatalinkLayer datalinkLayer;

+  MutexIF *lock;
  BinarySemaphore semaphore;

+  Countdown replyTimeout = Countdown(20);
+
  struct UploadImage {
    // Name including absolute path of image to upload
    std::string uploadFile;
@ -238,10 +247,16 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {
  FlashRead flashRead;

 #ifdef XIPHOS_Q7S
-  SdCardManager* sdcMan = nullptr;
+  SdCardManager *sdcMan = nullptr;
 #endif

-  uint8_t commandBuffer[startracker::MAX_FRAME_SIZE];
+  std::array<uint8_t, startracker::MAX_FRAME_SIZE> cmdBuf{};
+  std::array<uint8_t, 4096> recBuf{};
+
+  bool replyWasReceived = false;
+  const uint8_t *replyPtr = nullptr;
+  size_t replyLen = 0;
+  ReturnValue_t replyResult = returnvalue::OK;

  bool terminate = false;

@ -251,17 +266,20 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {
  bool timestamping = true;
 #endif

-  /**
-   * UART communication object responsible for low level access of star tracker
-   * Must be set by star tracker handler
-   */
-  SerialComIF* uartComIF = nullptr;
-  // Communication cookie. Must be set by the star tracker handler
-  CookieIF* comCookie = nullptr;
+  int serialPort = 0;
+  struct termios tty = {};

  // Queue id of raw data receiver
  MessageQueueId_t rawDataReceiver = MessageQueueIF::NO_QUEUE;

+  ReturnValue_t initializeInterface(CookieIF *cookie) override;
+  ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
+
+  ReturnValue_t handleSerialReception();
+
  /**
   * @brief   Performs image uploading
   */
@ -302,21 +320,23 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {
  /**
   * @brief   Sends packet to the star tracker and reads reply by using the communication
   *          interface
-   *
+   * @details
+   * The reply frame is stored in the data link layer helper. A pointer to the start of the frame
+   * is assigned to the @replyPtr member of this class. The frame length will be assigned to
+   * the @replyLen member.
   * @param size        Size of data beforehand written to the commandBuffer
   * @param parameter   Parameter 2 of trigger event function
-   * @param delayMs     Delay in milliseconds between send and receive call
   *
   * @return  returnvalue::OK if successful, otherwise returnvalue::FAILED
   */
-  ReturnValue_t sendAndRead(size_t size, uint32_t parameter, uint32_t delayMs = 0);
+  ReturnValue_t sendAndRead(size_t size, uint32_t parameter);

  /**
   * @brief   Checks the header (type id and status fields) of the action reply
   *
   * @return  returnvalue::OK if reply confirms success of packet transfer, otherwise REUTRN_FAILED
   */
-  ReturnValue_t checkActionReply();
+  ReturnValue_t checkActionReply(size_t replySize);

  /**
   * @brief   Checks the position field in a star tracker upload/download reply.
@ -345,6 +365,15 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {
   *
   */
  ReturnValue_t unlockAndEraseRegions(uint32_t from, uint32_t to);
+
+  /**
+   * The reply frame is stored in the data link layer helper. A pointer to the start of the frame
+   * is assigned to the @replyPtr member of this class. The frame length will be assigned to
+   * the @replyLen member.
+   * @param failParameter
+   * @return
+   */
+  ReturnValue_t readOneReply(uint32_t failParameter);
 };

 #endif /* BSP_Q7S_DEVICES_STRHELPER_H_ */
--- a/linux/devices/startracker/arcsecJsonKeys.h
+++ b/linux/devices/startracker/arcsecJsonKeys.h
--- a/linux/devices/startracker/helpers.cpp
+++ b/linux/devices/startracker/helpers.cpp
@ -0,0 +1,7 @@
+#include "helpers.h"
+
+uint8_t str::getReplyFrameType(const uint8_t* rawFrame) { return rawFrame[0]; }
+
+uint8_t str::getId(const uint8_t* rawFrame) { return rawFrame[1]; }
+
+uint8_t str::getStatusField(const uint8_t* rawFrame) { return rawFrame[2]; }
--- a/linux/devices/startracker/helpers.h
+++ b/linux/devices/startracker/helpers.h
@ -0,0 +1,17 @@
+#ifndef LINUX_DEVICES_STARTRACKER_HELPERS_H_
+#define LINUX_DEVICES_STARTRACKER_HELPERS_H_
+
+#include "arcsec/common/genericstructs.h"
+
+namespace str {
+
+/**
+ * @brief    Returns the frame type field of a decoded frame.
+ */
+uint8_t getReplyFrameType(const uint8_t* rawFrame);
+uint8_t getId(const uint8_t* rawFrame);
+uint8_t getStatusField(const uint8_t* rawFrame);
+
+}  // namespace str
+
+#endif /* LINUX_DEVICES_STARTRACKER_HELPERS_H_ */
--- a/linux/devices/startracker/StarTrackerJsonCommands.cpp
+++ b/linux/devices/startracker/StarTrackerJsonCommands.cpp
@ -1,6 +1,6 @@
-#include "StarTrackerJsonCommands.h"
+#include "strJsonCommands.h"

-#include "ArcsecJsonKeys.h"
+#include "arcsecJsonKeys.h"

 Limits::Limits() : ArcsecJsonParamBase(arcseckeys::LIMITS) {}

--- a/linux/devices/startracker/StarTrackerJsonCommands.h
+++ b/linux/devices/startracker/StarTrackerJsonCommands.h
--- a/linux/fsfwconfig/events/translateEvents.cpp
+++ b/linux/fsfwconfig/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
 * @brief    Auto-generated event translation file. Contains 279 translations.
 * @details
- * Generated on: 2023-03-21 23:59:36
+ * Generated on: 2023-03-22 01:14:08
 */
 #include "translateEvents.h"

@ -172,7 +172,7 @@ const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL";
 const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED";
 const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
 const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
-const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
+const char *STR_HELPER_REPLY_TIMEOUT_STRING = "STR_HELPER_REPLY_TIMEOUT";
 const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR";
 const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
 const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
@ -617,16 +617,16 @@ const char *translateEvents(Event event) {
    case (12510):
      return STR_HELPER_COM_ERROR_STRING;
    case (12511):
-      return STR_HELPER_NO_REPLY_STRING;
-    case (12512):
-      return STR_HELPER_DEC_ERROR_STRING;
+      return STR_HELPER_REPLY_TIMEOUT_STRING;
    case (12513):
-      return POSITION_MISMATCH_STRING;
+      return STR_HELPER_DEC_ERROR_STRING;
    case (12514):
-      return STR_HELPER_FILE_NOT_EXISTS_STRING;
+      return POSITION_MISMATCH_STRING;
    case (12515):
-      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+      return STR_HELPER_FILE_NOT_EXISTS_STRING;
    case (12516):
+      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+    case (12517):
      return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
    case (12600):
      return MPSOC_FLASH_WRITE_FAILED_STRING;
--- a/linux/fsfwconfig/objects/translateObjects.cpp
+++ b/linux/fsfwconfig/objects/translateObjects.cpp
@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 173 translations.
- * Generated on: 2023-03-21 23:59:36
+ * Generated on: 2023-03-22 01:14:08
 */
 #include "translateObjects.h"

@ -49,7 +49,7 @@ const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER";
 const char *RAD_SENSOR_STRING = "RAD_SENSOR";
 const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
 const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
-const char *STR_HELPER_STRING = "STR_HELPER";
+const char *STR_COM_IF_STRING = "STR_COM_IF";
 const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
 const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
 const char *PTME_CONFIG_STRING = "PTME_CONFIG";
@ -269,7 +269,7 @@ const char *translateObject(object_id_t object) {
    case 0x44330001:
      return PLOC_MEMORY_DUMPER_STRING;
    case 0x44330002:
-      return STR_HELPER_STRING;
+      return STR_COM_IF_STRING;
    case 0x44330003:
      return PLOC_MPSOC_HELPER_STRING;
    case 0x44330004:
--- a/mission/controller/ThermalController.cpp
+++ b/mission/controller/ThermalController.cpp
@ -605,7 +605,6 @@ void ThermalController::copySus() {
 }

 void ThermalController::copyDevices() {
-  lp_var_t<float> tempQ7s = lp_var_t<float>(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE);
  {
    PoolReadGuard pg(&tempQ7s, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() == returnvalue::OK) {
@ -618,8 +617,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<int16_t> battTemp1 =
-        lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_1);
    PoolReadGuard pg(&battTemp1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read battery temperature 1" << std::endl;
@ -632,8 +629,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<int16_t> battTemp2 =
-        lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_2);
    PoolReadGuard pg(&battTemp2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read battery temperature 2" << std::endl;
@ -646,8 +641,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<int16_t> battTemp3 =
-        lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_3);
    PoolReadGuard pg(&battTemp3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read battery temperature 3" << std::endl;
@ -660,8 +653,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<int16_t> battTemp4 =
-        lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_4);
    PoolReadGuard pg(&battTemp4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read battery temperature 4" << std::endl;
@ -674,7 +665,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, rws::TEMPERATURE_C);
    PoolReadGuard pg(&tempRw1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read reaction wheel 1 temperature" << std::endl;
@ -687,7 +677,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, rws::TEMPERATURE_C);
    PoolReadGuard pg(&tempRw2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read reaction wheel 2 temperature" << std::endl;
@ -700,7 +689,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, rws::TEMPERATURE_C);
    PoolReadGuard pg(&tempRw3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read reaction wheel 3 temperature" << std::endl;
@ -713,7 +701,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, rws::TEMPERATURE_C);
    PoolReadGuard pg(&tempRw4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read reaction wheel 4 temperature" << std::endl;
@ -726,8 +713,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<float> tempStartracker =
-        lp_var_t<float>(objects::STAR_TRACKER, startracker::MCU_TEMPERATURE);
    PoolReadGuard pg(&tempStartracker, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read startracker temperature" << std::endl;
@ -740,8 +725,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<float> tempSyrlinksPowerAmplifier =
-        lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
    PoolReadGuard pg(&tempSyrlinksPowerAmplifier, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read syrlinks power amplifier temperature"
@ -755,8 +738,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<float> tempSyrlinksBasebandBoard =
-        lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
    PoolReadGuard pg(&tempSyrlinksBasebandBoard, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read syrlinks baseband board temperature"
@ -770,7 +751,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<int16_t> tempMgt = lp_var_t<int16_t>(objects::IMTQ_HANDLER, imtq::MCU_TEMPERATURE);
    PoolReadGuard pg(&tempMgt, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read MGT temperature" << std::endl;
@ -783,8 +763,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_vec_t<float, 3> tempAcu =
-        lp_vec_t<float, 3>(objects::ACU_HANDLER, ACU::pool::ACU_TEMPERATURES);
    PoolReadGuard pg(&tempAcu, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read ACU temperatures" << std::endl;
@ -799,7 +777,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<float> tempPdu1 = lp_var_t<float>(objects::PDU1_HANDLER, PDU::pool::PDU_TEMPERATURE);
    PoolReadGuard pg(&tempPdu1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read PDU1 temperature" << std::endl;
@ -812,7 +789,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<float> tempPdu2 = lp_var_t<float>(objects::PDU2_HANDLER, PDU::pool::PDU_TEMPERATURE);
    PoolReadGuard pg(&tempPdu2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read PDU2 temperature" << std::endl;
@ -825,8 +801,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<float> temp1P60dock =
-        lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_1);
    PoolReadGuard pg(&temp1P60dock, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read P60 dock temperature 1" << std::endl;
@ -839,8 +813,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<float> temp2P60dock =
-        lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_2);
    PoolReadGuard pg(&temp2P60dock, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read P60 dock temperature 2" << std::endl;
@ -853,8 +825,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<float> tempGyro0 =
-        lp_var_t<float>(objects::GYRO_0_ADIS_HANDLER, adis1650x::TEMPERATURE);
    PoolReadGuard pg(&tempGyro0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read gyro 0 temperature" << std::endl;
@ -867,7 +837,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<float> tempGyro1 = lp_var_t<float>(objects::GYRO_1_L3G_HANDLER, l3gd20h::TEMPERATURE);
    PoolReadGuard pg(&tempGyro1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read gyro 1 temperature" << std::endl;
@ -880,8 +849,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<float> tempGyro2 =
-        lp_var_t<float>(objects::GYRO_2_ADIS_HANDLER, adis1650x::TEMPERATURE);
    PoolReadGuard pg(&tempGyro2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read gyro 2 temperature" << std::endl;
@ -894,7 +861,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<float> tempGyro3 = lp_var_t<float>(objects::GYRO_3_L3G_HANDLER, l3gd20h::TEMPERATURE);
    PoolReadGuard pg(&tempGyro3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read gyro 3 temperature" << std::endl;
@ -907,8 +873,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<float> tempMgm0 =
-        lp_var_t<float>(objects::MGM_0_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
    PoolReadGuard pg(&tempMgm0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read MGM 0 temperature" << std::endl;
@ -921,8 +885,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<float> tempMgm2 =
-        lp_var_t<float>(objects::MGM_2_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
    PoolReadGuard pg(&tempMgm2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read MGM 2 temperature" << std::endl;
@ -935,7 +897,6 @@ void ThermalController::copyDevices() {
  }

  {
-    lp_var_t<float> tempAdcPayloadPcdu = lp_var_t<float>(objects::PLPCDU_HANDLER, plpcdu::TEMP);
    PoolReadGuard pg(&tempAdcPayloadPcdu, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
    if (pg.getReadResult() != returnvalue::OK) {
      sif::warning << "ThermalController: Failed to read payload PCDU ADC temperature" << std::endl;
--- a/mission/controller/ThermalController.h
+++ b/mission/controller/ThermalController.h
@ -1,12 +1,22 @@
 #ifndef MISSION_CONTROLLER_THERMALCONTROLLER_H_
 #define MISSION_CONTROLLER_THERMALCONTROLLER_H_

+#include <bsp_q7s/core/CoreDefinitions.h>
 #include <fsfw/controller/ExtendedControllerBase.h>
 #include <fsfw/devicehandlers/DeviceHandlerThermalSet.h>
 #include <fsfw/timemanager/Countdown.h>
+#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
+#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
+#include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
 #include <mission/controller/controllerdefinitions/ThermalControllerDefinitions.h>
+#include <mission/devices/devicedefinitions/BpxBatteryDefinitions.h>
 #include <mission/devices/devicedefinitions/Max31865Definitions.h>
+#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
 #include <mission/devices/devicedefinitions/Tmp1075Definitions.h>
+#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
+#include <mission/devices/devicedefinitions/imtqHelpers.h>
+#include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
+#include <mission/devices/devicedefinitions/rwHelpers.h>
 #include <mission/devices/devicedefinitions/susMax1227Helpers.h>

 #include <list>
@ -125,6 +135,44 @@ class ThermalController : public ExtendedControllerBase {
  susMax1227::SusDataset susSet10;
  susMax1227::SusDataset susSet11;

+  lp_var_t<float> tempQ7s = lp_var_t<float>(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE);
+  lp_var_t<int16_t> battTemp1 =
+      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_1);
+  lp_var_t<int16_t> battTemp2 =
+      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_2);
+  lp_var_t<int16_t> battTemp3 =
+      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_3);
+  lp_var_t<int16_t> battTemp4 =
+      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_4);
+  lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, rws::TEMPERATURE_C);
+  lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, rws::TEMPERATURE_C);
+  lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, rws::TEMPERATURE_C);
+  lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, rws::TEMPERATURE_C);
+  lp_var_t<float> tempStartracker =
+      lp_var_t<float>(objects::STAR_TRACKER, startracker::MCU_TEMPERATURE);
+  lp_var_t<float> tempSyrlinksPowerAmplifier =
+      lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
+  lp_var_t<float> tempSyrlinksBasebandBoard =
+      lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
+  lp_var_t<int16_t> tempMgt = lp_var_t<int16_t>(objects::IMTQ_HANDLER, imtq::MCU_TEMPERATURE);
+  lp_vec_t<float, 3> tempAcu =
+      lp_vec_t<float, 3>(objects::ACU_HANDLER, ACU::pool::ACU_TEMPERATURES);
+  lp_var_t<float> tempPdu1 = lp_var_t<float>(objects::PDU1_HANDLER, PDU::pool::PDU_TEMPERATURE);
+  lp_var_t<float> tempPdu2 = lp_var_t<float>(objects::PDU2_HANDLER, PDU::pool::PDU_TEMPERATURE);
+  lp_var_t<float> temp1P60dock =
+      lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_1);
+  lp_var_t<float> temp2P60dock =
+      lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_2);
+  lp_var_t<float> tempGyro0 = lp_var_t<float>(objects::GYRO_0_ADIS_HANDLER, adis1650x::TEMPERATURE);
+  lp_var_t<float> tempGyro1 = lp_var_t<float>(objects::GYRO_1_L3G_HANDLER, l3gd20h::TEMPERATURE);
+  lp_var_t<float> tempGyro2 = lp_var_t<float>(objects::GYRO_2_ADIS_HANDLER, adis1650x::TEMPERATURE);
+  lp_var_t<float> tempGyro3 = lp_var_t<float>(objects::GYRO_3_L3G_HANDLER, l3gd20h::TEMPERATURE);
+  lp_var_t<float> tempMgm0 =
+      lp_var_t<float>(objects::MGM_0_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
+  lp_var_t<float> tempMgm2 =
+      lp_var_t<float>(objects::MGM_2_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
+  lp_var_t<float> tempAdcPayloadPcdu = lp_var_t<float>(objects::PLPCDU_HANDLER, plpcdu::TEMP);
+
  // TempLimits
  TempLimits acsBoardLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
  TempLimits mgtLimits = TempLimits(-40.0, -40.0, 65.0, 70.0, 70.0);
--- a/mission/core/pollingSeqTables.cpp
+++ b/mission/core/pollingSeqTables.cpp
@ -318,11 +318,23 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
  }

  if (cfg.scheduleStr) {
+    // 2 COM cycles for full PST for STR. The STR requests 2 packets types in NORMAL mode, this
+    // ensures we always get an updated STR dataset for a regular normal mode cycle.
    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+                          DeviceHandlerIF::GET_READ);
  }

  bool enableAside = true;
--- a/thirdparty/arcsec_star_tracker
+++ b/thirdparty/arcsec_star_tracker
@ -1 +1 @@
-Subproject commit 42907c36c58e7133d3d3cbefbf96c1a8e35b60b7
+Subproject commit cbb3b24dc1993b727735fd63576088401ba351ec
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit c171654d2b18547249ee03ace3a4016e8837cf4a
+Subproject commit 9f17661f529e045e92714817bdc52572f976da2d