diff --git a/.gitignore b/.gitignore
index c337ab89..a5065673 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,5 @@
 /build*
+/cmake-build*
 
 # Eclipse
 .settings
diff --git a/.gitmodules b/.gitmodules
index d9a11687..13fed4d1 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -16,3 +16,6 @@
 [submodule "thirdparty/json"]
 	path = thirdparty/json
 	url = https://github.com/nlohmann/json.git
+[submodule "thirdparty/rapidcsv"]
+	path = thirdparty/rapidcsv
+	url = https://github.com/d99kris/rapidcsv.git
diff --git a/CHANGELOG.md b/CHANGELOG.md
index cde62562..3626825b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -3,30 +3,112 @@ Change Log
 
 All notable changes to this project will be documented in this file.
 
-The format is based on [Keep a Changelog](http://keepachangelog.com/)
-and this project adheres to [Semantic Versioning](http://semver.org/).
+The format is based on [Keep a Changelog](http://keepachangelog.com/).
 
 The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
 list yields a list of all related PRs for each release.
 
 # [unreleased]
 
-# [v1.11.0]
+# [v1.12.0]
 
 ## Added
 
+- PUS11 TC scheduler
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/259
+- Regular reboot command
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/242
+- Commands for individual RTD devices
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/84
+- `RwAssembly` added to system components. Assembly works in principle,
+  issues making 4 consecutives RWs communicate at once..
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/224
+- Adds a yocto helper script which is able to install the release build binaries
+  (OBSW and Watchdog) into the `q7s-yocto` repository as long as the `q7s-package`
+  or `q7s-yocto` repo was cloned in the same directory the EIVE OBSW repo.
+  This makes updating the root filesystem a lot easier. It also creates and installs a
+  version file.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/248
+- Create the generic image by default for the Q7S build. The unique binary with the
+  username appended at the end is created as a side-product now
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/248
+
+## Fixed
+
+- `q7s-cp.py` bugfix
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/256
+
+### Heater
+
+- Adds `HealthIF` to heaters. Heaters are own system object with queues now which allows to set them faulty.
+- SW will attempt to shut down heaters which are on but marked faulty
+- Some simplifications for `HeaterHandler`, use `std::vector` instead of `std::unordered_map` for primary container. Using the heater indexes 0 to 7 allows to use natural array indexing
+- Some additional input sanity checks in `executeAction`
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/236
+
+## Changed
+
+- Build unittest as default side product of hosted builds
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/244
+- Let CI/CD build host build and run unittest side product in same step
+- Catch2 pre-installed in CI/CD docker container, Xiphos SDK installed in CI/CD docker
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/247
+- Sun Sensors have names denoting their location and poiting in the satellite now
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/245
+- Better RTD names denoting their purpose (and location consequently)
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/246
+
+# [v1.11.0]
+
+## Fixed
+
+- Host build working again
+
+## Added
 
 - Custom Syrlinks FDIR which disabled most of the default FDIR functionality
-
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/232
+- Custom Gomspace FDIR which disabled most of the default FDIR functionality
+- Custom Syrlinks FDIR which disabled most of the default FDIR functionality
 
 ## Changed
 
 - PCDU handler only called once in PST, but can handle multiple messages now
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/221
+  Bugfix: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/235
 - Update rootfs base of Linux, all related OBSW changes
-- Use gpsd version 3.17 now. Includes API changes
 - Add `/usr/local/bin` to PATH. All shell scripts are there now
-- Rename GPS device to `/dev/gps0`
 - Add Syrlinks and TMP devices to Software by default
+- Update GPS Linux Hyperion Handler to use socket interface. Still allows switching
+  back to SHM interface, but the SHM interface is a possible cause of SW crashes
+- Updated code for changed FSFW HAL GPIO API: `readGpio` prototype has changed
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/240 and
+  https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/76
+
+### GPS
+
+PRs: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/239
+
+- Rename GPS device to `/dev/gps0`
+- Use gpsd version 3.17 now. Includes API changes
+
+### EM and FM splitup & Build Workflow improvements
+
+PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/238
+
+- Split up `bsp_q7s` in separate EM and FM build with module loading set to different
+  default values. The EM object factory is unique which allows building a parallel setup
+  with dummy components
+- All major BSPs have an own `OBSWConfig.h.in` file which simplifies the file significantly
+- Renamed Q7S primary build folders:
+  - `cmake-build-debug-q7s` for primary development build
+  - `cmake-build-release-q7s` for primary release build
+  - `cmake-build-debug-q7s-em` for primary development build of the EM software
+  - `cmake-build-release-q7s-em` for primary release build of the EM software
+- Refactored Q7S helper script handling. It is now intended and preferred to copy the environment
+  script to the same folder level as the `eive-obsw` and source it. This will also
+  add the path containing the shell helper scripts to `PATH`
+- The actual helper shell scripts were renamed as well to `q7s-<buildSystem>-<buildType>.sh`
 
 # [v1.10.1]
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ff73e3f9..ef87352e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,12 +1,12 @@
-################################################################################
+# ##############################################################################
 # CMake support for the EIVE OBSW
-# 
+#
 # Author: R. Mueller
-################################################################################
+# ##############################################################################
 
-################################################################################
+# ##############################################################################
 # Pre-Project preparation
-################################################################################
+# ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 0)
@@ -15,25 +15,36 @@ set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
 
 # set(CMAKE_VERBOSE TRUE)
 
-option(EIVE_HARDCODED_TOOLCHAIN_FILE "\
+option(
+  EIVE_HARDCODED_TOOLCHAIN_FILE
+  "\
 For Linux Board Target BSPs, a default toolchain file will be set. Should be set to OFF \
-if a different toolchain file is set externally" ON
-)
+if a different toolchain file is set externally"
+  ON)
 
 if(NOT FSFW_OSAL)
-    set(FSFW_OSAL linux CACHE STRING "OS for the FSFW.")
+  set(FSFW_OSAL
+      linux
+      CACHE STRING "OS for the FSFW.")
 endif()
 
 if(TGT_BSP)
-    if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
-        option(LINUX_CROSS_COMPILE ON)
-        option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" OFF)
-    elseif(TGT_BSP MATCHES "arm/q7s")
-        option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" ON)
-    endif()
-    option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON)
+  if(TGT_BSP MATCHES "arm/q7s"
+     OR TGT_BSP MATCHES "arm/raspberrypi"
+     OR TGT_BSP MATCHES "arm/beagleboneblack")
+    option(LINUX_CROSS_COMPILE ON)
+  endif()
+  if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
+    option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" OFF)
+  elseif(TGT_BSP MATCHES "arm/q7s")
+    option(EIVE_Q7S_EM "Build configuration for the EM" OFF)
+    option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" ON)
+  endif()
+  option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name"
+         ON)
 else()
-    option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" OFF)
+  option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name"
+         OFF)
 endif()
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
@@ -53,42 +64,99 @@ include(EiveHelpers)
 option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
 option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
 
-set(OBSW_ADD_STAR_TRACKER 0)
-set(OBSW_DEBUG_STARTRACKER 0)
+set(OBSW_MAX_SCHEDULED_TCS 500)
 
-################################################################################
+if(EIVE_Q7S_EM)
+  set(OBSW_Q7S_EM
+      1
+      CACHE STRING "Q7S EM configuration")
+  set(INIT_VAL 0)
+else()
+  set(OBSW_Q7S_EM
+      0
+      CACHE STRING "Q7S EM configuration")
+  set(INIT_VAL 1)
+endif()
+set(OBSW_ADD_MGT
+    ${INIT_VAL}
+    CACHE STRING "Add MGT module")
+set(OBSW_ADD_BPX_BATTERY_HANDLER
+    ${INIT_VAL}
+    CACHE STRING "Add MGT module")
+set(OBSW_ADD_STAR_TRACKER
+    ${INIT_VAL}
+    CACHE STRING "Add Startracker module")
+set(OBSW_ADD_SUN_SENSORS
+    ${INIT_VAL}
+    CACHE STRING "Add sun sensor module")
+set(OBSW_ADD_SUS_BOARD_ASS
+    ${INIT_VAL}
+    CACHE STRING "Add sun sensor board assembly")
+set(OBSW_ADD_ACS_BOARD
+    ${INIT_VAL}
+    CACHE STRING "Add ACS board module")
+set(OBSW_ADD_ACS_HANDLERS
+    ${INIT_VAL}
+    CACHE STRING "Add ACS handlers")
+set(OBSW_ADD_RTD_DEVICES
+    ${INIT_VAL}
+    CACHE STRING "Add RTD devices")
+set(OBSW_ADD_RAD_SENSORS
+    ${INIT_VAL}
+    CACHE STRING "Add Rad Sensor module")
+set(OBSW_ADD_PL_PCDU
+    ${INIT_VAL}
+    CACHE STRING "Add Payload PCDU modukle")
+set(OBSW_ADD_SYRLINKS
+    ${INIT_VAL}
+    CACHE STRING "Add Syrlinks module")
+set(OBSW_ADD_TMP_DEVICES
+    ${INIT_VAL}
+    CACHE STRING "Add TMP devices")
+set(OBSW_ADD_GOMSPACE_PCDU
+    ${INIT_VAL}
+    CACHE STRING "Add GomSpace PCDU modules")
+set(OBSW_ADD_RW
+    ${INIT_VAL}
+    CACHE STRING "Add RW modules")
+
+# ##############################################################################
 # Pre-Sources preparation
-################################################################################
+# ##############################################################################
 
 # Version handling
 set(GIT_VER_HANDLING_OK FALSE)
 if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
-    determine_version_with_git("--exclude" "docker_*")
-    set(GIT_INFO ${GIT_INFO} CACHE STRING "Version information retrieved with git describe")
-    if(GIT_INFO)
-        set(GIT_INFO ${GIT_INFO} CACHE STRING "Version information retrieved with git describe")
-        list(GET GIT_INFO 1 OBSW_VERSION_MAJOR)
-        list(GET GIT_INFO 2 OBSW_VERSION_MINOR)
-        list(GET GIT_INFO 3 OBSW_VERSION_REVISION)
-        list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
-        if(NOT OBSW_VERSION_MAJOR)
-            set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
-        endif()
-        if(NOT OBSW_VERSION_MINOR)
-            set(FSFW_SUBVERSION ${OBSW_VERSION_MINOR_IF_GIT_FAILS})
-        endif()
-        if(NOT OBSW_VERSION_REVISION)
-            set(FSFW_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
-        endif()
-        set(GIT_VER_HANDLING_OK TRUE)
-   else()
-        set(GIT_VER_HANDLING_OK FALSE)
-   endif()
+  determine_version_with_git("--exclude" "docker_*")
+  set(GIT_INFO
+      ${GIT_INFO}
+      CACHE STRING "Version information retrieved with git describe")
+  if(GIT_INFO)
+    set(GIT_INFO
+        ${GIT_INFO}
+        CACHE STRING "Version information retrieved with git describe")
+    list(GET GIT_INFO 1 OBSW_VERSION_MAJOR)
+    list(GET GIT_INFO 2 OBSW_VERSION_MINOR)
+    list(GET GIT_INFO 3 OBSW_VERSION_REVISION)
+    list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
+    if(NOT OBSW_VERSION_MAJOR)
+      set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
+    endif()
+    if(NOT OBSW_VERSION_MINOR)
+      set(FSFW_SUBVERSION ${OBSW_VERSION_MINOR_IF_GIT_FAILS})
+    endif()
+    if(NOT OBSW_VERSION_REVISION)
+      set(FSFW_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
+    endif()
+    set(GIT_VER_HANDLING_OK TRUE)
+  else()
+    set(GIT_VER_HANDLING_OK FALSE)
+  endif()
 endif()
 if(NOT GIT_VER_HANDLING_OK)
-    set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
-    set(OBSW_VERSION_MINOR ${OBSW_VERSION_MINOR_IF_GIT_FAILS})
-    set(OBSW_VERSION_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
+  set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
+  set(OBSW_VERSION_MINOR ${OBSW_VERSION_MINOR_IF_GIT_FAILS})
+  set(OBSW_VERSION_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
 endif()
 
 # Set names and variables
@@ -98,7 +166,7 @@ set(SIMPLE_OBSW_NAME eive-simple)
 set(UNITTEST_NAME eive-unittest)
 set(LIB_FSFW_NAME fsfw)
 set(LIB_EIVE_MISSION eive-mission)
-set(LIB_ETL_NAME etl)
+set(LIB_ETL_TARGET etl::etl)
 set(LIB_CSP_NAME libcsp)
 set(LIB_LWGPS_NAME lwgps)
 set(LIB_ARCSEC wire)
@@ -134,164 +202,158 @@ set(EIVE_ADD_LINUX_FILES False)
 pre_source_hw_os_config()
 
 if(TGT_BSP)
+  set(LIBGPS_VERSION_MAJOR 3)
+  # I assume a newer version than 3.17 will be installed on other Linux board
+  # than the Q7S
+  set(LIBGPS_VERSION_MINOR 20)
+  if(TGT_BSP MATCHES "arm/q7s"
+     OR TGT_BSP MATCHES "arm/raspberrypi"
+     OR TGT_BSP MATCHES "arm/beagleboneblack"
+     OR TGT_BSP MATCHES "arm/egse"
+     OR TGT_BSP MATCHES "arm/te0720-1cfa")
+    find_library(${LIB_GPS} gps)
+    set(FSFW_CONFIG_PATH "linux/fsfwconfig")
+    if(NOT BUILD_Q7S_SIMPLE_MODE)
+      set(EIVE_ADD_LINUX_FILES TRUE)
+      set(ADD_CSP_LIB TRUE)
+      set(FSFW_HAL_ADD_LINUX ON)
+    endif()
+  endif()
+
+  if(TGT_BSP MATCHES "arm/raspberrypi")
+    # Used by configure file
+    set(RASPBERRY_PI ON)
+    set(FSFW_HAL_ADD_RASPBERRY_PI ON)
+  endif()
+
+  if(TGT_BSP MATCHES "arm/egse")
+    # Used by configure file
+    set(EGSE ON)
+    set(FSFW_HAL_LINUX_ADD_LIBGPIOD OFF)
+    set(OBSW_ADD_STAR_TRACKER 1)
+    set(OBSW_DEBUG_STARTRACKER 1)
+  endif()
+
+  if(TGT_BSP MATCHES "arm/beagleboneblack")
+    # Used by configure file
+    set(BEAGLEBONEBLACK ON)
+  endif()
+
+  if(TGT_BSP MATCHES "arm/q7s")
+    # Used by configure file
+    set(XIPHOS_Q7S ON)
     set(LIBGPS_VERSION_MAJOR 3)
-    # I assume a newer version than 3.17 will be installed on other Linux board than the Q7S
-    set(LIBGPS_VERSION_MINOR 20)
-    if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi"
-        OR TGT_BSP MATCHES "arm/beagleboneblack" OR TGT_BSP MATCHES "arm/egse" 
-        OR TGT_BSP MATCHES "arm/te0720-1cfa"
-    )
-        find_library(${LIB_GPS} gps)
-        set(FSFW_CONFIG_PATH "linux/fsfwconfig")
-        if(NOT BUILD_Q7S_SIMPLE_MODE)
-            set(EIVE_ADD_LINUX_FILES TRUE)
-            set(ADD_CSP_LIB TRUE)
-            set(FSFW_HAL_ADD_LINUX ON)
-        endif()
-    endif()
-   
-    if(TGT_BSP MATCHES "arm/raspberrypi" )
-        # Used by configure file
-        set(RASPBERRY_PI ON)
-        set(FSFW_HAL_ADD_RASPBERRY_PI ON)
-    endif()
+    set(LIBGPS_VERSION_MINOR 17)
+  endif()
 
-    if(TGT_BSP MATCHES "arm/egse")
-        # Used by configure file
-        set(EGSE ON)
-        set(FSFW_HAL_LINUX_ADD_LIBGPIOD OFF)
-        set(OBSW_ADD_STAR_TRACKER 1)
-        set(OBSW_DEBUG_STARTRACKER 1)
-    endif()
-    
-    if(TGT_BSP MATCHES "arm/beagleboneblack")
-        # Used by configure file
-        set(BEAGLEBONEBLACK ON)
-    endif()
-    
-    if(TGT_BSP MATCHES "arm/q7s")
-        # Used by configure file
-        set(XIPHOS_Q7S ON)
-        set(LIBGPS_VERSION_MAJOR 3)
-        set(LIBGPS_VERSION_MINOR 17)
-    endif()
-    
-    if(TGT_BSP MATCHES "arm/te0720-1cfa")
-        set(TE0720_1CFA ON)
-    endif()
+  if(TGT_BSP MATCHES "arm/te0720-1cfa")
+    set(TE0720_1CFA ON)
+  endif()
 else()
-    # Required by FSFW library
-    set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
+  # Required by FSFW library
+  set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
 endif()
 
-
 # Configuration files
 configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
 configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
-configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
+configure_file(${BSP_PATH}/OBSWConfig.h.in OBSWConfig.h)
 if(TGT_BSP MATCHES "arm/q7s")
-    configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
+  configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
 elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse")
-    configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
+  configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
 endif()
 
 configure_file(${WATCHDOG_PATH}/watchdogConf.h.in watchdogConf.h)
 
 # Set common config path for FSFW
-set(FSFW_ADDITIONAL_INC_PATHS 
-    "${COMMON_PATH}/config"
-    ${CMAKE_CURRENT_BINARY_DIR}
-)
+set(FSFW_ADDITIONAL_INC_PATHS "${COMMON_PATH}/config"
+                              ${CMAKE_CURRENT_BINARY_DIR})
 
-################################################################################
+# ##############################################################################
 # Executable and Sources
-################################################################################
+# ##############################################################################
 
-#global compiler options need to be set before adding executables
+# global compiler options need to be set before adding executables
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-    add_compile_options(
-        "-Wall"
-        "-Wextra"
-        "-Wimplicit-fallthrough=1"
-        "-Wno-unused-parameter"
-        "-Wno-psabi"
-        "-Wduplicated-cond" # check for duplicate conditions
-        "-Wduplicated-branches" # check for duplicate branches
-        "-Wlogical-op" # Search for bitwise operations instead of logical
-        "-Wnull-dereference" # Search for NULL dereference
-        "-Wundef" # Warn if undefind marcos are used
-        "-Wformat=2" # Format string problem detection
-        "-Wformat-overflow=2" # Formatting issues in printf
-        "-Wformat-truncation=2" # Formatting issues in printf
-        "-Wformat-security" # Search for dangerous printf operations
-        "-Wstrict-overflow=3" # Warn if integer overflows might happen
-        "-Warray-bounds=2" # Some array bounds violations will be found
-        "-Wshift-overflow=2" # Search for bit left shift overflows (<c++14)
-        "-Wcast-qual" # Warn if the constness is cast away
-        "-Wstringop-overflow=4"
-        # -Wstack-protector # Emits a few false positives for low level access
-        # -Wconversion # Creates many false positives
-        # -Warith-conversion # Use with Wconversion to find more implicit conversions
-        # -fanalyzer # Should be used to look through problems
-    )
-    # Remove unused sections.
-    add_compile_options(
-        "-ffunction-sections"
-        "-fdata-sections"
-    )
+  add_compile_options(
+    "-Wall"
+    "-Wextra"
+    "-Wimplicit-fallthrough=1"
+    "-Wno-unused-parameter"
+    "-Wno-psabi"
+    "-Wduplicated-cond" # check for duplicate conditions
+    "-Wduplicated-branches" # check for duplicate branches
+    "-Wlogical-op" # Search for bitwise operations instead of logical
+    "-Wnull-dereference" # Search for NULL dereference
+    "-Wundef" # Warn if undefind marcos are used
+    "-Wformat=2" # Format string problem detection
+    "-Wformat-overflow=2" # Formatting issues in printf
+    "-Wformat-truncation=2" # Formatting issues in printf
+    "-Wformat-security" # Search for dangerous printf operations
+    "-Wstrict-overflow=3" # Warn if integer overflows might happen
+    "-Warray-bounds=2" # Some array bounds violations will be found
+    "-Wshift-overflow=2" # Search for bit left shift overflows (<c++14)
+    "-Wcast-qual" # Warn if the constness is cast away
+    "-Wstringop-overflow=4"
+    # -Wstack-protector # Emits a few false positives for low level access
+    # -Wconversion # Creates many false positives -Warith-conversion # Use with
+    # Wconversion to find more implicit conversions -fanalyzer # Should be used
+    # to look through problems
+  )
+  # Remove unused sections.
+  add_compile_options("-ffunction-sections" "-fdata-sections")
 
-    # Removed unused sections.
-    add_link_options(
-        "-Wl,--gc-sections"
-    )
+  # Removed unused sections.
+  add_link_options("-Wl,--gc-sections")
 
 elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-	set(COMPILER_FLAGS "/permissive-")
+  set(COMPILER_FLAGS "/permissive-")
 endif()
 
 add_library(${LIB_EIVE_MISSION})
 
 # Add main executable
 add_executable(${OBSW_NAME})
-if(EIVE_CREATE_UNIQUE_OBSW_BIN)
-    set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME}-$ENV{USERNAME})
-else()
-    set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME})
-endif()
+set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME})
+
 set_target_properties(${OBSW_NAME} PROPERTIES OUTPUT_NAME ${OBSW_BIN_NAME})
 
 # Watchdog
 if(TGT_BSP MATCHES "arm/q7s")
-    add_executable(${WATCHDOG_NAME})
+  add_executable(${WATCHDOG_NAME})
 else()
-    add_executable(${WATCHDOG_NAME} EXCLUDE_FROM_ALL)
+  add_executable(${WATCHDOG_NAME} EXCLUDE_FROM_ALL)
 endif()
 
-add_subdirectory(${WATCHDOG_PATH}) 
-target_link_libraries(${WATCHDOG_NAME} PUBLIC
-    ${LIB_CXX_FS}
-)
-target_include_directories(${WATCHDOG_NAME} PUBLIC
-    ${CMAKE_BINARY_DIR}
-)
+add_subdirectory(${WATCHDOG_PATH})
+target_link_libraries(${WATCHDOG_NAME} PUBLIC ${LIB_CXX_FS})
+target_include_directories(${WATCHDOG_NAME} PUBLIC ${CMAKE_BINARY_DIR})
 
 # unittests
-add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
+if(NOT TGT_BSP)
+  add_executable(${UNITTEST_NAME})
+else()
+  add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
+endif()
 
 if(EIVE_ADD_ETL_LIB)
+
 endif()
 
 if(EIVE_ADD_JSON_LIB)
-    add_subdirectory(${LIB_JSON_PATH})
+  add_subdirectory(${LIB_JSON_PATH})
 endif()
- 
+
+add_subdirectory(thirdparty/rapidcsv)
+
 if(EIVE_ADD_LINUX_FILES)
-    add_subdirectory(${LIB_ARCSEC_PATH})
-    add_subdirectory(${LINUX_PATH})
+  add_subdirectory(${LIB_ARCSEC_PATH})
+  add_subdirectory(${LINUX_PATH})
 endif()
 add_subdirectory(${BSP_PATH})
 if(ADD_CSP_LIB)
-    add_subdirectory(${LIB_CSP_PATH})
+  add_subdirectory(${LIB_CSP_PATH})
 endif()
 
 add_subdirectory(${COMMON_PATH})
@@ -303,152 +365,144 @@ add_subdirectory(${TEST_PATH})
 
 add_subdirectory(${UNITTEST_PATH})
 
-# This should have already been downloaded by the FSFW
-# Still include it to be safe
-include(FetchContent)
-FetchContent_Declare(
+# This should have already been downloaded by the FSFW Still include it to be
+# safe
+find_package(etl ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
+# Not installed, so use FetchContent to download and provide etl
+if(NOT etl_FOUND)
+  message(
+    STATUS
+      "No ETL installation was found with find_package. Installing and providing "
+      "etl with FindPackage")
+  include(FetchContent)
+  FetchContent_Declare(
     etl
     GIT_REPOSITORY https://github.com/ETLCPP/etl
-    GIT_TAG        ${FSFW_ETL_LIB_VERSION}
-)
-FetchContent_MakeAvailable(etl)
+    GIT_TAG ${FSFW_ETL_LIB_VERSION})
+  list(APPEND FSFW_FETCH_CONTENT_TARGETS etl)
+endif()
 
 # Use same Catch2 version as framework
-if (NOT(TGT_BSP MATCHES "arm/te0720-1cfa") AND NOT(TGT_BSP MATCHES "arm/q7s"))
-    # Check whether the user has already installed Catch2 first
-    find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
-    # Not installed, so use FetchContent to download and provide Catch2
-    if(NOT Catch2_FOUND)
-        message(STATUS "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent")
-        include(FetchContent)
+if(NOT (TGT_BSP MATCHES "arm/te0720-1cfa")
+   AND NOT (TGT_BSP MATCHES "arm/q7s")
+   AND NOT (TGT_BSP MATCHES "arm/raspberrypi"))
+  # Check whether the user has already installed Catch2 first
+  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
+  # Not installed, so use FetchContent to download and provide Catch2
+  if(NOT Catch2_FOUND)
+    message(
+      STATUS
+        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
+    )
+    include(FetchContent)
 
-        FetchContent_Declare(
-            Catch2
-            GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-            GIT_TAG        ${FSFW_CATCH2_LIB_VERSION}
-        )
+    FetchContent_Declare(
+      Catch2
+      GIT_REPOSITORY https://github.com/catchorg/Catch2.git
+      GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
 
-        FetchContent_MakeAvailable(Catch2)
-        #fixes regression -preview4, to be confirmed in later releases
-        set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
-        set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
-        set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
-    endif()
+    list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
+  endif()
 endif()
 
-################################################################################
+# The documentation for FetchContent recommends declaring all the dependencies
+# before making them available. We make all declared dependency available here
+# after their declaration
+if(FSFW_FETCH_CONTENT_TARGETS)
+  FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
+  if(TARGET etl)
+    add_library(${LIB_ETL_TARGET} ALIAS etl)
+  endif()
+  if(TARGET Catch2)
+    # Fixes regression -preview4, to be confirmed in later releases Related
+    # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
+    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
+    set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
+    set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
+  endif()
+endif()
+
+# ##############################################################################
 # Post-Sources preparation
-################################################################################
+# ##############################################################################
 
 # Add libraries
-target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-    ${LIB_FSFW_NAME}
-    ${LIB_LWGPS_NAME}
-    ${LIB_OS_NAME}
-)
+target_link_libraries(${LIB_EIVE_MISSION}
+                      PUBLIC ${LIB_FSFW_NAME} ${LIB_LWGPS_NAME} ${LIB_OS_NAME})
 
-target_link_libraries(${OBSW_NAME} PRIVATE
-    ${LIB_EIVE_MISSION}
-)
+target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_EIVE_MISSION})
 
 if(TGT_BSP MATCHES "arm/q7s")
-    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        ${LIB_GPS}
-        ${LIB_ARCSEC}
-    )
+  target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_GPS} ${LIB_ARCSEC})
 endif()
 
-target_link_libraries(${UNITTEST_NAME} PRIVATE
-    Catch2
-    ${LIB_EIVE_MISSION}
-)
+target_link_libraries(${UNITTEST_NAME} PRIVATE Catch2 ${LIB_EIVE_MISSION}
+                                               rapidcsv)
 
 if(TGT_BSP MATCHES "arm/egse")
-    target_link_libraries(${OBSW_NAME} PRIVATE
-	    ${LIB_ARCSEC}
-	)
+  target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_ARCSEC})
 endif()
 
 if(ADD_CSP_LIB)
-    target_link_libraries(${OBSW_NAME} PRIVATE
-        ${LIB_CSP_NAME}
-    )
+  target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_CSP_NAME})
 endif()
 
-
 if(EIVE_ADD_ETL_LIB)
-    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        etl
-    )
+  target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_ETL_TARGET})
 endif()
 
 if(EIVE_ADD_JSON_LIB)
-    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        ${LIB_JSON_NAME}
-    )
+  target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_JSON_NAME})
 endif()
 
-target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-    ${LIB_CXX_FS}
-)
+target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_CXX_FS})
 
 # Add include paths for all sources.
-target_include_directories(${LIB_EIVE_MISSION} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-	${FSFW_CONFIG_PATH}
-	${CMAKE_CURRENT_BINARY_DIR}
-	${LIB_ARCSEC_PATH}
-)
+target_include_directories(
+  ${LIB_EIVE_MISSION} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} ${FSFW_CONFIG_PATH}
+                             ${CMAKE_CURRENT_BINARY_DIR} ${LIB_ARCSEC_PATH})
 
 if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/egse")
-    target_include_directories(${LIB_EIVE_MISSION} PUBLIC
-        ${ARCSEC_LIB_PATH}
-    )
+  target_include_directories(${LIB_EIVE_MISSION} PUBLIC ${ARCSEC_LIB_PATH})
 endif()
 
 if(CMAKE_VERBOSE)
-	message(STATUS "Warning flags: ${WARNING_FLAGS}")
+  message(STATUS "Warning flags: ${WARNING_FLAGS}")
 endif()
 
-
-
 if(CMAKE_CROSSCOMPILING)
-	include (HardwareOsPostConfig)
-	post_source_hw_os_config()
+  include(HardwareOsPostConfig)
+  post_source_hw_os_config()
 endif()
 
 if(NOT CMAKE_SIZE)
-	set(CMAKE_SIZE size)
-	if(WIN32)
-		set(FILE_SUFFIX ".exe")
-	endif()
+  set(CMAKE_SIZE size)
+  if(WIN32)
+    set(FILE_SUFFIX ".exe")
+  endif()
 endif()
 
 if(EIVE_BUILD_WATCHDOG)
-    set(TARGET_STRING "OBSW Watchdog")
+  set(TARGET_STRING "OBSW Watchdog")
 else()
-    if(TGT_BSP)
-        set(TARGET_STRING "Target BSP: ${TGT_BSP}")
-    else()
-        set(TARGET_STRING "Target BSP: Hosted")
-    endif()
+  if(TGT_BSP)
+    set(TARGET_STRING "Target BSP: ${TGT_BSP}")
+  else()
+    set(TARGET_STRING "Target BSP: Hosted")
+  endif()
 endif()
 
 install(TARGETS ${OBSW_NAME} RUNTIME DESTINATION bin)
 
-string(CONCAT POST_BUILD_COMMENT
-    "Build directory: ${CMAKE_BINARY_DIR}\n"
-    "Target OSAL: ${FSFW_OSAL}\n"
-    "Target Build Type: ${CMAKE_BUILD_TYPE}\n"
-    "${TARGET_STRING}"
-)
+string(CONCAT POST_BUILD_COMMENT "Build directory: ${CMAKE_BINARY_DIR}\n"
+              "Target OSAL: ${FSFW_OSAL}\n"
+              "Target Build Type: ${CMAKE_BUILD_TYPE}\n" "${TARGET_STRING}")
 
 add_custom_command(
-   TARGET ${OBSW_NAME}
-   POST_BUILD
-   COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
-   COMMENT ${POST_BUILD_COMMENT}
-)
+  TARGET ${OBSW_NAME}
+  POST_BUILD
+  COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
+  COMMENT ${POST_BUILD_COMMENT})
 
-include (BuildType)
+include(BuildType)
 set_build_type()
diff --git a/README.md b/README.md
index 32670771..fcff24d0 100644
--- a/README.md
+++ b/README.md
@@ -70,8 +70,9 @@ prerequisites.
 ## Building the OBSW and flashing it on the Q7S
 
 1. ARM cross-compiler installed, either as part of [Vivado 2018.2 installation](#vivado) or
-   as a [separate download](#arm-toolchain)
-2. [Q7S sysroot](#sysroot) on local development machine
+   as a [separate download](#arm-toolchain). The Xiphos SDK also installs a cross-compiler,
+   but its version is currently too old to compile the OBSW (7.3.0).
+2. [Q7S sysroot](#sysroot) on local development machine. It is installed by the Xiphos SDK
 3. Recommended: Eclipse or [Vivado 2018.2 SDK](#vivado) for OBSW development
 3. [TCF agent](https://wiki.eclipse.org/TCF) running on Q7S
 
@@ -88,7 +89,7 @@ When using Windows, run theses steps in MSYS2.
 1. Clone the repository with
 
    ```sh
-   git clone https://egit.irs.uni-stuttgart.de/eive/eive_obsw.git
+   git clone https://egit.irs.uni-stuttgart.de/eive/eive-obsw.git
    ```
 
 2. Update all the submodules
@@ -107,31 +108,97 @@ When using Windows, run theses steps in MSYS2.
    Add `-G "MinGW Makefiles` in MinGW64 on Windows.
 
    ```sh
-   mkdir build-Debug-Q7S && cd build-Debug-Q7S
+   mkdir cmake-build-debug-q7s && cd cmake-build-debug-q7s
    cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug ..
    cmake --build . -j
    ```
 
-   You can also use provided shell scripts to perform these commands
-
+   You can also use provided shell scripts to perform these commands.
    ```sh
-   cd cmake/scripts/Q7S
-   ./make_debug_cfg.sh
-   cd ../../..
+   cp scripts/q7s-env.sh ..
+   cp scripts/q7s-env-em.sh ..
    ```
 
-   This will invoke a Python script which in turn invokes CMake with the correct
-   arguments to configure CMake for Q7S cross-compilation.
+   Adapt these scripts for your needs by editing the `CROSS_COMPILE_BIN_PATH`
+   and `ZYNQ_7020_SYSROOT`. After that, you can run the following commands to set up
+   the FM build
+
+   ```sh
+   cd ..
+   ./q7s-env.sh
+   q7s-make-debug.sh
+   ```
+
+   You can build the EM setup by running
+
+   ```sh
+   export EIVE_Q7S_EM=1
+   ```
+
+   or by running the `q7s-env-em.sh` script instead before setting up the build
+   configuration.
+
+   The shell scripts will invoke a Python script which in turn invokes CMake with the correct
+   arguments to configure CMake for Q7S cross-compilation. You can look into the command
+   output to see which commands were run exactly.
    
    There are also different values for `-DTGT_BSP` to build for the Raspberry Pi
    or the Beagle Bone Black: `arm/raspberrypi` and `arm/beagleboneblack`.
-   
+
 5. Build the software with
+
    ```sh
-   cd build-Debug-Q7S
+   cd cmake-build-debug-q7s
    cmake --build . -j
    ```
 
+## Build for the Q7S target root filesystem with `yocto`
+
+The EIVE root filesystem will contain the EIVE OBSW and the Watchdog component.
+It is currently generated with `yocto`, but the tool can not compile the primary
+OBSW due to toolchain version incompatibility. Therefore, the OBSW components
+are currently compiled using the toolchain specified in this README (e.g. installed by Vivado).
+
+However, it is still possible to install the two components using yocto. A few helper files were
+provided to make this process easier. The following steps can be used to install the OBSW
+components and a version file to the yocto sources for the generation of the complete EIVE root
+file system image. The steps here are shown for Ubuntu, you can use the according Windows
+helper scripts as well.
+
+1. Copy the `q7s-env.sh` script to the same layer as the `eive-obsw`.
+   
+   ```sh
+   cp scripts/q7s-env.sh ..
+   cd ..
+   ./q7s-env.sh
+   q7s-make-release.sh
+   ```
+
+2. Compile the OBSW components in release mode
+
+   ```sh
+   cd cmake-build-release-q7s
+   cmake --build . -j
+   ```
+
+3. Make sure the [`q7s-yocto`](https://egit.irs.uni-stuttgart.de/eive/q7s-yocto)
+   repository or the [`q7s-package`](https://egit.irs.uni-stuttgart.de/eive/q7s-package.git)
+   repository and its `q7s-yocto` submodule were cloned in the same directory layer as
+   the `eive-obsw`.
+
+4. Run the install script to install the files into `q7s-yocto`.
+
+   ```sh
+   install-obsw-yocto.sh
+   ```
+
+5. Navigate into the `q7s-yocto` repo and review the changes. You can then add and push those
+   changes.
+
+6. You can now rebuild the root filesystem with the updated OBSW using `yocto`. This probably needs
+   to be done on another machine or in a VM. The [`q7s-yocto`](https://egit.irs.uni-stuttgart.de/eive/q7s-yocto)
+   repository contains details on how to best do this.
+
 ## Building in Xilinx SDK 2018.2
 
 1. Open Xilinx SDK 2018.2
@@ -167,7 +234,7 @@ The EIVE OBSW is the default target if no target is specified.
 **Debug**
 
 ```sh
-mkdir build-Debug-Q7S && cd build-Debug-Q7S
+mkdir cmake-build-debug-q7s && cd cmake-build-debug-q7s
 cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Debug ..
 cmake --build . -j
 ```
@@ -175,7 +242,7 @@ cmake --build . -j
 **Release**
 
 ```sh
-mkdir build-Release-Q7S && cd build-Release-Q7S
+mkdir cmake-build-release-q7s && cd cmake-build-release-q7s
 cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Release ..
 cmake --build . -j
 ```
@@ -190,7 +257,7 @@ You can also use the FSFW OSAL `host` to build on Windows or for generic OSes.
 Note: Currently this is not supported.
 
 ```sh
-mkdir build-Debug-Host && cd build-Debug-Host
+mkdir cmake-build-debug && cd cmake-build-debug
 cmake -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 cmake --build . -j
 ```
@@ -201,7 +268,7 @@ To build the unittests, the corresponding target must be specified in the build
 The configure steps do not need to be repeated if the folder has already been configured.
 
 ```sh
-mkdir build-Debug-Unittest && cd build-Debug-Unittest
+mkdir cmake-build-debug && cd cmake-build-debug
 cmake ..
 cmake --build . --target eive-unittests -j
 ```
@@ -307,7 +374,7 @@ If you are comiling for the Raspberry Pi, you have to set the `LINUX_ROOTFS` env
 variable instead. You can find a base root filesystem for the Raspberry Pi
 [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/rootfs).
 
-## <a id="vivado"></a> Installing Vivado the the Xilinx development tools
+## <a id="vivado"></a> Installing Vivado and the Xilinx development tools
 
 It's also possible to perform debugging with a normal Eclipse installation by installing 
 the TCF plugin and downloading the cross-compiler as specified in the section below. However,
@@ -323,9 +390,9 @@ installed Vivado with the SDK core tools.
 
 <img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/develop/doc/img/vivado-edition.png" width="50%"> <br>
 
-<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/mueller/master/doc/img/vivado-hl-design.png" width="50%"> <br>
+<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/develop/doc/img/vivado-hl-design.png" width="50%"> <br>
 
-<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/mueller/master/doc/img/xilinx-install.PNG" width="50%"> <br>
+<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/develop/doc/img/xilinx-install.PNG" width="50%"> <br>
 
 * For supported OS refer to https://www.xilinx.com/support/documentation/sw_manuals/xilinx2018_2/ug973-vivado-release-notes-install-license.pdf . 
   Installation was tested on Windows and Ubuntu 21.04.
@@ -642,35 +709,7 @@ Thus the replies are received with a larger delay compared to a direct TCP conne
 3. Make sure the netmask of the ehternet interface of the workstation matches the netmask of the Q7S
    * When IP address is set to 192.168.133.10 and the netmask is 255.255.255.0, an example IP address for the workstation
      is 192.168.133.2
-     
-4. Run tcf-agent on Q7S
-
-   * Tcf-agent is not yet integrated in the rootfs of the Q7S. Therefore build tcf-agent manually
-   
-    ```sh
-    git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git
-    cd org.eclipse.tcf.agent/agent
-    make CC=arm-linux-gnueabihf-gcc LD=arm-linux-gnueabihf-ld MACHINE=arm NO_SSL=1 NO_UUID=1
-    ```
-
-   * Transfer executable agent from org.eclipse.tcf.agent/agent/obj/GNU/Linux/arm/Debug to /tmp of Q7S
-   
-    ```sh
-    cd obj/GNU/Linux/arm/Debug
-    scp agent root@192.168.133.10:/tmp
-    ```
-
-   * On Q7S 
-    ```sh
-    cd /tmp
-    chmod +x agent
-    ```
-
-   * Run agent
-    ```sh
-    ./agent
-    ```
-
+4. Make sure th `tcf-agent` is running by checking `systemctl status tcf-agent`
 5. In Xilinx SDK 2018.2 right click on project &rarr; Debug As &rarr; Debug Configurations
 6. Right click Xilinx C/C++ applicaton (System Debugger) &rarr; New &rarr; 
 7. Set Debug Type to Linux Application Debug and Connectin to Linux Agent
@@ -680,8 +719,8 @@ Thus the replies are received with a larger delay compared to a direct TCP conne
 11. Test connection (This ensures the TCF Agent is running on the Q7S)
 12. Select Application tab
    * Project Name: eive_obsw
-   * Local File Path: Path to eiveobsw-linux.elf (in `_bin\linux\devel`)
-   * Remote File Path: `/tmp/eive_obsw.elf`
+   * Local File Path: Path to OBSW application image with debug symbols (non-stripped)
+   * Remote File Path: `/tmp/<OBSW NAME>`
 
 # <a id="file-transfer"></a> Transfering Files to the Q7S
 
@@ -707,7 +746,8 @@ From a windows machine files can be copied with putty tools (note: use IPv4 addr
 pscp -scp -P 22 eive@192.168.199.227:</directory-to-example-file/>/example-file </windows-machine-path/>
 ````
 
-More detailed information about the used q7s commands can be found in the Q7S user manual.
+A helper script named `q7s-cp.py` can be used together with the `q7s-port.sh`
+script to make this process easier.
 
 # <a id="q7s"></a> Q7S OBC
 
@@ -1087,16 +1127,28 @@ Eclipse indexer.
 
 The [TCF agent](https://wiki.eclipse.org/TCF) can be used to perform remote debugging on the Q7S.
 
-1. Install the TCF agent plugin in Eclipse from
+1. Copy the `.cproject` file and the `.project` file inside the `misc/eclipse` folder into the
+   repo root
+
+   ```sh
+   cd eive-obsw
+   cp misc/eclipse/.cproject .
+   cp misc/eclipse/.project .
+   ```
+
+2. Open the repo in Eclipse as a folder.
+
+3. Install the TCF agent plugin in Eclipse from
    the [releases](https://www.eclipse.org/tcf/downloads.php). Go to
    Help &rarr; Install New Software and use the download page, for
-   example https://download.eclipse.org/tools/tcf/releases/1.7/1.7.0/ to search for the plugin and install it. You can find the newest version [here](https://www.eclipse.org/tcf/downloads.php)
+   example https://download.eclipse.org/tools/tcf/releases/1.7/1.7.0/ to search for the plugin and
+   install it. You can find the newest version [here](https://www.eclipse.org/tcf/downloads.php)
 
-2. Go to Window &rarr; Perspective &rarr; Open Perspective and open the **Target Explorer Perspective**. 
+4. Go to Window &rarr; Perspective &rarr; Open Perspective and open the **Target Explorer Perspective**. 
    Here, the Q7S should show up if the local port forwarding was set up as explained previously.
    Please note that you have to connect to `localhost` and port `1534` with port forwaring set up.
    
-3. A launch configuration was provided, but it might be necessary to adapt it for your own needs.
+5. A launch configuration was provided, but it might be necessary to adapt it for your own needs.
    Alternatively:
 
  - Create a new **TCF Remote Application** by pressing the cogs button at the top or going to
@@ -1185,7 +1237,7 @@ in the same way.
 
 * the formatting is based on the clang-format tools
 
-## Setting up eclipse auto-fromatter with clang-format
+## Setting up auto-formatter with clang-format in Xilinx SDK
 
 1. Help &rarr; Install New Software &rarr; Add
 2. In location insert the link http://www.cppstyle.com/luna
@@ -1195,3 +1247,11 @@ in the same way.
 6. Insert the path to the clang-format executable
 7. Under C/C++ &rarr; Code Style &rarr; Formatter, change the formatter to CppStyle (clang-format)
 8. Code can now be formatted with the clang tool by using the key combination Ctrl + Shift + f
+
+## Setting up auto-fromatter with clang-format in eclipse
+1. Help &rarr; Eclipse market place &rarr; Search for "Cppstyle" and install
+2. On windows download the clang-formatting tools from https://llvm.org/builds/. On linux clang-format can be installed with the package manager.
+3. Navigate to Preferences &rarr; C/C++ &rarr; CppStyle 
+4. Insert the path to the clang-format executable
+5. Under C/C++ &rarr; Code Style &rarr; Formatter, change the formatter to CppStyle (clang-format)
+6. Code can now be formatted with the clang tool by using the key combination Ctrl + Shift + f
diff --git a/automation/Dockerfile b/automation/Dockerfile
index 32d7240f..73275ffb 100644
--- a/automation/Dockerfile
+++ b/automation/Dockerfile
@@ -4,17 +4,24 @@ RUN apt-get update
 RUN apt-get --yes upgrade
 #tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl git gcc g++ lcov valgrind libgps-dev
+RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl git gcc g++ lcov valgrind libgps-dev python3
 
-# Q7S root filesystem, required for cross-compilation.
-RUN mkdir -p /usr/rootfs; \
-curl https://buggy.irs.uni-stuttgart.de/eive/tools/eive-compile-rootfs-v0.1.0-7-gae69838.tar.xz \
-    | tar -xJ -C /usr/rootfs
+ARG XIPHOS_SDK_NAME=sdk-xiphos-eive-v0.2.0
+# Install Xiphos ARK SDK, which also installs Q7S root filesystem, required for cross-compilation.
+RUN curl https://buggy.irs.uni-stuttgart.de/eive/tools/${XIPHOS_SDK_NAME}.tar | tar -x && \
+    cd ${XIPHOS_SDK_NAME} && \
+    ./ark-glibc-x86_64-eive-image-cortexa9hf-neon-toolchain-nodistro.0.sh -y
 
 # Cross compiler
 RUN mkdir -p /usr/tools; \
 curl https://buggy.irs.uni-stuttgart.de/eive/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.gz \
     | tar -xz -C /usr/tools
 
-ENV ZYNQ_7020_SYSROOT="/usr/rootfs/eive-compile-rootfs"
+RUN git clone https://github.com/catchorg/Catch2.git && \
+    cd Catch2 && \
+    git checkout v3.0.0-preview5 && \
+    cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
+    cmake --build build/ --target install
+
+ENV ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"
 ENV PATH=$PATH:"/usr/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
diff --git a/automation/Jenkinsfile b/automation/Jenkinsfile
index f8b180a1..6504bd1d 100644
--- a/automation/Jenkinsfile
+++ b/automation/Jenkinsfile
@@ -5,7 +5,7 @@ pipeline {
     }
     agent {
         docker {
-            image 'eive-obsw-ci:d4'
+            image 'eive-obsw-ci:d5'
             args '--sysctl fs.mqueue.msg_max=100'
         }
     }
@@ -24,11 +24,11 @@ pipeline {
                 }
             }
         }
-        stage('Unittests') {
+        stage('Build Host and Tests') {
             steps {
                 dir(BUILDDIR_LINUX) {
                     sh 'cmake ..'
-                    sh 'cmake --build . -t eive-unittest -j4'
+                    sh 'cmake --build . -j4'
                     sh './eive-unittest'
                 }
             }
diff --git a/bsp_egse/CMakeLists.txt b/bsp_egse/CMakeLists.txt
index cb02f937..d104354f 100644
--- a/bsp_egse/CMakeLists.txt
+++ b/bsp_egse/CMakeLists.txt
@@ -1,7 +1,3 @@
-target_sources(${OBSW_NAME} PUBLIC
-	InitMission.cpp
-	main.cpp
-	ObjectFactory.cpp
-)
+target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp ObjectFactory.cpp)
 
 add_subdirectory(boardconfig)
diff --git a/bsp_egse/boardconfig/CMakeLists.txt b/bsp_egse/boardconfig/CMakeLists.txt
index f9136e3e..f08670d6 100644
--- a/bsp_egse/boardconfig/CMakeLists.txt
+++ b/bsp_egse/boardconfig/CMakeLists.txt
@@ -1,7 +1,3 @@
-target_sources(${OBSW_NAME} PRIVATE
-	print.c
-)
+target_sources(${OBSW_NAME} PRIVATE print.c)
 
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/bsp_hosted/CMakeLists.txt b/bsp_hosted/CMakeLists.txt
index 88710bd1..79383a2e 100644
--- a/bsp_hosted/CMakeLists.txt
+++ b/bsp_hosted/CMakeLists.txt
@@ -1,9 +1,5 @@
-target_sources(${OBSW_NAME} PUBLIC
-	InitMission.cpp
-	main.cpp
-	ObjectFactory.cpp
-	GlobalConfigHandler.cpp
-)
+target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp ObjectFactory.cpp)
+
 
 add_subdirectory(fsfwconfig)
 add_subdirectory(boardconfig)
diff --git a/bsp_hosted/InitMission.cpp b/bsp_hosted/InitMission.cpp
index b1463967..0d40cbd7 100644
--- a/bsp_hosted/InitMission.cpp
+++ b/bsp_hosted/InitMission.cpp
@@ -131,6 +131,7 @@ void initmission::initTasks() {
 
   PeriodicTaskIF* testTask = factory->createPeriodicTask(
       "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  static_cast<void>(testTask);
 #if OBSW_ADD_TEST_CODE == 1
   result = testTask->addComponent(objects::TEST_TASK);
   if (result != HasReturnvaluesIF::RETURN_OK) {
diff --git a/bsp_hosted/OBSWConfig.h.in b/bsp_hosted/OBSWConfig.h.in
new file mode 100644
index 00000000..9c7a3f03
--- /dev/null
+++ b/bsp_hosted/OBSWConfig.h.in
@@ -0,0 +1,122 @@
+/**
+ * @brief   This file can be used to add preprocessor define for conditional
+ *          code inclusion exclusion or various other project constants and
+ *          properties in one place.
+ */
+#ifndef FSFWCONFIG_OBSWCONFIG_H_
+#define FSFWCONFIG_OBSWCONFIG_H_
+
+#include "commonConfig.h"
+#include "OBSWVersion.h"
+    
+/*******************************************************************/
+/** All of the following flags should be enabled for mission code  */
+/*******************************************************************/
+
+#define OBSW_ENABLE_TIMERS                          1
+#define OBSW_ADD_STAR_TRACKER                       0
+#define OBSW_ADD_PLOC_SUPERVISOR                    0
+#define OBSW_ADD_PLOC_MPSOC                         0
+#define OBSW_ADD_SUN_SENSORS                        0
+#define OBSW_ADD_MGT                                0
+#define OBSW_ADD_ACS_BOARD                          0
+#define OBSW_ADD_ACS_HANDLERS                       0
+#define OBSW_ADD_GPS_0                              0
+#define OBSW_ADD_GPS_1                              0
+#define OBSW_ADD_RW                                 0
+#define OBSW_ADD_BPX_BATTERY_HANDLER                0
+#define OBSW_ADD_RTD_DEVICES                        0
+#define OBSW_ADD_PL_PCDU                            0
+#define OBSW_ADD_TMP_DEVICES                        0
+#define OBSW_ADD_RAD_SENSORS                        0
+#define OBSW_ADD_SYRLINKS                           0
+#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
+
+// This is a really tricky switch.. It initializes the PCDU switches to their default states
+// at powerup. I think it would be better
+// to leave it off for now. It makes testing a lot more difficult and it might mess with
+// something the operators might want to do by giving the software too much intelligence
+// at the wrong place. The system component might command all the Switches accordingly anyway
+#define OBSW_INITIALIZE_SWITCHES                    0
+#define OBSW_ENABLE_PERIODIC_HK                     0
+
+/*******************************************************************/
+/** All of the following flags should be disabled for mission code */
+/*******************************************************************/
+
+// Can be used to switch device to NORMAL mode immediately
+#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
+#define OBSW_PRINT_MISSED_DEADLINES                 1
+
+#define OBSW_SYRLINKS_SIMULATED                     1
+#define OBSW_ADD_TEST_CODE                          0
+#define OBSW_ADD_TEST_TASK                          0
+#define OBSW_ADD_TEST_PST                           0
+// If this is enabled, all other SPI code should be disabled
+#define OBSW_ADD_SPI_TEST_CODE                      0
+// If this is enabled, all other I2C code should be disabled
+#define OBSW_ADD_I2C_TEST_CODE                      0
+#define OBSW_ADD_UART_TEST_CODE                     0
+
+#define OBSW_TEST_ACS                               0
+#define OBSW_DEBUG_ACS                              0
+#define OBSW_TEST_SUS                               0
+#define OBSW_DEBUG_SUS                              0
+#define OBSW_TEST_RTD                               0
+#define OBSW_DEBUG_RTD                              0
+#define OBSW_TEST_RAD_SENSOR                        0
+#define OBSW_DEBUG_RAD_SENSOR                       0
+#define OBSW_TEST_PL_PCDU                           0
+#define OBSW_DEBUG_PL_PCDU                          0
+#define OBSW_TEST_BPX_BATT                          0
+#define OBSW_DEBUG_BPX_BATT                         0
+#define OBSW_TEST_IMTQ                              0
+#define OBSW_DEBUG_IMTQ                             0
+#define OBSW_TEST_RW                                0
+#define OBSW_DEBUG_RW                               0
+
+#define OBSW_TEST_LIBGPIOD                          0
+#define OBSW_TEST_PLOC_HANDLER                      0
+#define OBSW_TEST_CCSDS_BRIDGE                      0
+#define OBSW_TEST_CCSDS_PTME                        0
+#define OBSW_TEST_TE7020_HEATER                     0
+#define OBSW_TEST_GPIO_OPEN_BY_LABEL                0
+#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME            0
+#define OBSW_DEBUG_P60DOCK                          0
+
+#define OBSW_PRINT_CORE_HK                          0
+#define OBSW_DEBUG_PDU1                             0
+#define OBSW_DEBUG_PDU2                             0
+#define OBSW_DEBUG_GPS                              0
+#define OBSW_DEBUG_ACU                              0
+#define OBSW_DEBUG_SYRLINKS                         0
+
+#define OBSW_DEBUG_PDEC_HANDLER                     0
+#define OBSW_DEBUG_PLOC_SUPERVISOR                  0
+#define OBSW_DEBUG_PLOC_MPSOC                       0
+#define OBSW_DEBUG_STARTRACKER                      0
+#define OBSW_TCP_SERVER_WIRETAPPING                 0
+
+/*******************************************************************/
+/** CMake Defines                                                  */
+/*******************************************************************/
+#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
+
+#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
+#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
+
+#ifdef RASPBERRY_PI
+#include "rpiConfig.h"
+#elif defined(XIPHOS_Q7S)
+#include "q7sConfig.h"
+#endif
+
+#ifdef __cplusplus
+
+#include "objects/systemObjectList.h"
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
+#endif
+
+#endif /* FSFWCONFIG_OBSWCONFIG_H_ */
diff --git a/bsp_hosted/ObjectFactory.cpp b/bsp_hosted/ObjectFactory.cpp
index 91fbb509..ec668cd6 100644
--- a/bsp_hosted/ObjectFactory.cpp
+++ b/bsp_hosted/ObjectFactory.cpp
@@ -9,6 +9,7 @@
 #include <tmtc/pusIds.h>
 
 #include "OBSWConfig.h"
+#include "fsfw_tests/integration/task/TestTask.h"
 
 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
 #include "fsfw/osal/common/UdpTcPollingTask.h"
@@ -24,7 +25,7 @@
 #include <test/testtasks/TestTask.h>
 #endif
 
-#include "GlobalConfigHandler.h"
+#include <mission/utility/GlobalConfigHandler.h>
 
 void Factory::setStaticFrameworkObjectIds() {
   PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
diff --git a/bsp_hosted/boardconfig/CMakeLists.txt b/bsp_hosted/boardconfig/CMakeLists.txt
index 81c8c93d..f08670d6 100644
--- a/bsp_hosted/boardconfig/CMakeLists.txt
+++ b/bsp_hosted/boardconfig/CMakeLists.txt
@@ -1,10 +1,3 @@
-target_sources(${OBSW_NAME} PRIVATE
-	print.c
-)
-
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-
+target_sources(${OBSW_NAME} PRIVATE print.c)
 
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/bsp_hosted/bsp_hosted.mk b/bsp_hosted/bsp_hosted.mk
deleted file mode 100644
index 9595ffbf..00000000
--- a/bsp_hosted/bsp_hosted.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-# add main and others
-CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
-CSRC += $(wildcard $(CURRENTPATH)/*.c)
-
-CSRC += $(wildcard $(CURRENTPATH)/boardconfig/*.c)
-
-CXXSRC += $(wildcard $(CURRENTPATH)/comIF/*.cpp)
-CSRC += $(wildcard $(CURRENTPATH)/comIF/*.c)
-
-INCLUDES += $(CURRENTPATH)/boardconfig
-INCLUDES += $(CURRENTPATH)/fsfwconfig
\ No newline at end of file
diff --git a/bsp_hosted/comIF/CMakeLists.txt b/bsp_hosted/comIF/CMakeLists.txt
index eb416f75..9301d6b0 100644
--- a/bsp_hosted/comIF/CMakeLists.txt
+++ b/bsp_hosted/comIF/CMakeLists.txt
@@ -1,8 +1 @@
-target_sources(${TARGET_NAME} PUBLIC
-	ArduinoComIF.cpp
-	ArduinoCookie.cpp
-)
-
-
-
-
+target_sources(${TARGET_NAME} PUBLIC ArduinoComIF.cpp ArduinoCookie.cpp)
diff --git a/bsp_hosted/fsfwconfig/CMakeLists.txt b/bsp_hosted/fsfwconfig/CMakeLists.txt
index 4a483eb7..d5b5e7e5 100644
--- a/bsp_hosted/fsfwconfig/CMakeLists.txt
+++ b/bsp_hosted/fsfwconfig/CMakeLists.txt
@@ -1,27 +1,15 @@
-target_sources(${OBSW_NAME} PRIVATE
-	ipc/MissionMessageTypes.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE ipc/MissionMessageTypes.cpp)
 
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 # If a special translation file for object IDs exists, compile it.
 if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
-    target_sources(${OBSW_NAME} PRIVATE
-        objects/translateObjects.cpp
-    )
-    target_sources(${UNITTEST_NAME} PRIVATE
-        objects/translateObjects.cpp
-    )
+  target_sources(${OBSW_NAME} PRIVATE objects/translateObjects.cpp)
+  target_sources(${UNITTEST_NAME} PRIVATE objects/translateObjects.cpp)
 endif()
 
 # If a special translation file for events exists, compile it.
 if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
-    target_sources(${OBSW_NAME} PRIVATE
-        events/translateEvents.cpp
-    )
-    target_sources(${UNITTEST_NAME} PRIVATE
-        events/translateEvents.cpp
-    )
+  target_sources(${OBSW_NAME} PRIVATE events/translateEvents.cpp)
+  target_sources(${UNITTEST_NAME} PRIVATE events/translateEvents.cpp)
 endif()
diff --git a/bsp_hosted/fsfwconfig/tmtc/apid.h b/bsp_hosted/fsfwconfig/tmtc/apid.h
deleted file mode 100644
index 9d5c9ed5..00000000
--- a/bsp_hosted/fsfwconfig/tmtc/apid.h
+++ /dev/null
@@ -1,18 +0,0 @@
-#ifndef FSFWCONFIG_TMTC_APID_H_
-#define FSFWCONFIG_TMTC_APID_H_
-
-#include <stdint.h>
-
-/**
- * Application Process Definition: entity, uniquely identified by an
- * application process ID (APID), capable of generating telemetry source
- * packets and receiving telecommand packets
- *
- * SOURCE APID: 0x73 / 115 / s
- * APID is a 11 bit number
- */
-namespace apid {
-static const uint16_t EIVE_OBSW = 0x65;
-}
-
-#endif /* FSFWCONFIG_TMTC_APID_H_ */
diff --git a/bsp_hosted/fsfwconfig/tmtc/pusIds.h b/bsp_hosted/fsfwconfig/tmtc/pusIds.h
deleted file mode 100644
index 37503786..00000000
--- a/bsp_hosted/fsfwconfig/tmtc/pusIds.h
+++ /dev/null
@@ -1,23 +0,0 @@
-#ifndef CONFIG_TMTC_PUSIDS_HPP_
-#define CONFIG_TMTC_PUSIDS_HPP_
-
-namespace pus {
-enum Ids {
-  PUS_SERVICE_1 = 1,
-  PUS_SERVICE_2 = 2,
-  PUS_SERVICE_3 = 3,
-  PUS_SERVICE_3_PSB = 3,
-  PUS_SERVICE_5 = 5,
-  PUS_SERVICE_6 = 6,
-  PUS_SERVICE_8 = 8,
-  PUS_SERVICE_9 = 9,
-  PUS_SERVICE_17 = 17,
-  PUS_SERVICE_19 = 19,
-  PUS_SERVICE_20 = 20,
-  PUS_SERVICE_23 = 23,
-  PUS_SERVICE_200 = 200,
-  PUS_SERVICE_201 = 201,
-};
-};
-
-#endif /* CONFIG_TMTC_PUSIDS_HPP_ */
diff --git a/bsp_hosted/main.cpp b/bsp_hosted/main.cpp
index cdf1bdb4..00612c4a 100644
--- a/bsp_hosted/main.cpp
+++ b/bsp_hosted/main.cpp
@@ -20,7 +20,7 @@ int main(void) {
   std::cout << "-- EIVE OBSW --" << std::endl;
   std::cout << "-- Compiled for " << COMPILE_PRINTOUT << " --" << std::endl;
   std::cout << "-- OBSW "
-            << " v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
+            << "v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
             << std::endl;
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
   std::cout << "-- " <<" BSP HOSTED"<< " --" << std::endl;
diff --git a/bsp_linux_board/CMakeLists.txt b/bsp_linux_board/CMakeLists.txt
index 9884b983..24e81b42 100644
--- a/bsp_linux_board/CMakeLists.txt
+++ b/bsp_linux_board/CMakeLists.txt
@@ -1,9 +1,5 @@
-target_sources(${OBSW_NAME} PUBLIC
-	InitMission.cpp
-	main.cpp
-	gpioInit.cpp
-	ObjectFactory.cpp
-)
+target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp gpioInit.cpp
+                                   ObjectFactory.cpp)
 
 add_subdirectory(boardconfig)
 add_subdirectory(boardtest)
diff --git a/bsp_linux_board/InitMission.h b/bsp_linux_board/InitMission.h
index f14135dd..6e38fc94 100644
--- a/bsp_linux_board/InitMission.h
+++ b/bsp_linux_board/InitMission.h
@@ -3,7 +3,7 @@
 
 #include <vector>
 
-#include "fsfw/tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 
 class PeriodicTaskIF;
 class TaskFactory;
diff --git a/bsp_linux_board/OBSWConfig.h.in b/bsp_linux_board/OBSWConfig.h.in
new file mode 100644
index 00000000..d8a981bd
--- /dev/null
+++ b/bsp_linux_board/OBSWConfig.h.in
@@ -0,0 +1,122 @@
+/**
+ * @brief   This file can be used to add preprocessor define for conditional
+ *          code inclusion exclusion or various other project constants and
+ *          properties in one place.
+ */
+#ifndef FSFWCONFIG_OBSWCONFIG_H_
+#define FSFWCONFIG_OBSWCONFIG_H_
+
+#include "commonConfig.h"
+#include "OBSWVersion.h"
+     
+/*******************************************************************/
+/** All of the following flags should be enabled for mission code  */
+/*******************************************************************/
+
+#define OBSW_ENABLE_TIMERS                          1
+#define OBSW_ADD_STAR_TRACKER                       0
+#define OBSW_ADD_PLOC_SUPERVISOR                    0
+#define OBSW_ADD_PLOC_MPSOC                         0
+#define OBSW_ADD_SUN_SENSORS                        0
+#define OBSW_ADD_MGT                                0
+#define OBSW_ADD_ACS_BOARD                          0
+#define OBSW_ADD_ACS_HANDLERS                       0
+#define OBSW_ADD_GPS_0                              0
+#define OBSW_ADD_GPS_1                              0
+#define OBSW_ADD_RW                                 0
+#define OBSW_ADD_BPX_BATTERY_HANDLER                0
+#define OBSW_ADD_RTD_DEVICES                        0
+#define OBSW_ADD_PL_PCDU                            0
+#define OBSW_ADD_TMP_DEVICES                        0
+#define OBSW_ADD_RAD_SENSORS                        0
+#define OBSW_ADD_SYRLINKS                           0
+#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
+
+// This is a really tricky switch.. It initializes the PCDU switches to their default states
+// at powerup. I think it would be better
+// to leave it off for now. It makes testing a lot more difficult and it might mess with
+// something the operators might want to do by giving the software too much intelligence
+// at the wrong place. The system component might command all the Switches accordingly anyway
+#define OBSW_INITIALIZE_SWITCHES                    0
+#define OBSW_ENABLE_PERIODIC_HK                     0
+
+/*******************************************************************/
+/** All of the following flags should be disabled for mission code */
+/*******************************************************************/
+
+// Can be used to switch device to NORMAL mode immediately
+#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
+#define OBSW_PRINT_MISSED_DEADLINES                 1
+
+#define OBSW_SYRLINKS_SIMULATED                     1
+#define OBSW_ADD_TEST_CODE                          0
+#define OBSW_ADD_TEST_TASK                          0
+#define OBSW_ADD_TEST_PST                           0
+// If this is enabled, all other SPI code should be disabled
+#define OBSW_ADD_SPI_TEST_CODE                      0
+// If this is enabled, all other I2C code should be disabled
+#define OBSW_ADD_I2C_TEST_CODE                      0
+#define OBSW_ADD_UART_TEST_CODE                     0
+
+#define OBSW_TEST_ACS                               0
+#define OBSW_DEBUG_ACS                              0
+#define OBSW_TEST_SUS                               0
+#define OBSW_DEBUG_SUS                              0
+#define OBSW_TEST_RTD                               0
+#define OBSW_DEBUG_RTD                              0
+#define OBSW_TEST_RAD_SENSOR                        0
+#define OBSW_DEBUG_RAD_SENSOR                       0
+#define OBSW_TEST_PL_PCDU                           0
+#define OBSW_DEBUG_PL_PCDU                          0
+#define OBSW_TEST_BPX_BATT                          0
+#define OBSW_DEBUG_BPX_BATT                         0
+#define OBSW_TEST_IMTQ                              0
+#define OBSW_DEBUG_IMTQ                             0
+#define OBSW_TEST_RW                                0
+#define OBSW_DEBUG_RW                               0
+
+#define OBSW_TEST_LIBGPIOD                          0
+#define OBSW_TEST_PLOC_HANDLER                      0
+#define OBSW_TEST_CCSDS_BRIDGE                      0
+#define OBSW_TEST_CCSDS_PTME                        0
+#define OBSW_TEST_TE7020_HEATER                     0
+#define OBSW_TEST_GPIO_OPEN_BY_LABEL                0
+#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME            0
+#define OBSW_DEBUG_P60DOCK                          0
+
+#define OBSW_PRINT_CORE_HK                          0
+#define OBSW_DEBUG_PDU1                             0
+#define OBSW_DEBUG_PDU2                             0
+#define OBSW_DEBUG_GPS                              0
+#define OBSW_DEBUG_ACU                              0
+#define OBSW_DEBUG_SYRLINKS                         0
+
+#define OBSW_DEBUG_PDEC_HANDLER                     0
+#define OBSW_DEBUG_PLOC_SUPERVISOR                  0
+#define OBSW_DEBUG_PLOC_MPSOC                       0
+#define OBSW_DEBUG_STARTRACKER                      0
+#define OBSW_TCP_SERVER_WIRETAPPING                 0
+
+/*******************************************************************/
+/** CMake Defines                                                  */
+/*******************************************************************/
+#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
+
+#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
+#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
+
+#ifdef RASPBERRY_PI
+#include "rpiConfig.h"
+#elif defined(XIPHOS_Q7S)
+#include "q7sConfig.h"
+#endif
+
+#ifdef __cplusplus
+
+#include "objects/systemObjectList.h"
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
+#endif
+
+#endif /* FSFWCONFIG_OBSWCONFIG_H_ */
diff --git a/bsp_linux_board/ObjectFactory.cpp b/bsp_linux_board/ObjectFactory.cpp
index b1ae6005..47f80936 100644
--- a/bsp_linux_board/ObjectFactory.cpp
+++ b/bsp_linux_board/ObjectFactory.cpp
@@ -67,7 +67,7 @@ void ObjectFactory::produce(void* args) {
   GpioCookie* gpioCookie = nullptr;
   static_cast<void>(gpioCookie);
 
-  SpiComIF* spiComIF = new SpiComIF(objects::SPI_COM_IF, gpioIF);
+  SpiComIF* spiComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, spi::DEV, gpioIF);
   static_cast<void>(spiComIF);
   auto pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
   static_cast<void>(pwrSwitcher);
@@ -116,75 +116,74 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
                             gpio::Direction::OUT, gpio::Levels::HIGH);
   gpioIF->addGpios(gpioCookie);
   SpiCookie* spiCookie =
-      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
-                    MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
   auto mgmLis3Handler =
-      new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
+      new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
   mgmLis3Handler->setStartUpImmediately();
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+#if OBSW_TEST_ACS == 1
   mgmLis3Handler->setToGoToNormalMode(true);
 #endif
 
   spiCookie =
-      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
-                    RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
   auto mgmRm3100Handler =
-      new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
+      new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
   mgmRm3100Handler->setStartUpImmediately();
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+#if OBSW_TEST_ACS == 1
   mgmRm3100Handler->setToGoToNormalMode(true);
 #endif
 
   spiCookie =
-      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
-                    MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
   mgmLis3Handler =
-      new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
+      new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
   mgmLis3Handler->setStartUpImmediately();
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+#if OBSW_TEST_ACS == 1
   mgmLis3Handler->setToGoToNormalMode(true);
 #endif
 
   spiCookie =
-      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
-                    RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
   mgmRm3100Handler =
-      new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
+      new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
   mgmRm3100Handler->setStartUpImmediately();
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+#if OBSW_TEST_ACS == 1
   mgmRm3100Handler->setToGoToNormalMode(true);
 #endif
 
   spiCookie =
-      new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
-                    ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
-                                              spiCookie, ADIS1650X::Type::ADIS16505);
-  adisHandler->setStartUpImmediately();
-  spiCookie =
-      new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
+      new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
                     spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  auto adisHandler =
+      new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+                               ADIS1650X::Type::ADIS16505);
+  adisHandler->setStartUpImmediately();
+  spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
+                            spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
   auto gyroL3gHandler =
-      new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
+      new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
   gyroL3gHandler->setStartUpImmediately();
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+#if OBSW_TEST_ACS == 1
   gyroL3gHandler->setToGoToNormalMode(true);
 #endif
 
   spiCookie =
-      new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
-                    ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
+      new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
+                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_MAIN_COM_IF,
                                          spiCookie, ADIS1650X::Type::ADIS16505);
   adisHandler->setStartUpImmediately();
 
-  spiCookie =
-      new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
-                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
+                            spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
   gyroL3gHandler =
-      new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
+      new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
   gyroL3gHandler->setStartUpImmediately();
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+#if OBSW_TEST_ACS == 1
   gyroL3gHandler->setToGoToNormalMode(true);
 #endif
 }
diff --git a/bsp_linux_board/boardconfig/CMakeLists.txt b/bsp_linux_board/boardconfig/CMakeLists.txt
index f9136e3e..f08670d6 100644
--- a/bsp_linux_board/boardconfig/CMakeLists.txt
+++ b/bsp_linux_board/boardconfig/CMakeLists.txt
@@ -1,7 +1,3 @@
-target_sources(${OBSW_NAME} PRIVATE
-	print.c
-)
+target_sources(${OBSW_NAME} PRIVATE print.c)
 
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/bsp_linux_board/boardtest/CMakeLists.txt b/bsp_linux_board/boardtest/CMakeLists.txt
index fe4910f2..431972e8 100644
--- a/bsp_linux_board/boardtest/CMakeLists.txt
+++ b/bsp_linux_board/boardtest/CMakeLists.txt
@@ -1,6 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
-)
-
-
-
-
+target_sources(${OBSW_NAME} PRIVATE)
diff --git a/bsp_q7s/CMakeLists.txt b/bsp_q7s/CMakeLists.txt
index 459ead8a..f6dbf590 100644
--- a/bsp_q7s/CMakeLists.txt
+++ b/bsp_q7s/CMakeLists.txt
@@ -1,25 +1,26 @@
-#simple mode
+# simple mode
 add_executable(${SIMPLE_OBSW_NAME} EXCLUDE_FROM_ALL)
 target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
-target_sources(${SIMPLE_OBSW_NAME} PUBLIC
-	main.cpp
-)
-#I think this is unintentional? (produces linker errors for stuff in /linux)
-target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC
-    ${LIB_FSFW_NAME}
-)
+target_sources(${SIMPLE_OBSW_NAME} PUBLIC main.cpp)
+# I think this is unintentional? (produces linker errors for stuff in /linux)
+target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC ${LIB_FSFW_NAME})
 target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
 add_subdirectory(simple)
 
-target_sources(${OBSW_NAME} PUBLIC
-	main.cpp
-)
+target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp)
 
 add_subdirectory(boardtest)
 
 add_subdirectory(boardconfig)
 add_subdirectory(comIF)
 add_subdirectory(core)
+
+if(EIVE_Q7S_EM)
+  add_subdirectory(em)
+else()
+  target_sources(${OBSW_NAME} PUBLIC fmObjectFactory.cpp)
+endif()
+
 add_subdirectory(memory)
 add_subdirectory(callbacks)
 add_subdirectory(xadc)
diff --git a/bsp_q7s/OBSWConfig.h.in b/bsp_q7s/OBSWConfig.h.in
new file mode 100644
index 00000000..ed321f8c
--- /dev/null
+++ b/bsp_q7s/OBSWConfig.h.in
@@ -0,0 +1,127 @@
+/**
+ * @brief   This file can be used to add preprocessor define for conditional
+ *          code inclusion exclusion or various other project constants and
+ *          properties in one place.
+ */
+#ifndef FSFWCONFIG_OBSWCONFIG_H_
+#define FSFWCONFIG_OBSWCONFIG_H_
+
+#include "commonConfig.h"
+#include "q7sConfig.h"
+#include "OBSWVersion.h"
+
+/*******************************************************************/
+/** All of the following flags should be enabled for mission code  */
+/*******************************************************************/
+
+#define OBSW_USE_CCSDS_IP_CORE                      1
+// Set to 1 if all telemetry should be sent to the PTME IP Core
+#define OBSW_TM_TO_PTME                             0
+// Set to 1 if telecommands are received via the PDEC IP Core
+#define OBSW_TC_FROM_PDEC                           0
+
+#define OBSW_ENABLE_TIMERS                          1
+#define OBSW_ADD_GOMSPACE_PCDU                      @OBSW_ADD_GOMSPACE_PCDU@
+#define OBSW_ADD_MGT                                @OBSW_ADD_MGT@
+#define OBSW_ADD_BPX_BATTERY_HANDLER                @OBSW_ADD_BPX_BATTERY_HANDLER@
+#define OBSW_ADD_STAR_TRACKER                       @OBSW_ADD_STAR_TRACKER@
+#define OBSW_ADD_PLOC_SUPERVISOR                    1
+#define OBSW_ADD_PLOC_MPSOC                         1
+#define OBSW_ADD_SUN_SENSORS                        @OBSW_ADD_SUN_SENSORS@
+#define OBSW_ADD_SUS_BOARD_ASS                      @OBSW_ADD_SUS_BOARD_ASS@
+#define OBSW_ADD_ACS_BOARD                          @OBSW_ADD_ACS_BOARD@
+#define OBSW_ADD_ACS_HANDLERS                       @OBSW_ADD_ACS_HANDLERS@
+#define OBSW_ADD_RW                                 @OBSW_ADD_RW@
+#define OBSW_ADD_RTD_DEVICES                        @OBSW_ADD_RTD_DEVICES@
+#define OBSW_ADD_TMP_DEVICES                        @OBSW_ADD_TMP_DEVICES@
+#define OBSW_ADD_RAD_SENSORS                        @OBSW_ADD_RAD_SENSORS@
+#define OBSW_ADD_PL_PCDU                            @OBSW_ADD_PL_PCDU@
+#define OBSW_ADD_SYRLINKS                           @OBSW_ADD_SYRLINKS@
+#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
+#define OBSW_MPSOC_JTAG_BOOT                        0
+
+// This is a really tricky switch.. It initializes the PCDU switches to their default states
+// at powerup. I think it would be better
+// to leave it off for now. It makes testing a lot more difficult and it might mess with
+// something the operators might want to do by giving the software too much intelligence
+// at the wrong place. The system component might command all the Switches accordingly anyway
+#define OBSW_INITIALIZE_SWITCHES                    0
+#define OBSW_ENABLE_PERIODIC_HK                     0
+
+/*******************************************************************/
+/** All of the following flags should be disabled for mission code */
+/*******************************************************************/
+
+// Can be used to switch device to NORMAL mode immediately
+#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
+#define OBSW_PRINT_MISSED_DEADLINES                 1
+
+#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
+#define OBSW_SYRLINKS_SIMULATED                     1
+#define OBSW_ADD_TEST_CODE                          0
+#define OBSW_ADD_TEST_TASK                          0
+#define OBSW_ADD_TEST_PST                           0
+// If this is enabled, all other SPI code should be disabled
+#define OBSW_ADD_SPI_TEST_CODE                      0
+// If this is enabled, all other I2C code should be disabled
+#define OBSW_ADD_I2C_TEST_CODE                      0
+#define OBSW_ADD_UART_TEST_CODE                     0
+
+#define OBSW_TEST_ACS                               0
+#define OBSW_DEBUG_ACS                              0
+#define OBSW_TEST_SUS                               0
+#define OBSW_DEBUG_SUS                              0
+#define OBSW_TEST_RTD                               0
+#define OBSW_DEBUG_RTD                              0
+#define OBSW_TEST_RAD_SENSOR                        0
+#define OBSW_DEBUG_RAD_SENSOR                       0
+#define OBSW_TEST_PL_PCDU                           0
+#define OBSW_DEBUG_PL_PCDU                          0
+#define OBSW_TEST_BPX_BATT                          0
+#define OBSW_DEBUG_BPX_BATT                         0
+#define OBSW_TEST_IMTQ                              0
+#define OBSW_DEBUG_IMTQ                             0
+#define OBSW_TEST_RW                                0
+#define OBSW_DEBUG_RW                               0
+
+#define OBSW_TEST_LIBGPIOD                          0
+#define OBSW_TEST_PLOC_HANDLER                      0
+#define OBSW_TEST_CCSDS_BRIDGE                      0
+#define OBSW_TEST_CCSDS_PTME                        0
+#define OBSW_TEST_TE7020_HEATER                     0
+#define OBSW_TEST_GPIO_OPEN_BY_LABEL                0
+#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME            0
+#define OBSW_DEBUG_P60DOCK                          0
+
+#define OBSW_PRINT_CORE_HK                          0
+#define OBSW_DEBUG_PDU1                             0
+#define OBSW_DEBUG_PDU2                             0
+#define OBSW_DEBUG_GPS                              0
+#define OBSW_DEBUG_ACU                              0
+#define OBSW_DEBUG_SYRLINKS                         0
+
+#define OBSW_DEBUG_PDEC_HANDLER                     0
+#define OBSW_DEBUG_PLOC_SUPERVISOR                  0
+#define OBSW_DEBUG_PLOC_MPSOC                       0
+#define OBSW_DEBUG_STARTRACKER                      0
+
+#define OBSW_TCP_SERVER_WIRETAPPING                 0
+
+/*******************************************************************/
+/** CMake Defines                                                  */
+/*******************************************************************/
+#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
+
+#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
+#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
+
+
+#ifdef __cplusplus
+
+#include "objects/systemObjectList.h"
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
+#endif
+
+#endif /* FSFWCONFIG_OBSWCONFIG_H_ */
diff --git a/bsp_q7s/boardconfig/CMakeLists.txt b/bsp_q7s/boardconfig/CMakeLists.txt
index feefbe5a..3224d759 100644
--- a/bsp_q7s/boardconfig/CMakeLists.txt
+++ b/bsp_q7s/boardconfig/CMakeLists.txt
@@ -1,12 +1,5 @@
-target_sources(${OBSW_NAME} PRIVATE
-	print.c
-)
+target_sources(${OBSW_NAME} PRIVATE print.c)
 
-target_sources(${SIMPLE_OBSW_NAME} PRIVATE
-	print.c
-)
+target_sources(${SIMPLE_OBSW_NAME} PRIVATE print.c)
 
-
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/bsp_q7s/boardconfig/busConf.h b/bsp_q7s/boardconfig/busConf.h
index e8cc5bd2..fffa4a2a 100644
--- a/bsp_q7s/boardconfig/busConf.h
+++ b/bsp_q7s/boardconfig/busConf.h
@@ -4,6 +4,8 @@
 namespace q7s {
 
 static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi-main";
+static constexpr uint32_t SPI_MAIN_BUS_LOCK_TIMEOUT = 50;
+
 static constexpr char SPI_RW_DEV[] = "/dev/spi-rw";
 
 static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-eive";
diff --git a/bsp_q7s/boardconfig/etl_profile.h b/bsp_q7s/boardconfig/etl_profile.h
index 54aca344..86534d14 100644
--- a/bsp_q7s/boardconfig/etl_profile.h
+++ b/bsp_q7s/boardconfig/etl_profile.h
@@ -34,5 +34,6 @@ SOFTWARE.
 
 #define ETL_CPP11_SUPPORTED 1
 #define ETL_NO_NULLPTR_SUPPORT 0
+#define ETL_HAS_ERROR_ON_STRING_TRUNCATION 1
 
 #endif
diff --git a/bsp_q7s/boardconfig/q7sConfig.h.in b/bsp_q7s/boardconfig/q7sConfig.h.in
index 1dd1d85a..a678764a 100644
--- a/bsp_q7s/boardconfig/q7sConfig.h.in
+++ b/bsp_q7s/boardconfig/q7sConfig.h.in
@@ -3,6 +3,8 @@
 
 #include <cstdint>
 
+#define OBSW_Q7S_EM                                 @OBSW_Q7S_EM@
+
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/
diff --git a/bsp_q7s/boardtest/CMakeLists.txt b/bsp_q7s/boardtest/CMakeLists.txt
index 29c9f1e1..9520a629 100644
--- a/bsp_q7s/boardtest/CMakeLists.txt
+++ b/bsp_q7s/boardtest/CMakeLists.txt
@@ -1,10 +1,5 @@
-target_sources(${OBSW_NAME} PRIVATE
-    FileSystemTest.cpp
-    Q7STestTask.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE FileSystemTest.cpp Q7STestTask.cpp)
 
 if(EIVE_BUILD_Q7S_SIMPLE_MODE)
-    target_sources(${SIMPLE_OBSW_NAME} PRIVATE
-        FileSystemTest.cpp
-    )
-endif()
\ No newline at end of file
+  target_sources(${SIMPLE_OBSW_NAME} PRIVATE FileSystemTest.cpp)
+endif()
diff --git a/bsp_q7s/boardtest/Q7STestTask.cpp b/bsp_q7s/boardtest/Q7STestTask.cpp
index c3eb37ca..6cf4e734 100644
--- a/bsp_q7s/boardtest/Q7STestTask.cpp
+++ b/bsp_q7s/boardtest/Q7STestTask.cpp
@@ -23,8 +23,9 @@
 Q7STestTask::Q7STestTask(object_id_t objectId) : TestTask(objectId) {
   doTestSdCard = false;
   doTestScratchApi = false;
-  doTestGps = false;
-  doTestXadc = true;
+  doTestGpsShm = false;
+  doTestGpsSocket = false;
+  doTestXadc = false;
 }
 
 ReturnValue_t Q7STestTask::performOneShotAction() {
@@ -36,15 +37,20 @@ ReturnValue_t Q7STestTask::performOneShotAction() {
   }
   // testJsonLibDirect();
   // testDummyParams();
-  // testProtHandler();
+  if (doTestProtHandler) {
+    testProtHandler();
+  }
   FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE;
   testFileSystemHandlerDirect(opCode);
   return TestTask::performOneShotAction();
 }
 
 ReturnValue_t Q7STestTask::performPeriodicAction() {
-  if (doTestGps) {
-    testGpsDaemon();
+  if (doTestGpsShm) {
+    testGpsDaemonShm();
+  }
+  if (doTestGpsSocket) {
+    testGpsDaemonSocket();
   }
   if (doTestXadc) {
     xadcTest();
@@ -238,8 +244,8 @@ void Q7STestTask::testProtHandler() {
   }
 }
 
-void Q7STestTask::testGpsDaemon() {
-  gpsmm gpsmm(GPSD_SHARED_MEMORY, 0);
+void Q7STestTask::testGpsDaemonShm() {
+  gpsmm gpsmm(GPSD_SHARED_MEMORY, "");
   gps_data_t* gps;
   gps = gpsmm.read();
   if (gps == nullptr) {
@@ -266,6 +272,68 @@ void Q7STestTask::testGpsDaemon() {
   sif::info << "Speed(m/s): " << gps->fix.speed << std::endl;
 }
 
+void Q7STestTask::testGpsDaemonSocket() {
+  if (gpsmmShmPtr == nullptr) {
+    gpsmmShmPtr = new gpsmm("localhost", DEFAULT_GPSD_PORT);
+  }
+  // The data from the device will generally be read all at once. Therefore, we
+  // can set all field here
+  if (not gpsmmShmPtr->is_open()) {
+    if (gpsNotOpenSwitch) {
+      // Opening failed
+#if FSFW_VERBOSE_LEVEL >= 1
+      sif::warning << "Q7STestTask::testGpsDaemonSocket: Opening GPSMM failed | "
+                   << "Error " << errno << " | " << gps_errstr(errno) << std::endl;
+#endif
+
+      gpsNotOpenSwitch = false;
+    }
+    return;
+  }
+  // Stopwatch watch;
+  gps_data_t* gps = nullptr;
+  gpsmmShmPtr->stream(WATCH_ENABLE | WATCH_JSON);
+  if (not gpsmmShmPtr->waiting(50000000)) {
+    return;
+  }
+  gps = gpsmmShmPtr->read();
+  if (gps == nullptr) {
+    if (gpsReadFailedSwitch) {
+      gpsReadFailedSwitch = false;
+      sif::warning << "Q7STestTask::testGpsDaemonSocket: Reading GPS data failed" << std::endl;
+    }
+    return;
+  }
+  if (MODE_SET != (MODE_SET & gps->set)) {
+    if (noModeSetCntr >= 0) {
+      noModeSetCntr++;
+    }
+    if (noModeSetCntr == 10) {
+      // TODO: Trigger event here
+      sif::warning << "Q7STestTask::testGpsDaemonSocket: No mode could be "
+                      "read for 10 consecutive reads"
+                   << std::endl;
+      noModeSetCntr = -1;
+    }
+    return;
+  } else {
+    noModeSetCntr = 0;
+  }
+  sif::info << "-- Q7STestTask: GPS socket read test --" << std::endl;
+#if LIBGPS_VERSION_MINOR <= 17
+  time_t timeRaw = gps->fix.time;
+#else
+  time_t timeRaw = gps->fix.time.tv_sec;
+#endif
+  std::tm* time = gmtime(&timeRaw);
+  sif::info << "Time: " << std::put_time(time, "%c %Z") << std::endl;
+  sif::info << "Visible satellites: " << gps->satellites_visible << std::endl;
+  sif::info << "Satellites used: " << gps->satellites_used << std::endl;
+  sif::info << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
+  sif::info << "Latitude: " << gps->fix.latitude << std::endl;
+  sif::info << "Longitude: " << gps->fix.longitude << std::endl;
+}
+
 void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
   auto fsHandler = ObjectManager::instance()->get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
   if (fsHandler == nullptr) {
diff --git a/bsp_q7s/boardtest/Q7STestTask.h b/bsp_q7s/boardtest/Q7STestTask.h
index ebef1fad..7fadbe6b 100644
--- a/bsp_q7s/boardtest/Q7STestTask.h
+++ b/bsp_q7s/boardtest/Q7STestTask.h
@@ -1,6 +1,8 @@
 #ifndef BSP_Q7S_BOARDTEST_Q7STESTTASK_H_
 #define BSP_Q7S_BOARDTEST_Q7STESTTASK_H_
 
+#include <libgpsmm.h>
+
 #include "test/testtasks/TestTask.h"
 
 class CoreController;
@@ -14,14 +16,22 @@ class Q7STestTask : public TestTask {
  private:
   bool doTestSdCard = false;
   bool doTestScratchApi = false;
-  bool doTestGps = false;
+  bool doTestGpsShm = false;
+  bool doTestGpsSocket = false;
+  bool doTestProtHandler = false;
   bool doTestXadc = false;
 
+  bool gpsNotOpenSwitch = false;
+  bool gpsReadFailedSwitch = false;
+  int32_t noModeSetCntr = 0;
+  gpsmm* gpsmmShmPtr = nullptr;
+
   CoreController* coreController = nullptr;
   ReturnValue_t performOneShotAction() override;
   ReturnValue_t performPeriodicAction() override;
 
-  void testGpsDaemon();
+  void testGpsDaemonShm();
+  void testGpsDaemonSocket();
 
   void testSdCard();
   void fileTests();
diff --git a/bsp_q7s/callbacks/CMakeLists.txt b/bsp_q7s/callbacks/CMakeLists.txt
index 584e6026..ed2e16f1 100644
--- a/bsp_q7s/callbacks/CMakeLists.txt
+++ b/bsp_q7s/callbacks/CMakeLists.txt
@@ -1,6 +1,2 @@
-target_sources(${OBSW_NAME} PRIVATE
-	rwSpiCallback.cpp
-	gnssCallback.cpp
-	pcduSwitchCb.cpp
-	q7sGpioCallbacks.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE rwSpiCallback.cpp gnssCallback.cpp
+                                    pcduSwitchCb.cpp q7sGpioCallbacks.cpp)
diff --git a/bsp_q7s/callbacks/gnssCallback.cpp b/bsp_q7s/callbacks/gnssCallback.cpp
index d5dbc3b0..7e854b6d 100644
--- a/bsp_q7s/callbacks/gnssCallback.cpp
+++ b/bsp_q7s/callbacks/gnssCallback.cpp
@@ -1,9 +1,14 @@
 #include "gnssCallback.h"
 
 #include "devices/gpioIds.h"
+#include "fsfw/action/HasActionsIF.h"
 #include "fsfw/tasks/TaskFactory.h"
 
-ReturnValue_t gps::triggerGpioResetPin(void* args) {
+ReturnValue_t gps::triggerGpioResetPin(const uint8_t* actionData, size_t len, void* args) {
+  // At least one byte which denotes which GPS to reset is required
+  if (len < 1 or actionData == nullptr) {
+    return HasActionsIF::INVALID_PARAMETERS;
+  }
   ResetArgs* resetArgs = reinterpret_cast<ResetArgs*>(args);
   if (args == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
@@ -12,11 +17,10 @@ ReturnValue_t gps::triggerGpioResetPin(void* args) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   gpioId_t gpioId;
-  if (resetArgs->gnss1) {
-    gpioId = gpioIds::GNSS_1_NRESET;
-
-  } else {
+  if (actionData[0] == 0) {
     gpioId = gpioIds::GNSS_0_NRESET;
+  } else {
+    gpioId = gpioIds::GNSS_1_NRESET;
   }
   resetArgs->gpioComIF->pullLow(gpioId);
   TaskFactory::delayTask(resetArgs->waitPeriodMs);
diff --git a/bsp_q7s/callbacks/gnssCallback.h b/bsp_q7s/callbacks/gnssCallback.h
index 3e769899..cd69f5a6 100644
--- a/bsp_q7s/callbacks/gnssCallback.h
+++ b/bsp_q7s/callbacks/gnssCallback.h
@@ -5,14 +5,13 @@
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 
 struct ResetArgs {
-  bool gnss1 = false;
   LinuxLibgpioIF* gpioComIF = nullptr;
   uint32_t waitPeriodMs = 100;
 };
 
 namespace gps {
 
-ReturnValue_t triggerGpioResetPin(void* args);
+ReturnValue_t triggerGpioResetPin(const uint8_t* actionData, size_t len, void* args);
 
 }
 
diff --git a/bsp_q7s/callbacks/q7sGpioCallbacks.cpp b/bsp_q7s/callbacks/q7sGpioCallbacks.cpp
index 6db5aed4..cf222b03 100644
--- a/bsp_q7s/callbacks/q7sGpioCallbacks.cpp
+++ b/bsp_q7s/callbacks/q7sGpioCallbacks.cpp
@@ -48,7 +48,7 @@ void q7s::gpioCallbacks::initSpiCsDecoder(GpioIF* gpioComIF) {
 
   result = gpioComIF->addGpios(spiMuxGpios);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
+    sif::error << "initSpiCsDecoder: Failed to add SPI MUX bit GPIOs" << std::endl;
     return;
   }
 }
diff --git a/bsp_q7s/callbacks/rwSpiCallback.cpp b/bsp_q7s/callbacks/rwSpiCallback.cpp
index 3ca3c181..0fd2c512 100644
--- a/bsp_q7s/callbacks/rwSpiCallback.cpp
+++ b/bsp_q7s/callbacks/rwSpiCallback.cpp
@@ -1,5 +1,7 @@
 #include "rwSpiCallback.h"
 
+#include <fsfw/timemanager/Stopwatch.h>
+
 #include "devices/gpioIds.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw_hal/linux/UnixFileGuard.h"
@@ -8,8 +10,25 @@
 
 namespace rwSpiCallback {
 
+namespace {
+static bool MODE_SET = false;
+
+ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpioId_t gpioId,
+                      MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs,
+                      int& fd);
+/**
+ * @brief   This function closes a spi session. Pulls the chip select to high an releases the
+ *          mutex.
+ * @param gpioId    Gpio ID of chip select
+ * @param gpioIF    Pointer to gpio interface to drive the chip select
+ * @param mutex     The spi mutex
+ */
+void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
+}  // namespace
+
 ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
                           size_t sendLen, void* args) {
+  // Stopwatch watch;
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 
   RwHandler* handler = reinterpret_cast<RwHandler*>(args);
@@ -18,51 +37,45 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
-  uint8_t writeBuffer[2];
+  uint8_t writeBuffer[2] = {};
   uint8_t writeSize = 0;
 
   gpioId_t gpioId = cookie->getChipSelectPin();
   GpioIF* gpioIF = comIf->getGpioInterface();
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 0;
-  MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
+  MutexIF* mutex = comIf->getCsMutex();
+  cookie->getMutexParams(timeoutType, timeoutMs);
   if (mutex == nullptr or gpioIF == nullptr) {
     sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   int fileDescriptor = 0;
-  std::string device = cookie->getSpiDevice();
-  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback");
-  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
-    return SpiComIF::OPENING_FILE_FAILED;
-  }
-  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
-  uint32_t spiSpeed = 0;
-  cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
-  comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
-
-  result = mutex->lockMutex(timeoutType, timeoutMs);
+  const std::string& dev = comIf->getSpiDev();
+  result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
     return result;
   }
 
-  /** Sending frame start sign */
-  writeBuffer[0] = 0x7E;
-  writeSize = 1;
-
-  // Pull SPI CS low. For now, no support for active high given
-  if (gpioId != gpio::NO_GPIO) {
-    if (gpioIF->pullLow(gpioId) != HasReturnvaluesIF::RETURN_OK) {
-      sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
-    }
+  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+  uint32_t spiSpeed = 0;
+  cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
+  // We are in protected section, so we can use the static variable here without issues.
+  // We don't need to set the speed because a SPI core is used, but the mode has to be set once
+  // correctly for all RWs
+  if (not MODE_SET) {
+    comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+    MODE_SET = true;
   }
 
+  /** Sending frame start sign */
+  writeBuffer[0] = FLAG_BYTE;
+  writeSize = 1;
+
   if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-    closeSpi(gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
     return RwHandler::SPI_WRITE_FAILURE;
   }
 
@@ -87,33 +100,39 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     }
     if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
       sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-      closeSpi(gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
       return RwHandler::SPI_WRITE_FAILURE;
     }
     idx++;
   }
 
   /** Sending frame end sign */
-  writeBuffer[0] = 0x7E;
+  writeBuffer[0] = FLAG_BYTE;
   writeSize = 1;
 
   if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-    closeSpi(gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
     return RwHandler::SPI_WRITE_FAILURE;
   }
 
   uint8_t* rxBuf = nullptr;
   result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    closeSpi(gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
     return result;
   }
 
   size_t replyBufferSize = cookie->getMaxBufferSize();
 
-  /** There must be a delay of at least 20 ms after sending the command */
+  // There must be a delay of at least 20 ms after sending the command.
+  // Delay for 70 ms here and release the SPI bus for that duration.
+  closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
   usleep(RwDefinitions::SPI_REPLY_DELAY);
+  result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
 
   /**
    * The reaction wheel responds with empty frames while preparing the reply data.
@@ -123,13 +142,13 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   for (int idx = 0; idx < 10; idx++) {
     if (read(fileDescriptor, &byteRead, 1) != 1) {
       sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-      closeSpi(gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
       return RwHandler::SPI_READ_FAILURE;
     }
     if (idx == 0) {
       if (byteRead != FLAG_BYTE) {
         sif::error << "Invalid data, expected start marker" << std::endl;
-        closeSpi(gpioId, gpioIF, mutex);
+        closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
         return RwHandler::NO_START_MARKER;
       }
     }
@@ -140,7 +159,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
     if (idx == 9) {
       sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
-      closeSpi(gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
       return RwHandler::NO_REPLY;
     }
   }
@@ -180,7 +199,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
         continue;
       } else {
         sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
-        closeSpi(gpioId, gpioIF, mutex);
+        closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
         result = RwHandler::INVALID_SUBSTITUTE;
         break;
       }
@@ -201,8 +220,9 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
         result = RwHandler::SPI_READ_FAILURE;
         break;
       }
-      if (byteRead != 0x7E) {
-        sif::error << "rwSpiCallback::spiCallback: Missing end sign 0x7E" << std::endl;
+      if (byteRead != FLAG_BYTE) {
+        sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
+                   << std::endl;
         decodedFrameLen--;
         result = RwHandler::MISSING_END_SIGN;
         break;
@@ -213,12 +233,40 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
   cookie->setTransferSize(decodedFrameLen);
 
-  closeSpi(gpioId, gpioIF, mutex);
+  closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
 
   return result;
 }
 
-void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
+namespace {
+
+ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpioId_t gpioId,
+                      MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs,
+                      int& fd) {
+  ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
+    return result;
+  }
+
+  fd = open(devname.c_str(), flags);
+  if (fd < 0) {
+    sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
+    return SpiComIF::OPENING_FILE_FAILED;
+  }
+
+  // Pull SPI CS low. For now, no support for active high given
+  if (gpioId != gpio::NO_GPIO) {
+    result = gpioIF->pullLow(gpioId);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
+      return result;
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
+  close(fd);
   if (gpioId != gpio::NO_GPIO) {
     if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
       sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
@@ -229,4 +277,7 @@ void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
     ;
   }
 }
+
+}  // namespace
+
 }  // namespace rwSpiCallback
diff --git a/bsp_q7s/callbacks/rwSpiCallback.h b/bsp_q7s/callbacks/rwSpiCallback.h
index 843d5b80..4a5389a3 100644
--- a/bsp_q7s/callbacks/rwSpiCallback.h
+++ b/bsp_q7s/callbacks/rwSpiCallback.h
@@ -33,14 +33,5 @@ static constexpr uint8_t FLAG_BYTE = 0x7E;
 ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
                           size_t sendLen, void* args);
 
-/**
- * @brief   This function closes a spi session. Pulls the chip select to high an releases the
- *          mutex.
- * @param gpioId    Gpio ID of chip select
- * @param gpioIF    Pointer to gpio interface to drive the chip select
- * @param mutex     The spi mutex
- */
-void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
-
 }  // namespace rwSpiCallback
 #endif /* BSP_Q7S_RW_SPI_CALLBACK_H_ */
diff --git a/bsp_q7s/comIF/CMakeLists.txt b/bsp_q7s/comIF/CMakeLists.txt
index fe4910f2..431972e8 100644
--- a/bsp_q7s/comIF/CMakeLists.txt
+++ b/bsp_q7s/comIF/CMakeLists.txt
@@ -1,6 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
-)
-
-
-
-
+target_sources(${OBSW_NAME} PRIVATE)
diff --git a/bsp_q7s/core/CMakeLists.txt b/bsp_q7s/core/CMakeLists.txt
index 8731b7a3..b4050d73 100644
--- a/bsp_q7s/core/CMakeLists.txt
+++ b/bsp_q7s/core/CMakeLists.txt
@@ -1,10 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE
-    CoreController.cpp
-    obsw.cpp
-    InitMission.cpp
-    ObjectFactory.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE CoreController.cpp InitMission.cpp
+                                    ObjectFactory.cpp)
 
-target_sources(${SIMPLE_OBSW_NAME} PRIVATE
-    InitMission.cpp
-)
+target_sources(${SIMPLE_OBSW_NAME} PRIVATE InitMission.cpp)
diff --git a/bsp_q7s/core/CoreController.cpp b/bsp_q7s/core/CoreController.cpp
index 208999c2..e387aa71 100644
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@@ -56,6 +56,7 @@ CoreController::CoreController(object_id_t objectId)
   } catch (const std::filesystem::filesystem_error &e) {
     sif::error << "CoreController::CoreController: Failed with exception " << e.what() << std::endl;
   }
+  sdCardCheckCd.timeOut();
   eventQueue = QueueFactory::instance()->createMessageQueue(5, EventMessage::MAX_MESSAGE_SIZE);
 }
 
@@ -77,6 +78,10 @@ void CoreController::performControlOperation() {
   performWatchdogControlOperation();
   sdStateMachine();
   performMountedSdCardOperations();
+  if (sdCardCheckCd.hasTimedOut()) {
+    performSdCardCheck();
+    sdCardCheckCd.resetTimer();
+  }
   readHkData();
   opDivider5.checkAndIncrement();
   opDivider10.checkAndIncrement();
@@ -87,6 +92,7 @@ ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &local
   localDataPoolMap.emplace(core::TEMPERATURE, new PoolEntry<float>({0}));
   localDataPoolMap.emplace(core::PS_VOLTAGE, new PoolEntry<float>({0}));
   localDataPoolMap.emplace(core::PL_VOLTAGE, new PoolEntry<float>({0}));
+  poolManager.subscribeForPeriodicPacket(hkSet.getSid(), false, 10.0, false);
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -133,6 +139,9 @@ ReturnValue_t CoreController::initialize() {
 
 ReturnValue_t CoreController::initializeAfterTaskCreation() {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  sdInfo.pref = sdcMan->getPreferredSdCard();
+  sdcMan->setActiveSdCard(sdInfo.pref);
+  currMntPrefix = sdcMan->getCurrentMountPrefix();
   if (BLOCKING_SD_INIT) {
     ReturnValue_t result = initSdCardBlocking();
     if (result != HasReturnvaluesIF::RETURN_OK and result != SdCardManager::ALREADY_MOUNTED) {
@@ -164,7 +173,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       if (size < 1) {
         return HasActionsIF::INVALID_PARAMETERS;
       }
-      std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+      std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_FILE;
       // Disable the reboot file mechanism
       parseRebootFile(path, rebootFile);
       if (data[0] == 0) {
@@ -204,15 +213,20 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       if (size < 1) {
         return HasActionsIF::INVALID_PARAMETERS;
       }
-      std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+      std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_FILE;
       // Disable the reboot file mechanism
       parseRebootFile(path, rebootFile);
       rebootFile.maxCount = data[0];
       rewriteRebootFile(rebootFile);
       return HasActionsIF::EXECUTION_FINISHED;
     }
+    case (XSC_REBOOT_OBC): {
+      // Warning: This function will never return, because it reboots the system
+      return actionXscReboot(data, size);
+    }
     case (REBOOT_OBC): {
-      return actionPerformReboot(data, size);
+      // Warning: This function will never return, because it reboots the system
+      return actionReboot(data, size);
     }
     default: {
       return HasActionsIF::INVALID_ACTION_ID;
@@ -236,13 +250,12 @@ ReturnValue_t CoreController::initSdCardBlocking() {
   return HasReturnvaluesIF::RETURN_OK;
 #else
 
-  result = sdcMan->getSdCardActiveStatus(sdInfo.currentState);
+  result = sdcMan->getSdCardsStatus(sdInfo.currentState);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::warning << "Getting SD card activity status failed" << std::endl;
   }
 
 #if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
-  determinePreferredSdCard();
   updateSdInfoOther();
   sif::info << "Cold redundant SD card configuration, preferred SD card: "
             << static_cast<int>(sdInfo.pref) << std::endl;
@@ -323,8 +336,8 @@ ReturnValue_t CoreController::sdStateMachine() {
 
   if (sdInfo.state == SdStates::SET_STATE_SELF) {
     if (not sdInfo.commandExecuted) {
-      result = sdcMan->getSdCardActiveStatus(sdInfo.currentState);
-      determinePreferredSdCard();
+      result = sdcMan->getSdCardsStatus(sdInfo.currentState);
+      sdInfo.pref = sdcMan->getPreferredSdCard();
       updateSdInfoOther();
       if (sdInfo.pref != sd::SdCard::SLOT_0 and sdInfo.pref != sd::SdCard::SLOT_1) {
         sif::warning << "Preferred SD card invalid. Setting to card 0.." << std::endl;
@@ -467,7 +480,7 @@ ReturnValue_t CoreController::sdStateMachine() {
     sdInfo.state = SdStates::IDLE;
     sdInfo.cycleCount = 0;
     sdcMan->setBlocking(false);
-    sdcMan->getSdCardActiveStatus(sdInfo.currentState);
+    sdcMan->getSdCardsStatus(sdInfo.currentState);
     if (not sdInfo.initFinished) {
       updateSdInfoOther();
       sdInfo.initFinished = true;
@@ -844,25 +857,18 @@ void CoreController::initPrint() {
 #endif
 }
 
-ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t size) {
+ReturnValue_t CoreController::actionXscReboot(const uint8_t *data, size_t size) {
   if (size < 1) {
     return HasActionsIF::INVALID_PARAMETERS;
   }
   bool rebootSameBootCopy = data[0];
-  bool protOpPerformed;
+  bool protOpPerformed = false;
+  SdCardManager::instance()->setBlocking(true);
   if (rebootSameBootCopy) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "CoreController::actionPerformReboot: Rebooting on current image" << std::endl;
 #endif
-    // Attempt graceful shutdown by unmounting and switching off SD cards
-    SdCardManager::instance()->switchOffSdCard(sd::SdCard::SLOT_0);
-    SdCardManager::instance()->switchOffSdCard(sd::SdCard::SLOT_1);
-    // If any boot copies are unprotected
-    ReturnValue_t retval = setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
-                                                 protOpPerformed, false);
-    if (retval == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
-      sif::info << "Running slot was writeprotected before reboot" << std::endl;
-    }
+    gracefulShutdownTasks(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, protOpPerformed);
     int result = std::system("xsc_boot_copy -r");
     if (result != 0) {
       utility::handleSystemError(result, "CoreController::executeAction");
@@ -884,12 +890,8 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
   auto tgtChip = static_cast<xsc::Chip>(data[1]);
   auto tgtCopy = static_cast<xsc::Copy>(data[2]);
 
-  ReturnValue_t retval =
-      setBootCopyProtection(static_cast<xsc::Chip>(data[1]), static_cast<xsc::Copy>(data[2]), true,
-                            protOpPerformed, false);
-  if (retval == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
-    sif::info << "Target slot was writeprotected before reboot" << std::endl;
-  }
+  // This function can not really fail
+  gracefulShutdownTasks(tgtChip, tgtCopy, protOpPerformed);
 
   switch (tgtChip) {
     case (xsc::Chip::CHIP_0): {
@@ -930,27 +932,32 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-CoreController::~CoreController() {}
-
-void CoreController::determinePreferredSdCard() {
-  if (sdInfo.pref == sd::SdCard::NONE) {
-    ReturnValue_t result = sdcMan->getPreferredSdCard(sdInfo.pref);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-      if (result == scratch::KEY_NOT_FOUND) {
-        sif::warning << "CoreController::sdCardInit: "
-                        "Preferred SD card not set. Setting to 0"
-                     << std::endl;
-        sdcMan->setPreferredSdCard(sd::SdCard::SLOT_0);
-        sdInfo.pref = sd::SdCard::SLOT_0;
-      } else {
-        sif::warning << "CoreController::sdCardInit: Could not get preferred SD card"
-                        "information from the scratch buffer"
-                     << std::endl;
-      }
-    }
-  }
+ReturnValue_t CoreController::actionReboot(const uint8_t *data, size_t size) {
+  bool protOpPerformed = false;
+  gracefulShutdownTasks(xsc::Chip::CHIP_0, xsc::Copy::COPY_0, protOpPerformed);
+  std::system("reboot");
+  return RETURN_OK;
 }
 
+ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy,
+                                                    bool &protOpPerformed) {
+  sdcMan->setBlocking(true);
+  // Attempt graceful shutdown by unmounting and switching off SD cards
+  sdcMan->switchOffSdCard(sd::SdCard::SLOT_0);
+  sdcMan->switchOffSdCard(sd::SdCard::SLOT_1);
+  // If any boot copies are unprotected
+  ReturnValue_t result = setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
+                                               protOpPerformed, false);
+  if (result == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
+    // TODO: Would be nice to notify operator. But we can't use the filesystem anymore
+    // and a reboot is imminent. Use scratch buffer?
+    sif::info << "Running slot was writeprotected before reboot" << std::endl;
+  }
+  return result;
+}
+
+CoreController::~CoreController() {}
+
 void CoreController::updateSdInfoOther() {
   if (sdInfo.pref == sd::SdCard::SLOT_0) {
     sdInfo.prefChar = "0";
@@ -1234,24 +1241,73 @@ void CoreController::performWatchdogControlOperation() {
 }
 
 void CoreController::performMountedSdCardOperations() {
-  currMntPrefix = sdcMan->getCurrentMountPrefix();
-  if (doPerformMountedSdCardOps) {
-    bool sdCardMounted = false;
-    sdCardMounted = sdcMan->isSdCardMounted(sdInfo.pref);
-    if (sdCardMounted) {
-      std::string path = currMntPrefix + "/" + CONF_FOLDER;
-      if (not std::filesystem::exists(path)) {
-        std::filesystem::create_directory(path);
+  auto mountedSdCardOp = [&](bool &mntSwitch, sd::SdCard sdCard, std::string mntPoint) {
+    if (mntSwitch) {
+      bool sdCardMounted = sdcMan->isSdCardMounted(sdCard);
+      if (sdCardMounted and not performOneShotSdCardOpsSwitch) {
+        std::ostringstream path;
+        path << mntPoint << "/" << CONF_FOLDER;
+        if (not std::filesystem::exists(path.str())) {
+          std::filesystem::create_directory(path.str());
+        }
+        initVersionFile();
+        initClockFromTimeFile();
+        performRebootFileHandling(false);
+        performOneShotSdCardOpsSwitch = true;
       }
-      initVersionFile();
-      initClockFromTimeFile();
-      performRebootFileHandling(false);
-      doPerformMountedSdCardOps = false;
+      mntSwitch = false;
     }
+  };
+  if (sdInfo.pref == sd::SdCard::SLOT_1) {
+    mountedSdCardOp(sdInfo.mountSwitch.second, sd::SdCard::SLOT_1, SdCardManager::SD_1_MOUNT_POINT);
+    mountedSdCardOp(sdInfo.mountSwitch.first, sd::SdCard::SLOT_0, SdCardManager::SD_0_MOUNT_POINT);
+  } else {
+    mountedSdCardOp(sdInfo.mountSwitch.first, sd::SdCard::SLOT_0, SdCardManager::SD_0_MOUNT_POINT);
+    mountedSdCardOp(sdInfo.mountSwitch.second, sd::SdCard::SLOT_1, SdCardManager::SD_1_MOUNT_POINT);
   }
   timeFileHandler();
 }
 
+ReturnValue_t CoreController::performSdCardCheck() {
+  bool mountedReadOnly = false;
+  SdCardManager::SdStatePair active;
+  sdcMan->getSdCardsStatus(active);
+  auto sdCardCheck = [&](sd::SdCard sdCard) {
+    ReturnValue_t result = sdcMan->isSdCardMountedReadOnly(sdCard, mountedReadOnly);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      sif::error << "CoreController::performSdCardCheck: Could not check "
+                    "read-only mount state"
+                 << std::endl;
+      mountedReadOnly = true;
+    }
+    if (mountedReadOnly) {
+      int linuxErrno = 0;
+      result = sdcMan->performFsck(sdCard, true, linuxErrno);
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+        sif::error << "CoreController::performSdCardCheck: fsck command on SD Card "
+                   << static_cast<uint8_t>(sdCard) << " failed with code " << linuxErrno << " | "
+                   << strerror(linuxErrno);
+      }
+      result = sdcMan->remountReadWrite(sdCard);
+      if (result == HasReturnvaluesIF::RETURN_OK) {
+        sif::warning << "CoreController::performSdCardCheck: Remounted SD Card "
+                     << static_cast<uint8_t>(sdCard) << " read-write";
+      } else {
+        sif::error << "CoreController::performSdCardCheck: Remounting SD Card "
+                   << static_cast<uint8_t>(sdCard) << " read-write failed";
+      }
+    }
+  };
+  if (active.first == sd::SdState::MOUNTED) {
+    sdCardCheck(sd::SdCard::SLOT_0);
+  }
+  if (active.second == sd::SdState::MOUNTED) {
+    sdCardCheck(sd::SdCard::SLOT_1);
+  }
+
+  return RETURN_OK;
+}
+
 void CoreController::performRebootFileHandling(bool recreateFile) {
   using namespace std;
   std::string path = currMntPrefix + REBOOT_FILE;
@@ -1677,7 +1733,7 @@ void CoreController::rewriteRebootFile(RebootFile file) {
 }
 
 void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy) {
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+  std::string path = currMntPrefix + REBOOT_FILE;
   // Disable the reboot file mechanism
   parseRebootFile(path, rebootFile);
   if (tgtChip == xsc::CHIP_0) {
diff --git a/bsp_q7s/core/CoreController.h b/bsp_q7s/core/CoreController.h
index dee06530..2ebdd4ec 100644
--- a/bsp_q7s/core/CoreController.h
+++ b/bsp_q7s/core/CoreController.h
@@ -67,13 +67,16 @@ class CoreController : public ExtendedControllerBase {
   static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
   static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
 
-  static constexpr ActionId_t REBOOT_OBC = 32;
+  //! Reboot using the xsc_boot_copy command
+  static constexpr ActionId_t XSC_REBOOT_OBC = 32;
   static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
+  //! Reboot using the reboot command
+  static constexpr ActionId_t REBOOT_OBC = 34;
 
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
 
   static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
-  //! [EXPORT] : [COMMENT]  Software reboot occured. Can also be a systemd reboot.
+  //! [EXPORT] : [COMMENT]  Software reboot occurred. Can also be a systemd reboot.
   //! P1: Current Chip, P2: Current Copy
   static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::MEDIUM);
   //! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
@@ -159,11 +162,12 @@ class CoreController : public ExtendedControllerBase {
 
   struct SdInfo {
     sd::SdCard pref = sd::SdCard::NONE;
-    sd::SdState prefState = sd::SdState::OFF;
     sd::SdCard other = sd::SdCard::NONE;
+    sd::SdState prefState = sd::SdState::OFF;
     sd::SdState otherState = sd::SdState::OFF;
     std::string prefChar = "0";
     std::string otherChar = "1";
+    std::pair<bool, bool> mountSwitch = {true, true};
     SdStates state = SdStates::START;
     // Used to track whether a command was executed
     bool commandExecuted = true;
@@ -179,7 +183,7 @@ class CoreController : public ExtendedControllerBase {
   } sdInfo;
   RebootFile rebootFile = {};
   std::string currMntPrefix;
-  bool doPerformMountedSdCardOps = true;
+  bool performOneShotSdCardOpsSwitch = true;
 
   /**
    * Index 0: Chip 0 Copy 0
@@ -195,12 +199,14 @@ class CoreController : public ExtendedControllerBase {
 
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
+  Countdown sdCardCheckCd = Countdown(120000);
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
   void performMountedSdCardOperations();
   ReturnValue_t initVersionFile();
 
   ReturnValue_t initClockFromTimeFile();
+  ReturnValue_t performSdCardCheck();
   ReturnValue_t timeFileHandler();
   ReturnValue_t initBootCopy();
   ReturnValue_t initWatchdogFifo();
@@ -214,14 +220,16 @@ class CoreController : public ExtendedControllerBase {
   ReturnValue_t sdColdRedundantBlockingInit();
 
   void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
-  void determinePreferredSdCard();
   void executeNextExternalSdCommand();
   void checkExternalSdCommandStatus();
   void performRebootFileHandling(bool recreateFile);
 
   ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
                                             const uint8_t* data, size_t size);
-  ReturnValue_t actionPerformReboot(const uint8_t* data, size_t size);
+  ReturnValue_t actionXscReboot(const uint8_t* data, size_t size);
+  ReturnValue_t actionReboot(const uint8_t* data, size_t size);
+
+  ReturnValue_t gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy, bool& protOpPerformed);
 
   void performWatchdogControlOperation();
 
diff --git a/bsp_q7s/core/InitMission.cpp b/bsp_q7s/core/InitMission.cpp
index ced1d12a..52ecd30f 100644
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@@ -1,10 +1,12 @@
-#include "InitMission.h"
+#include "bsp_q7s/core/InitMission.h"
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
 
 #include <iostream>
 #include <vector>
 
 #include "OBSWConfig.h"
-#include "ObjectFactory.h"
+#include "bsp_q7s/core/ObjectFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/platform.h"
@@ -13,6 +15,7 @@
 #include "fsfw/tasks/FixedTimeslotTaskIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 #include "fsfw/tasks/TaskFactory.h"
+#include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/utility/InitMission.h"
 #include "pollingsequence/pollingSequenceFactory.h"
 
@@ -33,8 +36,16 @@ ObjectManagerIF* objectManager = nullptr;
 
 void initmission::initMission() {
   sif::info << "Building global objects.." << std::endl;
-  /* Instantiate global object manager and also create all objects */
-  ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
+  try {
+    /* Instantiate global object manager and also create all objects */
+    ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
+  } catch (const std::invalid_argument& e) {
+    sif::error << "initmission::initMission: Object Construction failed with an "
+                  "invalid argument: "
+               << e.what();
+    std::exit(1);
+  }
+
   sif::info << "Initializing all objects.." << std::endl;
   ObjectManager::instance()->initialize();
 
@@ -115,30 +126,71 @@ void initmission::initTasks() {
 
 #if OBSW_ADD_ACS_HANDLERS == 1
   PeriodicTaskIF* acsTask = factory->createPeriodicTask(
-      "ACS_CTRL", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+      "ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
   result = acsTask->addComponent(objects::GPS_CONTROLLER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
-
 #endif /* OBSW_ADD_ACS_HANDLERS */
 
   PeriodicTaskIF* sysTask = factory->createPeriodicTask(
       "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  static_cast<void>(sysTask);
+#if OBSW_ADD_ACS_HANDLERS == 1
   result = sysTask->addComponent(objects::ACS_BOARD_ASS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
   }
+#endif /* OBSW_ADD_ACS_HANDLERS */
+#if OBSW_ADD_RW == 1
+  result = sysTask->addComponent(objects::RW_ASS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
+  }
+#endif
 #if OBSW_ADD_SUS_BOARD_ASS == 1
   result = sysTask->addComponent(objects::SUS_BOARD_ASS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
   }
 #endif
-  result = sysTask->addComponent(objects::TCS_BOARD_ASS);
+
+#if OBSW_ADD_RTD_DEVICES == 1
+  PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
+      "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
+  result = tcsPollingTask->addComponent(objects::SPI_RTD_COM_IF);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
+    initmission::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
   }
+  PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
+      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
+      objects::RTD_0_IC3_PLOC_HEATSPREADER,
+      objects::RTD_1_IC4_PLOC_MISSIONBOARD,
+      objects::RTD_2_IC5_4K_CAMERA,
+      objects::RTD_3_IC6_DAC_HEATSPREADER,
+      objects::RTD_4_IC7_STARTRACKER,
+      objects::RTD_5_IC8_RW1_MX_MY,
+      objects::RTD_6_IC9_DRO,
+      objects::RTD_7_IC10_SCEX,
+      objects::RTD_8_IC11_X8,
+      objects::RTD_9_IC12_HPA,
+      objects::RTD_10_IC13_PL_TX,
+      objects::RTD_11_IC14_MPA,
+      objects::RTD_12_IC15_ACU,
+      objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
+      objects::RTD_14_IC17_TCS_BOARD,
+      objects::RTD_15_IC18_IMTQ,
+  };
+  tcsTask->addComponent(objects::TCS_BOARD_ASS);
+  for (const auto& rtd : rtdIds) {
+    tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_WRITE);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_WRITE);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
+  }
+#endif /* OBSW_ADD_RTD_DEVICES */
 
   // FS task, task interval does not matter because it runs in permanent loop, priority low
   // because it is a non-essential background task
@@ -167,6 +219,15 @@ void initmission::initTasks() {
   }
 #endif /* OBSW_ADD_PLOC_MPSOC */
 
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
+      "PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
+  }
+#endif /* OBSW_ADD_PLOC_SUPERVISOR */
+
 #if OBSW_TEST_CCSDS_BRIDGE == 1
   PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
       "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
@@ -228,9 +289,15 @@ void initmission::initTasks() {
 
 #if OBSW_ADD_ACS_HANDLERS == 1
   acsTask->startTask();
-#endif
+#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
   sysTask->startTask();
-
+#if OBSW_ADD_RTD_DEVICES == 1
+  tcsPollingTask->startTask();
+  tcsTask->startTask();
+#endif /* OBSW_ADD_RTD_DEVICES == 1 */
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  supvHelperTask->startTask();
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
   sif::info << "Tasks started.." << std::endl;
 }
 
@@ -241,7 +308,7 @@ void initmission::createPstTasks(TaskFactory& factory,
   /* Polling Sequence Table Default */
 #if OBSW_ADD_SPI_TEST_CODE == 0
   FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
-      "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+      "MAIN_SPI", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
   result = pst::pstSpi(spiPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -254,8 +321,23 @@ void initmission::createPstTasks(TaskFactory& factory,
   }
 #endif
 
+#if OBSW_ADD_RW == 1
+  FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
+      "RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
+  result = pst::pstSpiRw(rwPstTask);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
+    } else {
+      sif::error << "InitMission::initTasks: Creating SPI PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(rwPstTask);
+  }
+#endif
+
   FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
-      "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+      "UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstUart(uartPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -268,7 +350,7 @@ void initmission::createPstTasks(TaskFactory& factory,
   }
 
   FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
-      "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+      "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.2, missedDeadlineFunc);
   result = pst::pstGpio(gpioPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -281,7 +363,7 @@ void initmission::createPstTasks(TaskFactory& factory,
   }
 #if OBSW_ADD_I2C_TEST_CODE == 0
   FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-      "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+      "I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstI2c(i2cPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -294,6 +376,7 @@ void initmission::createPstTasks(TaskFactory& factory,
   }
 #endif
 
+#if OBSW_ADD_GOMSPACE_PCDU == 1
   FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
       "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
   result = pst::pstGompaceCan(gomSpacePstTask);
@@ -303,6 +386,7 @@ void initmission::createPstTasks(TaskFactory& factory,
     }
   }
   taskVec.push_back(gomSpacePstTask);
+#endif
 }
 
 void initmission::createPusTasks(TaskFactory& factory,
@@ -344,21 +428,30 @@ void initmission::createPusTasks(TaskFactory& factory,
 
   PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
       "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
+  }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
   }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_11_TC_SCHEDULER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Object add component failed" << std::endl;
+    initmission::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
   }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_201_HEALTH);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
+    initmission::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
   }
   taskVec.push_back(pusMedPrio);
 
diff --git a/bsp_q7s/core/InitMission.h b/bsp_q7s/core/InitMission.h
index 5c509b79..e0b1d8f2 100644
--- a/bsp_q7s/core/InitMission.h
+++ b/bsp_q7s/core/InitMission.h
@@ -3,7 +3,7 @@
 
 #include <vector>
 
-#include "fsfw/tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 
 class PeriodicTaskIF;
 class TaskFactory;
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index d45b58b7..dbef1841 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -1,8 +1,5 @@
 #include "ObjectFactory.h"
 
-#include <mission/system/fdir/GomspacePowerFdir.h>
-#include <mission/system/fdir/SyrlinksFdir.h>
-
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
 #include "bsp_q7s/callbacks/gnssCallback.h"
@@ -32,7 +29,6 @@
 #include "linux/devices/ploc/PlocMPSoCHelper.h"
 #include "linux/devices/ploc/PlocMemoryDumper.h"
 #include "linux/devices/ploc/PlocSupervisorHandler.h"
-#include "linux/devices/ploc/PlocUpdater.h"
 #include "linux/devices/startracker/StarTrackerHandler.h"
 #include "linux/devices/startracker/StrHelper.h"
 #include "linux/obc/AxiPtmeConfig.h"
@@ -40,18 +36,17 @@
 #include "linux/obc/PdecHandler.h"
 #include "linux/obc/Ptme.h"
 #include "linux/obc/PtmeConfig.h"
-#include "mission/system/SusAssembly.h"
-#include "mission/system/TcsBoardAssembly.h"
+#include "mission/system/RwAssembly.h"
 #include "mission/system/fdir/AcsBoardFdir.h"
+#include "mission/system/fdir/GomspacePowerFdir.h"
 #include "mission/system/fdir/RtdFdir.h"
 #include "mission/system/fdir/SusFdir.h"
+#include "mission/system/fdir/SyrlinksFdir.h"
 #include "tmtc/apid.h"
 #include "tmtc/pusIds.h"
-
 #if OBSW_TEST_LIBGPIOD == 1
 #include "linux/boardtest/LibgpiodTest.h"
 #endif
-
 #include <sstream>
 
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
@@ -85,14 +80,12 @@
 #include "mission/devices/RadiationSensorHandler.h"
 #include "mission/devices/RwHandler.h"
 #include "mission/devices/SolarArrayDeploymentHandler.h"
-#include "mission/devices/SusHandler.h"
 #include "mission/devices/SyrlinksHkHandler.h"
 #include "mission/devices/Tmp1075Handler.h"
 #include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
 #include "mission/devices/devicedefinitions/RwDefinitions.h"
-#include "mission/devices/devicedefinitions/SusDefinitions.h"
 #include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
 #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
 #include "mission/system/AcsBoardAssembly.h"
@@ -100,10 +93,7 @@
 #include "mission/tmtc/VirtualChannel.h"
 #include "mission/utility/TmFunnel.h"
 
-ResetArgs resetArgsGnss0;
-ResetArgs resetArgsGnss1;
-
-void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
+ResetArgs RESET_ARGS_GNSS;
 
 void Factory::setStaticFrameworkObjectIds() {
   PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
@@ -112,10 +102,13 @@ void Factory::setStaticFrameworkObjectIds() {
   CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
   CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
 
+#if OBSW_Q7S_EM == 1
+  DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
+#else
   DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
-  //  DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
+#endif /* OBSW_Q7S_EM == 1 */
 
-#if OBSW_TM_TO_PTME == 1
+  #if OBSW_TM_TO_PTME == 1
   TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
 #else
   TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
@@ -129,92 +122,7 @@ void Factory::setStaticFrameworkObjectIds() {
   TmPacketBase::timeStamperId = objects::TIME_STAMPER;
 }
 
-void ObjectFactory::produce(void* args) {
-  ObjectFactory::setStatics();
-  ObjectFactory::produceGenericObjects();
-
-  LinuxLibgpioIF* gpioComIF = nullptr;
-  UartComIF* uartComIF = nullptr;
-  SpiComIF* spiComIF = nullptr;
-  I2cComIF* i2cComIF = nullptr;
-  PowerSwitchIF* pwrSwitcher = nullptr;
-  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF, &i2cComIF);
-  createTmpComponents();
-  new CoreController(objects::CORE_CONTROLLER);
-
-  gpioCallbacks::disableAllDecoder(gpioComIF);
-  createPcduComponents(gpioComIF, &pwrSwitcher);
-  createRadSensorComponent(gpioComIF);
-  createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
-
-#if OBSW_ADD_ACS_BOARD == 1
-  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
-#endif
-
-  createHeaterComponents();
-  createSolarArrayDeploymentComponents();
-  createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher);
-#if OBSW_ADD_SYRLINKS == 1
-  createSyrlinksComponents(pwrSwitcher);
-#endif /* OBSW_ADD_SYRLINKS == 1 */
-  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher);
-  createPayloadComponents(gpioComIF);
-
-#if OBSW_ADD_MGT == 1
-  I2cCookie* imtqI2cCookie =
-      new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
-  auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
-                                     pcdu::Switches::PDU1_CH3_MGT_5V);
-  imtqHandler->setPowerSwitcher(pwrSwitcher);
-  static_cast<void>(imtqHandler);
-#if OBSW_TEST_IMTQ == 1
-  imtqHandler->setStartUpImmediately();
-  imtqHandler->setToGoToNormal(true);
-#endif
-#if OBSW_DEBUG_IMTQ == 1
-  imtqHandler->setDebugMode(true);
-#endif
-#endif
-  createReactionWheelComponents(gpioComIF);
-
-#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
-  I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV);
-  BpxBatteryHandler* bpxHandler =
-      new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
-  bpxHandler->setStartUpImmediately();
-  bpxHandler->setToGoToNormalMode(true);
-#if OBSW_DEBUG_BPX_BATT == 1
-  bpxHandler->setDebugMode(true);
-#endif
-#endif
-
-  new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
-
-#if OBSW_ADD_STAR_TRACKER == 1
-  UartCookie* starTrackerCookie =
-      new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
-                     startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
-  starTrackerCookie->setNoFixedSizeReply();
-  StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
-  auto starTracker =
-      new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
-                             strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
-  starTracker->setPowerSwitcher(pwrSwitcher);
-
-#endif /* OBSW_ADD_STAR_TRACKER == 1 */
-
-#if OBSW_USE_CCSDS_IP_CORE == 1
-  createCcsdsComponents(gpioComIF);
-#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
-
-  /* Test Task */
-#if OBSW_ADD_TEST_CODE == 1
-  createTestComponents(gpioComIF);
-#endif /* OBSW_ADD_TEST_CODE == 1 */
-
-  new PlocUpdater(objects::PLOC_UPDATER);
-  new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
-}
+void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
 
 void ObjectFactory::createTmpComponents() {
   I2cCookie* i2cCookieTmp1075tcs1 =
@@ -232,8 +140,10 @@ void ObjectFactory::createTmpComponents() {
 }
 
 void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
-                                                  SpiComIF** spiComIF, I2cComIF** i2cComIF) {
-  if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
+                                                  SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
+                                                  SpiComIF** spiRWComIF) {
+  if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr or
+      spiRWComIF == nullptr) {
     sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
                << std::endl;
   }
@@ -243,8 +153,8 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
   new CspComIF(objects::CSP_COM_IF);
   *i2cComIF = new I2cComIF(objects::I2C_COM_IF);
   *uartComIF = new UartComIF(objects::UART_COM_IF);
-  *spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
-
+  *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, *gpioComIF);
+  *spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, *gpioComIF);
   /* Adding gpios for chip select decoding to the gpioComIf */
   q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF);
 }
@@ -302,12 +212,13 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
   gpio = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_RADFET, consumer.str(), Direction::OUT,
                                     Levels::LOW);
   gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
-  gpioComIF->addGpios(gpioCookieRadSensor);
+  gpioChecker(gpioComIF->addGpios(gpioCookieRadSensor), "RAD sensor");
 
-  SpiCookie* spiCookieRadSensor = new SpiCookie(
-      addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string(q7s::SPI_DEFAULT_DEV),
-      RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
-  auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF,
+  SpiCookie* spiCookieRadSensor =
+      new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, RAD_SENSOR::READ_SIZE,
+                    spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
+  spiCookieRadSensor->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RAD_SENSOR_CS_TIMEOUT);
+  auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,
                                               spiCookieRadSensor, gpioComIF);
   static_cast<void>(radSensor);
   // The radiation sensor ADC is powered by the 5V stack connector which should always be on
@@ -418,16 +329,16 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), Direction::OUT,
                                     Levels::LOW);
   gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
-  gpioComIF->addGpios(gpioCookieAcsBoard);
+  gpioChecker(gpioComIF->addGpios(gpioCookieAcsBoard), "ACS Board");
   AcsBoardFdir* fdir = nullptr;
   static_cast<void>(fdir);
 
 #if OBSW_ADD_ACS_HANDLERS == 1
   std::string spiDev = q7s::SPI_DEFAULT_DEV;
   SpiCookie* spiCookie =
-      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
-                    MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-  auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
+      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+  auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
                                               spiCookie, spi::LIS3_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
   mgmLis3Handler->setCustomFdir(fdir);
@@ -439,12 +350,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #if OBSW_DEBUG_ACS == 1
   mgmLis3Handler->enablePeriodicPrintouts(true, 10);
 #endif
-
   spiCookie =
-      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
-                    RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
-  auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
-                                               spiCookie, spi::RM3100_TRANSITION_DELAY);
+      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+  auto mgmRm3100Handler =
+      new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+                           spi::RM3100_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
   mgmRm3100Handler->setCustomFdir(fdir);
   mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
@@ -456,11 +367,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #if OBSW_DEBUG_ACS == 1
   mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
 #endif
-
   spiCookie =
-      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
-                    MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-  mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
+      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+  mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
                                          spiCookie, spi::LIS3_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
   mgmLis3Handler->setCustomFdir(fdir);
@@ -474,9 +384,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   mgmLis3Handler->enablePeriodicPrintouts(true, 10);
 #endif
   spiCookie =
-      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
-                    RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
-  mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
+      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+  mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF,
                                           spiCookie, spi::RM3100_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
   mgmRm3100Handler->setCustomFdir(fdir);
@@ -488,14 +398,14 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #if OBSW_DEBUG_ACS == 1
   mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
 #endif
-
   // Commented until ACS board V2 in in clean room again
   // Gyro 0 Side A
-  spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
-                            ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
-                            spi::DEFAULT_ADIS16507_SPEED);
-  auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
-                                              spiCookie, ADIS1650X::Type::ADIS16505);
+  spiCookie =
+      new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
+                    spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
+  auto adisHandler =
+      new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+                               ADIS1650X::Type::ADIS16505);
   fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
   adisHandler->setCustomFdir(fdir);
   adisHandler->setParent(objects::ACS_BOARD_ASS);
@@ -507,13 +417,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #if OBSW_DEBUG_ACS == 1
   adisHandler->enablePeriodicPrintouts(true, 10);
 #endif
-
   // Gyro 1 Side A
-  spiCookie =
-      new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
-                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
-                                               spiCookie, spi::L3G_TRANSITION_DELAY);
+  spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
+                            spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  auto gyroL3gHandler = new GyroHandlerL3GD20H(
+      objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
   gyroL3gHandler->setCustomFdir(fdir);
   gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
@@ -525,12 +433,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #if OBSW_DEBUG_ACS == 1
   gyroL3gHandler->enablePeriodicPrintouts(true, 10);
 #endif
-
   // Gyro 2 Side B
-  spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
-                            ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
-                            spi::DEFAULT_ADIS16507_SPEED);
-  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
+  spiCookie =
+      new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
+                    spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
+  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_MAIN_COM_IF,
                                          spiCookie, ADIS1650X::Type::ADIS16505);
   fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
   adisHandler->setCustomFdir(fdir);
@@ -540,10 +447,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   adisHandler->setToGoToNormalModeImmediately();
 #endif
   // Gyro 3 Side B
-  spiCookie =
-      new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
-                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
+  spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
+                            spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF,
                                           spiCookie, spi::L3G_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
   gyroL3gHandler->setCustomFdir(fdir);
@@ -555,20 +461,15 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #if OBSW_DEBUG_ACS == 1
   gyroL3gHandler->enablePeriodicPrintouts(true, 10);
 #endif
-
   bool debugGps = false;
 #if OBSW_DEBUG_GPS == 1
   debugGps = true;
 #endif
-  resetArgsGnss1.gnss1 = true;
-  resetArgsGnss1.gpioComIF = gpioComIF;
-  resetArgsGnss1.waitPeriodMs = 100;
-  resetArgsGnss0.gnss1 = false;
-  resetArgsGnss0.gpioComIF = gpioComIF;
-  resetArgsGnss0.waitPeriodMs = 100;
-  auto gpsHandler0 =
+  RESET_ARGS_GNSS.gpioComIF = gpioComIF;
+  RESET_ARGS_GNSS.waitPeriodMs = 100;
+  auto gpsCtrl =
       new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
-  gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
+  gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
 
   AcsBoardHelper acsBoardHelper = AcsBoardHelper(
       objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
@@ -580,7 +481,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }
 
-void ObjectFactory::createHeaterComponents() {
+void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher,
+                                           HealthTableIF* healthTable) {
   using namespace gpio;
   GpioCookie* heaterGpiosCookie = new GpioCookie;
   GpiodRegularByLineName* gpio = nullptr;
@@ -621,8 +523,21 @@ void ObjectFactory::createHeaterComponents() {
                                     Levels::LOW);
   heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
 
-  new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
-                    objects::PCDU_HANDLER, pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
+  gpioIF->addGpios(heaterGpiosCookie);
+
+  HeaterHelper helper({{
+      {new HealthDevice(objects::HEATER_0_PLOC_PROC_BRD, MessageQueueIF::NO_QUEUE),
+       gpioIds::HEATER_0},
+      {new HealthDevice(objects::HEATER_1_PCDU_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_1},
+      {new HealthDevice(objects::HEATER_2_ACS_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_2},
+      {new HealthDevice(objects::HEATER_3_OBC_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_3},
+      {new HealthDevice(objects::HEATER_4_CAMERA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_4},
+      {new HealthDevice(objects::HEATER_5_STR, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_5},
+      {new HealthDevice(objects::HEATER_6_DRO, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_6},
+      {new HealthDevice(objects::HEATER_7_HPA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_7},
+  }});
+  new HeaterHandler(objects::HEATER_HANDLER, gpioIF, helper, pwrSwitcher,
+                    pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
 }
 
 void ObjectFactory::createSolarArrayDeploymentComponents() {
@@ -671,7 +586,7 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
                                                     consumer.str(), Direction::OUT, Levels::HIGH);
   auto mpsocGpioCookie = new GpioCookie;
   mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
-  gpioComIF->addGpios(mpsocGpioCookie);
+  gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC");
   auto mpsocCookie =
       new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
                      mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
@@ -681,26 +596,27 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
                        plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
                        objects::PLOC_SUPERVISOR_HANDLER);
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
-
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER;
   auto gpioConfigSupv = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_SUPV_UART, consumer.str(),
-                                                   Direction::OUT, Levels::HIGH);
+                                                   Direction::OUT, Levels::LOW);
   auto supvGpioCookie = new GpioCookie;
   supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
   gpioComIF->addGpios(supvGpioCookie);
-  auto supervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
-                                         q7s::UART_PLOC_SUPERVSIOR_DEV, uart::PLOC_SUPERVISOR_BAUD,
-                                         supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
+  auto supervisorCookie =
+      new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV,
+                     uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
   supervisorCookie->setNoFixedSizeReply();
+  auto supvHelper = new PlocSupvHelper(objects::PLOC_SUPERVISOR_HELPER);
   new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
                             supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
-                            pcdu::PDU1_CH6_PLOC_12V);
+                            pcdu::PDU1_CH6_PLOC_12V, supvHelper);
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
   static_cast<void>(consumer);
 }
 
-void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
+void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
+                                                  PowerSwitchIF* pwrSwitcher) {
   using namespace gpio;
   GpioCookie* gpioCookieRw = new GpioCookie;
   GpioCallback* csRw1 =
@@ -742,54 +658,38 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
                                     Levels::LOW);
   gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
 
-  gpioComIF->addGpios(gpioCookieRw);
+  gpioChecker(gpioComIF->addGpios(gpioCookieRw), "RWs");
 
 #if OBSW_ADD_RW == 1
-  auto rw1SpiCookie =
-      new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
-                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
-  auto rw2SpiCookie =
-      new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
-                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
-  auto rw3SpiCookie =
-      new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
-                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
-  auto rw4SpiCookie =
-      new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
-                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
-
-  auto rwHandler1 =
-      new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF, gpioIds::EN_RW1);
-  rw1SpiCookie->setCallbackArgs(rwHandler1);
-#if OBSW_DEBUG_RW == 1
-  rwHandler1->setStartUpImmediately();
-  rwHandler1->setDebugMode(true);
+  std::array<std::pair<address_t, gpioId_t>, 4> rwCookieParams = {
+      {{addresses::RW1, gpioIds::CS_RW1},
+       {addresses::RW2, gpioIds::CS_RW2},
+       {addresses::RW3, gpioIds::CS_RW3},
+       {addresses::RW4, gpioIds::CS_RW4}}};
+  std::array<SpiCookie*, 4> rwCookies = {};
+  std::array<object_id_t, 4> rwIds = {objects::RW1, objects::RW2, objects::RW3, objects::RW4};
+  std::array<gpioId_t, 4> rwGpioIds = {gpioIds::EN_RW1, gpioIds::EN_RW2, gpioIds::EN_RW3,
+                                       gpioIds::EN_RW4};
+  std::array<RwHandler*, 4> rws = {};
+  for (uint8_t idx = 0; idx < rwCookies.size(); idx++) {
+    rwCookies[idx] = new SpiCookie(rwCookieParams[idx].first, rwCookieParams[idx].second,
+                                   RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED,
+                                   &rwSpiCallback::spiCallback, nullptr);
+    rws[idx] = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF,
+                             rwGpioIds[idx]);
+    rwCookies[idx]->setCallbackArgs(rws[idx]);
+#if OBSW_TEST_RW == 1
+    rws[idx]->setStartUpImmediately();
 #endif
-
-  auto rwHandler2 =
-      new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2);
-  rw2SpiCookie->setCallbackArgs(rwHandler2);
 #if OBSW_DEBUG_RW == 1
-  rwHandler2->setStartUpImmediately();
-  rwHandler2->setDebugMode(true);
-#endif
-
-  auto rwHandler3 =
-      new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3);
-  rw3SpiCookie->setCallbackArgs(rwHandler3);
-#if OBSW_DEBUG_RW == 1
-  rwHandler3->setStartUpImmediately();
-  rwHandler3->setDebugMode(true);
-#endif
-
-  auto rwHandler4 =
-      new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4);
-  rw4SpiCookie->setCallbackArgs(rwHandler4);
-#if OBSW_DEBUG_RW == 1
-  rwHandler4->setStartUpImmediately();
-  rwHandler4->setDebugMode(true);
+    rws[idx]->setDebugMode(true);
 #endif
+  }
 
+  RwHelper rwHelper(rwIds);
+  auto* rwAss = new RwAssembly(objects::RW_ASS, objects::NO_OBJECT, pwrSwitcher,
+                               pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
+  static_cast<void>(rwAss);
 #endif /* OBSW_ADD_RW == 1 */
 }
 
@@ -828,7 +728,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
   gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
 
-  gpioComIF->addGpios(gpioCookiePtmeIp);
+  gpioChecker(gpioComIF->addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
 
   // Creating virtual channel interfaces
   VcInterfaceIF* vc0 =
@@ -882,7 +782,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
                                     Levels::LOW);
   gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
 
-  gpioComIF->addGpios(gpioCookiePdec);
+  gpioChecker(gpioComIF->addGpios(gpioCookiePdec), "PDEC");
 
   new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
                   q7s::UIO_PDEC_CONFIG_MEMORY, q7s::UIO_PDEC_RAM, q7s::UIO_PDEC_REGISTERS);
@@ -903,7 +803,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
                                     Direction::OUT, Levels::LOW);
   gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
 
-  gpioComIF->addGpios(gpioRS485Chip);
+  gpioChecker(gpioComIF->addGpios(gpioRS485Chip), "RS485 Transceiver");
 }
 
 void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
@@ -948,14 +848,14 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ADC_CS, consumer, Direction::OUT,
                                     gpio::Levels::HIGH);
   plPcduGpios->addGpio(gpioIds::PLPCDU_ADC_CS, gpio);
-  gpioComIF->addGpios(plPcduGpios);
-  SpiCookie* spiCookie = new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS,
-                                       q7s::SPI_DEFAULT_DEV, plpcdu::MAX_ADC_REPLY_SIZE,
-                                       spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
+  gpioChecker(gpioComIF->addGpios(plPcduGpios), "PL PCDU");
+  SpiCookie* spiCookie =
+      new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS, plpcdu::MAX_ADC_REPLY_SIZE,
+                    spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
   // Create device handler components
   auto plPcduHandler = new PayloadPcduHandler(
-      objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie, gpioComIF, SdCardManager::instance(),
-      pwrSwitcher, pcdu::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
+      objects::PLPCDU_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, gpioComIF,
+      SdCardManager::instance(), pwrSwitcher, pcdu::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
       pcdu::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8, false);
   spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
 //  plPcduHandler->enablePeriodicPrintout(true, 5);
@@ -982,6 +882,50 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 #endif
 }
 
+void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
+  UartCookie* starTrackerCookie =
+      new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
+                     startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
+  starTrackerCookie->setNoFixedSizeReply();
+  StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
+  auto starTracker =
+      new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
+                             strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
+  starTracker->setPowerSwitcher(pwrSwitcher);
+}
+
+void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
+  I2cCookie* imtqI2cCookie =
+      new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
+  auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
+                                     pcdu::Switches::PDU1_CH3_MGT_5V);
+  imtqHandler->setPowerSwitcher(pwrSwitcher);
+  static_cast<void>(imtqHandler);
+#if OBSW_TEST_IMTQ == 1
+  imtqHandler->setStartUpImmediately();
+  imtqHandler->setToGoToNormal(true);
+#endif
+#if OBSW_DEBUG_IMTQ == 1
+  imtqHandler->setDebugMode(true);
+#endif
+}
+
+void ObjectFactory::createBpxBatteryComponent() {
+  I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV);
+  BpxBatteryHandler* bpxHandler =
+      new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
+  bpxHandler->setStartUpImmediately();
+  bpxHandler->setToGoToNormalMode(true);
+#if OBSW_DEBUG_BPX_BATT == 1
+  bpxHandler->setDebugMode(true);
+#endif
+}
+
+void ObjectFactory::createMiscComponents() {
+  new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
+  new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
+}
+
 void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
   CommandMessage msg;
   ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
diff --git a/bsp_q7s/core/ObjectFactory.h b/bsp_q7s/core/ObjectFactory.h
index a812be35..e6a68cf2 100644
--- a/bsp_q7s/core/ObjectFactory.h
+++ b/bsp_q7s/core/ObjectFactory.h
@@ -1,12 +1,18 @@
 #ifndef BSP_Q7S_OBJECTFACTORY_H_
 #define BSP_Q7S_OBJECTFACTORY_H_
 
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+#include <string>
+
 class LinuxLibgpioIF;
 class UartComIF;
 class SpiComIF;
 class I2cComIF;
 class PowerSwitchIF;
+class HealthTableIF;
 class AcsBoardAssembly;
+class GpioIF;
 
 namespace ObjectFactory {
 
@@ -14,7 +20,8 @@ void setStatics();
 void produce(void* args);
 
 void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
-                                   SpiComIF** spiComIF, I2cComIF** i2cComIF);
+                                   SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
+                                   SpiComIF** spiRwComIF);
 void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
                             PowerSwitchIF* pwrSwitcher);
@@ -22,12 +29,17 @@ void createTmpComponents();
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
                               PowerSwitchIF* pwrSwitcher);
-void createHeaterComponents();
+void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable);
+void createImtqComponents(PowerSwitchIF* pwrSwitcher);
+void createBpxBatteryComponent();
+void createStrComponents(PowerSwitchIF* pwrSwitcher);
 void createSolarArrayDeploymentComponents();
 void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
 void createPayloadComponents(LinuxLibgpioIF* gpioComIF);
-void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
+void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
 void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);
+void createMiscComponents();
+
 void createTestComponents(LinuxLibgpioIF* gpioComIF);
 
 void testAcsBrdAss(AcsBoardAssembly* assAss);
diff --git a/bsp_q7s/core/ParameterHandler.cpp b/bsp_q7s/core/ParameterHandler.cpp
deleted file mode 100644
index 8cee046e..00000000
--- a/bsp_q7s/core/ParameterHandler.cpp
+++ /dev/null
@@ -1,5 +0,0 @@
-#include "ParameterHandler.h"
-
-ParameterHandler::ParameterHandler(std::string mountPrefix) : mountPrefix(mountPrefix) {}
-
-void ParameterHandler::setMountPrefix(std::string prefix) { mountPrefix = prefix; }
diff --git a/bsp_q7s/core/ParameterHandler.h b/bsp_q7s/core/ParameterHandler.h
deleted file mode 100644
index 4a108586..00000000
--- a/bsp_q7s/core/ParameterHandler.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#ifndef BSP_Q7S_CORE_PARAMETERHANDLER_H_
-#define BSP_Q7S_CORE_PARAMETERHANDLER_H_
-
-#include <nlohmann/json.hpp>
-#include <string>
-
-class ParameterHandler {
- public:
-  ParameterHandler(std::string mountPrefix);
-
-  void setMountPrefix(std::string prefix);
-
-  void setUpDummyParameter();
-
- private:
-  std::string mountPrefix;
-  DummyParameter dummyParam;
-};
-
-#endif /* BSP_Q7S_CORE_PARAMETERHANDLER_H_ */
diff --git a/bsp_q7s/em/CMakeLists.txt b/bsp_q7s/em/CMakeLists.txt
new file mode 100644
index 00000000..5ac6819f
--- /dev/null
+++ b/bsp_q7s/em/CMakeLists.txt
@@ -0,0 +1 @@
+target_sources(${OBSW_NAME} PRIVATE emObjectFactory.cpp)
diff --git a/bsp_q7s/em/emObjectFactory.cpp b/bsp_q7s/em/emObjectFactory.cpp
new file mode 100644
index 00000000..9301f6d3
--- /dev/null
+++ b/bsp_q7s/em/emObjectFactory.cpp
@@ -0,0 +1,71 @@
+#include <fsfw/health/HealthTableIF.h>
+
+#include "OBSWConfig.h"
+#include "bsp_q7s/core/CoreController.h"
+#include "bsp_q7s/core/ObjectFactory.h"
+#include "busConf.h"
+#include "commonObjects.h"
+#include "devConf.h"
+#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
+#include "linux/ObjectFactory.h"
+#include "linux/callbacks/gpioCallbacks.h"
+#include "mission/core/GenericFactory.h"
+
+void ObjectFactory::produce(void* args) {
+  ObjectFactory::setStatics();
+  HealthTableIF* healthTable = nullptr;
+  ObjectFactory::produceGenericObjects(&healthTable);
+
+  LinuxLibgpioIF* gpioComIF = nullptr;
+  UartComIF* uartComIF = nullptr;
+  SpiComIF* spiMainComIF = nullptr;
+  I2cComIF* i2cComIF = nullptr;
+  PowerSwitchIF* pwrSwitcher = nullptr;
+  SpiComIF* spiRwComIF = nullptr;
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
+  createTmpComponents();
+  new CoreController(objects::CORE_CONTROLLER);
+
+  gpioCallbacks::disableAllDecoder(gpioComIF);
+  createPcduComponents(gpioComIF, &pwrSwitcher);
+  createRadSensorComponent(gpioComIF);
+  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
+
+#if OBSW_ADD_ACS_BOARD == 1
+  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
+#endif
+  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
+  createSolarArrayDeploymentComponents();
+  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
+#if OBSW_ADD_SYRLINKS == 1
+#if OBSW_Q7S_EM == 1
+  createSyrlinksComponents(nullptr);
+#else
+  createSyrlinksComponents(pwrSwitcher);
+#endif /* OBSW_Q7S_EM == 1 */
+#endif /* OBSW_ADD_SYRLINKS == 1 */
+  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
+  createPayloadComponents(gpioComIF);
+
+#if OBSW_ADD_MGT == 1
+  createImtqComponents(pwrSwitcher);
+#endif
+  createReactionWheelComponents(gpioComIF, pwrSwitcher);
+
+#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
+  createBpxBatteryComponent();
+#endif
+
+#if OBSW_ADD_STAR_TRACKER == 1
+  createStrComponents(pwrSwitcher);
+#endif /* OBSW_ADD_STAR_TRACKER == 1 */
+#if OBSW_USE_CCSDS_IP_CORE == 1
+  createCcsdsComponents(gpioComIF);
+#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
+  /* Test Task */
+#if OBSW_ADD_TEST_CODE == 1
+  createTestComponents(gpioComIF);
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+
+  createMiscComponents();
+}
diff --git a/bsp_q7s/fmObjectFactory.cpp b/bsp_q7s/fmObjectFactory.cpp
new file mode 100644
index 00000000..00e7bbd9
--- /dev/null
+++ b/bsp_q7s/fmObjectFactory.cpp
@@ -0,0 +1,65 @@
+#include "OBSWConfig.h"
+#include "bsp_q7s/core/CoreController.h"
+#include "bsp_q7s/core/ObjectFactory.h"
+#include "busConf.h"
+#include "commonObjects.h"
+#include "devConf.h"
+#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
+#include "linux/ObjectFactory.h"
+#include "linux/callbacks/gpioCallbacks.h"
+#include "mission/core/GenericFactory.h"
+
+void ObjectFactory::produce(void* args) {
+  ObjectFactory::setStatics();
+  HealthTableIF* healthTable = nullptr;
+  ObjectFactory::produceGenericObjects(&healthTable);
+
+  LinuxLibgpioIF* gpioComIF = nullptr;
+  UartComIF* uartComIF = nullptr;
+  SpiComIF* spiMainComIF = nullptr;
+  I2cComIF* i2cComIF = nullptr;
+  PowerSwitchIF* pwrSwitcher = nullptr;
+  SpiComIF* spiRwComIF = nullptr;
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
+  createTmpComponents();
+  new CoreController(objects::CORE_CONTROLLER);
+
+  gpioCallbacks::disableAllDecoder(gpioComIF);
+  createPcduComponents(gpioComIF, &pwrSwitcher);
+  createRadSensorComponent(gpioComIF);
+  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
+
+#if OBSW_ADD_ACS_BOARD == 1
+  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
+#endif
+  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
+  createSolarArrayDeploymentComponents();
+  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
+#if OBSW_ADD_SYRLINKS == 1
+  createSyrlinksComponents(pwrSwitcher);
+#endif /* OBSW_ADD_SYRLINKS == 1 */
+  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
+  createPayloadComponents(gpioComIF);
+
+#if OBSW_ADD_MGT == 1
+  createImtqComponents(pwrSwitcher);
+#endif
+  createReactionWheelComponents(gpioComIF, pwrSwitcher);
+
+#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
+  createBpxBatteryComponent();
+#endif
+
+#if OBSW_ADD_STAR_TRACKER == 1
+  createStrComponents(pwrSwitcher);
+#endif /* OBSW_ADD_STAR_TRACKER == 1 */
+#if OBSW_USE_CCSDS_IP_CORE == 1
+  createCcsdsComponents(gpioComIF);
+#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
+  /* Test Task */
+#if OBSW_ADD_TEST_CODE == 1
+  createTestComponents(gpioComIF);
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+
+  createMiscComponents();
+}
diff --git a/bsp_q7s/main.cpp b/bsp_q7s/main.cpp
index dfcaebf0..56327005 100644
--- a/bsp_q7s/main.cpp
+++ b/bsp_q7s/main.cpp
@@ -1,7 +1,7 @@
 #include "q7sConfig.h"
 
 #if Q7S_SIMPLE_MODE == 0
-#include "core/obsw.h"
+#include "obsw.h"
 #else
 #include "simple/simple.h"
 #endif
diff --git a/bsp_q7s/memory/CMakeLists.txt b/bsp_q7s/memory/CMakeLists.txt
index a0d4f66f..d8ba4347 100644
--- a/bsp_q7s/memory/CMakeLists.txt
+++ b/bsp_q7s/memory/CMakeLists.txt
@@ -1,6 +1,2 @@
-target_sources(${OBSW_NAME} PRIVATE
-    FileSystemHandler.cpp
-    SdCardManager.cpp
-    scratchApi.cpp
-    FilesystemHelper.cpp
-)
\ No newline at end of file
+target_sources(${OBSW_NAME} PRIVATE FileSystemHandler.cpp SdCardManager.cpp
+                                    scratchApi.cpp FilesystemHelper.cpp)
diff --git a/bsp_q7s/memory/FileSystemHandler.cpp b/bsp_q7s/memory/FileSystemHandler.cpp
index 7a4a791c..33849fbe 100644
--- a/bsp_q7s/memory/FileSystemHandler.cpp
+++ b/bsp_q7s/memory/FileSystemHandler.cpp
@@ -70,9 +70,8 @@ void FileSystemHandler::fileSystemHandlerLoop() {
 
 void FileSystemHandler::fileSystemCheckup() {
   SdCardManager::SdStatePair statusPair;
-  sdcMan->getSdCardActiveStatus(statusPair);
-  sd::SdCard preferredSdCard;
-  sdcMan->getPreferredSdCard(preferredSdCard);
+  sdcMan->getSdCardsStatus(statusPair);
+  sd::SdCard preferredSdCard = sdcMan->getPreferredSdCard();
   if ((preferredSdCard == sd::SdCard::SLOT_0) and (statusPair.first == sd::SdState::MOUNTED)) {
     currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
   } else if ((preferredSdCard == sd::SdCard::SLOT_1) and
@@ -109,11 +108,7 @@ ReturnValue_t FileSystemHandler::initialize() {
                << std::endl;
   }
   sdcMan = SdCardManager::instance();
-  sd::SdCard preferredSdCard;
-  ReturnValue_t result = sdcMan->getPreferredSdCard(preferredSdCard);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
+  sd::SdCard preferredSdCard = sdcMan->getPreferredSdCard();
   if (preferredSdCard == sd::SdCard::SLOT_0) {
     currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
   } else if (preferredSdCard == sd::SdCard::SLOT_1) {
diff --git a/bsp_q7s/memory/FilesystemHelper.cpp b/bsp_q7s/memory/FilesystemHelper.cpp
index 4b9140f1..c4b8fa16 100644
--- a/bsp_q7s/memory/FilesystemHelper.cpp
+++ b/bsp_q7s/memory/FilesystemHelper.cpp
@@ -8,8 +8,6 @@
 
 FilesystemHelper::FilesystemHelper() {}
 
-FilesystemHelper::~FilesystemHelper() {}
-
 ReturnValue_t FilesystemHelper::checkPath(std::string path) {
   SdCardManager* sdcMan = SdCardManager::instance();
   if (sdcMan == nullptr) {
diff --git a/bsp_q7s/memory/FilesystemHelper.h b/bsp_q7s/memory/FilesystemHelper.h
index cb8e27a8..efdf5c6a 100644
--- a/bsp_q7s/memory/FilesystemHelper.h
+++ b/bsp_q7s/memory/FilesystemHelper.h
@@ -7,7 +7,7 @@
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 /**
- * @brief   This class implements often used functions concerning the file system management.
+ * @brief   This class implements often used functions related to the file system management.
  *
  * @author  J. Meier
  */
@@ -20,11 +20,8 @@ class FilesystemHelper : public HasReturnvaluesIF {
   //! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
   static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA1);
 
-  FilesystemHelper();
-  virtual ~FilesystemHelper();
-
   /**
-   * @brief   In case the path points to a directory on the sd card the function checks if the
+   * @brief   In case the path points to a directory on the sd card, the function checks if the
    *          appropriate SD card is mounted.
    *
    * @param path  Path to check
@@ -39,11 +36,14 @@ class FilesystemHelper : public HasReturnvaluesIF {
   /**
    * @brief   Checks if the file exists on the filesystem.
    *
-   * param file   File to check
+   * @param file   File to check
    *
-   * @return  RETURN_OK if fiel exists, otherwise return error code.
+   * @return  RETURN_OK if file exists, otherwise return error code.
    */
   static ReturnValue_t fileExists(std::string file);
+
+ private:
+  FilesystemHelper();
 };
 
 #endif /* BSP_Q7S_MEMORY_FILESYSTEMHELPER_H_ */
diff --git a/bsp_q7s/memory/SdCardManager.cpp b/bsp_q7s/memory/SdCardManager.cpp
index 4ca11787..cfd4f490 100644
--- a/bsp_q7s/memory/SdCardManager.cpp
+++ b/bsp_q7s/memory/SdCardManager.cpp
@@ -16,23 +16,51 @@
 #include "linux/utility/utility.h"
 #include "scratchApi.h"
 
-SdCardManager* SdCardManager::factoryInstance = nullptr;
+SdCardManager* SdCardManager::INSTANCE = nullptr;
 
 SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) {
   mutex = MutexFactory::instance()->createMutex();
+  ReturnValue_t result = mutex->lockMutex();
+  if (result != RETURN_OK) {
+    sif::error << "SdCardManager::SdCardManager: Mutex lock failed" << std::endl;
+  }
+  uint8_t prefSdRaw = 0;
+  result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw);
+  result = mutex->unlockMutex();
+  if (result != RETURN_OK) {
+    sif::error << "SdCardManager::SdCardManager: Mutex unlock failed" << std::endl;
+  }
+
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result == scratch::KEY_NOT_FOUND) {
+      sif::warning << "CoreController::sdCardInit: "
+                      "Preferred SD card not set. Setting to 0"
+                   << std::endl;
+      setPreferredSdCard(sd::SdCard::SLOT_0);
+      sdInfo.pref = sd::SdCard::SLOT_0;
+    } else {
+      // Should not happen.
+      // TODO: Maybe trigger event?
+      sif::error << "SdCardManager::SdCardManager: Reading preferred SD card from scratch"
+                    "buffer failed"
+                 << std::endl;
+      sdInfo.pref = sd::SdCard::SLOT_0;
+    }
+  }
+  sdInfo.pref = static_cast<sd::SdCard>(prefSdRaw);
 }
 
 SdCardManager::~SdCardManager() {}
 
 void SdCardManager::create() {
-  if (factoryInstance == nullptr) {
-    factoryInstance = new SdCardManager();
+  if (INSTANCE == nullptr) {
+    INSTANCE = new SdCardManager();
   }
 }
 
 SdCardManager* SdCardManager::instance() {
   SdCardManager::create();
-  return SdCardManager::factoryInstance;
+  return SdCardManager::INSTANCE;
 }
 
 ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard,
@@ -51,7 +79,7 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
   if (statusPair == nullptr) {
     sdStatusPtr = std::make_unique<SdStatePair>();
     statusPair = sdStatusPtr.get();
-    result = getSdCardActiveStatus(*statusPair);
+    result = getSdCardsStatus(*statusPair);
     if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
@@ -98,7 +126,7 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
 ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard,
                                              SdStatePair* statusPair) {
   std::pair<sd::SdState, sd::SdState> active;
-  ReturnValue_t result = getSdCardActiveStatus(active);
+  ReturnValue_t result = getSdCardsStatus(active);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
@@ -165,7 +193,7 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
   return result;
 }
 
-ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatePair& active) {
+ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& active) {
   using namespace std;
   MutexGuard mg(mutex);
   if (not filesystem::exists(SD_STATE_FILE)) {
@@ -273,14 +301,14 @@ ReturnValue_t SdCardManager::sanitizeState(SdStatePair* statusPair, sd::SdCard p
     resetNonBlockingState = true;
   }
   if (prefSdCard == sd::SdCard::NONE) {
-    result = getPreferredSdCard(prefSdCard);
+    result = getPreferredSdCard();
     if (result != HasReturnvaluesIF::RETURN_OK) {
     }
   }
   if (statusPair == nullptr) {
     sdStatusPtr = std::make_unique<SdStatePair>();
     statusPair = sdStatusPtr.get();
-    getSdCardActiveStatus(*statusPair);
+    getSdCardsStatus(*statusPair);
   }
 
   if (statusPair->first == sd::SdState::ON) {
@@ -351,20 +379,21 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& act
   idx++;
 }
 
-ReturnValue_t SdCardManager::getPreferredSdCard(sd::SdCard& sdCard) const {
-  uint8_t prefSdCard = 0;
-  ReturnValue_t result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdCard);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
+sd::SdCard SdCardManager::getPreferredSdCard() const {
+  MutexGuard mg(mutex);
+  auto res = mg.getLockResult();
+  if (res != RETURN_OK) {
+    sif::error << "SdCardManager::getPreferredSdCard: Lock error" << std::endl;
   }
-  sdCard = static_cast<sd::SdCard>(prefSdCard);
-  return HasReturnvaluesIF::RETURN_OK;
+  return sdInfo.pref;
 }
 
 ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
+  MutexGuard mg(mutex);
   if (sdCard == sd::SdCard::BOTH) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
+  sdInfo.pref = sdCard;
   return scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sdCard));
 }
 
@@ -383,14 +412,9 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
   return result;
 }
 
-std::string SdCardManager::getCurrentMountPrefix(sd::SdCard prefSdCard) {
-  if (prefSdCard == sd::SdCard::NONE) {
-    ReturnValue_t result = getPreferredSdCard(prefSdCard);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-      return SD_0_MOUNT_POINT;
-    }
-  }
-  if (prefSdCard == sd::SdCard::SLOT_0) {
+std::string SdCardManager::getCurrentMountPrefix() const {
+  MutexGuard mg(mutex);
+  if (sdInfo.active == sd::SdCard::SLOT_0) {
     return SD_0_MOUNT_POINT;
   } else {
     return SD_1_MOUNT_POINT;
@@ -443,7 +467,7 @@ void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = p
 
 bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
   SdCardManager::SdStatePair active;
-  ReturnValue_t result = this->getSdCardActiveStatus(active);
+  ReturnValue_t result = this->getSdCardsStatus(active);
 
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::debug << "SdCardManager::isSdCardMounted: Failed to get SD card active state";
@@ -466,3 +490,68 @@ bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
   }
   return false;
 }
+
+ReturnValue_t SdCardManager::isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly) {
+  std::ostringstream command;
+  if (sdcard == sd::SdCard::SLOT_0) {
+    command << "grep -q '" << SD_0_MOUNT_POINT << " vfat ro,' /proc/mounts";
+  } else {
+    command << "grep -q '" << SD_1_MOUNT_POINT << " vfat ro,' /proc/mounts";
+  }
+  ReturnValue_t result = cmdExecutor.load(command.str(), true, false);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = cmdExecutor.execute();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    int exitStatus = cmdExecutor.getLastError();
+    if (exitStatus == 1) {
+      readOnly = false;
+      return RETURN_OK;
+    }
+    return result;
+  }
+  auto& readVec = cmdExecutor.getReadVector();
+  size_t readLen = strnlen(readVec.data(), readVec.size());
+  if (readLen == 0) {
+    readOnly = false;
+  }
+  readOnly = true;
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SdCardManager::remountReadWrite(sd::SdCard sdcard) {
+  std::ostringstream command;
+  if (sdcard == sd::SdCard::SLOT_0) {
+    command << "mount -o remount,rw " << SD_0_DEV_NAME << " " << SD_0_MOUNT_POINT;
+  } else {
+    command << "mount -o remount,rw " << SD_1_DEV_NAME << " " << SD_1_MOUNT_POINT;
+  }
+  ReturnValue_t result = cmdExecutor.load(command.str(), true, false);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return cmdExecutor.execute();
+}
+
+ReturnValue_t SdCardManager::performFsck(sd::SdCard sdcard, bool printOutput, int& linuxError) {
+  std::ostringstream command;
+  if (sdcard == sd::SdCard::SLOT_0) {
+    command << "fsck -y " << SD_0_DEV_NAME;
+  } else {
+    command << "fsck -y " << SD_1_DEV_NAME;
+  }
+  ReturnValue_t result = cmdExecutor.load(command.str(), true, printOutput);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = cmdExecutor.execute();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    linuxError = cmdExecutor.getLastError();
+  }
+  return result;
+}
+
+void SdCardManager::setActiveSdCard(sd::SdCard sdCard) { sdInfo.active = sdCard; }
+
+sd::SdCard SdCardManager::getActiveSdCard() const { return sdInfo.active; }
diff --git a/bsp_q7s/memory/SdCardManager.h b/bsp_q7s/memory/SdCardManager.h
index 37660f75..84d2d97b 100644
--- a/bsp_q7s/memory/SdCardManager.h
+++ b/bsp_q7s/memory/SdCardManager.h
@@ -24,7 +24,7 @@ class MutexIF;
  * @brief   Manages handling of SD cards like switching them on or off or getting the current
  *          state
  */
-class SdCardManager : public SystemObject, public SdCardMountedIF {
+class SdCardManager : public SystemObject, public HasReturnvaluesIF, public SdCardMountedIF {
   friend class SdCardAccess;
 
  public:
@@ -36,6 +36,12 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
 
   using SdStatePair = std::pair<sd::SdState, sd::SdState>;
 
+  struct SdInfo {
+    sd::SdCard pref = sd::SdCard::NONE;
+    sd::SdCard other = sd::SdCard::NONE;
+    sd::SdCard active = sd::SdCard::NONE;
+  } sdInfo;
+
   static constexpr uint8_t INTERFACE_ID = CLASS_ID::SD_CARD_MANAGER;
 
   static constexpr ReturnValue_t OP_ONGOING = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
@@ -91,7 +97,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * @param sdCard
    * @return
    */
-  ReturnValue_t getPreferredSdCard(sd::SdCard& sdCard) const override;
+  sd::SdCard getPreferredSdCard() const override;
 
   /**
    * Switch on the specified SD card.
@@ -138,7 +144,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    *           should call #updateSdCardStateFile again in that case
    *         - STATUS_FILE_NEXISTS if the status file does not exist
    */
-  ReturnValue_t getSdCardActiveStatus(SdStatePair& active);
+  ReturnValue_t getSdCardsStatus(SdStatePair& active);
 
   /**
    * Mount the specified SD card. This is necessary to use it.
@@ -146,6 +152,20 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * @return
    */
   ReturnValue_t mountSdCard(sd::SdCard sdCard);
+
+  /**
+   * Set the currently active SD card. This does not necessarily mean that the SD card is on or
+   * mounted
+   * @param sdCard
+   */
+  void setActiveSdCard(sd::SdCard sdCard) override;
+  /**
+   * Get the currently active SD card. This does not necessarily mean that the SD card is on or
+   * mounted
+   * @return
+   */
+  sd::SdCard getActiveSdCard() const override;
+
   /**
    * Unmount the specified SD card. This is recommended before switching it off. The SD card
    * can't be used after it has been unmounted.
@@ -173,7 +193,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * @param prefSdCardPtr
    * @return
    */
-  std::string getCurrentMountPrefix(sd::SdCard prefSdCardPtr = sd::SdCard::NONE) override;
+  std::string getCurrentMountPrefix() const override;
 
   OpStatus checkCurrentOp(Operations& currentOp);
 
@@ -194,6 +214,12 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    */
   bool isSdCardMounted(sd::SdCard sdCard) override;
 
+  ReturnValue_t isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly);
+
+  ReturnValue_t remountReadWrite(sd::SdCard sdcard);
+
+  ReturnValue_t performFsck(sd::SdCard sdcard, bool printOutput, int& linuxError);
+
  private:
   CommandExecutor cmdExecutor;
   Operations currentOp = Operations::IDLE;
@@ -210,7 +236,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
 
   std::string currentPrefix;
 
-  static SdCardManager* factoryInstance;
+  static SdCardManager* INSTANCE;
 };
 
 #endif /* BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_ */
diff --git a/bsp_q7s/memory/scratchApi.h b/bsp_q7s/memory/scratchApi.h
index 96264995..cd76fca1 100644
--- a/bsp_q7s/memory/scratchApi.h
+++ b/bsp_q7s/memory/scratchApi.h
@@ -76,12 +76,12 @@ ReturnValue_t readToFile(std::string name, std::ifstream& file, std::string& fil
   int result = std::system(oss.str().c_str());
   if (result != 0) {
     if (WEXITSTATUS(result) == 1) {
-      sif::warning << "scratch::readNumber: Key " << name << " does not exist" << std::endl;
+      sif::warning << "scratch::readToFile: Key " << name << " does not exist" << std::endl;
       // Could not find value
       std::remove(filename.c_str());
       return KEY_NOT_FOUND;
     } else {
-      utility::handleSystemError(result, "scratch::readNumber");
+      utility::handleSystemError(result, "scratch::readToFile");
       std::remove(filename.c_str());
       return HasReturnvaluesIF::RETURN_FAILED;
     }
diff --git a/bsp_q7s/core/obsw.cpp b/bsp_q7s/obsw.cpp
similarity index 81%
rename from bsp_q7s/core/obsw.cpp
rename to bsp_q7s/obsw.cpp
index a2888875..530c4904 100644
--- a/bsp_q7s/core/obsw.cpp
+++ b/bsp_q7s/obsw.cpp
@@ -3,19 +3,24 @@
 #include <filesystem>
 #include <iostream>
 
-#include "InitMission.h"
 #include "OBSWConfig.h"
 #include "commonConfig.h"
+#include "core/InitMission.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/version.h"
+#include "q7sConfig.h"
 #include "watchdog/definitions.h"
 
 static int OBSW_ALREADY_RUNNING = -2;
-
+#if OBSW_Q7S_EM == 0
+static const char* DEV_STRING = "Xiphos Q7S FM";
+#else
+static const char* DEV_STRING = "Xiphos Q7S EM";
+#endif
 int obsw::obsw() {
   using namespace fsfw;
   std::cout << "-- EIVE OBSW --" << std::endl;
-  std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
+  std::cout << "-- Compiled for Linux (" << DEV_STRING << ") --" << std::endl;
   std::cout << "-- OBSW v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
             << std::endl;
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
diff --git a/bsp_q7s/core/obsw.h b/bsp_q7s/obsw.h
similarity index 100%
rename from bsp_q7s/core/obsw.h
rename to bsp_q7s/obsw.h
diff --git a/bsp_q7s/simple/CMakeLists.txt b/bsp_q7s/simple/CMakeLists.txt
index 77cbd076..b5c44433 100644
--- a/bsp_q7s/simple/CMakeLists.txt
+++ b/bsp_q7s/simple/CMakeLists.txt
@@ -1,3 +1 @@
-target_sources(${SIMPLE_OBSW_NAME} PRIVATE
-    simple.cpp
-)
+target_sources(${SIMPLE_OBSW_NAME} PRIVATE simple.cpp)
diff --git a/bsp_q7s/xadc/CMakeLists.txt b/bsp_q7s/xadc/CMakeLists.txt
index 0f2ea7df..a8d61811 100644
--- a/bsp_q7s/xadc/CMakeLists.txt
+++ b/bsp_q7s/xadc/CMakeLists.txt
@@ -1,3 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
-    Xadc.cpp
-)
\ No newline at end of file
+target_sources(${OBSW_NAME} PRIVATE Xadc.cpp)
diff --git a/bsp_te0720_1cfa/InitMission.cpp b/bsp_te0720_1cfa/InitMission.cpp
index f1809bca..f50864b8 100644
--- a/bsp_te0720_1cfa/InitMission.cpp
+++ b/bsp_te0720_1cfa/InitMission.cpp
@@ -89,13 +89,23 @@ void initmission::initTasks() {
   }
   pstTasks.push_back(pst);
 
+#if OBSW_ADD_PLOC_MPSOC == 1
   PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
       "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
   }
-  pstTasks.push_back(mpsocHelperTask);
+#endif /* OBSW_ADD_PLOC_MPSOC == 1*/
+
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
+      "PLOC_SUPV_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
+  }
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
 
   auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
     for (const auto& task : taskVector) {
@@ -111,6 +121,12 @@ void initmission::initTasks() {
   tmtcDistributor->startTask();
   tmtcBridgeTask->startTask();
   tmtcPollingTask->startTask();
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  supvHelperTask->startTask();
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
+#if OBSW_ADD_PLOC_MPSOC == 1
+  mpsocHelperTask->startTask();
+#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 
   taskStarter(pstTasks, "PST Tasks");
   taskStarter(pusTasks, "PUS Tasks");
diff --git a/linux/fsfwconfig/OBSWConfig.h.in b/bsp_te0720_1cfa/OBSWConfig.h.in
similarity index 65%
rename from linux/fsfwconfig/OBSWConfig.h.in
rename to bsp_te0720_1cfa/OBSWConfig.h.in
index 356570e5..14867682 100644
--- a/linux/fsfwconfig/OBSWConfig.h.in
+++ b/bsp_te0720_1cfa/OBSWConfig.h.in
@@ -6,69 +6,19 @@
 #ifndef FSFWCONFIG_OBSWCONFIG_H_
 #define FSFWCONFIG_OBSWCONFIG_H_
 
-#cmakedefine RASPBERRY_PI
-#cmakedefine XIPHOS_Q7S
-#cmakedefine BEAGLEBONEBLACK
-#cmakedefine EGSE
-#cmakedefine TE0720_1CFA
-
 #include "commonConfig.h"
 #include "OBSWVersion.h"
-                             
-#define Q7S_EM                                      0
-
+    
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/
 
-//! Timers can mess up the code when debugging
-//! All of this should be enabled for mission code!
-#if defined XIPHOS_Q7S
-
-#define Q7S_EM                                      0
-
-#define OBSW_USE_CCSDS_IP_CORE                      1
-// Set to 1 if all telemetry should be sent to the PTME IP Core
-#define OBSW_TM_TO_PTME                             0
-// Set to 1 if telecommands are received via the PDEC IP Core
-#define OBSW_TC_FROM_PDEC                           0
-
-#define OBSW_ENABLE_TIMERS                          1
-#define OBSW_ADD_MGT                                1
-#define OBSW_ADD_BPX_BATTERY_HANDLER                1
-#define OBSW_ADD_STAR_TRACKER                       @OBSW_ADD_STAR_TRACKER@
-#define OBSW_ADD_PLOC_SUPERVISOR                    0
-#define OBSW_ADD_PLOC_MPSOC                         0
-#define OBSW_ADD_SUN_SENSORS                        1
-#define OBSW_ADD_SUS_BOARD_ASS                      1
-#define OBSW_ADD_ACS_BOARD                          1
-#define OBSW_ADD_ACS_HANDLERS                       1
-#define OBSW_ADD_RW                                 0
-#define OBSW_ADD_RTD_DEVICES                        1
-#define OBSW_ADD_TMP_DEVICES                        1
-#define OBSW_ADD_RAD_SENSORS                        1
-#define OBSW_ADD_PL_PCDU                            1
-#define OBSW_ADD_SYRLINKS                           1
-#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
-#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
-
-#endif // XIPHOS_Q7S
-
-// This is a really tricky switch.. It initializes the PCDU switches to their default states
-// at powerup. I think it would be better
-// to leave it off for now. It makes testing a lot more difficult and it might mess with
-// something the operators might want to do by giving the software too much intelligence
-// at the wrong place. The system component might command all the Switches accordingly anyway
-#define OBSW_INITIALIZE_SWITCHES                    0
-#define OBSW_ENABLE_PERIODIC_HK                     0
-
-#ifdef TE0720_1CFA
-
 #define OBSW_USE_CCSDS_IP_CORE                      0
 // Set to 1 if all telemetry should be sent to the PTME IP Core
 #define OBSW_TM_TO_PTME                             0
 // Set to 1 if telecommands are received via the PDEC IP Core
 #define OBSW_TC_FROM_PDEC                           0
+
 #define OBSW_ENABLE_TIMERS                          1
 #define OBSW_ADD_MGT                                0
 #define OBSW_ADD_BPX_BATTERY_HANDLER                0
@@ -91,7 +41,13 @@
 #define OBSW_PRINT_CORE_HK                          0
 #define OBSW_INITIALIZE_SWITCHES                    0
 
-#endif
+// This is a really tricky switch.. It initializes the PCDU switches to their default states
+// at powerup. I think it would be better
+// to leave it off for now. It makes testing a lot more difficult and it might mess with
+// something the operators might want to do by giving the software too much intelligence
+// at the wrong place. The system component might command all the Switches accordingly anyway
+#define OBSW_INITIALIZE_SWITCHES                    0
+#define OBSW_ENABLE_PERIODIC_HK                     0
 
 /*******************************************************************/
 /** All of the following flags should be disabled for mission code */
@@ -146,43 +102,10 @@
 
 #define OBSW_DEBUG_PDEC_HANDLER                     0
 
-#ifdef TE0720_1CFA
 #define OBSW_DEBUG_PLOC_SUPERVISOR                  1
 #define OBSW_DEBUG_PLOC_MPSOC                       1
-#else 
-#define OBSW_DEBUG_PLOC_SUPERVISOR                  0
-#define OBSW_DEBUG_PLOC_MPSOC                       0
-#endif 
 
-#ifdef EGSE
-#define OBSW_DEBUG_STARTRACKER                      1
-#else
 #define OBSW_DEBUG_STARTRACKER                      0
-#endif
-
-#ifdef RASPBERRY_PI
-
-#define OBSW_ENABLE_TIMERS                          1
-#define OBSW_ADD_STAR_TRACKER                       0
-#define OBSW_ADD_PLOC_SUPERVISOR                    0
-#define OBSW_ADD_PLOC_MPSOC                         0
-#define OBSW_ADD_SUN_SENSORS                        0
-#define OBSW_ADD_MGT                                0
-#define OBSW_ADD_ACS_BOARD                          0
-#define OBSW_ADD_ACS_HANDLERS                       0
-#define OBSW_ADD_GPS_0                              0
-#define OBSW_ADD_GPS_1                              0
-#define OBSW_ADD_RW                                 0
-#define OBSW_ADD_BPX_BATTERY_HANDLER                0
-#define OBSW_ADD_RTD_DEVICES                        0
-#define OBSW_ADD_PL_PCDU                            0
-#define OBSW_ADD_TMP_DEVICES                        0
-#define OBSW_ADD_RAD_SENSORS                        0
-#define OBSW_ADD_SYRLINKS                           0
-#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
-
-#endif // RASPBERRY_PI
-
 #define OBSW_TCP_SERVER_WIRETAPPING                 0
 
 /*******************************************************************/
@@ -193,12 +116,6 @@
 #cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
 #cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
 
-#ifdef RASPBERRY_PI
-#include "rpiConfig.h"
-#elif defined(XIPHOS_Q7S)
-#include "q7sConfig.h"
-#endif
-
 #ifdef __cplusplus
 
 #include "objects/systemObjectList.h"
diff --git a/bsp_te0720_1cfa/ObjectFactory.cpp b/bsp_te0720_1cfa/ObjectFactory.cpp
index eb6c4fa4..9fe7f3b0 100644
--- a/bsp_te0720_1cfa/ObjectFactory.cpp
+++ b/bsp_te0720_1cfa/ObjectFactory.cpp
@@ -1,27 +1,30 @@
 #include "ObjectFactory.h"
 
 #include <devConf.h>
-#include "fsfw_hal/linux/uart/UartComIF.h"
-#include "fsfw_hal/linux/i2c/I2cComIF.h"
-#include "fsfw_hal/linux/uart/UartCookie.h"
 
 #include "OBSWConfig.h"
 #include "busConf.h"
 #include "devConf.h"
+#include "devices/addresses.h"
+#include "devices/gpioIds.h"
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
 #include "fsfw/tmtcpacket/pus/tm.h"
 #include "fsfw/tmtcservices/CommandingServiceBase.h"
 #include "fsfw/tmtcservices/PusServiceBase.h"
+#include "fsfw_hal/linux/i2c/I2cComIF.h"
 #include "fsfw_hal/linux/i2c/I2cCookie.h"
+#include "fsfw_hal/linux/uart/UartComIF.h"
+#include "fsfw_hal/linux/uart/UartCookie.h"
 #include "linux/devices/ploc/PlocMPSoCHandler.h"
 #include "linux/devices/ploc/PlocMPSoCHelper.h"
-#include "mission/devices/Tmp1075Handler.h"
+#include "linux/devices/ploc/PlocMemoryDumper.h"
+#include "linux/devices/ploc/PlocSupervisorHandler.h"
+#include "linux/devices/ploc/PlocSupvHelper.h"
 #include "mission/core/GenericFactory.h"
+#include "mission/devices/Tmp1075Handler.h"
 #include "mission/utility/TmFunnel.h"
-#include "test/gpio/DummyGpioIF.h"
 #include "objects/systemObjectList.h"
-#include "devices/addresses.h"
-#include "devices/gpioIds.h"
+#include "test/gpio/DummyGpioIF.h"
 #include "tmtc/apid.h"
 #include "tmtc/pusIds.h"
 
@@ -43,12 +46,13 @@ void ObjectFactory::produce(void* args) {
   Factory::setStaticFrameworkObjectIds();
   ObjectFactory::produceGenericObjects();
 
+  new UartComIF(objects::UART_COM_IF);
+
 #if OBSW_ADD_PLOC_MPSOC == 1
   UartCookie* mpsocUartCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, te0720_1cfa::MPSOC_UART,
                                                uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
   mpsocUartCookie->setNoFixedSizeReply();
   PlocMPSoCHelper* plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
-  new UartComIF(objects::UART_COM_IF);
   auto dummyGpioIF = new DummyGpioIF();
   PlocMPSoCHandler* plocMPSoCHandler = new PlocMPSoCHandler(
       objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocUartCookie, plocMpsocHelper,
@@ -56,6 +60,20 @@ void ObjectFactory::produce(void* args) {
   plocMPSoCHandler->setStartUpImmediately();
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  UartCookie* supervisorCookie =
+      new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, std::string("/dev/ttyPS1"),
+                     uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20);
+  supervisorCookie->setNoFixedSizeReply();
+  auto supvGpioIF = new DummyGpioIF();
+  auto supvHelper = new PlocSupvHelper(objects::PLOC_SUPERVISOR_HELPER);
+  new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
+                            supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, supvGpioIF),
+                            pcdu::PDU1_CH6_PLOC_12V, supvHelper);
+
+  new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
+#endif
+
 #if OBSW_TEST_LIBGPIOD == 1
 #if OBSW_TEST_GPIO_OPEN_BYLABEL == 1
   /* Configure MIO0 as input */
@@ -124,28 +142,17 @@ void ObjectFactory::produce(void* args) {
   GpioCookie* gpioCookie = new GpioCookie;
   gpioCookie->addGpio(gpioIds::HEATER_0, heaterGpio);
   new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER,
-                    pcduSwitches::TCS_BOARD_8V_HEATER_IN);
+                    pcdu::TCS_BOARD_8V_HEATER_IN);
 #endif
 
-#if OBSW_ADD_PLOC_SUPERVISOR == 1
-  /* Configuration for MIO0 on TE0720-03-1CFA */
-  UartCookie* plocSupervisorCookie =
-      new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, std::string("/dev/ttyPS1"),
-                     UartModes::NON_CANONICAL, 115200, PLOC_SPV::MAX_PACKET_SIZE * 20);
-  plocSupervisorCookie->setNoFixedSizeReply();
-  PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
-      objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
-  plocSupervisor->setStartUpImmediately();
-#endif
+  new I2cComIF(objects::I2C_COM_IF);
 
-new I2cComIF(objects::I2C_COM_IF);
+  I2cCookie* i2cCookieTmp1075tcs1 =
+      new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
+  I2cCookie* i2cCookieTmp1075tcs2 =
+      new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
 
-I2cCookie* i2cCookieTmp1075tcs1 =
-  new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
-I2cCookie* i2cCookieTmp1075tcs2 =
-  new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
-
-/* Temperature sensors */
-new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
-new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
+  /* Temperature sensors */
+  new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
+  new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
 }
diff --git a/cmake/HardwareOsPostConfig.cmake b/cmake/HardwareOsPostConfig.cmake
index 5146de98..111e859a 100644
--- a/cmake/HardwareOsPostConfig.cmake
+++ b/cmake/HardwareOsPostConfig.cmake
@@ -33,6 +33,10 @@ add_compile_options(
 set(STRIPPED_OBSW_NAME ${OBSW_BIN_NAME}-stripped)
 set(STRIPPED_WATCHDOG_NAME eive-watchdog-stripped)
 
+if(EIVE_CREATE_UNIQUE_OBSW_BIN)
+    set(UNIQUE_OBSW_BIN_NAME ${OBSW_BIN_NAME}-$ENV{USERNAME})
+endif()
+
 add_custom_command(
 	TARGET ${OBSW_NAME}
 	POST_BUILD
@@ -41,6 +45,16 @@ add_custom_command(
 	COMMENT "Generating stripped executable ${STRIPPED_OBSW_NAME}.."
 )
 
+if(UNIQUE_OBSW_BIN_NAME)
+	add_custom_command(
+		TARGET ${OBSW_NAME}
+		POST_BUILD
+		COMMAND ${CMAKE_COMMAND} -E copy
+			${CMAKE_CURRENT_BINARY_DIR}/${OBSW_BIN_NAME}
+			${CMAKE_CURRENT_BINARY_DIR}/${UNIQUE_OBSW_BIN_NAME}
+		COMMENT "Generating unique EIVE OBSW binary ${UNIQUE_OBSW_BIN_NAME}")
+endif()
+
 add_custom_command(
     TARGET ${WATCHDOG_NAME}
     POST_BUILD
diff --git a/cmake/PreProjectConfig.cmake b/cmake/PreProjectConfig.cmake
index df1d92b4..1c998e83 100644
--- a/cmake/PreProjectConfig.cmake
+++ b/cmake/PreProjectConfig.cmake
@@ -1,3 +1,6 @@
+function(obsw_module_config)
+endfunction()
+
 function(pre_source_hw_os_config)
 
 # FreeRTOS
diff --git a/cmake/scripts/Host/make-debug-cfg.sh b/cmake/scripts/Host/make-debug-cfg.sh
deleted file mode 100755
index de0487ea..00000000
--- a/cmake/scripts/Host/make-debug-cfg.sh
+++ /dev/null
@@ -1,32 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-build_generator="make"
-os_fsfw="host"
-builddir="build-Debug-Host"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
-# Use this if commands are added which should not be printed
-# set +x
diff --git a/cmake/scripts/Host/make-release-cfg.sh b/cmake/scripts/Host/make-release-cfg.sh
deleted file mode 100755
index 5114f490..00000000
--- a/cmake/scripts/Host/make-release-cfg.sh
+++ /dev/null
@@ -1,32 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-build_generator="make"
-os_fsfw="host"
-builddir="build-Release-Host"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -l "${builddir}"
-# Use this if commands are added which should not be printed
-# set +x
diff --git a/cmake/scripts/Host/ninja-debug-cfg.sh b/cmake/scripts/Host/ninja-debug-cfg.sh
deleted file mode 100755
index 80a5687f..00000000
--- a/cmake/scripts/Host/ninja-debug-cfg.sh
+++ /dev/null
@@ -1,32 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-build_generator="ninja"
-os_fsfw="host"
-builddir="build-Debug-Host"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
-# Use this if commands are added which should not be printed
-# set +x
diff --git a/cmake/scripts/Linux/make-debug-cfg.sh b/cmake/scripts/Linux/make-debug-cfg.sh
deleted file mode 100755
index 2207a2e8..00000000
--- a/cmake/scripts/Linux/make-debug-cfg.sh
+++ /dev/null
@@ -1,32 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-build_generator="make"
-os_fsfw="linux"
-builddir="build-Debug-Host"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
-# Use this if commands are added which should not be printed
-# set +x
diff --git a/cmake/scripts/Linux/make-release-cfg.sh b/cmake/scripts/Linux/make-release-cfg.sh
deleted file mode 100755
index 0426967b..00000000
--- a/cmake/scripts/Linux/make-release-cfg.sh
+++ /dev/null
@@ -1,32 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-build_generator="Unix Makefiles"
-os_fsfw="linux"
-builddir="build-Release-Host"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -l "${builddir}"
-# Use this if commands are added which should not be printed
-# set +x
diff --git a/cmake/scripts/Linux/ninja-debug-cfg.sh b/cmake/scripts/Linux/ninja-debug-cfg.sh
deleted file mode 100755
index 23ebc25d..00000000
--- a/cmake/scripts/Linux/ninja-debug-cfg.sh
+++ /dev/null
@@ -1,33 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-build_generator="ninja"
-os_fsfw="linux"
-builddir="build-Debug-Host"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
-# Use this if commands are added which should not be printed
-# set +x
-
diff --git a/cmake/scripts/Q7S/make-debug-cfg.sh b/cmake/scripts/Q7S/make-debug-cfg.sh
deleted file mode 100755
index f3cfd81c..00000000
--- a/cmake/scripts/Q7S/make-debug-cfg.sh
+++ /dev/null
@@ -1,34 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-os_fsfw="linux"
-tgt_bsp="arm/q7s"
-build_dir="build-Debug-Q7S"
-build_generator="make"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
-	-l"${build_dir}"
-# set +x
-
diff --git a/cmake/scripts/Q7S/make-release-cfg.sh b/cmake/scripts/Q7S/make-release-cfg.sh
deleted file mode 100755
index 233bf263..00000000
--- a/cmake/scripts/Q7S/make-release-cfg.sh
+++ /dev/null
@@ -1,33 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-os_fsfw="linux"
-tgt_bsp="arm/q7s"
-build_dir="build-Release-Q7S"
-build_generator="make"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \
-	-l"${build_dir}"
-# set +x
diff --git a/cmake/scripts/Q7S/ninja-debug-cfg.sh b/cmake/scripts/Q7S/ninja-debug-cfg.sh
deleted file mode 100755
index bd9ebb4e..00000000
--- a/cmake/scripts/Q7S/ninja-debug-cfg.sh
+++ /dev/null
@@ -1,34 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-os_fsfw="linux"
-tgt_bsp="arm/q7s"
-build_dir="build-Debug-Q7S"
-build_generator="ninja"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
-	-l "${build_dir}"
-# set +x
-
diff --git a/cmake/scripts/Q7S/ninja-release-cfg.sh b/cmake/scripts/Q7S/ninja-release-cfg.sh
deleted file mode 100755
index c9972c89..00000000
--- a/cmake/scripts/Q7S/ninja-release-cfg.sh
+++ /dev/null
@@ -1,34 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-os_fsfw="linux"
-tgt_bsp="arm/q7s"
-build_dir="build-Release-Q7S"
-build_generator="ninja"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \
-	-l"${build_dir}"
-# set +x
-
diff --git a/cmake/scripts/Q7S/q7s-env.sh b/cmake/scripts/Q7S/q7s-env.sh
deleted file mode 100755
index 27cc4c73..00000000
--- a/cmake/scripts/Q7S/q7s-env.sh
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/bin/bash -i
-export PATH=$PATH:"$HOME/EIVE/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
-export CROSS_COMPILE="arm-linux-gnueabihf"
-
-export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"
-export CONSOLE_PREFIX="[Q7S ENV]"
-/bin/bash
diff --git a/cmake/scripts/BeagleBoneBlack/crosscompile/bbb_path_helper.sh b/cmake/scripts/beagleboneb/crosscompile/bbb_path_helper.sh
similarity index 100%
rename from cmake/scripts/BeagleBoneBlack/crosscompile/bbb_path_helper.sh
rename to cmake/scripts/beagleboneb/crosscompile/bbb_path_helper.sh
diff --git a/cmake/scripts/BeagleBoneBlack/crosscompile/make-debug-cfg.sh b/cmake/scripts/beagleboneb/crosscompile/make-debug-cfg.sh
similarity index 100%
rename from cmake/scripts/BeagleBoneBlack/crosscompile/make-debug-cfg.sh
rename to cmake/scripts/beagleboneb/crosscompile/make-debug-cfg.sh
diff --git a/cmake/scripts/BeagleBoneBlack/crosscompile/make-release-cfg.sh b/cmake/scripts/beagleboneb/crosscompile/make-release-cfg.sh
similarity index 100%
rename from cmake/scripts/BeagleBoneBlack/crosscompile/make-release-cfg.sh
rename to cmake/scripts/beagleboneb/crosscompile/make-release-cfg.sh
diff --git a/cmake/scripts/BeagleBoneBlack/make-debug-cfg.sh b/cmake/scripts/beagleboneb/make-debug-cfg.sh
similarity index 100%
rename from cmake/scripts/BeagleBoneBlack/make-debug-cfg.sh
rename to cmake/scripts/beagleboneb/make-debug-cfg.sh
diff --git a/cmake/scripts/host/host-make-debug.sh b/cmake/scripts/host/host-make-debug.sh
new file mode 100755
index 00000000..412bf68f
--- /dev/null
+++ b/cmake/scripts/host/host-make-debug.sh
@@ -0,0 +1,37 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(pwd)
+if [ -z "${EIVE_OBSW_ROOT}" ]; then
+    counter=0
+    while [ ${counter} -lt 5 ]
+    do
+        cd ..
+        if [ -f ${cfg_script_name} ];then
+            break
+        fi
+        counter=$((counter=counter + 1))
+    done
+
+    if [ "${counter}" -ge 5 ];then
+        echo "${cfg_script_name} not found in upper directories!"
+        exit 1
+    fi
+else
+    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+fi
+
+build_generator="make"
+os_fsfw="host"
+builddir="cmake-build-debug"
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x
diff --git a/cmake/scripts/host/host-make-release.sh b/cmake/scripts/host/host-make-release.sh
new file mode 100755
index 00000000..d564c8aa
--- /dev/null
+++ b/cmake/scripts/host/host-make-release.sh
@@ -0,0 +1,37 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(pwd)
+if [ -z "${EIVE_OBSW_ROOT}" ]; then
+    counter=0
+    while [ ${counter} -lt 5 ]
+    do
+        cd ..
+        if [ -f ${cfg_script_name} ];then
+            break
+        fi
+        counter=$((counter=counter + 1))
+    done
+
+    if [ "${counter}" -ge 5 ];then
+        echo "${cfg_script_name} not found in upper directories!"
+        exit 1
+    fi
+else
+    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+fi
+
+build_generator="Unix Makefiles"
+os_fsfw="host"
+builddir="cmake-build-release"
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x
diff --git a/cmake/scripts/host/host-ninja-debug.sh b/cmake/scripts/host/host-ninja-debug.sh
new file mode 100755
index 00000000..5b5c68f5
--- /dev/null
+++ b/cmake/scripts/host/host-ninja-debug.sh
@@ -0,0 +1,38 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(pwd)
+if [ -z "${EIVE_OBSW_ROOT}" ]; then
+    counter=0
+    while [ ${counter} -lt 5 ]
+    do
+        cd ..
+        if [ -f ${cfg_script_name} ];then
+            break
+        fi
+        counter=$((counter=counter + 1))
+    done
+
+    if [ "${counter}" -ge 5 ];then
+        echo "${cfg_script_name} not found in upper directories!"
+        exit 1
+    fi
+else
+    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+fi
+
+build_generator="ninja"
+os_fsfw="host"
+builddir="cmake-build-debug"
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x
+
diff --git a/cmake/scripts/linux/host-make-debug.sh b/cmake/scripts/linux/host-make-debug.sh
new file mode 100755
index 00000000..0ea1d765
--- /dev/null
+++ b/cmake/scripts/linux/host-make-debug.sh
@@ -0,0 +1,37 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(pwd)
+if [ -z "${EIVE_OBSW_ROOT}" ]; then
+    counter=0
+    while [ ${counter} -lt 5 ]
+    do
+        cd ..
+        if [ -f ${cfg_script_name} ];then
+            break
+        fi
+        counter=$((counter=counter + 1))
+    done
+
+    if [ "${counter}" -ge 5 ];then
+        echo "${cfg_script_name} not found in upper directories!"
+        exit 1
+    fi
+else
+    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+fi
+
+build_generator="make"
+os_fsfw="linux"
+builddir="cmake-build-debug"
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x
diff --git a/cmake/scripts/linux/host-make-release.sh b/cmake/scripts/linux/host-make-release.sh
new file mode 100755
index 00000000..89cb0f4a
--- /dev/null
+++ b/cmake/scripts/linux/host-make-release.sh
@@ -0,0 +1,37 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(pwd)
+if [ -z "${EIVE_OBSW_ROOT}" ]; then
+    counter=0
+    while [ ${counter} -lt 5 ]
+    do
+        cd ..
+        if [ -f ${cfg_script_name} ];then
+            break
+        fi
+        counter=$((counter=counter + 1))
+    done
+
+    if [ "${counter}" -ge 5 ];then
+        echo "${cfg_script_name} not found in upper directories!"
+        exit 1
+    fi
+else
+    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+fi
+
+build_generator="Unix Makefiles"
+os_fsfw="linux"
+builddir="cmake-build-release"
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x
diff --git a/cmake/scripts/linux/host-ninja-debug.sh b/cmake/scripts/linux/host-ninja-debug.sh
new file mode 100755
index 00000000..2514635f
--- /dev/null
+++ b/cmake/scripts/linux/host-ninja-debug.sh
@@ -0,0 +1,38 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(pwd)
+if [ -z "${EIVE_OBSW_ROOT}" ]; then
+    counter=0
+    while [ ${counter} -lt 5 ]
+    do
+        cd ..
+        if [ -f ${cfg_script_name} ];then
+            break
+        fi
+        counter=$((counter=counter + 1))
+    done
+
+    if [ "${counter}" -ge 5 ];then
+        echo "${cfg_script_name} not found in upper directories!"
+        exit 1
+    fi
+else
+    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+fi
+
+build_generator="ninja"
+os_fsfw="linux"
+builddir="cmake-build-debug"
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x
+
diff --git a/cmake/scripts/q7s/q7s-make-debug.sh b/cmake/scripts/q7s/q7s-make-debug.sh
new file mode 100755
index 00000000..0abbc3cb
--- /dev/null
+++ b/cmake/scripts/q7s/q7s-make-debug.sh
@@ -0,0 +1,48 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(pwd)
+if [ -z "${EIVE_OBSW_ROOT}" ]; then
+    counter=0
+    while [ ${counter} -lt 5 ]
+    do
+        cd ..
+        if [ -f ${cfg_script_name} ];then
+            break
+        fi
+        counter=$((counter=counter + 1))
+    done
+
+    if [ "${counter}" -ge 5 ];then
+        echo "${cfg_script_name} not found in upper directories!"
+        exit 1
+    fi
+else
+    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+fi
+
+if [ ! -z "${EIVE_Q7S_EM}" ]; then
+    build_defs="EIVE_Q7S_EM=ON"
+fi
+
+os_fsfw="linux"
+tgt_bsp="arm/q7s"
+build_dir="cmake-build-debug-q7s"
+if [ ! -z "${EIVE_Q7S_EM}" ]; then
+    build_dir="${build_dir}-em"
+fi
+
+build_generator="make"
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
+	-l"${build_dir}" -d "${build_defs}"
+set +x
+
+cd ${init_dir}
diff --git a/cmake/scripts/q7s/q7s-make-release.sh b/cmake/scripts/q7s/q7s-make-release.sh
new file mode 100755
index 00000000..b86ca873
--- /dev/null
+++ b/cmake/scripts/q7s/q7s-make-release.sh
@@ -0,0 +1,48 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(pwd)
+if [[ -z ${EIVE_OBSW_ROOT} ]]; then
+    counter=0
+    while [ ${counter} -lt 5 ]
+    do
+        cd ..
+        if [ -f ${cfg_script_name} ];then
+            break
+        fi
+        counter=$((counter=counter + 1))
+    done
+
+    if [ "${counter}" -ge 5 ];then
+        echo "${cfg_script_name} not found in upper directories!"
+        exit 1
+    fi
+else
+    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+fi
+
+if [ ! -z "${EIVE_Q7S_EM}" ]; then
+    build_defs="EIVE_Q7S_EM=ON"
+fi
+
+os_fsfw="linux"
+tgt_bsp="arm/q7s"
+build_dir="cmake-build-release-q7s"
+if [ ! -z "${EIVE_Q7S_EM}" ]; then
+    build_dir="${build_dir}-em"
+fi
+build_generator="make"
+
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \
+	-l"${build_dir}" -d "${build_defs}"
+set +x
+
+cd ${init_dir}
diff --git a/cmake/scripts/Q7S/make-size-cfg.sh b/cmake/scripts/q7s/q7s-make-size.sh
similarity index 100%
rename from cmake/scripts/Q7S/make-size-cfg.sh
rename to cmake/scripts/q7s/q7s-make-size.sh
diff --git a/cmake/scripts/q7s/q7s-ninja-debug.sh b/cmake/scripts/q7s/q7s-ninja-debug.sh
new file mode 100755
index 00000000..ad50b6a6
--- /dev/null
+++ b/cmake/scripts/q7s/q7s-ninja-debug.sh
@@ -0,0 +1,48 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(pwd)
+if [[ -z ${EIVE_OBSW_ROOT} ]]; then
+    counter=0
+    while [ ${counter} -lt 5 ]
+    do
+        cd ..
+        if [ -f ${cfg_script_name} ];then
+            break
+        fi
+        counter=$((counter=counter + 1))
+    done
+
+    if [ "${counter}" -ge 5 ];then
+        echo "${cfg_script_name} not found in upper directories!"
+        exit 1
+    fi
+else
+    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+fi
+
+if [ ! -z "${EIVE_Q7S_EM}" ]; then
+    build_defs="EIVE_Q7S_EM=ON"
+fi
+
+os_fsfw="linux"
+tgt_bsp="arm/q7s"
+build_dir="cmake-build-debug-q7s"
+if [ ! -z "${EIVE_Q7S_EM}" ]; then
+    build_dir="${build_dir}-em"
+fi
+
+build_generator="ninja"
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
+	-l "${build_dir}" -d "${build_defs}"
+set +x
+
+cd ${init_dir}
diff --git a/cmake/scripts/q7s/q7s-ninja-release.sh b/cmake/scripts/q7s/q7s-ninja-release.sh
new file mode 100755
index 00000000..f0587f5c
--- /dev/null
+++ b/cmake/scripts/q7s/q7s-ninja-release.sh
@@ -0,0 +1,48 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(pwd)
+if [[ -z ${EIVE_OBSW_ROOT} ]]; then
+    counter=0
+    while [ ${counter} -lt 5 ]
+    do
+        cd ..
+        if [ -f ${cfg_script_name} ];then
+            break
+        fi
+        counter=$((counter=counter + 1))
+    done
+
+    if [ "${counter}" -ge 5 ];then
+        echo "${cfg_script_name} not found in upper directories!"
+        exit 1
+    fi
+else
+    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+fi
+
+if [ ! -z "${EIVE_Q7S_EM}" ]; then
+    build_defs="EIVE_Q7S_EM=ON"
+fi
+
+os_fsfw="linux"
+tgt_bsp="arm/q7s"
+build_dir="cmake-build-release-q7s"
+if [ ! -z "${EIVE_Q7S_EM}" ]; then
+    build_dir="${build_dir}-em"
+fi
+
+build_generator="ninja"
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \
+	-l"${build_dir}" -d "${build_defs}"
+set +x
+
+cd ${init_dir}
diff --git a/cmake/scripts/RPi/make-debug-cfg.sh b/cmake/scripts/rpi/make-debug-cfg.sh
similarity index 100%
rename from cmake/scripts/RPi/make-debug-cfg.sh
rename to cmake/scripts/rpi/make-debug-cfg.sh
diff --git a/cmake/scripts/RPi/make-release-cfg.sh b/cmake/scripts/rpi/make-release-cfg.sh
similarity index 100%
rename from cmake/scripts/RPi/make-release-cfg.sh
rename to cmake/scripts/rpi/make-release-cfg.sh
diff --git a/cmake/scripts/RPi/ninja-debug-cfg.sh b/cmake/scripts/rpi/ninja-debug-cfg.sh
similarity index 100%
rename from cmake/scripts/RPi/ninja-debug-cfg.sh
rename to cmake/scripts/rpi/ninja-debug-cfg.sh
diff --git a/cmake/scripts/RPi/rpi_path_helper.sh b/cmake/scripts/rpi/rpi_path_helper.sh
similarity index 100%
rename from cmake/scripts/RPi/rpi_path_helper.sh
rename to cmake/scripts/rpi/rpi_path_helper.sh
diff --git a/cmake/scripts/RPi/rpi_path_helper_win.sh b/cmake/scripts/rpi/rpi_path_helper_win.sh
similarity index 100%
rename from cmake/scripts/RPi/rpi_path_helper_win.sh
rename to cmake/scripts/rpi/rpi_path_helper_win.sh
diff --git a/common/config/CMakeLists.txt b/common/config/CMakeLists.txt
index 00848561..ca296222 100644
--- a/common/config/CMakeLists.txt
+++ b/common/config/CMakeLists.txt
@@ -1,7 +1,3 @@
-target_include_directories(${OBSW_NAME} PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
 
-target_sources(${OBSW_NAME} PRIVATE
-    commonConfig.cpp
-)
\ No newline at end of file
+target_sources(${OBSW_NAME} PRIVATE commonConfig.cpp)
diff --git a/common/config/ccsdsConfig.h b/common/config/ccsdsConfig.h
index 8466a9fa..9736ae56 100644
--- a/common/config/ccsdsConfig.h
+++ b/common/config/ccsdsConfig.h
@@ -2,14 +2,7 @@
 #define COMMON_CONFIG_CCSDSCONFIG_H_
 
 namespace ccsds {
-enum {
-    VC0,
-    VC1,
-    VC2,
-    VC3
-};
+enum { VC0, VC1, VC2, VC3 };
 }
 
-
-
 #endif /* COMMON_CONFIG_CCSDSCONFIG_H_ */
diff --git a/common/config/commonClassIds.h b/common/config/commonClassIds.h
index 03d51888..aeb05815 100644
--- a/common/config/commonClassIds.h
+++ b/common/config/commonClassIds.h
@@ -2,37 +2,40 @@
 #define COMMON_CONFIG_COMMONCLASSIDS_H_
 
 #include <fsfw/returnvalues/FwClassIds.h>
+
 #include <cstdint>
 
 namespace CLASS_ID {
-enum commonClassIds: uint8_t {
-	COMMON_CLASS_ID_START = FW_CLASS_ID_COUNT,
-	PCDU_HANDLER, //PCDU
-	HEATER_HANDLER, //HEATER
-	SYRLINKS_HANDLER, //SYRLINKS
-	IMTQ_HANDLER, //IMTQ
-	RW_HANDLER, //RWHA
-	STR_HANDLER, //STRH
-	DWLPWRON_CMD, //DWLPWRON
-	MPSOC_TM, //MPTM
-	PLOC_SUPERVISOR_HANDLER, //PLSV
-	SUS_HANDLER, //SUSS
-	CCSDS_IP_CORE_BRIDGE, //IPCI
-	PTME, //PTME
-	PLOC_UPDATER, //PLUD
-	STR_HELPER, //STRHLP
-    GOM_SPACE_HANDLER, //GOMS
-    PLOC_MEMORY_DUMPER, //PLMEMDUMP
-    PDEC_HANDLER, //PDEC
-    CCSDS_HANDLER, //CCSDS
-    RATE_SETTER, //RS
-    ARCSEC_JSON_BASE, //JSONBASE
-    NVM_PARAM_BASE, //NVMB
-    FILE_SYSTEM_HELPER, //FSHLP
-    PLOC_MPSOC_HELPER, // PLMPHLP
-	SA_DEPL_HANDLER, //SADPL
-	MPSOC_RETURN_VALUES_IF, //MPSOCRTVIF
-	COMMON_CLASS_ID_END // [EXPORT] : [END]
+enum commonClassIds : uint8_t {
+  COMMON_CLASS_ID_START = FW_CLASS_ID_COUNT,
+  PCDU_HANDLER,             // PCDU
+  HEATER_HANDLER,           // HEATER
+  SYRLINKS_HANDLER,         // SYRLINKS
+  IMTQ_HANDLER,             // IMTQ
+  RW_HANDLER,               // RWHA
+  STR_HANDLER,              // STRH
+  DWLPWRON_CMD,             // DWLPWRON
+  MPSOC_TM,                 // MPTM
+  PLOC_SUPERVISOR_HANDLER,  // PLSV
+  PLOC_SUPV_HELPER,         // PLSPVhLP
+  SUS_HANDLER,              // SUSS
+  CCSDS_IP_CORE_BRIDGE,     // IPCI
+  PTME,                     // PTME
+  PLOC_UPDATER,             // PLUD
+  STR_HELPER,               // STRHLP
+  GOM_SPACE_HANDLER,        // GOMS
+  PLOC_MEMORY_DUMPER,       // PLMEMDUMP
+  PDEC_HANDLER,             // PDEC
+  CCSDS_HANDLER,            // CCSDS
+  RATE_SETTER,              // RS
+  ARCSEC_JSON_BASE,         // JSONBASE
+  NVM_PARAM_BASE,           // NVMB
+  FILE_SYSTEM_HELPER,       // FSHLP
+  PLOC_MPSOC_HELPER,        // PLMPHLP
+  SA_DEPL_HANDLER,          // SADPL
+  MPSOC_RETURN_VALUES_IF,   // MPSOCRTVIF
+  SUPV_RETURN_VALUES_IF,    // SPVRTVIF
+  COMMON_CLASS_ID_END       // [EXPORT] : [END]
 };
 
 }
diff --git a/common/config/commonConfig.cpp b/common/config/commonConfig.cpp
index cb2b9666..0fd78a61 100644
--- a/common/config/commonConfig.cpp
+++ b/common/config/commonConfig.cpp
@@ -1,6 +1,8 @@
 #include "commonConfig.h"
-#include "tmtc/apid.h"
-#include "fsfw/tmtcpacket/SpacePacket.h"
 
-const Version common::OBSW_VERSION { OBSW_VERSION_MAJOR, OBSW_VERSION_MINOR, OBSW_VERSION_REVISION, OBSW_VERSION_CST_GIT_SHA1 };
+#include "fsfw/tmtcpacket/SpacePacket.h"
+#include "tmtc/apid.h"
+
+const fsfw::Version common::OBSW_VERSION{OBSW_VERSION_MAJOR, OBSW_VERSION_MINOR,
+                                         OBSW_VERSION_REVISION, OBSW_VERSION_CST_GIT_SHA1};
 const uint16_t common::PUS_PACKET_ID = spacepacket::getTcSpacePacketIdFromApid(apid::EIVE_OBSW);
diff --git a/common/config/commonConfig.h.in b/common/config/commonConfig.h.in
index 528342b1..9581e751 100644
--- a/common/config/commonConfig.h.in
+++ b/common/config/commonConfig.h.in
@@ -4,6 +4,12 @@
 #include <cstdint>
 #include "fsfw/version.h"
 
+#cmakedefine RASPBERRY_PI
+#cmakedefine XIPHOS_Q7S
+#cmakedefine BEAGLEBONEBLACK
+#cmakedefine EGSE
+#cmakedefine TE0720_1CFA
+
 /* These defines should be disabled for mission code but are useful for
 debugging. */
 #define OBSW_VERBOSE_LEVEL                  1
@@ -27,7 +33,10 @@ static constexpr uint8_t OBSW_VERSION_REVISION = @OBSW_VERSION_REVISION@;
 // CST: Commits since tag
 static const char OBSW_VERSION_CST_GIT_SHA1[] = "@OBSW_VERSION_CST_GIT_SHA1@";
 
-extern const Version OBSW_VERSION;
+
+static constexpr uint32_t OBSW_MAX_SCHEDULED_TCS = @OBSW_MAX_SCHEDULED_TCS@;
+
+extern const fsfw::Version OBSW_VERSION;
 
 extern const uint16_t PUS_PACKET_ID;
 
diff --git a/common/config/commonObjects.h b/common/config/commonObjects.h
index a4f3319e..4a4594f4 100644
--- a/common/config/commonObjects.h
+++ b/common/config/commonObjects.h
@@ -4,102 +4,125 @@
 #include <cstdint>
 
 namespace objects {
-enum commonObjects: uint32_t {
-	/* First Byte 0x50-0x52 reserved for PUS Services **/
-    CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
-    PUS_PACKET_DISTRIBUTOR = 0x50000200,
-    TMTC_BRIDGE = 0x50000300,
-    TMTC_POLLING_TASK = 0x50000400,
-    FILE_SYSTEM_HANDLER = 0x50000500,
-    SDC_MANAGER = 0x50000550,
-    PTME = 0x50000600,
-    PDEC_HANDLER = 0x50000700,
-    CCSDS_HANDLER = 0x50000800,
+enum commonObjects : uint32_t {
+  /* First Byte 0x50-0x52 reserved for PUS Services **/
+  CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
+  PUS_PACKET_DISTRIBUTOR = 0x50000200,
+  TMTC_BRIDGE = 0x50000300,
+  TMTC_POLLING_TASK = 0x50000400,
+  FILE_SYSTEM_HANDLER = 0x50000500,
+  SDC_MANAGER = 0x50000550,
+  PTME = 0x50000600,
+  PDEC_HANDLER = 0x50000700,
+  CCSDS_HANDLER = 0x50000800,
 
-    /* 0x43 ('C') for Controllers */
-    THERMAL_CONTROLLER = 0x43400001,
-    ACS_CONTROLLER = 0x43100002,
-    CORE_CONTROLLER = 0x43000003,
+  /* 0x43 ('C') for Controllers */
+  THERMAL_CONTROLLER = 0x43400001,
+  ACS_CONTROLLER = 0x43100002,
+  CORE_CONTROLLER = 0x43000003,
 
-    /* 0x44 ('D') for device handlers */
-    P60DOCK_HANDLER = 0x44250000,
-    PDU1_HANDLER = 0x44250001,
-    PDU2_HANDLER = 0x44250002,
-    ACU_HANDLER = 0x44250003,
-    BPX_BATT_HANDLER = 0x44260000,
-    TMP1075_HANDLER_1 = 0x44420004,
-    TMP1075_HANDLER_2 = 0x44420005,
-    MGM_0_LIS3_HANDLER = 0x44120006,
-    MGM_1_RM3100_HANDLER = 0x44120107,
-    MGM_2_LIS3_HANDLER = 0x44120208,
-    MGM_3_RM3100_HANDLER = 0x44120309,
-    GYRO_0_ADIS_HANDLER = 0x44120010,
-    GYRO_1_L3G_HANDLER = 0x44120111,
-    GYRO_2_ADIS_HANDLER = 0x44120212,
-    GYRO_3_L3G_HANDLER = 0x44120313,
-    PLPCDU_HANDLER = 0x44300000,
+  /* 0x44 ('D') for device handlers */
+  MGM_0_LIS3_HANDLER = 0x44120006,
+  MGM_1_RM3100_HANDLER = 0x44120107,
+  MGM_2_LIS3_HANDLER = 0x44120208,
+  MGM_3_RM3100_HANDLER = 0x44120309,
+  GYRO_0_ADIS_HANDLER = 0x44120010,
+  GYRO_1_L3G_HANDLER = 0x44120111,
+  GYRO_2_ADIS_HANDLER = 0x44120212,
+  GYRO_3_L3G_HANDLER = 0x44120313,
+  RW1 = 0x44120047,
+  RW2 = 0x44120148,
+  RW3 = 0x44120249,
+  RW4 = 0x44120350,
+  STAR_TRACKER = 0x44130001,
+  GPS_CONTROLLER = 0x44130045,
 
-    IMTQ_HANDLER = 0x44140014,
-    PLOC_MPSOC_HANDLER = 0x44330015,
-    PLOC_SUPERVISOR_HANDLER = 0x44330016,
-    PLOC_SUPERVISOR_HELPER = 0x44330017,
+  IMTQ_HANDLER = 0x44140014,
+  TMP1075_HANDLER_1 = 0x44420004,
+  TMP1075_HANDLER_2 = 0x44420005,
+  PCDU_HANDLER = 0x442000A1,
+  P60DOCK_HANDLER = 0x44250000,
+  PDU1_HANDLER = 0x44250001,
+  PDU2_HANDLER = 0x44250002,
+  ACU_HANDLER = 0x44250003,
+  BPX_BATT_HANDLER = 0x44260000,
+  PLPCDU_HANDLER = 0x44300000,
+  RAD_SENSOR = 0x443200A5,
+  PLOC_UPDATER = 0x44330000,
+  PLOC_MEMORY_DUMPER = 0x44330001,
+  STR_HELPER = 0x44330002,
+  PLOC_MPSOC_HELPER = 0x44330003,
+  AXI_PTME_CONFIG = 0x44330004,
+  PTME_CONFIG = 0x44330005,
+  PLOC_MPSOC_HANDLER = 0x44330015,
+  PLOC_SUPERVISOR_HANDLER = 0x44330016,
+  PLOC_SUPERVISOR_HELPER = 0x44330017,
+  SOLAR_ARRAY_DEPL_HANDLER = 0x444100A2,
+  HEATER_HANDLER = 0x444100A4,
 
-    /**
-     * Not yet specified which pt1000 will measure which device/location in the satellite.
-     * Therefore object ids are named according to the IC naming of the RTDs in the schematic.
-     */
-    RTD_IC_3 = 0x44420016,
-    RTD_IC_4 = 0x44420017,
-    RTD_IC_5 = 0x44420018,
-    RTD_IC_6 = 0x44420019,
-    RTD_IC_7 = 0x44420020,
-    RTD_IC_8 = 0x44420021,
-    RTD_IC_9 = 0x44420022,
-    RTD_IC_10 = 0x44420023,
-    RTD_IC_11 = 0x44420024,
-    RTD_IC_12 = 0x44420025,
-    RTD_IC_13 = 0x44420026,
-    RTD_IC_14 = 0x44420027,
-    RTD_IC_15 = 0x44420028,
-    RTD_IC_16 = 0x44420029,
-    RTD_IC_17 = 0x44420030,
-    RTD_IC_18 = 0x44420031,
+  /**
+   * Not yet specified which pt1000 will measure which device/location in the satellite.
+   * Therefore object ids are named according to the IC naming of the RTDs in the schematic.
+   */
+  RTD_0_IC3_PLOC_HEATSPREADER = 0x44420016,
+  RTD_1_IC4_PLOC_MISSIONBOARD = 0x44420017,
+  RTD_2_IC5_4K_CAMERA = 0x44420018,
+  RTD_3_IC6_DAC_HEATSPREADER = 0x44420019,
+  RTD_4_IC7_STARTRACKER = 0x44420020,
+  RTD_5_IC8_RW1_MX_MY = 0x44420021,
+  RTD_6_IC9_DRO = 0x44420022,
+  RTD_7_IC10_SCEX = 0x44420023,
+  RTD_8_IC11_X8 = 0x44420024,
+  RTD_9_IC12_HPA = 0x44420025,
+  RTD_10_IC13_PL_TX = 0x44420026,
+  RTD_11_IC14_MPA = 0x44420027,
+  RTD_12_IC15_ACU = 0x44420028,
+  RTD_13_IC16_PLPCDU_HEATSPREADER = 0x44420029,
+  RTD_14_IC17_TCS_BOARD = 0x44420030,
+  RTD_15_IC18_IMTQ = 0x44420031,
 
-    SUS_0 = 0x44120032,
-    SUS_1 = 0x44120033,
-    SUS_2 = 0x44120034,
-    SUS_3 = 0x44120035,
-    SUS_4 = 0x44120036,
-    SUS_5 = 0x44120037,
-    SUS_6 = 0x44120038,
-    SUS_7 = 0x44120039,
-    SUS_8 = 0x44120040,
-    SUS_9 = 0x44120041,
-    SUS_10 = 0x44120042,
-    SUS_11 = 0x44120043,
+  // Name convention for SUS devices
+  // SUS_<IDX>_<N/R>_LOC_X<F/M/B>Y<F/M/B>Z<F/M/B>_PT_<DIR><F/B>
+  // LOC: Location
+  // PT: Pointing
+  // N/R: Nominal/Redundant
+  // F/M/B: Forward/Middle/Backwards
+  SUS_0_N_LOC_XFYFZM_PT_XF = 0x44120032,
+  SUS_6_R_LOC_XFYBZM_PT_XF = 0x44120038,
 
-    GPS_CONTROLLER = 0x44130045,
+  SUS_1_N_LOC_XBYFZM_PT_XB = 0x44120033,
+  SUS_7_R_LOC_XBYBZM_PT_XB = 0x44120039,
 
-    RW1 = 0x44120047,
-    RW2 = 0x44120148,
-    RW3 = 0x44120249,
-    RW4 = 0x44120350,
+  SUS_2_N_LOC_XFYBZB_PT_YB = 0x44120034,
+  SUS_8_R_LOC_XBYBZB_PT_YB = 0x44120040,
 
-    STAR_TRACKER = 0x44130001,
+  SUS_3_N_LOC_XFYBZF_PT_YF = 0x44120035,
+  SUS_9_R_LOC_XBYBZB_PT_YF = 0x44120041,
 
-    PLOC_UPDATER = 0x44330000,
-    PLOC_MEMORY_DUMPER = 0x44330001,
-    STR_HELPER = 0x44330002,
-    PLOC_MPSOC_HELPER = 0x44330003,
-    AXI_PTME_CONFIG = 44330004,
-    PTME_CONFIG = 44330005,
+  SUS_4_N_LOC_XMYFZF_PT_ZF = 0x44120036,
+  SUS_10_N_LOC_XMYBZF_PT_ZF = 0x44120042,
 
-    // 0x73 ('s') for assemblies and system/subsystem components
-    ACS_BOARD_ASS = 0x73000001,
-    SUS_BOARD_ASS = 0x73000002,
-    TCS_BOARD_ASS = 0x73000003
+  SUS_5_N_LOC_XFYMZB_PT_ZB = 0x44120037,
+  SUS_11_R_LOC_XBYMZB_PT_ZB = 0x44120043,
+
+  SYRLINKS_HK_HANDLER = 0x445300A3,
+
+  // 0x60 for other stuff
+  HEATER_0_PLOC_PROC_BRD = 0x60000000,
+  HEATER_1_PCDU_BRD = 0x60000001,
+  HEATER_2_ACS_BRD = 0x60000002,
+  HEATER_3_OBC_BRD = 0x60000003,
+  HEATER_4_CAMERA = 0x60000004,
+  HEATER_5_STR = 0x60000005,
+  HEATER_6_DRO = 0x60000006,
+  HEATER_7_HPA = 0x60000007,
+
+  // 0x73 ('s') for assemblies and system/subsystem components
+  ACS_BOARD_ASS = 0x73000001,
+  SUS_BOARD_ASS = 0x73000002,
+  TCS_BOARD_ASS = 0x73000003,
+  RW_ASS = 0x73000004
 };
 }
 
-
 #endif /* COMMON_CONFIG_COMMONOBJECTS_H_ */
diff --git a/common/config/commonSubsystemIds.h b/common/config/commonSubsystemIds.h
index ef0ce7c2..a56db7db 100644
--- a/common/config/commonSubsystemIds.h
+++ b/common/config/commonSubsystemIds.h
@@ -4,37 +4,39 @@
 #include <fsfw/events/fwSubsystemIdRanges.h>
 
 namespace SUBSYSTEM_ID {
-enum: uint8_t {
-	COMMON_SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
-	ACS_SUBSYSTEM = 112,
-	PCDU_HANDLER = 113,
-	HEATER_HANDLER = 114,
-	SA_DEPL_HANDLER = 115,
-	PLOC_MPSOC_HANDLER = 116,
-	IMTQ_HANDLER = 117,
-	RW_HANDLER = 118,
-	STR_HANDLER = 119,
-	PLOC_SUPERVISOR_HANDLER = 120,
-	FILE_SYSTEM = 121,
-	PLOC_UPDATER = 122,
-	PLOC_MEMORY_DUMPER = 123,
-	PDEC_HANDLER = 124,
-	STR_HELPER = 125,
-	PLOC_MPSOC_HELPER = 126,
-	PL_PCDU_HANDLER = 127,
-	ACS_BOARD_ASS = 128,
-	SUS_BOARD_ASS = 129,
-	TCS_BOARD_ASS = 130,
-	GPS_HANDLER = 131,
-	P60_DOCK_HANDLER = 132,
-	PDU1_HANDLER = 133,
-	PDU2_HANDLER = 134,
-	ACU_HANDLER = 135,
-	SYRLINKS = 136,
-	CONFIGHANDLER=137,
-	COMMON_SUBSYSTEM_ID_END
+
+enum : uint8_t {
+  COMMON_SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
+  ACS_SUBSYSTEM = 112,
+  PCDU_HANDLER = 113,
+  HEATER_HANDLER = 114,
+  SA_DEPL_HANDLER = 115,
+  PLOC_MPSOC_HANDLER = 116,
+  IMTQ_HANDLER = 117,
+  RW_HANDLER = 118,
+  STR_HANDLER = 119,
+  PLOC_SUPERVISOR_HANDLER = 120,
+  FILE_SYSTEM = 121,
+  PLOC_UPDATER = 122,
+  PLOC_MEMORY_DUMPER = 123,
+  PDEC_HANDLER = 124,
+  STR_HELPER = 125,
+  PLOC_MPSOC_HELPER = 126,
+  PL_PCDU_HANDLER = 127,
+  ACS_BOARD_ASS = 128,
+  SUS_BOARD_ASS = 129,
+  TCS_BOARD_ASS = 130,
+  GPS_HANDLER = 131,
+  P60_DOCK_HANDLER = 132,
+  PDU1_HANDLER = 133,
+  PDU2_HANDLER = 134,
+  ACU_HANDLER = 135,
+  PLOC_SUPV_HELPER = 136,
+  SYRLINKS = 137,
+  CONFIGHANDLER=138,
+  COMMON_SUBSYSTEM_ID_END
+
 };
 }
 
-
 #endif /* COMMON_CONFIG_COMMONSUBSYSTEMIDS_H_ */
diff --git a/common/config/devConf.h b/common/config/devConf.h
index abb3b3e1..51da9011 100644
--- a/common/config/devConf.h
+++ b/common/config/devConf.h
@@ -2,8 +2,10 @@
 #define COMMON_CONFIG_DEVCONF_H_
 
 #include <cstdint>
-#include <fsfw_hal/linux/spi/spiDefinitions.h>
-#include <fsfw_hal/linux/uart/UartCookie.h>
+
+#include "fsfw/timemanager/clockDefinitions.h"
+#include "fsfw_hal/linux/spi/spiDefinitions.h"
+#include "fsfw_hal/linux/uart/UartCookie.h"
 
 /**
  * SPI configuration will be contained here to let the device handlers remain independent
@@ -31,6 +33,7 @@ static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
 static const uint32_t SUS_MAX1227_SPI_FREQ = 976'000;
 static constexpr spi::SpiModes SUS_MAX_1227_MODE = spi::SpiModes::MODE_3;
 
+static constexpr dur_millis_t RAD_SENSOR_CS_TIMEOUT = 120;
 static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 976'000;
 static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3;
 
@@ -42,10 +45,11 @@ static constexpr spi::SpiModes DEFAULT_ADIS16507_MODE = spi::SpiModes::MODE_3;
 static constexpr uint32_t RW_SPEED = 300'000;
 static constexpr spi::SpiModes RW_MODE = spi::SpiModes::MODE_0;
 
+static constexpr dur_millis_t RTD_CS_TIMEOUT = 50;
 static constexpr uint32_t RTD_SPEED = 2'000'000;
 static constexpr spi::SpiModes RTD_MODE = spi::SpiModes::MODE_3;
 
-}
+}  // namespace spi
 
 namespace uart {
 
@@ -53,9 +57,9 @@ static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024;
 static constexpr UartBaudRate SYRLINKS_BAUD = UartBaudRate::RATE_38400;
 static constexpr UartBaudRate GNSS_BAUD = UartBaudRate::RATE_9600;
 static constexpr UartBaudRate PLOC_MPSOC_BAUD = UartBaudRate::RATE_115200;
-static constexpr UartBaudRate PLOC_SUPERVISOR_BAUD = UartBaudRate::RATE_115200;
+static constexpr UartBaudRate PLOC_SUPV_BAUD = UartBaudRate::RATE_115200;
 static constexpr UartBaudRate STAR_TRACKER_BAUD = UartBaudRate::RATE_921600;
 
-}
+}  // namespace uart
 
 #endif /* COMMON_CONFIG_DEVCONF_H_ */
diff --git a/common/config/devices/heaterSwitcherList.h b/common/config/devices/heaterSwitcherList.h
index 014e795c..68034117 100644
--- a/common/config/devices/heaterSwitcherList.h
+++ b/common/config/devices/heaterSwitcherList.h
@@ -3,18 +3,18 @@
 
 #include <cstdint>
 
-namespace heaterSwitches {
-	enum switcherList: uint8_t {
-		HEATER_0,
-		HEATER_1,
-		HEATER_2,
-		HEATER_3,
-		HEATER_4,
-		HEATER_5,
-		HEATER_6,
-		HEATER_7,
-		NUMBER_OF_SWITCHES
-	};
+namespace heater {
+enum Switchers : uint8_t {
+  HEATER_0_OBC_BRD,
+  HEATER_1_PLOC_PROC_BRD,
+  HEATER_2_ACS_BRD,
+  HEATER_3_PCDU_PDU,
+  HEATER_4_CAMERA,
+  HEATER_5_STR,
+  HEATER_6_DRO,
+  HEATER_7_HPA,
+  NUMBER_OF_SWITCHES
+};
 }
 
 #endif /* FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_ */
diff --git a/common/config/eive/definitions.h b/common/config/eive/definitions.h
index db430540..6a7bad05 100644
--- a/common/config/eive/definitions.h
+++ b/common/config/eive/definitions.h
@@ -19,7 +19,6 @@ static constexpr uint8_t LIVE_TM = 0;
 static constexpr uint32_t MAX_PATH_SIZE = 100;
 static constexpr uint32_t MAX_FILENAME_SIZE = 50;
 
-}
-
+}  // namespace config
 
 #endif /* COMMON_CONFIG_DEFINITIONS_H_ */
diff --git a/common/config/tmtc/apid.h b/common/config/tmtc/apid.h
index 00aabee1..8fbb4203 100644
--- a/common/config/tmtc/apid.h
+++ b/common/config/tmtc/apid.h
@@ -12,8 +12,7 @@
  * APID is a 11 bit number
  */
 namespace apid {
-	static const uint16_t EIVE_OBSW = 0x65;
+static const uint16_t EIVE_OBSW = 0x65;
 }
 
-
 #endif /* FSFWCONFIG_TMTC_APID_H_ */
diff --git a/linux/fsfwconfig/tmtc/pusIds.h b/common/config/tmtc/pusIds.h
similarity index 71%
rename from linux/fsfwconfig/tmtc/pusIds.h
rename to common/config/tmtc/pusIds.h
index 37503786..0891992d 100644
--- a/linux/fsfwconfig/tmtc/pusIds.h
+++ b/common/config/tmtc/pusIds.h
@@ -1,5 +1,5 @@
-#ifndef CONFIG_TMTC_PUSIDS_HPP_
-#define CONFIG_TMTC_PUSIDS_HPP_
+#ifndef COMMON_CONFIG_TMTC_PUSIDS_H_
+#define COMMON_CONFIG_TMTC_PUSIDS_H_
 
 namespace pus {
 enum Ids {
@@ -11,6 +11,7 @@ enum Ids {
   PUS_SERVICE_6 = 6,
   PUS_SERVICE_8 = 8,
   PUS_SERVICE_9 = 9,
+  PUS_SERVICE_11 = 11,
   PUS_SERVICE_17 = 17,
   PUS_SERVICE_19 = 19,
   PUS_SERVICE_20 = 20,
@@ -20,4 +21,4 @@ enum Ids {
 };
 };
 
-#endif /* CONFIG_TMTC_PUSIDS_HPP_ */
+#endif /* COMMON_CONFIG_TMTC_PUSIDS_H_ */
diff --git a/fsfw b/fsfw
index d61fe7db..95a64e1d 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit d61fe7db93b37dd6652dbfee5b7c93f400ac5a11
+Subproject commit 95a64e1da3bb6d334c58c9ba78747bcdaccd5a8b
diff --git a/generators/bsp_q7s_events.csv b/generators/bsp_q7s_events.csv
index b0fd2400..f3793f8f 100644
--- a/generators/bsp_q7s_events.csv
+++ b/generators/bsp_q7s_events.csv
@@ -75,16 +75,21 @@
 7905;0x1ee1;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 8900;0x22c4;CLOCK_SET;INFO;;fsfw/src/fsfw/pus/Service9TimeManagement.h
 8901;0x22c5;CLOCK_SET_FAILURE;LOW;;fsfw/src/fsfw/pus/Service9TimeManagement.h
+9100;0x238c;TC_DELETION_FAILED;MEDIUM;Deletion of a TC from the map failed. P1: First 32 bit of request ID, P2. Last 32 bit of Request ID;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 9700;0x25e4;TEST;INFO;;fsfw/src/fsfw/pus/Service17Test.h
 10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;;fsfw/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
-11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a swithc state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
+11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
+11303;0x2c27;FDIR_REACTION_IGNORED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
 11400;0x2c88;GPIO_PULL_HIGH_FAILED;LOW;;mission/devices/HeaterHandler.h
 11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;;mission/devices/HeaterHandler.h
-11402;0x2c8a;SWITCH_ALREADY_ON;LOW;;mission/devices/HeaterHandler.h
-11403;0x2c8b;SWITCH_ALREADY_OFF;LOW;;mission/devices/HeaterHandler.h
-11404;0x2c8c;MAIN_SWITCH_TIMEOUT;LOW;;mission/devices/HeaterHandler.h
+11402;0x2c8a;HEATER_WENT_ON;INFO;;mission/devices/HeaterHandler.h
+11403;0x2c8b;HEATER_WENT_OFF;INFO;;mission/devices/HeaterHandler.h
+11404;0x2c8c;SWITCH_ALREADY_ON;LOW;;mission/devices/HeaterHandler.h
+11405;0x2c8d;SWITCH_ALREADY_OFF;LOW;;mission/devices/HeaterHandler.h
+11406;0x2c8e;MAIN_SWITCH_TIMEOUT;MEDIUM;;mission/devices/HeaterHandler.h
+11407;0x2c8f;FAULTY_HEATER_WAS_ON;LOW;;mission/devices/HeaterHandler.h
 11500;0x2cec;MAIN_SWITCH_ON_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
 11501;0x2ced;MAIN_SWITCH_OFF_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
 11502;0x2cee;DEPLOYMENT_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
@@ -94,7 +99,7 @@
 11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/devices/ploc/PlocMPSoCHandler.h
 11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/devices/ploc/PlocMPSoCHandler.h
 11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/devices/ploc/PlocMPSoCHandler.h
-11605;0x2d55;MPSOC_HANDLER_SEQ_CNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/devices/ploc/PlocMPSoCHandler.h
+11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/devices/ploc/PlocMPSoCHandler.h
 11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/devices/ploc/PlocMPSoCHandler.h
 11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
 11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
@@ -104,21 +109,17 @@
 11706;0x2dba;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
 11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
 11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/devices/IMTQHandler.h
-11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/RwHandler.h
+11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/devicedefinitions/RwDefinitions.h
+11802;0x2e1a;RESET_OCCURED;LOW;;mission/devices/devicedefinitions/RwDefinitions.h
 11901;0x2e7d;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
 11902;0x2e7e;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
 12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/devices/ploc/PlocSupervisorHandler.h
 12002;0x2ee2;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux/devices/ploc/PlocSupervisorHandler.h
-12003;0x2ee3;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report;linux/devices/ploc/PlocSupervisorHandler.h
+12003;0x2ee3;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report P1: ID of command for which the execution failed P2: Status code sent by the supervisor handler;linux/devices/ploc/PlocSupervisorHandler.h
 12004;0x2ee4;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux/devices/ploc/PlocSupervisorHandler.h
+12005;0x2ee5;SUPV_MPSOC_SHUWDOWN_BUILD_FAILED;LOW;Failed to build the command to shutdown the MPSoC;linux/devices/ploc/PlocSupervisorHandler.h
 12100;0x2f44;SANITIZATION_FAILED;LOW;;bsp_q7s/memory/SdCardManager.h
 12101;0x2f45;MOUNTED_SD_CARD;INFO;;bsp_q7s/memory/SdCardManager.h
-12200;0x2fa8;UPDATE_FILE_NOT_EXISTS;LOW;;linux/devices/ploc/PlocUpdater.h
-12201;0x2fa9;ACTION_COMMANDING_FAILED;LOW;Failed to send command to supervisor handler P1: Return value of CommandActionHelper::commandAction P2: Action ID of command to send;linux/devices/ploc/PlocUpdater.h
-12202;0x2faa;UPDATE_AVAILABLE_FAILED;LOW;Supervisor handler replied action message indicating a command execution failure of the update available command;linux/devices/ploc/PlocUpdater.h
-12203;0x2fab;UPDATE_TRANSFER_FAILED;LOW;Supervisor handler failed to transfer an update space packet. P1: Parameter holds the number of update packets already sent (inclusive the failed packet);linux/devices/ploc/PlocUpdater.h
-12204;0x2fac;UPDATE_VERIFY_FAILED;LOW;Supervisor failed to execute the update verify command.;linux/devices/ploc/PlocUpdater.h
-12205;0x2fad;UPDATE_FINISHED;INFO;MPSoC update successful completed;linux/devices/ploc/PlocUpdater.h
 12300;0x300c;SEND_MRAM_DUMP_FAILED;LOW;Failed to send mram dump command to supervisor handler P1: Return value of commandAction function P2: Start address of MRAM to dump with this command;linux/devices/ploc/PlocMemoryDumper.h
 12301;0x300d;MRAM_DUMP_FAILED;LOW;Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command;linux/devices/ploc/PlocMemoryDumper.h
 12302;0x300e;MRAM_DUMP_FINISHED;LOW;MRAM dump finished successfully;linux/devices/ploc/PlocMemoryDumper.h
@@ -145,15 +146,15 @@
 12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;;linux/devices/startracker/StrHelper.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;SENDING_COMMAND_FAILED;LOW;;linux/devices/ploc/PlocMPSoCHelper.h
+12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;;linux/devices/ploc/PlocMPSoCHelper.h
 12603;0x313b;MPSOC_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
 12604;0x313c;MPSOC_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
-12605;0x313d;MISSING_ACK;LOW;Did not receive acknowledgement report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
-12606;0x313e;MISSING_EXE;LOW;Did not receive execution report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
-12607;0x313f;ACK_FAILURE_REPORT;LOW;Received acknowledgement failure report P1: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
-12608;0x3140;EXE_FAILURE_REPORT;LOW;Received execution failure report P1: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
-12609;0x3141;ACK_INVALID_APID;LOW;Expected acknowledgement report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
-12610;0x3142;EXE_INVALID_APID;LOW;Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
+12605;0x313d;MPSOC_MISSING_ACK;LOW;Did not receive acknowledgment report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
+12606;0x313e;MPSOC_MISSING_EXE;LOW;Did not receive execution report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
+12607;0x313f;MPSOC_ACK_FAILURE_REPORT;LOW;Received acknowledgment failure report P1: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
+12608;0x3140;MPSOC_EXE_FAILURE_REPORT;LOW;Received execution failure report P1: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
+12609;0x3141;MPSOC_ACK_INVALID_APID;LOW;Expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
+12610;0x3142;MPSOC_EXE_INVALID_APID;LOW;Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
 12611;0x3143;MPSOC_HELPER_SEQ_CNT_MISMATCH;LOW;Received sequence count does not match expected sequence count P1: Expected sequence count P2: Received sequence count;linux/devices/ploc/PlocMPSoCHelper.h
 12700;0x319c;TRANSITION_BACK_TO_OFF;MEDIUM;Could not transition properly and went back to ALL OFF;mission/devices/PayloadPcduHandler.h
 12701;0x319d;NEG_V_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
@@ -180,7 +181,27 @@
 13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/devices/P60DockHandler.h
 13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission/devices/P60DockHandler.h
 13202;0x3392;BATT_MODE_CHANGED;MEDIUM;Battery mode has changed. P1: Old mode. P2: New mode;mission/devices/P60DockHandler.h
-13600;0x3520;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
-13601;0x3521;REBOOT_SW;MEDIUM; Software reboot occured. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
-13602;0x3522;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
-13603;0x3523;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h
+13600;0x3520;SUPV_UPDATE_FAILED;LOW;update failed;linux/devices/ploc/PlocSupvHelper.h
+13601;0x3521;SUPV_UPDATE_SUCCESSFUL;LOW;update successful;linux/devices/ploc/PlocSupvHelper.h
+13602;0x3522;SUPV_CONTINUE_UPDATE_FAILED;LOW;Continue update command failed;linux/devices/ploc/PlocSupvHelper.h
+13603;0x3523;SUPV_CONTINUE_UPDATE_SUCCESSFUL;LOW;Continue update command successful;linux/devices/ploc/PlocSupvHelper.h
+13604;0x3524;TERMINATED_UPDATE_PROCEDURE;LOW;Terminated update procedure by command;linux/devices/ploc/PlocSupvHelper.h
+13605;0x3525;SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL;LOW;Requesting event buffer was successful;linux/devices/ploc/PlocSupvHelper.h
+13606;0x3526;SUPV_EVENT_BUFFER_REQUEST_FAILED;LOW;Requesting event buffer failed;linux/devices/ploc/PlocSupvHelper.h
+13607;0x3527;SUPV_EVENT_BUFFER_REQUEST_TERMINATED;LOW;Terminated event buffer request by command P1: Number of packets read before process was terminated;linux/devices/ploc/PlocSupvHelper.h
+13608;0x3528;SUPV_SENDING_COMMAND_FAILED;LOW;;linux/devices/ploc/PlocSupvHelper.h
+13609;0x3529;SUPV_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
+13610;0x352a;SUPV_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
+13611;0x352b;SUPV_MISSING_ACK;LOW;Did not receive acknowledgement report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocSupvHelper.h
+13612;0x352c;SUPV_MISSING_EXE;LOW;Supervisor did not receive execution report P1: Number of bytes missing P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
+13613;0x352d;SUPV_ACK_FAILURE_REPORT;LOW;Supervisor received acknowledgment failure report P1: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
+13614;0x352e;SUPV_EXE_FAILURE_REPORT;LOW;Execution report failure P1:;linux/devices/ploc/PlocSupvHelper.h
+13615;0x352f;SUPV_ACK_INVALID_APID;LOW;Supervisor expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
+13616;0x3530;SUPV_EXE_INVALID_APID;LOW;Supervisor helper expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
+13617;0x3531;ACK_RECEPTION_FAILURE;LOW;Failed to receive acknowledgment report P1: Return value P2: Apid of command for which the reception of the acknowledgment report failed;linux/devices/ploc/PlocSupvHelper.h
+13618;0x3532;EXE_RECEPTION_FAILURE;LOW;Failed to receive execution report P1: Return value P2: Apid of command for which the reception of the execution report failed;linux/devices/ploc/PlocSupvHelper.h
+13619;0x3533;WRITE_MEMORY_FAILED;LOW;Update procedure failed when sending packet with number P1 P1: Packet number for which the memory write command fails;linux/devices/ploc/PlocSupvHelper.h
+13700;0x3584;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
+13701;0x3585;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
+13702;0x3586;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
+13703;0x3587;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h
diff --git a/generators/bsp_q7s_objects.csv b/generators/bsp_q7s_objects.csv
index a19c8e77..f0d29ee2 100644
--- a/generators/bsp_q7s_objects.csv
+++ b/generators/bsp_q7s_objects.csv
@@ -4,18 +4,18 @@
 0x43400001;THERMAL_CONTROLLER
 0x44120006;MGM_0_LIS3_HANDLER
 0x44120010;GYRO_0_ADIS_HANDLER
-0x44120032;SUS_0
-0x44120033;SUS_1
-0x44120034;SUS_2
-0x44120035;SUS_3
-0x44120036;SUS_4
-0x44120037;SUS_5
-0x44120038;SUS_6
-0x44120039;SUS_7
-0x44120040;SUS_8
-0x44120041;SUS_9
-0x44120042;SUS_10
-0x44120043;SUS_11
+0x44120032;SUS_0_N_LOC_XFYFZM_PT_XF
+0x44120033;SUS_1_N_LOC_XBYFZM_PT_XB
+0x44120034;SUS_2_N_LOC_XFYBZB_PT_YB
+0x44120035;SUS_3_N_LOC_XFYBZF_PT_YF
+0x44120036;SUS_4_N_LOC_XMYFZF_PT_ZF
+0x44120037;SUS_5_N_LOC_XFYMZB_PT_ZB
+0x44120038;SUS_6_R_LOC_XFYBZM_PT_XF
+0x44120039;SUS_7_R_LOC_XBYBZM_PT_XB
+0x44120040;SUS_8_R_LOC_XBYBZB_PT_YB
+0x44120041;SUS_9_R_LOC_XBYBZB_PT_YF
+0x44120042;SUS_10_N_LOC_XMYBZF_PT_ZF
+0x44120043;SUS_11_R_LOC_XBYMZB_PT_ZB
 0x44120047;RW1
 0x44120107;MGM_1_RM3100_HANDLER
 0x44120111;GYRO_1_L3G_HANDLER
@@ -41,6 +41,8 @@
 0x44330001;PLOC_MEMORY_DUMPER
 0x44330002;STR_HELPER
 0x44330003;PLOC_MPSOC_HELPER
+0x44330004;AXI_PTME_CONFIG
+0x44330005;PTME_CONFIG
 0x44330015;PLOC_MPSOC_HANDLER
 0x44330016;PLOC_SUPERVISOR_HANDLER
 0x44330017;PLOC_SUPERVISOR_HELPER
@@ -48,26 +50,28 @@
 0x444100A4;HEATER_HANDLER
 0x44420004;TMP1075_HANDLER_1
 0x44420005;TMP1075_HANDLER_2
-0x44420016;RTD_IC_3
-0x44420017;RTD_IC_4
-0x44420018;RTD_IC_5
-0x44420019;RTD_IC_6
-0x44420020;RTD_IC_7
-0x44420021;RTD_IC_8
-0x44420022;RTD_IC_9
-0x44420023;RTD_IC_10
-0x44420024;RTD_IC_11
-0x44420025;RTD_IC_12
-0x44420026;RTD_IC_13
-0x44420027;RTD_IC_14
-0x44420028;RTD_IC_15
-0x44420029;RTD_IC_16
-0x44420030;RTD_IC_17
-0x44420031;RTD_IC_18
+0x44420016;RTD_0_IC3_PLOC_HEATSPREADER
+0x44420017;RTD_1_IC4_PLOC_MISSIONBOARD
+0x44420018;RTD_2_IC5_4K_CAMERA
+0x44420019;RTD_3_IC6_DAC_HEATSPREADER
+0x44420020;RTD_4_IC7_STARTRACKER
+0x44420021;RTD_5_IC8_RW1_MX_MY
+0x44420022;RTD_6_IC9_DRO
+0x44420023;RTD_7_IC10_SCEX
+0x44420024;RTD_8_IC11_X8
+0x44420025;RTD_9_IC12_HPA
+0x44420026;RTD_10_IC13_PL_TX
+0x44420027;RTD_11_IC14_MPA
+0x44420028;RTD_12_IC15_ACU
+0x44420029;RTD_13_IC16_PLPCDU_HEATSPREADER
+0x44420030;RTD_14_IC17_TCS_BOARD
+0x44420031;RTD_15_IC18_IMTQ
 0x445300A3;SYRLINKS_HK_HANDLER
 0x49000000;ARDUINO_COM_IF
 0x49010005;GPIO_IF
-0x49020004;SPI_COM_IF
+0x49020004;SPI_MAIN_COM_IF
+0x49020005;SPI_RW_COM_IF
+0x49020006;SPI_RTD_COM_IF
 0x49030003;UART_COM_IF
 0x49040002;I2C_COM_IF
 0x49050001;CSP_COM_IF
@@ -88,6 +92,7 @@
 0x53000005;PUS_SERVICE_5_EVENT_REPORTING
 0x53000008;PUS_SERVICE_8_FUNCTION_MGMT
 0x53000009;PUS_SERVICE_9_TIME_MGMT
+0x53000011;PUS_SERVICE_11_TC_SCHEDULER
 0x53000017;PUS_SERVICE_17_TEST
 0x53000020;PUS_SERVICE_20_PARAMETERS
 0x53000200;PUS_SERVICE_200_MODE_MGMT
@@ -109,9 +114,18 @@
 0x5400CAFE;DUMMY_INTERFACE
 0x54123456;LIBGPIOD_TEST
 0x54694269;TEST_TASK
+0x60000000;HEATER_0_PLOC_PROC_BRD
+0x60000001;HEATER_1_PCDU_BRD
+0x60000002;HEATER_2_ACS_BRD
+0x60000003;HEATER_3_OBC_BRD
+0x60000004;HEATER_4_CAMERA
+0x60000005;HEATER_5_STR
+0x60000006;HEATER_6_DRO
+0x60000007;HEATER_7_HPA
 0x73000001;ACS_BOARD_ASS
 0x73000002;SUS_BOARD_ASS
 0x73000003;TCS_BOARD_ASS
+0x73000004;RW_ASS
 0x73000100;TM_FUNNEL
 0x73500000;CCSDS_IP_CORE_BRIDGE
 0xFFFFFFFF;NO_OBJECT
diff --git a/generators/bsp_q7s_returnvalues.csv b/generators/bsp_q7s_returnvalues.csv
index a0f1562c..64006689 100644
--- a/generators/bsp_q7s_returnvalues.csv
+++ b/generators/bsp_q7s_returnvalues.csv
@@ -1,551 +1,562 @@
 0x0;OK;System-wide code for ok.;RETURN_OK;HasReturnvaluesIF.h;HasReturnvaluesIF
 0x1;Failed;Unspecified system-wide code for failed.;RETURN_FAILED;HasReturnvaluesIF.h;HasReturnvaluesIF
-0x5f00;GOMS_PacketTooLong;;0;mission\devices\GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
-0x5f01;GOMS_InvalidTableId;;1;mission\devices\GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
-0x5f02;GOMS_InvalidAddress;;2;mission\devices\GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
-0x5f03;GOMS_InvalidParamSize;;3;mission\devices\GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
-0x5f04;GOMS_InvalidPayloadSize;;4;mission\devices\GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
-0x5f05;GOMS_UnknownReplyId;;5;mission\devices\GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
-0x52a1;HEATER_CommandNotSupported;;0xA1;mission\devices\HeaterHandler.h;HEATER_HANDLER
-0x52a2;HEATER_InitFailed;;0xA2;mission\devices\HeaterHandler.h;HEATER_HANDLER
-0x52a3;HEATER_InvalidSwitchNr;;0xA3;mission\devices\HeaterHandler.h;HEATER_HANDLER
-0x52a4;HEATER_MainSwitchSetTimeout;;0xA4;mission\devices\HeaterHandler.h;HEATER_HANDLER
-0x52a5;HEATER_CommandAlreadyWaiting;;0xA5;mission\devices\HeaterHandler.h;HEATER_HANDLER
-0x54a0;IMTQ_InvalidCommandCode;;0xA0;mission\devices\IMTQHandler.h;IMTQ_HANDLER
-0x54a1;IMTQ_ParameterMissing;;0xA1;mission\devices\IMTQHandler.h;IMTQ_HANDLER
-0x54a2;IMTQ_ParameterInvalid;;0xA2;mission\devices\IMTQHandler.h;IMTQ_HANDLER
-0x54a3;IMTQ_CcUnavailable;;0xA3;mission\devices\IMTQHandler.h;IMTQ_HANDLER
-0x54a4;IMTQ_InternalProcessingError;;0xA4;mission\devices\IMTQHandler.h;IMTQ_HANDLER
-0x54a5;IMTQ_RejectedWithoutReason;;0xA5;mission\devices\IMTQHandler.h;IMTQ_HANDLER
-0x54a6;IMTQ_CmdErrUnknown;;0xA6;mission\devices\IMTQHandler.h;IMTQ_HANDLER
-0x54a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;0xA7;mission\devices\IMTQHandler.h;IMTQ_HANDLER
-0x55b0;RWHA_SpiWriteFailure;;0xB0;mission\devices\RwHandler.h;RW_HANDLER
-0x55b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;0xB1;mission\devices\RwHandler.h;RW_HANDLER
-0x55b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;0xB2;mission\devices\RwHandler.h;RW_HANDLER
-0x55b3;RWHA_InvalidSubstitute;Can be used by the HDLC decoding mechanism to inform about an invalid substitution combination;0xB3;mission\devices\RwHandler.h;RW_HANDLER
-0x55b4;RWHA_MissingEndSign;HDLC decoding mechanism never receives the end sign 0x7E;0xB4;mission\devices\RwHandler.h;RW_HANDLER
-0x55b5;RWHA_NoReply;Reaction wheel only responds with empty frames.;0xB5;mission\devices\RwHandler.h;RW_HANDLER
-0x55b6;RWHA_NoStartMarker;Expected a start marker as first byte;0xB6;mission\devices\RwHandler.h;RW_HANDLER
-0x55a0;RWHA_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000; 1000] or [1000; 65000];0xA0;mission\devices\RwHandler.h;RW_HANDLER
-0x55a1;RWHA_InvalidRampTime;Action Message with invalid ramp time was received.;0xA1;mission\devices\RwHandler.h;RW_HANDLER
-0x55a2;RWHA_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;0xA2;mission\devices\RwHandler.h;RW_HANDLER
-0x55a3;RWHA_ExecutionFailed;Command execution failed;0xA3;mission\devices\RwHandler.h;RW_HANDLER
-0x55a4;RWHA_CrcError;Reaction wheel reply has invalid crc;0xA4;mission\devices\RwHandler.h;RW_HANDLER
-0x68a0;SADPL_CommandNotSupported;;0xA0;mission\devices\SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
-0x68a1;SADPL_DeploymentAlreadyExecuting;;0xA1;mission\devices\SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
-0x68a2;SADPL_MainSwitchTimeoutFailure;;0xA2;mission\devices\SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
-0x68a3;SADPL_SwitchingDeplSa1Failed;;0xA3;mission\devices\SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
-0x68a4;SADPL_SwitchingDeplSa2Failed;;0xA4;mission\devices\SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
-0x5aa0;SUSS_ErrorUnlockMutex;;0xA0;mission\devices\SusHandler.h;SUS_HANDLER
-0x5aa1;SUSS_ErrorLockMutex;;0xA1;mission\devices\SusHandler.h;SUS_HANDLER
-0x53a0;SYRLINKS_CrcFailure;;0xA0;mission\devices\SyrlinksHkHandler.h;SYRLINKS_HANDLER
-0x53a1;SYRLINKS_UartFraminOrParityErrorAck;;0xA1;mission\devices\SyrlinksHkHandler.h;SYRLINKS_HANDLER
-0x53a2;SYRLINKS_BadCharacterAck;;0xA2;mission\devices\SyrlinksHkHandler.h;SYRLINKS_HANDLER
-0x53a3;SYRLINKS_BadParameterValueAck;;0xA3;mission\devices\SyrlinksHkHandler.h;SYRLINKS_HANDLER
-0x53a4;SYRLINKS_BadEndOfFrameAck;;0xA4;mission\devices\SyrlinksHkHandler.h;SYRLINKS_HANDLER
-0x53a5;SYRLINKS_UnknownCommandIdAck;;0xA5;mission\devices\SyrlinksHkHandler.h;SYRLINKS_HANDLER
-0x53a6;SYRLINKS_BadCrcAck;;0xA6;mission\devices\SyrlinksHkHandler.h;SYRLINKS_HANDLER
-0x53a7;SYRLINKS_ReplyWrongSize;;0xA7;mission\devices\SyrlinksHkHandler.h;SYRLINKS_HANDLER
-0x53a8;SYRLINKS_MissingStartFrameCharacter;;0xA8;mission\devices\SyrlinksHkHandler.h;SYRLINKS_HANDLER
-0x65a0;NVMB_KeyNotExists;Specified key does not exist in json file;0xA0;mission\memory\NVMParameterBase.h;NVM_PARAM_BASE
-0x62a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;0xA0;mission\tmtc\CCSDSHandler.h;CCSDS_HANDLER
-0x4601; HGIO_UnknownGpioId;;1;fsfw\hal\src\fsfw_hal\linux\gpio\LinuxLibgpioIF.h;HAL_GPIO
-0x4602; HGIO_DriveGpioFailure;;2;fsfw\hal\src\fsfw_hal\linux\gpio\LinuxLibgpioIF.h;HAL_GPIO
-0x4603; HGIO_GpioTypeFailure;;3;fsfw\hal\src\fsfw_hal\linux\gpio\LinuxLibgpioIF.h;HAL_GPIO
-0x4604; HGIO_GpioInvalidInstance;;4;fsfw\hal\src\fsfw_hal\linux\gpio\LinuxLibgpioIF.h;HAL_GPIO
-0x4605; HGIO_GpioDuplicateDetected;;5;fsfw\hal\src\fsfw_hal\linux\gpio\LinuxLibgpioIF.h;HAL_GPIO
-0x4300; HSPI_HalTimeoutRetval;;0;fsfw\hal\src\fsfw_hal\stm32h7\spi\spiDefinitions.h;HAL_SPI
-0x4301; HSPI_HalBusyRetval;;1;fsfw\hal\src\fsfw_hal\stm32h7\spi\spiDefinitions.h;HAL_SPI
-0x4302; HSPI_HalErrorRetval;;2;fsfw\hal\src\fsfw_hal\stm32h7\spi\spiDefinitions.h;HAL_SPI
-0x4401; HURT_UartReadFailure;;1;fsfw\hal\src\fsfw_hal\linux\uart\UartComIF.h;HAL_UART
-0x4402; HURT_UartReadSizeMissmatch;;2;fsfw\hal\src\fsfw_hal\linux\uart\UartComIF.h;HAL_UART
-0x4403; HURT_UartRxBufferTooSmall;;3;fsfw\hal\src\fsfw_hal\linux\uart\UartComIF.h;HAL_UART
-0x4200; UXOS_ExecutionFinished;Execution of the current command has finished;0;fsfw\hal\src\fsfw_hal\linux\CommandExecutor.h;LINUX_OSAL
-0x4201; UXOS_CommandPending;Command is pending. This will also be returned if the user tries to load another command but a command is still pending;1;fsfw\hal\src\fsfw_hal\linux\CommandExecutor.h;LINUX_OSAL
-0x4202; UXOS_BytesRead;Some bytes have been read from the executing process;2;fsfw\hal\src\fsfw_hal\linux\CommandExecutor.h;LINUX_OSAL
-0x4203; UXOS_CommandError;Command execution failed;3;fsfw\hal\src\fsfw_hal\linux\CommandExecutor.h;LINUX_OSAL
-0x4204; UXOS_NoCommandLoadedOrPending;;4;fsfw\hal\src\fsfw_hal\linux\CommandExecutor.h;LINUX_OSAL
-0x4206; UXOS_PcloseCallError;;6;fsfw\hal\src\fsfw_hal\linux\CommandExecutor.h;LINUX_OSAL
-0x3101; CF_ObjectHasNoFunctions;;1;fsfw\src\fsfw\action\CommandsActionsIF.h;COMMANDS_ACTIONS_IF
-0x3102; CF_AlreadyCommanding;;2;fsfw\src\fsfw\action\CommandsActionsIF.h;COMMANDS_ACTIONS_IF
-0x3201; HF_IsBusy;;1;fsfw\src\fsfw\action\HasActionsIF.h;HAS_ACTIONS_IF
-0x3202; HF_InvalidParameters;;2;fsfw\src\fsfw\action\HasActionsIF.h;HAS_ACTIONS_IF
-0x3203; HF_ExecutionFinished;;3;fsfw\src\fsfw\action\HasActionsIF.h;HAS_ACTIONS_IF
-0x3204; HF_InvalidActionId;;4;fsfw\src\fsfw\action\HasActionsIF.h;HAS_ACTIONS_IF
-0x3501; CFDP_InvalidTlvType;;1;fsfw\src\fsfw\cfdp\definitions.h;CFDP
-0x3502; CFDP_InvalidDirectiveFields;;2;fsfw\src\fsfw\cfdp\definitions.h;CFDP
-0x3503; CFDP_InvalidPduDatafieldLen;;3;fsfw\src\fsfw\cfdp\definitions.h;CFDP
-0x3504; CFDP_InvalidAckDirectiveFields;;4;fsfw\src\fsfw\cfdp\definitions.h;CFDP
-0x3505; CFDP_MetadataCantParseOptions;;5;fsfw\src\fsfw\cfdp\definitions.h;CFDP
-0x3506; CFDP_FinishedCantParseFsResponses;;6;fsfw\src\fsfw\cfdp\definitions.h;CFDP
-0x3508; CFDP_FilestoreRequiresSecondFile;;8;fsfw\src\fsfw\cfdp\definitions.h;CFDP
-0x3509; CFDP_FilestoreResponseCantParseFsMessage;;9;fsfw\src\fsfw\cfdp\definitions.h;CFDP
-0x1101; AL_Full;;0x01;fsfw\src\fsfw\container\ArrayList.h;ARRAY_LIST
-0x1801; FF_Full;;1;fsfw\src\fsfw\container\FIFOBase.h;FIFO_CLASS
-0x1802; FF_Empty;;2;fsfw\src\fsfw\container\FIFOBase.h;FIFO_CLASS
-0x1501; FM_KeyAlreadyExists;;0x01;fsfw\src\fsfw\container\FixedMap.h;FIXED_MAP
-0x1502; FM_MapFull;;0x02;fsfw\src\fsfw\container\FixedMap.h;FIXED_MAP
-0x1503; FM_KeyDoesNotExist;;0x03;fsfw\src\fsfw\container\FixedMap.h;FIXED_MAP
-0x1601; FMM_MapFull;;0x01;fsfw\src\fsfw\container\FixedOrderedMultimap.h;FIXED_MULTIMAP
-0x1602; FMM_KeyDoesNotExist;;0x02;fsfw\src\fsfw\container\FixedOrderedMultimap.h;FIXED_MULTIMAP
-0x37a1; SGP4_InvalidEccentricity;;0xA1;fsfw\src\fsfw\coordinates\Sgp4Propagator.h;SGP4PROPAGATOR_CLASS
-0x37a2; SGP4_InvalidMeanMotion;;0xA2;fsfw\src\fsfw\coordinates\Sgp4Propagator.h;SGP4PROPAGATOR_CLASS
-0x37a3; SGP4_InvalidPerturbationElements;;0xA3;fsfw\src\fsfw\coordinates\Sgp4Propagator.h;SGP4PROPAGATOR_CLASS
-0x37a4; SGP4_InvalidSemiLatusRectum;;0xA4;fsfw\src\fsfw\coordinates\Sgp4Propagator.h;SGP4PROPAGATOR_CLASS
-0x37a5; SGP4_InvalidEpochElements;;0xA5;fsfw\src\fsfw\coordinates\Sgp4Propagator.h;SGP4PROPAGATOR_CLASS
-0x37a6; SGP4_SatelliteHasDecayed;;0xA6;fsfw\src\fsfw\coordinates\Sgp4Propagator.h;SGP4PROPAGATOR_CLASS
-0x37b1; SGP4_TleTooOld;;0xB1;fsfw\src\fsfw\coordinates\Sgp4Propagator.h;SGP4PROPAGATOR_CLASS
-0x37b2; SGP4_TleNotInitialized;;0xB2;fsfw\src\fsfw\coordinates\Sgp4Propagator.h;SGP4PROPAGATOR_CLASS
-0x2b01; CCS_BcIsSetVrCommand;;0x01;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2b02; CCS_BcIsUnlockCommand;;0x02;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2bb0; CCS_BcIllegalCommand;;0xB0;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2bb1; CCS_BoardReadingNotFinished;;0xB1;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2bf0; CCS_NsPositiveW;;0xF0;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2bf1; CCS_NsNegativeW;;0xF1;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2bf2; CCS_NsLockout;;0xF2;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2bf3; CCS_FarmInLockout;;0xF3;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2bf4; CCS_FarmInWait;;0xF4;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2be0; CCS_WrongSymbol;;0xE0;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2be1; CCS_DoubleStart;;0xE1;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2be2; CCS_StartSymbolMissed;;0xE2;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2be3; CCS_EndWithoutStart;;0xE3;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2be4; CCS_TooLarge;;0xE4;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2be5; CCS_TooShort;;0xE5;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2be6; CCS_WrongTfVersion;;0xE6;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2be7; CCS_WrongSpacecraftId;;0xE7;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2be8; CCS_NoValidFrameType;;0xE8;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2be9; CCS_CrcFailed;;0xE9;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2bea; CCS_VcNotFound;;0xEA;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2beb; CCS_ForwardingFailed;;0xEB;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2bec; CCS_ContentTooLarge;;0xEC;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2bed; CCS_ResidualData;;0xED;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2bee; CCS_DataCorrupted;;0xEE;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2bef; CCS_IllegalSegmentationFlag;;0xEF;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2bd0; CCS_IllegalFlagCombination;;0xD0;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2bd1; CCS_ShorterThanHeader;;0xD1;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2bd2; CCS_TooShortBlockedPacket;;0xD2;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x2bd3; CCS_TooShortMapExtraction;;0xD3;fsfw\src\fsfw\datalinklayer\CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
-0x801; DPS_InvalidParameterDefinition;;1;fsfw\src\fsfw\datapool\DataSetIF.h;DATA_SET_CLASS
-0x802; DPS_SetWasAlreadyRead;;2;fsfw\src\fsfw\datapool\DataSetIF.h;DATA_SET_CLASS
-0x803; DPS_CommitingWithoutReading;;3;fsfw\src\fsfw\datapool\DataSetIF.h;DATA_SET_CLASS
-0x804; DPS_DataSetUninitialised;;4;fsfw\src\fsfw\datapool\DataSetIF.h;DATA_SET_CLASS
-0x805; DPS_DataSetFull;;5;fsfw\src\fsfw\datapool\DataSetIF.h;DATA_SET_CLASS
-0x806; DPS_PoolVarNull;;6;fsfw\src\fsfw\datapool\DataSetIF.h;DATA_SET_CLASS
-0x3ca0; PVA_InvalidReadWriteMode;;0xA0;fsfw\src\fsfw\datapool\PoolVariableIF.h;POOL_VARIABLE_IF
-0x3ca1; PVA_InvalidPoolEntry;;0xA1;fsfw\src\fsfw\datapool\PoolVariableIF.h;POOL_VARIABLE_IF
-0x3d00; HKM_QueueOrDestinationInvalid;;0;fsfw\src\fsfw\datapoollocal\LocalDataPoolManager.h;HOUSEKEEPING_MANAGER
-0x3d01; HKM_WrongHkPacketType;;1;fsfw\src\fsfw\datapoollocal\LocalDataPoolManager.h;HOUSEKEEPING_MANAGER
-0x3d02; HKM_ReportingStatusUnchanged;;2;fsfw\src\fsfw\datapoollocal\LocalDataPoolManager.h;HOUSEKEEPING_MANAGER
-0x3d03; HKM_PeriodicHelperInvalid;;3;fsfw\src\fsfw\datapoollocal\LocalDataPoolManager.h;HOUSEKEEPING_MANAGER
-0x3d04; HKM_PoolobjectNotFound;;4;fsfw\src\fsfw\datapoollocal\LocalDataPoolManager.h;HOUSEKEEPING_MANAGER
-0x3d05; HKM_DatasetNotFound;;5;fsfw\src\fsfw\datapoollocal\LocalDataPoolManager.h;HOUSEKEEPING_MANAGER
-0x3b00; LPIF_PoolEntryNotFound;;0x00;fsfw\src\fsfw\datapoollocal\localPoolDefinitions.h;LOCAL_POOL_OWNER_IF
-0x3b01; LPIF_PoolEntryTypeConflict;;0x01;fsfw\src\fsfw\datapoollocal\localPoolDefinitions.h;LOCAL_POOL_OWNER_IF
-0x1201; AB_NeedSecondStep;;0x01;fsfw\src\fsfw\devicehandlers\AssemblyBase.h;ASSEMBLY_BASE
-0x1202; AB_NeedToReconfigure;;0x02;fsfw\src\fsfw\devicehandlers\AssemblyBase.h;ASSEMBLY_BASE
-0x1203; AB_ModeFallback;;0x03;fsfw\src\fsfw\devicehandlers\AssemblyBase.h;ASSEMBLY_BASE
-0x1204; AB_ChildNotCommandable;;0x04;fsfw\src\fsfw\devicehandlers\AssemblyBase.h;ASSEMBLY_BASE
-0x1205; AB_NeedToChangeHealth;;0x05;fsfw\src\fsfw\devicehandlers\AssemblyBase.h;ASSEMBLY_BASE
-0x12a1; AB_NotEnoughChildrenInCorrectState;;0xa1;fsfw\src\fsfw\devicehandlers\AssemblyBase.h;ASSEMBLY_BASE
-0x3301; DC_NoReplyReceived;;0x01;fsfw\src\fsfw\devicehandlers\DeviceCommunicationIF.h;DEVICE_COMMUNICATION_IF
-0x3302; DC_ProtocolError;;0x02;fsfw\src\fsfw\devicehandlers\DeviceCommunicationIF.h;DEVICE_COMMUNICATION_IF
-0x3303; DC_Nullpointer;;0x03;fsfw\src\fsfw\devicehandlers\DeviceCommunicationIF.h;DEVICE_COMMUNICATION_IF
-0x3304; DC_InvalidCookieType;;0x04;fsfw\src\fsfw\devicehandlers\DeviceCommunicationIF.h;DEVICE_COMMUNICATION_IF
-0x3305; DC_NotActive;;0x05;fsfw\src\fsfw\devicehandlers\DeviceCommunicationIF.h;DEVICE_COMMUNICATION_IF
-0x3306; DC_TooMuchData;;0x06;fsfw\src\fsfw\devicehandlers\DeviceCommunicationIF.h;DEVICE_COMMUNICATION_IF
-0x3a0; DHB_InvalidChannel;;0xA0;fsfw\src\fsfw\devicehandlers\DeviceHandlerBase.h;DEVICE_HANDLER_BASE
-0x3b0; DHB_AperiodicReply;;0xB0;fsfw\src\fsfw\devicehandlers\DeviceHandlerBase.h;DEVICE_HANDLER_BASE
-0x3b1; DHB_IgnoreReplyData;;0xB1;fsfw\src\fsfw\devicehandlers\DeviceHandlerBase.h;DEVICE_HANDLER_BASE
-0x3b2; DHB_IgnoreFullPacket;;0xB2;fsfw\src\fsfw\devicehandlers\DeviceHandlerBase.h;DEVICE_HANDLER_BASE
-0x3c0; DHB_NothingToSend;;0xC0;fsfw\src\fsfw\devicehandlers\DeviceHandlerBase.h;DEVICE_HANDLER_BASE
-0x3c2; DHB_CommandMapError;;0xC2;fsfw\src\fsfw\devicehandlers\DeviceHandlerBase.h;DEVICE_HANDLER_BASE
-0x3d0; DHB_NoSwitch;;0xD0;fsfw\src\fsfw\devicehandlers\DeviceHandlerBase.h;DEVICE_HANDLER_BASE
-0x3e0; DHB_ChildTimeout;;0xE0;fsfw\src\fsfw\devicehandlers\DeviceHandlerBase.h;DEVICE_HANDLER_BASE
-0x3e1; DHB_SwitchFailed;;0xE1;fsfw\src\fsfw\devicehandlers\DeviceHandlerBase.h;DEVICE_HANDLER_BASE
-0x26a0; DHI_NoCommandData;;0xA0;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x26a1; DHI_CommandNotSupported;;0xA1;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x26a2; DHI_CommandAlreadySent;;0xA2;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x26a3; DHI_CommandWasNotSent;;0xA3;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x26a4; DHI_CantSwitchAddress;;0xA4;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x26a5; DHI_WrongModeForCommand;;0xA5;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x26a6; DHI_Timeout;;0xA6;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x26a7; DHI_Busy;;0xA7;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x26a8; DHI_NoReplyExpected;;0xA8;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x26a9; DHI_NonOpTemperature;;0xA9;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x26aa; DHI_CommandNotImplemented;;0xAA;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x26b0; DHI_ChecksumError;;0xB0;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x26b1; DHI_LengthMissmatch;;0xB1;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x26b2; DHI_InvalidData;;0xB2;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x26b3; DHI_ProtocolError;;0xB3;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x26c0; DHI_DeviceDidNotExecute;;0xC0;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x26c1; DHI_DeviceReportedError;;0xC1;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x26c2; DHI_UnknownDeviceReply;;0xC2;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x26c3; DHI_DeviceReplyInvalid;;0xC3;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x26d0; DHI_InvalidCommandParameter;;0xD0;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x26d1; DHI_InvalidNumberOrLengthOfParameters;;0xD1;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h;DEVICE_HANDLER_IF
-0x2401; EV_ListenerNotFound;;1;fsfw\src\fsfw\events\EventManagerIF.h;EVENT_MANAGER_IF
-0x2500; FDI_YourFault;;0;fsfw\src\fsfw\fdir\ConfirmsFailuresIF.h;HANDLES_FAILURES_IF
-0x2501; FDI_MyFault;;1;fsfw\src\fsfw\fdir\ConfirmsFailuresIF.h;HANDLES_FAILURES_IF
-0x2502; FDI_ConfirmLater;;2;fsfw\src\fsfw\fdir\ConfirmsFailuresIF.h;HANDLES_FAILURES_IF
-0x2301; MT_TooDetailedRequest;;1;fsfw\src\fsfw\globalfunctions\matching\MatchTree.h;MATCH_TREE_CLASS
-0x2302; MT_TooGeneralRequest;;2;fsfw\src\fsfw\globalfunctions\matching\MatchTree.h;MATCH_TREE_CLASS
-0x2303; MT_NoMatch;;3;fsfw\src\fsfw\globalfunctions\matching\MatchTree.h;MATCH_TREE_CLASS
-0x2304; MT_Full;;4;fsfw\src\fsfw\globalfunctions\matching\MatchTree.h;MATCH_TREE_CLASS
-0x2305; MT_NewNodeCreated;;5;fsfw\src\fsfw\globalfunctions\matching\MatchTree.h;MATCH_TREE_CLASS
-0x2e01; ASC_TooLongForTargetType;;1;fsfw\src\fsfw\globalfunctions\AsciiConverter.h;ASCII_CONVERTER
-0x2e02; ASC_InvalidCharacters;;2;fsfw\src\fsfw\globalfunctions\AsciiConverter.h;ASCII_CONVERTER
-0x2e03; ASC_BufferTooSmall;;0x3;fsfw\src\fsfw\globalfunctions\AsciiConverter.h;ASCII_CONVERTER
-0x3e01; DLEE_StreamTooShort;;0x01;fsfw\src\fsfw\globalfunctions\DleEncoder.h;DLE_ENCODER
-0x3e02; DLEE_DecodingError;;0x02;fsfw\src\fsfw\globalfunctions\DleEncoder.h;DLE_ENCODER
-0x1701; HHI_ObjectNotHealthy;;1;fsfw\src\fsfw\health\HasHealthIF.h;HAS_HEALTH_IF
-0x1702; HHI_InvalidHealthState;;2;fsfw\src\fsfw\health\HasHealthIF.h;HAS_HEALTH_IF
-0xf01; CM_UnknownCommand;;1;fsfw\src\fsfw\ipc\CommandMessageIF.h;COMMAND_MESSAGE
-0x3901; MQI_Empty;;1;fsfw\src\fsfw\ipc\MessageQueueIF.h;MESSAGE_QUEUE_IF
-0x3902; MQI_Full;No space left for more messages;2;fsfw\src\fsfw\ipc\MessageQueueIF.h;MESSAGE_QUEUE_IF
-0x3903; MQI_NoReplyPartner;Returned if a reply method was called without partner;3;fsfw\src\fsfw\ipc\MessageQueueIF.h;MESSAGE_QUEUE_IF
-0x3904; MQI_DestinationInvalid;Returned if the target destination is invalid.;4;fsfw\src\fsfw\ipc\MessageQueueIF.h;MESSAGE_QUEUE_IF
-0x3801; MUX_NotEnoughResources;;1;fsfw\src\fsfw\ipc\MutexIF.h;MUTEX_IF
-0x3802; MUX_InsufficientMemory;;2;fsfw\src\fsfw\ipc\MutexIF.h;MUTEX_IF
-0x3803; MUX_NoPrivilege;;3;fsfw\src\fsfw\ipc\MutexIF.h;MUTEX_IF
-0x3804; MUX_WrongAttributeSetting;;4;fsfw\src\fsfw\ipc\MutexIF.h;MUTEX_IF
-0x3805; MUX_MutexAlreadyLocked;;5;fsfw\src\fsfw\ipc\MutexIF.h;MUTEX_IF
-0x3806; MUX_MutexNotFound;;6;fsfw\src\fsfw\ipc\MutexIF.h;MUTEX_IF
-0x3807; MUX_MutexMaxLocks;;7;fsfw\src\fsfw\ipc\MutexIF.h;MUTEX_IF
-0x3808; MUX_CurrThreadAlreadyOwnsMutex;;8;fsfw\src\fsfw\ipc\MutexIF.h;MUTEX_IF
-0x3809; MUX_CurrThreadDoesNotOwnMutex;;9;fsfw\src\fsfw\ipc\MutexIF.h;MUTEX_IF
-0x380a; MUX_MutexTimeout;;10;fsfw\src\fsfw\ipc\MutexIF.h;MUTEX_IF
-0x380b; MUX_MutexInvalidId;;11;fsfw\src\fsfw\ipc\MutexIF.h;MUTEX_IF
-0x380c; MUX_MutexDestroyedWhileWaiting;;12;fsfw\src\fsfw\ipc\MutexIF.h;MUTEX_IF
-0x4100; FILS_GenericFileError;;0;fsfw\src\fsfw\memory\HasFileSystemIF.h;FILE_SYSTEM
-0x4101; FILS_IsBusy;;1;fsfw\src\fsfw\memory\HasFileSystemIF.h;FILE_SYSTEM
-0x4102; FILS_InvalidParameters;;2;fsfw\src\fsfw\memory\HasFileSystemIF.h;FILE_SYSTEM
-0x4105; FILS_FileDoesNotExist;;5;fsfw\src\fsfw\memory\HasFileSystemIF.h;FILE_SYSTEM
-0x4106; FILS_FileAlreadyExists;;6;fsfw\src\fsfw\memory\HasFileSystemIF.h;FILE_SYSTEM
-0x4107; FILS_FileLocked;;7;fsfw\src\fsfw\memory\HasFileSystemIF.h;FILE_SYSTEM
-0x410a; FILS_DirectoryDoesNotExist;;10;fsfw\src\fsfw\memory\HasFileSystemIF.h;FILE_SYSTEM
-0x410b; FILS_DirectoryAlreadyExists;;11;fsfw\src\fsfw\memory\HasFileSystemIF.h;FILE_SYSTEM
-0x410c; FILS_DirectoryNotEmpty;;12;fsfw\src\fsfw\memory\HasFileSystemIF.h;FILE_SYSTEM
-0x410f; FILS_SequencePacketMissingWrite;;15;fsfw\src\fsfw\memory\HasFileSystemIF.h;FILE_SYSTEM
-0x4110; FILS_SequencePacketMissingRead;;16;fsfw\src\fsfw\memory\HasFileSystemIF.h;FILE_SYSTEM
-0x601; PP_DoItMyself;;1;fsfw\src\fsfw\memory\HasMemoryIF.h;HAS_MEMORY_IF
-0x602; PP_PointsToVariable;;2;fsfw\src\fsfw\memory\HasMemoryIF.h;HAS_MEMORY_IF
-0x603; PP_PointsToMemory;;3;fsfw\src\fsfw\memory\HasMemoryIF.h;HAS_MEMORY_IF
-0x604; PP_ActivityCompleted;;4;fsfw\src\fsfw\memory\HasMemoryIF.h;HAS_MEMORY_IF
-0x605; PP_PointsToVectorUint8;;5;fsfw\src\fsfw\memory\HasMemoryIF.h;HAS_MEMORY_IF
-0x606; PP_PointsToVectorUint16;;6;fsfw\src\fsfw\memory\HasMemoryIF.h;HAS_MEMORY_IF
-0x607; PP_PointsToVectorUint32;;7;fsfw\src\fsfw\memory\HasMemoryIF.h;HAS_MEMORY_IF
-0x608; PP_PointsToVectorFloat;;8;fsfw\src\fsfw\memory\HasMemoryIF.h;HAS_MEMORY_IF
-0x6a0; PP_DumpNotSupported;;0xA0;fsfw\src\fsfw\memory\HasMemoryIF.h;HAS_MEMORY_IF
-0x6e0; PP_InvalidSize;;0xE0;fsfw\src\fsfw\memory\HasMemoryIF.h;HAS_MEMORY_IF
-0x6e1; PP_InvalidAddress;;0xE1;fsfw\src\fsfw\memory\HasMemoryIF.h;HAS_MEMORY_IF
-0x6e2; PP_InvalidContent;;0xE2;fsfw\src\fsfw\memory\HasMemoryIF.h;HAS_MEMORY_IF
-0x6e3; PP_UnalignedAccess;;0xE3;fsfw\src\fsfw\memory\HasMemoryIF.h;HAS_MEMORY_IF
-0x6e4; PP_WriteProtected;;0xE4;fsfw\src\fsfw\memory\HasMemoryIF.h;HAS_MEMORY_IF
-0x13e0; MH_UnknownCmd;;0xE0;fsfw\src\fsfw\memory\MemoryHelper.h;MEMORY_HELPER
-0x13e1; MH_InvalidAddress;;0xE1;fsfw\src\fsfw\memory\MemoryHelper.h;MEMORY_HELPER
-0x13e2; MH_InvalidSize;;0xE2;fsfw\src\fsfw\memory\MemoryHelper.h;MEMORY_HELPER
-0x13e3; MH_StateMismatch;;0xE3;fsfw\src\fsfw\memory\MemoryHelper.h;MEMORY_HELPER
-0xe01; HM_InvalidMode;;0x01;fsfw\src\fsfw\modes\HasModesIF.h;HAS_MODES_IF
-0xe02; HM_TransNotAllowed;;0x02;fsfw\src\fsfw\modes\HasModesIF.h;HAS_MODES_IF
-0xe03; HM_InTransition;;0x03;fsfw\src\fsfw\modes\HasModesIF.h;HAS_MODES_IF
-0xe04; HM_InvalidSubmode;;0x04;fsfw\src\fsfw\modes\HasModesIF.h;HAS_MODES_IF
-0x3001; LIM_Unchecked;;1;fsfw\src\fsfw\monitoring\MonitoringIF.h;LIMITS_IF
-0x3002; LIM_Invalid;;2;fsfw\src\fsfw\monitoring\MonitoringIF.h;LIMITS_IF
-0x3003; LIM_Unselected;;3;fsfw\src\fsfw\monitoring\MonitoringIF.h;LIMITS_IF
-0x3004; LIM_BelowLowLimit;;4;fsfw\src\fsfw\monitoring\MonitoringIF.h;LIMITS_IF
-0x3005; LIM_AboveHighLimit;;5;fsfw\src\fsfw\monitoring\MonitoringIF.h;LIMITS_IF
-0x3006; LIM_UnexpectedValue;;6;fsfw\src\fsfw\monitoring\MonitoringIF.h;LIMITS_IF
-0x3007; LIM_OutOfRange;;7;fsfw\src\fsfw\monitoring\MonitoringIF.h;LIMITS_IF
-0x30a0; LIM_FirstSample;;0xA0;fsfw\src\fsfw\monitoring\MonitoringIF.h;LIMITS_IF
-0x30e0; LIM_InvalidSize;;0xE0;fsfw\src\fsfw\monitoring\MonitoringIF.h;LIMITS_IF
-0x30e1; LIM_WrongType;;0xE1;fsfw\src\fsfw\monitoring\MonitoringIF.h;LIMITS_IF
-0x30e2; LIM_WrongPid;;0xE2;fsfw\src\fsfw\monitoring\MonitoringIF.h;LIMITS_IF
-0x30e3; LIM_WrongLimitId;;0xE3;fsfw\src\fsfw\monitoring\MonitoringIF.h;LIMITS_IF
-0x30ee; LIM_MonitorNotFound;;0xEE;fsfw\src\fsfw\monitoring\MonitoringIF.h;LIMITS_IF
-0x1a01; TRC_NotEnoughSensors;;1;fsfw\src\fsfw\monitoring\TriplexMonitor.h;TRIPLE_REDUNDACY_CHECK
-0x1a02; TRC_LowestValueOol;;2;fsfw\src\fsfw\monitoring\TriplexMonitor.h;TRIPLE_REDUNDACY_CHECK
-0x1a03; TRC_HighestValueOol;;3;fsfw\src\fsfw\monitoring\TriplexMonitor.h;TRIPLE_REDUNDACY_CHECK
-0x1a04; TRC_BothValuesOol;;4;fsfw\src\fsfw\monitoring\TriplexMonitor.h;TRIPLE_REDUNDACY_CHECK
-0x1a05; TRC_DuplexOol;;5;fsfw\src\fsfw\monitoring\TriplexMonitor.h;TRIPLE_REDUNDACY_CHECK
-0x201; OM_InsertionFailed;;1;fsfw\src\fsfw\objectmanager\ObjectManagerIF.h;OBJECT_MANAGER_IF
-0x202; OM_NotFound;;2;fsfw\src\fsfw\objectmanager\ObjectManagerIF.h;OBJECT_MANAGER_IF
-0x203; OM_ChildInitFailed;;3;fsfw\src\fsfw\objectmanager\ObjectManagerIF.h;OBJECT_MANAGER_IF
-0x204; OM_InternalErrReporterUninit;;4;fsfw\src\fsfw\objectmanager\ObjectManagerIF.h;OBJECT_MANAGER_IF
-0x200; OM_ConnBroken;;0;fsfw\src\fsfw\osal\common\TcpTmTcServer.h;OBJECT_MANAGER_IF
-0x2901; IEC_NoConfigurationTable;;0x01;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x2902; IEC_NoCpuTable;;0x02;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x2903; IEC_InvalidWorkspaceAddress;;0x03;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x2904; IEC_TooLittleWorkspace;;0x04;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x2905; IEC_WorkspaceAllocation;;0x05;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x2906; IEC_InterruptStackTooSmall;;0x06;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x2907; IEC_ThreadExitted;;0x07;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x2908; IEC_InconsistentMpInformation;;0x08;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x2909; IEC_InvalidNode;;0x09;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x290a; IEC_NoMpci;;0x0a;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x290b; IEC_BadPacket;;0x0b;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x290c; IEC_OutOfPackets;;0x0c;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x290d; IEC_OutOfGlobalObjects;;0x0d;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x290e; IEC_OutOfProxies;;0x0e;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x290f; IEC_InvalidGlobalId;;0x0f;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x2910; IEC_BadStackHook;;0x10;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x2911; IEC_BadAttributes;;0x11;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x2912; IEC_ImplementationKeyCreateInconsistency;;0x12;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x2913; IEC_ImplementationBlockingOperationCancel;;0x13;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x2914; IEC_MutexObtainFromBadState;;0x14;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x2915; IEC_UnlimitedAndMaximumIs0;;0x15;fsfw\src\fsfw\osal\InternalErrorCodes.h;INTERNAL_ERROR_CODES
-0x2d01; HPA_InvalidIdentifierId;;0x01;fsfw\src\fsfw\parameters\HasParametersIF.h;HAS_PARAMETERS_IF
-0x2d02; HPA_InvalidDomainId;;0x02;fsfw\src\fsfw\parameters\HasParametersIF.h;HAS_PARAMETERS_IF
-0x2d03; HPA_InvalidValue;;0x03;fsfw\src\fsfw\parameters\HasParametersIF.h;HAS_PARAMETERS_IF
-0x2d05; HPA_ReadOnly;;0x05;fsfw\src\fsfw\parameters\HasParametersIF.h;HAS_PARAMETERS_IF
-0x2c01; PAW_UnknownDatatype;;0x01;fsfw\src\fsfw\parameters\ParameterWrapper.h;PARAMETER_WRAPPER
-0x2c02; PAW_DatatypeMissmatch;;0x02;fsfw\src\fsfw\parameters\ParameterWrapper.h;PARAMETER_WRAPPER
-0x2c03; PAW_Readonly;;0x03;fsfw\src\fsfw\parameters\ParameterWrapper.h;PARAMETER_WRAPPER
-0x2c04; PAW_TooBig;;0x04;fsfw\src\fsfw\parameters\ParameterWrapper.h;PARAMETER_WRAPPER
-0x2c05; PAW_SourceNotSet;;0x05;fsfw\src\fsfw\parameters\ParameterWrapper.h;PARAMETER_WRAPPER
-0x2c06; PAW_OutOfBounds;;0x06;fsfw\src\fsfw\parameters\ParameterWrapper.h;PARAMETER_WRAPPER
-0x2c07; PAW_NotSet;;0x07;fsfw\src\fsfw\parameters\ParameterWrapper.h;PARAMETER_WRAPPER
-0x2c08; PAW_ColumnOrRowsZero;;0x08;fsfw\src\fsfw\parameters\ParameterWrapper.h;PARAMETER_WRAPPER
-0x2f01; POS_InPowerTransition;;1;fsfw\src\fsfw\power\PowerSwitcher.h;POWER_SWITCHER
-0x2f02; POS_SwitchStateMismatch;;2;fsfw\src\fsfw\power\PowerSwitcher.h;POWER_SWITCHER
-0x501; PS_SwitchOn;;1;fsfw\src\fsfw\power\PowerSwitchIF.h;POWER_SWITCH_IF
-0x500; PS_SwitchOff;;0;fsfw\src\fsfw\power\PowerSwitchIF.h;POWER_SWITCH_IF
-0x502; PS_SwitchTimeout;;2;fsfw\src\fsfw\power\PowerSwitchIF.h;POWER_SWITCH_IF
-0x503; PS_FuseOn;;3;fsfw\src\fsfw\power\PowerSwitchIF.h;POWER_SWITCH_IF
-0x504; PS_FuseOff;;4;fsfw\src\fsfw\power\PowerSwitchIF.h;POWER_SWITCH_IF
-0x4e1; RMP_CommandNoDescriptorsAvailable;;0xE1;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4e2; RMP_CommandBufferFull;;0xE2;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4e3; RMP_CommandChannelOutOfRange;;0xE3;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4e6; RMP_CommandChannelDeactivated;;0xE6;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4e7; RMP_CommandPortOutOfRange;;0xE7;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4e8; RMP_CommandPortInUse;;0xE8;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4e9; RMP_CommandNoChannel;;0xE9;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4ea; RMP_NoHwCrc;;0xEA;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4d0; RMP_ReplyNoReply;;0xD0;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4d1; RMP_ReplyNotSent;;0xD1;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4d2; RMP_ReplyNotYetSent;;0xD2;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4d3; RMP_ReplyMissmatch;;0xD3;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4d4; RMP_ReplyTimeout;;0xD4;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4c0; RMP_ReplyInterfaceBusy;;0xC0;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4c1; RMP_ReplyTransmissionError;;0xC1;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4c2; RMP_ReplyInvalidData;;0xC2;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4c3; RMP_ReplyNotSupported;;0xC3;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4f0; RMP_LinkDown;;0xF0;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4f1; RMP_SpwCredit;;0xF1;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4f2; RMP_SpwEscape;;0xF2;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4f3; RMP_SpwDisconnect;;0xF3;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4f4; RMP_SpwParity;;0xF4;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4f5; RMP_SpwWriteSync;;0xF5;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4f6; RMP_SpwInvalidAddress;;0xF6;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4f7; RMP_SpwEarlyEop;;0xF7;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4f8; RMP_SpwDma;;0xF8;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x4f9; RMP_SpwLinkError;;0xF9;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x400; RMP_ReplyOk;;0;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x401; RMP_ReplyGeneralErrorCode;;1;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x402; RMP_ReplyUnusedPacketTypeOrCommandCode;;2;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x403; RMP_ReplyInvalidKey;;3;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x404; RMP_ReplyInvalidDataCrc;;4;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x405; RMP_ReplyEarlyEop;;5;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x406; RMP_ReplyTooMuchData;;6;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x407; RMP_ReplyEep;;7;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x408; RMP_ReplyReserved;;8;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x409; RMP_ReplyVerifyBufferOverrun;;9;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x40a; RMP_ReplyCommandNotImplementedOrNotAuthorised;;10;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x40b; RMP_ReplyRmwDataLengthError;;11;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x40c; RMP_ReplyInvalidTargetLogicalAddress;;12;fsfw\src\fsfw\rmap\RMAP.h;RMAP_CHANNEL
-0x1401; SE_BufferTooShort;;1;fsfw\src\fsfw\serialize\SerializeIF.h;SERIALIZE_IF
-0x1402; SE_StreamTooShort;;2;fsfw\src\fsfw\serialize\SerializeIF.h;SERIALIZE_IF
-0x1403; SE_TooManyElements;;3;fsfw\src\fsfw\serialize\SerializeIF.h;SERIALIZE_IF
-0x2701; SM_DataTooLarge;;1;fsfw\src\fsfw\storagemanager\StorageManagerIF.h;STORAGE_MANAGER_IF
-0x2702; SM_DataStorageFull;;2;fsfw\src\fsfw\storagemanager\StorageManagerIF.h;STORAGE_MANAGER_IF
-0x2703; SM_IllegalStorageId;;3;fsfw\src\fsfw\storagemanager\StorageManagerIF.h;STORAGE_MANAGER_IF
-0x2704; SM_DataDoesNotExist;;4;fsfw\src\fsfw\storagemanager\StorageManagerIF.h;STORAGE_MANAGER_IF
-0x2705; SM_IllegalAddress;;5;fsfw\src\fsfw\storagemanager\StorageManagerIF.h;STORAGE_MANAGER_IF
-0x2706; SM_PoolTooLarge;;6;fsfw\src\fsfw\storagemanager\StorageManagerIF.h;STORAGE_MANAGER_IF
-0xc02; MS_InvalidEntry;;0x02;fsfw\src\fsfw\subsystem\modes\ModeStoreIF.h;MODE_STORE_IF
-0xc03; MS_TooManyElements;;0x03;fsfw\src\fsfw\subsystem\modes\ModeStoreIF.h;MODE_STORE_IF
-0xc04; MS_CantStoreEmpty;;0x04;fsfw\src\fsfw\subsystem\modes\ModeStoreIF.h;MODE_STORE_IF
-0xd01; SS_SequenceAlreadyExists;;0x01;fsfw\src\fsfw\subsystem\Subsystem.h;SUBSYSTEM
-0xd02; SS_TableAlreadyExists;;0x02;fsfw\src\fsfw\subsystem\Subsystem.h;SUBSYSTEM
-0xd03; SS_TableDoesNotExist;;0x03;fsfw\src\fsfw\subsystem\Subsystem.h;SUBSYSTEM
-0xd04; SS_TableOrSequenceLengthInvalid;;0x04;fsfw\src\fsfw\subsystem\Subsystem.h;SUBSYSTEM
-0xd05; SS_SequenceDoesNotExist;;0x05;fsfw\src\fsfw\subsystem\Subsystem.h;SUBSYSTEM
-0xd06; SS_TableContainsInvalidObjectId;;0x06;fsfw\src\fsfw\subsystem\Subsystem.h;SUBSYSTEM
-0xd07; SS_FallbackSequenceDoesNotExist;;0x07;fsfw\src\fsfw\subsystem\Subsystem.h;SUBSYSTEM
-0xd08; SS_NoTargetTable;;0x08;fsfw\src\fsfw\subsystem\Subsystem.h;SUBSYSTEM
-0xd09; SS_SequenceOrTableTooLong;;0x09;fsfw\src\fsfw\subsystem\Subsystem.h;SUBSYSTEM
-0xd0b; SS_IsFallbackSequence;;0x0B;fsfw\src\fsfw\subsystem\Subsystem.h;SUBSYSTEM
-0xd0c; SS_AccessDenied;;0x0C;fsfw\src\fsfw\subsystem\Subsystem.h;SUBSYSTEM
-0xd0e; SS_TableInUse;;0x0E;fsfw\src\fsfw\subsystem\Subsystem.h;SUBSYSTEM
-0xda1; SS_TargetTableNotReached;;0xA1;fsfw\src\fsfw\subsystem\Subsystem.h;SUBSYSTEM
-0xda2; SS_TableCheckFailed;;0xA2;fsfw\src\fsfw\subsystem\Subsystem.h;SUBSYSTEM
-0xb01; SB_ChildNotFound;;0x01;fsfw\src\fsfw\subsystem\SubsystemBase.h;SUBSYSTEM_BASE
-0xb02; SB_ChildInfoUpdated;;0x02;fsfw\src\fsfw\subsystem\SubsystemBase.h;SUBSYSTEM_BASE
-0xb03; SB_ChildDoesntHaveModes;;0x03;fsfw\src\fsfw\subsystem\SubsystemBase.h;SUBSYSTEM_BASE
-0xb04; SB_CouldNotInsertChild;;0x04;fsfw\src\fsfw\subsystem\SubsystemBase.h;SUBSYSTEM_BASE
-0xb05; SB_TableContainsInvalidObjectId;;0x05;fsfw\src\fsfw\subsystem\SubsystemBase.h;SUBSYSTEM_BASE
-0x3a01; SPH_SemaphoreTimeout;;1;fsfw\src\fsfw\tasks\SemaphoreIF.h;SEMAPHORE_IF
-0x3a02; SPH_SemaphoreNotOwned;;2;fsfw\src\fsfw\tasks\SemaphoreIF.h;SEMAPHORE_IF
-0x3a03; SPH_SemaphoreInvalid;;3;fsfw\src\fsfw\tasks\SemaphoreIF.h;SEMAPHORE_IF
-0x1c01; TCD_PacketLost;;1;fsfw\src\fsfw\tcdistribution\TcDistributor.h;PACKET_DISTRIBUTION
-0x1c02; TCD_DestinationNotFound;;2;fsfw\src\fsfw\tcdistribution\TcDistributor.h;PACKET_DISTRIBUTION
-0x1c03; TCD_ServiceIdAlreadyExists;;3;fsfw\src\fsfw\tcdistribution\TcDistributor.h;PACKET_DISTRIBUTION
-0x1b00; TCC_IllegalApid;;0;fsfw\src\fsfw\tcdistribution\TcPacketCheckPUS.h;TC_PACKET_CHECK
-0x1b01; TCC_IncompletePacket;;1;fsfw\src\fsfw\tcdistribution\TcPacketCheckPUS.h;TC_PACKET_CHECK
-0x1b02; TCC_IncorrectChecksum;;2;fsfw\src\fsfw\tcdistribution\TcPacketCheckPUS.h;TC_PACKET_CHECK
-0x1b03; TCC_IllegalPacketType;;3;fsfw\src\fsfw\tcdistribution\TcPacketCheckPUS.h;TC_PACKET_CHECK
-0x1b04; TCC_IllegalPacketSubtype;;4;fsfw\src\fsfw\tcdistribution\TcPacketCheckPUS.h;TC_PACKET_CHECK
-0x1b05; TCC_IncorrectPrimaryHeader;;5;fsfw\src\fsfw\tcdistribution\TcPacketCheckPUS.h;TC_PACKET_CHECK
-0x1b06; TCC_IncorrectSecondaryHeader;;6;fsfw\src\fsfw\tcdistribution\TcPacketCheckPUS.h;TC_PACKET_CHECK
-0x2801; TC_InvalidTargetState;;1;fsfw\src\fsfw\thermal\ThermalComponentIF.h;THERMAL_COMPONENT_IF
-0x28f1; TC_AboveOperationalLimit;;0xF1;fsfw\src\fsfw\thermal\ThermalComponentIF.h;THERMAL_COMPONENT_IF
-0x28f2; TC_BelowOperationalLimit;;0xF2;fsfw\src\fsfw\thermal\ThermalComponentIF.h;THERMAL_COMPONENT_IF
-0x1000; TIM_UnsupportedTimeFormat;;0;fsfw\src\fsfw\timemanager\CCSDSTime.h;CCSDS_TIME_HELPER_CLASS
-0x1001; TIM_NotEnoughInformationForTargetFormat;;1;fsfw\src\fsfw\timemanager\CCSDSTime.h;CCSDS_TIME_HELPER_CLASS
-0x1002; TIM_LengthMismatch;;2;fsfw\src\fsfw\timemanager\CCSDSTime.h;CCSDS_TIME_HELPER_CLASS
-0x1003; TIM_InvalidTimeFormat;;3;fsfw\src\fsfw\timemanager\CCSDSTime.h;CCSDS_TIME_HELPER_CLASS
-0x1004; TIM_InvalidDayOfYear;;4;fsfw\src\fsfw\timemanager\CCSDSTime.h;CCSDS_TIME_HELPER_CLASS
-0x1005; TIM_TimeDoesNotFitFormat;;5;fsfw\src\fsfw\timemanager\CCSDSTime.h;CCSDS_TIME_HELPER_CLASS
-0x3601; TSI_BadTimestamp;;1;fsfw\src\fsfw\timemanager\TimeStamperIF.h;TIME_STAMPER_IF
-0x2001; TMB_Busy;;1;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h;TM_STORE_BACKEND_IF
-0x2002; TMB_Full;;2;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h;TM_STORE_BACKEND_IF
-0x2003; TMB_Empty;;3;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h;TM_STORE_BACKEND_IF
-0x2004; TMB_NullRequested;;4;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h;TM_STORE_BACKEND_IF
-0x2005; TMB_TooLarge;;5;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h;TM_STORE_BACKEND_IF
-0x2006; TMB_NotReady;;6;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h;TM_STORE_BACKEND_IF
-0x2007; TMB_DumpError;;7;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h;TM_STORE_BACKEND_IF
-0x2008; TMB_CrcError;;8;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h;TM_STORE_BACKEND_IF
-0x2009; TMB_Timeout;;9;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h;TM_STORE_BACKEND_IF
-0x200a; TMB_IdlePacketFound;;10;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h;TM_STORE_BACKEND_IF
-0x200b; TMB_TelecommandFound;;11;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h;TM_STORE_BACKEND_IF
-0x200c; TMB_NoPusATm;;12;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h;TM_STORE_BACKEND_IF
-0x200d; TMB_TooSmall;;13;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h;TM_STORE_BACKEND_IF
-0x200e; TMB_BlockNotFound;;14;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h;TM_STORE_BACKEND_IF
-0x200f; TMB_InvalidRequest;;15;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h;TM_STORE_BACKEND_IF
-0x2101; TMF_Busy;;1;fsfw\src\fsfw\tmstorage\TmStoreFrontendIF.h;TM_STORE_FRONTEND_IF
-0x2102; TMF_LastPacketFound;;2;fsfw\src\fsfw\tmstorage\TmStoreFrontendIF.h;TM_STORE_FRONTEND_IF
-0x2103; TMF_StopFetch;;3;fsfw\src\fsfw\tmstorage\TmStoreFrontendIF.h;TM_STORE_FRONTEND_IF
-0x2104; TMF_Timeout;;4;fsfw\src\fsfw\tmstorage\TmStoreFrontendIF.h;TM_STORE_FRONTEND_IF
-0x2105; TMF_TmChannelFull;;5;fsfw\src\fsfw\tmstorage\TmStoreFrontendIF.h;TM_STORE_FRONTEND_IF
-0x2106; TMF_NotStored;;6;fsfw\src\fsfw\tmstorage\TmStoreFrontendIF.h;TM_STORE_FRONTEND_IF
-0x2107; TMF_AllDeleted;;7;fsfw\src\fsfw\tmstorage\TmStoreFrontendIF.h;TM_STORE_FRONTEND_IF
-0x2108; TMF_InvalidData;;8;fsfw\src\fsfw\tmstorage\TmStoreFrontendIF.h;TM_STORE_FRONTEND_IF
-0x2109; TMF_NotReady;;9;fsfw\src\fsfw\tmstorage\TmStoreFrontendIF.h;TM_STORE_FRONTEND_IF
-0x1d01; PUS_ActivityStarted;;1;fsfw\src\fsfw\tmtcservices\AcceptsTelecommandsIF.h;ACCEPTS_TELECOMMANDS_IF
-0x1d02; PUS_InvalidSubservice;;2;fsfw\src\fsfw\tmtcservices\AcceptsTelecommandsIF.h;ACCEPTS_TELECOMMANDS_IF
-0x1d03; PUS_IllegalApplicationData;;3;fsfw\src\fsfw\tmtcservices\AcceptsTelecommandsIF.h;ACCEPTS_TELECOMMANDS_IF
-0x1d04; PUS_SendTmFailed;;4;fsfw\src\fsfw\tmtcservices\AcceptsTelecommandsIF.h;ACCEPTS_TELECOMMANDS_IF
-0x1d05; PUS_Timeout;;5;fsfw\src\fsfw\tmtcservices\AcceptsTelecommandsIF.h;ACCEPTS_TELECOMMANDS_IF
-0x1f01; CSB_ExecutionComplete;;1;fsfw\src\fsfw\tmtcservices\CommandingServiceBase.h;COMMAND_SERVICE_BASE
-0x1f02; CSB_NoStepMessage;;2;fsfw\src\fsfw\tmtcservices\CommandingServiceBase.h;COMMAND_SERVICE_BASE
-0x1f03; CSB_ObjectBusy;;3;fsfw\src\fsfw\tmtcservices\CommandingServiceBase.h;COMMAND_SERVICE_BASE
-0x1f04; CSB_Busy;;4;fsfw\src\fsfw\tmtcservices\CommandingServiceBase.h;COMMAND_SERVICE_BASE
-0x1f05; CSB_InvalidTc;;5;fsfw\src\fsfw\tmtcservices\CommandingServiceBase.h;COMMAND_SERVICE_BASE
-0x1f06; CSB_InvalidObject;;6;fsfw\src\fsfw\tmtcservices\CommandingServiceBase.h;COMMAND_SERVICE_BASE
-0x1f07; CSB_InvalidReply;;7;fsfw\src\fsfw\tmtcservices\CommandingServiceBase.h;COMMAND_SERVICE_BASE
-0x4a00; SPPA_NoPacketFound;;0x00;fsfw\src\fsfw\tmtcservices\SpacePacketParser.h;SPACE_PACKET_PARSER
-0x4a01; SPPA_SplitPacket;;0x01;fsfw\src\fsfw\tmtcservices\SpacePacketParser.h;SPACE_PACKET_PARSER
-0x66a0;FSHLP_SdNotMounted;SD card specified with path string not mounted;0xA0;bsp_q7s\memory\FilesystemHelper.h;FILE_SYSTEM_HELPER
-0x66a1;FSHLP_FileNotExists;Specified file does not exist on filesystem;0xA1;bsp_q7s\memory\FilesystemHelper.h;FILE_SYSTEM_HELPER
-0x7100; SCBU_KeyNotFound;;0;bsp_q7s\memory\scratchApi.h;SCRATCH_BUFFER
-0x7000; SDMA_OpOngoing;;0;bsp_q7s\memory\SdCardManager.h;SD_CARD_MANAGER
-0x7001; SDMA_AlreadyOn;;1;bsp_q7s\memory\SdCardManager.h;SD_CARD_MANAGER
-0x7002; SDMA_AlreadyMounted;;2;bsp_q7s\memory\SdCardManager.h;SD_CARD_MANAGER
-0x7003; SDMA_AlreadyOff;;3;bsp_q7s\memory\SdCardManager.h;SD_CARD_MANAGER
-0x700a; SDMA_StatusFileNexists;;10;bsp_q7s\memory\SdCardManager.h;SD_CARD_MANAGER
-0x700b; SDMA_StatusFileFormatInvalid;;11;bsp_q7s\memory\SdCardManager.h;SD_CARD_MANAGER
-0x700c; SDMA_MountError;;12;bsp_q7s\memory\SdCardManager.h;SD_CARD_MANAGER
-0x700d; SDMA_UnmountError;;13;bsp_q7s\memory\SdCardManager.h;SD_CARD_MANAGER
-0x700e; SDMA_SystemCallError;;14;bsp_q7s\memory\SdCardManager.h;SD_CARD_MANAGER
-0x700f; SDMA_PopenCallError;;15;bsp_q7s\memory\SdCardManager.h;SD_CARD_MANAGER
-0x69a0;MPSOCRTVIF_CrcFailure;Space Packet received from PLOC has invalid CRC;0xA0;linux\devices\devicedefinitions\MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
-0x69a1;MPSOCRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC;0xA1;linux\devices\devicedefinitions\MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
-0x69a2;MPSOCRTVIF_ReceivedExeFailure;Received execution failure reply from PLOC;0xA2;linux\devices\devicedefinitions\MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
-0x69a3;MPSOCRTVIF_InvalidApid;Received space packet with invalid APID from PLOC;0xA3;linux\devices\devicedefinitions\MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
-0x69a4;MPSOCRTVIF_InvalidLength;Received command with invalid length;0xA4;linux\devices\devicedefinitions\MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
-0x69a5;MPSOCRTVIF_FilenameTooLong;Filename of file in OBC filesystem is too long;0xA5;linux\devices\devicedefinitions\MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
-0x69a6;MPSOCRTVIF_MpsocHelperExecuting;MPSoC helper is currently executing a command;0xA6;linux\devices\devicedefinitions\MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
-0x69a7;MPSOCRTVIF_MpsocFilenameTooLong;Filename of MPSoC file is to long (max. 256 bytes);0xA7;linux\devices\devicedefinitions\MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
-0x69a8;MPSOCRTVIF_InvalidParameter;Command has invalid parameter;0xA8;linux\devices\devicedefinitions\MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
-0x69a9;MPSOCRTVIF_NameTooLong;Received command has file string with invalid length;0xA9;linux\devices\devicedefinitions\MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
-0x57e0;DWLPWRON_InvalidMode;Received command has invalid JESD mode (valid modes are 0 - 5);0xE0;linux\devices\devicedefinitions\PlocMPSoCDefinitions.h;DWLPWRON_CMD
-0x57e1;DWLPWRON_InvalidLaneRate;Received command has invalid lane rate (valid lane rate are 0 - 9);0xE1;linux\devices\devicedefinitions\PlocMPSoCDefinitions.h;DWLPWRON_CMD
-0x60a0;PLMEMDUMP_MramAddressTooHigh;The capacity of the MRAM amounts to 512 kB. Thus the maximum address must not be higher than 0x7d000.;0xA0;linux\devices\ploc\PlocMemoryDumper.h;PLOC_MEMORY_DUMPER
-0x60a1;PLMEMDUMP_MramInvalidAddressCombination;The specified end address is lower than the start address;0xA1;linux\devices\ploc\PlocMemoryDumper.h;PLOC_MEMORY_DUMPER
-0x67a0; PLMPHLP_FileClosedAccidentally;File accidentally close;0xA0;linux\devices\ploc\PlocMPSoCHelper.h;PLOC_MPSOC_HELPER
-0x59a0;PLSV_CrcFailure;Space Packet received from PLOC supervisor has invalid CRC;0xA0;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x59a1;PLSV_ReceivedAckFailure;Received ACK failure reply from PLOC supervisor;0xA1;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x59a2;PLSV_ReceivedExeFailure;Received execution failure reply from PLOC supervisor;0xA2;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x59a3;PLSV_InvalidApid;Received space packet with invalid APID from PLOC supervisor;0xA3;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x59a4;PLSV_GetTimeFailure;Failed to read current system time;0xA4;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x59a5;PLSV_InvalidWatchdog;Received command with invalid watchdog parameter. Valid watchdogs are 0 for PS, 1 for PL and 2 for INT;0xA5;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x59a6;PLSV_InvalidWatchdogTimeout;Received watchdog timeout config command with invalid timeout. Valid timeouts must be in the range between 1000 and 360000 ms.;0xA6;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x59a7;PLSV_InvalidLatchupId;Received latchup config command with invalid latchup ID;0xA7;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x59a8;PLSV_SweepPeriodTooSmall;Received set adc sweep period command with invalid sweep period. Must be larger than 21.;0xA8;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x59a9;PLSV_InvalidTestParam;Receive auto EM test command with invalid test param. Valid params are 1 and 2.;0xA9;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x59aa;PLSV_MramPacketParsingFailure;Returned when scanning for MRAM dump packets failed.;0xAA;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x59ab;PLSV_InvalidMramAddresses;Returned when the start and stop addresses of the MRAM dump or MRAM  wipe commands are invalid (e.g. start address bigger than stop address);0xAB;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x59ac;PLSV_NoMramPacket;Expect reception of an MRAM dump packet but received space packet with other apid.;0xAC;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x59ad;PLSV_PathDoesNotExist;Path to PLOC directory on SD card does not exist;0xAD;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x59ae;PLSV_MramFileNotExists;MRAM dump file does not exists. The file should actually already have been created with the reception of the first dump packet.;0xAE;linux\devices\ploc\PlocSupervisorHandler.h;PLOC_SUPERVISOR_HANDLER
-0x5da0;PLUD_UpdaterBusy;Updater is already performing an update;0xA0;linux\devices\ploc\PlocUpdater.h;PLOC_UPDATER
-0x5da1;PLUD_NameTooLong;Received update command with invalid path string (too long).;0xA1;linux\devices\ploc\PlocUpdater.h;PLOC_UPDATER
-0x5da2;PLUD_SdNotMounted;Received command to initiate update but SD card with update image not mounted.;0xA2;linux\devices\ploc\PlocUpdater.h;PLOC_UPDATER
-0x5da3;PLUD_FileNotExists;Update file received with update command does not exist.;0xA3;linux\devices\ploc\PlocUpdater.h;PLOC_UPDATER
-0x56a0;STRH_TemperatureReqFailed;Status in temperature reply signals error;0xA0;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56a1;STRH_PingFailed;Ping command failed;0xA1;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56a2;STRH_VersionReqFailed;Status in version reply signals error;0xA2;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x6401;JSONBASE_JsonFileNotExists;Specified json file does not exist;1;linux\devices\startracker\ArcsecJsonParamBase.h;ARCSEC_JSON_BASE
-0x6402;JSONBASE_SetNotExists;Requested set does not exist in json file;2;linux\devices\startracker\ArcsecJsonParamBase.h;ARCSEC_JSON_BASE
-0x6403;JSONBASE_ParamNotExists;Requested parameter does not exist in json file;3;linux\devices\startracker\ArcsecJsonParamBase.h;ARCSEC_JSON_BASE
-0x56a3;STRH_InterfaceReqFailed;Status in interface reply signals error;0xA3;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56a4;STRH_PowerReqFailed;Status in power reply signals error;0xA4;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56a5;STRH_SetParamFailed;Status of reply to parameter set command signals error;0xA5;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56a6;STRH_ActionFailed;Status of reply to action command signals error;0xA6;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56a7;STRH_FilePathTooLong;Received invalid path string. Exceeds allowed length;0xA7;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56a8;STRH_FilenameTooLong;Name of file received with command is too long;0xA8;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56a9;STRH_InvalidProgram;Received version reply with invalid program ID;0xA9;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56aa;STRH_ReplyError;Status field reply signals error;0xAA;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56ab;STRH_CommandTooShort;Received command which is too short (some data is missing for proper execution);0xAB;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56ac;STRH_InvalidLength;Received command with invalid length (too few or too many parameters);0xAC;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56ad;STRH_RegionMismatch;Region mismatch between send and received data;0xAD;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56ae;STRH_AddressMismatch;Address mismatch between send and received data;0xAE;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56af;STRH_LengthMismatch;Length field mismatch between send and received data;0xAF;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56b0;STRH_FileNotExists;Specified file does not exist;0xB0;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56b1;STRH_InvalidType;Download blob pixel command has invalid type field;0xB1;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56b2;STRH_InvalidId;Received FPGA action command with invalid ID;0xB2;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56b3;STRH_ReplyTooShort;Received reply is too short;0xB3;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56b4;STRH_CrcFailure;Received reply with invalid CRC;0xB4;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56b5;STRH_StrHelperExecuting;Star tracker handler currently executing a command and using the communication interface;0xB5;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56b6;STRH_StartrackerAlreadyBooted;Star tracker is already in firmware mode;0xB6;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56b7;STRH_StartrackerRunningFirmware;Star tracker is in firmware mode but must be in bootloader mode to execute this command;0xB7;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x56b8;STRH_StartrackerRunningBootloader;Star tracker is in bootloader mode but must be in firmware mode to execute this command;0xB8;linux\devices\startracker\StarTrackerHandler.h;STR_HANDLER
-0x5ea0;STRHLP_SdNotMounted;SD card specified in path string not mounted;0xA0;linux\devices\startracker\StrHelper.h;STR_HELPER
-0x5ea1;STRHLP_FileNotExists;Specified file does not exist on filesystem;0xA1;linux\devices\startracker\StrHelper.h;STR_HELPER
-0x5ea2;STRHLP_PathNotExists;Specified path does not exist;0xA2;linux\devices\startracker\StrHelper.h;STR_HELPER
-0x5ea3;STRHLP_FileCreationFailed;Failed to create download image or read flash file;0xA3;linux\devices\startracker\StrHelper.h;STR_HELPER
-0x5ea4;STRHLP_RegionMismatch;Region in flash write/read reply does not match expected region;0xA4;linux\devices\startracker\StrHelper.h;STR_HELPER
-0x5ea5;STRHLP_AddressMismatch;Address in flash write/read reply does not match expected address;0xA5;linux\devices\startracker\StrHelper.h;STR_HELPER
-0x5ea6;STRHLP_LengthMismatch;Length in flash write/read reply does not match expected length;0xA6;linux\devices\startracker\StrHelper.h;STR_HELPER
-0x5ea7;STRHLP_StatusError;Status field in reply signals error;0xA7;linux\devices\startracker\StrHelper.h;STR_HELPER
-0x5ea8;STRHLP_InvalidTypeId;Reply has invalid type ID (should be of action reply type);0xA8;linux\devices\startracker\StrHelper.h;STR_HELPER
-0x5ba0;IPCI_PapbBusy;;0xA0;linux\obc\PapbVcInterface.h;CCSDS_IP_CORE_BRIDGE
-0x61a0;PDEC_AbandonedCltu;;0xA0;linux\obc\PdecHandler.h;PDEC_HANDLER
-0x61a1;PDEC_FrameDirty;;0xA1;linux\obc\PdecHandler.h;PDEC_HANDLER
-0x61a2;PDEC_FrameIllegalMultipleReasons;;0xA2;linux\obc\PdecHandler.h;PDEC_HANDLER
-0x61a3;PDEC_AdDiscardedLockout;;0xA3;linux\obc\PdecHandler.h;PDEC_HANDLER
-0x61a4;PDEC_AdDiscardedWait;;0xA4;linux\obc\PdecHandler.h;PDEC_HANDLER
-0x61a5;PDEC_AdDiscardedNsVs;;0xA5;linux\obc\PdecHandler.h;PDEC_HANDLER
-0x61b0;PDEC_CommandNotImplemented;Received action message with unknown action id;0xB0;linux\obc\PdecHandler.h;PDEC_HANDLER
-0x61a6;PDEC_NoReport;;0xA6;linux\obc\PdecHandler.h;PDEC_HANDLER
-0x61a7;PDEC_ErrorVersionNumber;;0xA7;linux\obc\PdecHandler.h;PDEC_HANDLER
-0x61a8;PDEC_IllegalCombination;;0xA8;linux\obc\PdecHandler.h;PDEC_HANDLER
-0x61a9;PDEC_InvalidScId;;0xA9;linux\obc\PdecHandler.h;PDEC_HANDLER
-0x61aa;PDEC_InvalidVcIdMsb;;0xAA;linux\obc\PdecHandler.h;PDEC_HANDLER
-0x61ab;PDEC_InvalidVcIdLsb;;0xAB;linux\obc\PdecHandler.h;PDEC_HANDLER
-0x61ac;PDEC_NsNotZero;;0xAC;linux\obc\PdecHandler.h;PDEC_HANDLER
-0x61ae;PDEC_InvalidBcCc;;0xAE;linux\obc\PdecHandler.h;PDEC_HANDLER
-0x5ca0;PTME_UnknownVcId;;0xA0;linux\obc\Ptme.h;PTME
-0x63a0;RS_RateNotSupported;The commanded rate is not supported by the current FPGA design;0xA0;linux\obc\PtmeConfig.h;RATE_SETTER
-0x63a1;RS_BadBitRate;Bad bitrate has been commanded (e.g. 0);0xA1;linux\obc\PtmeConfig.h;RATE_SETTER
-0x63a2;RS_ClkInversionFailed;Failed to invert clock and thus change the time the data is updated with respect to the tx clock;0xA2;linux\obc\PtmeConfig.h;RATE_SETTER
-0x63a3;RS_TxManipulatorConfigFailed;Failed to change configuration bit of tx clock manipulator;0xA3;linux\obc\PtmeConfig.h;RATE_SETTER
+0x64a0; CCSDS_CommandNotImplemented;Received action message with unknown action id;0xA0;mission/tmtc/CCSDSHandler.h;CCSDS_HANDLER
+0x6aa0; SADPL_CommandNotSupported;;0xA0;mission/devices/SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
+0x6aa1; SADPL_DeploymentAlreadyExecuting;;0xA1;mission/devices/SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
+0x6aa2; SADPL_MainSwitchTimeoutFailure;;0xA2;mission/devices/SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
+0x6aa3; SADPL_SwitchingDeplSa1Failed;;0xA3;mission/devices/SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
+0x6aa4; SADPL_SwitchingDeplSa2Failed;;0xA4;mission/devices/SolarArrayDeploymentHandler.h;SA_DEPL_HANDLER
+0x5ca0; SUSS_ErrorUnlockMutex;;0xA0;mission/devices/SusHandler.h;SUS_HANDLER
+0x5ca1; SUSS_ErrorLockMutex;;0xA1;mission/devices/SusHandler.h;SUS_HANDLER
+0x56b0; RWHA_SpiWriteFailure;;0xB0;mission/devices/RwHandler.h;RW_HANDLER
+0x56b1; RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;0xB1;mission/devices/RwHandler.h;RW_HANDLER
+0x56b2; RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;0xB2;mission/devices/RwHandler.h;RW_HANDLER
+0x56b3; RWHA_InvalidSubstitute;Can be used by the HDLC decoding mechanism to inform about an invalid substitution combination;0xB3;mission/devices/RwHandler.h;RW_HANDLER
+0x56b4; RWHA_MissingEndSign;HDLC decoding mechanism never receives the end sign 0x7E;0xB4;mission/devices/RwHandler.h;RW_HANDLER
+0x56b5; RWHA_NoReply;Reaction wheel only responds with empty frames.;0xB5;mission/devices/RwHandler.h;RW_HANDLER
+0x56b6; RWHA_NoStartMarker;Expected a start marker as first byte;0xB6;mission/devices/RwHandler.h;RW_HANDLER
+0x56a0; RWHA_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000; 1000] or [1000; 65000];0xA0;mission/devices/RwHandler.h;RW_HANDLER
+0x56a1; RWHA_InvalidRampTime;Action Message with invalid ramp time was received.;0xA1;mission/devices/RwHandler.h;RW_HANDLER
+0x56a2; RWHA_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;0xA2;mission/devices/RwHandler.h;RW_HANDLER
+0x56a3; RWHA_ExecutionFailed;Command execution failed;0xA3;mission/devices/RwHandler.h;RW_HANDLER
+0x56a4; RWHA_CrcError;Reaction wheel reply has invalid crc;0xA4;mission/devices/RwHandler.h;RW_HANDLER
+0x55a0; IMTQ_InvalidCommandCode;;0xA0;mission/devices/IMTQHandler.h;IMTQ_HANDLER
+0x55a1; IMTQ_ParameterMissing;;0xA1;mission/devices/IMTQHandler.h;IMTQ_HANDLER
+0x55a2; IMTQ_ParameterInvalid;;0xA2;mission/devices/IMTQHandler.h;IMTQ_HANDLER
+0x55a3; IMTQ_CcUnavailable;;0xA3;mission/devices/IMTQHandler.h;IMTQ_HANDLER
+0x55a4; IMTQ_InternalProcessingError;;0xA4;mission/devices/IMTQHandler.h;IMTQ_HANDLER
+0x55a5; IMTQ_RejectedWithoutReason;;0xA5;mission/devices/IMTQHandler.h;IMTQ_HANDLER
+0x55a6; IMTQ_CmdErrUnknown;;0xA6;mission/devices/IMTQHandler.h;IMTQ_HANDLER
+0x55a7; IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;0xA7;mission/devices/IMTQHandler.h;IMTQ_HANDLER
+0x53a1; HEATER_CommandNotSupported;;0xA1;mission/devices/HeaterHandler.h;HEATER_HANDLER
+0x53a2; HEATER_InitFailed;;0xA2;mission/devices/HeaterHandler.h;HEATER_HANDLER
+0x53a3; HEATER_InvalidSwitchNr;;0xA3;mission/devices/HeaterHandler.h;HEATER_HANDLER
+0x53a4; HEATER_MainSwitchSetTimeout;;0xA4;mission/devices/HeaterHandler.h;HEATER_HANDLER
+0x53a5; HEATER_CommandAlreadyWaiting;;0xA5;mission/devices/HeaterHandler.h;HEATER_HANDLER
+0x6100; GOMS_PacketTooLong;;0;mission/devices/GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
+0x6101; GOMS_InvalidTableId;;1;mission/devices/GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
+0x6102; GOMS_InvalidAddress;;2;mission/devices/GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
+0x6103; GOMS_InvalidParamSize;;3;mission/devices/GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
+0x6104; GOMS_InvalidPayloadSize;;4;mission/devices/GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
+0x6105; GOMS_UnknownReplyId;;5;mission/devices/GomspaceDeviceHandler.h;GOM_SPACE_HANDLER
+0x54a0; SYRLINKS_CrcFailure;;0xA0;mission/devices/SyrlinksHkHandler.h;SYRLINKS_HANDLER
+0x54a1; SYRLINKS_UartFraminOrParityErrorAck;;0xA1;mission/devices/SyrlinksHkHandler.h;SYRLINKS_HANDLER
+0x54a2; SYRLINKS_BadCharacterAck;;0xA2;mission/devices/SyrlinksHkHandler.h;SYRLINKS_HANDLER
+0x54a3; SYRLINKS_BadParameterValueAck;;0xA3;mission/devices/SyrlinksHkHandler.h;SYRLINKS_HANDLER
+0x54a4; SYRLINKS_BadEndOfFrameAck;;0xA4;mission/devices/SyrlinksHkHandler.h;SYRLINKS_HANDLER
+0x54a5; SYRLINKS_UnknownCommandIdAck;;0xA5;mission/devices/SyrlinksHkHandler.h;SYRLINKS_HANDLER
+0x54a6; SYRLINKS_BadCrcAck;;0xA6;mission/devices/SyrlinksHkHandler.h;SYRLINKS_HANDLER
+0x54a7; SYRLINKS_ReplyWrongSize;;0xA7;mission/devices/SyrlinksHkHandler.h;SYRLINKS_HANDLER
+0x54a8; SYRLINKS_MissingStartFrameCharacter;;0xA8;mission/devices/SyrlinksHkHandler.h;SYRLINKS_HANDLER
+0x67a0; NVMB_KeyNotExists;Specified key does not exist in json file;0xA0;mission/memory/NVMParameterBase.h;NVM_PARAM_BASE
+0x4400; HSPI_OpeningFileFailed;;0;fsfw/hal/src/fsfw_hal/linux/spi/SpiComIF.h;HAL_SPI
+0x4401; HSPI_FullDuplexTransferFailed;;1;fsfw/hal/src/fsfw_hal/linux/spi/SpiComIF.h;HAL_SPI
+0x4402; HSPI_HalfDuplexTransferFailed;;2;fsfw/hal/src/fsfw_hal/linux/spi/SpiComIF.h;HAL_SPI
+0x4501; HURT_UartReadFailure;;1;fsfw/hal/src/fsfw_hal/linux/uart/UartComIF.h;HAL_UART
+0x4502; HURT_UartReadSizeMissmatch;;2;fsfw/hal/src/fsfw_hal/linux/uart/UartComIF.h;HAL_UART
+0x4503; HURT_UartRxBufferTooSmall;;3;fsfw/hal/src/fsfw_hal/linux/uart/UartComIF.h;HAL_UART
+0x4701; HGIO_UnknownGpioId;;1;fsfw/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h;HAL_GPIO
+0x4702; HGIO_DriveGpioFailure;;2;fsfw/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h;HAL_GPIO
+0x4703; HGIO_GpioTypeFailure;;3;fsfw/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h;HAL_GPIO
+0x4704; HGIO_GpioInvalidInstance;;4;fsfw/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h;HAL_GPIO
+0x4705; HGIO_GpioDuplicateDetected;;5;fsfw/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h;HAL_GPIO
+0x4706; HGIO_GpioInitFailed;;6;fsfw/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h;HAL_GPIO
+0x4707; HGIO_GpioGetValueFailed;;7;fsfw/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h;HAL_GPIO
+0x4300; UXOS_ExecutionFinished;Execution of the current command has finished;0;fsfw/hal/src/fsfw_hal/linux/CommandExecutor.h;LINUX_OSAL
+0x4301; UXOS_CommandPending;Command is pending. This will also be returned if the user tries to load another command but a command is still pending;1;fsfw/hal/src/fsfw_hal/linux/CommandExecutor.h;LINUX_OSAL
+0x4302; UXOS_BytesRead;Some bytes have been read from the executing process;2;fsfw/hal/src/fsfw_hal/linux/CommandExecutor.h;LINUX_OSAL
+0x4303; UXOS_CommandError;Command execution failed;3;fsfw/hal/src/fsfw_hal/linux/CommandExecutor.h;LINUX_OSAL
+0x4304; UXOS_NoCommandLoadedOrPending;;4;fsfw/hal/src/fsfw_hal/linux/CommandExecutor.h;LINUX_OSAL
+0x4306; UXOS_PcloseCallError;;6;fsfw/hal/src/fsfw_hal/linux/CommandExecutor.h;LINUX_OSAL
+0x3b00; LPIF_PoolEntryNotFound;;0x00;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h;LOCAL_POOL_OWNER_IF
+0x3b01; LPIF_PoolEntryTypeConflict;;0x01;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h;LOCAL_POOL_OWNER_IF
+0x3d00; HKM_QueueOrDestinationInvalid;;0;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h;HOUSEKEEPING_MANAGER
+0x3d01; HKM_WrongHkPacketType;;1;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h;HOUSEKEEPING_MANAGER
+0x3d02; HKM_ReportingStatusUnchanged;;2;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h;HOUSEKEEPING_MANAGER
+0x3d03; HKM_PeriodicHelperInvalid;;3;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h;HOUSEKEEPING_MANAGER
+0x3d04; HKM_PoolobjectNotFound;;4;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h;HOUSEKEEPING_MANAGER
+0x3d05; HKM_DatasetNotFound;;5;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h;HOUSEKEEPING_MANAGER
+0x3501; CFDP_InvalidTlvType;;1;fsfw/src/fsfw/cfdp/definitions.h;CFDP
+0x3502; CFDP_InvalidDirectiveFields;;2;fsfw/src/fsfw/cfdp/definitions.h;CFDP
+0x3503; CFDP_InvalidPduDatafieldLen;;3;fsfw/src/fsfw/cfdp/definitions.h;CFDP
+0x3504; CFDP_InvalidAckDirectiveFields;;4;fsfw/src/fsfw/cfdp/definitions.h;CFDP
+0x3505; CFDP_MetadataCantParseOptions;;5;fsfw/src/fsfw/cfdp/definitions.h;CFDP
+0x3506; CFDP_FinishedCantParseFsResponses;;6;fsfw/src/fsfw/cfdp/definitions.h;CFDP
+0x3508; CFDP_FilestoreRequiresSecondFile;;8;fsfw/src/fsfw/cfdp/definitions.h;CFDP
+0x3509; CFDP_FilestoreResponseCantParseFsMessage;;9;fsfw/src/fsfw/cfdp/definitions.h;CFDP
+0x3101; CF_ObjectHasNoFunctions;;1;fsfw/src/fsfw/action/CommandsActionsIF.h;COMMANDS_ACTIONS_IF
+0x3102; CF_AlreadyCommanding;;2;fsfw/src/fsfw/action/CommandsActionsIF.h;COMMANDS_ACTIONS_IF
+0x3201; HF_IsBusy;;1;fsfw/src/fsfw/action/HasActionsIF.h;HAS_ACTIONS_IF
+0x3202; HF_InvalidParameters;;2;fsfw/src/fsfw/action/HasActionsIF.h;HAS_ACTIONS_IF
+0x3203; HF_ExecutionFinished;;3;fsfw/src/fsfw/action/HasActionsIF.h;HAS_ACTIONS_IF
+0x3204; HF_InvalidActionId;;4;fsfw/src/fsfw/action/HasActionsIF.h;HAS_ACTIONS_IF
+0x2d01; HPA_InvalidIdentifierId;;0x01;fsfw/src/fsfw/parameters/HasParametersIF.h;HAS_PARAMETERS_IF
+0x2d02; HPA_InvalidDomainId;;0x02;fsfw/src/fsfw/parameters/HasParametersIF.h;HAS_PARAMETERS_IF
+0x2d03; HPA_InvalidValue;;0x03;fsfw/src/fsfw/parameters/HasParametersIF.h;HAS_PARAMETERS_IF
+0x2d05; HPA_ReadOnly;;0x05;fsfw/src/fsfw/parameters/HasParametersIF.h;HAS_PARAMETERS_IF
+0x2c01; PAW_UnknownDatatype;;0x01;fsfw/src/fsfw/parameters/ParameterWrapper.h;PARAMETER_WRAPPER
+0x2c02; PAW_DatatypeMissmatch;;0x02;fsfw/src/fsfw/parameters/ParameterWrapper.h;PARAMETER_WRAPPER
+0x2c03; PAW_Readonly;;0x03;fsfw/src/fsfw/parameters/ParameterWrapper.h;PARAMETER_WRAPPER
+0x2c04; PAW_TooBig;;0x04;fsfw/src/fsfw/parameters/ParameterWrapper.h;PARAMETER_WRAPPER
+0x2c05; PAW_SourceNotSet;;0x05;fsfw/src/fsfw/parameters/ParameterWrapper.h;PARAMETER_WRAPPER
+0x2c06; PAW_OutOfBounds;;0x06;fsfw/src/fsfw/parameters/ParameterWrapper.h;PARAMETER_WRAPPER
+0x2c07; PAW_NotSet;;0x07;fsfw/src/fsfw/parameters/ParameterWrapper.h;PARAMETER_WRAPPER
+0x2c08; PAW_ColumnOrRowsZero;;0x08;fsfw/src/fsfw/parameters/ParameterWrapper.h;PARAMETER_WRAPPER
+0x1701; HHI_ObjectNotHealthy;;1;fsfw/src/fsfw/health/HasHealthIF.h;HAS_HEALTH_IF
+0x1702; HHI_InvalidHealthState;;2;fsfw/src/fsfw/health/HasHealthIF.h;HAS_HEALTH_IF
+0x1703; HHI_IsExternallyControlled;;3;fsfw/src/fsfw/health/HasHealthIF.h;HAS_HEALTH_IF
+0x2701; SM_DataTooLarge;;1;fsfw/src/fsfw/storagemanager/StorageManagerIF.h;STORAGE_MANAGER_IF
+0x2702; SM_DataStorageFull;;2;fsfw/src/fsfw/storagemanager/StorageManagerIF.h;STORAGE_MANAGER_IF
+0x2703; SM_IllegalStorageId;;3;fsfw/src/fsfw/storagemanager/StorageManagerIF.h;STORAGE_MANAGER_IF
+0x2704; SM_DataDoesNotExist;;4;fsfw/src/fsfw/storagemanager/StorageManagerIF.h;STORAGE_MANAGER_IF
+0x2705; SM_IllegalAddress;;5;fsfw/src/fsfw/storagemanager/StorageManagerIF.h;STORAGE_MANAGER_IF
+0x2706; SM_PoolTooLarge;;6;fsfw/src/fsfw/storagemanager/StorageManagerIF.h;STORAGE_MANAGER_IF
+0x2301; MT_TooDetailedRequest;;1;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h;MATCH_TREE_CLASS
+0x2302; MT_TooGeneralRequest;;2;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h;MATCH_TREE_CLASS
+0x2303; MT_NoMatch;;3;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h;MATCH_TREE_CLASS
+0x2304; MT_Full;;4;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h;MATCH_TREE_CLASS
+0x2305; MT_NewNodeCreated;;5;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h;MATCH_TREE_CLASS
+0x3e01; DLEE_StreamTooShort;;0x01;fsfw/src/fsfw/globalfunctions/DleEncoder.h;DLE_ENCODER
+0x3e02; DLEE_DecodingError;;0x02;fsfw/src/fsfw/globalfunctions/DleEncoder.h;DLE_ENCODER
+0x2e01; ASC_TooLongForTargetType;;1;fsfw/src/fsfw/globalfunctions/AsciiConverter.h;ASCII_CONVERTER
+0x2e02; ASC_InvalidCharacters;;2;fsfw/src/fsfw/globalfunctions/AsciiConverter.h;ASCII_CONVERTER
+0x2e03; ASC_BufferTooSmall;;0x3;fsfw/src/fsfw/globalfunctions/AsciiConverter.h;ASCII_CONVERTER
+0x4101; PUS11_InvalidTypeTimeWindow;;1;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h;PUS_SERVICE_11
+0x4102; PUS11_TimeshiftingNotPossible;;2;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h;PUS_SERVICE_11
+0x4103; PUS11_InvalidRelativeTime;;3;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h;PUS_SERVICE_11
+0x1c01; TCD_PacketLost;;1;fsfw/src/fsfw/tcdistribution/TcDistributor.h;PACKET_DISTRIBUTION
+0x1c02; TCD_DestinationNotFound;;2;fsfw/src/fsfw/tcdistribution/TcDistributor.h;PACKET_DISTRIBUTION
+0x1c03; TCD_ServiceIdAlreadyExists;;3;fsfw/src/fsfw/tcdistribution/TcDistributor.h;PACKET_DISTRIBUTION
+0x1b00; TCC_IllegalApid;;0;fsfw/src/fsfw/tcdistribution/TcPacketCheckPUS.h;TC_PACKET_CHECK
+0x1b01; TCC_IncompletePacket;;1;fsfw/src/fsfw/tcdistribution/TcPacketCheckPUS.h;TC_PACKET_CHECK
+0x1b02; TCC_IncorrectChecksum;;2;fsfw/src/fsfw/tcdistribution/TcPacketCheckPUS.h;TC_PACKET_CHECK
+0x1b03; TCC_IllegalPacketType;;3;fsfw/src/fsfw/tcdistribution/TcPacketCheckPUS.h;TC_PACKET_CHECK
+0x1b04; TCC_IllegalPacketSubtype;;4;fsfw/src/fsfw/tcdistribution/TcPacketCheckPUS.h;TC_PACKET_CHECK
+0x1b05; TCC_IncorrectPrimaryHeader;;5;fsfw/src/fsfw/tcdistribution/TcPacketCheckPUS.h;TC_PACKET_CHECK
+0x1b06; TCC_IncorrectSecondaryHeader;;6;fsfw/src/fsfw/tcdistribution/TcPacketCheckPUS.h;TC_PACKET_CHECK
+0x3901; MQI_Empty;;1;fsfw/src/fsfw/ipc/MessageQueueIF.h;MESSAGE_QUEUE_IF
+0x3902; MQI_Full;No space left for more messages;2;fsfw/src/fsfw/ipc/MessageQueueIF.h;MESSAGE_QUEUE_IF
+0x3903; MQI_NoReplyPartner;Returned if a reply method was called without partner;3;fsfw/src/fsfw/ipc/MessageQueueIF.h;MESSAGE_QUEUE_IF
+0x3904; MQI_DestinationInvalid;Returned if the target destination is invalid.;4;fsfw/src/fsfw/ipc/MessageQueueIF.h;MESSAGE_QUEUE_IF
+0xf01; CM_UnknownCommand;;1;fsfw/src/fsfw/ipc/CommandMessageIF.h;COMMAND_MESSAGE
+0x3801; MUX_NotEnoughResources;;1;fsfw/src/fsfw/ipc/MutexIF.h;MUTEX_IF
+0x3802; MUX_InsufficientMemory;;2;fsfw/src/fsfw/ipc/MutexIF.h;MUTEX_IF
+0x3803; MUX_NoPrivilege;;3;fsfw/src/fsfw/ipc/MutexIF.h;MUTEX_IF
+0x3804; MUX_WrongAttributeSetting;;4;fsfw/src/fsfw/ipc/MutexIF.h;MUTEX_IF
+0x3805; MUX_MutexAlreadyLocked;;5;fsfw/src/fsfw/ipc/MutexIF.h;MUTEX_IF
+0x3806; MUX_MutexNotFound;;6;fsfw/src/fsfw/ipc/MutexIF.h;MUTEX_IF
+0x3807; MUX_MutexMaxLocks;;7;fsfw/src/fsfw/ipc/MutexIF.h;MUTEX_IF
+0x3808; MUX_CurrThreadAlreadyOwnsMutex;;8;fsfw/src/fsfw/ipc/MutexIF.h;MUTEX_IF
+0x3809; MUX_CurrThreadDoesNotOwnMutex;;9;fsfw/src/fsfw/ipc/MutexIF.h;MUTEX_IF
+0x380a; MUX_MutexTimeout;;10;fsfw/src/fsfw/ipc/MutexIF.h;MUTEX_IF
+0x380b; MUX_MutexInvalidId;;11;fsfw/src/fsfw/ipc/MutexIF.h;MUTEX_IF
+0x380c; MUX_MutexDestroyedWhileWaiting;;12;fsfw/src/fsfw/ipc/MutexIF.h;MUTEX_IF
+0x2801; TC_InvalidTargetState;;1;fsfw/src/fsfw/thermal/ThermalComponentIF.h;THERMAL_COMPONENT_IF
+0x28f1; TC_AboveOperationalLimit;;0xF1;fsfw/src/fsfw/thermal/ThermalComponentIF.h;THERMAL_COMPONENT_IF
+0x28f2; TC_BelowOperationalLimit;;0xF2;fsfw/src/fsfw/thermal/ThermalComponentIF.h;THERMAL_COMPONENT_IF
+0x801; DPS_InvalidParameterDefinition;;1;fsfw/src/fsfw/datapool/DataSetIF.h;DATA_SET_CLASS
+0x802; DPS_SetWasAlreadyRead;;2;fsfw/src/fsfw/datapool/DataSetIF.h;DATA_SET_CLASS
+0x803; DPS_CommitingWithoutReading;;3;fsfw/src/fsfw/datapool/DataSetIF.h;DATA_SET_CLASS
+0x804; DPS_DataSetUninitialised;;4;fsfw/src/fsfw/datapool/DataSetIF.h;DATA_SET_CLASS
+0x805; DPS_DataSetFull;;5;fsfw/src/fsfw/datapool/DataSetIF.h;DATA_SET_CLASS
+0x806; DPS_PoolVarNull;;6;fsfw/src/fsfw/datapool/DataSetIF.h;DATA_SET_CLASS
+0x3ca0; PVA_InvalidReadWriteMode;;0xA0;fsfw/src/fsfw/datapool/PoolVariableIF.h;POOL_VARIABLE_IF
+0x3ca1; PVA_InvalidPoolEntry;;0xA1;fsfw/src/fsfw/datapool/PoolVariableIF.h;POOL_VARIABLE_IF
+0xc02; MS_InvalidEntry;;0x02;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h;MODE_STORE_IF
+0xc03; MS_TooManyElements;;0x03;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h;MODE_STORE_IF
+0xc04; MS_CantStoreEmpty;;0x04;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h;MODE_STORE_IF
+0xd01; SS_SequenceAlreadyExists;;0x01;fsfw/src/fsfw/subsystem/Subsystem.h;SUBSYSTEM
+0xd02; SS_TableAlreadyExists;;0x02;fsfw/src/fsfw/subsystem/Subsystem.h;SUBSYSTEM
+0xd03; SS_TableDoesNotExist;;0x03;fsfw/src/fsfw/subsystem/Subsystem.h;SUBSYSTEM
+0xd04; SS_TableOrSequenceLengthInvalid;;0x04;fsfw/src/fsfw/subsystem/Subsystem.h;SUBSYSTEM
+0xd05; SS_SequenceDoesNotExist;;0x05;fsfw/src/fsfw/subsystem/Subsystem.h;SUBSYSTEM
+0xd06; SS_TableContainsInvalidObjectId;;0x06;fsfw/src/fsfw/subsystem/Subsystem.h;SUBSYSTEM
+0xd07; SS_FallbackSequenceDoesNotExist;;0x07;fsfw/src/fsfw/subsystem/Subsystem.h;SUBSYSTEM
+0xd08; SS_NoTargetTable;;0x08;fsfw/src/fsfw/subsystem/Subsystem.h;SUBSYSTEM
+0xd09; SS_SequenceOrTableTooLong;;0x09;fsfw/src/fsfw/subsystem/Subsystem.h;SUBSYSTEM
+0xd0b; SS_IsFallbackSequence;;0x0B;fsfw/src/fsfw/subsystem/Subsystem.h;SUBSYSTEM
+0xd0c; SS_AccessDenied;;0x0C;fsfw/src/fsfw/subsystem/Subsystem.h;SUBSYSTEM
+0xd0e; SS_TableInUse;;0x0E;fsfw/src/fsfw/subsystem/Subsystem.h;SUBSYSTEM
+0xda1; SS_TargetTableNotReached;;0xA1;fsfw/src/fsfw/subsystem/Subsystem.h;SUBSYSTEM
+0xda2; SS_TableCheckFailed;;0xA2;fsfw/src/fsfw/subsystem/Subsystem.h;SUBSYSTEM
+0xb01; SB_ChildNotFound;;0x01;fsfw/src/fsfw/subsystem/SubsystemBase.h;SUBSYSTEM_BASE
+0xb02; SB_ChildInfoUpdated;;0x02;fsfw/src/fsfw/subsystem/SubsystemBase.h;SUBSYSTEM_BASE
+0xb03; SB_ChildDoesntHaveModes;;0x03;fsfw/src/fsfw/subsystem/SubsystemBase.h;SUBSYSTEM_BASE
+0xb04; SB_CouldNotInsertChild;;0x04;fsfw/src/fsfw/subsystem/SubsystemBase.h;SUBSYSTEM_BASE
+0xb05; SB_TableContainsInvalidObjectId;;0x05;fsfw/src/fsfw/subsystem/SubsystemBase.h;SUBSYSTEM_BASE
+0xb00; SB_ConnBroken;;0;fsfw/src/fsfw/osal/common/TcpTmTcServer.h;SUBSYSTEM_BASE
+0x2901; IEC_NoConfigurationTable;;0x01;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x2902; IEC_NoCpuTable;;0x02;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x2903; IEC_InvalidWorkspaceAddress;;0x03;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x2904; IEC_TooLittleWorkspace;;0x04;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x2905; IEC_WorkspaceAllocation;;0x05;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x2906; IEC_InterruptStackTooSmall;;0x06;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x2907; IEC_ThreadExitted;;0x07;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x2908; IEC_InconsistentMpInformation;;0x08;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x2909; IEC_InvalidNode;;0x09;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x290a; IEC_NoMpci;;0x0a;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x290b; IEC_BadPacket;;0x0b;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x290c; IEC_OutOfPackets;;0x0c;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x290d; IEC_OutOfGlobalObjects;;0x0d;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x290e; IEC_OutOfProxies;;0x0e;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x290f; IEC_InvalidGlobalId;;0x0f;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x2910; IEC_BadStackHook;;0x10;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x2911; IEC_BadAttributes;;0x11;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x2912; IEC_ImplementationKeyCreateInconsistency;;0x12;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x2913; IEC_ImplementationBlockingOperationCancel;;0x13;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x2914; IEC_MutexObtainFromBadState;;0x14;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x2915; IEC_UnlimitedAndMaximumIs0;;0x15;fsfw/src/fsfw/osal/InternalErrorCodes.h;INTERNAL_ERROR_CODES
+0x1401; SE_BufferTooShort;;1;fsfw/src/fsfw/serialize/SerializeIF.h;SERIALIZE_IF
+0x1402; SE_StreamTooShort;;2;fsfw/src/fsfw/serialize/SerializeIF.h;SERIALIZE_IF
+0x1403; SE_TooManyElements;;3;fsfw/src/fsfw/serialize/SerializeIF.h;SERIALIZE_IF
+0x4b00; SPPA_NoPacketFound;;0x00;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h;SPACE_PACKET_PARSER
+0x4b01; SPPA_SplitPacket;;0x01;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h;SPACE_PACKET_PARSER
+0x1d01; PUS_ActivityStarted;;1;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h;ACCEPTS_TELECOMMANDS_IF
+0x1d02; PUS_InvalidSubservice;;2;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h;ACCEPTS_TELECOMMANDS_IF
+0x1d03; PUS_IllegalApplicationData;;3;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h;ACCEPTS_TELECOMMANDS_IF
+0x1d04; PUS_SendTmFailed;;4;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h;ACCEPTS_TELECOMMANDS_IF
+0x1d05; PUS_Timeout;;5;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h;ACCEPTS_TELECOMMANDS_IF
+0x1f01; CSB_ExecutionComplete;;1;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h;COMMAND_SERVICE_BASE
+0x1f02; CSB_NoStepMessage;;2;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h;COMMAND_SERVICE_BASE
+0x1f03; CSB_ObjectBusy;;3;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h;COMMAND_SERVICE_BASE
+0x1f04; CSB_Busy;;4;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h;COMMAND_SERVICE_BASE
+0x1f05; CSB_InvalidTc;;5;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h;COMMAND_SERVICE_BASE
+0x1f06; CSB_InvalidObject;;6;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h;COMMAND_SERVICE_BASE
+0x1f07; CSB_InvalidReply;;7;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h;COMMAND_SERVICE_BASE
+0x2500; FDI_YourFault;;0;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h;HANDLES_FAILURES_IF
+0x2501; FDI_MyFault;;1;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h;HANDLES_FAILURES_IF
+0x2502; FDI_ConfirmLater;;2;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h;HANDLES_FAILURES_IF
+0x4e1; RMP_CommandNoDescriptorsAvailable;;0xE1;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4e2; RMP_CommandBufferFull;;0xE2;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4e3; RMP_CommandChannelOutOfRange;;0xE3;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4e6; RMP_CommandChannelDeactivated;;0xE6;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4e7; RMP_CommandPortOutOfRange;;0xE7;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4e8; RMP_CommandPortInUse;;0xE8;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4e9; RMP_CommandNoChannel;;0xE9;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4ea; RMP_NoHwCrc;;0xEA;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4d0; RMP_ReplyNoReply;;0xD0;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4d1; RMP_ReplyNotSent;;0xD1;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4d2; RMP_ReplyNotYetSent;;0xD2;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4d3; RMP_ReplyMissmatch;;0xD3;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4d4; RMP_ReplyTimeout;;0xD4;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4c0; RMP_ReplyInterfaceBusy;;0xC0;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4c1; RMP_ReplyTransmissionError;;0xC1;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4c2; RMP_ReplyInvalidData;;0xC2;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4c3; RMP_ReplyNotSupported;;0xC3;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4f0; RMP_LinkDown;;0xF0;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4f1; RMP_SpwCredit;;0xF1;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4f2; RMP_SpwEscape;;0xF2;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4f3; RMP_SpwDisconnect;;0xF3;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4f4; RMP_SpwParity;;0xF4;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4f5; RMP_SpwWriteSync;;0xF5;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4f6; RMP_SpwInvalidAddress;;0xF6;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4f7; RMP_SpwEarlyEop;;0xF7;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4f8; RMP_SpwDma;;0xF8;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x4f9; RMP_SpwLinkError;;0xF9;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x400; RMP_ReplyOk;;0;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x401; RMP_ReplyGeneralErrorCode;;1;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x402; RMP_ReplyUnusedPacketTypeOrCommandCode;;2;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x403; RMP_ReplyInvalidKey;;3;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x404; RMP_ReplyInvalidDataCrc;;4;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x405; RMP_ReplyEarlyEop;;5;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x406; RMP_ReplyTooMuchData;;6;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x407; RMP_ReplyEep;;7;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x408; RMP_ReplyReserved;;8;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x409; RMP_ReplyVerifyBufferOverrun;;9;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x40a; RMP_ReplyCommandNotImplementedOrNotAuthorised;;10;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x40b; RMP_ReplyRmwDataLengthError;;11;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x40c; RMP_ReplyInvalidTargetLogicalAddress;;12;fsfw/src/fsfw/rmap/RMAP.h;RMAP_CHANNEL
+0x2b01; CCS_BcIsSetVrCommand;;0x01;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2b02; CCS_BcIsUnlockCommand;;0x02;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2bb0; CCS_BcIllegalCommand;;0xB0;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2bb1; CCS_BoardReadingNotFinished;;0xB1;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2bf0; CCS_NsPositiveW;;0xF0;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2bf1; CCS_NsNegativeW;;0xF1;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2bf2; CCS_NsLockout;;0xF2;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2bf3; CCS_FarmInLockout;;0xF3;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2bf4; CCS_FarmInWait;;0xF4;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2be0; CCS_WrongSymbol;;0xE0;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2be1; CCS_DoubleStart;;0xE1;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2be2; CCS_StartSymbolMissed;;0xE2;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2be3; CCS_EndWithoutStart;;0xE3;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2be4; CCS_TooLarge;;0xE4;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2be5; CCS_TooShort;;0xE5;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2be6; CCS_WrongTfVersion;;0xE6;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2be7; CCS_WrongSpacecraftId;;0xE7;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2be8; CCS_NoValidFrameType;;0xE8;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2be9; CCS_CrcFailed;;0xE9;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2bea; CCS_VcNotFound;;0xEA;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2beb; CCS_ForwardingFailed;;0xEB;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2bec; CCS_ContentTooLarge;;0xEC;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2bed; CCS_ResidualData;;0xED;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2bee; CCS_DataCorrupted;;0xEE;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2bef; CCS_IllegalSegmentationFlag;;0xEF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2bd0; CCS_IllegalFlagCombination;;0xD0;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2bd1; CCS_ShorterThanHeader;;0xD1;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2bd2; CCS_TooShortBlockedPacket;;0xD2;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x2bd3; CCS_TooShortMapExtraction;;0xD3;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h;CCSDS_HANDLER_IF
+0x37a1; SGP4_InvalidEccentricity;;0xA1;fsfw/src/fsfw/coordinates/Sgp4Propagator.h;SGP4PROPAGATOR_CLASS
+0x37a2; SGP4_InvalidMeanMotion;;0xA2;fsfw/src/fsfw/coordinates/Sgp4Propagator.h;SGP4PROPAGATOR_CLASS
+0x37a3; SGP4_InvalidPerturbationElements;;0xA3;fsfw/src/fsfw/coordinates/Sgp4Propagator.h;SGP4PROPAGATOR_CLASS
+0x37a4; SGP4_InvalidSemiLatusRectum;;0xA4;fsfw/src/fsfw/coordinates/Sgp4Propagator.h;SGP4PROPAGATOR_CLASS
+0x37a5; SGP4_InvalidEpochElements;;0xA5;fsfw/src/fsfw/coordinates/Sgp4Propagator.h;SGP4PROPAGATOR_CLASS
+0x37a6; SGP4_SatelliteHasDecayed;;0xA6;fsfw/src/fsfw/coordinates/Sgp4Propagator.h;SGP4PROPAGATOR_CLASS
+0x37b1; SGP4_TleTooOld;;0xB1;fsfw/src/fsfw/coordinates/Sgp4Propagator.h;SGP4PROPAGATOR_CLASS
+0x37b2; SGP4_TleNotInitialized;;0xB2;fsfw/src/fsfw/coordinates/Sgp4Propagator.h;SGP4PROPAGATOR_CLASS
+0x13e0; MH_UnknownCmd;;0xE0;fsfw/src/fsfw/memory/MemoryHelper.h;MEMORY_HELPER
+0x13e1; MH_InvalidAddress;;0xE1;fsfw/src/fsfw/memory/MemoryHelper.h;MEMORY_HELPER
+0x13e2; MH_InvalidSize;;0xE2;fsfw/src/fsfw/memory/MemoryHelper.h;MEMORY_HELPER
+0x13e3; MH_StateMismatch;;0xE3;fsfw/src/fsfw/memory/MemoryHelper.h;MEMORY_HELPER
+0x4200; FILS_GenericFileError;;0;fsfw/src/fsfw/memory/HasFileSystemIF.h;FILE_SYSTEM
+0x4201; FILS_IsBusy;;1;fsfw/src/fsfw/memory/HasFileSystemIF.h;FILE_SYSTEM
+0x4202; FILS_InvalidParameters;;2;fsfw/src/fsfw/memory/HasFileSystemIF.h;FILE_SYSTEM
+0x4205; FILS_FileDoesNotExist;;5;fsfw/src/fsfw/memory/HasFileSystemIF.h;FILE_SYSTEM
+0x4206; FILS_FileAlreadyExists;;6;fsfw/src/fsfw/memory/HasFileSystemIF.h;FILE_SYSTEM
+0x4207; FILS_FileLocked;;7;fsfw/src/fsfw/memory/HasFileSystemIF.h;FILE_SYSTEM
+0x420a; FILS_DirectoryDoesNotExist;;10;fsfw/src/fsfw/memory/HasFileSystemIF.h;FILE_SYSTEM
+0x420b; FILS_DirectoryAlreadyExists;;11;fsfw/src/fsfw/memory/HasFileSystemIF.h;FILE_SYSTEM
+0x420c; FILS_DirectoryNotEmpty;;12;fsfw/src/fsfw/memory/HasFileSystemIF.h;FILE_SYSTEM
+0x420f; FILS_SequencePacketMissingWrite;;15;fsfw/src/fsfw/memory/HasFileSystemIF.h;FILE_SYSTEM
+0x4210; FILS_SequencePacketMissingRead;;16;fsfw/src/fsfw/memory/HasFileSystemIF.h;FILE_SYSTEM
+0x601; PP_DoItMyself;;1;fsfw/src/fsfw/memory/HasMemoryIF.h;HAS_MEMORY_IF
+0x602; PP_PointsToVariable;;2;fsfw/src/fsfw/memory/HasMemoryIF.h;HAS_MEMORY_IF
+0x603; PP_PointsToMemory;;3;fsfw/src/fsfw/memory/HasMemoryIF.h;HAS_MEMORY_IF
+0x604; PP_ActivityCompleted;;4;fsfw/src/fsfw/memory/HasMemoryIF.h;HAS_MEMORY_IF
+0x605; PP_PointsToVectorUint8;;5;fsfw/src/fsfw/memory/HasMemoryIF.h;HAS_MEMORY_IF
+0x606; PP_PointsToVectorUint16;;6;fsfw/src/fsfw/memory/HasMemoryIF.h;HAS_MEMORY_IF
+0x607; PP_PointsToVectorUint32;;7;fsfw/src/fsfw/memory/HasMemoryIF.h;HAS_MEMORY_IF
+0x608; PP_PointsToVectorFloat;;8;fsfw/src/fsfw/memory/HasMemoryIF.h;HAS_MEMORY_IF
+0x6a0; PP_DumpNotSupported;;0xA0;fsfw/src/fsfw/memory/HasMemoryIF.h;HAS_MEMORY_IF
+0x6e0; PP_InvalidSize;;0xE0;fsfw/src/fsfw/memory/HasMemoryIF.h;HAS_MEMORY_IF
+0x6e1; PP_InvalidAddress;;0xE1;fsfw/src/fsfw/memory/HasMemoryIF.h;HAS_MEMORY_IF
+0x6e2; PP_InvalidContent;;0xE2;fsfw/src/fsfw/memory/HasMemoryIF.h;HAS_MEMORY_IF
+0x6e3; PP_UnalignedAccess;;0xE3;fsfw/src/fsfw/memory/HasMemoryIF.h;HAS_MEMORY_IF
+0x6e4; PP_WriteProtected;;0xE4;fsfw/src/fsfw/memory/HasMemoryIF.h;HAS_MEMORY_IF
+0x201; OM_InsertionFailed;;1;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h;OBJECT_MANAGER_IF
+0x202; OM_NotFound;;2;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h;OBJECT_MANAGER_IF
+0x203; OM_ChildInitFailed;;3;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h;OBJECT_MANAGER_IF
+0x204; OM_InternalErrReporterUninit;;4;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h;OBJECT_MANAGER_IF
+0x501; PS_SwitchOn;;1;fsfw/src/fsfw/power/PowerSwitchIF.h;POWER_SWITCH_IF
+0x500; PS_SwitchOff;;0;fsfw/src/fsfw/power/PowerSwitchIF.h;POWER_SWITCH_IF
+0x502; PS_SwitchTimeout;;2;fsfw/src/fsfw/power/PowerSwitchIF.h;POWER_SWITCH_IF
+0x503; PS_FuseOn;;3;fsfw/src/fsfw/power/PowerSwitchIF.h;POWER_SWITCH_IF
+0x504; PS_FuseOff;;4;fsfw/src/fsfw/power/PowerSwitchIF.h;POWER_SWITCH_IF
+0x2f01; POS_InPowerTransition;;1;fsfw/src/fsfw/power/PowerSwitcher.h;POWER_SWITCHER
+0x2f02; POS_SwitchStateMismatch;;2;fsfw/src/fsfw/power/PowerSwitcher.h;POWER_SWITCHER
+0x1000; TIM_UnsupportedTimeFormat;;0;fsfw/src/fsfw/timemanager/CCSDSTime.h;CCSDS_TIME_HELPER_CLASS
+0x1001; TIM_NotEnoughInformationForTargetFormat;;1;fsfw/src/fsfw/timemanager/CCSDSTime.h;CCSDS_TIME_HELPER_CLASS
+0x1002; TIM_LengthMismatch;;2;fsfw/src/fsfw/timemanager/CCSDSTime.h;CCSDS_TIME_HELPER_CLASS
+0x1003; TIM_InvalidTimeFormat;;3;fsfw/src/fsfw/timemanager/CCSDSTime.h;CCSDS_TIME_HELPER_CLASS
+0x1004; TIM_InvalidDayOfYear;;4;fsfw/src/fsfw/timemanager/CCSDSTime.h;CCSDS_TIME_HELPER_CLASS
+0x1005; TIM_TimeDoesNotFitFormat;;5;fsfw/src/fsfw/timemanager/CCSDSTime.h;CCSDS_TIME_HELPER_CLASS
+0x3601; TSI_BadTimestamp;;1;fsfw/src/fsfw/timemanager/TimeStamperIF.h;TIME_STAMPER_IF
+0x2101; TMF_Busy;;1;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h;TM_STORE_FRONTEND_IF
+0x2102; TMF_LastPacketFound;;2;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h;TM_STORE_FRONTEND_IF
+0x2103; TMF_StopFetch;;3;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h;TM_STORE_FRONTEND_IF
+0x2104; TMF_Timeout;;4;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h;TM_STORE_FRONTEND_IF
+0x2105; TMF_TmChannelFull;;5;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h;TM_STORE_FRONTEND_IF
+0x2106; TMF_NotStored;;6;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h;TM_STORE_FRONTEND_IF
+0x2107; TMF_AllDeleted;;7;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h;TM_STORE_FRONTEND_IF
+0x2108; TMF_InvalidData;;8;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h;TM_STORE_FRONTEND_IF
+0x2109; TMF_NotReady;;9;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h;TM_STORE_FRONTEND_IF
+0x2001; TMB_Busy;;1;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h;TM_STORE_BACKEND_IF
+0x2002; TMB_Full;;2;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h;TM_STORE_BACKEND_IF
+0x2003; TMB_Empty;;3;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h;TM_STORE_BACKEND_IF
+0x2004; TMB_NullRequested;;4;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h;TM_STORE_BACKEND_IF
+0x2005; TMB_TooLarge;;5;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h;TM_STORE_BACKEND_IF
+0x2006; TMB_NotReady;;6;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h;TM_STORE_BACKEND_IF
+0x2007; TMB_DumpError;;7;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h;TM_STORE_BACKEND_IF
+0x2008; TMB_CrcError;;8;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h;TM_STORE_BACKEND_IF
+0x2009; TMB_Timeout;;9;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h;TM_STORE_BACKEND_IF
+0x200a; TMB_IdlePacketFound;;10;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h;TM_STORE_BACKEND_IF
+0x200b; TMB_TelecommandFound;;11;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h;TM_STORE_BACKEND_IF
+0x200c; TMB_NoPusATm;;12;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h;TM_STORE_BACKEND_IF
+0x200d; TMB_TooSmall;;13;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h;TM_STORE_BACKEND_IF
+0x200e; TMB_BlockNotFound;;14;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h;TM_STORE_BACKEND_IF
+0x200f; TMB_InvalidRequest;;15;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h;TM_STORE_BACKEND_IF
+0xe01; HM_InvalidMode;;0x01;fsfw/src/fsfw/modes/HasModesIF.h;HAS_MODES_IF
+0xe02; HM_TransNotAllowed;;0x02;fsfw/src/fsfw/modes/HasModesIF.h;HAS_MODES_IF
+0xe03; HM_InTransition;;0x03;fsfw/src/fsfw/modes/HasModesIF.h;HAS_MODES_IF
+0xe04; HM_InvalidSubmode;;0x04;fsfw/src/fsfw/modes/HasModesIF.h;HAS_MODES_IF
+0x1501; FM_KeyAlreadyExists;;0x01;fsfw/src/fsfw/container/FixedMap.h;FIXED_MAP
+0x1502; FM_MapFull;;0x02;fsfw/src/fsfw/container/FixedMap.h;FIXED_MAP
+0x1503; FM_KeyDoesNotExist;;0x03;fsfw/src/fsfw/container/FixedMap.h;FIXED_MAP
+0x1101; AL_Full;;0x01;fsfw/src/fsfw/container/ArrayList.h;ARRAY_LIST
+0x1601; FMM_MapFull;;0x01;fsfw/src/fsfw/container/FixedOrderedMultimap.h;FIXED_MULTIMAP
+0x1602; FMM_KeyDoesNotExist;;0x02;fsfw/src/fsfw/container/FixedOrderedMultimap.h;FIXED_MULTIMAP
+0x1801; FF_Full;;1;fsfw/src/fsfw/container/FIFOBase.h;FIFO_CLASS
+0x1802; FF_Empty;;2;fsfw/src/fsfw/container/FIFOBase.h;FIFO_CLASS
+0x3a0; DHB_InvalidChannel;;0xA0;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h;DEVICE_HANDLER_BASE
+0x3b0; DHB_AperiodicReply;;0xB0;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h;DEVICE_HANDLER_BASE
+0x3b1; DHB_IgnoreReplyData;;0xB1;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h;DEVICE_HANDLER_BASE
+0x3b2; DHB_IgnoreFullPacket;;0xB2;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h;DEVICE_HANDLER_BASE
+0x3c0; DHB_NothingToSend;;0xC0;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h;DEVICE_HANDLER_BASE
+0x3c2; DHB_CommandMapError;;0xC2;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h;DEVICE_HANDLER_BASE
+0x3d0; DHB_NoSwitch;;0xD0;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h;DEVICE_HANDLER_BASE
+0x3e0; DHB_ChildTimeout;;0xE0;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h;DEVICE_HANDLER_BASE
+0x3e1; DHB_SwitchFailed;;0xE1;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h;DEVICE_HANDLER_BASE
+0x1201; AB_NeedSecondStep;;0x01;fsfw/src/fsfw/devicehandlers/AssemblyBase.h;ASSEMBLY_BASE
+0x1202; AB_NeedToReconfigure;;0x02;fsfw/src/fsfw/devicehandlers/AssemblyBase.h;ASSEMBLY_BASE
+0x1203; AB_ModeFallback;;0x03;fsfw/src/fsfw/devicehandlers/AssemblyBase.h;ASSEMBLY_BASE
+0x1204; AB_ChildNotCommandable;;0x04;fsfw/src/fsfw/devicehandlers/AssemblyBase.h;ASSEMBLY_BASE
+0x1205; AB_NeedToChangeHealth;;0x05;fsfw/src/fsfw/devicehandlers/AssemblyBase.h;ASSEMBLY_BASE
+0x12a1; AB_NotEnoughChildrenInCorrectState;;0xa1;fsfw/src/fsfw/devicehandlers/AssemblyBase.h;ASSEMBLY_BASE
+0x26a0; DHI_NoCommandData;;0xA0;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x26a1; DHI_CommandNotSupported;;0xA1;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x26a2; DHI_CommandAlreadySent;;0xA2;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x26a3; DHI_CommandWasNotSent;;0xA3;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x26a4; DHI_CantSwitchAddress;;0xA4;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x26a5; DHI_WrongModeForCommand;;0xA5;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x26a6; DHI_Timeout;;0xA6;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x26a7; DHI_Busy;;0xA7;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x26a8; DHI_NoReplyExpected;;0xA8;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x26a9; DHI_NonOpTemperature;;0xA9;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x26aa; DHI_CommandNotImplemented;;0xAA;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x26b0; DHI_ChecksumError;;0xB0;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x26b1; DHI_LengthMissmatch;;0xB1;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x26b2; DHI_InvalidData;;0xB2;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x26b3; DHI_ProtocolError;;0xB3;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x26c0; DHI_DeviceDidNotExecute;;0xC0;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x26c1; DHI_DeviceReportedError;;0xC1;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x26c2; DHI_UnknownDeviceReply;;0xC2;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x26c3; DHI_DeviceReplyInvalid;;0xC3;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x26d0; DHI_InvalidCommandParameter;;0xD0;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x26d1; DHI_InvalidNumberOrLengthOfParameters;;0xD1;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h;DEVICE_HANDLER_IF
+0x3301; DC_NoReplyReceived;;0x01;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h;DEVICE_COMMUNICATION_IF
+0x3302; DC_ProtocolError;;0x02;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h;DEVICE_COMMUNICATION_IF
+0x3303; DC_Nullpointer;;0x03;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h;DEVICE_COMMUNICATION_IF
+0x3304; DC_InvalidCookieType;;0x04;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h;DEVICE_COMMUNICATION_IF
+0x3305; DC_NotActive;;0x05;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h;DEVICE_COMMUNICATION_IF
+0x3306; DC_TooMuchData;;0x06;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h;DEVICE_COMMUNICATION_IF
+0x2401; EV_ListenerNotFound;;1;fsfw/src/fsfw/events/EventManagerIF.h;EVENT_MANAGER_IF
+0x1a01; TRC_NotEnoughSensors;;1;fsfw/src/fsfw/monitoring/TriplexMonitor.h;TRIPLE_REDUNDACY_CHECK
+0x1a02; TRC_LowestValueOol;;2;fsfw/src/fsfw/monitoring/TriplexMonitor.h;TRIPLE_REDUNDACY_CHECK
+0x1a03; TRC_HighestValueOol;;3;fsfw/src/fsfw/monitoring/TriplexMonitor.h;TRIPLE_REDUNDACY_CHECK
+0x1a04; TRC_BothValuesOol;;4;fsfw/src/fsfw/monitoring/TriplexMonitor.h;TRIPLE_REDUNDACY_CHECK
+0x1a05; TRC_DuplexOol;;5;fsfw/src/fsfw/monitoring/TriplexMonitor.h;TRIPLE_REDUNDACY_CHECK
+0x3001; LIM_Unchecked;;1;fsfw/src/fsfw/monitoring/MonitoringIF.h;LIMITS_IF
+0x3002; LIM_Invalid;;2;fsfw/src/fsfw/monitoring/MonitoringIF.h;LIMITS_IF
+0x3003; LIM_Unselected;;3;fsfw/src/fsfw/monitoring/MonitoringIF.h;LIMITS_IF
+0x3004; LIM_BelowLowLimit;;4;fsfw/src/fsfw/monitoring/MonitoringIF.h;LIMITS_IF
+0x3005; LIM_AboveHighLimit;;5;fsfw/src/fsfw/monitoring/MonitoringIF.h;LIMITS_IF
+0x3006; LIM_UnexpectedValue;;6;fsfw/src/fsfw/monitoring/MonitoringIF.h;LIMITS_IF
+0x3007; LIM_OutOfRange;;7;fsfw/src/fsfw/monitoring/MonitoringIF.h;LIMITS_IF
+0x30a0; LIM_FirstSample;;0xA0;fsfw/src/fsfw/monitoring/MonitoringIF.h;LIMITS_IF
+0x30e0; LIM_InvalidSize;;0xE0;fsfw/src/fsfw/monitoring/MonitoringIF.h;LIMITS_IF
+0x30e1; LIM_WrongType;;0xE1;fsfw/src/fsfw/monitoring/MonitoringIF.h;LIMITS_IF
+0x30e2; LIM_WrongPid;;0xE2;fsfw/src/fsfw/monitoring/MonitoringIF.h;LIMITS_IF
+0x30e3; LIM_WrongLimitId;;0xE3;fsfw/src/fsfw/monitoring/MonitoringIF.h;LIMITS_IF
+0x30ee; LIM_MonitorNotFound;;0xEE;fsfw/src/fsfw/monitoring/MonitoringIF.h;LIMITS_IF
+0x3a01; SPH_SemaphoreTimeout;;1;fsfw/src/fsfw/tasks/SemaphoreIF.h;SEMAPHORE_IF
+0x3a02; SPH_SemaphoreNotOwned;;2;fsfw/src/fsfw/tasks/SemaphoreIF.h;SEMAPHORE_IF
+0x3a03; SPH_SemaphoreInvalid;;3;fsfw/src/fsfw/tasks/SemaphoreIF.h;SEMAPHORE_IF
+0x7300; SDMA_OpOngoing;;0;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
+0x7301; SDMA_AlreadyOn;;1;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
+0x7302; SDMA_AlreadyMounted;;2;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
+0x7303; SDMA_AlreadyOff;;3;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
+0x730a; SDMA_StatusFileNexists;;10;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
+0x730b; SDMA_StatusFileFormatInvalid;;11;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
+0x730c; SDMA_MountError;;12;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
+0x730d; SDMA_UnmountError;;13;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
+0x730e; SDMA_SystemCallError;;14;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
+0x730f; SDMA_PopenCallError;;15;bsp_q7s/memory/SdCardManager.h;SD_CARD_MANAGER
+0x7400; SCBU_KeyNotFound;;0;bsp_q7s/memory/scratchApi.h;SCRATCH_BUFFER
+0x68a0; FSHLP_SdNotMounted;SD card specified with path string not mounted;0xA0;bsp_q7s/memory/FilesystemHelper.h;FILE_SYSTEM_HELPER
+0x68a1; FSHLP_FileNotExists;Specified file does not exist on filesystem;0xA1;bsp_q7s/memory/FilesystemHelper.h;FILE_SYSTEM_HELPER
+0x6ba0; MPSOCRTVIF_CrcFailure;Space Packet received from PLOC has invalid CRC;0xA0;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
+0x6ba1; MPSOCRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC;0xA1;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
+0x6ba2; MPSOCRTVIF_ReceivedExeFailure;Received execution failure reply from PLOC;0xA2;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
+0x6ba3; MPSOCRTVIF_InvalidApid;Received space packet with invalid APID from PLOC;0xA3;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
+0x6ba4; MPSOCRTVIF_InvalidLength;Received command with invalid length;0xA4;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
+0x6ba5; MPSOCRTVIF_FilenameTooLong;Filename of file in OBC filesystem is too long;0xA5;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
+0x6ba6; MPSOCRTVIF_MpsocHelperExecuting;MPSoC helper is currently executing a command;0xA6;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
+0x6ba7; MPSOCRTVIF_MpsocFilenameTooLong;Filename of MPSoC file is to long (max. 256 bytes);0xA7;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
+0x6ba8; MPSOCRTVIF_InvalidParameter;Command has invalid parameter;0xA8;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
+0x6ba9; MPSOCRTVIF_NameTooLong;Received command has file string with invalid length;0xA9;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h;MPSOC_RETURN_VALUES_IF
+0x6ca0; SPVRTVIF_CrcFailure;Space Packet received from PLOC supervisor has invalid CRC;0xA0;linux/devices/devicedefinitions/SupvReturnValuesIF.h;SUPV_RETURN_VALUES_IF
+0x6ca1; SPVRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC supervisor;0xA1;linux/devices/devicedefinitions/SupvReturnValuesIF.h;SUPV_RETURN_VALUES_IF
+0x6ca2; SPVRTVIF_ReceivedExeFailure;Received execution failure reply from PLOC supervisor;0xA2;linux/devices/devicedefinitions/SupvReturnValuesIF.h;SUPV_RETURN_VALUES_IF
+0x6ca3; SPVRTVIF_InvalidApid;Received space packet with invalid APID from PLOC supervisor;0xA3;linux/devices/devicedefinitions/SupvReturnValuesIF.h;SUPV_RETURN_VALUES_IF
+0x6ca4; SPVRTVIF_GetTimeFailure;Failed to read current system time;0xA4;linux/devices/devicedefinitions/SupvReturnValuesIF.h;SUPV_RETURN_VALUES_IF
+0x6ca5; SPVRTVIF_InvalidWatchdog;Received command with invalid watchdog parameter. Valid watchdogs are 0 for PS, 1 for PL and 2 for INT;0xA5;linux/devices/devicedefinitions/SupvReturnValuesIF.h;SUPV_RETURN_VALUES_IF
+0x6ca6; SPVRTVIF_InvalidWatchdogTimeout;Received watchdog timeout config command with invalid timeout. Valid timeouts must be in the range between 1000 and 360000 ms.;0xA6;linux/devices/devicedefinitions/SupvReturnValuesIF.h;SUPV_RETURN_VALUES_IF
+0x6ca7; SPVRTVIF_InvalidLatchupId;Received latchup config command with invalid latchup ID;0xA7;linux/devices/devicedefinitions/SupvReturnValuesIF.h;SUPV_RETURN_VALUES_IF
+0x6ca8; SPVRTVIF_SweepPeriodTooSmall;Received set adc sweep period command with invalid sweep period. Must be larger than 21.;0xA8;linux/devices/devicedefinitions/SupvReturnValuesIF.h;SUPV_RETURN_VALUES_IF
+0x6ca9; SPVRTVIF_InvalidTestParam;Receive auto EM test command with invalid test param. Valid params are 1 and 2.;0xA9;linux/devices/devicedefinitions/SupvReturnValuesIF.h;SUPV_RETURN_VALUES_IF
+0x6caa; SPVRTVIF_MramPacketParsingFailure;Returned when scanning for MRAM dump packets failed.;0xAA;linux/devices/devicedefinitions/SupvReturnValuesIF.h;SUPV_RETURN_VALUES_IF
+0x6cab; SPVRTVIF_InvalidMramAddresses;Returned when the start and stop addresses of the MRAM dump or MRAM  wipe commands are invalid (e.g. start address bigger than stop address);0xAB;linux/devices/devicedefinitions/SupvReturnValuesIF.h;SUPV_RETURN_VALUES_IF
+0x6cac; SPVRTVIF_NoMramPacket;Expect reception of an MRAM dump packet but received space packet with other apid.;0xAC;linux/devices/devicedefinitions/SupvReturnValuesIF.h;SUPV_RETURN_VALUES_IF
+0x6cad; SPVRTVIF_PathDoesNotExist;Path to PLOC directory on SD card does not exist;0xAD;linux/devices/devicedefinitions/SupvReturnValuesIF.h;SUPV_RETURN_VALUES_IF
+0x6cae; SPVRTVIF_MramFileNotExists;MRAM dump file does not exists. The file should actually already have been created with the reception of the first dump packet.;0xAE;linux/devices/devicedefinitions/SupvReturnValuesIF.h;SUPV_RETURN_VALUES_IF
+0x6caf; SPVRTVIF_InvalidLength;Received action command has invalid length;0xAF;linux/devices/devicedefinitions/SupvReturnValuesIF.h;SUPV_RETURN_VALUES_IF
+0x6cb0; SPVRTVIF_FilenameTooLong;Filename too long;0xB0;linux/devices/devicedefinitions/SupvReturnValuesIF.h;SUPV_RETURN_VALUES_IF
+0x6cb1; SPVRTVIF_UpdateStatusReportInvalidLength;Received update status report with invalid packet length field;0xB1;linux/devices/devicedefinitions/SupvReturnValuesIF.h;SUPV_RETURN_VALUES_IF
+0x6cb2; SPVRTVIF_UpdateCrcFailure;Update status report does not contain expected CRC. There might be a bit flip in the update memory region.;0xB2;linux/devices/devicedefinitions/SupvReturnValuesIF.h;SUPV_RETURN_VALUES_IF
+0x6cb3; SPVRTVIF_SupvHelperExecuting;Supervisor helper task ist currently executing a command (wait until helper tas has finished or interrupt by sending the terminate command);0xB3;linux/devices/devicedefinitions/SupvReturnValuesIF.h;SUPV_RETURN_VALUES_IF
+0x58e0; DWLPWRON_InvalidMode;Received command has invalid JESD mode (valid modes are 0 - 5);0xE0;linux/devices/devicedefinitions/PlocMPSoCDefinitions.h;DWLPWRON_CMD
+0x58e1; DWLPWRON_InvalidLaneRate;Received command has invalid lane rate (valid lane rate are 0 - 9);0xE1;linux/devices/devicedefinitions/PlocMPSoCDefinitions.h;DWLPWRON_CMD
+0x62a0; PLMEMDUMP_MramAddressTooHigh;The capacity of the MRAM amounts to 512 kB. Thus the maximum address must not be higher than 0x7d000.;0xA0;linux/devices/ploc/PlocMemoryDumper.h;PLOC_MEMORY_DUMPER
+0x62a1; PLMEMDUMP_MramInvalidAddressCombination;The specified end address is lower than the start address;0xA1;linux/devices/ploc/PlocMemoryDumper.h;PLOC_MEMORY_DUMPER
+0x69a0; PLMPHLP_FileClosedAccidentally;File accidentally close;0xA0;linux/devices/ploc/PlocMPSoCHelper.h;PLOC_MPSOC_HELPER
+0x5ba0; PLSPVhLP_FileClosedAccidentally;File accidentally close;0xA0;linux/devices/ploc/PlocSupvHelper.h;PLOC_SUPV_HELPER
+0x5ba1; PLSPVhLP_ProcessTerminated;Process has been terminated by command;0xA1;linux/devices/ploc/PlocSupvHelper.h;PLOC_SUPV_HELPER
+0x5ba2; PLSPVhLP_PathNotExists;Received command with invalid pathname;0xA2;linux/devices/ploc/PlocSupvHelper.h;PLOC_SUPV_HELPER
+0x5ba3; PLSPVhLP_EventBufferReplyInvalidApid;Expected event buffer TM but received space packet with other APID;0xA3;linux/devices/ploc/PlocSupvHelper.h;PLOC_SUPV_HELPER
+0x6601; JSONBASE_JsonFileNotExists;Specified json file does not exist;1;linux/devices/startracker/ArcsecJsonParamBase.h;ARCSEC_JSON_BASE
+0x6602; JSONBASE_SetNotExists;Requested set does not exist in json file;2;linux/devices/startracker/ArcsecJsonParamBase.h;ARCSEC_JSON_BASE
+0x6603; JSONBASE_ParamNotExists;Requested parameter does not exist in json file;3;linux/devices/startracker/ArcsecJsonParamBase.h;ARCSEC_JSON_BASE
+0x57a0; STRH_TemperatureReqFailed;Status in temperature reply signals error;0xA0;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57a1; STRH_PingFailed;Ping command failed;0xA1;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57a2; STRH_VersionReqFailed;Status in version reply signals error;0xA2;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57a3; STRH_InterfaceReqFailed;Status in interface reply signals error;0xA3;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57a4; STRH_PowerReqFailed;Status in power reply signals error;0xA4;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57a5; STRH_SetParamFailed;Status of reply to parameter set command signals error;0xA5;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57a6; STRH_ActionFailed;Status of reply to action command signals error;0xA6;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57a7; STRH_FilePathTooLong;Received invalid path string. Exceeds allowed length;0xA7;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57a8; STRH_FilenameTooLong;Name of file received with command is too long;0xA8;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57a9; STRH_InvalidProgram;Received version reply with invalid program ID;0xA9;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57aa; STRH_ReplyError;Status field reply signals error;0xAA;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57ab; STRH_CommandTooShort;Received command which is too short (some data is missing for proper execution);0xAB;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57ac; STRH_InvalidLength;Received command with invalid length (too few or too many parameters);0xAC;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57ad; STRH_RegionMismatch;Region mismatch between send and received data;0xAD;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57ae; STRH_AddressMismatch;Address mismatch between send and received data;0xAE;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57af; STRH_LengthMismatch;Length field mismatch between send and received data;0xAF;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57b0; STRH_FileNotExists;Specified file does not exist;0xB0;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57b1; STRH_InvalidType;Download blob pixel command has invalid type field;0xB1;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57b2; STRH_InvalidId;Received FPGA action command with invalid ID;0xB2;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57b3; STRH_ReplyTooShort;Received reply is too short;0xB3;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57b4; STRH_CrcFailure;Received reply with invalid CRC;0xB4;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57b5; STRH_StrHelperExecuting;Star tracker handler currently executing a command and using the communication interface;0xB5;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57b6; STRH_StartrackerAlreadyBooted;Star tracker is already in firmware mode;0xB6;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57b7; STRH_StartrackerRunningFirmware;Star tracker is in firmware mode but must be in bootloader mode to execute this command;0xB7;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x57b8; STRH_StartrackerRunningBootloader;Star tracker is in bootloader mode but must be in firmware mode to execute this command;0xB8;linux/devices/startracker/StarTrackerHandler.h;STR_HANDLER
+0x60a0; STRHLP_SdNotMounted;SD card specified in path string not mounted;0xA0;linux/devices/startracker/StrHelper.h;STR_HELPER
+0x60a1; STRHLP_FileNotExists;Specified file does not exist on filesystem;0xA1;linux/devices/startracker/StrHelper.h;STR_HELPER
+0x60a2; STRHLP_PathNotExists;Specified path does not exist;0xA2;linux/devices/startracker/StrHelper.h;STR_HELPER
+0x60a3; STRHLP_FileCreationFailed;Failed to create download image or read flash file;0xA3;linux/devices/startracker/StrHelper.h;STR_HELPER
+0x60a4; STRHLP_RegionMismatch;Region in flash write/read reply does not match expected region;0xA4;linux/devices/startracker/StrHelper.h;STR_HELPER
+0x60a5; STRHLP_AddressMismatch;Address in flash write/read reply does not match expected address;0xA5;linux/devices/startracker/StrHelper.h;STR_HELPER
+0x60a6; STRHLP_LengthMismatch;Length in flash write/read reply does not match expected length;0xA6;linux/devices/startracker/StrHelper.h;STR_HELPER
+0x60a7; STRHLP_StatusError;Status field in reply signals error;0xA7;linux/devices/startracker/StrHelper.h;STR_HELPER
+0x60a8; STRHLP_InvalidTypeId;Reply has invalid type ID (should be of action reply type);0xA8;linux/devices/startracker/StrHelper.h;STR_HELPER
+0x5da0; IPCI_PapbBusy;;0xA0;linux/obc/PapbVcInterface.h;CCSDS_IP_CORE_BRIDGE
+0x5ea0; PTME_UnknownVcId;;0xA0;linux/obc/Ptme.h;PTME
+0x65a0; RS_RateNotSupported;The commanded rate is not supported by the current FPGA design;0xA0;linux/obc/PtmeConfig.h;RATE_SETTER
+0x65a1; RS_BadBitRate;Bad bitrate has been commanded (e.g. 0);0xA1;linux/obc/PtmeConfig.h;RATE_SETTER
+0x65a2; RS_ClkInversionFailed;Failed to invert clock and thus change the time the data is updated with respect to the tx clock;0xA2;linux/obc/PtmeConfig.h;RATE_SETTER
+0x65a3; RS_TxManipulatorConfigFailed;Failed to change configuration bit of tx clock manipulator;0xA3;linux/obc/PtmeConfig.h;RATE_SETTER
+0x63a0; PDEC_AbandonedCltu;;0xA0;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x63a1; PDEC_FrameDirty;;0xA1;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x63a2; PDEC_FrameIllegalMultipleReasons;;0xA2;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x63a3; PDEC_AdDiscardedLockout;;0xA3;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x63a4; PDEC_AdDiscardedWait;;0xA4;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x63a5; PDEC_AdDiscardedNsVs;;0xA5;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x63b0; PDEC_CommandNotImplemented;Received action message with unknown action id;0xB0;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x63a6; PDEC_NoReport;;0xA6;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x63a7; PDEC_ErrorVersionNumber;;0xA7;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x63a8; PDEC_IllegalCombination;;0xA8;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x63a9; PDEC_InvalidScId;;0xA9;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x63aa; PDEC_InvalidVcIdMsb;;0xAA;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x63ab; PDEC_InvalidVcIdLsb;;0xAB;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x63ac; PDEC_NsNotZero;;0xAC;linux/obc/PdecHandler.h;PDEC_HANDLER
+0x63ae; PDEC_InvalidBcCc;;0xAE;linux/obc/PdecHandler.h;PDEC_HANDLER
diff --git a/generators/events/translateEvents.cpp b/generators/events/translateEvents.cpp
index 1a24c553..74b07b0b 100644
--- a/generators/events/translateEvents.cpp
+++ b/generators/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 186 translations.
+ * @brief    Auto-generated event translation file. Contains 207 translations.
  * @details
- * Generated on: 2022-04-08 14:13:35
+ * Generated on: 2022-05-25 18:41:07
  */
 #include "translateEvents.h"
 
@@ -82,16 +82,21 @@ const char *BIT_LOCK_LOST_STRING = "BIT_LOCK_LOST";
 const char *FRAME_PROCESSING_FAILED_STRING = "FRAME_PROCESSING_FAILED";
 const char *CLOCK_SET_STRING = "CLOCK_SET";
 const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
+const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
 const char *TEST_STRING = "TEST";
 const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
+const char *FDIR_REACTION_IGNORED_STRING = "FDIR_REACTION_IGNORED";
 const char *GPIO_PULL_HIGH_FAILED_STRING = "GPIO_PULL_HIGH_FAILED";
 const char *GPIO_PULL_LOW_FAILED_STRING = "GPIO_PULL_LOW_FAILED";
+const char *HEATER_WENT_ON_STRING = "HEATER_WENT_ON";
+const char *HEATER_WENT_OFF_STRING = "HEATER_WENT_OFF";
 const char *SWITCH_ALREADY_ON_STRING = "SWITCH_ALREADY_ON";
 const char *SWITCH_ALREADY_OFF_STRING = "SWITCH_ALREADY_OFF";
 const char *MAIN_SWITCH_TIMEOUT_STRING = "MAIN_SWITCH_TIMEOUT";
+const char *FAULTY_HEATER_WAS_ON_STRING = "FAULTY_HEATER_WAS_ON";
 const char *MAIN_SWITCH_ON_TIMEOUT_STRING = "MAIN_SWITCH_ON_TIMEOUT";
 const char *MAIN_SWITCH_OFF_TIMEOUT_STRING = "MAIN_SWITCH_OFF_TIMEOUT";
 const char *DEPLOYMENT_FAILED_STRING = "DEPLOYMENT_FAILED";
@@ -101,7 +106,7 @@ const char *MEMORY_READ_RPT_CRC_FAILURE_STRING = "MEMORY_READ_RPT_CRC_FAILURE";
 const char *ACK_FAILURE_STRING = "ACK_FAILURE";
 const char *EXE_FAILURE_STRING = "EXE_FAILURE";
 const char *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE";
-const char *MPSOC_HANDLER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQ_CNT_MISMATCH";
+const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH";
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
@@ -112,20 +117,16 @@ const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE";
 const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE";
 const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
 const char *ERROR_STATE_STRING = "ERROR_STATE";
+const char *RESET_OCCURED_STRING = "RESET_OCCURED";
 const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
 const char *BOOTING_BOOTLOADER_FAILED_STRING = "BOOTING_BOOTLOADER_FAILED";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
 const char *SUPV_ACK_FAILURE_STRING = "SUPV_ACK_FAILURE";
 const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
 const char *SUPV_CRC_FAILURE_EVENT_STRING = "SUPV_CRC_FAILURE_EVENT";
+const char *SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUWDOWN_BUILD_FAILED";
 const char *SANITIZATION_FAILED_STRING = "SANITIZATION_FAILED";
 const char *MOUNTED_SD_CARD_STRING = "MOUNTED_SD_CARD";
-const char *UPDATE_FILE_NOT_EXISTS_STRING = "UPDATE_FILE_NOT_EXISTS";
-const char *ACTION_COMMANDING_FAILED_STRING = "ACTION_COMMANDING_FAILED";
-const char *UPDATE_AVAILABLE_FAILED_STRING = "UPDATE_AVAILABLE_FAILED";
-const char *UPDATE_TRANSFER_FAILED_STRING = "UPDATE_TRANSFER_FAILED";
-const char *UPDATE_VERIFY_FAILED_STRING = "UPDATE_VERIFY_FAILED";
-const char *UPDATE_FINISHED_STRING = "UPDATE_FINISHED";
 const char *SEND_MRAM_DUMP_FAILED_STRING = "SEND_MRAM_DUMP_FAILED";
 const char *MRAM_DUMP_FAILED_STRING = "MRAM_DUMP_FAILED";
 const char *MRAM_DUMP_FINISHED_STRING = "MRAM_DUMP_FINISHED";
@@ -152,15 +153,15 @@ const char *STR_HELPER_SENDING_PACKET_FAILED_STRING = "STR_HELPER_SENDING_PACKET
 const char *STR_HELPER_REQUESTING_MSG_FAILED_STRING = "STR_HELPER_REQUESTING_MSG_FAILED";
 const char *MPSOC_FLASH_WRITE_FAILED_STRING = "MPSOC_FLASH_WRITE_FAILED";
 const char *MPSOC_FLASH_WRITE_SUCCESSFUL_STRING = "MPSOC_FLASH_WRITE_SUCCESSFUL";
-const char *SENDING_COMMAND_FAILED_STRING = "SENDING_COMMAND_FAILED";
+const char *MPSOC_SENDING_COMMAND_FAILED_STRING = "MPSOC_SENDING_COMMAND_FAILED";
 const char *MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING = "MPSOC_HELPER_REQUESTING_REPLY_FAILED";
 const char *MPSOC_HELPER_READING_REPLY_FAILED_STRING = "MPSOC_HELPER_READING_REPLY_FAILED";
-const char *MISSING_ACK_STRING = "MISSING_ACK";
-const char *MISSING_EXE_STRING = "MISSING_EXE";
-const char *ACK_FAILURE_REPORT_STRING = "ACK_FAILURE_REPORT";
-const char *EXE_FAILURE_REPORT_STRING = "EXE_FAILURE_REPORT";
-const char *ACK_INVALID_APID_STRING = "ACK_INVALID_APID";
-const char *EXE_INVALID_APID_STRING = "EXE_INVALID_APID";
+const char *MPSOC_MISSING_ACK_STRING = "MPSOC_MISSING_ACK";
+const char *MPSOC_MISSING_EXE_STRING = "MPSOC_MISSING_EXE";
+const char *MPSOC_ACK_FAILURE_REPORT_STRING = "MPSOC_ACK_FAILURE_REPORT";
+const char *MPSOC_EXE_FAILURE_REPORT_STRING = "MPSOC_EXE_FAILURE_REPORT";
+const char *MPSOC_ACK_INVALID_APID_STRING = "MPSOC_ACK_INVALID_APID";
+const char *MPSOC_EXE_INVALID_APID_STRING = "MPSOC_EXE_INVALID_APID";
 const char *MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HELPER_SEQ_CNT_MISMATCH";
 const char *TRANSITION_BACK_TO_OFF_STRING = "TRANSITION_BACK_TO_OFF";
 const char *NEG_V_OUT_OF_BOUNDS_STRING = "NEG_V_OUT_OF_BOUNDS";
@@ -183,6 +184,26 @@ const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
 const char *P60_BOOT_COUNT_STRING = "P60_BOOT_COUNT";
 const char *BATT_MODE_STRING = "BATT_MODE";
 const char *BATT_MODE_CHANGED_STRING = "BATT_MODE_CHANGED";
+const char *SUPV_UPDATE_FAILED_STRING = "SUPV_UPDATE_FAILED";
+const char *SUPV_UPDATE_SUCCESSFUL_STRING = "SUPV_UPDATE_SUCCESSFUL";
+const char *SUPV_CONTINUE_UPDATE_FAILED_STRING = "SUPV_CONTINUE_UPDATE_FAILED";
+const char *SUPV_CONTINUE_UPDATE_SUCCESSFUL_STRING = "SUPV_CONTINUE_UPDATE_SUCCESSFUL";
+const char *TERMINATED_UPDATE_PROCEDURE_STRING = "TERMINATED_UPDATE_PROCEDURE";
+const char *SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL_STRING = "SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL";
+const char *SUPV_EVENT_BUFFER_REQUEST_FAILED_STRING = "SUPV_EVENT_BUFFER_REQUEST_FAILED";
+const char *SUPV_EVENT_BUFFER_REQUEST_TERMINATED_STRING = "SUPV_EVENT_BUFFER_REQUEST_TERMINATED";
+const char *SUPV_SENDING_COMMAND_FAILED_STRING = "SUPV_SENDING_COMMAND_FAILED";
+const char *SUPV_HELPER_REQUESTING_REPLY_FAILED_STRING = "SUPV_HELPER_REQUESTING_REPLY_FAILED";
+const char *SUPV_HELPER_READING_REPLY_FAILED_STRING = "SUPV_HELPER_READING_REPLY_FAILED";
+const char *SUPV_MISSING_ACK_STRING = "SUPV_MISSING_ACK";
+const char *SUPV_MISSING_EXE_STRING = "SUPV_MISSING_EXE";
+const char *SUPV_ACK_FAILURE_REPORT_STRING = "SUPV_ACK_FAILURE_REPORT";
+const char *SUPV_EXE_FAILURE_REPORT_STRING = "SUPV_EXE_FAILURE_REPORT";
+const char *SUPV_ACK_INVALID_APID_STRING = "SUPV_ACK_INVALID_APID";
+const char *SUPV_EXE_INVALID_APID_STRING = "SUPV_EXE_INVALID_APID";
+const char *ACK_RECEPTION_FAILURE_STRING = "ACK_RECEPTION_FAILURE";
+const char *EXE_RECEPTION_FAILURE_STRING = "EXE_RECEPTION_FAILURE";
+const char *WRITE_MEMORY_FAILED_STRING = "WRITE_MEMORY_FAILED";
 const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
 const char *REBOOT_SW_STRING = "REBOOT_SW";
 const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
@@ -344,6 +365,8 @@ const char *translateEvents(Event event) {
       return CLOCK_SET_STRING;
     case (8901):
       return CLOCK_SET_FAILURE_STRING;
+    case (9100):
+      return TC_DELETION_FAILED_STRING;
     case (9700):
       return TEST_STRING;
     case (10600):
@@ -354,16 +377,24 @@ const char *translateEvents(Event event) {
       return SWITCH_HAS_CHANGED_STRING;
     case (11302):
       return SWITCHING_Q7S_DENIED_STRING;
+    case (11303):
+      return FDIR_REACTION_IGNORED_STRING;
     case (11400):
       return GPIO_PULL_HIGH_FAILED_STRING;
     case (11401):
       return GPIO_PULL_LOW_FAILED_STRING;
     case (11402):
-      return SWITCH_ALREADY_ON_STRING;
+      return HEATER_WENT_ON_STRING;
     case (11403):
-      return SWITCH_ALREADY_OFF_STRING;
+      return HEATER_WENT_OFF_STRING;
     case (11404):
+      return SWITCH_ALREADY_ON_STRING;
+    case (11405):
+      return SWITCH_ALREADY_OFF_STRING;
+    case (11406):
       return MAIN_SWITCH_TIMEOUT_STRING;
+    case (11407):
+      return FAULTY_HEATER_WAS_ON_STRING;
     case (11500):
       return MAIN_SWITCH_ON_TIMEOUT_STRING;
     case (11501):
@@ -383,7 +414,7 @@ const char *translateEvents(Event event) {
     case (11604):
       return MPSOC_HANDLER_CRC_FAILURE_STRING;
     case (11605):
-      return MPSOC_HANDLER_SEQ_CNT_MISMATCH_STRING;
+      return MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING;
     case (11606):
       return MPSOC_SHUTDOWN_FAILED_STRING;
     case (11701):
@@ -404,6 +435,8 @@ const char *translateEvents(Event event) {
       return INVALID_ERROR_BYTE_STRING;
     case (11801):
       return ERROR_STATE_STRING;
+    case (11802):
+      return RESET_OCCURED_STRING;
     case (11901):
       return BOOTING_FIRMWARE_FAILED_STRING;
     case (11902):
@@ -416,22 +449,12 @@ const char *translateEvents(Event event) {
       return SUPV_EXE_FAILURE_STRING;
     case (12004):
       return SUPV_CRC_FAILURE_EVENT_STRING;
+    case (12005):
+      return SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING;
     case (12100):
       return SANITIZATION_FAILED_STRING;
     case (12101):
       return MOUNTED_SD_CARD_STRING;
-    case (12200):
-      return UPDATE_FILE_NOT_EXISTS_STRING;
-    case (12201):
-      return ACTION_COMMANDING_FAILED_STRING;
-    case (12202):
-      return UPDATE_AVAILABLE_FAILED_STRING;
-    case (12203):
-      return UPDATE_TRANSFER_FAILED_STRING;
-    case (12204):
-      return UPDATE_VERIFY_FAILED_STRING;
-    case (12205):
-      return UPDATE_FINISHED_STRING;
     case (12300):
       return SEND_MRAM_DUMP_FAILED_STRING;
     case (12301):
@@ -485,23 +508,23 @@ const char *translateEvents(Event event) {
     case (12601):
       return MPSOC_FLASH_WRITE_SUCCESSFUL_STRING;
     case (12602):
-      return SENDING_COMMAND_FAILED_STRING;
+      return MPSOC_SENDING_COMMAND_FAILED_STRING;
     case (12603):
       return MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING;
     case (12604):
       return MPSOC_HELPER_READING_REPLY_FAILED_STRING;
     case (12605):
-      return MISSING_ACK_STRING;
+      return MPSOC_MISSING_ACK_STRING;
     case (12606):
-      return MISSING_EXE_STRING;
+      return MPSOC_MISSING_EXE_STRING;
     case (12607):
-      return ACK_FAILURE_REPORT_STRING;
+      return MPSOC_ACK_FAILURE_REPORT_STRING;
     case (12608):
-      return EXE_FAILURE_REPORT_STRING;
+      return MPSOC_EXE_FAILURE_REPORT_STRING;
     case (12609):
-      return ACK_INVALID_APID_STRING;
+      return MPSOC_ACK_INVALID_APID_STRING;
     case (12610):
-      return EXE_INVALID_APID_STRING;
+      return MPSOC_EXE_INVALID_APID_STRING;
     case (12611):
       return MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING;
     case (12700):
@@ -547,12 +570,52 @@ const char *translateEvents(Event event) {
     case (13202):
       return BATT_MODE_CHANGED_STRING;
     case (13600):
-      return ALLOC_FAILURE_STRING;
+      return SUPV_UPDATE_FAILED_STRING;
     case (13601):
-      return REBOOT_SW_STRING;
+      return SUPV_UPDATE_SUCCESSFUL_STRING;
     case (13602):
-      return REBOOT_MECHANISM_TRIGGERED_STRING;
+      return SUPV_CONTINUE_UPDATE_FAILED_STRING;
     case (13603):
+      return SUPV_CONTINUE_UPDATE_SUCCESSFUL_STRING;
+    case (13604):
+      return TERMINATED_UPDATE_PROCEDURE_STRING;
+    case (13605):
+      return SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL_STRING;
+    case (13606):
+      return SUPV_EVENT_BUFFER_REQUEST_FAILED_STRING;
+    case (13607):
+      return SUPV_EVENT_BUFFER_REQUEST_TERMINATED_STRING;
+    case (13608):
+      return SUPV_SENDING_COMMAND_FAILED_STRING;
+    case (13609):
+      return SUPV_HELPER_REQUESTING_REPLY_FAILED_STRING;
+    case (13610):
+      return SUPV_HELPER_READING_REPLY_FAILED_STRING;
+    case (13611):
+      return SUPV_MISSING_ACK_STRING;
+    case (13612):
+      return SUPV_MISSING_EXE_STRING;
+    case (13613):
+      return SUPV_ACK_FAILURE_REPORT_STRING;
+    case (13614):
+      return SUPV_EXE_FAILURE_REPORT_STRING;
+    case (13615):
+      return SUPV_ACK_INVALID_APID_STRING;
+    case (13616):
+      return SUPV_EXE_INVALID_APID_STRING;
+    case (13617):
+      return ACK_RECEPTION_FAILURE_STRING;
+    case (13618):
+      return EXE_RECEPTION_FAILURE_STRING;
+    case (13619):
+      return WRITE_MEMORY_FAILED_STRING;
+    case (13700):
+      return ALLOC_FAILURE_STRING;
+    case (13701):
+      return REBOOT_SW_STRING;
+    case (13702):
+      return REBOOT_MECHANISM_TRIGGERED_STRING;
+    case (13703):
       return REBOOT_HW_STRING;
     default:
       return "UNKNOWN_EVENT";
diff --git a/generators/fsfwgen b/generators/fsfwgen
index 5ad9fb94..169ad98c 160000
--- a/generators/fsfwgen
+++ b/generators/fsfwgen
@@ -1 +1 @@
-Subproject commit 5ad9fb94af3312d29863527106396395f7b808a5
+Subproject commit 169ad98cdeebe3ccfd1b78938934496a20b6a294
diff --git a/generators/objects/translateObjects.cpp b/generators/objects/translateObjects.cpp
index 70904882..12ec5008 100644
--- a/generators/objects/translateObjects.cpp
+++ b/generators/objects/translateObjects.cpp
@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 117 translations.
- * Generated on: 2022-04-08 14:13:35
+ * Contains 131 translations.
+ * Generated on: 2022-05-25 18:41:13
  */
 #include "translateObjects.h"
 
@@ -12,18 +12,18 @@ const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
 const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
 const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
 const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER";
-const char *SUS_0_STRING = "SUS_0";
-const char *SUS_1_STRING = "SUS_1";
-const char *SUS_2_STRING = "SUS_2";
-const char *SUS_3_STRING = "SUS_3";
-const char *SUS_4_STRING = "SUS_4";
-const char *SUS_5_STRING = "SUS_5";
-const char *SUS_6_STRING = "SUS_6";
-const char *SUS_7_STRING = "SUS_7";
-const char *SUS_8_STRING = "SUS_8";
-const char *SUS_9_STRING = "SUS_9";
-const char *SUS_10_STRING = "SUS_10";
-const char *SUS_11_STRING = "SUS_11";
+const char *SUS_0_N_LOC_XFYFZM_PT_XF_STRING = "SUS_0_N_LOC_XFYFZM_PT_XF";
+const char *SUS_1_N_LOC_XBYFZM_PT_XB_STRING = "SUS_1_N_LOC_XBYFZM_PT_XB";
+const char *SUS_2_N_LOC_XFYBZB_PT_YB_STRING = "SUS_2_N_LOC_XFYBZB_PT_YB";
+const char *SUS_3_N_LOC_XFYBZF_PT_YF_STRING = "SUS_3_N_LOC_XFYBZF_PT_YF";
+const char *SUS_4_N_LOC_XMYFZF_PT_ZF_STRING = "SUS_4_N_LOC_XMYFZF_PT_ZF";
+const char *SUS_5_N_LOC_XFYMZB_PT_ZB_STRING = "SUS_5_N_LOC_XFYMZB_PT_ZB";
+const char *SUS_6_R_LOC_XFYBZM_PT_XF_STRING = "SUS_6_R_LOC_XFYBZM_PT_XF";
+const char *SUS_7_R_LOC_XBYBZM_PT_XB_STRING = "SUS_7_R_LOC_XBYBZM_PT_XB";
+const char *SUS_8_R_LOC_XBYBZB_PT_YB_STRING = "SUS_8_R_LOC_XBYBZB_PT_YB";
+const char *SUS_9_R_LOC_XBYBZB_PT_YF_STRING = "SUS_9_R_LOC_XBYBZB_PT_YF";
+const char *SUS_10_N_LOC_XMYBZF_PT_ZF_STRING = "SUS_10_N_LOC_XMYBZF_PT_ZF";
+const char *SUS_11_R_LOC_XBYMZB_PT_ZB_STRING = "SUS_11_R_LOC_XBYMZB_PT_ZB";
 const char *RW1_STRING = "RW1";
 const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER";
 const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER";
@@ -49,6 +49,8 @@ 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 *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
+const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
+const char *PTME_CONFIG_STRING = "PTME_CONFIG";
 const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
 const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
 const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
@@ -56,26 +58,28 @@ const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
 const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
 const char *TMP1075_HANDLER_1_STRING = "TMP1075_HANDLER_1";
 const char *TMP1075_HANDLER_2_STRING = "TMP1075_HANDLER_2";
-const char *RTD_IC_3_STRING = "RTD_IC_3";
-const char *RTD_IC_4_STRING = "RTD_IC_4";
-const char *RTD_IC_5_STRING = "RTD_IC_5";
-const char *RTD_IC_6_STRING = "RTD_IC_6";
-const char *RTD_IC_7_STRING = "RTD_IC_7";
-const char *RTD_IC_8_STRING = "RTD_IC_8";
-const char *RTD_IC_9_STRING = "RTD_IC_9";
-const char *RTD_IC_10_STRING = "RTD_IC_10";
-const char *RTD_IC_11_STRING = "RTD_IC_11";
-const char *RTD_IC_12_STRING = "RTD_IC_12";
-const char *RTD_IC_13_STRING = "RTD_IC_13";
-const char *RTD_IC_14_STRING = "RTD_IC_14";
-const char *RTD_IC_15_STRING = "RTD_IC_15";
-const char *RTD_IC_16_STRING = "RTD_IC_16";
-const char *RTD_IC_17_STRING = "RTD_IC_17";
-const char *RTD_IC_18_STRING = "RTD_IC_18";
+const char *RTD_0_IC3_PLOC_HEATSPREADER_STRING = "RTD_0_IC3_PLOC_HEATSPREADER";
+const char *RTD_1_IC4_PLOC_MISSIONBOARD_STRING = "RTD_1_IC4_PLOC_MISSIONBOARD";
+const char *RTD_2_IC5_4K_CAMERA_STRING = "RTD_2_IC5_4K_CAMERA";
+const char *RTD_3_IC6_DAC_HEATSPREADER_STRING = "RTD_3_IC6_DAC_HEATSPREADER";
+const char *RTD_4_IC7_STARTRACKER_STRING = "RTD_4_IC7_STARTRACKER";
+const char *RTD_5_IC8_RW1_MX_MY_STRING = "RTD_5_IC8_RW1_MX_MY";
+const char *RTD_6_IC9_DRO_STRING = "RTD_6_IC9_DRO";
+const char *RTD_7_IC10_SCEX_STRING = "RTD_7_IC10_SCEX";
+const char *RTD_8_IC11_X8_STRING = "RTD_8_IC11_X8";
+const char *RTD_9_IC12_HPA_STRING = "RTD_9_IC12_HPA";
+const char *RTD_10_IC13_PL_TX_STRING = "RTD_10_IC13_PL_TX";
+const char *RTD_11_IC14_MPA_STRING = "RTD_11_IC14_MPA";
+const char *RTD_12_IC15_ACU_STRING = "RTD_12_IC15_ACU";
+const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPREADER";
+const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
+const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
 const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
-const char *SPI_COM_IF_STRING = "SPI_COM_IF";
+const char *SPI_MAIN_COM_IF_STRING = "SPI_MAIN_COM_IF";
+const char *SPI_RW_COM_IF_STRING = "SPI_RW_COM_IF";
+const char *SPI_RTD_COM_IF_STRING = "SPI_RTD_COM_IF";
 const char *UART_COM_IF_STRING = "UART_COM_IF";
 const char *I2C_COM_IF_STRING = "I2C_COM_IF";
 const char *CSP_COM_IF_STRING = "CSP_COM_IF";
@@ -96,6 +100,7 @@ const char *PUS_SERVICE_3_HOUSEKEEPING_STRING = "PUS_SERVICE_3_HOUSEKEEPING";
 const char *PUS_SERVICE_5_EVENT_REPORTING_STRING = "PUS_SERVICE_5_EVENT_REPORTING";
 const char *PUS_SERVICE_8_FUNCTION_MGMT_STRING = "PUS_SERVICE_8_FUNCTION_MGMT";
 const char *PUS_SERVICE_9_TIME_MGMT_STRING = "PUS_SERVICE_9_TIME_MGMT";
+const char *PUS_SERVICE_11_TC_SCHEDULER_STRING = "PUS_SERVICE_11_TC_SCHEDULER";
 const char *PUS_SERVICE_17_TEST_STRING = "PUS_SERVICE_17_TEST";
 const char *PUS_SERVICE_20_PARAMETERS_STRING = "PUS_SERVICE_20_PARAMETERS";
 const char *PUS_SERVICE_200_MODE_MGMT_STRING = "PUS_SERVICE_200_MODE_MGMT";
@@ -117,9 +122,18 @@ const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
 const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
 const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
 const char *TEST_TASK_STRING = "TEST_TASK";
+const char *HEATER_0_PLOC_PROC_BRD_STRING = "HEATER_0_PLOC_PROC_BRD";
+const char *HEATER_1_PCDU_BRD_STRING = "HEATER_1_PCDU_BRD";
+const char *HEATER_2_ACS_BRD_STRING = "HEATER_2_ACS_BRD";
+const char *HEATER_3_OBC_BRD_STRING = "HEATER_3_OBC_BRD";
+const char *HEATER_4_CAMERA_STRING = "HEATER_4_CAMERA";
+const char *HEATER_5_STR_STRING = "HEATER_5_STR";
+const char *HEATER_6_DRO_STRING = "HEATER_6_DRO";
+const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
 const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
 const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
 const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
+const char *RW_ASS_STRING = "RW_ASS";
 const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
@@ -139,29 +153,29 @@ const char *translateObject(object_id_t object) {
     case 0x44120010:
       return GYRO_0_ADIS_HANDLER_STRING;
     case 0x44120032:
-      return SUS_0_STRING;
+      return SUS_0_N_LOC_XFYFZM_PT_XF_STRING;
     case 0x44120033:
-      return SUS_1_STRING;
+      return SUS_1_N_LOC_XBYFZM_PT_XB_STRING;
     case 0x44120034:
-      return SUS_2_STRING;
+      return SUS_2_N_LOC_XFYBZB_PT_YB_STRING;
     case 0x44120035:
-      return SUS_3_STRING;
+      return SUS_3_N_LOC_XFYBZF_PT_YF_STRING;
     case 0x44120036:
-      return SUS_4_STRING;
+      return SUS_4_N_LOC_XMYFZF_PT_ZF_STRING;
     case 0x44120037:
-      return SUS_5_STRING;
+      return SUS_5_N_LOC_XFYMZB_PT_ZB_STRING;
     case 0x44120038:
-      return SUS_6_STRING;
+      return SUS_6_R_LOC_XFYBZM_PT_XF_STRING;
     case 0x44120039:
-      return SUS_7_STRING;
+      return SUS_7_R_LOC_XBYBZM_PT_XB_STRING;
     case 0x44120040:
-      return SUS_8_STRING;
+      return SUS_8_R_LOC_XBYBZB_PT_YB_STRING;
     case 0x44120041:
-      return SUS_9_STRING;
+      return SUS_9_R_LOC_XBYBZB_PT_YF_STRING;
     case 0x44120042:
-      return SUS_10_STRING;
+      return SUS_10_N_LOC_XMYBZF_PT_ZF_STRING;
     case 0x44120043:
-      return SUS_11_STRING;
+      return SUS_11_R_LOC_XBYMZB_PT_ZB_STRING;
     case 0x44120047:
       return RW1_STRING;
     case 0x44120107:
@@ -212,6 +226,10 @@ const char *translateObject(object_id_t object) {
       return STR_HELPER_STRING;
     case 0x44330003:
       return PLOC_MPSOC_HELPER_STRING;
+    case 0x44330004:
+      return AXI_PTME_CONFIG_STRING;
+    case 0x44330005:
+      return PTME_CONFIG_STRING;
     case 0x44330015:
       return PLOC_MPSOC_HANDLER_STRING;
     case 0x44330016:
@@ -227,37 +245,37 @@ const char *translateObject(object_id_t object) {
     case 0x44420005:
       return TMP1075_HANDLER_2_STRING;
     case 0x44420016:
-      return RTD_IC_3_STRING;
+      return RTD_0_IC3_PLOC_HEATSPREADER_STRING;
     case 0x44420017:
-      return RTD_IC_4_STRING;
+      return RTD_1_IC4_PLOC_MISSIONBOARD_STRING;
     case 0x44420018:
-      return RTD_IC_5_STRING;
+      return RTD_2_IC5_4K_CAMERA_STRING;
     case 0x44420019:
-      return RTD_IC_6_STRING;
+      return RTD_3_IC6_DAC_HEATSPREADER_STRING;
     case 0x44420020:
-      return RTD_IC_7_STRING;
+      return RTD_4_IC7_STARTRACKER_STRING;
     case 0x44420021:
-      return RTD_IC_8_STRING;
+      return RTD_5_IC8_RW1_MX_MY_STRING;
     case 0x44420022:
-      return RTD_IC_9_STRING;
+      return RTD_6_IC9_DRO_STRING;
     case 0x44420023:
-      return RTD_IC_10_STRING;
+      return RTD_7_IC10_SCEX_STRING;
     case 0x44420024:
-      return RTD_IC_11_STRING;
+      return RTD_8_IC11_X8_STRING;
     case 0x44420025:
-      return RTD_IC_12_STRING;
+      return RTD_9_IC12_HPA_STRING;
     case 0x44420026:
-      return RTD_IC_13_STRING;
+      return RTD_10_IC13_PL_TX_STRING;
     case 0x44420027:
-      return RTD_IC_14_STRING;
+      return RTD_11_IC14_MPA_STRING;
     case 0x44420028:
-      return RTD_IC_15_STRING;
+      return RTD_12_IC15_ACU_STRING;
     case 0x44420029:
-      return RTD_IC_16_STRING;
+      return RTD_13_IC16_PLPCDU_HEATSPREADER_STRING;
     case 0x44420030:
-      return RTD_IC_17_STRING;
+      return RTD_14_IC17_TCS_BOARD_STRING;
     case 0x44420031:
-      return RTD_IC_18_STRING;
+      return RTD_15_IC18_IMTQ_STRING;
     case 0x445300A3:
       return SYRLINKS_HK_HANDLER_STRING;
     case 0x49000000:
@@ -265,7 +283,11 @@ const char *translateObject(object_id_t object) {
     case 0x49010005:
       return GPIO_IF_STRING;
     case 0x49020004:
-      return SPI_COM_IF_STRING;
+      return SPI_MAIN_COM_IF_STRING;
+    case 0x49020005:
+      return SPI_RW_COM_IF_STRING;
+    case 0x49020006:
+      return SPI_RTD_COM_IF_STRING;
     case 0x49030003:
       return UART_COM_IF_STRING;
     case 0x49040002:
@@ -306,6 +328,8 @@ const char *translateObject(object_id_t object) {
       return PUS_SERVICE_8_FUNCTION_MGMT_STRING;
     case 0x53000009:
       return PUS_SERVICE_9_TIME_MGMT_STRING;
+    case 0x53000011:
+      return PUS_SERVICE_11_TC_SCHEDULER_STRING;
     case 0x53000017:
       return PUS_SERVICE_17_TEST_STRING;
     case 0x53000020:
@@ -348,12 +372,30 @@ const char *translateObject(object_id_t object) {
       return LIBGPIOD_TEST_STRING;
     case 0x54694269:
       return TEST_TASK_STRING;
+    case 0x60000000:
+      return HEATER_0_PLOC_PROC_BRD_STRING;
+    case 0x60000001:
+      return HEATER_1_PCDU_BRD_STRING;
+    case 0x60000002:
+      return HEATER_2_ACS_BRD_STRING;
+    case 0x60000003:
+      return HEATER_3_OBC_BRD_STRING;
+    case 0x60000004:
+      return HEATER_4_CAMERA_STRING;
+    case 0x60000005:
+      return HEATER_5_STR_STRING;
+    case 0x60000006:
+      return HEATER_6_DRO_STRING;
+    case 0x60000007:
+      return HEATER_7_HPA_STRING;
     case 0x73000001:
       return ACS_BOARD_ASS_STRING;
     case 0x73000002:
       return SUS_BOARD_ASS_STRING;
     case 0x73000003:
       return TCS_BOARD_ASS_STRING;
+    case 0x73000004:
+      return RW_ASS_STRING;
     case 0x73000100:
       return TM_FUNNEL_STRING;
     case 0x73500000:
diff --git a/generators/system/__init__.py b/generators/system/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/generators/system/eive-system.yml b/generators/system/eive-system.yml
new file mode 100644
index 00000000..001668a6
--- /dev/null
+++ b/generators/system/eive-system.yml
@@ -0,0 +1,464 @@
+# nml -> normal
+# brd -> board
+# ss -> subsystem
+# ass -> assembly
+# ctrl -> controller
+# dh -> device handler
+# dft -> default
+# All uppermost system components are automatically subsystems
+system:
+  eps:
+    pcdu:
+      id: 0x442000a1
+    acu:
+      id: 0x44250003
+    pdu1:
+      id: 0x44250001
+    pdu2:
+      id: 0x44250002
+  tcs:
+    tcs-ctrl:
+    tcs-brd-ass:
+      id: 0x73000003
+  acs:
+    acs-brd-ass:
+      id: 0x73000001
+    sus-brd-ass:
+      id: 0x73000002
+    acs-ctrl:
+    rw:
+    mgt:
+    str:
+  payload:
+    scex-dh:
+    ploc-ss:
+    cam-switcher:
+    pl-pcdu-dh:
+  com:
+    syrlinks-dh:
+
+
+modes:
+  # If nothing is specified for a particular mode, use default configuration
+  default:
+    system:
+      # The power system is/should always be on. We can't even turn it off
+      eps: nml
+        pcdu: nml
+        acu: nml
+        pdu1: nml
+        pdu2: nml
+      tcs: nml
+        tcs-brd-ass: nml
+        tcs-ctrl: nml
+      payload: off
+        scex: off
+        ploc-ss: off
+        cam-ss: off
+        pl-pcdu-dh: off
+      com: nml
+        syrlinks-dh: nml
+      acs:
+        mgt: nml
+        acs-brd-ass: nml
+        sus-brd-ass: nml
+  detumble:
+    system:
+      acs: detumble
+        acs-ctrl: detumble
+        # Requires MGM and Gyros
+        rw: off
+        str: off
+  safe:
+    system:
+      acs: safe
+        acs-ctrl: safe
+        rw: off
+        str: off
+    submodes:
+      cold: 1
+      system:
+        # Inherit rest of mode table from default submode
+        tcs:
+          tcs-ctrl: heat
+  idle:
+    system:
+      acs: idle
+        acs-ctrl: idle
+        rw: nml
+        str: off
+    submodes:
+      charge: 1
+      system:
+        # Inherit rest of mode table from default submode
+        acs:
+          rw: off
+  target-gs:
+    system:
+      acs: target-pt
+        acs-ctrl: target-pt
+        rw: nml
+        str: nml
+  target-gs-pl-dac:
+    system:
+      acs: target-pt
+        acs-ctrl: target-pt
+        rw: nml
+        str: nml
+      payload: dac
+        cam-switcher: off
+        scex: off
+        ploc-ss: nml
+        pl-pcdu-dh: on
+  target-gs-pl-cam:
+    system:
+      acs: target-pt
+        acs-ctrl: target-pt
+        rw: nml
+        str: nml
+      payload: cam
+        cam-switcher: on
+        scex: off
+        ploc-ss: nml
+          submode: dac-off
+        pl-pcdu-dh: on
+  target-gs-pl-data:
+    system:
+      acs: target-pt
+        acs-ctrl: target-pt
+        rw: nml
+        str: nml
+      payload: pl-data
+        cam-switcher: off
+        scex: off
+        ploc-ss: nml
+          submode: dac-off
+        pl-pcdu-ss: on
+  earth-obsv:
+    acs: target-pt
+      acs-ctrl: target-pt
+      rw: nml
+      str: nml
+    payload: earth-obsv
+      cam-switcher: on
+      scex: off
+      ploc-ss: off
+      pl-pcdu-ss: off
+  scex:
+    acs: target-pt
+      acs-ctrl: target-pt
+      rw: nml
+      str: nml
+    payload: scex
+      cam-switcher: off
+      scex: on
+      ploc-ss: off
+      pl-pcdu-ss: off
+
+sequences:
+  default:
+  acs:
+    off:
+      fallback: none
+      seq-id: off
+      target:
+        name: off-target
+        tab-id: 0x61000000
+        modes: ignore
+      trans:
+        0:
+          name: off-trans
+          tab-id: 0x61000001
+          modes:
+            acs-ctrl: off
+            acs-brd-ass: off
+            sus-brd-ass: off
+            rw: off
+            mgt: off
+            str: off
+    detumble:
+      seq-id: 1
+      target:
+        name: detumble-target
+        tab-id: 0x61000100
+        modes:
+          acs-ctrl: detumble
+          mgt: nml
+          sus-brd-ass: nml
+          acs-brd-ass: nml
+          rw: ignore
+          str: ignore
+        trans:
+          0:
+            name: detumble-trans-0
+            tab-id: 0x61000101
+            modes:
+              acs-ctrl: ignore
+              mgt: nml
+              rw: off
+              str: off
+              sus-brd-ass: nml
+              acs-brd-ass: nml
+          1:
+            name: detumble-trans-1
+            tab-id: 0x61000102
+            modes:
+              acs-ctrl: detumble
+              mgt: ignore
+              acs-brd-ass: ignore
+              sus-brd-ass: ignore
+              rw: ignore
+              str: ignore
+    safe:
+      seq-id: 2
+      target:
+        name: safe-target
+        tab-id: 0x61000200
+        modes:
+          acs-ctrl: safe
+          mgt: nml
+          acs-brd-ass: nml
+          sus-brd-ass: nml
+          rw: ignore
+          str: ignore
+      trans:
+        0:
+          name: safe-trans-1
+          tab-id: 0x61000201
+          modes:
+            acs-ctrl: ignore
+            mgt: nml
+            acs-brd-ass: nml
+            sus-brd-ass: nml
+            rw: off
+            str: off
+        1:
+          name: safe-trans-2
+          tab-id: 0x61000202
+          modes:
+            acs-ctrl: safe
+            mgt: ignore
+            acs-brd-ass: ignore
+            sus-brd-ass: ignore
+            rw: ignore
+            str: ignore
+    idle:
+      seq-id: 3
+      target:
+        name: idle-target
+        tab-id: 0x61000300
+        modes:
+          acs-ctrl: idle
+          mgt: nml
+          acs-brd-ass: nml
+          sus-brd-ass: nml
+          rw: nml
+          str: ignore
+      trans:
+        0:
+          name: idle-trans-0
+          tab-id: 0x61000301
+          modes:
+            acs-ctrl: ignore
+            mgt: nml
+            acs-brd-ass: nml
+            sus-brd-ass: nml
+            rw: nml
+            str: off
+        1:
+          name: idle-trans-1
+          tab-id: 0x61000302
+          modes:
+            acs-ctrl: idle
+            mgt: ignore
+            acs-brd-ass: ignore
+            sus-brd-ass: ignore
+            rw: ignore
+            str: ignore
+    idle-charge:
+      derive: idle
+      seq-id: 4
+      target:
+        name: idle-charge-target
+        tab-id: 0x61000400
+        modes:
+          acs-ctrl: idle
+            submode: charge
+      trans:
+        0:
+          name: idle-charge-trans-0
+          tab-id: 0x61000401
+          modes:
+            rw: off
+        1:
+          name: idle-charge-trans-1
+          tab-id: 0x61000402
+          modes:
+            acs-ctrl: idle
+              submode: charge
+    target-pt:
+      seq-id: 5
+      target:
+        name: target-pt-target
+        tab-id: 0x61000500
+        modes:
+          acs-ctrl: target-pt
+          mgt: nml
+          acs-brd-ass: nml
+          sus-brd-ass: nml
+          rw: nml
+          str: nml
+      trans:
+        0:
+          name: target-pt-trans-0
+          tab-id: 0x61000501
+          modes:
+            acs-ctrl: ignore
+            mgt: nml
+            acs-brd-ass: nml
+            sus-brd-ass: nml
+            rw: nml
+            str: nml
+        1:
+          name: target-pt-trans-1
+          tab-id: 0x61000502
+          modes:
+            acs-ctrl: target-pt
+            mgt: ignore
+            acs-brd-ass: ignore
+            sus-brd-ass: ignore
+            rw: ignore
+            str: ignore
+  payload:
+    off:
+      seq-id: 0
+      target:
+        name: off-target
+        tab-id: 0x70000000
+        modes: ignore
+      trans:
+        0:
+          name: off-trans-0
+          tab-id: 0x70000001
+          modes:
+            ploc-switcher: off
+            cam-switcher: off
+            scex-dh: off
+            ploc-ss: off
+            pl-pcdu-dh: off
+    dac:
+      seq-id: 1
+      target:
+        name: target-dac
+        tab-id: 0x70000100
+        modes:
+          ploc-switcher: on
+          cam-switcher: off
+          scex-dh: off
+          ploc-ss: dac
+          pl-pcdu-dh: nml
+            submode: all-on
+      trans:
+        0:
+          name: dac-trans-0
+          tab-id: 0x70000101
+          modes:
+            ploc-switcher: on
+            cam-switcher: off
+            scex-dh: off
+            ploc-ss: on
+              submode: dac-on
+            pl-pcdu-dh: ignore
+    cam:
+      seq-id: 2
+      target:
+        name: target-cam
+        tab-id: 0x70000200
+        modes:
+          ploc-switcher: on
+          cam-switcher: on
+          scex-dh: off
+          ploc-ss: on
+            submode: dac-off
+          pl-pcdu-dh: nml
+            submode: all-on
+      trans:
+        0:
+          name: cam-trans-0
+          tab-id: 0x70000201
+          modes:
+            ploc-switcher: on
+            cam-switcher: off
+            scex-dh: off
+            ploc-ss: on
+              submode: dac-off
+            pl-pcdu-dh: ignore
+    pl-data:
+      seq-id: 3
+      target:
+        name: target-pl-data
+        tab-id: 0x70000300
+        modes:
+          ploc-switcher: on
+          cam-switcher: off
+          scex-dh: off
+          ploc-ss: on
+            submode: dac-off
+          pl-pcdu-dh: nml
+            submode: all-on
+    earth-obsv:
+      seq-id: 4
+      target:
+        name: target-earth-obsv
+        tab-id: 0x70000400
+        modes:
+          ploc-switcher: on
+          cam-switcher: on
+          scex-dh: off
+          ploc-ss: on
+            submode: dac-off
+          pl-pcdu-dh: off
+      trans:
+        0:
+          name: trans-earth-obsv-0
+          tab-id: 0x70000401
+          modes:
+            ploc-switcher: on
+            cam-switcher: on
+            scex-dh: off
+            ploc-ss: on
+              submode: dac-off
+            pl-pcdu-dh: off
+    scex:
+      seq-id: 4
+      target: scex
+        name: target-scex
+        tab-id: 0x70000500
+        modes:
+          ploc-switcher: off
+          cam-switcher: off
+          scex-dh: on
+          ploc-ss: off
+          pl-pcdu-dh: off
+      trans:
+        0:
+          name: trans-scex-0
+          tab-id: 0x70000501
+          modes:
+            ploc-switcher: off
+            cam-switcher: off
+            scex-dh: on
+            ploc-ss: off
+            pl-pcdu-dh: off
+  system:
+    detumble:
+      seq-id: 0
+      target:
+        name: target-detumble
+        tab-id: 0x73000000
+        modes:
+          acs: detumble
+          tcs: nml
+          com: nml
+          payload: ignore
+          eps: nml
\ No newline at end of file
diff --git a/linux/CMakeLists.txt b/linux/CMakeLists.txt
index c183ea60..e1d80966 100644
--- a/linux/CMakeLists.txt
+++ b/linux/CMakeLists.txt
@@ -6,6 +6,4 @@ add_subdirectory(devices)
 add_subdirectory(fsfwconfig)
 add_subdirectory(obc)
 
-target_sources(${OBSW_NAME} PUBLIC
-    ObjectFactory.cpp
-)
\ No newline at end of file
+target_sources(${OBSW_NAME} PUBLIC ObjectFactory.cpp)
diff --git a/linux/ObjectFactory.cpp b/linux/ObjectFactory.cpp
index 23311229..f84cf52f 100644
--- a/linux/ObjectFactory.cpp
+++ b/linux/ObjectFactory.cpp
@@ -7,6 +7,8 @@
 #include <fsfw_hal/linux/spi/SpiComIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
 #include <linux/callbacks/gpioCallbacks.h>
+#include <linux/devices/Max31865RtdLowlevelHandler.h>
+#include <mission/devices/Max31865EiveHandler.h>
 #include <mission/devices/Max31865PT1000Handler.h>
 #include <mission/devices/SusHandler.h>
 #include <mission/system/SusAssembly.h>
@@ -62,93 +64,104 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
   gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
 
-  gpioComIF->addGpios(gpioCookieSus);
+  gpioChecker(gpioComIF->addGpios(gpioCookieSus), "Sun Sensors");
 
 #if OBSW_ADD_SUN_SENSORS == 1
   SusFdir* fdir = nullptr;
   std::array<SusHandler*, 12> susHandlers = {};
-  SpiCookie* spiCookie =
-      new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, spiDev, SUS::MAX_CMD_SIZE,
-                    spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[0] = new SusHandler(objects::SUS_0, 0, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_0);
+  SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE,
+                                       spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[0] =
+      new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
   susHandlers[0]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[0]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[1] = new SusHandler(objects::SUS_1, 1, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_1);
+  susHandlers[1] =
+      new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
   susHandlers[1]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[1]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[2] = new SusHandler(objects::SUS_2, 2, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_2);
+  susHandlers[2] =
+      new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
   susHandlers[2]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[2]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[3] = new SusHandler(objects::SUS_3, 3, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_3);
+  susHandlers[3] =
+      new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
   susHandlers[3]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[3]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[4] = new SusHandler(objects::SUS_4, 4, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_4);
+  susHandlers[4] =
+      new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
   susHandlers[4]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[4]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[5] = new SusHandler(objects::SUS_5, 5, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_5);
+  susHandlers[5] =
+      new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
   susHandlers[5]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[5]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[6] = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_6);
+  susHandlers[6] =
+      new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
   susHandlers[6]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[6]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[7] = new SusHandler(objects::SUS_7, 7, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_7);
+  susHandlers[7] =
+      new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
   susHandlers[7]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[7]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[8] = new SusHandler(objects::SUS_8, 8, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_8);
+  susHandlers[8] =
+      new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
   susHandlers[8]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[8]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[9] = new SusHandler(objects::SUS_9, 9, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_9);
+  susHandlers[9] =
+      new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
   susHandlers[9]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[9]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[10] = new SusHandler(objects::SUS_10, 10, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_10);
+  susHandlers[10] =
+      new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
   susHandlers[10]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[10]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[11] = new SusHandler(objects::SUS_11, 11, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_11);
+  susHandlers[11] =
+      new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
   susHandlers[11]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[11]->setCustomFdir(fdir);
 
@@ -163,10 +176,13 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 #endif
     }
   }
-  std::array<object_id_t, 12> susIds = {objects::SUS_0, objects::SUS_1,  objects::SUS_2,
-                                        objects::SUS_3, objects::SUS_4,  objects::SUS_5,
-                                        objects::SUS_6, objects::SUS_7,  objects::SUS_8,
-                                        objects::SUS_9, objects::SUS_10, objects::SUS_11};
+  std::array<object_id_t, 12> susIds = {
+      objects::SUS_0_N_LOC_XFYFZM_PT_XF,  objects::SUS_1_N_LOC_XBYFZM_PT_XB,
+      objects::SUS_2_N_LOC_XFYBZB_PT_YB,  objects::SUS_3_N_LOC_XFYBZF_PT_YF,
+      objects::SUS_4_N_LOC_XMYFZF_PT_ZF,  objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+      objects::SUS_6_R_LOC_XFYBZM_PT_XF,  objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+      objects::SUS_8_R_LOC_XBYBZB_PT_YB,  objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+      objects::SUS_10_N_LOC_XMYBZF_PT_ZF, objects::SUS_11_R_LOC_XBYMZB_PT_ZB};
   SusAssHelper susAssHelper = SusAssHelper(susIds);
   auto susAss =
       new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper);
@@ -175,7 +191,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 }
 
 void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
-                                        PowerSwitchIF* pwrSwitcher) {
+                                        PowerSwitchIF* pwrSwitcher, SpiComIF* comIF) {
   using namespace gpio;
   GpioCookie* rtdGpioCookie = new GpioCookie;
 
@@ -228,11 +244,11 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
                                                &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
   rtdGpioCookie->addGpio(gpioIds::RTD_IC_18, gpioRtdIc15);
 
-  gpioComIF->addGpios(rtdGpioCookie);
+  gpioChecker(gpioComIF->addGpios(rtdGpioCookie), "RTDs");
 
 #if OBSW_ADD_RTD_DEVICES == 1
-  static constexpr uint8_t NUMBER_RTDS = 16;
-  std::array<std::pair<address_t, gpioId_t>, NUMBER_RTDS> cookieArgs = {{
+  using namespace EiveMax31855;
+  std::array<std::pair<address_t, gpioId_t>, NUM_RTDS> cookieArgs = {{
       {addresses::RTD_IC_3, gpioIds::RTD_IC_3},
       {addresses::RTD_IC_4, gpioIds::RTD_IC_4},
       {addresses::RTD_IC_5, gpioIds::RTD_IC_5},
@@ -250,40 +266,61 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
       {addresses::RTD_IC_17, gpioIds::RTD_IC_17},
       {addresses::RTD_IC_18, gpioIds::RTD_IC_18},
   }};
-  std::array<object_id_t, NUMBER_RTDS> rtdIds = {
-      objects::RTD_IC_3,  objects::RTD_IC_4,  objects::RTD_IC_5,  objects::RTD_IC_6,
-      objects::RTD_IC_7,  objects::RTD_IC_8,  objects::RTD_IC_9,  objects::RTD_IC_10,
-      objects::RTD_IC_11, objects::RTD_IC_12, objects::RTD_IC_13, objects::RTD_IC_14,
-      objects::RTD_IC_15, objects::RTD_IC_16, objects::RTD_IC_17, objects::RTD_IC_18};
-  std::array<SpiCookie*, NUMBER_RTDS> rtdCookies = {};
-  std::array<Max31865PT1000Handler*, NUMBER_RTDS> rtds = {};
+  // HSPD: Heatspreader
+  std::array<std::pair<object_id_t, std::string>, NUM_RTDS> rtdInfos = {{
+      {objects::RTD_0_IC3_PLOC_HEATSPREADER, "RTD_0_PLOC_HSPD"},
+      {objects::RTD_1_IC4_PLOC_MISSIONBOARD, "RTD_1_PLOC_MISSIONBRD"},
+      {objects::RTD_2_IC5_4K_CAMERA, "RTD_2_4K_CAMERA"},
+      {objects::RTD_3_IC6_DAC_HEATSPREADER, "RTD_3_DAC_HSPD"},
+      {objects::RTD_4_IC7_STARTRACKER, "RTD_4_STARTRACKER"},
+      {objects::RTD_5_IC8_RW1_MX_MY, "RTD_5_RW1_MX_MY"},
+      {objects::RTD_6_IC9_DRO, "RTD_6_DRO"},
+      {objects::RTD_7_IC10_SCEX, "RTD_7_SCEX"},
+      {objects::RTD_8_IC11_X8, "RTD_8_X8"},
+      {objects::RTD_9_IC12_HPA, "RTD_9_HPA"},
+      {objects::RTD_10_IC13_PL_TX, "RTD_10_PL_TX,"},
+      {objects::RTD_11_IC14_MPA, "RTD_11_MPA"},
+      {objects::RTD_12_IC15_ACU, "RTD_12_ACU"},
+      {objects::RTD_13_IC16_PLPCDU_HEATSPREADER, "RTD_13_PLPCDU_HSPD"},
+      {objects::RTD_14_IC17_TCS_BOARD, "RTD_14_TCS_BOARD"},
+      {objects::RTD_15_IC18_IMTQ, "RTD_15_IMTQ"},
+  }};
+  std::array<SpiCookie*, NUM_RTDS> rtdCookies = {};
+  std::array<Max31865EiveHandler*, NUM_RTDS> rtds = {};
   RtdFdir* rtdFdir = nullptr;
-  for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
-    rtdCookies[idx] =
-        new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second, spiDev,
-                      Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
-    rtds[idx] = new Max31865PT1000Handler(rtdIds[idx], objects::SPI_COM_IF, rtdCookies[idx]);
+  // Create special low level reader communication interface
+  new Max31865RtdReader(objects::SPI_RTD_COM_IF, comIF, gpioComIF);
+  for (uint8_t idx = 0; idx < NUM_RTDS; idx++) {
+    rtdCookies[idx] = new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second,
+                                    MAX31865::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
+    rtdCookies[idx]->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RTD_CS_TIMEOUT);
+    Max31865ReaderCookie* rtdLowLevelCookie =
+        new Max31865ReaderCookie(rtdInfos[idx].first, idx, rtdInfos[idx].second, rtdCookies[idx]);
+    rtds[idx] =
+        new Max31865EiveHandler(rtdInfos[idx].first, objects::SPI_RTD_COM_IF, rtdLowLevelCookie);
+    rtds[idx]->setDeviceInfo(idx, rtdInfos[idx].second);
     rtds[idx]->setParent(objects::TCS_BOARD_ASS);
-    rtdFdir = new RtdFdir(rtdIds[idx]);
+    rtdFdir = new RtdFdir(rtdInfos[idx].first);
     rtds[idx]->setCustomFdir(rtdFdir);
-    rtds[idx]->setDeviceIdx(idx + 3);
 #if OBSW_DEBUG_RTD == 1
-    rtds[idx]->setDebugMode(true);
+    rtds[idx]->setDebugMode(true, 5);
+#endif
+#if OBSW_TEST_RTD == 1
+    rtds[idx]->setInstantNormal(true);
+    rtds[idx]->setStartUpImmediately();
 #endif
   }
 
-#if OBSW_TEST_RTD == 1
-  for (auto& rtd : rtds) {
-    if (rtd != nullptr) {
-      rtd->setStartUpImmediately();
-      rtd->setInstantNormal(true);
-    }
-  }
-#endif  // OBSW_TEST_RTD == 1
-  TcsBoardHelper helper(rtdIds);
+  TcsBoardHelper helper(rtdInfos);
   TcsBoardAssembly* tcsBoardAss =
       new TcsBoardAssembly(objects::TCS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
                            pcdu::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
   static_cast<void>(tcsBoardAss);
 #endif  // OBSW_ADD_RTD_DEVICES == 1
 }
+
+void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "ObjectFactory: Adding GPIOs failed for " << output << std::endl;
+  }
+}
diff --git a/linux/ObjectFactory.h b/linux/ObjectFactory.h
index d918115f..a5642729 100644
--- a/linux/ObjectFactory.h
+++ b/linux/ObjectFactory.h
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
 #include <string>
 
 class GpioIF;
@@ -10,6 +12,9 @@ namespace ObjectFactory {
 
 void createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF, PowerSwitchIF* pwrSwitcher,
                                std::string spiDev);
-void createRtdComponents(std::string spiDev, GpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
+void createRtdComponents(std::string spiDev, GpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher,
+                         SpiComIF* comIF);
+
+void gpioChecker(ReturnValue_t result, std::string output);
 
 }  // namespace ObjectFactory
diff --git a/linux/boardtest/CMakeLists.txt b/linux/boardtest/CMakeLists.txt
index 1fa4b290..0ec55120 100644
--- a/linux/boardtest/CMakeLists.txt
+++ b/linux/boardtest/CMakeLists.txt
@@ -1,10 +1,2 @@
-target_sources(${OBSW_NAME} PRIVATE
-	LibgpiodTest.cpp
-	I2cTestClass.cpp
-	SpiTestClass.cpp
-	UartTestClass.cpp
-)
-
-
-
-
+target_sources(${OBSW_NAME} PRIVATE LibgpiodTest.cpp I2cTestClass.cpp
+                                    SpiTestClass.cpp UartTestClass.cpp)
diff --git a/linux/boardtest/LibgpiodTest.cpp b/linux/boardtest/LibgpiodTest.cpp
index 0c5ebe2a..66e26e3b 100644
--- a/linux/boardtest/LibgpiodTest.cpp
+++ b/linux/boardtest/LibgpiodTest.cpp
@@ -19,18 +19,18 @@ LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId, Gpi
 LibgpiodTest::~LibgpiodTest() {}
 
 ReturnValue_t LibgpiodTest::performPeriodicAction() {
-  int gpioState;
+  gpio::Levels gpioState;
   ReturnValue_t result;
 
   switch (testCase) {
     case (TestCases::READ): {
-      result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState);
+      result = gpioInterface->readGpio(gpioIds::TEST_ID_0, gpioState);
       if (result != RETURN_OK) {
         sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " << std::endl;
         return RETURN_FAILED;
       } else {
-        sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " << gpioState
-                   << std::endl;
+        sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = "
+                   << static_cast<int>(gpioState) << std::endl;
       }
       break;
     }
@@ -38,19 +38,19 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() {
       break;
     }
     case (TestCases::BLINK): {
-      result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState);
+      result = gpioInterface->readGpio(gpioIds::TEST_ID_0, gpioState);
       if (result != HasReturnvaluesIF::RETURN_OK) {
         sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " << std::endl;
         return RETURN_FAILED;
       }
-      if (gpioState == 1) {
+      if (gpioState == gpio::Levels::HIGH) {
         result = gpioInterface->pullLow(gpioIds::TEST_ID_0);
         if (result != HasReturnvaluesIF::RETURN_OK) {
           sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO low!"
                        << std::endl;
           return HasReturnvaluesIF::RETURN_FAILED;
         }
-      } else if (gpioState == 0) {
+      } else if (gpioState == gpio::Levels::LOW) {
         result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
         if (result != HasReturnvaluesIF::RETURN_OK) {
           sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO high!"
@@ -72,7 +72,7 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() {
 }
 
 ReturnValue_t LibgpiodTest::performOneShotAction() {
-  int gpioState;
+  gpio::Levels gpioState;
   ReturnValue_t result;
 
   switch (testCase) {
@@ -93,8 +93,8 @@ ReturnValue_t LibgpiodTest::performOneShotAction() {
                      << std::endl;
         return HasReturnvaluesIF::RETURN_OK;
       }
-      result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState);
-      if (result == HasReturnvaluesIF::RETURN_OK and gpioState == 1) {
+      result = gpioInterface->readGpio(gpioIds::TEST_ID_1, gpioState);
+      if (result == HasReturnvaluesIF::RETURN_OK and gpioState == gpio::Levels::HIGH) {
         sif::info << "LibgpiodTest::performOneShotAction: "
                      "GPIO state read successfully and is high"
                   << std::endl;
@@ -110,8 +110,8 @@ ReturnValue_t LibgpiodTest::performOneShotAction() {
                      "GPIO pulled low successfully for loopback test"
                   << std::endl;
       }
-      result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState);
-      if (result == HasReturnvaluesIF::RETURN_OK and gpioState == 0) {
+      result = gpioInterface->readGpio(gpioIds::TEST_ID_1, gpioState);
+      if (result == HasReturnvaluesIF::RETURN_OK and gpioState == gpio::Levels::LOW) {
         sif::info << "LibgpiodTest::performOneShotAction: "
                      "GPIO state read successfully and is low"
                   << std::endl;
diff --git a/linux/callbacks/CMakeLists.txt b/linux/callbacks/CMakeLists.txt
index 89bb24bb..49a71c15 100644
--- a/linux/callbacks/CMakeLists.txt
+++ b/linux/callbacks/CMakeLists.txt
@@ -1,3 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
-	gpioCallbacks.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE gpioCallbacks.cpp)
diff --git a/linux/csp/CMakeLists.txt b/linux/csp/CMakeLists.txt
index f1ebb028..71906a69 100644
--- a/linux/csp/CMakeLists.txt
+++ b/linux/csp/CMakeLists.txt
@@ -1,8 +1 @@
-target_sources(${OBSW_NAME} PUBLIC
-	CspComIF.cpp
-	CspCookie.cpp
-)
-
-
-
-
+target_sources(${OBSW_NAME} PUBLIC CspComIF.cpp CspCookie.cpp)
diff --git a/linux/devices/CMakeLists.txt b/linux/devices/CMakeLists.txt
index 00d407e8..b68d1c4e 100644
--- a/linux/devices/CMakeLists.txt
+++ b/linux/devices/CMakeLists.txt
@@ -1,8 +1,8 @@
 if(EIVE_BUILD_GPSD_GPS_HANDLER)
-    target_sources(${OBSW_NAME} PRIVATE
-        GPSHyperionLinuxController.cpp
-    )
+  target_sources(${OBSW_NAME} PRIVATE GPSHyperionLinuxController.cpp)
 endif()
 
+target_sources(${OBSW_NAME} PRIVATE Max31865RtdLowlevelHandler.cpp)
+
 add_subdirectory(ploc)
 add_subdirectory(startracker)
diff --git a/linux/devices/GPSHyperionLinuxController.cpp b/linux/devices/GPSHyperionLinuxController.cpp
index 5a7d9808..5d97554a 100644
--- a/linux/devices/GPSHyperionLinuxController.cpp
+++ b/linux/devices/GPSHyperionLinuxController.cpp
@@ -24,7 +24,10 @@ GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, obj
   timeUpdateCd.resetTimer();
 }
 
-GPSHyperionLinuxController::~GPSHyperionLinuxController() {}
+GPSHyperionLinuxController::~GPSHyperionLinuxController() {
+  gps_stream(&gps, WATCH_DISABLE, nullptr);
+  gps_close(&gps);
+}
 
 void GPSHyperionLinuxController::performControlOperation() {
 #ifdef FSFW_OSAL_LINUX
@@ -54,12 +57,12 @@ ReturnValue_t GPSHyperionLinuxController::executeAction(ActionId_t actionId,
                                                         MessageQueueId_t commandedBy,
                                                         const uint8_t *data, size_t size) {
   switch (actionId) {
-    case (GpsHyperion::TRIGGER_RESET_PIN): {
+    case (GpsHyperion::TRIGGER_RESET_PIN_GNSS): {
       if (resetCallback != nullptr) {
         PoolReadGuard pg(&gpsSet);
         // Set HK entries invalid
         gpsSet.setValidity(false, true);
-        resetCallback(resetCallbackArgs);
+        resetCallback(data, size, resetCallbackArgs);
         return HasActionsIF::EXECUTION_FINISHED;
       }
       return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
@@ -99,6 +102,27 @@ ReturnValue_t GPSHyperionLinuxController::initialize() {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
+  auto openError = [&](const char *type, int error) {
+    if (gpsNotOpenSwitch) {
+      // Opening failed
+#if FSFW_VERBOSE_LEVEL >= 1
+      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM " << type
+                   << " failed | Error " << error << " | " << gps_errstr(error) << std::endl;
+#endif
+      gpsNotOpenSwitch = false;
+    }
+  };
+  if (readMode == ReadModes::SOCKET) {
+    int retval = gps_open("localhost", DEFAULT_GPSD_PORT, &gps);
+    if (retval != 0) {
+      openError("Socket", retval);
+    }
+  } else if (readMode == ReadModes::SHM) {
+    int retval = gps_open(GPSD_SHARED_MEMORY, "", &gps);
+    if (retval != 0) {
+      openError("SHM", retval);
+    }
+  }
   return result;
 }
 
@@ -107,41 +131,29 @@ ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *m
 }
 
 #ifdef FSFW_OSAL_LINUX
-void GPSHyperionLinuxController::readGpsDataFromGpsd() {
-  gpsmm gpsmm("localhost", DEFAULT_GPSD_PORT);
-  // The data from the device will generally be read all at once. Therefore, we
-  // can set all field here
-  if (not gpsmm.is_open()) {
-    if (gpsNotOpenSwitch) {
-      // Opening failed
-#if FSFW_VERBOSE_LEVEL >= 1
-      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM failed | "
-                   << "Error " << errno << " | " << gps_errstr(errno) << std::endl;
-#endif
 
-      gpsNotOpenSwitch = false;
+void GPSHyperionLinuxController::readGpsDataFromGpsd() {
+  auto readError = [&](int error) {
+    if (gpsReadFailedSwitch) {
+      gpsReadFailedSwitch = false;
+      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed | "
+                      "Error "
+                   << error << " | " << gps_errstr(error) << std::endl;
     }
-    return;
-  }
-  // Stopwatch watch;
-  gps_data_t *gps = nullptr;
-  gps = gpsmm.stream(WATCH_ENABLE | WATCH_JSON);
-  if (gps == nullptr) {
-    sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd:: Setting GPSD watch "
-                    "policy failed"
-                 << std::endl;
-  }
-  while (gpsmm.waiting(2000)) {
-    gps = gpsmm.read();
-    if (gps == nullptr) {
-      if (gpsReadFailedSwitch) {
-        gpsReadFailedSwitch = false;
-        sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed"
-                     << std::endl;
-      }
+  };
+  currentClientBuf = gps_data(&gps);
+  if (readMode == ReadModes::SOCKET) {
+    gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
+    // Exit if no data is seen in 2 seconds (should not happen)
+    if (not gps_waiting(&gps, 2000000)) {
       return;
     }
-    if (MODE_SET != (MODE_SET & gps->set)) {
+    int result = gps_read(&gps);
+    if (result == -1) {
+      readError(result);
+      return;
+    }
+    if (MODE_SET != (MODE_SET & gps.set)) {
       if (noModeSetCntr >= 0) {
         noModeSetCntr++;
       }
@@ -152,24 +164,31 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
                      << std::endl;
         noModeSetCntr = -1;
       }
+    }
+    noModeSetCntr = 0;
+  } else if (readMode == ReadModes::SHM) {
+    int result = gps_read(&gps);
+    if (result == -1) {
+      readError(result);
       return;
-    } else {
-      noModeSetCntr = 0;
     }
   }
-  gps = gpsmm.stream(WATCH_DISABLE);
+  handleGpsRead();
+}
+
+ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
   PoolReadGuard pg(&gpsSet);
   if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
     sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading dataset failed" << std::endl;
 #endif
-    return;
+    return RETURN_FAILED;
   }
 
   bool validFix = false;
   static_cast<void>(validFix);
   // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
-  int newFixMode = gps->fix.mode;
+  int newFixMode = gps.fix.mode;
   if (newFixMode == 2 or newFixMode == 3) {
     validFix = true;
   }
@@ -177,7 +196,7 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
     triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFixMode);
   }
   gpsSet.fixMode.value = newFixMode;
-  if (gps->fix.mode == 0 or gps->fix.mode == 1) {
+  if (gps.fix.mode == 0 or gps.fix.mode == 1) {
     if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
       // We are supposed to be on and functioning, but not fix was found
       if (mode == MODE_ON or mode == MODE_NORMAL) {
@@ -186,51 +205,51 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
       modeCommanded = false;
     }
     gpsSet.setValidity(false, true);
-  } else if (gps->satellites_used > 0) {
+  } else if (gps.satellites_used > 0) {
     gpsSet.setValidity(true, true);
   }
 
-  gpsSet.satInUse.value = gps->satellites_used;
-  gpsSet.satInView.value = gps->satellites_visible;
+  gpsSet.satInUse.value = gps.satellites_used;
+  gpsSet.satInView.value = gps.satellites_visible;
 
-  if (std::isfinite(gps->fix.latitude)) {
+  if (std::isfinite(gps.fix.latitude)) {
     // Negative latitude -> South direction
-    gpsSet.latitude.value = gps->fix.latitude;
+    gpsSet.latitude.value = gps.fix.latitude;
   } else {
     gpsSet.latitude.setValid(false);
   }
 
-  if (std::isfinite(gps->fix.longitude)) {
+  if (std::isfinite(gps.fix.longitude)) {
     // Negative longitude -> West direction
-    gpsSet.longitude.value = gps->fix.longitude;
+    gpsSet.longitude.value = gps.fix.longitude;
   } else {
     gpsSet.longitude.setValid(false);
   }
 
-  if (std::isfinite(gps->fix.altitude)) {
-    gpsSet.altitude.value = gps->fix.altitude;
+  if (std::isfinite(gps.fix.altitude)) {
+    gpsSet.altitude.value = gps.fix.altitude;
   } else {
     gpsSet.altitude.setValid(false);
   }
 
-  if (std::isfinite(gps->fix.speed)) {
-    gpsSet.speed.value = gps->fix.speed;
+  if (std::isfinite(gps.fix.speed)) {
+    gpsSet.speed.value = gps.fix.speed;
   } else {
     gpsSet.speed.setValid(false);
   }
 
 #if LIBGPS_VERSION_MINOR <= 17
-  gpsSet.unixSeconds.value = gps->fix.time;
+  gpsSet.unixSeconds.value = gps.fix.time;
 #else
-  gpsSet.unixSeconds.value = gps->fix.time.tv_sec;
+  gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
 #endif
   timeval time = {};
   time.tv_sec = gpsSet.unixSeconds.value;
 #if LIBGPS_VERSION_MINOR <= 17
-  double fractionalPart = gps->fix.time - std::floor(gps->fix.time);
+  double fractionalPart = gps.fix.time - std::floor(gps.fix.time);
   time.tv_usec = fractionalPart * 1000.0 * 1000.0;
 #else
-  time.tv_usec = gps->fix.time.tv_nsec / 1000;
+  time.tv_usec = gps.fix.time.tv_nsec / 1000;
 #endif
   std::time_t t = std::time(nullptr);
   if (time.tv_sec == t) {
@@ -271,26 +290,28 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
   if (debugHyperionGps) {
     sif::info << "-- Hyperion GPS Data --" << std::endl;
 #if LIBGPS_VERSION_MINOR <= 17
-    time_t timeRaw = gps->fix.time;
+    time_t timeRaw = gps.fix.time;
 #else
-    time_t timeRaw = gps->fix.time.tv_sec;
+    time_t timeRaw = gps.fix.time.tv_sec;
 #endif
     std::tm *time = gmtime(&timeRaw);
     std::cout << "Time: " << std::put_time(time, "%c %Z") << std::endl;
-    std::cout << "Visible satellites: " << gps->satellites_visible << std::endl;
-    std::cout << "Satellites used: " << gps->satellites_used << std::endl;
-    std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
-    std::cout << "Latitude: " << gps->fix.latitude << std::endl;
-    std::cout << "Longitude: " << gps->fix.longitude << std::endl;
+    std::cout << "Visible satellites: " << gps.satellites_visible << std::endl;
+    std::cout << "Satellites used: " << gps.satellites_used << std::endl;
+    std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps.fix.mode << std::endl;
+    std::cout << "Latitude: " << gps.fix.latitude << std::endl;
+    std::cout << "Longitude: " << gps.fix.longitude << std::endl;
 #if LIBGPS_VERSION_MINOR <= 17
-    std::cout << "Altitude(MSL): " << gps->fix.altitude << std::endl;
+    std::cout << "Altitude(MSL): " << gps.fix.altitude << std::endl;
 #else
-    std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
+    std::cout << "Altitude(MSL): " << gps.fix.altMSL << std::endl;
 #endif
-    std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
+    std::cout << "Speed(m/s): " << gps.fix.speed << std::endl;
     std::time_t t = std::time(nullptr);
     std::tm tm = *std::gmtime(&t);
     std::cout << "C Time: " << std::put_time(&tm, "%c") << std::endl;
   }
+  return RETURN_OK;
 }
+
 #endif
diff --git a/linux/devices/GPSHyperionLinuxController.h b/linux/devices/GPSHyperionLinuxController.h
index 8d0ec0cd..35ce0a63 100644
--- a/linux/devices/GPSHyperionLinuxController.h
+++ b/linux/devices/GPSHyperionLinuxController.h
@@ -24,11 +24,13 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
  public:
   static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 60 * 5;
 
+  enum ReadModes { SHM = 0, SOCKET = 1 };
+
   GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                              bool debugHyperionGps = false);
   virtual ~GPSHyperionLinuxController();
 
-  using gpioResetFunction_t = ReturnValue_t (*)(void* args);
+  using gpioResetFunction_t = ReturnValue_t (*)(const uint8_t* actionData, size_t len, void* args);
 
   void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
@@ -47,8 +49,13 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
 
+  ReturnValue_t handleGpsRead();
+
  private:
   GpsPrimaryDataset gpsSet;
+  gps_data_t gps = {};
+  const char* currentClientBuf = nullptr;
+  ReadModes readMode = ReadModes::SOCKET;
   Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
   bool modeCommanded = true;
   bool timeInit = true;
diff --git a/linux/devices/Max31865RtdLowlevelHandler.cpp b/linux/devices/Max31865RtdLowlevelHandler.cpp
new file mode 100644
index 00000000..ea038c8b
--- /dev/null
+++ b/linux/devices/Max31865RtdLowlevelHandler.cpp
@@ -0,0 +1,465 @@
+#include "Max31865RtdLowlevelHandler.h"
+
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
+#include <fsfw_hal/linux/spi/ManualCsLockGuard.h>
+
+#define OBSW_RTD_AUTO_MODE 1
+
+#if OBSW_RTD_AUTO_MODE == 1
+static constexpr uint8_t BASE_CFG = (MAX31865::Bias::ON << MAX31865::CfgBitPos::BIAS_SEL) |
+                                    (MAX31865::Wires::FOUR_WIRE << MAX31865::CfgBitPos::WIRE_SEL) |
+                                    (MAX31865::ConvMode::AUTO << MAX31865::CfgBitPos::CONV_MODE);
+#else
+static constexpr uint8_t BASE_CFG =
+    (MAX31865::Bias::OFF << MAX31865::CfgBitPos::BIAS_SEL) |
+    (MAX31865::Wires::FOUR_WIRE << MAX31865::CfgBitPos::WIRE_SEL) |
+    (MAX31865::ConvMode::NORM_OFF << MAX31865::CfgBitPos::CONV_MODE);
+#endif
+
+Max31865RtdReader::Max31865RtdReader(object_id_t objectId, SpiComIF* lowLevelComIF, GpioIF* gpioIF)
+    : SystemObject(objectId), rtds(EiveMax31855::NUM_RTDS), comIF(lowLevelComIF), gpioIF(gpioIF) {
+  readerMutex = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t Max31865RtdReader::performOperation(uint8_t operationCode) {
+  using namespace MAX31865;
+  ReturnValue_t result = RETURN_OK;
+  static_cast<void>(result);
+  // Stopwatch watch;
+  if (periodicInitHandling()) {
+#if OBSW_RTD_AUTO_MODE == 0
+    // 10 ms delay for VBIAS startup
+    TaskFactory::delayTask(10);
+#endif
+  } else {
+    // No devices usable (e.g. TCS board off)
+    return RETURN_OK;
+  }
+
+#if OBSW_RTD_AUTO_MODE == 0
+  result = periodicReadReqHandling();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  // After requesting, 65 milliseconds delay required
+  TaskFactory::delayTask(65);
+#endif
+
+  return periodicReadHandling();
+}
+
+bool Max31865RtdReader::rtdIsActive(uint8_t idx) {
+  if (rtds[idx]->on and rtds[idx]->active and rtds[idx]->configured) {
+    return true;
+  }
+  return false;
+}
+
+bool Max31865RtdReader::periodicInitHandling() {
+  using namespace MAX31865;
+  MutexGuard mg(readerMutex);
+  ReturnValue_t result = RETURN_OK;
+  if (mg.getLockResult() != RETURN_OK) {
+    sif::warning << "Max31865RtdReader::periodicInitHandling: Mutex lock failed" << std::endl;
+    return false;
+  }
+
+  for (auto& rtd : rtds) {
+    if (rtd == nullptr) {
+      continue;
+    }
+    if ((rtd->on or rtd->active) and not rtd->configured and rtd->cd.hasTimedOut()) {
+      ManualCsLockWrapper mg(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
+      if (mg.lockResult != RETURN_OK or mg.gpioResult != RETURN_OK) {
+        sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed" << std::endl;
+        break;
+      }
+      result = writeCfgReg(rtd->spiCookie, BASE_CFG);
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+        handleSpiError(rtd, result, "writeCfgReg");
+      }
+      if (rtd->writeLowThreshold) {
+        result = writeLowThreshold(rtd->spiCookie, rtd->lowThreshold);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+          handleSpiError(rtd, result, "writeLowThreshold");
+        }
+      }
+      if (rtd->writeHighThreshold) {
+        result = writeHighThreshold(rtd->spiCookie, rtd->highThreshold);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+          handleSpiError(rtd, result, "writeHighThreshold");
+        }
+      }
+      result = clearFaultStatus(rtd->spiCookie);
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+        handleSpiError(rtd, result, "clearFaultStatus");
+      }
+      rtd->configured = true;
+      rtd->db.configured = true;
+      if (rtd->active) {
+        rtd->db.active = true;
+      }
+    }
+    if (rtd->active and rtd->configured and not rtd->db.active) {
+      rtd->db.active = true;
+    }
+  }
+  bool someRtdUsable = false;
+  for (auto& rtd : rtds) {
+    if (rtd == nullptr) {
+      continue;
+    }
+    if (rtdIsActive(rtd->idx)) {
+#if OBSW_RTD_AUTO_MODE == 0
+      result = writeBiasSel(Bias::ON, rtd->spiCookie, BASE_CFG);
+#endif
+      someRtdUsable = true;
+    }
+  }
+  return someRtdUsable;
+}
+
+ReturnValue_t Max31865RtdReader::periodicReadReqHandling() {
+  using namespace MAX31865;
+  MutexGuard mg(readerMutex);
+  if (mg.getLockResult() != RETURN_OK) {
+    sif::warning << "Max31865RtdReader::periodicReadReqHandling: Mutex lock failed" << std::endl;
+    return RETURN_FAILED;
+  }
+  // Now request one shot config for all active RTDs
+  for (auto& rtd : rtds) {
+    if (rtd == nullptr) {
+      continue;
+    }
+    if (rtdIsActive(rtd->idx)) {
+      ReturnValue_t result = writeCfgReg(rtd->spiCookie, BASE_CFG | (1 << CfgBitPos::ONE_SHOT));
+      if (result != RETURN_OK) {
+        handleSpiError(rtd, result, "writeCfgReg");
+        // Release mutex ASAP
+        return RETURN_FAILED;
+      }
+    }
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865RtdReader::periodicReadHandling() {
+  using namespace MAX31865;
+  auto result = RETURN_OK;
+  MutexGuard mg(readerMutex);
+  if (mg.getLockResult() != RETURN_OK) {
+    sif::warning << "Max31865RtdReader::periodicReadReqHandling: Mutex lock failed" << std::endl;
+    return RETURN_FAILED;
+  }
+  // Now read the RTD values
+  for (auto& rtd : rtds) {
+    if (rtd == nullptr) {
+      continue;
+    }
+    if (rtdIsActive(rtd->idx)) {
+      uint16_t rtdVal = 0;
+      bool faultBitSet = false;
+      result = readRtdVal(rtd->spiCookie, rtdVal, faultBitSet);
+      if (result != RETURN_OK) {
+        handleSpiError(rtd, result, "readRtdVal");
+        return RETURN_FAILED;
+      }
+      if (faultBitSet) {
+        rtd->db.faultBitSet = faultBitSet;
+      }
+      rtd->db.adcCode = rtdVal;
+    }
+  }
+#if OBSW_RTD_AUTO_MODE == 0
+  for (auto& rtd : rtds) {
+    if (rtd == nullptr) {
+      continue;
+    }
+    // Even if a device was made inactive, turn off the bias here. If it was turned off, not
+    // necessary anymore..
+    if (rtd->on) {
+      result = writeBiasSel(Bias::OFF, rtd->spiCookie, BASE_CFG);
+    }
+  }
+#endif
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865RtdReader::initializeInterface(CookieIF* cookie) {
+  if (cookie == nullptr) {
+    throw std::invalid_argument("Invalid MAX31865 Reader Cookie");
+  }
+  auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
+  ReturnValue_t result = comIF->initializeInterface(rtdCookie->spiCookie);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  if (rtdCookie->idx > EiveMax31855::NUM_RTDS) {
+    throw std::invalid_argument("Invalid RTD index");
+  }
+  rtds[rtdCookie->idx] = rtdCookie;
+  MutexGuard mg(readerMutex);
+  if (dbLen == 0) {
+    dbLen = rtdCookie->db.getSerializedSize();
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865RtdReader::sendMessage(CookieIF* cookie, const uint8_t* sendData,
+                                             size_t sendLen) {
+  if (cookie == nullptr) {
+    return RETURN_FAILED;
+  }
+  // Empty command.. don't fail for now
+  if (sendLen < 1) {
+    return RETURN_OK;
+  }
+  MutexGuard mg(readerMutex);
+  if (mg.getLockResult() != RETURN_OK) {
+    sif::warning << "Max31865RtdReader::sendMessage: Mutex lock failed" << std::endl;
+    return RETURN_FAILED;
+  }
+  auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
+  uint8_t cmdRaw = sendData[0];
+  if (cmdRaw > EiveMax31855::RtdCommands::NUM_CMDS) {
+    sif::warning << "Max31865RtdReader::sendMessage: Invalid command" << std::endl;
+    return RETURN_FAILED;
+  }
+
+  auto thresholdHandler = [](Max31865ReaderCookie* rtdCookie, const uint8_t* sendData) {
+    rtdCookie->lowThreshold = (sendData[1] << 8) | sendData[2];
+    rtdCookie->highThreshold = (sendData[3] << 8) | sendData[4];
+    rtdCookie->writeLowThreshold = true;
+    rtdCookie->writeHighThreshold = true;
+  };
+
+  auto cmd = static_cast<EiveMax31855::RtdCommands>(sendData[0]);
+  switch (cmd) {
+    case (EiveMax31855::RtdCommands::ON): {
+      if (not rtdCookie->on) {
+        rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS);
+        rtdCookie->cd.resetTimer();
+        rtdCookie->on = true;
+        rtdCookie->active = false;
+        rtdCookie->configured = false;
+        if (sendLen == 5) {
+          thresholdHandler(rtdCookie, sendData);
+        }
+      }
+      break;
+    }
+    case (EiveMax31855::RtdCommands::ACTIVE): {
+      if (not rtdCookie->on) {
+        rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS);
+        rtdCookie->cd.resetTimer();
+        rtdCookie->on = true;
+        rtdCookie->active = true;
+        rtdCookie->configured = false;
+      } else {
+        rtdCookie->active = true;
+      }
+      if (sendLen == 5) {
+        thresholdHandler(rtdCookie, sendData);
+      }
+      break;
+    }
+    case (EiveMax31855::RtdCommands::OFF): {
+      rtdCookie->on = false;
+      rtdCookie->active = false;
+      rtdCookie->configured = false;
+      break;
+    }
+    case (EiveMax31855::RtdCommands::HIGH_TRESHOLD): {
+      if (sendLen == 3) {
+        rtdCookie->highThreshold = (sendData[1] << 8) | sendData[2];
+        rtdCookie->writeHighThreshold = true;
+      } else {
+        return RETURN_FAILED;
+      }
+      break;
+    }
+    case (EiveMax31855::RtdCommands::LOW_THRESHOLD): {
+      if (sendLen == 3) {
+        rtdCookie->lowThreshold = (sendData[1] << 8) | sendData[2];
+        rtdCookie->writeLowThreshold = true;
+      } else {
+        return RETURN_FAILED;
+      }
+      break;
+    }
+    case (EiveMax31855::RtdCommands::CFG):
+    default: {
+      // TODO: Only implement if needed
+      break;
+    }
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865RtdReader::getSendSuccess(CookieIF* cookie) { return RETURN_OK; }
+
+ReturnValue_t Max31865RtdReader::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865RtdReader::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
+                                                     size_t* size) {
+  MutexGuard mg(readerMutex);
+  if (mg.getLockResult() != RETURN_OK) {
+    // TODO: Emit warning
+    return RETURN_FAILED;
+  }
+  auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
+  uint8_t* exchangePtr = rtdCookie->exchangeBuf.data();
+  size_t serLen = 0;
+  auto result = rtdCookie->db.serialize(&exchangePtr, &serLen, rtdCookie->exchangeBuf.size(),
+                                        SerializeIF::Endianness::MACHINE);
+  if (result != RETURN_OK) {
+    // TODO: Emit warning
+    return RETURN_FAILED;
+  }
+  *buffer = reinterpret_cast<uint8_t*>(rtdCookie->exchangeBuf.data());
+  *size = serLen;
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865RtdReader::writeCfgReg(SpiCookie* cookie, uint8_t cfg) {
+  using namespace MAX31865;
+  return writeNToReg(cookie, CONFIG, 1, &cfg, nullptr);
+}
+
+ReturnValue_t Max31865RtdReader::writeBiasSel(MAX31865::Bias bias, SpiCookie* cookie,
+                                              uint8_t baseCfg) {
+  using namespace MAX31865;
+  if (bias == MAX31865::Bias::OFF) {
+    baseCfg &= ~(1 << CfgBitPos::BIAS_SEL);
+  } else {
+    baseCfg |= (1 << CfgBitPos::BIAS_SEL);
+  }
+  return writeCfgReg(cookie, baseCfg);
+}
+
+ReturnValue_t Max31865RtdReader::clearFaultStatus(SpiCookie* cookie) {
+  using namespace MAX31865;
+  // Read back the current configuration to avoid overwriting it when clearing te fault status
+  uint8_t currentCfg = 0;
+  auto result = readCfgReg(cookie, currentCfg);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  // Clear bytes 5, 3 and 2 which need to be 0
+  currentCfg &= ~0x2C;
+  currentCfg |= (1 << CfgBitPos::FAULT_STATUS_CLEAR);
+  return writeCfgReg(cookie, currentCfg);
+}
+
+ReturnValue_t Max31865RtdReader::readCfgReg(SpiCookie* cookie, uint8_t& cfg) {
+  using namespace MAX31865;
+  uint8_t* replyPtr = nullptr;
+  auto result = readNFromReg(cookie, CONFIG, 1, &replyPtr);
+  if (result == RETURN_OK) {
+    cfg = replyPtr[0];
+  }
+  return result;
+}
+
+ReturnValue_t Max31865RtdReader::writeLowThreshold(SpiCookie* cookie, uint16_t val) {
+  using namespace MAX31865;
+  uint8_t cmd[2] = {static_cast<uint8_t>((val >> 8) & 0xff), static_cast<uint8_t>(val & 0xff)};
+  return writeNToReg(cookie, LOW_THRESHOLD, 2, cmd, nullptr);
+}
+
+ReturnValue_t Max31865RtdReader::writeHighThreshold(SpiCookie* cookie, uint16_t val) {
+  using namespace MAX31865;
+  uint8_t cmd[2] = {static_cast<uint8_t>((val >> 8) & 0xff), static_cast<uint8_t>(val & 0xff)};
+  return writeNToReg(cookie, HIGH_THRESHOLD, 2, cmd, nullptr);
+}
+
+ReturnValue_t Max31865RtdReader::readLowThreshold(SpiCookie* cookie, uint16_t& lowThreshold) {
+  using namespace MAX31865;
+  uint8_t* replyPtr = nullptr;
+  auto result = readNFromReg(cookie, LOW_THRESHOLD, 2, &replyPtr);
+  if (result == RETURN_OK) {
+    lowThreshold = (replyPtr[0] << 8) | replyPtr[1];
+  }
+  return result;
+}
+
+ReturnValue_t Max31865RtdReader::readHighThreshold(SpiCookie* cookie, uint16_t& highThreshold) {
+  using namespace MAX31865;
+  uint8_t* replyPtr = nullptr;
+  auto result = readNFromReg(cookie, HIGH_THRESHOLD, 2, &replyPtr);
+  if (result == RETURN_OK) {
+    highThreshold = (replyPtr[0] << 8) | replyPtr[1];
+  }
+  return result;
+}
+
+ReturnValue_t Max31865RtdReader::writeNToReg(SpiCookie* cookie, uint8_t reg, size_t n, uint8_t* cmd,
+                                             uint8_t** reply) {
+  using namespace MAX31865;
+  if (n > cmdBuf.size() - 1) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  cmdBuf[0] = reg | WRITE_BIT;
+  for (size_t idx = 0; idx < n; idx++) {
+    cmdBuf[idx + 1] = cmd[idx];
+  }
+  return comIF->sendMessage(cookie, cmdBuf.data(), n + 1);
+}
+
+ReturnValue_t Max31865RtdReader::readRtdVal(SpiCookie* cookie, uint16_t& val, bool& faultBitSet) {
+  using namespace MAX31865;
+  uint8_t* replyPtr = nullptr;
+  auto result = readNFromReg(cookie, RTD, 2, &replyPtr);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  if (replyPtr[1] & 0b0000'0001) {
+    faultBitSet = true;
+  }
+  // Shift 1 to the right to remove fault bit
+  val = ((replyPtr[0] << 8) | replyPtr[1]) >> 1;
+  return result;
+}
+
+ReturnValue_t Max31865RtdReader::readNFromReg(SpiCookie* cookie, uint8_t reg, size_t n,
+                                              uint8_t** reply) {
+  using namespace MAX31865;
+  if (n > 4) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  // Clear write bit in any case
+  reg &= ~WRITE_BIT;
+  cmdBuf[0] = reg;
+  std::memset(cmdBuf.data() + 1, 0, n);
+  ReturnValue_t result = comIF->sendMessage(cookie, cmdBuf.data(), n + 1);
+  if (result != RETURN_OK) {
+    return RETURN_FAILED;
+  }
+
+  size_t dummyLen = 0;
+  uint8_t* replyPtr = nullptr;
+  result = comIF->readReceivedMessage(cookie, &replyPtr, &dummyLen);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  if (reply != nullptr) {
+    *reply = replyPtr + 1;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865RtdReader::handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result,
+                                                const char* ctx) {
+  cookie->db.spiErrorCount.value += 1;
+  sif::warning << "Max31865RtdReader::handleSpiError: " << ctx << " | Failed with result " << result
+               << std::endl;
+  return result;
+}
+
+ReturnValue_t Max31865RtdReader::initialize() {
+  csLock = comIF->getCsMutex();
+  return SystemObject::initialize();
+}
diff --git a/linux/devices/Max31865RtdLowlevelHandler.h b/linux/devices/Max31865RtdLowlevelHandler.h
new file mode 100644
index 00000000..d3845bd5
--- /dev/null
+++ b/linux/devices/Max31865RtdLowlevelHandler.h
@@ -0,0 +1,87 @@
+#ifndef LINUX_DEVICES_MAX31865RTDREADER_H_
+#define LINUX_DEVICES_MAX31865RTDREADER_H_
+
+#include <fsfw/ipc/MutexIF.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw_hal/linux/spi/SpiComIF.h>
+#include <fsfw_hal/linux/spi/SpiCookie.h>
+
+#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
+#include "mission/devices/devicedefinitions/Max31865Definitions.h"
+
+struct Max31865ReaderCookie : public CookieIF {
+  Max31865ReaderCookie(){};
+  Max31865ReaderCookie(object_id_t handlerId_, uint8_t idx_, const std::string& locString_,
+                       SpiCookie* spiCookie_)
+      : idx(idx_), handlerId(handlerId_), locString(locString_), spiCookie(spiCookie_) {}
+
+  uint8_t idx = 0;
+  object_id_t handlerId = objects::NO_OBJECT;
+
+  std::string locString = "";
+  std::array<uint8_t, 12> exchangeBuf{};
+  Countdown cd = Countdown(MAX31865::WARMUP_MS);
+
+  bool on = false;
+  bool configured = false;
+  bool active = false;
+  bool writeLowThreshold = false;
+  bool writeHighThreshold = false;
+  uint16_t lowThreshold = 0;
+  uint16_t highThreshold = 0;
+  SpiCookie* spiCookie = nullptr;
+
+  // Exchange data buffer struct
+  EiveMax31855::ReadOutStruct db;
+};
+
+class Max31865RtdReader : public SystemObject,
+                          public ExecutableObjectIF,
+                          public DeviceCommunicationIF {
+ public:
+  Max31865RtdReader(object_id_t objectId, SpiComIF* lowLevelComIF, GpioIF* gpioIF);
+
+  ReturnValue_t performOperation(uint8_t operationCode) override;
+  ReturnValue_t initialize() override;
+
+ private:
+  std::vector<Max31865ReaderCookie*> rtds;
+  std::array<uint8_t, 4> cmdBuf = {};
+  size_t dbLen = 0;
+  MutexIF* readerMutex;
+
+  SpiComIF* comIF;
+  GpioIF* gpioIF;
+  MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::BLOCKING;
+  uint32_t csTimeoutMs = 0;
+  MutexIF* csLock = nullptr;
+
+  bool periodicInitHandling();
+  ReturnValue_t periodicReadReqHandling();
+  ReturnValue_t periodicReadHandling();
+
+  bool rtdIsActive(uint8_t idx);
+  ReturnValue_t writeCfgReg(SpiCookie* cookie, uint8_t cfg);
+  ReturnValue_t writeBiasSel(MAX31865::Bias bias, SpiCookie* cookie, uint8_t baseCfg);
+  ReturnValue_t readCfgReg(SpiCookie* cookie, uint8_t& cfg);
+  ReturnValue_t readRtdVal(SpiCookie* cookie, uint16_t& val, bool& faultBitSet);
+  ReturnValue_t writeLowThreshold(SpiCookie* cookie, uint16_t val);
+  ReturnValue_t writeHighThreshold(SpiCookie* cookie, uint16_t val);
+  ReturnValue_t readLowThreshold(SpiCookie* cookie, uint16_t& val);
+  ReturnValue_t readHighThreshold(SpiCookie* cookie, uint16_t& val);
+  ReturnValue_t clearFaultStatus(SpiCookie* cookie);
+
+  ReturnValue_t readNFromReg(SpiCookie* cookie, uint8_t reg, size_t n, uint8_t** reply);
+  ReturnValue_t writeNToReg(SpiCookie* cookie, uint8_t reg, size_t n, uint8_t* cmd,
+                            uint8_t** reply);
+
+  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 handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result, const char* ctx);
+};
+
+#endif /* LINUX_DEVICES_MAX31865RTDREADER_H_ */
diff --git a/linux/devices/devicedefinitions/PlocMPSoCDefinitions.h b/linux/devices/devicedefinitions/PlocMPSoCDefinitions.h
index 23389208..b8d76120 100644
--- a/linux/devices/devicedefinitions/PlocMPSoCDefinitions.h
+++ b/linux/devices/devicedefinitions/PlocMPSoCDefinitions.h
@@ -29,6 +29,8 @@ static const DeviceCommandId_t TC_MODE_REPLAY = 16;
 static const DeviceCommandId_t TC_CAM_CMD_SEND = 17;
 static const DeviceCommandId_t TC_MODE_IDLE = 18;
 static const DeviceCommandId_t TM_CAM_CMD_RPT = 19;
+static const DeviceCommandId_t SET_UART_TX_TRISTATE = 20;
+static const DeviceCommandId_t RELEASE_UART_TX = 21;
 
 // Will reset the sequence count of the OBSW
 static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 50;
@@ -98,6 +100,33 @@ static const uint16_t TC_WRITE_SEQ_EXECUTION_DELAY = 80;
 // Requires approx. 2 seconds for execution. 8 => 4 seconds
 static const uint16_t TC_DOWNLINK_PWR_ON_EXECUTION_DELAY = 8;
 
+namespace status_code {
+	static const uint16_t UNKNOWN_APID = 0x5DD;
+	static const uint16_t INCORRECT_LENGTH = 0x5DE;
+	static const uint16_t INCORRECT_CRC = 0x5DF;
+	static const uint16_t INCORRECT_PKT_SEQ_CNT = 0x5E0;
+	static const uint16_t TC_NOT_ALLOWED_IN_MODE = 0x5E1;
+	static const uint16_t TC_EXEUTION_DISABLED = 0x5E2;
+	static const uint16_t FLASH_MOUNT_FAILED = 0x5E3;
+	static const uint16_t FLASH_FILE_ALREADY_CLOSED = 0x5E4;
+	static const uint16_t FLASH_FILE_OPEN_FAILED = 0x5E5;
+	static const uint16_t FLASH_FILE_ALREDY_OPEN = 0x5E6;
+	static const uint16_t FLASH_FILE_NOT_OPEN = 0x5E7;
+	static const uint16_t FLASH_UNMOUNT_FAILED = 0x5E8;
+	static const uint16_t HEAP_ALLOCATION_FAILED = 0x5E9;
+	static const uint16_t INVALID_PARAMETER = 0x5EA;
+	static const uint16_t NOT_INITIALIZED = 0x5EB;
+	static const uint16_t REBOOT_IMMINENT = 0x5EC;
+	static const uint16_t CORRUPT_DATA = 0x5ED;
+	static const uint16_t FLASH_CORRECTABLE_MISMATCH = 0x5EE;
+	static const uint16_t FLASH_UNCORRECTABLE_MISMATCH = 0x5EF;
+	static const uint16_t RESERVED_0 = 0x5F0;
+	static const uint16_t RESERVED_1 = 0x5F1;
+	static const uint16_t RESERVED_2 = 0x5F2;
+	static const uint16_t RESERVED_3 = 0x5F3;
+	static const uint16_t RESERVED_4 = 0x5F4;
+}
+
 /**
  * @brief   Abstract base class for TC space packet of MPSoC.
  */
@@ -576,6 +605,9 @@ class TcReplayWriteSeq : public TcBase {
   }
 };
 
+/**
+ * @brief   Helps to extract the fields of the flash write command from the PUS packet.
+ */
 class FlashWritePusCmd : public MPSoCReturnValuesIF {
  public:
   FlashWritePusCmd(){};
@@ -651,9 +683,13 @@ class TcCamcmdSend : public TcBase {
     if (commandDataLen > MAX_DATA_LENGTH) {
       return INVALID_LENGTH;
     }
-    std::memcpy(this->getPacketData(), commandData, commandDataLen);
-    *(this->getPacketData() + commandDataLen) = CARRIAGE_RETURN;
-    uint16_t trueLength = commandDataLen + sizeof(CARRIAGE_RETURN) + CRC_SIZE;
+    uint16_t dataLen = static_cast<uint16_t>(commandDataLen + sizeof(CARRIAGE_RETURN));
+    size_t size = sizeof(dataLen);
+    SerializeAdapter::serialize(&dataLen, this->getPacketData(), &size, sizeof(dataLen),
+                                SerializeIF::Endianness::BIG);
+    std::memcpy(this->getPacketData() + sizeof(dataLen), commandData, commandDataLen);
+    *(this->getPacketData() + sizeof(dataLen) + commandDataLen) = CARRIAGE_RETURN;
+    uint16_t trueLength = sizeof(dataLen) + commandDataLen + sizeof(CARRIAGE_RETURN) + CRC_SIZE;
     this->setPacketDataLength(trueLength - 1);
     return HasReturnvaluesIF::RETURN_OK;
   }
diff --git a/linux/devices/devicedefinitions/PlocSupervisorDefinitions.h b/linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
index 58166e98..462ee632 100644
--- a/linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+++ b/linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
@@ -8,12 +8,13 @@
 #include <fsfw/timemanager/Clock.h>
 #include <fsfw/tmtcpacket/SpacePacket.h>
 
+#include "linux/devices/devicedefinitions/SupvReturnValuesIF.h"
+
 namespace supv {
 
 /** Command IDs */
 static const DeviceCommandId_t NONE = 0;
 static const DeviceCommandId_t GET_HK_REPORT = 1;
-static const DeviceCommandId_t RESTART_MPSOC = 2;
 static const DeviceCommandId_t START_MPSOC = 3;
 static const DeviceCommandId_t SHUTDOWN_MPSOC = 4;
 static const DeviceCommandId_t SEL_MPSOC_BOOT_IMAGE = 5;
@@ -23,52 +24,57 @@ static const DeviceCommandId_t RESET_MPSOC = 8;
 static const DeviceCommandId_t SET_TIME_REF = 9;
 static const DeviceCommandId_t DISABLE_PERIOIC_HK_TRANSMISSION = 10;
 static const DeviceCommandId_t GET_BOOT_STATUS_REPORT = 11;
-/** Notifies the supervisor that a new update is available for the MPSoC */
-static const DeviceCommandId_t UPDATE_AVAILABLE = 12;
-static const DeviceCommandId_t WATCHDOGS_ENABLE = 13;
-static const DeviceCommandId_t WATCHDOGS_CONFIG_TIMEOUT = 14;
 static const DeviceCommandId_t ENABLE_LATCHUP_ALERT = 15;
 static const DeviceCommandId_t DISABLE_LATCHUP_ALERT = 16;
-static const DeviceCommandId_t AUTO_CALIBRATE_ALERT = 17;
 static const DeviceCommandId_t SET_ALERT_LIMIT = 18;
-static const DeviceCommandId_t SET_ALERT_IRQ_FILTER = 19;
-static const DeviceCommandId_t SET_ADC_SWEEP_PERIOD = 20;
 static const DeviceCommandId_t SET_ADC_ENABLED_CHANNELS = 21;
 static const DeviceCommandId_t SET_ADC_WINDOW_AND_STRIDE = 22;
 static const DeviceCommandId_t SET_ADC_THRESHOLD = 23;
 static const DeviceCommandId_t GET_LATCHUP_STATUS_REPORT = 24;
 static const DeviceCommandId_t COPY_ADC_DATA_TO_MRAM = 25;
-static const DeviceCommandId_t ENABLE_NVMS = 26;
-static const DeviceCommandId_t SELECT_NVM = 27;
 static const DeviceCommandId_t RUN_AUTO_EM_TESTS = 28;
 static const DeviceCommandId_t WIPE_MRAM = 29;
 static const DeviceCommandId_t FIRST_MRAM_DUMP = 30;
-static const DeviceCommandId_t SET_DBG_VERBOSITY = 31;
-static const DeviceCommandId_t CAN_LOOPBACK_TEST = 32;
-static const DeviceCommandId_t PRINT_CPU_STATS = 33;
 static const DeviceCommandId_t SET_GPIO = 34;
 static const DeviceCommandId_t READ_GPIO = 35;
 static const DeviceCommandId_t RESTART_SUPERVISOR = 36;
 static const DeviceCommandId_t FACTORY_RESET_CLEAR_ALL = 37;
-static const DeviceCommandId_t REQUEST_LOGGING_DATA = 38;
-static const DeviceCommandId_t UPDATE_IMAGE_DATA = 39;
+static const DeviceCommandId_t LOGGING_REQUEST_COUNTERS = 38;
 static const DeviceCommandId_t FACTORY_RESET_CLEAR_MIRROR = 40;
 static const DeviceCommandId_t FACTORY_RESET_CLEAR_CIRCULAR = 41;
-static const DeviceCommandId_t UPDATE_VERIFY = 42;
 static const DeviceCommandId_t CONSECUTIVE_MRAM_DUMP = 43;
+static const DeviceCommandId_t START_MPSOC_QUIET = 45;
+static const DeviceCommandId_t SET_SHUTDOWN_TIMEOUT = 46;
+static const DeviceCommandId_t FACTORY_FLASH = 47;
+static const DeviceCommandId_t PERFORM_UPDATE = 48;
+static const DeviceCommandId_t TERMINATE_SUPV_HELPER = 49;
+static const DeviceCommandId_t ENABLE_AUTO_TM = 50;
+static const DeviceCommandId_t DISABLE_AUTO_TM = 51;
+static const DeviceCommandId_t LOGGING_REQUEST_EVENT_BUFFERS = 54;
+static const DeviceCommandId_t LOGGING_CLEAR_COUNTERS = 55;
+static const DeviceCommandId_t LOGGING_SET_TOPIC = 56;
+static const DeviceCommandId_t REQUEST_ADC_REPORT = 57;
+static const DeviceCommandId_t RESET_PL = 58;
+static const DeviceCommandId_t ENABLE_NVMS = 59;
+static const DeviceCommandId_t CONTINUE_UPDATE = 60;
 
 /** Reply IDs */
-static const DeviceCommandId_t ACK_REPORT = 50;
-static const DeviceCommandId_t EXE_REPORT = 51;
-static const DeviceCommandId_t HK_REPORT = 52;
-static const DeviceCommandId_t BOOT_STATUS_REPORT = 53;
-static const DeviceCommandId_t LATCHUP_REPORT = 54;
+static const DeviceCommandId_t ACK_REPORT = 100;
+static const DeviceCommandId_t EXE_REPORT = 101;
+static const DeviceCommandId_t HK_REPORT = 102;
+static const DeviceCommandId_t BOOT_STATUS_REPORT = 103;
+static const DeviceCommandId_t LATCHUP_REPORT = 104;
+static const DeviceCommandId_t LOGGING_REPORT = 105;
+static const DeviceCommandId_t ADC_REPORT = 106;
 
+// Size of complete space packet (6 byte header + size of data + 2 byte CRC)
 static const uint16_t SIZE_ACK_REPORT = 14;
 static const uint16_t SIZE_EXE_REPORT = 14;
-static const uint16_t SIZE_HK_REPORT = 48;
-static const uint16_t SIZE_BOOT_STATUS_REPORT = 22;
-static const uint16_t SIZE_LATCHUP_STATUS_REPORT = 55;
+static const uint16_t SIZE_HK_REPORT = 52;
+static const uint16_t SIZE_BOOT_STATUS_REPORT = 24;
+static const uint16_t SIZE_LATCHUP_STATUS_REPORT = 31;
+static const uint16_t SIZE_LOGGING_REPORT = 73;
+static const uint16_t SIZE_ADC_REPORT = 72;
 
 /**
  * SpacePacket apids of telemetry packets
@@ -80,7 +86,7 @@ static const uint16_t APID_EXE_FAILURE = 0x203;
 static const uint16_t APID_HK_REPORT = 0x204;
 static const uint16_t APID_BOOT_STATUS_REPORT = 0x205;
 static const uint16_t APID_UPDATE_STATUS_REPORT = 0x206;
-static const uint16_t APID_WDG_STATUS_REPORT = 0x207;
+static const uint16_t APID_ADC_REPORT = 0x207;
 static const uint16_t APID_LATCHUP_STATUS_REPORT = 0x208;
 static const uint16_t APID_SOC_SYSMON = 0x209;
 static const uint16_t APID_MRAM_DUMP_TM = 0x20A;
@@ -91,40 +97,37 @@ static const uint16_t APID_DATA_LOGGER_DATA = 0x20D;
 /**
  * APIDs of telecommand packets
  */
-static const uint16_t APID_RESTART_MPSOC = 0xA0;
 static const uint16_t APID_START_MPSOC = 0xA1;
 static const uint16_t APID_SHUTWOWN_MPSOC = 0xA2;
 static const uint16_t APID_SEL_MPSOC_BOOT_IMAGE = 0xA3;
 static const uint16_t APID_SET_BOOT_TIMEOUT = 0xA4;
 static const uint16_t APID_SET_MAX_RESTART_TRIES = 0xA5;
 static const uint16_t APID_RESET_MPSOC = 0xA6;
+static const uint16_t APID_RESET_PL = 0xA7;
 static const uint16_t APID_GET_BOOT_STATUS_RPT = 0xA8;
-static const uint16_t APID_UPDATE_AVAILABLE = 0xB0;
-static const uint16_t APID_UPDATE_IMAGE_DATA = 0xB1;
-static const uint16_t APID_UPDATE_VERIFY = 0xB2;
-static const uint16_t APID_WTD_ENABLE = 0xC0;
-static const uint16_t APID_WTD_CONFIG_TIMEOUT = 0xC1;
+static const uint16_t APID_PREPARE_UPDATE = 0xA9;
+static const uint16_t APID_START_MPSOC_QUIET = 0xAA;
+static const uint16_t APID_SET_SHUTDOWN_TIMEOUT = 0xAB;
+static const uint16_t APID_FACTORY_FLASH = 0xAC;
+static const uint16_t APID_ERASE_MEMORY = 0xB0;
+static const uint16_t APID_WRITE_MEMORY = 0xB1;
+static const uint16_t APID_CHECK_MEMORY = 0xB2;
 static const uint16_t APID_SET_TIME_REF = 0xC2;
 static const uint16_t APID_DISABLE_HK = 0xC3;
+static const uint16_t APID_AUTO_TM = 0xC5;
 static const uint16_t APID_ENABLE_LATCHUP_ALERT = 0xD0;
 static const uint16_t APID_DISABLE_LATCHUP_ALERT = 0xD1;
-static const uint16_t APID_AUTO_CALIBRATE_ALERT = 0xD2;
 static const uint16_t APID_SET_ALERT_LIMIT = 0xD3;
-static const uint16_t APID_SET_ALERT_IRQ_FILTER = 0xD4;
-static const uint16_t APID_SET_ADC_SWEEP_PERIOD = 0xD5;
-static const uint16_t APID_SET_ADC_ENABLED_CHANNELS = 0xD6;
-static const uint16_t APID_SET_ADC_WINDOW_AND_STRIDE = 0xD7;
-static const uint16_t APID_SET_ADC_THRESHOLD = 0xD8;
+static const uint16_t APID_SET_ADC_ENABLED_CHANNELS = 0xE1;
+static const uint16_t APID_SET_ADC_WINDOW_AND_STRIDE = 0xE2;
+static const uint16_t APID_SET_ADC_THRESHOLD = 0xE3;
 static const uint16_t APID_GET_LATCHUP_STATUS_REPORT = 0xD9;
 static const uint16_t APID_COPY_ADC_DATA_TO_MRAM = 0xDA;
+static const uint16_t APID_REQUEST_ADC_REPORT = 0xDB;
 static const uint16_t APID_ENABLE_NVMS = 0xF0;
-static const uint16_t APID_SELECT_NVM = 0xF1;
 static const uint16_t APID_RUN_AUTO_EM_TESTS = 0xF2;
 static const uint16_t APID_WIPE_MRAM = 0xF3;
 static const uint16_t APID_DUMP_MRAM = 0xF4;
-static const uint16_t APID_SET_DBG_VERBOSITY = 0xF5;
-static const uint16_t APID_CAN_LOOPBACK_TEST = 0xF6;
-static const uint16_t APID_PRINT_CPU_STATS = 0xF8;
 static const uint16_t APID_SET_GPIO = 0xF9;
 static const uint16_t APID_READ_GPIO = 0xFA;
 static const uint16_t APID_RESTART_SUPERVISOR = 0xFB;
@@ -164,7 +167,7 @@ enum PoolIds : lp_id_t {
   NUM_TMS,
   TEMP_PS,
   TEMP_PL,
-  SOC_STATE,
+  HK_SOC_STATE,
   NVM0_1_STATE,
   NVM3_STATE,
   MISSION_IO_STATE,
@@ -174,14 +177,16 @@ enum PoolIds : lp_id_t {
   UPTIME,
   CPULOAD,
   AVAILABLEHEAP,
-  BOOT_SIGNAL,
-  RESET_COUNTER,
+  BR_SOC_STATE,
+  POWER_CYCLES,
   BOOT_AFTER_MS,
   BOOT_TIMEOUT_MS,
   ACTIVE_NVM,
   BP0_STATE,
   BP1_STATE,
   BP2_STATE,
+  BOOT_STATE,
+  BOOT_CYCLES,
 
   LATCHUP_ID,
   CNT0,
@@ -198,22 +203,81 @@ enum PoolIds : lp_id_t {
   LATCHUP_RPT_TIME_MON,
   LATCHUP_RPT_TIME_YEAR,
   LATCHUP_RPT_TIME_MSEC,
-  LATCHUP_RPT_TIME_USEC,
-  LATCHUP_RPT_TIME_IS_SET,
+  LATCHUP_RPT_IS_SET,
+
+  LATCHUP_HAPPENED_CNT_0,
+  LATCHUP_HAPPENED_CNT_1,
+  LATCHUP_HAPPENED_CNT_2,
+  LATCHUP_HAPPENED_CNT_3,
+  LATCHUP_HAPPENED_CNT_4,
+  LATCHUP_HAPPENED_CNT_5,
+  LATCHUP_HAPPENED_CNT_6,
+  ADC_DEVIATION_TRIGGERS_CNT,
+  TC_RECEIVED_CNT,
+  TM_AVAILABLE_CNT,
+  SUPERVISOR_BOOTS,
+  MPSOC_BOOTS,
+  MPSOC_BOOT_FAILED_ATTEMPTS,
+  MPSOC_POWER_UP,
+  MPSOC_UPDATES,
+  LAST_RECVD_TC,
+
+  ADC_RAW_0,
+  ADC_RAW_1,
+  ADC_RAW_2,
+  ADC_RAW_3,
+  ADC_RAW_4,
+  ADC_RAW_5,
+  ADC_RAW_6,
+  ADC_RAW_7,
+  ADC_RAW_8,
+  ADC_RAW_9,
+  ADC_RAW_10,
+  ADC_RAW_11,
+  ADC_RAW_12,
+  ADC_RAW_13,
+  ADC_RAW_14,
+  ADC_RAW_15,
+  ADC_ENG_0,
+  ADC_ENG_1,
+  ADC_ENG_2,
+  ADC_ENG_3,
+  ADC_ENG_4,
+  ADC_ENG_5,
+  ADC_ENG_6,
+  ADC_ENG_7,
+  ADC_ENG_8,
+  ADC_ENG_9,
+  ADC_ENG_10,
+  ADC_ENG_11,
+  ADC_ENG_12,
+  ADC_ENG_13,
+  ADC_ENG_14,
+  ADC_ENG_15
 };
 
 static const uint8_t HK_SET_ENTRIES = 13;
-static const uint8_t BOOT_REPORT_SET_ENTRIES = 8;
+static const uint8_t BOOT_REPORT_SET_ENTRIES = 10;
 static const uint8_t LATCHUP_RPT_SET_ENTRIES = 16;
+static const uint8_t LOGGING_RPT_SET_ENTRIES = 16;
+static const uint8_t ADC_RPT_SET_ENTRIES = 32;
 
 static const uint32_t HK_SET_ID = HK_REPORT;
 static const uint32_t BOOT_REPORT_SET_ID = BOOT_STATUS_REPORT;
 static const uint32_t LATCHUP_RPT_ID = LATCHUP_REPORT;
+static const uint32_t LOGGING_RPT_ID = LOGGING_REPORT;
+static const uint32_t ADC_REPORT_SET_ID = ADC_REPORT;
+
+namespace recv_timeout {
+// Erase memory can require up to 60 seconds for execution
+static const uint32_t ERASE_MEMORY = 60000;
+static const uint32_t UPDATE_STATUS_REPORT = 70000;
+}  // namespace recv_timeout
 
 /**
- * @brief   With this class a space packet can be created which does not contain any data.
+ * @brief   This class creates a space packet containing only the header data and the CRC.
  */
-class EmptyPacket : public SpacePacket {
+class ApidOnlyPacket : public SpacePacket {
  public:
   /**
    * @brief   Constructor
@@ -222,7 +286,7 @@ class EmptyPacket : public SpacePacket {
    *
    * @note Sequence count of empty packet is always 1.
    */
-  EmptyPacket(uint16_t apid) : SpacePacket(LENGTH_EMPTY_TC - 1, true, apid, 1) { calcCrc(); }
+  ApidOnlyPacket(uint16_t apid) : SpacePacket(LENGTH_EMPTY_TC - 1, true, apid, 1) { calcCrc(); }
 
  private:
   /**
@@ -246,6 +310,9 @@ class EmptyPacket : public SpacePacket {
  */
 class MPSoCBootSelect : public SpacePacket {
  public:
+  static const uint8_t NVM0 = 0;
+  static const uint8_t NVM1 = 1;
+
   /**
    * @brief   Constructor
    *
@@ -253,8 +320,10 @@ class MPSoCBootSelect : public SpacePacket {
    * @param bp0   Partition pin 0
    * @param bp1   Partition pin 1
    * @param bp2   Partition pin 2
+   *
+   * @note  Selection of partitions is currently not supported.
    */
-  MPSoCBootSelect(uint8_t mem, uint8_t bp0, uint8_t bp1, uint8_t bp2)
+  MPSoCBootSelect(uint8_t mem = 0, uint8_t bp0 = 0, uint8_t bp1 = 0, uint8_t bp2 = 0)
       : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SEL_MPSOC_BOOT_IMAGE, DEFAULT_SEQUENCE_COUNT),
         mem(mem),
         bp0(bp0),
@@ -296,6 +365,50 @@ class MPSoCBootSelect : public SpacePacket {
   }
 };
 
+/**
+ * @brief   This class creates the command to enable or disable the NVMs connected to the
+ * supervisor.
+ */
+class EnableNvms : public SpacePacket {
+ public:
+  /**
+   * @brief   Constructor
+   *
+   * @param mem   The memory to boot from: NVM0 (0), NVM1 (1)
+   * @param bp0   Partition pin 0
+   * @param bp1   Partition pin 1
+   * @param bp2   Partition pin 2
+   */
+  EnableNvms(uint8_t nvm01, uint8_t nvm3)
+      : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_ENABLE_NVMS, DEFAULT_SEQUENCE_COUNT),
+        nvm01(nvm01),
+        nvm3(nvm3) {
+    initPacket();
+  }
+
+ private:
+  static const uint16_t DEFAULT_SEQUENCE_COUNT = 1;
+  static const uint8_t DATA_FIELD_LENGTH = 4;
+  static const uint8_t CRC_OFFSET = 2;
+  uint8_t nvm01 = 0;
+  uint8_t nvm3 = 0;
+
+  void initPacket() {
+    *(this->localData.fields.buffer) = nvm01;
+    *(this->localData.fields.buffer + 1) = nvm3;
+
+    /* Calculate crc */
+    uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
+                                   sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
+
+    /* Add crc to packet data field of space packet */
+    size_t serializedSize = 0;
+    uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
+    SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize, sizeof(crc),
+                                          SerializeIF::Endianness::BIG);
+  }
+};
+
 /**
  * @brief   This class generates the space packet to update the time of the PLOC supervisor.
  */
@@ -307,43 +420,46 @@ class SetTimeRef : public SpacePacket {
   }
 
  private:
-  static const uint16_t DATA_FIELD_LENGTH = 34;
+  static const uint16_t DATA_FIELD_LENGTH = 10;
   static const uint16_t DEFAULT_SEQUENCE_COUNT = 1;
   static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2;
+  static const uint16_t SYNC = 0x8000;
 
   void initPacket(Clock::TimeOfDay_t* time) {
     size_t serializedSize = 0;
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint32_t>(&time->second, &data_field_ptr, &serializedSize,
-                                          sizeof(time->second), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    SerializeAdapter::serialize<uint32_t>(&time->minute, &data_field_ptr, &serializedSize,
-                                          sizeof(time->minute), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    SerializeAdapter::serialize<uint32_t>(&time->hour, &data_field_ptr, &serializedSize,
-                                          sizeof(time->hour), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    SerializeAdapter::serialize<uint32_t>(&time->day, &data_field_ptr, &serializedSize,
-                                          sizeof(time->day), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    SerializeAdapter::serialize<uint32_t>(&time->month, &data_field_ptr, &serializedSize,
-                                          sizeof(time->month), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    SerializeAdapter::serialize<uint32_t>(&time->year, &data_field_ptr, &serializedSize,
-                                          sizeof(time->year), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    uint32_t milliseconds = time->usecond / 1000;
-    SerializeAdapter::serialize<uint32_t>(&milliseconds, &data_field_ptr, &serializedSize,
+    uint8_t* dataFieldPtr = this->localData.fields.buffer;
+    uint16_t milliseconds = static_cast<uint16_t>(time->usecond / 1000) | SYNC;
+    SerializeAdapter::serialize<uint16_t>(&milliseconds, &dataFieldPtr, &serializedSize,
                                           sizeof(milliseconds), SerializeIF::Endianness::BIG);
+    uint8_t second = static_cast<uint8_t>(time->second);
     serializedSize = 0;
-    uint32_t isSet = 0xFFFFFFFF;
-    SerializeAdapter::serialize<uint32_t>(&isSet, &data_field_ptr, &serializedSize, sizeof(isSet),
-                                          SerializeIF::Endianness::BIG);
+    SerializeAdapter::serialize<uint8_t>(&second, &dataFieldPtr, &serializedSize,
+                                         sizeof(time->second), SerializeIF::Endianness::BIG);
+    uint8_t minute = static_cast<uint8_t>(time->minute);
+    serializedSize = 0;
+    SerializeAdapter::serialize<uint8_t>(&minute, &dataFieldPtr, &serializedSize,
+                                         sizeof(time->minute), SerializeIF::Endianness::BIG);
+    uint8_t hour = static_cast<uint8_t>(time->hour);
+    serializedSize = 0;
+    SerializeAdapter::serialize<uint8_t>(&hour, &dataFieldPtr, &serializedSize, sizeof(time->hour),
+                                         SerializeIF::Endianness::BIG);
+    uint8_t day = static_cast<uint8_t>(time->day);
+    serializedSize = 0;
+    SerializeAdapter::serialize<uint8_t>(&day, &dataFieldPtr, &serializedSize, sizeof(time->day),
+                                         SerializeIF::Endianness::BIG);
+    uint8_t month = static_cast<uint8_t>(time->month);
+    serializedSize = 0;
+    SerializeAdapter::serialize<uint8_t>(&month, &dataFieldPtr, &serializedSize,
+                                         sizeof(time->month), SerializeIF::Endianness::BIG);
+    uint8_t year = static_cast<uint8_t>(time->year - 1900);
+    serializedSize = 0;
+    SerializeAdapter::serialize<uint8_t>(&year, &dataFieldPtr, &serializedSize, sizeof(time->year),
+                                         SerializeIF::Endianness::BIG);
     serializedSize = 0;
     /* Calculate crc */
     uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
                                    sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
-    SerializeAdapter::serialize<uint16_t>(&crc, &data_field_ptr, &serializedSize, sizeof(crc),
+    SerializeAdapter::serialize<uint16_t>(&crc, &dataFieldPtr, &serializedSize, sizeof(crc),
                                           SerializeIF::Endianness::BIG);
   }
 };
@@ -371,15 +487,15 @@ class SetBootTimeout : public SpacePacket {
 
   void initPacket() {
     size_t serializedSize = 0;
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint32_t>(&timeout, &data_field_ptr, &serializedSize,
-                                          sizeof(timeout), SerializeIF::Endianness::BIG);
+    uint8_t* dataFieldPtr = this->localData.fields.buffer;
+    SerializeAdapter::serialize<uint32_t>(&timeout, &dataFieldPtr, &serializedSize, sizeof(timeout),
+                                          SerializeIF::Endianness::BIG);
     /* Calculate crc */
     uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
                                    sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
     /* Add crc to packet data field of space packet */
     serializedSize = 0;
-    SerializeAdapter::serialize<uint16_t>(&crc, &data_field_ptr, &serializedSize, sizeof(crc),
+    SerializeAdapter::serialize<uint16_t>(&crc, &dataFieldPtr, &serializedSize, sizeof(crc),
                                           SerializeIF::Endianness::BIG);
   }
 };
@@ -407,81 +523,17 @@ class SetRestartTries : public SpacePacket {
   static const uint16_t DATA_FIELD_LENGTH = 3;
 
   void initPacket() {
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    *data_field_ptr = restartTries;
+    uint8_t* dataFieldPtr = this->localData.fields.buffer;
+    *dataFieldPtr = restartTries;
     uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
                                    sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
     size_t serializedSize = 0;
-    uint8_t* crcPtr = data_field_ptr + 1;
+    uint8_t* crcPtr = dataFieldPtr + 1;
     SerializeAdapter::serialize<uint16_t>(&crc, &crcPtr, &serializedSize, sizeof(crc),
                                           SerializeIF::Endianness::BIG);
   }
 };
 
-/**
- * @brief   This class packages the command to notify the supervisor that a new update for the
- *          MPSoC is available.
- */
-class UpdateAvailable : public SpacePacket {
- public:
-  /**
-   * @brief   Constructor
-   *
-   * @param imageSelect
-   * @param imagePartition
-   * @param imageSize
-   * @param imageCrc
-   * @param numberOfPackets
-   */
-  UpdateAvailable(uint8_t imageSelect, uint8_t imagePartition, uint32_t imageSize,
-                  uint32_t imageCrc, uint32_t numberOfPackets)
-      : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_UPDATE_AVAILABLE, DEFAULT_SEQUENCE_COUNT),
-        imageSelect(imageSelect),
-        imagePartition(imagePartition),
-        imageSize(imageSize),
-        imageCrc(imageCrc),
-        numberOfPackets(numberOfPackets) {
-    initPacket();
-  }
-
- private:
-  static const uint16_t DATA_FIELD_LENGTH = 16;
-  static const uint16_t DEFAULT_SEQUENCE_COUNT = 1;
-
-  static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2;
-
-  uint8_t imageSelect = 0;
-  uint8_t imagePartition = 0;
-  uint32_t imageSize = 0;
-  uint32_t imageCrc = 0;
-  uint32_t numberOfPackets = 0;
-
-  void initPacket() {
-    size_t serializedSize = 0;
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint8_t>(&imageSelect, &data_field_ptr, &serializedSize,
-                                         sizeof(imageSelect), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    SerializeAdapter::serialize<uint8_t>(&imagePartition, &data_field_ptr, &serializedSize,
-                                         sizeof(imagePartition), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    SerializeAdapter::serialize<uint32_t>(&imageSize, &data_field_ptr, &serializedSize,
-                                          sizeof(imageSize), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    SerializeAdapter::serialize<uint32_t>(&imageCrc, &data_field_ptr, &serializedSize,
-                                          sizeof(imageCrc), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    SerializeAdapter::serialize<uint32_t>(&numberOfPackets, &data_field_ptr, &serializedSize,
-                                          sizeof(numberOfPackets), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
-                                   sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
-    uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
-    SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize, sizeof(crc),
-                                          SerializeIF::Endianness::BIG);
-  }
-};
-
 /**
  * @brief   With this class the space packet can be generated to disable to periodic transmission
  *          of housekeeping data. Normally, this will be disabled by default. However, adding this
@@ -503,112 +555,17 @@ class DisablePeriodicHkTransmission : public SpacePacket {
   static const uint16_t DATA_FIELD_LENGTH = 3;
 
   void initPacket() {
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    *data_field_ptr = disableHk;
+    uint8_t* dataFieldPtr = this->localData.fields.buffer;
+    *dataFieldPtr = disableHk;
     uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
                                    sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
     size_t serializedSize = 0;
-    uint8_t* crcPtr = data_field_ptr + 1;
+    uint8_t* crcPtr = dataFieldPtr + 1;
     SerializeAdapter::serialize<uint16_t>(&crc, &crcPtr, &serializedSize, sizeof(crc),
                                           SerializeIF::Endianness::BIG);
   }
 };
 
-/**
- * @brief   This class packages the command to enable the watchdogs of the PLOC.
- */
-class WatchdogsEnable : public SpacePacket {
- public:
-  /**
-   * @brief   Constructor
-   *
-   * @param watchdogPs    Enables processing system watchdog
-   * @param watchdogPl    Enables programmable logic wathdog
-   * @param watchdogInt
-   */
-  WatchdogsEnable(uint8_t watchdogPs, uint8_t watchdogPl, uint8_t watchdogInt)
-      : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_WTD_ENABLE, DEFAULT_SEQUENCE_COUNT),
-        watchdogPs(watchdogPs),
-        watchdogPl(watchdogPl),
-        watchdogInt(watchdogInt) {
-    initPacket();
-  }
-
- private:
-  static const uint16_t DATA_FIELD_LENGTH = 5;
-  static const uint16_t DEFAULT_SEQUENCE_COUNT = 1;
-
-  static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2;
-
-  uint8_t watchdogPs = 0;
-  uint8_t watchdogPl = 0;
-  uint8_t watchdogInt = 0;
-
-  void initPacket() {
-    size_t serializedSize = 0;
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint8_t>(&watchdogPs, &data_field_ptr, &serializedSize,
-                                         sizeof(watchdogPs), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    SerializeAdapter::serialize<uint8_t>(&watchdogPl, &data_field_ptr, &serializedSize,
-                                         sizeof(watchdogPl), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    SerializeAdapter::serialize<uint8_t>(&watchdogInt, &data_field_ptr, &serializedSize,
-                                         sizeof(watchdogInt), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
-                                   sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
-    uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
-    SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize, sizeof(crc),
-                                          SerializeIF::Endianness::BIG);
-  }
-};
-
-/**
- * @brief   This class packages the command to set the timeout of one of the three watchdogs (PS,
- *          PL, INT)
- */
-class WatchdogsConfigTimeout : public SpacePacket {
- public:
-  /**
-   * @brief   Constructor
-   *
-   * @param watchdogPs    Selects the watchdog to configure (0 - PS, 1 - PL, 2 - INT)
-   * @param timeout       The timeout to set
-   */
-  WatchdogsConfigTimeout(uint8_t watchdog, uint32_t timeout)
-      : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_WTD_CONFIG_TIMEOUT, DEFAULT_SEQUENCE_COUNT),
-        watchdog(watchdog),
-        timeout(timeout) {
-    initPacket();
-  }
-
- private:
-  static const uint16_t DATA_FIELD_LENGTH = 7;
-  static const uint16_t DEFAULT_SEQUENCE_COUNT = 1;
-
-  static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2;
-
-  uint8_t watchdog = 0;
-  uint32_t timeout = 0;
-
-  void initPacket() {
-    size_t serializedSize = 0;
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint8_t>(&watchdog, &data_field_ptr, &serializedSize,
-                                         sizeof(watchdog), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    SerializeAdapter::serialize<uint32_t>(&timeout, &data_field_ptr, &serializedSize,
-                                          sizeof(timeout), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
-                                   sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
-    uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
-    SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize, sizeof(crc),
-                                          SerializeIF::Endianness::BIG);
-  }
-};
-
 /**
  * @brief   This class packages the command to enable of disable the latchup alert.
  *
@@ -656,51 +613,6 @@ class LatchupAlert : public SpacePacket {
   }
 };
 
-/**
- * @brief   This class packages the command to calibrate a certain latchup alert.
- */
-class AutoCalibrateAlert : public SpacePacket {
- public:
-  /**
-   * @brief   Constructor
-   *
-   * @param latchupId Identifies the latchup alert to calibrate (0 - 0.85V, 1 - 1.8V, 2 - MISC,
-   *        3 - 3.3V, 4 - NVM_4XO, 5 - MISSION, 6 - SAFECOTS)
-   * @param mg
-   */
-  AutoCalibrateAlert(uint8_t latchupId, uint32_t mg)
-      : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_AUTO_CALIBRATE_ALERT, DEFAULT_SEQUENCE_COUNT),
-        latchupId(latchupId),
-        mg(mg) {
-    initPacket();
-  }
-
- private:
-  static const uint16_t DATA_FIELD_LENGTH = 7;
-  static const uint16_t DEFAULT_SEQUENCE_COUNT = 1;
-
-  static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2;
-
-  uint8_t latchupId = 0;
-  uint32_t mg = 0;
-
-  void initPacket() {
-    size_t serializedSize = 0;
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint8_t>(&latchupId, &data_field_ptr, &serializedSize,
-                                         sizeof(latchupId), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    SerializeAdapter::serialize<uint32_t>(&mg, &data_field_ptr, &serializedSize, sizeof(mg),
-                                          SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
-                                   sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
-    uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
-    SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize, sizeof(crc),
-                                          SerializeIF::Endianness::BIG);
-  }
-};
-
 class SetAlertlimit : public SpacePacket {
  public:
   /**
@@ -728,11 +640,11 @@ class SetAlertlimit : public SpacePacket {
 
   void initPacket() {
     size_t serializedSize = 0;
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint8_t>(&latchupId, &data_field_ptr, &serializedSize,
+    uint8_t* dataFieldPtr = this->localData.fields.buffer;
+    SerializeAdapter::serialize<uint8_t>(&latchupId, &dataFieldPtr, &serializedSize,
                                          sizeof(latchupId), SerializeIF::Endianness::BIG);
     serializedSize = 0;
-    SerializeAdapter::serialize<uint32_t>(&dutycycle, &data_field_ptr, &serializedSize,
+    SerializeAdapter::serialize<uint32_t>(&dutycycle, &dataFieldPtr, &serializedSize,
                                           sizeof(dutycycle), SerializeIF::Endianness::BIG);
     serializedSize = 0;
     uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
@@ -743,91 +655,6 @@ class SetAlertlimit : public SpacePacket {
   }
 };
 
-class SetAlertIrqFilter : public SpacePacket {
- public:
-  /**
-   * @brief   Constructor
-   *
-   * @param latchupId Identifies the latchup alert to calibrate (0 - 0.85V, 1 - 1.8V, 2 - MISC,
-   *        3 - 3.3V, 4 - NVM_4XO, 5 - MISSION, 6 - SAFECOTS)
-   * @param tp
-   * @param div
-   */
-  SetAlertIrqFilter(uint8_t latchupId, uint8_t tp, uint8_t div)
-      : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SET_ALERT_IRQ_FILTER, DEFAULT_SEQUENCE_COUNT),
-        tp(tp),
-        div(div) {
-    initPacket();
-  }
-
- private:
-  static const uint16_t DATA_FIELD_LENGTH = 5;
-  static const uint16_t DEFAULT_SEQUENCE_COUNT = 1;
-
-  static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2;
-
-  uint8_t latchupId = 0;
-  uint8_t tp = 0;
-  uint8_t div = 0;
-
-  void initPacket() {
-    size_t serializedSize = 0;
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint8_t>(&latchupId, &data_field_ptr, &serializedSize,
-                                         sizeof(latchupId), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    SerializeAdapter::serialize<uint8_t>(&tp, &data_field_ptr, &serializedSize, sizeof(tp),
-                                         SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    SerializeAdapter::serialize<uint8_t>(&div, &data_field_ptr, &serializedSize, sizeof(div),
-                                         SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
-                                   sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
-    uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
-    SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize, sizeof(crc),
-                                          SerializeIF::Endianness::BIG);
-  }
-};
-
-/**
- * @brief   This class packages the space packet to set the sweep period of the ADC.
- */
-class SetAdcSweepPeriod : public SpacePacket {
- public:
-  /**
-   * @brief   Constructor
-   *
-   * @param sweepPeriod   Sweep period in us. minimum is 21 us
-   */
-  SetAdcSweepPeriod(uint32_t sweepPeriod)
-      : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SET_ADC_SWEEP_PERIOD, DEFAULT_SEQUENCE_COUNT),
-        sweepPeriod(sweepPeriod) {
-    initPacket();
-  }
-
- private:
-  static const uint16_t DATA_FIELD_LENGTH = 6;
-  static const uint16_t DEFAULT_SEQUENCE_COUNT = 1;
-
-  static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2;
-
-  uint32_t sweepPeriod = 0;
-
-  void initPacket() {
-    size_t serializedSize = 0;
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint32_t>(&sweepPeriod, &data_field_ptr, &serializedSize,
-                                          sizeof(sweepPeriod), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
-                                   sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
-    uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
-    SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize, sizeof(crc),
-                                          SerializeIF::Endianness::BIG);
-  }
-};
-
 /**
  * @brief   This class packages the space packet to enable or disable ADC channels.
  */
@@ -855,8 +682,8 @@ class SetAdcEnabledChannels : public SpacePacket {
 
   void initPacket() {
     size_t serializedSize = 0;
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint16_t>(&ch, &data_field_ptr, &serializedSize, sizeof(ch),
+    uint8_t* dataFieldPtr = this->localData.fields.buffer;
+    SerializeAdapter::serialize<uint16_t>(&ch, &dataFieldPtr, &serializedSize, sizeof(ch),
                                           SerializeIF::Endianness::BIG);
     serializedSize = 0;
     uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
@@ -898,11 +725,11 @@ class SetAdcWindowAndStride : public SpacePacket {
 
   void initPacket() {
     size_t serializedSize = 0;
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint16_t>(&windowSize, &data_field_ptr, &serializedSize,
+    uint8_t* dataFieldPtr = this->localData.fields.buffer;
+    SerializeAdapter::serialize<uint16_t>(&windowSize, &dataFieldPtr, &serializedSize,
                                           sizeof(windowSize), SerializeIF::Endianness::BIG);
     serializedSize = 0;
-    SerializeAdapter::serialize<uint16_t>(&stridingStepSize, &data_field_ptr, &serializedSize,
+    SerializeAdapter::serialize<uint16_t>(&stridingStepSize, &dataFieldPtr, &serializedSize,
                                           sizeof(stridingStepSize), SerializeIF::Endianness::BIG);
     serializedSize = 0;
     uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
@@ -939,8 +766,8 @@ class SetAdcThreshold : public SpacePacket {
 
   void initPacket() {
     size_t serializedSize = 0;
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint32_t>(&threshold, &data_field_ptr, &serializedSize,
+    uint8_t* dataFieldPtr = this->localData.fields.buffer;
+    SerializeAdapter::serialize<uint32_t>(&threshold, &dataFieldPtr, &serializedSize,
                                           sizeof(threshold), SerializeIF::Endianness::BIG);
     serializedSize = 0;
     uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
@@ -951,88 +778,6 @@ class SetAdcThreshold : public SpacePacket {
   }
 };
 
-/**
- * @brief   This class packages the space packet to select between NVM 0 and NVM 1.
- */
-class SelectNvm : public SpacePacket {
- public:
-  /**
-   * @brief   Constructor
-   *
-   * @param mem   0 - select NVM0, 1 - select NVM1.
-   */
-  SelectNvm(uint8_t mem)
-      : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SELECT_NVM, DEFAULT_SEQUENCE_COUNT),
-        mem(mem) {
-    initPacket();
-  }
-
- private:
-  static const uint16_t DATA_FIELD_LENGTH = 3;
-  static const uint16_t DEFAULT_SEQUENCE_COUNT = 1;
-
-  static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2;
-
-  uint8_t mem = 0;
-
-  void initPacket() {
-    size_t serializedSize = 0;
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint8_t>(&mem, &data_field_ptr, &serializedSize, sizeof(mem),
-                                         SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
-                                   sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
-    uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
-    SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize, sizeof(crc),
-                                          SerializeIF::Endianness::BIG);
-  }
-};
-
-/**
- * @brief   This class packages the space packet to power the NVMs on or off.
- */
-class EnableNvms : public SpacePacket {
- public:
-  /**
-   * @brief   Constructor
-   *
-   * @param n01   Set to one to power NVM0 and NVM1 on. 0 powers off memory.
-   * @param n3    Set to one to power NVM3 on. 0 powers off the memory.
-   */
-  EnableNvms(uint8_t n01, uint8_t n3)
-      : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_ENABLE_NVMS, DEFAULT_SEQUENCE_COUNT),
-        n01(n01),
-        n3(n3) {
-    initPacket();
-  }
-
- private:
-  static const uint16_t DATA_FIELD_LENGTH = 4;
-  static const uint16_t DEFAULT_SEQUENCE_COUNT = 1;
-
-  static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2;
-
-  uint8_t n01 = 0;
-  uint8_t n3 = 0;
-
-  void initPacket() {
-    size_t serializedSize = 0;
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint8_t>(&n01, &data_field_ptr, &serializedSize, sizeof(n01),
-                                         SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    SerializeAdapter::serialize<uint8_t>(&n3, &data_field_ptr, &serializedSize, sizeof(n3),
-                                         SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
-                                   sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
-    uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
-    SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize, sizeof(crc),
-                                          SerializeIF::Endianness::BIG);
-  }
-};
-
 /**
  * @brief   This class packages the space packet to run auto EM tests.
  */
@@ -1059,86 +804,8 @@ class RunAutoEmTests : public SpacePacket {
 
   void initPacket() {
     size_t serializedSize = 0;
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint8_t>(&test, &data_field_ptr, &serializedSize, sizeof(test),
-                                         SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
-                                   sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
-    uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
-    SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize, sizeof(crc),
-                                          SerializeIF::Endianness::BIG);
-  }
-};
-
-/**
- * @brief   This class packages the space packet causing the supervisor to print the CPU load to
- *          the debug output.
- */
-class PrintCpuStats : public SpacePacket {
- public:
-  /**
-   * @brief   Constructor
-   *
-   * @param en    Print is enabled if en != 0
-   */
-  PrintCpuStats(uint8_t en)
-      : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_PRINT_CPU_STATS, DEFAULT_SEQUENCE_COUNT),
-        en(en) {
-    initPacket();
-  }
-
- private:
-  static const uint16_t DATA_FIELD_LENGTH = 3;
-  static const uint16_t DEFAULT_SEQUENCE_COUNT = 1;
-
-  static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2;
-
-  uint8_t en = 0;
-
-  void initPacket() {
-    size_t serializedSize = 0;
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint8_t>(&en, &data_field_ptr, &serializedSize, sizeof(en),
-                                         SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
-                                   sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
-    uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
-    SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize, sizeof(crc),
-                                          SerializeIF::Endianness::BIG);
-  }
-};
-
-/**
- * @brief   This class packages the space packet to set the print verbosity in the supervisor
- *          software.
- */
-class SetDbgVerbosity : public SpacePacket {
- public:
-  /**
-   * @brief   Constructor
-   *
-   * @param vb    0: None, 1: Error, 2: Warn, 3: Info
-   */
-  SetDbgVerbosity(uint8_t vb)
-      : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SET_DBG_VERBOSITY, DEFAULT_SEQUENCE_COUNT),
-        vb(vb) {
-    initPacket();
-  }
-
- private:
-  static const uint16_t DATA_FIELD_LENGTH = 3;
-  static const uint16_t DEFAULT_SEQUENCE_COUNT = 1;
-
-  static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2;
-
-  uint8_t vb = 0;
-
-  void initPacket() {
-    size_t serializedSize = 0;
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint8_t>(&vb, &data_field_ptr, &serializedSize, sizeof(vb),
+    uint8_t* dataFieldPtr = this->localData.fields.buffer;
+    SerializeAdapter::serialize<uint8_t>(&test, &dataFieldPtr, &serializedSize, sizeof(test),
                                          SerializeIF::Endianness::BIG);
     serializedSize = 0;
     uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
@@ -1196,8 +863,8 @@ class MramCmd : public SpacePacket {
     concatBuffer[3] = static_cast<uint8_t>(stop >> 16);
     concatBuffer[4] = static_cast<uint8_t>(stop >> 8);
     concatBuffer[5] = static_cast<uint8_t>(stop);
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    std::memcpy(data_field_ptr, concatBuffer, sizeof(concatBuffer));
+    uint8_t* dataFieldPtr = this->localData.fields.buffer;
+    std::memcpy(dataFieldPtr, concatBuffer, sizeof(concatBuffer));
     size_t serializedSize = 0;
     uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
                                    sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
@@ -1240,14 +907,14 @@ class SetGpio : public SpacePacket {
 
   void initPacket() {
     size_t serializedSize = 0;
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint8_t>(&port, &data_field_ptr, &serializedSize, sizeof(port),
+    uint8_t* dataFieldPtr = this->localData.fields.buffer;
+    SerializeAdapter::serialize<uint8_t>(&port, &dataFieldPtr, &serializedSize, sizeof(port),
                                          SerializeIF::Endianness::BIG);
     serializedSize = 0;
-    SerializeAdapter::serialize<uint8_t>(&pin, &data_field_ptr, &serializedSize, sizeof(pin),
+    SerializeAdapter::serialize<uint8_t>(&pin, &dataFieldPtr, &serializedSize, sizeof(pin),
                                          SerializeIF::Endianness::BIG);
     serializedSize = 0;
-    SerializeAdapter::serialize<uint8_t>(&val, &data_field_ptr, &serializedSize, sizeof(val),
+    SerializeAdapter::serialize<uint8_t>(&val, &dataFieldPtr, &serializedSize, sizeof(val),
                                          SerializeIF::Endianness::BIG);
     serializedSize = 0;
     uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
@@ -1288,11 +955,11 @@ class ReadGpio : public SpacePacket {
 
   void initPacket() {
     size_t serializedSize = 0;
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint8_t>(&port, &data_field_ptr, &serializedSize, sizeof(port),
+    uint8_t* dataFieldPtr = this->localData.fields.buffer;
+    SerializeAdapter::serialize<uint8_t>(&port, &dataFieldPtr, &serializedSize, sizeof(port),
                                          SerializeIF::Endianness::BIG);
     serializedSize = 0;
-    SerializeAdapter::serialize<uint8_t>(&pin, &data_field_ptr, &serializedSize, sizeof(pin),
+    SerializeAdapter::serialize<uint8_t>(&pin, &dataFieldPtr, &serializedSize, sizeof(pin),
                                          SerializeIF::Endianness::BIG);
     serializedSize = 0;
     uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
@@ -1333,16 +1000,16 @@ class FactoryReset : public SpacePacket {
   Op op = Op::CLEAR_ALL;
 
   void initPacket() {
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
+    uint8_t* dataFieldPtr = this->localData.fields.buffer;
 
     switch (op) {
       case Op::MIRROR_ENTRIES:
-        *data_field_ptr = 1;
+        *dataFieldPtr = 1;
         packetLen = 2;
         crcOffset = 1;
         break;
       case Op::CIRCULAR_ENTRIES:
-        *data_field_ptr = 2;
+        *dataFieldPtr = 2;
         packetLen = 2;
         crcOffset = 1;
         break;
@@ -1361,7 +1028,12 @@ class FactoryReset : public SpacePacket {
 
 class SupvTcSpacePacket : public SpacePacket {
  public:
-  SupvTcSpacePacket(size_t payloadDataLen, uint16_t apid)
+  /**
+   * @brief Constructor
+   *
+   * @param payloadDataLen  Length of data field without CRC
+   */
+  SupvTcSpacePacket(uint16_t payloadDataLen, uint16_t apid)
       : SpacePacket(payloadDataLen + 1, true, apid, DEFAULT_SEQUENCE_COUNT),
         payloadDataLen(payloadDataLen) {}
 
@@ -1382,79 +1054,644 @@ class SupvTcSpacePacket : public SpacePacket {
   size_t payloadDataLen = 0;
 };
 
-/**
- * @brief   This class can be used to package the update available or update verify command.
- */
-class UpdateInfo : public SupvTcSpacePacket {
+class SetShutdownTimeout : public SupvTcSpacePacket {
  public:
-  /**
-   * @brief   Constructor
-   *
-   * @param apid      Packet can be used to generate the update available and the update verify
-   *                  packet. Thus the APID must be specified here.
-   * @param image     The image to update on a NVM (A - 0, B - 1)
-   * @param partition  The partition to update. uboot - 1, bitstream - 2, linux - 3,
-   *                  application - 4
-   * @param imageSize The size of the update image
-   * param numPackets The number of space packets required to transfer all data.
-   */
-  UpdateInfo(uint16_t apid, uint8_t image, uint8_t partition, uint32_t imageSize, uint32_t imageCrc,
-             uint32_t numPackets)
-      : SupvTcSpacePacket(PAYLOAD_LENGTH, apid),
-        image(image),
-        partition(partition),
-        imageSize(imageSize),
-        imageCrc(imageCrc),
-        numPackets(numPackets) {
+  SetShutdownTimeout(uint32_t timeout)
+      : SupvTcSpacePacket(PACKET_LEN, APID_SET_SHUTDOWN_TIMEOUT), timeout(timeout) {
     initPacket();
     makeCrc();
   }
 
  private:
-  static const uint16_t PAYLOAD_LENGTH = 14;  // length without CRC field
+  static const uint16_t PACKET_LEN = 4;  // uint32_t timeout
 
-  uint8_t image = 0;
-  uint8_t partition = 0;
-  uint32_t imageSize = 0;
-  uint32_t imageCrc = 0;
-  uint32_t numPackets = 0;
+  uint32_t timeout = 0;
+
+  void initPacket() {
+    uint8_t* dataFieldPtr = this->localData.fields.buffer;
+    size_t serializedSize = 0;
+    SerializeAdapter::serialize<uint32_t>(&timeout, dataFieldPtr, &serializedSize, sizeof(timeout),
+                                          SerializeIF::Endianness::BIG);
+  }
+};
+
+/**
+ * @brief   Command to request CRC over memory region of the supervisor.
+ */
+class CheckMemory : public SupvTcSpacePacket {
+ public:
+  /**
+   * @brief   Constructor
+   *
+   * @param memoryId
+   * @param startAddress    Start address of CRC calculation
+   * @param length          Length in bytes of memory region
+   */
+  CheckMemory(uint8_t memoryId, uint32_t startAddress, uint32_t length)
+      : SupvTcSpacePacket(PAYLOAD_LENGTH, APID_CHECK_MEMORY),
+        memoryId(memoryId),
+        startAddress(startAddress),
+        length(length) {
+    initPacket();
+    makeCrc();
+  }
+
+ private:
+  static const uint16_t PAYLOAD_LENGTH = 10;  // length without CRC field
+
+  uint8_t memoryId = 0;
+  uint8_t n = 1;
+  uint32_t startAddress = 0;
+  uint32_t length = 0;
 
   void initPacket() {
     size_t serializedSize = 0;
-    uint8_t* data_field_ptr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint8_t>(&image, &data_field_ptr, &serializedSize, sizeof(image),
+    uint8_t* dataFieldPtr = this->localData.fields.buffer;
+    SerializeAdapter::serialize<uint8_t>(&memoryId, &dataFieldPtr, &serializedSize,
+                                         sizeof(memoryId), SerializeIF::Endianness::BIG);
+    serializedSize = 0;
+    SerializeAdapter::serialize<uint8_t>(&n, &dataFieldPtr, &serializedSize, sizeof(n),
                                          SerializeIF::Endianness::BIG);
     serializedSize = 0;
-    SerializeAdapter::serialize<uint8_t>(&partition, &data_field_ptr, &serializedSize,
-                                         sizeof(partition), SerializeIF::Endianness::BIG);
+    SerializeAdapter::serialize<uint32_t>(&startAddress, &dataFieldPtr, &serializedSize,
+                                          sizeof(startAddress), SerializeIF::Endianness::BIG);
     serializedSize = 0;
-    SerializeAdapter::serialize<uint32_t>(&imageSize, &data_field_ptr, &serializedSize,
-                                          sizeof(imageSize), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    SerializeAdapter::serialize<uint32_t>(&imageCrc, &data_field_ptr, &serializedSize,
-                                          sizeof(imageCrc), SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    SerializeAdapter::serialize<uint32_t>(&numPackets, &data_field_ptr, &serializedSize,
-                                          sizeof(numPackets), SerializeIF::Endianness::BIG);
+    SerializeAdapter::serialize<uint32_t>(&length, &dataFieldPtr, &serializedSize, sizeof(length),
+                                          SerializeIF::Endianness::BIG);
   }
 };
 
 /**
  * @brief   This class packages the space packet transporting a part of an MPSoC update.
  */
-class UpdatePacket : public SupvTcSpacePacket {
+class WriteMemory : public SupvTcSpacePacket {
  public:
   /**
    * @brief   Constructor
    *
-   * @param payloadLength Update data length (data field length without CRC)
+   * @param seqFlags        Sequence flags
+   * @param sequenceCount   Sequence count (first update packet expects 1 as sequence count)
+   * @param updateData      Pointer to buffer containing update data
    */
-  UpdatePacket(uint16_t payloadLength) : SupvTcSpacePacket(payloadLength, APID_UPDATE_IMAGE_DATA) {}
+  WriteMemory(SequenceFlags seqFlags, uint16_t sequenceCount, uint8_t memoryId,
+              uint32_t startAddress, uint16_t length, uint8_t* updateData)
+      : SupvTcSpacePacket(META_DATA_LENGTH + length, APID_WRITE_MEMORY),
+        memoryId(memoryId),
+        startAddress(startAddress),
+        length(length) {
+    if (this->length > CHUNK_MAX) {
+      sif::error << "WriteMemory::WriteMemory: Invalid length" << std::endl;
+    }
+    initPacket(updateData);
+    this->setSequenceFlags(static_cast<uint8_t>(seqFlags));
+    this->setPacketSequenceCount(sequenceCount);
+    makeCrc();
+  }
+
+  // Although the space packet has space left for 1010 bytes of data to supervisor can only process
+  // update packets with a maximum of 512 bytes.
+  static const uint16_t CHUNK_MAX = 512;
+
+ private:
+  static const uint16_t META_DATA_LENGTH = 8;
+
+  uint8_t memoryId = 0;
+  uint8_t n = 1;
+  uint32_t startAddress = 0;
+  uint16_t length = 0;
+
+  void initPacket(uint8_t* updateData) {
+    size_t serializedSize = 0;
+    uint8_t* dataFieldPtr = this->localData.fields.buffer;
+    SerializeAdapter::serialize<uint8_t>(&memoryId, &dataFieldPtr, &serializedSize,
+                                         sizeof(memoryId), SerializeIF::Endianness::BIG);
+    serializedSize = 0;
+    SerializeAdapter::serialize<uint8_t>(&n, &dataFieldPtr, &serializedSize, sizeof(n),
+                                         SerializeIF::Endianness::BIG);
+    serializedSize = 0;
+    SerializeAdapter::serialize<uint32_t>(&startAddress, &dataFieldPtr, &serializedSize,
+                                          sizeof(startAddress), SerializeIF::Endianness::BIG);
+    serializedSize = 0;
+    SerializeAdapter::serialize<uint16_t>(&length, &dataFieldPtr, &serializedSize, sizeof(length),
+                                          SerializeIF::Endianness::BIG);
+    std::memcpy(dataFieldPtr, updateData, length);
+    if (length % 2 != 0) {
+      this->setPacketDataLength(length + sizeof(CCSDSPrimaryHeader) + CRC_SIZE - 1);
+      // The data field must be two bytes aligned. Thus, in case the number of bytes to write is odd
+      // a value of zero is added here
+      *(dataFieldPtr + length + 1) = 0;
+    }
+  }
+};
+
+/**
+ * @brief   This class can be used to package the update available or update verify command.
+ */
+class EraseMemory : public SupvTcSpacePacket {
+ public:
+  EraseMemory(uint8_t memoryId, uint32_t startAddress, uint32_t length)
+      : SupvTcSpacePacket(PAYLOAD_LENGTH, APID_ERASE_MEMORY),
+        memoryId(memoryId),
+        startAddress(startAddress),
+        length(length) {
+    initPacket();
+    makeCrc();
+  }
+
+ private:
+  static const uint16_t PAYLOAD_LENGTH = 10;  // length without CRC field
+
+  uint8_t memoryId = 0;
+  uint8_t n = 1;
+  uint32_t startAddress = 0;
+  uint32_t length = 0;
+
+  void initPacket() {
+    size_t serializedSize = 0;
+    uint8_t* dataFieldPtr = this->localData.fields.buffer;
+    SerializeAdapter::serialize<uint8_t>(&memoryId, &dataFieldPtr, &serializedSize,
+                                         sizeof(memoryId), SerializeIF::Endianness::BIG);
+    serializedSize = 0;
+    SerializeAdapter::serialize<uint8_t>(&n, &dataFieldPtr, &serializedSize, sizeof(n),
+                                         SerializeIF::Endianness::BIG);
+    serializedSize = 0;
+    SerializeAdapter::serialize<uint32_t>(&startAddress, &dataFieldPtr, &serializedSize,
+                                          sizeof(startAddress), SerializeIF::Endianness::BIG);
+    serializedSize = 0;
+    SerializeAdapter::serialize<uint32_t>(&length, &dataFieldPtr, &serializedSize, sizeof(length),
+                                          SerializeIF::Endianness::BIG);
+  }
+};
+
+/**
+ * @brief   This class creates the space packet to enable the auto TM generation
+ */
+class EnableAutoTm : public SupvTcSpacePacket {
+ public:
+  EnableAutoTm() : SupvTcSpacePacket(PAYLOAD_LENGTH, APID_AUTO_TM) {
+    *(this->localData.fields.buffer) = ENABLE;
+    makeCrc();
+  }
+
+ private:
+  static const uint16_t PAYLOAD_LENGTH = 1;  // length without CRC field
+  static const uint8_t ENABLE = 1;
+};
+
+/**
+ * @brief   This class creates the space packet to disable the auto TM generation
+ */
+class DisableAutoTm : public SupvTcSpacePacket {
+ public:
+  DisableAutoTm() : SupvTcSpacePacket(PAYLOAD_LENGTH, APID_AUTO_TM) {
+    *(this->localData.fields.buffer) = DISABLE;
+    makeCrc();
+  }
+
+ private:
+  static const uint16_t PAYLOAD_LENGTH = 1;  // length without CRC field
+  static const uint8_t DISABLE = 0;
+};
+
+/**
+ * @brief   This class creates the space packet to request the logging data from the supervisor
+ */
+class RequestLoggingData : public SupvTcSpacePacket {
+ public:
+  enum class Sa : uint8_t {
+    REQUEST_COUNTERS = 1,
+    REQUEST_EVENT_BUFFERS = 2,
+    CLEAR_COUNTERS = 3,
+    SET_LOGGING_TOPIC = 4
+  };
+
+  RequestLoggingData(Sa sa, uint8_t tpc = 0)
+      : SupvTcSpacePacket(PAYLOAD_LENGTH, APID_REQUEST_LOGGING_DATA) {
+    *(this->localData.fields.buffer) = static_cast<uint8_t>(sa);
+    *(this->localData.fields.buffer + TPC_OFFSET) = tpc;
+    makeCrc();
+  }
+
+ private:
+  static const uint16_t PAYLOAD_LENGTH = 2;  // length without CRC field
+  static const uint8_t TPC_OFFSET = 1;
+};
+
+/**
+ * @brief   Class for handling tm replies of the supervisor.
+ */
+class TmPacket : public SpacePacket {
+ public:
+  /**
+   * @brief   Constructor creates idle packet and sets length field to maximum allowed size.
+   */
+  TmPacket() : SpacePacket(PACKET_MAX_SIZE) {}
 
   /**
-   * @brief   Returns the pointer to the beginning of the data field.
+   * @brief Returns the payload data length (data field length without CRC)
    */
-  uint8_t* getDataFieldPointer() { return this->localData.fields.buffer; }
+  uint16_t getPayloadDataLength() { return this->getPacketDataLength() - 1; }
+
+  ReturnValue_t checkCrc() {
+    uint8_t* crcPtr = this->getPacketData() + this->getPayloadDataLength();
+    uint16_t receivedCrc = *(crcPtr) << 8 | *(crcPtr + 1);
+    uint16_t recalculatedCrc =
+        CRC::crc16ccitt(this->localData.byteStream, this->getFullSize() - CRC_SIZE);
+    if (recalculatedCrc != receivedCrc) {
+      return SupvReturnValuesIF::CRC_FAILURE;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+class VerificationReport : public TmPacket {
+ public:
+  VerificationReport() : TmPacket() {}
+
+  /**
+   * @brief Gets the APID of command which caused the transmission of this verification report.
+   */
+  uint16_t getRefApid() {
+    uint16_t refApid = 0;
+    size_t size = 0;
+    uint8_t* refApidPtr = this->getPacketData();
+    ReturnValue_t result =
+        SerializeAdapter::deSerialize(&refApid, refApidPtr, &size, SerializeIF::Endianness::BIG);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      sif::debug << "ExecutionReport: Failed to deserialize reference APID field" << std::endl;
+      return result;
+    }
+    return refApid;
+  }
+
+  uint16_t getStatusCode() {
+    uint16_t statusCode = 0;
+    size_t size = 0;
+    uint8_t* statusCodePtr = this->getPacketData() + OFFSET_STATUS_CODE;
+    ReturnValue_t result = SerializeAdapter::deSerialize(&statusCode, statusCodePtr, &size,
+                                                         SerializeIF::Endianness::BIG);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      sif::debug << "ExecutionReport: Failed to deserialize status code field" << std::endl;
+      return result;
+    }
+    return statusCode;
+  }
+
+  virtual ReturnValue_t checkApid() { return HasReturnvaluesIF::RETURN_FAILED; }
+
+ private:
+  static const uint8_t OFFSET_STATUS_CODE = 4;
+};
+
+class AcknowledgmentReport : public VerificationReport {
+ public:
+  AcknowledgmentReport() : VerificationReport() {}
+
+  ReturnValue_t checkApid() {
+    uint16_t apid = this->getAPID();
+    if (apid == APID_ACK_SUCCESS) {
+      return HasReturnvaluesIF::RETURN_OK;
+    } else if (apid == APID_ACK_FAILURE) {
+      printStatusInformation();
+      return SupvReturnValuesIF::RECEIVED_ACK_FAILURE;
+    } else {
+      sif::warning << "AcknowledgmentReport::checkApid: Invalid apid: 0x" << std::hex << apid
+                   << std::endl;
+      return SupvReturnValuesIF::INVALID_APID;
+    }
+  }
+
+  void printStatusInformation() {
+    StatusCode statusCode = static_cast<StatusCode>(getStatusCode());
+    switch (statusCode) {
+      case StatusCode::OK: {
+        sif::warning << "Supervisor acknowledgment report status: Ok" << std::endl;
+        break;
+      }
+      case StatusCode::BAD_PARAM: {
+        sif::warning << "Supervisor acknowledgment report status: Bad param" << std::endl;
+        break;
+      }
+      case StatusCode::TIMEOUT: {
+        sif::warning << "Supervisor acknowledgment report status: Timeout" << std::endl;
+        break;
+      }
+      case StatusCode::RX_ERROR: {
+        sif::warning << "Supervisor acknowledgment report status: RX error" << std::endl;
+        break;
+      }
+      case StatusCode::TX_ERROR: {
+        sif::warning << "Supervisor acknowledgment report status: TX error" << std::endl;
+        break;
+      }
+      case StatusCode::HEADER_EMPTY: {
+        sif::warning << "Supervisor acknowledgment report status: Header empty" << std::endl;
+        break;
+      }
+      case StatusCode::DEFAULT_NAK: {
+        sif::warning << "Supervisor acknowledgment report status: Default code for nak"
+                     << std::endl;
+        break;
+      }
+      case StatusCode::ROUTE_PACKET: {
+        sif::warning << "Supervisor acknowledgment report status: Route packet error" << std::endl;
+        break;
+      }
+      default:
+        sif::warning << "AcknowledgmentReport::printStatusInformation: Invalid status code: 0x"
+                     << std::hex << static_cast<uint16_t>(statusCode) << std::endl;
+        break;
+    }
+  }
+
+ private:
+  enum class StatusCode : uint16_t {
+    OK = 0x0,
+    BAD_PARAM = 0x1,
+    TIMEOUT = 0x2,
+    RX_ERROR = 0x3,
+    TX_ERROR = 0x4,
+    HEADER_EMPTY = 0x5,
+    DEFAULT_NAK = 0x6,
+    ROUTE_PACKET = 0x7
+  };
+};
+
+class ExecutionReport : public VerificationReport {
+ public:
+  ExecutionReport() : VerificationReport() {}
+
+  ReturnValue_t checkApid() {
+    uint16_t apid = this->getAPID();
+    if (apid == APID_EXE_SUCCESS) {
+      return HasReturnvaluesIF::RETURN_OK;
+    } else if (apid == APID_EXE_FAILURE) {
+      printStatusInformation();
+      return SupvReturnValuesIF::RECEIVED_EXE_FAILURE;
+    } else {
+      sif::warning << "ExecutionReport::checkApid: Invalid apid: 0x" << std::hex << apid
+                   << std::endl;
+      return SupvReturnValuesIF::INVALID_APID;
+    }
+  }
+
+ private:
+  static constexpr char STATUS_PRINTOUT_PREFIX[] = "Supervisor execution failure report status: ";
+
+  enum class StatusCode : uint16_t {
+    OK = 0x0,
+    INIT_ERROR = 0x1,
+    BAD_PARAM = 0x2,
+    NOT_INITIALIZED = 0x3,
+    BAD_PERIPH_ID = 0x4,
+    TIMEOUT = 0x5,
+    RX_ERROR = 0x6,
+    TX_ERROR = 0x7,
+    BUF_EMPTY = 0x8,
+    BUF_FULL = 0x9,
+    NAK = 0xA,
+    ARB_LOST = 0xB,
+    BUSY = 0xC,
+    NOT_IMPLEMENTED = 0xD,
+    ALIGNEMENT_ERROR = 0xE,
+    PERIPH_ERR = 0xF,
+    FAILED_LATCH = 0x10,
+    GPIO_HIGH = 0x11,
+    GPIO_LOW = 0x12,
+    TEST_PASSED = 0x13,
+    TEST_FAILED = 0x14,
+    NOTHING_TODO = 0x100,
+    POWER_FAULT = 0x101,
+    INVALID_LENGTH = 0x102,
+    OUT_OF_RANGE = 0x103,
+    OUT_OF_HEAP_MEMORY = 0x104,
+    INVALID_STATE_TRANSITION = 0x105,
+    MPSOC_ALREADY_BOOTING = 0x106,
+    MPSOC_ALREADY_OPERATIONAL = 0x107,
+    MPSOC_BOOT_FAILED = 0x108,
+    SP_NOT_AVAILABLE = 0x200,
+    SP_DATA_INSUFFICIENT = 0x201,
+    SP_MEMORY_ID_INVALID = 0x202,
+    MPSOC_NOT_IN_RESET = 0x203,
+    FLASH_INIT_FAILED = 0x204,
+    FLASH_ERASE_FAILED = 0x205,
+    FLASH_WRITE_FAILED = 0x206,
+    FLASH_VERIFY_FAILED = 0x207,
+    CANNOT_ACCESS_TM = 0x208,
+    CANNOT_SEND_TM = 0x209,
+    PG_LOW = 0x300,
+    PG_5V_LOW = 0x301,
+    PG_0V85_LOW = 0x302,
+    PG_1V8_LOW = 0x303,
+    PG_MISC_LOW = 0x304,
+    PG_3V3_LOW = 0x305,
+    PG_MB_VAIO_LOW = 0x306,
+    PG_MB_MPSOCIO_LOW = 0x307
+  };
+
+  void printStatusInformation() {
+    StatusCode statusCode = static_cast<StatusCode>(getStatusCode());
+    switch (statusCode) {
+      case StatusCode::OK: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Ok" << std::endl;
+        break;
+      }
+      case StatusCode::INIT_ERROR: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Init error" << std::endl;
+        break;
+      }
+      case StatusCode::BAD_PARAM: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Bad param" << std::endl;
+        break;
+      }
+      case StatusCode::NOT_INITIALIZED: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Not initialized" << std::endl;
+        break;
+      }
+      case StatusCode::BAD_PERIPH_ID: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Bad periph ID" << std::endl;
+        break;
+      }
+      case StatusCode::TIMEOUT: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Timeout" << std::endl;
+        break;
+      }
+      case StatusCode::RX_ERROR: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "RX error" << std::endl;
+        break;
+      }
+      case StatusCode::TX_ERROR: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "TX error" << std::endl;
+        break;
+      }
+      case StatusCode::BUF_EMPTY: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Buf empty" << std::endl;
+        break;
+      }
+      case StatusCode::BUF_FULL: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Buf full" << std::endl;
+        break;
+      }
+      case StatusCode::NAK: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Nak, default error code" << std::endl;
+        break;
+      }
+      case StatusCode::ARB_LOST: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Arb lost" << std::endl;
+        break;
+      }
+      case StatusCode::BUSY: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Busy" << std::endl;
+        break;
+      }
+      case StatusCode::NOT_IMPLEMENTED: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Not implemented" << std::endl;
+        break;
+      }
+      case StatusCode::ALIGNEMENT_ERROR: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Alignment error" << std::endl;
+        break;
+      }
+      case StatusCode::PERIPH_ERR: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Periph error" << std::endl;
+        break;
+      }
+      case StatusCode::FAILED_LATCH: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Failed latch" << std::endl;
+        break;
+      }
+      case StatusCode::GPIO_HIGH: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "GPIO high" << std::endl;
+        break;
+      }
+      case StatusCode::GPIO_LOW: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "GPIO low" << std::endl;
+        break;
+      }
+      case StatusCode::TEST_PASSED: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Test passed" << std::endl;
+        break;
+      }
+      case StatusCode::TEST_FAILED: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Test failed" << std::endl;
+        break;
+      }
+      case StatusCode::NOTHING_TODO: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Nothing todo, not an error but a warning"
+                     << std::endl;
+        break;
+      }
+      case StatusCode::POWER_FAULT: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Power fault" << std::endl;
+        break;
+      }
+      case StatusCode::INVALID_LENGTH: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Invalid length" << std::endl;
+        break;
+      }
+      case StatusCode::OUT_OF_RANGE: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Out of range, lenght check of parameter failed"
+                     << std::endl;
+        break;
+      }
+      case StatusCode::OUT_OF_HEAP_MEMORY: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Out of heap memory" << std::endl;
+        break;
+      }
+      case StatusCode::INVALID_STATE_TRANSITION: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Invalid state transition" << std::endl;
+        break;
+      }
+      case StatusCode::MPSOC_ALREADY_BOOTING: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "MPSoC already booting" << std::endl;
+        break;
+      }
+      case StatusCode::MPSOC_ALREADY_OPERATIONAL: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "MPSoC already operational" << std::endl;
+        break;
+      }
+      case StatusCode::MPSOC_BOOT_FAILED: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "MPSoC boot failed" << std::endl;
+        break;
+      }
+      case StatusCode::SP_NOT_AVAILABLE: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "SP not available" << std::endl;
+        break;
+      }
+      case StatusCode::SP_DATA_INSUFFICIENT: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "SP data insufficient" << std::endl;
+        break;
+      }
+      case StatusCode::SP_MEMORY_ID_INVALID: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "SP data insufficient" << std::endl;
+        break;
+      }
+      case StatusCode::MPSOC_NOT_IN_RESET: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "MPSoC not in reset" << std::endl;
+        break;
+      }
+      case StatusCode::FLASH_INIT_FAILED: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Flash init failed" << std::endl;
+        break;
+      }
+      case StatusCode::FLASH_ERASE_FAILED: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Flash erase failed" << std::endl;
+        break;
+      }
+      case StatusCode::FLASH_WRITE_FAILED: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Flash write failed" << std::endl;
+        break;
+      }
+      case StatusCode::FLASH_VERIFY_FAILED: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Flash verify failed" << std::endl;
+        break;
+      }
+      case StatusCode::CANNOT_ACCESS_TM: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Can not access tm" << std::endl;
+        break;
+      }
+      case StatusCode::CANNOT_SEND_TM: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "Can not access tm" << std::endl;
+        break;
+      }
+      case StatusCode::PG_LOW: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "PG low" << std::endl;
+        break;
+      }
+      case StatusCode::PG_5V_LOW: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "PG 5V low" << std::endl;
+        break;
+      }
+      case StatusCode::PG_0V85_LOW: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "PG 0V85 low" << std::endl;
+        break;
+      }
+      case StatusCode::PG_1V8_LOW: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "PG 1V8 low" << std::endl;
+        break;
+      }
+      case StatusCode::PG_MISC_LOW: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "PG misc low" << std::endl;
+        break;
+      }
+      case StatusCode::PG_3V3_LOW: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "PG 3V3 low" << std::endl;
+        break;
+      }
+      case StatusCode::PG_MB_VAIO_LOW: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "PG mb vaio low" << std::endl;
+        break;
+      }
+      case StatusCode::PG_MB_MPSOCIO_LOW: {
+        sif::warning << STATUS_PRINTOUT_PREFIX << "PG mb mpsocio low" << std::endl;
+        break;
+      }
+      default:
+        sif::warning << "ExecutionReport::printStatusInformation: Invalid status code: 0x"
+                     << std::hex << static_cast<uint16_t>(statusCode) << std::endl;
+        break;
+    }
+  }
 };
 
 /**
@@ -1468,8 +1705,8 @@ class BootStatusReport : public StaticLocalDataSet<BOOT_REPORT_SET_ENTRIES> {
       : StaticLocalDataSet(sid_t(objectId, BOOT_REPORT_SET_ID)) {}
 
   /** Information about boot status of MPSoC */
-  lp_var_t<uint8_t> bootSignal = lp_var_t<uint8_t>(sid.objectId, PoolIds::BOOT_SIGNAL, this);
-  lp_var_t<uint8_t> resetCounter = lp_var_t<uint8_t>(sid.objectId, PoolIds::RESET_COUNTER, this);
+  lp_var_t<uint8_t> socState = lp_var_t<uint8_t>(sid.objectId, PoolIds::BR_SOC_STATE, this);
+  lp_var_t<uint8_t> powerCycles = lp_var_t<uint8_t>(sid.objectId, PoolIds::POWER_CYCLES, this);
   /** Time the MPSoC needs for last boot */
   lp_var_t<uint32_t> bootAfterMs = lp_var_t<uint32_t>(sid.objectId, PoolIds::BOOT_AFTER_MS, this);
   /** The currently set boot timeout */
@@ -1480,6 +1717,8 @@ class BootStatusReport : public StaticLocalDataSet<BOOT_REPORT_SET_ENTRIES> {
   lp_var_t<uint8_t> bp0State = lp_var_t<uint8_t>(sid.objectId, PoolIds::BP0_STATE, this);
   lp_var_t<uint8_t> bp1State = lp_var_t<uint8_t>(sid.objectId, PoolIds::BP1_STATE, this);
   lp_var_t<uint8_t> bp2State = lp_var_t<uint8_t>(sid.objectId, PoolIds::BP2_STATE, this);
+  lp_var_t<uint8_t> bootState = lp_var_t<uint8_t>(sid.objectId, PoolIds::BOOT_STATE, this);
+  lp_var_t<uint8_t> bootCycles = lp_var_t<uint8_t>(sid.objectId, PoolIds::BOOT_CYCLES, this);
 };
 
 /**
@@ -1487,6 +1726,8 @@ class BootStatusReport : public StaticLocalDataSet<BOOT_REPORT_SET_ENTRIES> {
  */
 class HkSet : public StaticLocalDataSet<HK_SET_ENTRIES> {
  public:
+  enum class SocState { OFF = 0, BOOTING = 1, OPERATIONAL = 3, SHUTDOWN = 4 };
+
   HkSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, HK_SET_ID) {}
 
   HkSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, HK_SET_ID)) {}
@@ -1494,12 +1735,12 @@ class HkSet : public StaticLocalDataSet<HK_SET_ENTRIES> {
   lp_var_t<uint32_t> tempPs = lp_var_t<uint32_t>(sid.objectId, PoolIds::TEMP_PS, this);
   lp_var_t<uint32_t> tempPl = lp_var_t<uint32_t>(sid.objectId, PoolIds::TEMP_PS, this);
   lp_var_t<uint32_t> tempSup = lp_var_t<uint32_t>(sid.objectId, PoolIds::TEMP_SUP, this);
-  lp_var_t<uint32_t> uptime = lp_var_t<uint32_t>(sid.objectId, PoolIds::UPTIME, this);
+  lp_var_t<uint64_t> uptime = lp_var_t<uint64_t>(sid.objectId, PoolIds::UPTIME, this);
   lp_var_t<uint32_t> cpuLoad = lp_var_t<uint32_t>(sid.objectId, PoolIds::CPULOAD, this);
   lp_var_t<uint32_t> availableHeap = lp_var_t<uint32_t>(sid.objectId, PoolIds::AVAILABLEHEAP, this);
   lp_var_t<uint32_t> numTcs = lp_var_t<uint32_t>(sid.objectId, PoolIds::NUM_TCS, this);
   lp_var_t<uint32_t> numTms = lp_var_t<uint32_t>(sid.objectId, PoolIds::NUM_TMS, this);
-  lp_var_t<uint32_t> socState = lp_var_t<uint32_t>(sid.objectId, PoolIds::SOC_STATE, this);
+  lp_var_t<uint32_t> socState = lp_var_t<uint32_t>(sid.objectId, PoolIds::HK_SOC_STATE, this);
   lp_var_t<uint8_t> nvm0_1_state = lp_var_t<uint8_t>(sid.objectId, PoolIds::NVM0_1_STATE, this);
   lp_var_t<uint8_t> nvm3_state = lp_var_t<uint8_t>(sid.objectId, PoolIds::NVM3_STATE, this);
   lp_var_t<uint8_t> missionIoState =
@@ -1524,22 +1765,223 @@ class LatchupStatusReport : public StaticLocalDataSet<LATCHUP_RPT_SET_ENTRIES> {
   lp_var_t<uint16_t> cnt4 = lp_var_t<uint16_t>(sid.objectId, PoolIds::CNT4, this);
   lp_var_t<uint16_t> cnt5 = lp_var_t<uint16_t>(sid.objectId, PoolIds::CNT5, this);
   lp_var_t<uint16_t> cnt6 = lp_var_t<uint16_t>(sid.objectId, PoolIds::CNT6, this);
-  lp_var_t<uint32_t> timeSec =
-      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_RPT_TIME_SEC, this);
-  lp_var_t<uint32_t> timeMin =
-      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_RPT_TIME_MIN, this);
-  lp_var_t<uint32_t> timeHour =
-      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_RPT_TIME_HOUR, this);
-  lp_var_t<uint32_t> timeDay =
-      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_RPT_TIME_DAY, this);
-  lp_var_t<uint32_t> timeMon =
-      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_RPT_TIME_MON, this);
-  lp_var_t<uint32_t> timeYear =
-      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_RPT_TIME_YEAR, this);
-  lp_var_t<uint32_t> timeMsec =
-      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_RPT_TIME_MSEC, this);
-  lp_var_t<uint32_t> isSet =
-      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_RPT_TIME_IS_SET, this);
+  lp_var_t<uint16_t> timeMsec =
+      lp_var_t<uint16_t>(sid.objectId, PoolIds::LATCHUP_RPT_TIME_MSEC, this);
+  lp_var_t<uint8_t> timeSec = lp_var_t<uint8_t>(sid.objectId, PoolIds::LATCHUP_RPT_TIME_SEC, this);
+  lp_var_t<uint8_t> timeMin = lp_var_t<uint8_t>(sid.objectId, PoolIds::LATCHUP_RPT_TIME_MIN, this);
+  lp_var_t<uint8_t> timeHour =
+      lp_var_t<uint8_t>(sid.objectId, PoolIds::LATCHUP_RPT_TIME_HOUR, this);
+  lp_var_t<uint8_t> timeDay = lp_var_t<uint8_t>(sid.objectId, PoolIds::LATCHUP_RPT_TIME_DAY, this);
+  lp_var_t<uint8_t> timeMon = lp_var_t<uint8_t>(sid.objectId, PoolIds::LATCHUP_RPT_TIME_MON, this);
+  lp_var_t<uint8_t> timeYear =
+      lp_var_t<uint8_t>(sid.objectId, PoolIds::LATCHUP_RPT_TIME_YEAR, this);
+  lp_var_t<uint8_t> isSet = lp_var_t<uint8_t>(sid.objectId, PoolIds::LATCHUP_RPT_IS_SET, this);
+
+  static const uint8_t IS_SET_BIT_POS = 15;
+};
+
+/**
+ * @brief   This dataset stores the logging report.
+ */
+class LoggingReport : public StaticLocalDataSet<LOGGING_RPT_SET_ENTRIES> {
+ public:
+  LoggingReport(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, LOGGING_RPT_ID) {}
+
+  LoggingReport(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, LOGGING_RPT_ID)) {}
+
+  lp_var_t<uint32_t> latchupHappenCnt0 =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_HAPPENED_CNT_0, this);
+  lp_var_t<uint32_t> latchupHappenCnt1 =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_HAPPENED_CNT_1, this);
+  lp_var_t<uint32_t> latchupHappenCnt2 =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_HAPPENED_CNT_2, this);
+  lp_var_t<uint32_t> latchupHappenCnt3 =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_HAPPENED_CNT_3, this);
+  lp_var_t<uint32_t> latchupHappenCnt4 =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_HAPPENED_CNT_4, this);
+  lp_var_t<uint32_t> latchupHappenCnt5 =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_HAPPENED_CNT_5, this);
+  lp_var_t<uint32_t> latchupHappenCnt6 =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_HAPPENED_CNT_6, this);
+  lp_var_t<uint32_t> adcDeviationTriggersCnt =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::ADC_DEVIATION_TRIGGERS_CNT, this);
+  lp_var_t<uint32_t> tcReceivedCnt =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::TC_RECEIVED_CNT, this);
+  lp_var_t<uint32_t> tmAvailableCnt =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::TM_AVAILABLE_CNT, this);
+  lp_var_t<uint32_t> supervisorBoots =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::SUPERVISOR_BOOTS, this);
+  lp_var_t<uint32_t> mpsocBoots = lp_var_t<uint32_t>(sid.objectId, PoolIds::MPSOC_BOOTS, this);
+  lp_var_t<uint32_t> mpsocBootFailedAttempts =
+      lp_var_t<uint32_t>(sid.objectId, PoolIds::MPSOC_BOOT_FAILED_ATTEMPTS, this);
+  lp_var_t<uint32_t> mpsocPowerup = lp_var_t<uint32_t>(sid.objectId, PoolIds::MPSOC_POWER_UP, this);
+  lp_var_t<uint32_t> mpsocUpdates = lp_var_t<uint32_t>(sid.objectId, PoolIds::MPSOC_UPDATES, this);
+  lp_var_t<uint32_t> lastRecvdTc = lp_var_t<uint32_t>(sid.objectId, PoolIds::LAST_RECVD_TC, this);
+
+  void printSet() {
+    sif::info << "LoggingReport: Latchup happened count 0: " << this->latchupHappenCnt0
+              << std::endl;
+    sif::info << "LoggingReport: Latchup happened count 1: " << this->latchupHappenCnt1
+              << std::endl;
+    sif::info << "LoggingReport: Latchup happened count 2: " << this->latchupHappenCnt2
+              << std::endl;
+    sif::info << "LoggingReport: Latchup happened count 3: " << this->latchupHappenCnt3
+              << std::endl;
+    sif::info << "LoggingReport: Latchup happened count 4: " << this->latchupHappenCnt4
+              << std::endl;
+    sif::info << "LoggingReport: Latchup happened count 5: " << this->latchupHappenCnt5
+              << std::endl;
+    sif::info << "LoggingReport: Latchup happened count 6: " << this->latchupHappenCnt6
+              << std::endl;
+    sif::info << "LoggingReport: ADC deviation triggers count: " << this->adcDeviationTriggersCnt
+              << std::endl;
+    sif::info << "LoggingReport: TC received count: " << this->tcReceivedCnt << std::endl;
+    sif::info << "LoggingReport: TM available count: " << this->tmAvailableCnt << std::endl;
+    sif::info << "LoggingReport: Supervisor boots: " << this->supervisorBoots << std::endl;
+    sif::info << "LoggingReport: MPSoC boots: " << this->mpsocBoots << std::endl;
+    sif::info << "LoggingReport: MPSoC boot failed attempts: " << this->mpsocBootFailedAttempts
+              << std::endl;
+    sif::info << "LoggingReport: MPSoC power up: " << this->mpsocPowerup << std::endl;
+    sif::info << "LoggingReport: MPSoC updates: " << this->mpsocUpdates << std::endl;
+    sif::info << "LoggingReport: APID of last received TC: 0x" << std::hex << this->lastRecvdTc
+              << std::endl;
+  }
+};
+
+class UpdateStatusReport : public TmPacket {
+ public:
+  UpdateStatusReport() : TmPacket() {}
+
+  ReturnValue_t parseDataField() {
+    ReturnValue_t result = lengthCheck();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    uint8_t* dataFieldPtr = this->localData.fields.buffer;
+    size_t size = sizeof(memoryId);
+    SerializeAdapter::deSerialize(&memoryId, dataFieldPtr, &size, SerializeIF::Endianness::BIG);
+    dataFieldPtr += size;
+    size = sizeof(n);
+    SerializeAdapter::deSerialize(&n, dataFieldPtr, &size, SerializeIF::Endianness::BIG);
+    dataFieldPtr += size;
+    size = sizeof(startAddress);
+    SerializeAdapter::deSerialize(&startAddress, dataFieldPtr, &size, SerializeIF::Endianness::BIG);
+    dataFieldPtr += size;
+    size = sizeof(length);
+    SerializeAdapter::deSerialize(&length, dataFieldPtr, &size, SerializeIF::Endianness::BIG);
+    dataFieldPtr += size;
+    size = sizeof(crc);
+    SerializeAdapter::deSerialize(&crc, dataFieldPtr, &size, SerializeIF::Endianness::BIG);
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  ReturnValue_t verifycrc(uint16_t goodCrc) const {
+    if (crc != goodCrc) {
+      return SupvReturnValuesIF::UPDATE_CRC_FAILURE;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  uint16_t getCrc() const { return crc; }
+
+  uint16_t getNominalSize() const { return FULL_SIZE; }
+
+ private:
+  // Nominal size of the space packet
+  static const uint16_t FULL_SIZE = 20;  // header, data field and crc
+
+  uint8_t memoryId = 0;
+  uint8_t n = 0;
+  uint32_t startAddress = 0;
+  uint32_t length = 0;
+  uint16_t crc = 0;
+
+  ReturnValue_t lengthCheck() {
+    if (this->getFullSize() != FULL_SIZE) {
+      return SupvReturnValuesIF::UPDATE_STATUS_REPORT_INVALID_LENGTH;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+/**
+ * @brief   This dataset stores the ADC report.
+ */
+class AdcReport : public StaticLocalDataSet<ADC_RPT_SET_ENTRIES> {
+ public:
+  AdcReport(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, ADC_REPORT_SET_ID) {}
+
+  AdcReport(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, ADC_REPORT_SET_ID)) {}
+
+  lp_var_t<uint16_t> adcRaw0 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_0, this);
+  lp_var_t<uint16_t> adcRaw1 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_1, this);
+  lp_var_t<uint16_t> adcRaw2 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_2, this);
+  lp_var_t<uint16_t> adcRaw3 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_3, this);
+  lp_var_t<uint16_t> adcRaw4 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_4, this);
+  lp_var_t<uint16_t> adcRaw5 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_5, this);
+  lp_var_t<uint16_t> adcRaw6 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_6, this);
+  lp_var_t<uint16_t> adcRaw7 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_7, this);
+  lp_var_t<uint16_t> adcRaw8 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_8, this);
+  lp_var_t<uint16_t> adcRaw9 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_9, this);
+  lp_var_t<uint16_t> adcRaw10 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_10, this);
+  lp_var_t<uint16_t> adcRaw11 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_11, this);
+  lp_var_t<uint16_t> adcRaw12 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_12, this);
+  lp_var_t<uint16_t> adcRaw13 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_13, this);
+  lp_var_t<uint16_t> adcRaw14 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_14, this);
+  lp_var_t<uint16_t> adcRaw15 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_RAW_15, this);
+  lp_var_t<uint16_t> adcEng0 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_0, this);
+  lp_var_t<uint16_t> adcEng1 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_1, this);
+  lp_var_t<uint16_t> adcEng2 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_2, this);
+  lp_var_t<uint16_t> adcEng3 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_3, this);
+  lp_var_t<uint16_t> adcEng4 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_4, this);
+  lp_var_t<uint16_t> adcEng5 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_5, this);
+  lp_var_t<uint16_t> adcEng6 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_6, this);
+  lp_var_t<uint16_t> adcEng7 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_7, this);
+  lp_var_t<uint16_t> adcEng8 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_8, this);
+  lp_var_t<uint16_t> adcEng9 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_9, this);
+  lp_var_t<uint16_t> adcEng10 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_10, this);
+  lp_var_t<uint16_t> adcEng11 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_11, this);
+  lp_var_t<uint16_t> adcEng12 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_12, this);
+  lp_var_t<uint16_t> adcEng13 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_13, this);
+  lp_var_t<uint16_t> adcEng14 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_14, this);
+  lp_var_t<uint16_t> adcEng15 = lp_var_t<uint16_t>(sid.objectId, PoolIds::ADC_ENG_15, this);
+
+  void printSet() {
+    sif::info << "---- Adc Report: Raw values ----" << std::endl;
+    sif::info << "AdcReport: ADC raw 0: " << std::dec << this->adcRaw0 << std::endl;
+    sif::info << "AdcReport: ADC raw 1: " << this->adcRaw1 << std::endl;
+    sif::info << "AdcReport: ADC raw 2: " << this->adcRaw2 << std::endl;
+    sif::info << "AdcReport: ADC raw 3: " << this->adcRaw3 << std::endl;
+    sif::info << "AdcReport: ADC raw 4: " << this->adcRaw4 << std::endl;
+    sif::info << "AdcReport: ADC raw 5: " << this->adcRaw5 << std::endl;
+    sif::info << "AdcReport: ADC raw 6: " << this->adcRaw6 << std::endl;
+    sif::info << "AdcReport: ADC raw 7: " << this->adcRaw7 << std::endl;
+    sif::info << "AdcReport: ADC raw 8: " << this->adcRaw8 << std::endl;
+    sif::info << "AdcReport: ADC raw 9: " << this->adcRaw9 << std::endl;
+    sif::info << "AdcReport: ADC raw 10: " << this->adcRaw10 << std::endl;
+    sif::info << "AdcReport: ADC raw 11: " << this->adcRaw11 << std::endl;
+    sif::info << "AdcReport: ADC raw 12: " << this->adcRaw12 << std::endl;
+    sif::info << "AdcReport: ADC raw 13: " << this->adcRaw13 << std::endl;
+    sif::info << "AdcReport: ADC raw 14: " << this->adcRaw14 << std::endl;
+    sif::info << "AdcReport: ADC raw 15: " << this->adcRaw15 << std::endl;
+    sif::info << "---- Adc Report: Engineering values ----" << std::endl;
+    sif::info << "AdcReport: ADC eng 0: " << this->adcEng0 << std::endl;
+    sif::info << "AdcReport: ADC eng 1: " << this->adcEng1 << std::endl;
+    sif::info << "AdcReport: ADC eng 2: " << this->adcEng2 << std::endl;
+    sif::info << "AdcReport: ADC eng 3: " << this->adcEng3 << std::endl;
+    sif::info << "AdcReport: ADC eng 4: " << this->adcEng4 << std::endl;
+    sif::info << "AdcReport: ADC eng 5: " << this->adcEng5 << std::endl;
+    sif::info << "AdcReport: ADC eng 6: " << this->adcEng6 << std::endl;
+    sif::info << "AdcReport: ADC eng 7: " << this->adcEng7 << std::endl;
+    sif::info << "AdcReport: ADC eng 8: " << this->adcEng8 << std::endl;
+    sif::info << "AdcReport: ADC eng 9: " << this->adcEng9 << std::endl;
+    sif::info << "AdcReport: ADC eng 10: " << this->adcEng10 << std::endl;
+    sif::info << "AdcReport: ADC eng 11: " << this->adcEng11 << std::endl;
+    sif::info << "AdcReport: ADC eng 12: " << this->adcEng12 << std::endl;
+    sif::info << "AdcReport: ADC eng 13: " << this->adcEng13 << std::endl;
+    sif::info << "AdcReport: ADC eng 14: " << this->adcEng14 << std::endl;
+    sif::info << "AdcReport: ADC eng 15: " << this->adcEng15 << std::endl;
+  }
 };
 }  // namespace supv
 
diff --git a/linux/devices/devicedefinitions/SupvReturnValuesIF.h b/linux/devices/devicedefinitions/SupvReturnValuesIF.h
new file mode 100644
index 00000000..307deb0e
--- /dev/null
+++ b/linux/devices/devicedefinitions/SupvReturnValuesIF.h
@@ -0,0 +1,61 @@
+#ifndef SUPV_RETURN_VALUES_IF_H_
+#define SUPV_RETURN_VALUES_IF_H_
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+class SupvReturnValuesIF {
+ public:
+  static const uint8_t INTERFACE_ID = CLASS_ID::SUPV_RETURN_VALUES_IF;
+
+  //! [EXPORT] : [COMMENT] Space Packet received from PLOC supervisor has invalid CRC
+  static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
+  //! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC supervisor
+  static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
+  //! [EXPORT] : [COMMENT] Received execution failure reply from PLOC supervisor
+  static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
+  //! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC supervisor
+  static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
+  //! [EXPORT] : [COMMENT] Failed to read current system time
+  static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4);
+  //! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0
+  //! for PS, 1 for PL and 2 for INT
+  static const ReturnValue_t INVALID_WATCHDOG = MAKE_RETURN_CODE(0xA5);
+  //! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid
+  //! timeouts must be in the range between 1000 and 360000 ms.
+  static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA6);
+  //! [EXPORT] : [COMMENT] Received latchup config command with invalid latchup ID
+  static const ReturnValue_t INVALID_LATCHUP_ID = MAKE_RETURN_CODE(0xA7);
+  //! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be
+  //! larger than 21.
+  static const ReturnValue_t SWEEP_PERIOD_TOO_SMALL = MAKE_RETURN_CODE(0xA8);
+  //! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1
+  //! and 2.
+  static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xA9);
+  //! [EXPORT] : [COMMENT] Returned when scanning for MRAM dump packets failed.
+  static const ReturnValue_t MRAM_PACKET_PARSING_FAILURE = MAKE_RETURN_CODE(0xAA);
+  //! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM  wipe
+  //! commands are invalid (e.g. start address bigger than stop address)
+  static const ReturnValue_t INVALID_MRAM_ADDRESSES = MAKE_RETURN_CODE(0xAB);
+  //! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with
+  //! other apid.
+  static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAC);
+  //! [EXPORT] : [COMMENT] Path to PLOC directory on SD card does not exist
+  static const ReturnValue_t PATH_DOES_NOT_EXIST = MAKE_RETURN_CODE(0xAD);
+  //! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have
+  //! been created with the reception of the first dump packet.
+  static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAE);
+  //! [EXPORT] : [COMMENT] Received action command has invalid length
+  static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xAF);
+  //! [EXPORT] : [COMMENT] Filename too long
+  static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xB0);
+  //! [EXPORT] : [COMMENT] Received update status report with invalid packet length field
+  static const ReturnValue_t UPDATE_STATUS_REPORT_INVALID_LENGTH = MAKE_RETURN_CODE(0xB1);
+  //! [EXPORT] : [COMMENT] Update status report does not contain expected CRC. There might be a bit
+  //! flip in the update memory region.
+  static const ReturnValue_t UPDATE_CRC_FAILURE = MAKE_RETURN_CODE(0xB2);
+  //! [EXPORT] : [COMMENT] Supervisor helper task ist currently executing a command (wait until
+  //! helper tas has finished or interrupt by sending the terminate command)
+  static const ReturnValue_t SUPV_HELPER_EXECUTING = MAKE_RETURN_CODE(0xB3);
+};
+
+#endif /* SUPV_RETURN_VALUES_IF_H_ */
diff --git a/linux/devices/ploc/CMakeLists.txt b/linux/devices/ploc/CMakeLists.txt
index 2d1e1998..f085eab3 100644
--- a/linux/devices/ploc/CMakeLists.txt
+++ b/linux/devices/ploc/CMakeLists.txt
@@ -1,7 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE
-    PlocSupervisorHandler.cpp
-    PlocUpdater.cpp
-    PlocMemoryDumper.cpp
-    PlocMPSoCHandler.cpp
-    PlocMPSoCHelper.cpp
-)
+target_sources(
+  ${OBSW_NAME}
+  PRIVATE PlocSupervisorHandler.cpp PlocMemoryDumper.cpp PlocMPSoCHandler.cpp
+          PlocMPSoCHelper.cpp PlocSupvHelper.cpp)
diff --git a/linux/devices/ploc/PlocMPSoCHandler.cpp b/linux/devices/ploc/PlocMPSoCHandler.cpp
index 52fd5812..7905e82b 100644
--- a/linux/devices/ploc/PlocMPSoCHandler.cpp
+++ b/linux/devices/ploc/PlocMPSoCHandler.cpp
@@ -99,6 +99,20 @@ void PlocMPSoCHandler::performOperationHook() {
 ReturnValue_t PlocMPSoCHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                               const uint8_t* data, size_t size) {
   ReturnValue_t result = RETURN_OK;
+  switch (actionId) {
+    case mpsoc::SET_UART_TX_TRISTATE: {
+      uartIsolatorSwitch.pullLow();
+      return EXECUTION_FINISHED;
+      break;
+    }
+    case mpsoc::RELEASE_UART_TX: {
+      uartIsolatorSwitch.pullHigh();
+      return EXECUTION_FINISHED;
+      break;
+      default:
+        break;
+    }
+  }
 
   if (plocMPSoCHelperExecuting) {
     return MPSoCReturnValuesIF::MPSOC_HELPER_EXECUTING;
@@ -134,6 +148,7 @@ ReturnValue_t PlocMPSoCHandler::executeAction(ActionId_t actionId, MessageQueueI
 
 void PlocMPSoCHandler::doStartUp() {
 #ifdef XIPHOS_Q7S
+#if not OBSW_MPSOC_JTAG_BOOT == 1
   switch (powerState) {
     case PowerState::OFF:
       commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
@@ -147,11 +162,19 @@ void PlocMPSoCHandler::doStartUp() {
       break;
   }
 #else
+  powerState = PowerState::ON;
+  setMode(_MODE_TO_ON);
+  uartIsolatorSwitch.pullHigh();
+#endif /* not MSPOC_JTAG_BOOT == 1 */
+#else
+  powerState = PowerState::ON;
   setMode(_MODE_TO_ON);
 #endif /* XIPHOS_Q7S */
 }
 
 void PlocMPSoCHandler::doShutDown() {
+#ifdef XIPHOS_Q7S
+#if not OBSW_MPSOC_JTAG_BOOT == 1
   switch (powerState) {
     case PowerState::ON:
       uartIsolatorSwitch.pullLow();
@@ -164,6 +187,12 @@ void PlocMPSoCHandler::doShutDown() {
     default:
       break;
   }
+#else
+  uartIsolatorSwitch.pullLow();
+  setMode(_MODE_POWER_DOWN);
+  powerState = PowerState::OFF;
+#endif
+#endif
 }
 
 ReturnValue_t PlocMPSoCHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
@@ -252,6 +281,8 @@ void PlocMPSoCHandler::fillCommandAndReplyMap() {
   this->insertInCommandMap(mpsoc::TC_MODE_REPLAY);
   this->insertInCommandMap(mpsoc::TC_MODE_IDLE);
   this->insertInCommandMap(mpsoc::TC_CAM_CMD_SEND);
+  this->insertInCommandMap(mpsoc::RELEASE_UART_TX);
+  this->insertInCommandMap(mpsoc::SET_UART_TX_TRISTATE);
   this->insertInReplyMap(mpsoc::ACK_REPORT, 3, nullptr, mpsoc::SIZE_ACK_REPORT);
   this->insertInReplyMap(mpsoc::EXE_REPORT, 3, nullptr, mpsoc::SIZE_EXE_REPORT);
   this->insertInReplyMap(mpsoc::TM_MEMORY_READ_REPORT, 2, nullptr, mpsoc::SIZE_TM_MEM_READ_REPORT);
@@ -302,7 +333,7 @@ ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remain
   sequenceCount++;
   uint16_t recvSeqCnt = (*(start + 2) << 8 | *(start + 3)) & PACKET_SEQUENCE_COUNT_MASK;
   if (recvSeqCnt != sequenceCount) {
-    triggerEvent(MPSOC_HANDLER_SEQ_CNT_MISMATCH, sequenceCount, recvSeqCnt);
+    triggerEvent(MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH, sequenceCount, recvSeqCnt);
     sequenceCount = recvSeqCnt;
   }
   return result;
@@ -558,14 +589,14 @@ ReturnValue_t PlocMPSoCHandler::handleAckReport(const uint8_t* data) {
 
   switch (apid) {
     case mpsoc::apid::ACK_FAILURE: {
-      // TODO: Interpretation of status field in acknowledgment report
       sif::debug << "PlocMPSoCHandler::handleAckReport: Received Ack failure report" << std::endl;
       DeviceCommandId_t commandId = getPendingCommand();
       uint16_t status = getStatus(data);
+      printStatus(data);
       if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
         triggerEvent(ACK_FAILURE, commandId, status);
       }
-      sendFailureReport(mpsoc::ACK_REPORT, MPSoCReturnValuesIF::RECEIVED_ACK_FAILURE);
+      sendFailureReport(mpsoc::ACK_REPORT, status);
       disableAllReplies();
       nextReplyId = mpsoc::NONE;
       result = IGNORE_REPLY_DATA;
@@ -652,15 +683,17 @@ ReturnValue_t PlocMPSoCHandler::handleCamCmdRpt(const uint8_t* data) {
   if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
     sif::warning << "PlocMPSoCHandler::handleCamCmdRpt: CRC failure" << std::endl;
   }
-  const uint8_t* dataFieldPtr = data + mpsoc::SPACE_PACKET_HEADER_SIZE;
+  const uint8_t* dataFieldPtr = data + mpsoc::SPACE_PACKET_HEADER_SIZE + sizeof(uint16_t);
   std::string camCmdRptMsg(
       reinterpret_cast<const char*>(dataFieldPtr),
-      tmCamCmdRpt.rememberSpacePacketSize - mpsoc::SPACE_PACKET_HEADER_SIZE - 3);
+      tmCamCmdRpt.rememberSpacePacketSize - mpsoc::SPACE_PACKET_HEADER_SIZE - sizeof(uint16_t) - 3);
+#if OBSW_DEBUG_PLOC_MPSOC == 1
   uint8_t ackValue = *(packet.getPacketData() + packet.getPacketDataLength() - 2);
-  sif::info << "CamCmdRpt message: " << camCmdRptMsg << std::endl;
-  sif::info << "CamCmdRpt Ack value: 0x" << std::hex << static_cast<unsigned int>(ackValue)
-            << std::endl;
-  handleDeviceTM(packet.getPacketData(), packet.getPacketDataLength() - 1, mpsoc::TM_CAM_CMD_RPT);
+  sif::info << "PlocMPSoCHandler: CamCmdRpt message: " << camCmdRptMsg << std::endl;
+  sif::info << "PlocMPSoCHandler: CamCmdRpt Ack value: 0x" << std::hex
+            << static_cast<unsigned int>(ackValue) << std::endl;
+#endif /* OBSW_DEBUG_PLOC_MPSOC == 1 */
+  handleDeviceTM(packet.getPacketData() + sizeof(uint16_t), packet.getPacketDataLength() - 1, mpsoc::TM_CAM_CMD_RPT);
   return result;
 }
 
@@ -799,6 +832,14 @@ size_t PlocMPSoCHandler::getNextReplyLength(DeviceCommandId_t commandId) {
   return replyLen;
 }
 
+ReturnValue_t PlocMPSoCHandler::doSendReadHook() {
+  // Prevent DHB from polling UART during commands executed by the mpsoc helper task
+  if (plocMPSoCHelperExecuting) {
+    return RETURN_FAILED;
+  }
+  return RETURN_OK;
+}
+
 MessageQueueIF* PlocMPSoCHandler::getCommandQueuePtr() { return commandActionHelperQueue; }
 
 void PlocMPSoCHandler::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) { return; }
@@ -806,16 +847,19 @@ void PlocMPSoCHandler::stepSuccessfulReceived(ActionId_t actionId, uint8_t step)
 void PlocMPSoCHandler::stepFailedReceived(ActionId_t actionId, uint8_t step,
                                           ReturnValue_t returnCode) {
   switch (actionId) {
-    case supv::START_MPSOC:
+    case supv::START_MPSOC: {
       sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to start MPSoC" << std::endl;
+      // This usually happens when the supervisor handler is in off mode
       powerState = PowerState::OFF;
+      setMode(MODE_OFF);
       break;
-    case supv::SHUTDOWN_MPSOC:
+    }
+    case supv::SHUTDOWN_MPSOC: {
       triggerEvent(MPSOC_SHUTDOWN_FAILED);
       sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to shutdown MPSoC" << std::endl;
-      // TODO: Setting state to on or off here?
-      powerState = PowerState::ON;
+      powerState = PowerState::OFF;
       break;
+    }
     default:
       sif::debug << "PlocMPSoCHandler::stepFailedReceived: Received unexpected action reply"
                  << std::endl;
@@ -879,10 +923,11 @@ void PlocMPSoCHandler::handleDeviceTM(const uint8_t* data, size_t dataSize,
 }
 
 void PlocMPSoCHandler::disableAllReplies() {
+  using namespace mpsoc;
   DeviceReplyMap::iterator iter;
 
   /* Disable ack reply */
-  iter = deviceReplyMap.find(mpsoc::ACK_REPORT);
+  iter = deviceReplyMap.find(ACK_REPORT);
   DeviceReplyInfo* info = &(iter->second);
   info->delayCycles = 0;
   info->command = deviceCommandMap.end();
@@ -891,17 +936,26 @@ void PlocMPSoCHandler::disableAllReplies() {
 
   /* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
   switch (commandId) {
-    case mpsoc::TC_MEM_WRITE:
+    case TC_MEM_WRITE:
       break;
-    case mpsoc::TC_MEM_READ: {
-      iter = deviceReplyMap.find(mpsoc::TM_MEMORY_READ_REPORT);
+    case TC_MEM_READ: {
+      iter = deviceReplyMap.find(TM_MEMORY_READ_REPORT);
       info = &(iter->second);
       info->delayCycles = 0;
+      info->active = false;
+      info->command = deviceCommandMap.end();
+      break;
+    }
+    case TC_CAM_CMD_SEND: {
+      iter = deviceReplyMap.find(TM_CAM_CMD_RPT);
+      info = &(iter->second);
+      info->delayCycles = 0;
+      info->active = false;
       info->command = deviceCommandMap.end();
       break;
     }
     default: {
-      sif::debug << "PlocMPSoCHandler::disableAllReplies: Unknown command id" << commandId
+      sif::debug << "PlocMPSoCHandler::disableAllReplies: Unknown command id: " << commandId
                  << std::endl;
       break;
     }
@@ -940,7 +994,7 @@ void PlocMPSoCHandler::disableExeReportReply() {
 
 void PlocMPSoCHandler::printStatus(const uint8_t* data) {
   uint16_t status = *(data + STATUS_OFFSET) << 8 | *(data + STATUS_OFFSET + 1);
-  sif::info << "Verification report status: 0x" << std::hex << status << std::endl;
+  sif::info << "Verification report status: " << getStatusString(status)  << std::endl;
 }
 
 uint16_t PlocMPSoCHandler::getStatus(const uint8_t* data) {
@@ -959,15 +1013,19 @@ void PlocMPSoCHandler::handleActionCommandFailure(ActionId_t actionId) {
   }
   switch (powerState) {
     case PowerState::BOOTING: {
-      sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to boot MPSoC"
-                   << std::endl;
-      powerState = PowerState::OFF;
+      sif::info << "PlocMPSoCHandler::handleActionCommandFailure: MPSoC boot command failed"
+                << std::endl;
+      // This is commonly the case when the MPSoC is already operational. Thus the power state is
+      // set to on here
+      powerState = PowerState::ON;
       break;
     }
     case PowerState::SHUTDOWN: {
+      // FDIR will intercept event and switch PLOC power off
+      triggerEvent(MPSOC_SHUTDOWN_FAILED);
       sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to shutdown MPSoC"
                    << std::endl;
-      powerState = PowerState::ON;
+      powerState = PowerState::OFF;
       break;
     }
     default:
@@ -975,3 +1033,79 @@ void PlocMPSoCHandler::handleActionCommandFailure(ActionId_t actionId) {
   }
   return;
 }
+
+std::string PlocMPSoCHandler::getStatusString(uint16_t status) {
+	switch(status) {
+	case(mpsoc::status_code::UNKNOWN_APID): {
+		return "Unknown APID";
+		break;
+	}
+	case(mpsoc::status_code::INCORRECT_LENGTH): {
+		return "Incorrect length";
+		break;
+	}
+	case(mpsoc::status_code::INCORRECT_CRC): {
+		return "Incorrect crc";
+		break;
+	}
+	case(mpsoc::status_code::INCORRECT_PKT_SEQ_CNT): {
+		return "Incorrect packet sequence count";
+		break;
+	}
+	case(mpsoc::status_code::TC_NOT_ALLOWED_IN_MODE): {
+		return "TC not allowed in this mode";
+		break;
+	}
+	case(mpsoc::status_code::TC_EXEUTION_DISABLED): {
+		return "TC execution disabled";
+		break;
+	}
+	case(mpsoc::status_code::FLASH_MOUNT_FAILED): {
+		return "Flash mount failed";
+		break;
+	}
+	case(mpsoc::status_code::FLASH_FILE_ALREADY_CLOSED): {
+		return "Flash file already closed";
+		break;
+	}
+	case(mpsoc::status_code::FLASH_FILE_NOT_OPEN): {
+		return "Flash file not open";
+		break;
+	}
+	case(mpsoc::status_code::FLASH_UNMOUNT_FAILED): {
+		return "Flash unmount failed";
+		break;
+	}
+	case(mpsoc::status_code::HEAP_ALLOCATION_FAILED): {
+		return "Heap allocation failed";
+		break;
+	}
+	case(mpsoc::status_code::INVALID_PARAMETER): {
+		return "Invalid parameter";
+		break;
+	}
+	case(mpsoc::status_code::NOT_INITIALIZED): {
+		return "Not initialized";
+		break;
+	}
+	case(mpsoc::status_code::REBOOT_IMMINENT): {
+		return "Reboot imminent";
+		break;
+	}
+	case(mpsoc::status_code::CORRUPT_DATA): {
+		return "Corrupt data";
+		break;
+	}
+	case(mpsoc::status_code::FLASH_CORRECTABLE_MISMATCH): {
+		return "Flash correctable mismatch";
+		break;
+	}
+	case(mpsoc::status_code::FLASH_UNCORRECTABLE_MISMATCH): {
+		return "Flash uncorrectable mismatch";
+		break;
+	}
+	default:
+		break;
+	}
+	return "";
+}
diff --git a/linux/devices/ploc/PlocMPSoCHandler.h b/linux/devices/ploc/PlocMPSoCHandler.h
index d5ea231b..0d3445d1 100644
--- a/linux/devices/ploc/PlocMPSoCHandler.h
+++ b/linux/devices/ploc/PlocMPSoCHandler.h
@@ -14,6 +14,7 @@
 #include "fsfw_hal/linux/uart/UartComIF.h"
 #include "linux/devices/devicedefinitions/MPSoCReturnValuesIF.h"
 #include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
+#include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
 
 /**
  * @brief	This is the device handler for the MPSoC of the payload computer.
@@ -76,6 +77,7 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
                                       uint8_t expectedReplies = 1, bool useAlternateId = false,
                                       DeviceCommandId_t alternateReplyID = 0) override;
   size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
+  virtual ReturnValue_t doSendReadHook() override;
 
  private:
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
@@ -94,7 +96,7 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
   static const Event MPSOC_HANDLER_CRC_FAILURE = MAKE_EVENT(4, severity::LOW);
   //! [EXPORT] : [COMMENT] Packet sequence count in received space packet does not match expected
   //! count P1: Expected sequence count P2: Received sequence count
-  static const Event MPSOC_HANDLER_SEQ_CNT_MISMATCH = MAKE_EVENT(5, severity::LOW);
+  static const Event MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH = MAKE_EVENT(5, severity::LOW);
   //! [EXPORT] : [COMMENT] Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and
   //! thus also to shutdown the supervisor.
   static const Event MPSOC_SHUTDOWN_FAILED = MAKE_EVENT(6, severity::HIGH);
@@ -106,7 +108,11 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
   MessageQueueIF* eventQueue = nullptr;
   MessageQueueIF* commandActionHelperQueue = nullptr;
 
-  SourceSequenceCounter sequenceCount;
+  // Initiate the sequence count with the maximum value. It is incremented before
+  // a packet is sent, so the first value will be 0 accordingly using
+  // the wrap around of the counter.
+  SourceSequenceCounter sequenceCount =
+      SourceSequenceCounter(SpacePacketBase::LIMIT_SEQUENCE_COUNT - 1);
 
   uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
 
@@ -257,6 +263,8 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
   uint16_t getStatus(const uint8_t* data);
 
   void handleActionCommandFailure(ActionId_t actionId);
+
+  std::string getStatusString(uint16_t status);
 };
 
 #endif /* BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_ */
diff --git a/linux/devices/ploc/PlocMPSoCHelper.cpp b/linux/devices/ploc/PlocMPSoCHelper.cpp
index e940e8f3..5e6da78b 100644
--- a/linux/devices/ploc/PlocMPSoCHelper.cpp
+++ b/linux/devices/ploc/PlocMPSoCHelper.cpp
@@ -204,7 +204,7 @@ ReturnValue_t PlocMPSoCHelper::sendCommand(mpsoc::TcBase& tc) {
   result = uartComIF->sendMessage(comCookie, tc.getWholeData(), tc.getFullSize());
   if (result != RETURN_OK) {
     sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
-    triggerEvent(SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
+    triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
     return result;
   }
   return result;
@@ -227,11 +227,11 @@ ReturnValue_t PlocMPSoCHelper::handleAck() {
 
 void PlocMPSoCHelper::handleAckApidFailure(uint16_t apid) {
   if (apid == mpsoc::apid::ACK_FAILURE) {
-    triggerEvent(ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState));
+    triggerEvent(MPSOC_ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState));
     sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Received acknowledgement failure "
                  << "report" << std::endl;
   } else {
-    triggerEvent(ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
+    triggerEvent(MPSOC_ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
     sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
                  << "but received space packet with apid " << std::hex << apid << std::endl;
   }
@@ -254,11 +254,11 @@ ReturnValue_t PlocMPSoCHelper::handleExe() {
 
 void PlocMPSoCHelper::handleExeApidFailure(uint16_t apid) {
   if (apid == mpsoc::apid::EXE_FAILURE) {
-    triggerEvent(EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
+    triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
     sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Received execution failure "
                  << "report" << std::endl;
   } else {
-    triggerEvent(EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
+    triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
     sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Expected execution report "
                  << "but received space packet with apid " << std::hex << apid << std::endl;
   }
@@ -281,7 +281,7 @@ ReturnValue_t PlocMPSoCHelper::handleTmReception(mpsoc::TmPacket* tmPacket, size
   }
   if (remainingBytes != 0) {
     sif::warning << "PlocMPSoCHelper::handleTmReception: Failed to receive reply" << std::endl;
-    triggerEvent(MISSING_EXE, remainingBytes, static_cast<uint32_t>(internalState));
+    triggerEvent(MPSOC_MISSING_EXE, remainingBytes, static_cast<uint32_t>(internalState));
     return RETURN_FAILED;
   }
   result = tmPacket->checkCrc();
diff --git a/linux/devices/ploc/PlocMPSoCHelper.h b/linux/devices/ploc/PlocMPSoCHelper.h
index 4cb882c7..3c011b6a 100644
--- a/linux/devices/ploc/PlocMPSoCHelper.h
+++ b/linux/devices/ploc/PlocMPSoCHelper.h
@@ -29,10 +29,10 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF, public H
   //! [EXPORT] : [COMMENT] Flash write successful
   static const Event MPSOC_FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(1, severity::LOW);
   //! [EXPORT] : [COMMENT] Communication interface returned failure when trying to send the command
-  //! ot the PLOC
+  //! to the MPSoC
   //! P1: Return value returned by the communication interface sendMessage function
   //! P2: Internal state of MPSoC helper
-  static const Event SENDING_COMMAND_FAILED = MAKE_EVENT(2, severity::LOW);
+  static const Event MPSOC_SENDING_COMMAND_FAILED = MAKE_EVENT(2, severity::LOW);
   //! [EXPORT] : [COMMENT] Request receive message of communication interface failed
   //! P1: Return value returned by the communication interface requestReceiveMessage function
   //! P2: Internal state of MPSoC helper
@@ -41,28 +41,28 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF, public H
   //! P1: Return value returned by the communication interface readingReceivedMessage function
   //! P2: Internal state of MPSoC helper
   static const Event MPSOC_HELPER_READING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
-  //! [EXPORT] : [COMMENT] Did not receive acknowledgement report
+  //! [EXPORT] : [COMMENT] Did not receive acknowledgment report
   //! P1: Number of bytes missing
   //! P2: Internal state of MPSoC helper
-  static const Event MISSING_ACK = MAKE_EVENT(5, severity::LOW);
+  static const Event MPSOC_MISSING_ACK = MAKE_EVENT(5, severity::LOW);
   //! [EXPORT] : [COMMENT] Did not receive execution report
   //! P1: Number of bytes missing
   //! P2: Internal state of MPSoC helper
-  static const Event MISSING_EXE = MAKE_EVENT(6, severity::LOW);
-  //! [EXPORT] : [COMMENT] Received acknowledgement failure report
+  static const Event MPSOC_MISSING_EXE = MAKE_EVENT(6, severity::LOW);
+  //! [EXPORT] : [COMMENT] Received acknowledgment failure report
   //! P1: Internal state of MPSoC
-  static const Event ACK_FAILURE_REPORT = MAKE_EVENT(7, severity::LOW);
+  static const Event MPSOC_ACK_FAILURE_REPORT = MAKE_EVENT(7, severity::LOW);
   //! [EXPORT] : [COMMENT] Received execution failure report
   //! P1: Internal state of MPSoC
-  static const Event EXE_FAILURE_REPORT = MAKE_EVENT(8, severity::LOW);
-  //! [EXPORT] : [COMMENT] Expected acknowledgement report but received space packet with other apid
+  static const Event MPSOC_EXE_FAILURE_REPORT = MAKE_EVENT(8, severity::LOW);
+  //! [EXPORT] : [COMMENT] Expected acknowledgment report but received space packet with other apid
   //! P1: Apid of received space packet
   //! P2: Internal state of MPSoC
-  static const Event ACK_INVALID_APID = MAKE_EVENT(9, severity::LOW);
+  static const Event MPSOC_ACK_INVALID_APID = MAKE_EVENT(9, severity::LOW);
   //! [EXPORT] : [COMMENT] Expected execution report but received space packet with other apid
   //! P1: Apid of received space packet
   //! P2: Internal state of MPSoC
-  static const Event EXE_INVALID_APID = MAKE_EVENT(10, severity::LOW);
+  static const Event MPSOC_EXE_INVALID_APID = MAKE_EVENT(10, severity::LOW);
   //! [EXPORT] : [COMMENT] Received sequence count does not match expected sequence count
   //! P1: Expected sequence count
   //! P2: Received sequence count
diff --git a/linux/devices/ploc/PlocMemoryDumper.cpp b/linux/devices/ploc/PlocMemoryDumper.cpp
index a73a2606..568c6152 100644
--- a/linux/devices/ploc/PlocMemoryDumper.cpp
+++ b/linux/devices/ploc/PlocMemoryDumper.cpp
@@ -121,7 +121,10 @@ void PlocMemoryDumper::doStateMachine() {
 void PlocMemoryDumper::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
 
 void PlocMemoryDumper::stepFailedReceived(ActionId_t actionId, uint8_t step,
-                                          ReturnValue_t returnCode) {}
+                                          ReturnValue_t returnCode) {
+  triggerEvent(MRAM_DUMP_FAILED);
+  state = State::IDLE;
+}
 
 void PlocMemoryDumper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
 
@@ -149,10 +152,9 @@ void PlocMemoryDumper::completionFailedReceived(ActionId_t actionId, ReturnValue
     case (supv::FIRST_MRAM_DUMP):
     case (supv::CONSECUTIVE_MRAM_DUMP):
       triggerEvent(MRAM_DUMP_FAILED, mram.lastStartAddress);
+      pendingCommand = NONE;
       break;
     default:
-      sif::debug << "PlocMemoryDumper::completionFailedReceived: Invalid pending command "
-                 << std::endl;
       break;
   }
   state = State::IDLE;
@@ -168,12 +170,12 @@ void PlocMemoryDumper::commandNextMramDump(ActionId_t dumpCommand) {
     tempStartAddress = mram.startAddress;
     tempEndAddress = mram.startAddress + MAX_MRAM_DUMP_SIZE;
     mram.startAddress += MAX_MRAM_DUMP_SIZE;
-    mram.lastStartAddress = tempStartAddress;
   } else {
     tempStartAddress = mram.startAddress;
     tempEndAddress = mram.endAddress;
     mram.startAddress = mram.endAddress;
   }
+  mram.lastStartAddress = tempStartAddress;
 
   MemoryParams params(tempStartAddress, tempEndAddress);
 
diff --git a/linux/devices/ploc/PlocSupervisorHandler.cpp b/linux/devices/ploc/PlocSupervisorHandler.cpp
index 5065c7dd..f7a83528 100644
--- a/linux/devices/ploc/PlocSupervisorHandler.cpp
+++ b/linux/devices/ploc/PlocSupervisorHandler.cpp
@@ -1,28 +1,34 @@
 #include "PlocSupervisorHandler.h"
 
-#include <fsfw/datapool/PoolReadGuard.h>
-#include <fsfw/globalfunctions/CRC.h>
-#include <fsfw/timemanager/Clock.h>
-
 #include <filesystem>
 #include <fstream>
 #include <sstream>
 #include <string>
 
 #include "OBSWConfig.h"
+#include "eive/definitions.h"
+#include "fsfw/datapool/PoolReadGuard.h"
+#include "fsfw/globalfunctions/CRC.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/timemanager/Clock.h"
 
 PlocSupervisorHandler::PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid,
                                              CookieIF* comCookie, Gpio uartIsolatorSwitch,
-                                             power::Switch_t powerSwitch)
+                                             power::Switch_t powerSwitch,
+                                             PlocSupvHelper* supvHelper)
     : DeviceHandlerBase(objectId, uartComIFid, comCookie),
       uartIsolatorSwitch(uartIsolatorSwitch),
       hkset(this),
       bootStatusReport(this),
       latchupStatusReport(this),
-      powerSwitch(powerSwitch) {
+      loggingReport(this),
+      adcReport(this),
+      powerSwitch(powerSwitch),
+      supvHelper(supvHelper) {
   if (comCookie == NULL) {
     sif::error << "PlocSupervisorHandler: Invalid com cookie" << std::endl;
   }
+  eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
 }
 
 PlocSupervisorHandler::~PlocSupervisorHandler() {}
@@ -38,20 +44,131 @@ ReturnValue_t PlocSupervisorHandler::initialize() {
     sif::warning << "PlocSupervisorHandler::initialize: Invalid uart com if" << std::endl;
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
-#ifdef TE0720_1CFA
+#ifndef TE0720_1CFA
   sdcMan = SdCardManager::instance();
-#endif /* BOARD_TE0720 == 0 */
+#endif /* TE0720_1CFA */
+  if (supvHelper == nullptr) {
+    sif::warning << "PlocSupervisorHandler::initialize: Invalid supervisor helper" << std::endl;
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  result = supvHelper->setComIF(uartComIf);
+  if (result != RETURN_OK) {
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  supvHelper->setComCookie(comCookie);
+
+  result = eventSubscription();
+  if (result != RETURN_OK) {
+    return result;
+  }
   return result;
 }
 
+void PlocSupervisorHandler::performOperationHook() {
+  EventMessage event;
+  for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == RETURN_OK;
+       result = eventQueue->receiveMessage(&event)) {
+    switch (event.getMessageId()) {
+      case EventMessage::EVENT_MESSAGE:
+        handleEvent(&event);
+        break;
+      default:
+        sif::debug << "PlocSupervisorHandler::performOperationHook: Did not subscribe to this event"
+                   << " message" << std::endl;
+        break;
+    }
+  }
+}
+
+ReturnValue_t PlocSupervisorHandler::executeAction(ActionId_t actionId,
+                                                   MessageQueueId_t commandedBy,
+                                                   const uint8_t* data, size_t size) {
+  using namespace supv;
+  ReturnValue_t result = RETURN_OK;
+
+  switch (actionId) {
+    case TERMINATE_SUPV_HELPER: {
+      supvHelper->stopProcess();
+      return EXECUTION_FINISHED;
+    }
+    default:
+      break;
+  }
+
+  if (plocSupvHelperExecuting) {
+    return SupvReturnValuesIF::SUPV_HELPER_EXECUTING;
+  }
+
+  switch (actionId) {
+    case PERFORM_UPDATE: {
+      if (size > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
+        return SupvReturnValuesIF::FILENAME_TOO_LONG;
+      }
+      std::string file = "";
+      uint8_t memoryId = 0;
+      uint32_t startAddress = 0;
+      result = extractUpdateCommand(data, size, &file, &memoryId, &startAddress);
+      if (result != RETURN_OK) {
+        return result;
+      }
+      result = supvHelper->startUpdate(file, memoryId, startAddress);
+      if (result != RETURN_OK) {
+        return result;
+      }
+      plocSupvHelperExecuting = true;
+      return EXECUTION_FINISHED;
+    }
+    case CONTINUE_UPDATE: {
+      supvHelper->initiateUpdateContinuation();
+      plocSupvHelperExecuting = true;
+      return EXECUTION_FINISHED;
+    }
+    case LOGGING_REQUEST_EVENT_BUFFERS: {
+      if (size > config::MAX_PATH_SIZE) {
+        return SupvReturnValuesIF::FILENAME_TOO_LONG;
+      }
+      result = supvHelper->startEventbBufferRequest(
+          std::string(reinterpret_cast<const char*>(data), size));
+      if (result != RETURN_OK) {
+        return result;
+      }
+      plocSupvHelperExecuting = true;
+      return EXECUTION_FINISHED;
+    }
+    default:
+      break;
+  }
+  return DeviceHandlerBase::executeAction(actionId, commandedBy, data, size);
+}
+
 void PlocSupervisorHandler::doStartUp() {
-  setMode(_MODE_TO_ON);
-  uartIsolatorSwitch.pullHigh();
+  switch (startupState) {
+    case StartupState::OFF: {
+      bootTimeout.resetTimer();
+      startupState = StartupState::BOOTING;
+      break;
+    }
+    case StartupState::BOOTING: {
+      if (bootTimeout.hasTimedOut()) {
+        uartIsolatorSwitch.pullHigh();
+        startupState = StartupState::SET_TIME;
+      }
+    }
+    case StartupState::SET_TIME_EXECUTING:
+      break;
+    case StartupState::ON: {
+      setMode(_MODE_TO_ON);
+      break;
+    }
+    default:
+      break;
+  }
 }
 
 void PlocSupervisorHandler::doShutDown() {
   setMode(_MODE_POWER_DOWN);
   uartIsolatorSwitch.pullLow();
+  startupState = StartupState::OFF;
 }
 
 ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
@@ -59,206 +176,211 @@ ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(DeviceCommandId_t*
 }
 
 ReturnValue_t PlocSupervisorHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  if (startupState == StartupState::SET_TIME) {
+    *id = supv::SET_TIME_REF;
+    startupState = StartupState::SET_TIME_EXECUTING;
+    return buildCommandFromCommand(*id, nullptr, 0);
+  }
   return NOTHING_TO_SEND;
 }
 
 ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                              const uint8_t* commandData,
                                                              size_t commandDataLen) {
+  using namespace supv;
   ReturnValue_t result = RETURN_FAILED;
   switch (deviceCommand) {
-    case (supv::GET_HK_REPORT): {
-      prepareEmptyCmd(supv::APID_GET_HK_REPORT);
+    case GET_HK_REPORT: {
+      prepareEmptyCmd(APID_GET_HK_REPORT);
       result = RETURN_OK;
       break;
     }
-    case (supv::RESTART_MPSOC): {
-      prepareEmptyCmd(supv::APID_RESTART_MPSOC);
+    case START_MPSOC: {
+      prepareEmptyCmd(APID_START_MPSOC);
       result = RETURN_OK;
       break;
     }
-    case (supv::START_MPSOC): {
-      prepareEmptyCmd(supv::APID_START_MPSOC);
+    case SHUTDOWN_MPSOC: {
+      prepareEmptyCmd(APID_SHUTWOWN_MPSOC);
       result = RETURN_OK;
       break;
     }
-    case (supv::SHUTDOWN_MPSOC): {
-      prepareEmptyCmd(supv::APID_SHUTWOWN_MPSOC);
-      result = RETURN_OK;
-      break;
-    }
-    case (supv::SEL_MPSOC_BOOT_IMAGE): {
+    case SEL_MPSOC_BOOT_IMAGE: {
       prepareSelBootImageCmd(commandData);
       result = RETURN_OK;
       break;
     }
-    case (supv::RESET_MPSOC): {
-      prepareEmptyCmd(supv::APID_RESET_MPSOC);
+    case RESET_MPSOC: {
+      prepareEmptyCmd(APID_RESET_MPSOC);
       result = RETURN_OK;
       break;
     }
-    case (supv::SET_TIME_REF): {
+    case SET_TIME_REF: {
       result = prepareSetTimeRefCmd();
       break;
     }
-    case (supv::SET_BOOT_TIMEOUT): {
+    case SET_BOOT_TIMEOUT: {
       prepareSetBootTimeoutCmd(commandData);
       result = RETURN_OK;
       break;
     }
-    case (supv::SET_MAX_RESTART_TRIES): {
+    case SET_MAX_RESTART_TRIES: {
       prepareRestartTriesCmd(commandData);
       result = RETURN_OK;
       break;
     }
-    case (supv::DISABLE_PERIOIC_HK_TRANSMISSION): {
+    case DISABLE_PERIOIC_HK_TRANSMISSION: {
       prepareDisableHk();
       result = RETURN_OK;
       break;
     }
-    case (supv::GET_BOOT_STATUS_REPORT): {
-      prepareEmptyCmd(supv::APID_GET_BOOT_STATUS_RPT);
+    case GET_BOOT_STATUS_REPORT: {
+      prepareEmptyCmd(APID_GET_BOOT_STATUS_RPT);
       result = RETURN_OK;
       break;
     }
-    case (supv::WATCHDOGS_ENABLE): {
-      prepareWatchdogsEnableCmd(commandData);
-      result = RETURN_OK;
-      break;
-    }
-    case (supv::WATCHDOGS_CONFIG_TIMEOUT): {
-      result = prepareWatchdogsConfigTimeoutCmd(commandData);
-      break;
-    }
-    case (supv::ENABLE_LATCHUP_ALERT): {
+    case ENABLE_LATCHUP_ALERT: {
       result = prepareLatchupConfigCmd(commandData, deviceCommand);
       break;
     }
-    case (supv::DISABLE_LATCHUP_ALERT): {
+    case DISABLE_LATCHUP_ALERT: {
       result = prepareLatchupConfigCmd(commandData, deviceCommand);
       break;
     }
-    case (supv::AUTO_CALIBRATE_ALERT): {
-      result = prepareAutoCalibrateAlertCmd(commandData);
-      break;
-    }
-    case (supv::SET_ALERT_LIMIT): {
+    case SET_ALERT_LIMIT: {
       result = prepareSetAlertLimitCmd(commandData);
       break;
     }
-    case (supv::SET_ALERT_IRQ_FILTER): {
-      result = prepareSetAlertIrqFilterCmd(commandData);
-      break;
-    }
-    case (supv::SET_ADC_SWEEP_PERIOD): {
-      result = prepareSetAdcSweetPeriodCmd(commandData);
-      break;
-    }
-    case (supv::SET_ADC_ENABLED_CHANNELS): {
+    case SET_ADC_ENABLED_CHANNELS: {
       prepareSetAdcEnabledChannelsCmd(commandData);
       result = RETURN_OK;
       break;
     }
-    case (supv::SET_ADC_WINDOW_AND_STRIDE): {
+    case SET_ADC_WINDOW_AND_STRIDE: {
       prepareSetAdcWindowAndStrideCmd(commandData);
       result = RETURN_OK;
       break;
     }
-    case (supv::SET_ADC_THRESHOLD): {
+    case SET_ADC_THRESHOLD: {
       prepareSetAdcThresholdCmd(commandData);
       result = RETURN_OK;
       break;
     }
-    case (supv::GET_LATCHUP_STATUS_REPORT): {
-      prepareEmptyCmd(supv::APID_GET_LATCHUP_STATUS_REPORT);
+    case GET_LATCHUP_STATUS_REPORT: {
+      prepareEmptyCmd(APID_GET_LATCHUP_STATUS_REPORT);
       result = RETURN_OK;
       break;
     }
-    case (supv::COPY_ADC_DATA_TO_MRAM): {
-      prepareEmptyCmd(supv::APID_COPY_ADC_DATA_TO_MRAM);
+    case COPY_ADC_DATA_TO_MRAM: {
+      prepareEmptyCmd(APID_COPY_ADC_DATA_TO_MRAM);
       result = RETURN_OK;
       break;
     }
-    case (supv::ENABLE_NVMS): {
-      prepareEnableNvmsCmd(commandData);
+    case REQUEST_ADC_REPORT: {
+      prepareEmptyCmd(APID_REQUEST_ADC_REPORT);
       result = RETURN_OK;
       break;
     }
-    case (supv::SELECT_NVM): {
-      prepareSelectNvmCmd(commandData);
-      result = RETURN_OK;
-      break;
-    }
-    case (supv::RUN_AUTO_EM_TESTS): {
+    case RUN_AUTO_EM_TESTS: {
       result = prepareRunAutoEmTest(commandData);
       break;
     }
-    case (supv::WIPE_MRAM): {
+    case WIPE_MRAM: {
       result = prepareWipeMramCmd(commandData);
       break;
     }
-    case (supv::FIRST_MRAM_DUMP):
-    case (supv::CONSECUTIVE_MRAM_DUMP):
+    case FIRST_MRAM_DUMP:
+    case CONSECUTIVE_MRAM_DUMP:
       result = prepareDumpMramCmd(commandData);
       break;
-    case (supv::PRINT_CPU_STATS): {
-      preparePrintCpuStatsCmd(commandData);
-      result = RETURN_OK;
-      break;
-    }
-    case (supv::SET_DBG_VERBOSITY): {
-      prepareSetDbgVerbosityCmd(commandData);
-      result = RETURN_OK;
-      break;
-    }
-    case (supv::CAN_LOOPBACK_TEST): {
-      prepareEmptyCmd(supv::APID_CAN_LOOPBACK_TEST);
-      result = RETURN_OK;
-      break;
-    }
-    case (supv::SET_GPIO): {
+    case SET_GPIO: {
       prepareSetGpioCmd(commandData);
       result = RETURN_OK;
       break;
     }
-    case (supv::READ_GPIO): {
+    case READ_GPIO: {
       prepareReadGpioCmd(commandData);
       result = RETURN_OK;
       break;
     }
-    case (supv::RESTART_SUPERVISOR): {
-      prepareEmptyCmd(supv::APID_RESTART_SUPERVISOR);
+    case RESTART_SUPERVISOR: {
+      prepareEmptyCmd(APID_RESTART_SUPERVISOR);
       result = RETURN_OK;
       break;
     }
-    case (supv::FACTORY_RESET_CLEAR_ALL): {
-      supv::FactoryReset packet(supv::FactoryReset::Op::CLEAR_ALL);
+    case FACTORY_RESET_CLEAR_ALL: {
+      FactoryReset packet(FactoryReset::Op::CLEAR_ALL);
       packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
       result = RETURN_OK;
       break;
     }
-    case (supv::FACTORY_RESET_CLEAR_MIRROR): {
-      supv::FactoryReset packet(supv::FactoryReset::Op::MIRROR_ENTRIES);
+    case FACTORY_RESET_CLEAR_MIRROR: {
+      FactoryReset packet(FactoryReset::Op::MIRROR_ENTRIES);
       packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
       result = RETURN_OK;
       break;
     }
-    case (supv::FACTORY_RESET_CLEAR_CIRCULAR): {
-      supv::FactoryReset packet(supv::FactoryReset::Op::CIRCULAR_ENTRIES);
+    case FACTORY_RESET_CLEAR_CIRCULAR: {
+      FactoryReset packet(FactoryReset::Op::CIRCULAR_ENTRIES);
       packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
       result = RETURN_OK;
       break;
     }
-    case (supv::UPDATE_AVAILABLE):
-    case (supv::UPDATE_IMAGE_DATA):
-    case (supv::UPDATE_VERIFY):
-      // Simply forward data from PLOC Updater to supervisor
-      std::memcpy(commandBuffer, commandData, commandDataLen);
-      rawPacket = commandBuffer;
-      rawPacketLen = commandDataLen;
-      nextReplyId = supv::ACK_REPORT;
+    case START_MPSOC_QUIET: {
+      prepareEmptyCmd(APID_START_MPSOC_QUIET);
       result = RETURN_OK;
       break;
+    }
+    case SET_SHUTDOWN_TIMEOUT: {
+      prepareSetShutdownTimeoutCmd(commandData);
+      result = RETURN_OK;
+      break;
+    }
+    case FACTORY_FLASH: {
+      prepareEmptyCmd(APID_FACTORY_FLASH);
+      result = RETURN_OK;
+      break;
+    }
+    case ENABLE_AUTO_TM: {
+      EnableAutoTm packet;
+      packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
+      result = RETURN_OK;
+      break;
+    }
+    case DISABLE_AUTO_TM: {
+      DisableAutoTm packet;
+      packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
+      result = RETURN_OK;
+      break;
+    }
+    case LOGGING_REQUEST_COUNTERS: {
+      RequestLoggingData packet(RequestLoggingData::Sa::REQUEST_COUNTERS);
+      packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
+      result = RETURN_OK;
+      break;
+    }
+    case LOGGING_CLEAR_COUNTERS: {
+      RequestLoggingData packet(RequestLoggingData::Sa::CLEAR_COUNTERS);
+      packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
+      result = RETURN_OK;
+      break;
+    }
+    case LOGGING_SET_TOPIC: {
+      uint8_t tpc = *(commandData);
+      RequestLoggingData packet(RequestLoggingData::Sa::SET_LOGGING_TOPIC, tpc);
+      packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
+      result = RETURN_OK;
+      break;
+    }
+    case RESET_PL: {
+      prepareEmptyCmd(APID_RESET_PL);
+      result = RETURN_OK;
+      break;
+    }
+    case ENABLE_NVMS: {
+      result = prepareEnableNvmsCommand(commandData);
+      break;
+    }
     default:
       sif::debug << "PlocSupervisorHandler::buildCommandFromCommand: Command not implemented"
                  << std::endl;
@@ -277,64 +399,204 @@ ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(DeviceCommandId_t d
 }
 
 void PlocSupervisorHandler::fillCommandAndReplyMap() {
-  this->insertInCommandMap(supv::GET_HK_REPORT);
-  this->insertInCommandMap(supv::RESTART_MPSOC);
-  this->insertInCommandMap(supv::START_MPSOC);
-  this->insertInCommandMap(supv::SHUTDOWN_MPSOC);
-  this->insertInCommandMap(supv::SEL_MPSOC_BOOT_IMAGE);
-  this->insertInCommandMap(supv::SET_BOOT_TIMEOUT);
-  this->insertInCommandMap(supv::SET_MAX_RESTART_TRIES);
-  this->insertInCommandMap(supv::RESET_MPSOC);
-  this->insertInCommandMap(supv::SET_TIME_REF);
-  this->insertInCommandMap(supv::DISABLE_PERIOIC_HK_TRANSMISSION);
-  this->insertInCommandMap(supv::GET_BOOT_STATUS_REPORT);
-  this->insertInCommandMap(supv::UPDATE_AVAILABLE);
-  this->insertInCommandMap(supv::UPDATE_VERIFY);
-  this->insertInCommandMap(supv::UPDATE_IMAGE_DATA);
-  this->insertInCommandMap(supv::WATCHDOGS_ENABLE);
-  this->insertInCommandMap(supv::WATCHDOGS_CONFIG_TIMEOUT);
-  this->insertInCommandMap(supv::ENABLE_LATCHUP_ALERT);
-  this->insertInCommandMap(supv::DISABLE_LATCHUP_ALERT);
-  this->insertInCommandMap(supv::AUTO_CALIBRATE_ALERT);
-  this->insertInCommandMap(supv::SET_ALERT_LIMIT);
-  this->insertInCommandMap(supv::SET_ALERT_IRQ_FILTER);
-  this->insertInCommandMap(supv::SET_ADC_SWEEP_PERIOD);
-  this->insertInCommandMap(supv::SET_ADC_ENABLED_CHANNELS);
-  this->insertInCommandMap(supv::SET_ADC_WINDOW_AND_STRIDE);
-  this->insertInCommandMap(supv::SET_ADC_THRESHOLD);
-  this->insertInCommandMap(supv::GET_LATCHUP_STATUS_REPORT);
-  this->insertInCommandMap(supv::COPY_ADC_DATA_TO_MRAM);
-  this->insertInCommandMap(supv::ENABLE_NVMS);
-  this->insertInCommandMap(supv::SELECT_NVM);
-  this->insertInCommandMap(supv::RUN_AUTO_EM_TESTS);
-  this->insertInCommandMap(supv::WIPE_MRAM);
-  this->insertInCommandMap(supv::PRINT_CPU_STATS);
-  this->insertInCommandMap(supv::SET_DBG_VERBOSITY);
-  this->insertInCommandMap(supv::SET_GPIO);
-  this->insertInCommandMap(supv::READ_GPIO);
-  this->insertInCommandMap(supv::RESTART_SUPERVISOR);
-  this->insertInCommandMap(supv::FACTORY_RESET_CLEAR_ALL);
-  this->insertInCommandMap(supv::FACTORY_RESET_CLEAR_MIRROR);
-  this->insertInCommandMap(supv::FACTORY_RESET_CLEAR_CIRCULAR);
-  this->insertInCommandMap(supv::CAN_LOOPBACK_TEST);
-  this->insertInCommandAndReplyMap(supv::FIRST_MRAM_DUMP, 3);
-  this->insertInCommandAndReplyMap(supv::CONSECUTIVE_MRAM_DUMP, 3);
-  this->insertInReplyMap(supv::ACK_REPORT, 3, nullptr, supv::SIZE_ACK_REPORT);
-  this->insertInReplyMap(supv::EXE_REPORT, 3, nullptr, supv::SIZE_EXE_REPORT);
-  this->insertInReplyMap(supv::HK_REPORT, 3, &hkset, supv::SIZE_HK_REPORT);
-  this->insertInReplyMap(supv::BOOT_STATUS_REPORT, 3, &bootStatusReport,
-                         supv::SIZE_BOOT_STATUS_REPORT);
-  this->insertInReplyMap(supv::LATCHUP_REPORT, 3, &latchupStatusReport,
-                         supv::SIZE_LATCHUP_STATUS_REPORT);
+  using namespace supv;
+  this->insertInCommandMap(GET_HK_REPORT);
+  this->insertInCommandMap(START_MPSOC);
+  this->insertInCommandMap(SHUTDOWN_MPSOC);
+  this->insertInCommandMap(SEL_MPSOC_BOOT_IMAGE);
+  this->insertInCommandMap(SET_BOOT_TIMEOUT);
+  this->insertInCommandMap(SET_MAX_RESTART_TRIES);
+  this->insertInCommandMap(RESET_MPSOC);
+  this->insertInCommandMap(SET_TIME_REF);
+  this->insertInCommandMap(DISABLE_PERIOIC_HK_TRANSMISSION);
+  this->insertInCommandMap(GET_BOOT_STATUS_REPORT);
+  this->insertInCommandMap(ENABLE_LATCHUP_ALERT);
+  this->insertInCommandMap(DISABLE_LATCHUP_ALERT);
+  this->insertInCommandMap(SET_ALERT_LIMIT);
+  this->insertInCommandMap(SET_ADC_ENABLED_CHANNELS);
+  this->insertInCommandMap(SET_ADC_WINDOW_AND_STRIDE);
+  this->insertInCommandMap(SET_ADC_THRESHOLD);
+  this->insertInCommandMap(GET_LATCHUP_STATUS_REPORT);
+  this->insertInCommandMap(COPY_ADC_DATA_TO_MRAM);
+  this->insertInCommandMap(REQUEST_ADC_REPORT);
+  this->insertInCommandMap(RUN_AUTO_EM_TESTS);
+  this->insertInCommandMap(WIPE_MRAM);
+  this->insertInCommandMap(SET_GPIO);
+  this->insertInCommandMap(READ_GPIO);
+  this->insertInCommandMap(RESTART_SUPERVISOR);
+  this->insertInCommandMap(FACTORY_RESET_CLEAR_ALL);
+  this->insertInCommandMap(FACTORY_RESET_CLEAR_MIRROR);
+  this->insertInCommandMap(FACTORY_RESET_CLEAR_CIRCULAR);
+  this->insertInCommandMap(START_MPSOC_QUIET);
+  this->insertInCommandMap(SET_SHUTDOWN_TIMEOUT);
+  this->insertInCommandMap(FACTORY_FLASH);
+  this->insertInCommandMap(ENABLE_AUTO_TM);
+  this->insertInCommandMap(DISABLE_AUTO_TM);
+  this->insertInCommandMap(LOGGING_REQUEST_COUNTERS);
+  this->insertInCommandMap(LOGGING_CLEAR_COUNTERS);
+  this->insertInCommandMap(LOGGING_SET_TOPIC);
+  this->insertInCommandMap(RESET_PL);
+  this->insertInCommandMap(ENABLE_NVMS);
+  this->insertInCommandAndReplyMap(FIRST_MRAM_DUMP, 0, nullptr, 0, false, false, FIRST_MRAM_DUMP,
+                                   &mramDumpTimeout);
+  this->insertInCommandAndReplyMap(CONSECUTIVE_MRAM_DUMP, 0, nullptr, 0, false, false,
+                                   CONSECUTIVE_MRAM_DUMP, &mramDumpTimeout);
+  this->insertInReplyMap(ACK_REPORT, 3, nullptr, SIZE_ACK_REPORT, false,
+                         &acknowledgementReportTimeout);
+  this->insertInReplyMap(EXE_REPORT, 0, nullptr, SIZE_EXE_REPORT, false, &executionReportTimeout);
+  this->insertInReplyMap(HK_REPORT, 3, &hkset, SIZE_HK_REPORT);
+  this->insertInReplyMap(BOOT_STATUS_REPORT, 3, &bootStatusReport, SIZE_BOOT_STATUS_REPORT);
+  this->insertInReplyMap(LATCHUP_REPORT, 3, &latchupStatusReport, SIZE_LATCHUP_STATUS_REPORT);
+  this->insertInReplyMap(LOGGING_REPORT, 3, &loggingReport, SIZE_LOGGING_REPORT);
+  this->insertInReplyMap(ADC_REPORT, 3, &adcReport, SIZE_ADC_REPORT);
+}
+
+ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
+                                                           uint8_t expectedReplies,
+                                                           bool useAlternateId,
+                                                           DeviceCommandId_t alternateReplyID) {
+  using namespace supv;
+  ReturnValue_t result = RETURN_OK;
+
+  uint8_t enabledReplies = 0;
+
+  switch (command->first) {
+    case GET_HK_REPORT: {
+      enabledReplies = 3;
+      result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, HK_REPORT);
+      if (result != RETURN_OK) {
+        sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id " << HK_REPORT
+                   << " not in replyMap" << std::endl;
+      }
+      break;
+    }
+    case GET_BOOT_STATUS_REPORT: {
+      enabledReplies = 3;
+      result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
+                                                        BOOT_STATUS_REPORT);
+      if (result != RETURN_OK) {
+        sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
+                   << BOOT_STATUS_REPORT << " not in replyMap" << std::endl;
+      }
+      break;
+    }
+    case GET_LATCHUP_STATUS_REPORT: {
+      enabledReplies = 3;
+      result =
+          DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, LATCHUP_REPORT);
+      if (result != RETURN_OK) {
+        sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
+                   << LATCHUP_REPORT << " not in replyMap" << std::endl;
+      }
+      break;
+    }
+    case LOGGING_REQUEST_COUNTERS: {
+      enabledReplies = 3;
+      result =
+          DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, LOGGING_REPORT);
+      if (result != RETURN_OK) {
+        sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
+                   << LOGGING_REPORT << " not in replyMap" << std::endl;
+      }
+      break;
+    }
+    case REQUEST_ADC_REPORT: {
+      enabledReplies = 3;
+      result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, ADC_REPORT);
+      if (result != RETURN_OK) {
+        sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id " << ADC_REPORT
+                   << " not in replyMap" << std::endl;
+      }
+      break;
+    }
+    case FIRST_MRAM_DUMP: {
+      enabledReplies = 2;  // expected replies will be increased in handleMramDumpPacket
+      result =
+          DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, FIRST_MRAM_DUMP);
+      if (result != RETURN_OK) {
+        sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
+                   << FIRST_MRAM_DUMP << " not in replyMap" << std::endl;
+      }
+      break;
+    }
+    case CONSECUTIVE_MRAM_DUMP: {
+      enabledReplies = 2;  // expected replies will be increased in handleMramDumpPacket
+      result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
+                                                        CONSECUTIVE_MRAM_DUMP);
+      if (result != RETURN_OK) {
+        sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
+                   << CONSECUTIVE_MRAM_DUMP << " not in replyMap" << std::endl;
+      }
+      break;
+    }
+    case START_MPSOC:
+    case SHUTDOWN_MPSOC:
+    case SEL_MPSOC_BOOT_IMAGE:
+    case SET_BOOT_TIMEOUT:
+    case SET_MAX_RESTART_TRIES:
+    case RESET_MPSOC:
+    case SET_TIME_REF:
+    case ENABLE_LATCHUP_ALERT:
+    case DISABLE_LATCHUP_ALERT:
+    case SET_ALERT_LIMIT:
+    case SET_ADC_ENABLED_CHANNELS:
+    case SET_ADC_WINDOW_AND_STRIDE:
+    case SET_ADC_THRESHOLD:
+    case COPY_ADC_DATA_TO_MRAM:
+    case RUN_AUTO_EM_TESTS:
+    case WIPE_MRAM:
+    case SET_GPIO:
+    case READ_GPIO:
+    case RESTART_SUPERVISOR:
+    case FACTORY_RESET_CLEAR_ALL:
+    case FACTORY_RESET_CLEAR_MIRROR:
+    case FACTORY_RESET_CLEAR_CIRCULAR:
+    case DISABLE_PERIOIC_HK_TRANSMISSION:
+    case START_MPSOC_QUIET:
+    case SET_SHUTDOWN_TIMEOUT:
+    case FACTORY_FLASH:
+    case ENABLE_AUTO_TM:
+    case DISABLE_AUTO_TM:
+    case LOGGING_CLEAR_COUNTERS:
+    case LOGGING_SET_TOPIC:
+    case RESET_PL:
+    case ENABLE_NVMS:
+      enabledReplies = 2;
+      break;
+    default:
+      sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Unknown command id" << std::endl;
+      break;
+  }
+
+  /**
+   * Every command causes at least one acknowledgment and one execution report. Therefore both
+   * replies will be enabled here.
+   */
+  result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, ACK_REPORT);
+  if (result != RETURN_OK) {
+    sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id " << ACK_REPORT
+               << " not in replyMap" << std::endl;
+  }
+
+  setExecutionTimeout(command->first);
+
+  result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, EXE_REPORT);
+  if (result != RETURN_OK) {
+    sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id " << EXE_REPORT
+               << " not in replyMap" << std::endl;
+  }
+
+  return RETURN_OK;
 }
 
 ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                                   DeviceCommandId_t* foundId, size_t* foundLen) {
-  if (nextReplyId == supv::FIRST_MRAM_DUMP) {
-    *foundId = supv::FIRST_MRAM_DUMP;
+  using namespace supv;
+  if (nextReplyId == FIRST_MRAM_DUMP) {
+    *foundId = FIRST_MRAM_DUMP;
     return parseMramPackets(start, remainingSize, foundLen);
-  } else if (nextReplyId == supv::CONSECUTIVE_MRAM_DUMP) {
-    *foundId = supv::CONSECUTIVE_MRAM_DUMP;
+  } else if (nextReplyId == CONSECUTIVE_MRAM_DUMP) {
+    *foundId = CONSECUTIVE_MRAM_DUMP;
     return parseMramPackets(start, remainingSize, foundLen);
   }
 
@@ -343,38 +605,46 @@ ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t* start, size_t r
   uint16_t apid = (*(start) << 8 | *(start + 1)) & APID_MASK;
 
   switch (apid) {
-    case (supv::APID_ACK_SUCCESS):
-      *foundLen = supv::SIZE_ACK_REPORT;
-      *foundId = supv::ACK_REPORT;
+    case (APID_ACK_SUCCESS):
+      *foundLen = SIZE_ACK_REPORT;
+      *foundId = ACK_REPORT;
       break;
-    case (supv::APID_ACK_FAILURE):
-      *foundLen = supv::SIZE_ACK_REPORT;
-      *foundId = supv::ACK_REPORT;
+    case (APID_ACK_FAILURE):
+      *foundLen = SIZE_ACK_REPORT;
+      *foundId = ACK_REPORT;
       break;
-    case (supv::APID_HK_REPORT):
-      *foundLen = supv::SIZE_HK_REPORT;
-      *foundId = supv::HK_REPORT;
+    case (APID_HK_REPORT):
+      *foundLen = SIZE_HK_REPORT;
+      *foundId = HK_REPORT;
       break;
-    case (supv::APID_BOOT_STATUS_REPORT):
-      *foundLen = supv::SIZE_BOOT_STATUS_REPORT;
-      *foundId = supv::BOOT_STATUS_REPORT;
+    case (APID_BOOT_STATUS_REPORT):
+      *foundLen = SIZE_BOOT_STATUS_REPORT;
+      *foundId = BOOT_STATUS_REPORT;
       break;
-    case (supv::APID_LATCHUP_STATUS_REPORT):
-      *foundLen = supv::SIZE_LATCHUP_STATUS_REPORT;
-      *foundId = supv::LATCHUP_REPORT;
+    case (APID_LATCHUP_STATUS_REPORT):
+      *foundLen = SIZE_LATCHUP_STATUS_REPORT;
+      *foundId = LATCHUP_REPORT;
       break;
-    case (supv::APID_EXE_SUCCESS):
-      *foundLen = supv::SIZE_EXE_REPORT;
-      *foundId = supv::EXE_REPORT;
+    case (APID_DATA_LOGGER_DATA):
+      *foundLen = SIZE_LOGGING_REPORT;
+      *foundId = LOGGING_REPORT;
       break;
-    case (supv::APID_EXE_FAILURE):
-      *foundLen = supv::SIZE_EXE_REPORT;
-      *foundId = supv::EXE_REPORT;
+    case (APID_ADC_REPORT):
+      *foundLen = SIZE_ADC_REPORT;
+      *foundId = ADC_REPORT;
+      break;
+    case (APID_EXE_SUCCESS):
+      *foundLen = SIZE_EXE_REPORT;
+      *foundId = EXE_REPORT;
+      break;
+    case (APID_EXE_FAILURE):
+      *foundLen = SIZE_EXE_REPORT;
+      *foundId = EXE_REPORT;
       break;
     default: {
       sif::debug << "PlocSupervisorHandler::scanForReply: Reply has invalid apid" << std::endl;
       *foundLen = remainingSize;
-      return INVALID_APID;
+      return SupvReturnValuesIF::INVALID_APID;
     }
   }
 
@@ -393,30 +663,39 @@ ReturnValue_t PlocSupervisorHandler::getSwitches(const uint8_t** switches,
 
 ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
                                                           const uint8_t* packet) {
+  using namespace supv;
   ReturnValue_t result = RETURN_OK;
 
   switch (id) {
-    case supv::ACK_REPORT: {
+    case ACK_REPORT: {
       result = handleAckReport(packet);
       break;
     }
-    case (supv::HK_REPORT): {
+    case (HK_REPORT): {
       result = handleHkReport(packet);
       break;
     }
-    case (supv::BOOT_STATUS_REPORT): {
+    case (BOOT_STATUS_REPORT): {
       result = handleBootStatusReport(packet);
       break;
     }
-    case (supv::LATCHUP_REPORT): {
+    case (LATCHUP_REPORT): {
       result = handleLatchupStatusReport(packet);
       break;
     }
-    case (supv::FIRST_MRAM_DUMP):
-    case (supv::CONSECUTIVE_MRAM_DUMP):
+    case (LOGGING_REPORT): {
+      result = handleLoggingReport(packet);
+      break;
+    }
+    case (ADC_REPORT): {
+      result = handleAdcReport(packet);
+      break;
+    }
+    case (FIRST_MRAM_DUMP):
+    case (CONSECUTIVE_MRAM_DUMP):
       result = handleMramDumpPacket(id);
       break;
-    case (supv::EXE_REPORT): {
+    case (EXE_REPORT): {
       result = handleExecutionReport(packet);
       break;
     }
@@ -432,25 +711,27 @@ ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
 
 void PlocSupervisorHandler::setNormalDatapoolEntriesInvalid() {}
 
-uint32_t PlocSupervisorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+uint32_t PlocSupervisorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
+  return 7000;
+}
 
 ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                              LocalDataPoolManager& poolManager) {
   localDataPoolMap.emplace(supv::NUM_TMS, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(supv::TEMP_PS, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(supv::TEMP_PL, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(supv::SOC_STATE, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::HK_SOC_STATE, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(supv::NVM0_1_STATE, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(supv::NVM3_STATE, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(supv::MISSION_IO_STATE, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(supv::FMC_STATE, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(supv::NUM_TCS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(supv::UPTIME, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::UPTIME, new PoolEntry<uint64_t>({0}));
   localDataPoolMap.emplace(supv::CPULOAD, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(supv::AVAILABLEHEAP, new PoolEntry<uint32_t>({0}));
 
-  localDataPoolMap.emplace(supv::BOOT_SIGNAL, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(supv::RESET_COUNTER, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(supv::BR_SOC_STATE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(supv::POWER_CYCLES, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(supv::BOOT_AFTER_MS, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(supv::BOOT_TIMEOUT_MS, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(supv::ACTIVE_NVM, new PoolEntry<uint8_t>({0}));
@@ -466,229 +747,205 @@ ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool
   localDataPoolMap.emplace(supv::CNT4, new PoolEntry<uint16_t>({0}));
   localDataPoolMap.emplace(supv::CNT5, new PoolEntry<uint16_t>({0}));
   localDataPoolMap.emplace(supv::CNT6, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_SEC, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_MIN, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_HOUR, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_DAY, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_MON, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_YEAR, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_MSEC, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_IS_SET, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_MSEC, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_SEC, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_MIN, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_HOUR, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_DAY, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_MON, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_YEAR, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(supv::LATCHUP_RPT_IS_SET, new PoolEntry<uint8_t>({0}));
+
+  localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_0, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_1, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_2, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_3, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_4, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_5, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_6, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_DEVIATION_TRIGGERS_CNT, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::TC_RECEIVED_CNT, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::TM_AVAILABLE_CNT, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::SUPERVISOR_BOOTS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::MPSOC_BOOTS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::MPSOC_BOOT_FAILED_ATTEMPTS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::MPSOC_POWER_UP, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::MPSOC_UPDATES, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::LAST_RECVD_TC, new PoolEntry<uint32_t>({0}));
+
+  localDataPoolMap.emplace(supv::ADC_RAW_0, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_RAW_1, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_RAW_2, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_RAW_3, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_RAW_4, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_RAW_5, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_RAW_6, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_RAW_7, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_RAW_8, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_RAW_9, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_RAW_10, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_RAW_11, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_RAW_12, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_RAW_13, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_RAW_14, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_RAW_15, new PoolEntry<uint16_t>({0}));
+
+  localDataPoolMap.emplace(supv::ADC_ENG_0, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_ENG_1, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_ENG_2, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_ENG_3, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_ENG_4, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_ENG_5, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_ENG_6, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_ENG_7, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_ENG_8, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_ENG_9, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_ENG_10, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_ENG_11, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_ENG_12, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_ENG_13, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_ENG_14, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(supv::ADC_ENG_15, new PoolEntry<uint16_t>({0}));
 
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
-                                                           uint8_t expectedReplies,
-                                                           bool useAlternateId,
-                                                           DeviceCommandId_t alternateReplyID) {
+void PlocSupervisorHandler::handleEvent(EventMessage* eventMessage) {
   ReturnValue_t result = RETURN_OK;
+  object_id_t objectId = eventMessage->getReporter();
+  Event event = eventMessage->getEvent();
+  switch (objectId) {
+    case objects::PLOC_SUPERVISOR_HELPER: {
+      plocSupvHelperExecuting = false;
+      // After execution of update procedure, PLOC is in a state where it draws approx. 700 mA of
+      // current. To leave this state the shutdown MPSoC command must be sent here.
+      if (event == PlocSupvHelper::SUPV_UPDATE_FAILED ||
+          event == PlocSupvHelper::SUPV_UPDATE_SUCCESSFUL ||
+          event == PlocSupvHelper::SUPV_CONTINUE_UPDATE_FAILED ||
+          event == PlocSupvHelper::SUPV_CONTINUE_UPDATE_SUCCESSFUL) {
+        result = this->executeAction(supv::SHUTDOWN_MPSOC, NO_COMMANDER, nullptr, 0);
+        if (result != RETURN_OK) {
+          triggerEvent(SUPV_MPSOC_SHUWDOWN_BUILD_FAILED);
+          sif::warning << "PlocSupervisorHandler::handleEvent: Failed to build MPSoC shutdown "
+                          "command"
+                       << std::endl;
+          return;
+        }
+      }
+      break;
+    }
+    default:
+      sif::debug << "PlocMPSoCHandler::handleEvent: Did not subscribe to this event" << std::endl;
+      break;
+  }
+}
 
-  uint8_t enabledReplies = 0;
-
-  switch (command->first) {
-    case supv::GET_HK_REPORT: {
-      enabledReplies = 3;
-      result =
-          DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, supv::HK_REPORT);
-      if (result != RETURN_OK) {
-        sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
-                   << supv::HK_REPORT << " not in replyMap" << std::endl;
-      }
+void PlocSupervisorHandler::setExecutionTimeout(DeviceCommandId_t command) {
+  using namespace supv;
+  switch (command) {
+    case FIRST_MRAM_DUMP:
+    case CONSECUTIVE_MRAM_DUMP:
+      executionReportTimeout.setTimeout(MRAM_DUMP_EXECUTION_TIMEOUT);
       break;
-    }
-    case supv::GET_BOOT_STATUS_REPORT: {
-      enabledReplies = 3;
-      result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
-                                                        supv::BOOT_STATUS_REPORT);
-      if (result != RETURN_OK) {
-        sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
-                   << supv::BOOT_STATUS_REPORT << " not in replyMap" << std::endl;
-      }
-      break;
-    }
-    case supv::GET_LATCHUP_STATUS_REPORT: {
-      enabledReplies = 3;
-      result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
-                                                        supv::LATCHUP_REPORT);
-      if (result != RETURN_OK) {
-        sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
-                   << supv::LATCHUP_REPORT << " not in replyMap" << std::endl;
-      }
-      break;
-    }
-    case supv::FIRST_MRAM_DUMP: {
-      enabledReplies = 2;  // expected replies will be increased in handleMramDumpPacket
-      result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
-                                                        supv::FIRST_MRAM_DUMP);
-      if (result != RETURN_OK) {
-        sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
-                   << supv::FIRST_MRAM_DUMP << " not in replyMap" << std::endl;
-      }
-      break;
-    }
-    case supv::CONSECUTIVE_MRAM_DUMP: {
-      enabledReplies = 2;  // expected replies will be increased in handleMramDumpPacket
-      result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
-                                                        supv::CONSECUTIVE_MRAM_DUMP);
-      if (result != RETURN_OK) {
-        sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
-                   << supv::CONSECUTIVE_MRAM_DUMP << " not in replyMap" << std::endl;
-      }
-      break;
-    }
-    case supv::RESTART_MPSOC:
-    case supv::START_MPSOC:
-    case supv::SHUTDOWN_MPSOC:
-    case supv::SEL_MPSOC_BOOT_IMAGE:
-    case supv::SET_BOOT_TIMEOUT:
-    case supv::SET_MAX_RESTART_TRIES:
-    case supv::RESET_MPSOC:
-    case supv::SET_TIME_REF:
-    case supv::UPDATE_AVAILABLE:
-    case supv::UPDATE_IMAGE_DATA:
-    case supv::UPDATE_VERIFY:
-    case supv::WATCHDOGS_ENABLE:
-    case supv::WATCHDOGS_CONFIG_TIMEOUT:
-    case supv::ENABLE_LATCHUP_ALERT:
-    case supv::DISABLE_LATCHUP_ALERT:
-    case supv::AUTO_CALIBRATE_ALERT:
-    case supv::SET_ALERT_LIMIT:
-    case supv::SET_ALERT_IRQ_FILTER:
-    case supv::SET_ADC_SWEEP_PERIOD:
-    case supv::SET_ADC_ENABLED_CHANNELS:
-    case supv::SET_ADC_WINDOW_AND_STRIDE:
-    case supv::SET_ADC_THRESHOLD:
-    case supv::COPY_ADC_DATA_TO_MRAM:
-    case supv::ENABLE_NVMS:
-    case supv::SELECT_NVM:
-    case supv::RUN_AUTO_EM_TESTS:
-    case supv::WIPE_MRAM:
-    case supv::SET_DBG_VERBOSITY:
-    case supv::CAN_LOOPBACK_TEST:
-    case supv::PRINT_CPU_STATS:
-    case supv::SET_GPIO:
-    case supv::READ_GPIO:
-    case supv::RESTART_SUPERVISOR:
-    case supv::FACTORY_RESET_CLEAR_ALL:
-    case supv::FACTORY_RESET_CLEAR_MIRROR:
-    case supv::FACTORY_RESET_CLEAR_CIRCULAR:
-    case supv::REQUEST_LOGGING_DATA:
-    case supv::DISABLE_PERIOIC_HK_TRANSMISSION:
-      enabledReplies = 2;
+    case COPY_ADC_DATA_TO_MRAM:
+      executionReportTimeout.setTimeout(COPY_ADC_TO_MRAM_TIMEOUT);
       break;
     default:
-      sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Unknown command id" << std::endl;
+      executionReportTimeout.setTimeout(EXECUTION_DEFAULT_TIMEOUT);
       break;
   }
-
-  /**
-   * Every command causes at least one acknowledgment and one execution report. Therefore both
-   * replies will be enabled here.
-   */
-  result =
-      DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, supv::ACK_REPORT);
-  if (result != RETURN_OK) {
-    sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id " << supv::ACK_REPORT
-               << " not in replyMap" << std::endl;
-  }
-
-  result =
-      DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, supv::EXE_REPORT);
-  if (result != RETURN_OK) {
-    sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id " << supv::EXE_REPORT
-               << " not in replyMap" << std::endl;
-  }
-
-  return RETURN_OK;
 }
 
 ReturnValue_t PlocSupervisorHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
   uint16_t receivedCrc = *(start + foundLen - 2) << 8 | *(start + foundLen - 1);
   uint16_t recalculatedCrc = CRC::crc16ccitt(start, foundLen - 2);
   if (receivedCrc != recalculatedCrc) {
-    return CRC_FAILURE;
+    return SupvReturnValuesIF::CRC_FAILURE;
   }
   return RETURN_OK;
 }
 
 ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
+  using namespace supv;
   ReturnValue_t result = RETURN_OK;
 
-  result = verifyPacket(data, supv::SIZE_ACK_REPORT);
-  if (result == CRC_FAILURE) {
+  AcknowledgmentReport ack;
+  ack.addWholeData(data, SIZE_ACK_REPORT);
+
+  result = ack.checkCrc();
+  if (result != RETURN_OK) {
     sif::error << "PlocSupervisorHandler::handleAckReport: CRC failure" << std::endl;
     nextReplyId = supv::NONE;
     replyRawReplyIfnotWiretapped(data, supv::SIZE_ACK_REPORT);
     triggerEvent(SUPV_CRC_FAILURE_EVENT);
-    sendFailureReport(supv::ACK_REPORT, CRC_FAILURE);
+    sendFailureReport(supv::ACK_REPORT, SupvReturnValuesIF::CRC_FAILURE);
     disableAllReplies();
     return RETURN_OK;
   }
 
-  uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
+  result = ack.checkApid();
 
-  switch (apid) {
-    case supv::APID_ACK_FAILURE: {
-      // TODO: Interpretation of status field in acknowledgment report
-      sif::debug << "PlocSupervisorHandler::handleAckReport: Received Ack failure report"
-                 << std::endl;
+  switch (result) {
+    case SupvReturnValuesIF::RECEIVED_ACK_FAILURE: {
+#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
+      sif::debug << "PlocSupervisorHandler: Received Ack failure report with status code: 0x"
+                 << std::hex << ack.getStatusCode() << std::endl;
+#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
       DeviceCommandId_t commandId = getPendingCommand();
       if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
-        triggerEvent(SUPV_ACK_FAILURE, commandId);
+        triggerEvent(SUPV_ACK_FAILURE, commandId, static_cast<uint32_t>(ack.getStatusCode()));
       }
-      sendFailureReport(supv::ACK_REPORT, RECEIVED_ACK_FAILURE);
+      sendFailureReport(supv::ACK_REPORT, SupvReturnValuesIF::RECEIVED_ACK_FAILURE);
       disableAllReplies();
       nextReplyId = supv::NONE;
       result = IGNORE_REPLY_DATA;
       break;
     }
-    case supv::APID_ACK_SUCCESS: {
+    case RETURN_OK: {
       setNextReplyId();
       break;
     }
+    case SupvReturnValuesIF::INVALID_APID:
+      sif::warning << "PlocSupervisorHandler::handleAckReport: Invalid APID in Ack report"
+                   << std::endl;
+      sendFailureReport(supv::ACK_REPORT, result);
+      disableAllReplies();
+      nextReplyId = supv::NONE;
+      result = IGNORE_REPLY_DATA;
+      break;
     default: {
-      sif::debug << "PlocSupervisorHandler::handleAckReport: Invalid APID in Ack report"
-                 << std::endl;
+      sif::error << "PlocSupervisorHandler::handleAckReport: APID parsing failed" << std::endl;
       result = RETURN_FAILED;
       break;
     }
   }
-
   return result;
 }
 
 ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data) {
+  using namespace supv;
   ReturnValue_t result = RETURN_OK;
 
-  result = verifyPacket(data, supv::SIZE_EXE_REPORT);
-  if (result == CRC_FAILURE) {
+  ExecutionReport exe;
+  exe.addWholeData(data, SIZE_EXE_REPORT);
+
+  result = exe.checkCrc();
+  if (result != RETURN_OK) {
     sif::error << "PlocSupervisorHandler::handleExecutionReport: CRC failure" << std::endl;
     nextReplyId = supv::NONE;
     return result;
   }
 
-  uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
+  result = exe.checkApid();
 
-  switch (apid) {
-    case (supv::APID_EXE_SUCCESS): {
+  switch (result) {
+    case (RETURN_OK): {
+      handleExecutionSuccessReport(data);
       break;
     }
-    case (supv::APID_EXE_FAILURE): {
-      // TODO: Interpretation of status field in execution report
-      sif::error
-          << "PlocSupervisorHandler::handleExecutionReport: Received execution failure report"
-          << std::endl;
-      DeviceCommandId_t commandId = getPendingCommand();
-      if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
-        triggerEvent(SUPV_EXE_FAILURE, commandId);
-      } else {
-        sif::debug << "PlocSupervisorHandler::handleExecutionReport: Unknown command id"
-                   << std::endl;
-      }
-      sendFailureReport(supv::EXE_REPORT, RECEIVED_EXE_FAILURE);
-      disableExeReportReply();
-      result = IGNORE_REPLY_DATA;
+    case (SupvReturnValuesIF::RECEIVED_EXE_FAILURE): {
+      handleExecutionFailureReport(exe.getStatusCode());
+      result = RETURN_OK;
       break;
     }
     default: {
@@ -697,9 +954,7 @@ ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data)
       break;
     }
   }
-
   nextReplyId = supv::NONE;
-
   return result;
 }
 
@@ -708,8 +963,9 @@ ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
 
   result = verifyPacket(data, supv::SIZE_HK_REPORT);
 
-  if (result == CRC_FAILURE) {
+  if (result == SupvReturnValuesIF::CRC_FAILURE) {
     sif::error << "PlocSupervisorHandler::handleHkReport: Hk report has invalid crc" << std::endl;
+    return result;
   }
 
   uint16_t offset = supv::DATA_FIELD_OFFSET;
@@ -722,9 +978,10 @@ ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
   hkset.tempSup = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
                   *(data + offset + 3);
   offset += 4;
-  hkset.uptime = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
-                 *(data + offset + 3);
-  offset += 4;
+  size_t size = sizeof(hkset.uptime.value);
+  result = SerializeAdapter::deSerialize(&hkset.uptime, data + offset, &size,
+                                         SerializeIF::Endianness::BIG);
+  offset += 8;
   hkset.cpuLoad = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
                   *(data + offset + 3);
   offset += 4;
@@ -766,7 +1023,7 @@ ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
             << static_cast<unsigned int>(hkset.nvm0_1_state.value) << std::endl;
   sif::info << "PlocSupervisorHandler::handleHkReport: nvm3_state: "
             << static_cast<unsigned int>(hkset.nvm3_state.value) << std::endl;
-  sif::info << "PlocSupervisorHandler::handleHkReport: missoin_io_state: "
+  sif::info << "PlocSupervisorHandler::handleHkReport: mission_io_state: "
             << static_cast<unsigned int>(hkset.missionIoState.value) << std::endl;
   sif::info << "PlocSupervisorHandler::handleHkReport: fmc_state: "
             << static_cast<unsigned int>(hkset.fmcState.value) << std::endl;
@@ -781,7 +1038,7 @@ ReturnValue_t PlocSupervisorHandler::handleBootStatusReport(const uint8_t* data)
 
   result = verifyPacket(data, supv::SIZE_BOOT_STATUS_REPORT);
 
-  if (result == CRC_FAILURE) {
+  if (result == SupvReturnValuesIF::CRC_FAILURE) {
     sif::error << "PlocSupervisorHandler::handleBootStatusReport: Boot status report has invalid"
                   " crc"
                << std::endl;
@@ -789,9 +1046,9 @@ ReturnValue_t PlocSupervisorHandler::handleBootStatusReport(const uint8_t* data)
   }
 
   uint16_t offset = supv::DATA_FIELD_OFFSET;
-  bootStatusReport.bootSignal = *(data + offset);
+  bootStatusReport.socState = *(data + offset);
   offset += 1;
-  bootStatusReport.resetCounter = *(data + offset);
+  bootStatusReport.powerCycles = *(data + offset);
   offset += 1;
   bootStatusReport.bootAfterMs = *(data + offset) << 24 | *(data + offset + 1) << 16 |
                                  *(data + offset + 2) << 8 | *(data + offset + 3);
@@ -806,17 +1063,23 @@ ReturnValue_t PlocSupervisorHandler::handleBootStatusReport(const uint8_t* data)
   bootStatusReport.bp1State = *(data + offset);
   offset += 1;
   bootStatusReport.bp2State = *(data + offset);
+  offset += 1;
+  bootStatusReport.bootState = *(data + offset);
+  offset += 1;
+  bootStatusReport.bootCycles = *(data + offset);
 
   nextReplyId = supv::EXE_REPORT;
 
 #if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
-  sif::info << "PlocSupervisorHandler::handleBootStatusReport: Boot signal: "
-            << static_cast<unsigned int>(bootStatusReport.bootSignal.value) << std::endl;
-  sif::info << "PlocSupervisorHandler::handleBootStatusReport: Reset counter: "
-            << static_cast<unsigned int>(bootStatusReport.resetCounter.value) << std::endl;
+  sif::info << "PlocSupervisorHandler::handleBootStatusReport: SoC State (0 - off, 1 - booting, 2 "
+               "- Update, 3 "
+               "- operating, 4 - Shutdown, 5 - Reset): "
+            << static_cast<unsigned int>(bootStatusReport.socState.value) << std::endl;
+  sif::info << "PlocSupervisorHandler::handleBootStatusReport: Power Cycles: "
+            << static_cast<unsigned int>(bootStatusReport.powerCycles.value) << std::endl;
   sif::info << "PlocSupervisorHandler::handleBootStatusReport: BootAfterMs: "
             << bootStatusReport.bootAfterMs << " ms" << std::endl;
-  sif::info << "PlocSupervisorHandler::handleBootStatusReport: BootTimeoutMs: "
+  sif::info << "PlocSupervisorHandler::handleBootStatusReport: BootTimeoutMs: " << std::dec
             << bootStatusReport.bootTimeoutMs << " ms" << std::endl;
   sif::info << "PlocSupervisorHandler::handleBootStatusReport: Active NVM: "
             << static_cast<unsigned int>(bootStatusReport.activeNvm.value) << std::endl;
@@ -826,6 +1089,10 @@ ReturnValue_t PlocSupervisorHandler::handleBootStatusReport(const uint8_t* data)
             << static_cast<unsigned int>(bootStatusReport.bp1State.value) << std::endl;
   sif::info << "PlocSupervisorHandler::handleBootStatusReport: BP2: "
             << static_cast<unsigned int>(bootStatusReport.bp2State.value) << std::endl;
+  sif::info << "PlocSupervisorHandler::handleBootStatusReport: Boot state: "
+            << static_cast<unsigned int>(bootStatusReport.bootState.value) << std::endl;
+  sif::info << "PlocSupervisorHandler::handleBootStatusReport: Boot cycles: "
+            << static_cast<unsigned int>(bootStatusReport.bootCycles.value) << std::endl;
 #endif
 
   return result;
@@ -836,7 +1103,7 @@ ReturnValue_t PlocSupervisorHandler::handleLatchupStatusReport(const uint8_t* da
 
   result = verifyPacket(data, supv::SIZE_LATCHUP_STATUS_REPORT);
 
-  if (result == CRC_FAILURE) {
+  if (result == SupvReturnValuesIF::CRC_FAILURE) {
     sif::error << "PlocSupervisorHandler::handleLatchupStatusReport: Latchup status report has "
                << "invalid crc" << std::endl;
     return result;
@@ -859,30 +1126,21 @@ ReturnValue_t PlocSupervisorHandler::handleLatchupStatusReport(const uint8_t* da
   offset += 2;
   latchupStatusReport.cnt6 = *(data + offset) << 8 | *(data + offset + 1);
   offset += 2;
-  latchupStatusReport.timeSec = *(data + offset) << 24 | *(data + offset + 1) << 16 |
-                                *(data + offset + 2) << 8 | *(data + offset + 3);
-  offset += 4;
-  latchupStatusReport.timeMin = *(data + offset) << 24 | *(data + offset + 1) << 16 |
-                                *(data + offset + 2) << 8 | *(data + offset + 3);
-  offset += 4;
-  latchupStatusReport.timeHour = *(data + offset) << 24 | *(data + offset + 1) << 16 |
-                                 *(data + offset + 2) << 8 | *(data + offset + 3);
-  offset += 4;
-  latchupStatusReport.timeDay = *(data + offset) << 24 | *(data + offset + 1) << 16 |
-                                *(data + offset + 2) << 8 | *(data + offset + 3);
-  offset += 4;
-  latchupStatusReport.timeMon = *(data + offset) << 24 | *(data + offset + 1) << 16 |
-                                *(data + offset + 2) << 8 | *(data + offset + 3);
-  offset += 4;
-  latchupStatusReport.timeYear = *(data + offset) << 24 | *(data + offset + 1) << 16 |
-                                 *(data + offset + 2) << 8 | *(data + offset + 3);
-  offset += 4;
-  latchupStatusReport.timeMsec = *(data + offset) << 24 | *(data + offset + 1) << 16 |
-                                 *(data + offset + 2) << 8 | *(data + offset + 3);
-  offset += 4;
-  latchupStatusReport.isSet = *(data + offset) << 24 | *(data + offset + 1) << 16 |
-                              *(data + offset + 2) << 8 | *(data + offset + 3);
-  offset += 4;
+  uint16_t msec = *(data + offset) << 8 | *(data + offset + 1);
+  latchupStatusReport.isSet = msec >> supv::LatchupStatusReport::IS_SET_BIT_POS;
+  latchupStatusReport.timeMsec = msec & (~(1 << latchupStatusReport.IS_SET_BIT_POS));
+  offset += 2;
+  latchupStatusReport.timeSec = *(data + offset);
+  offset += 1;
+  latchupStatusReport.timeMin = *(data + offset);
+  offset += 1;
+  latchupStatusReport.timeHour = *(data + offset);
+  offset += 1;
+  latchupStatusReport.timeDay = *(data + offset);
+  offset += 1;
+  latchupStatusReport.timeMon = *(data + offset);
+  offset += 1;
+  latchupStatusReport.timeYear = *(data + offset);
 
   nextReplyId = supv::EXE_REPORT;
 
@@ -904,26 +1162,97 @@ ReturnValue_t PlocSupervisorHandler::handleLatchupStatusReport(const uint8_t* da
   sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT6: "
             << latchupStatusReport.cnt6 << std::endl;
   sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Sec: "
-            << latchupStatusReport.timeSec << std::endl;
+            << static_cast<unsigned int>(latchupStatusReport.timeSec.value) << std::endl;
   sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Min: "
-            << latchupStatusReport.timeMin << std::endl;
+            << static_cast<unsigned int>(latchupStatusReport.timeMin.value) << std::endl;
   sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Hour: "
-            << latchupStatusReport.timeHour << std::endl;
+            << static_cast<unsigned int>(latchupStatusReport.timeHour.value) << std::endl;
   sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Day: "
-            << latchupStatusReport.timeDay << std::endl;
+            << static_cast<unsigned int>(latchupStatusReport.timeDay.value) << std::endl;
   sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Mon: "
-            << latchupStatusReport.timeMon << std::endl;
+            << static_cast<unsigned int>(latchupStatusReport.timeMon.value) << std::endl;
   sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Year: "
-            << latchupStatusReport.timeYear << std::endl;
+            << static_cast<unsigned int>(latchupStatusReport.timeYear.value) << std::endl;
   sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Msec: "
-            << latchupStatusReport.timeMsec << std::endl;
-  sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: isSet: 0x" << std::hex
-            << latchupStatusReport.timeMsec << std::dec << std::endl;
+            << static_cast<unsigned int>(latchupStatusReport.timeMsec.value) << std::endl;
+  sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: isSet: "
+            << static_cast<unsigned int>(latchupStatusReport.isSet.value) << std::endl;
 #endif
 
   return result;
 }
 
+ReturnValue_t PlocSupervisorHandler::handleLoggingReport(const uint8_t* data) {
+  ReturnValue_t result = RETURN_OK;
+
+  result = verifyPacket(data, supv::SIZE_LOGGING_REPORT);
+
+  if (result == SupvReturnValuesIF::CRC_FAILURE) {
+    sif::warning << "PlocSupervisorHandler::handleLoggingReport: Logging report has "
+                 << "invalid crc" << std::endl;
+    return result;
+  }
+
+  const uint8_t* dataField = data + supv::DATA_FIELD_OFFSET + sizeof(supv::RequestLoggingData::Sa);
+  result = loggingReport.read();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  loggingReport.setValidityBufferGeneration(false);
+  size_t size = loggingReport.getSerializedSize();
+  result = loggingReport.deSerialize(&dataField, &size, SerializeIF::Endianness::BIG);
+  if (result != RETURN_OK) {
+    sif::warning << "PlocSupervisorHandler::handleLoggingReport: Deserialization failed"
+                 << std::endl;
+  }
+  loggingReport.setValidityBufferGeneration(true);
+  loggingReport.setValidity(true, true);
+  result = loggingReport.commit();
+  if (result != RETURN_OK) {
+    return result;
+  }
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
+  loggingReport.printSet();
+#endif
+  nextReplyId = supv::EXE_REPORT;
+  return result;
+}
+
+ReturnValue_t PlocSupervisorHandler::handleAdcReport(const uint8_t* data) {
+  ReturnValue_t result = RETURN_OK;
+
+  result = verifyPacket(data, supv::SIZE_ADC_REPORT);
+
+  if (result == SupvReturnValuesIF::CRC_FAILURE) {
+    sif::error << "PlocSupervisorHandler::handleAdcReport: ADC report has "
+               << "invalid crc" << std::endl;
+    return result;
+  }
+
+  const uint8_t* dataField = data + supv::DATA_FIELD_OFFSET;
+  result = adcReport.read();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adcReport.setValidityBufferGeneration(false);
+  size_t size = adcReport.getSerializedSize();
+  result = adcReport.deSerialize(&dataField, &size, SerializeIF::Endianness::BIG);
+  if (result != RETURN_OK) {
+    sif::warning << "PlocSupervisorHandler::handleAdcReport: Deserialization failed" << std::endl;
+  }
+  adcReport.setValidityBufferGeneration(true);
+  adcReport.setValidity(true, true);
+  result = adcReport.commit();
+  if (result != RETURN_OK) {
+    return result;
+  }
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
+  adcReport.printSet();
+#endif
+  nextReplyId = supv::EXE_REPORT;
+  return result;
+}
+
 void PlocSupervisorHandler::setNextReplyId() {
   switch (getPendingCommand()) {
     case supv::GET_HK_REPORT:
@@ -941,6 +1270,12 @@ void PlocSupervisorHandler::setNextReplyId() {
     case supv::CONSECUTIVE_MRAM_DUMP:
       nextReplyId = supv::CONSECUTIVE_MRAM_DUMP;
       break;
+    case supv::LOGGING_REQUEST_COUNTERS:
+      nextReplyId = supv::LOGGING_REPORT;
+      break;
+    case supv::REQUEST_ADC_REPORT:
+      nextReplyId = supv::ADC_REPORT;
+      break;
     default:
       /* If no telemetry is expected the next reply is always the execution report */
       nextReplyId = supv::EXE_REPORT;
@@ -967,7 +1302,8 @@ size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId) {
 
   DeviceReplyIter iter = deviceReplyMap.find(nextReplyId);
   if (iter != deviceReplyMap.end()) {
-    if (iter->second.delayCycles == 0) {
+    if ((iter->second.delayCycles == 0 && iter->second.countdown == nullptr) ||
+        (not iter->second.active && iter->second.countdown != nullptr)) {
       /* Reply inactive */
       return replyLen;
     }
@@ -980,6 +1316,16 @@ size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId) {
   return replyLen;
 }
 
+ReturnValue_t PlocSupervisorHandler::doSendReadHook() {
+  // Prevent DHB from polling UART during commands executed by the supervisor helper task
+  if (plocSupvHelperExecuting) {
+    return RETURN_FAILED;
+  }
+  return RETURN_OK;
+}
+
+void PlocSupervisorHandler::doOffActivity() { startupState = StartupState::OFF; }
+
 void PlocSupervisorHandler::handleDeviceTM(const uint8_t* data, size_t dataSize,
                                            DeviceCommandId_t replyId) {
   ReturnValue_t result = RETURN_OK;
@@ -1007,7 +1353,7 @@ void PlocSupervisorHandler::handleDeviceTM(const uint8_t* data, size_t dataSize,
 }
 
 void PlocSupervisorHandler::prepareEmptyCmd(uint16_t apid) {
-  supv::EmptyPacket packet(apid);
+  supv::ApidOnlyPacket packet(apid);
   packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
 }
 
@@ -1023,7 +1369,7 @@ ReturnValue_t PlocSupervisorHandler::prepareSetTimeRefCmd() {
   if (result != RETURN_OK) {
     sif::warning << "PlocSupervisorHandler::prepareSetTimeRefCmd: Failed to get current time"
                  << std::endl;
-    return GET_TIME_FAILURE;
+    return SupvReturnValuesIF::GET_TIME_FAILURE;
   }
   supv::SetTimeRef packet(&time);
   packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
@@ -1048,40 +1394,12 @@ void PlocSupervisorHandler::prepareRestartTriesCmd(const uint8_t* commandData) {
   packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
 }
 
-void PlocSupervisorHandler::prepareWatchdogsEnableCmd(const uint8_t* commandData) {
-  uint8_t offset = 0;
-  uint8_t watchdogPs = *(commandData + offset);
-  offset += 1;
-  uint8_t watchdogPl = *(commandData + offset);
-  offset += 1;
-  uint8_t watchdogInt = *(commandData + offset);
-  supv::WatchdogsEnable packet(watchdogPs, watchdogPl, watchdogInt);
-  packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
-}
-
-ReturnValue_t PlocSupervisorHandler::prepareWatchdogsConfigTimeoutCmd(const uint8_t* commandData) {
-  uint8_t offset = 0;
-  uint8_t watchdog = *(commandData + offset);
-  offset += 1;
-  if (watchdog > 2) {
-    return INVALID_WATCHDOG;
-  }
-  uint32_t timeout = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
-                     *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
-  if (timeout < 1000 || timeout > 360000) {
-    return INVALID_WATCHDOG_TIMEOUT;
-  }
-  supv::WatchdogsConfigTimeout packet(watchdog, timeout);
-  packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
-  return RETURN_OK;
-}
-
 ReturnValue_t PlocSupervisorHandler::prepareLatchupConfigCmd(const uint8_t* commandData,
                                                              DeviceCommandId_t deviceCommand) {
   ReturnValue_t result = RETURN_OK;
   uint8_t latchupId = *commandData;
   if (latchupId > 6) {
-    return INVALID_LATCHUP_ID;
+    return SupvReturnValuesIF::INVALID_LATCHUP_ID;
   }
   switch (deviceCommand) {
     case (supv::ENABLE_LATCHUP_ALERT): {
@@ -1104,32 +1422,6 @@ ReturnValue_t PlocSupervisorHandler::prepareLatchupConfigCmd(const uint8_t* comm
   return result;
 }
 
-ReturnValue_t PlocSupervisorHandler::prepareAutoCalibrateAlertCmd(const uint8_t* commandData) {
-  uint8_t offset = 0;
-  uint8_t latchupId = *commandData;
-  offset += 1;
-  uint32_t mg = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
-                *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
-  if (latchupId > 6) {
-    return INVALID_LATCHUP_ID;
-  }
-  supv::AutoCalibrateAlert packet(latchupId, mg);
-  packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
-  return RETURN_OK;
-}
-
-ReturnValue_t PlocSupervisorHandler::prepareSetAlertIrqFilterCmd(const uint8_t* commandData) {
-  uint8_t latchupId = *commandData;
-  uint8_t tp = *(commandData + 1);
-  uint8_t div = *(commandData + 2);
-  if (latchupId > 6) {
-    return INVALID_LATCHUP_ID;
-  }
-  supv::SetAlertIrqFilter packet(latchupId, tp, div);
-  packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
-  return RETURN_OK;
-}
-
 ReturnValue_t PlocSupervisorHandler::prepareSetAlertLimitCmd(const uint8_t* commandData) {
   uint8_t offset = 0;
   uint8_t latchupId = *commandData;
@@ -1137,24 +1429,13 @@ ReturnValue_t PlocSupervisorHandler::prepareSetAlertLimitCmd(const uint8_t* comm
   uint32_t dutycycle = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
                        *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
   if (latchupId > 6) {
-    return INVALID_LATCHUP_ID;
+    return SupvReturnValuesIF::INVALID_LATCHUP_ID;
   }
   supv::SetAlertlimit packet(latchupId, dutycycle);
   packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
   return RETURN_OK;
 }
 
-ReturnValue_t PlocSupervisorHandler::prepareSetAdcSweetPeriodCmd(const uint8_t* commandData) {
-  uint32_t sweepPeriod = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
-                         *(commandData + 3);
-  if (sweepPeriod < 21) {
-    return SWEEP_PERIOD_TOO_SMALL;
-  }
-  supv::SetAdcSweepPeriod packet(sweepPeriod);
-  packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
-  return RETURN_OK;
-}
-
 void PlocSupervisorHandler::prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData) {
   uint16_t ch = *(commandData) << 8 | *(commandData + 1);
   supv::SetAdcEnabledChannels packet(ch);
@@ -1177,23 +1458,10 @@ void PlocSupervisorHandler::prepareSetAdcThresholdCmd(const uint8_t* commandData
   packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
 }
 
-void PlocSupervisorHandler::prepareEnableNvmsCmd(const uint8_t* commandData) {
-  uint8_t n01 = *commandData;
-  uint8_t n3 = *(commandData + 1);
-  supv::EnableNvms packet(n01, n3);
-  packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
-}
-
-void PlocSupervisorHandler::prepareSelectNvmCmd(const uint8_t* commandData) {
-  uint8_t mem = *commandData;
-  supv::SelectNvm packet(mem);
-  packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
-}
-
 ReturnValue_t PlocSupervisorHandler::prepareRunAutoEmTest(const uint8_t* commandData) {
   uint8_t test = *commandData;
   if (test != 1 && test != 2) {
-    return INVALID_TEST_PARAM;
+    return SupvReturnValuesIF::INVALID_TEST_PARAM;
   }
   supv::RunAutoEmTests packet(test);
   packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
@@ -1207,7 +1475,7 @@ ReturnValue_t PlocSupervisorHandler::prepareWipeMramCmd(const uint8_t* commandDa
   SerializeAdapter::deSerialize(&start, &commandData, &size, SerializeIF::Endianness::BIG);
   SerializeAdapter::deSerialize(&stop, &commandData, &size, SerializeIF::Endianness::BIG);
   if ((stop - start) <= 0) {
-    return INVALID_MRAM_ADDRESSES;
+    return SupvReturnValuesIF::INVALID_MRAM_ADDRESSES;
   }
   supv::MramCmd packet(start, stop, supv::MramCmd::MramAction::WIPE);
   packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
@@ -1223,7 +1491,7 @@ ReturnValue_t PlocSupervisorHandler::prepareDumpMramCmd(const uint8_t* commandDa
   supv::MramCmd packet(start, stop, supv::MramCmd::MramAction::DUMP);
   packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
   if ((stop - start) <= 0) {
-    return INVALID_MRAM_ADDRESSES;
+    return SupvReturnValuesIF::INVALID_MRAM_ADDRESSES;
   }
   expectedMramDumpPackets = (stop - start) / supv::MAX_DATA_CAPACITY;
   if ((stop - start) % supv::MAX_DATA_CAPACITY) {
@@ -1233,18 +1501,6 @@ ReturnValue_t PlocSupervisorHandler::prepareDumpMramCmd(const uint8_t* commandDa
   return RETURN_OK;
 }
 
-void PlocSupervisorHandler::preparePrintCpuStatsCmd(const uint8_t* commandData) {
-  uint8_t en = *commandData;
-  supv::PrintCpuStats packet(en);
-  packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
-}
-
-void PlocSupervisorHandler::prepareSetDbgVerbosityCmd(const uint8_t* commandData) {
-  uint8_t vb = *commandData;
-  supv::SetDbgVerbosity packet(vb);
-  packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
-}
-
 void PlocSupervisorHandler::prepareSetGpioCmd(const uint8_t* commandData) {
   uint8_t port = *commandData;
   uint8_t pin = *(commandData + 1);
@@ -1267,11 +1523,46 @@ void PlocSupervisorHandler::packetToOutBuffer(uint8_t* packetData, size_t fullSi
   nextReplyId = supv::ACK_REPORT;
 }
 
+void PlocSupervisorHandler::prepareSetShutdownTimeoutCmd(const uint8_t* commandData) {
+  uint32_t timeout = 0;
+  ReturnValue_t result = RETURN_OK;
+  size_t size = sizeof(timeout);
+  result =
+      SerializeAdapter::deSerialize(&timeout, &commandData, &size, SerializeIF::Endianness::BIG);
+  if (result != RETURN_OK) {
+    sif::warning
+        << "PlocSupervisorHandler::prepareSetShutdownTimeoutCmd: Failed to deserialize timeout"
+        << std::endl;
+  }
+  supv::SetShutdownTimeout packet(timeout);
+  packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
+}
+
+ReturnValue_t PlocSupervisorHandler::prepareLoggingRequest(const uint8_t* commandData,
+                                                           size_t commandDataLen) {
+  using namespace supv;
+  RequestLoggingData::Sa sa = static_cast<RequestLoggingData::Sa>(*commandData);
+  uint8_t tpc = *(commandData + 1);
+  RequestLoggingData packet(sa, tpc);
+  packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocSupervisorHandler::prepareEnableNvmsCommand(const uint8_t* commandData) {
+  using namespace supv;
+  uint8_t nvm01 = *(commandData);
+  uint8_t nvm3 = *(commandData + 1);
+  EnableNvms packet(nvm01, nvm3);
+  packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
+  return RETURN_OK;
+}
+
 void PlocSupervisorHandler::disableAllReplies() {
+  using namespace supv;
   DeviceReplyMap::iterator iter;
 
   /* Disable ack reply */
-  iter = deviceReplyMap.find(supv::ACK_REPORT);
+  iter = deviceReplyMap.find(ACK_REPORT);
   DeviceReplyInfo* info = &(iter->second);
   info->delayCycles = 0;
   info->command = deviceCommandMap.end();
@@ -1280,11 +1571,29 @@ void PlocSupervisorHandler::disableAllReplies() {
 
   /* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
   switch (commandId) {
-    case supv::GET_HK_REPORT: {
-      iter = deviceReplyMap.find(supv::GET_HK_REPORT);
-      info = &(iter->second);
-      info->delayCycles = 0;
-      info->command = deviceCommandMap.end();
+    case GET_HK_REPORT: {
+      disableReply(GET_HK_REPORT);
+      break;
+    }
+    case FIRST_MRAM_DUMP:
+    case CONSECUTIVE_MRAM_DUMP: {
+      disableReply(commandId);
+      break;
+    }
+    case REQUEST_ADC_REPORT: {
+      disableReply(ADC_REPORT);
+      break;
+    }
+    case GET_BOOT_STATUS_REPORT: {
+      disableReply(BOOT_STATUS_REPORT);
+      break;
+    }
+    case GET_LATCHUP_STATUS_REPORT: {
+      disableReply(LATCHUP_REPORT);
+      break;
+    }
+    case LOGGING_REQUEST_COUNTERS: {
+      disableReply(LOGGING_REPORT);
       break;
     }
     default: {
@@ -1296,6 +1605,14 @@ void PlocSupervisorHandler::disableAllReplies() {
   disableExeReportReply();
 }
 
+void PlocSupervisorHandler::disableReply(DeviceCommandId_t replyId) {
+  DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
+  DeviceReplyInfo* info = &(iter->second);
+  info->delayCycles = 0;
+  info->active = false;
+  info->command = deviceCommandMap.end();
+}
+
 void PlocSupervisorHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {
   DeviceReplyIter iter = deviceReplyMap.find(replyId);
 
@@ -1323,6 +1640,7 @@ void PlocSupervisorHandler::disableExeReportReply() {
   DeviceReplyInfo* info = &(iter->second);
   info->delayCycles = 0;
   info->command = deviceCommandMap.end();
+  info->active = false;
   /* Expected replies is set to one here. The value will set to 0 in replyToReply() */
   info->command->second.expectedReplies = 1;
 }
@@ -1351,7 +1669,10 @@ ReturnValue_t PlocSupervisorHandler::parseMramPackets(const uint8_t* packet, siz
       *foundLen = remainingSize;
       disableAllReplies();
       bufferTop = 0;
-      return MRAM_PACKET_PARSING_FAILURE;
+      sif::info << "PlocSupervisorHandler::parseMramPackets: Can not find MRAM packet in space "
+                   "packet buffer"
+                << std::endl;
+      return SupvReturnValuesIF::MRAM_PACKET_PARSING_FAILURE;
     }
   }
 
@@ -1369,9 +1690,13 @@ ReturnValue_t PlocSupervisorHandler::handleMramDumpPacket(DeviceCommandId_t id)
       sif::warning << "PlocSupervisorHandler::handleMramDumpPacket: CRC failure" << std::endl;
       return result;
     }
-    handleMramDumpFile(id);
-    if (downlinkMramDump == true) {
-      handleDeviceTM(spacePacketBuffer + supv::SPACE_PACKET_HEADER_LENGTH, packetLen - 1, id);
+    result = handleMramDumpFile(id);
+    if (result != RETURN_OK) {
+      DeviceCommandMap::iterator iter = deviceCommandMap.find(id);
+      actionHelper.finish(false, iter->second.sendReplyTo, id, result);
+      disableAllReplies();
+      nextReplyId = supv::NONE;
+      return result;
     }
     packetInBuffer = false;
     receivedMramDumpPackets++;
@@ -1420,22 +1745,20 @@ void PlocSupervisorHandler::increaseExpectedMramReplies(DeviceCommandId_t id) {
       (sequenceFlags != static_cast<uint8_t>(supv::SequenceFlags::STANDALONE_PKT))) {
     // Command expects at least one MRAM packet more and the execution report
     info->expectedReplies = 2;
-    // Wait maximum of 2 cycles for next MRAM packet
-    mramReplyInfo->delayCycles = 2;
-    // Also adapting delay cycles for execution report
-    exeReplyInfo->delayCycles = 3;
+    mramReplyInfo->countdown->resetTimer();
   } else {
     // Command expects the execution report
     info->expectedReplies = 1;
-    mramReplyInfo->delayCycles = 0;
+    mramReplyInfo->active = false;
   }
+  exeReplyInfo->countdown->resetTimer();
   return;
 }
 
 ReturnValue_t PlocSupervisorHandler::checkMramPacketApid() {
   uint16_t apid = (spacePacketBuffer[0] << 8 | spacePacketBuffer[1]) & supv::APID_MASK;
   if (apid != supv::APID_MRAM_DUMP_TM) {
-    return NO_MRAM_PACKET;
+    return SupvReturnValuesIF::NO_MRAM_PACKET;
   }
   return APERIODIC_REPLY;
 }
@@ -1456,7 +1779,7 @@ ReturnValue_t PlocSupervisorHandler::handleMramDumpFile(DeviceCommandId_t id) {
   if (not std::filesystem::exists(activeMramFile)) {
     sif::warning << "PlocSupervisorHandler::handleMramDumpFile: MRAM file does not exist"
                  << std::endl;
-    return MRAM_FILE_NOT_EXISTS;
+    return SupvReturnValuesIF::MRAM_FILE_NOT_EXISTS;
   }
   std::ofstream file(activeMramFile, std::ios_base::app | std::ios_base::out);
   file.write(reinterpret_cast<const char*>(spacePacketBuffer + supv::SPACE_PACKET_HEADER_LENGTH),
@@ -1483,19 +1806,19 @@ ReturnValue_t PlocSupervisorHandler::createMramDumpFile() {
 
   std::string filename = "mram-dump--" + timeStamp + ".bin";
 
-#ifdef TE0720_1CFA
+#ifndef TE0720_1CFA
   std::string currentMountPrefix = sdcMan->getCurrentMountPrefix();
 #else
   std::string currentMountPrefix("/mnt/sd0");
 #endif /* BOARD_TE0720 == 0 */
 
   // Check if path to PLOC directory exists
-  if (not std::filesystem::exists(std::string(currentMountPrefix + "/" + plocFilePath))) {
-    sif::warning << "PlocSupervisorHandler::createMramDumpFile: Ploc path does not exist"
+  if (not std::filesystem::exists(std::string(currentMountPrefix + "/" + supervisorFilePath))) {
+    sif::warning << "PlocSupervisorHandler::createMramDumpFile: Supervisor path does not exist"
                  << std::endl;
-    return PATH_DOES_NOT_EXIST;
+    return SupvReturnValuesIF::PATH_DOES_NOT_EXIST;
   }
-  activeMramFile = currentMountPrefix + "/" + plocFilePath + "/" + filename;
+  activeMramFile = currentMountPrefix + "/" + supervisorFilePath + "/" + filename;
   // Create new file
   std::ofstream file(activeMramFile, std::ios_base::out);
   file.close();
@@ -1507,12 +1830,117 @@ ReturnValue_t PlocSupervisorHandler::getTimeStampString(std::string& timeStamp)
   Clock::TimeOfDay_t time;
   ReturnValue_t result = Clock::getDateAndTime(&time);
   if (result != RETURN_OK) {
-    sif::warning << "PlocSupervisorHandler::createMramDumpFile: Failed to get current time"
+    sif::warning << "PlocSupervisorHandler::getTimeStampString: Failed to get current time"
                  << std::endl;
-    return GET_TIME_FAILURE;
+    return SupvReturnValuesIF::GET_TIME_FAILURE;
   }
   timeStamp = std::to_string(time.year) + "-" + std::to_string(time.month) + "-" +
               std::to_string(time.day) + "--" + std::to_string(time.hour) + "-" +
               std::to_string(time.minute) + "-" + std::to_string(time.second);
   return RETURN_OK;
 }
+
+ReturnValue_t PlocSupervisorHandler::extractUpdateCommand(const uint8_t* commandData, size_t size,
+                                                          std::string* file, uint8_t* memoryId,
+                                                          uint32_t* startAddress) {
+  ReturnValue_t result = RETURN_OK;
+  if (size > (config::MAX_FILENAME_SIZE + config::MAX_PATH_SIZE + sizeof(*memoryId)) +
+                 sizeof(*startAddress)) {
+    sif::warning << "PlocSupervisorHandler::extractUpdateCommand: Data size too big" << std::endl;
+    return SupvReturnValuesIF::INVALID_LENGTH;
+  }
+  *file = std::string(reinterpret_cast<const char*>(commandData));
+  if (file->size() > (config::MAX_FILENAME_SIZE + config::MAX_PATH_SIZE)) {
+    sif::warning << "PlocSupervisorHandler::extractUpdateCommand: Filename too long" << std::endl;
+    return SupvReturnValuesIF::FILENAME_TOO_LONG;
+  }
+  *memoryId = *(commandData + file->size() + SIZE_NULL_TERMINATOR);
+  const uint8_t* startAddressPtr =
+      commandData + file->size() + SIZE_NULL_TERMINATOR + sizeof(*memoryId);
+  size_t remainingSize = 4;
+  result = SerializeAdapter::deSerialize(startAddress, startAddressPtr, &remainingSize,
+                                         SerializeIF::Endianness::BIG);
+  if (result != RETURN_OK) {
+    sif::warning
+        << "PlocSupervisorHandler::extractUpdateCommand: Failed to deserialize start address"
+        << std::endl;
+    return result;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocSupervisorHandler::eventSubscription() {
+  ReturnValue_t result = RETURN_OK;
+  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  if (manager == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "PlocSupervisorHandler::eventSubscritpion: Invalid event manager" << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+    ;
+  }
+  result = manager->registerListener(eventQueue->getId());
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = manager->subscribeToEventRange(
+      eventQueue->getId(), event::getEventId(PlocSupvHelper::SUPV_UPDATE_FAILED),
+      event::getEventId(PlocSupvHelper::SUPV_EVENT_BUFFER_REQUEST_TERMINATED));
+  if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "PlocSupervisorHandler::eventSubscritpion: Failed to subscribe to events from "
+                    " ploc supervisor helper"
+                 << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  return result;
+}
+
+void PlocSupervisorHandler::handleExecutionSuccessReport(const uint8_t* data) {
+  DeviceCommandId_t commandId = getPendingCommand();
+  switch (commandId) {
+    case supv::READ_GPIO: {
+      supv::ExecutionReport exe;
+      exe.addWholeData(data, supv::SIZE_EXE_REPORT);
+      uint16_t gpioState = exe.getStatusCode();
+#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
+      sif::info << "PlocSupervisorHandler: Read GPIO TM, State: " << gpioState << std::endl;
+#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
+      DeviceCommandMap::iterator iter = deviceCommandMap.find(commandId);
+      if (iter->second.sendReplyTo == NO_COMMAND_ID) {
+        return;
+      }
+      uint8_t data[sizeof(gpioState)];
+      size_t size = 0;
+      ReturnValue_t result = SerializeAdapter::serialize(&gpioState, data, &size, sizeof(gpioState),
+                                                         SerializeIF::Endianness::BIG);
+      if (result != RETURN_OK) {
+        sif::debug << "PlocSupervisorHandler: Failed to deserialize GPIO state" << std::endl;
+      }
+      result = actionHelper.reportData(iter->second.sendReplyTo, commandId, data, sizeof(data));
+      if (result != RETURN_OK) {
+        sif::warning << "PlocSupervisorHandler: Read GPIO, failed to report data" << std::endl;
+      }
+      break;
+    }
+    case supv::SET_TIME_REF: {
+      if (startupState == StartupState::SET_TIME_EXECUTING) {
+        startupState = StartupState::ON;
+      }
+      break;
+    }
+    default:
+      break;
+  }
+}
+
+void PlocSupervisorHandler::handleExecutionFailureReport(uint16_t statusCode) {
+  using namespace supv;
+  DeviceCommandId_t commandId = getPendingCommand();
+  if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
+    triggerEvent(SUPV_EXE_FAILURE, commandId, static_cast<uint32_t>(statusCode));
+  }
+  sendFailureReport(EXE_REPORT, SupvReturnValuesIF::RECEIVED_EXE_FAILURE);
+  disableExeReportReply();
+}
diff --git a/linux/devices/ploc/PlocSupervisorHandler.h b/linux/devices/ploc/PlocSupervisorHandler.h
index b21ecf91..963591ab 100644
--- a/linux/devices/ploc/PlocSupervisorHandler.h
+++ b/linux/devices/ploc/PlocSupervisorHandler.h
@@ -2,19 +2,22 @@
 #define MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
 
 #include "OBSWConfig.h"
+#include "PlocSupvHelper.h"
 #include "bsp_q7s/memory/SdCardManager.h"
 #include "devices/powerSwitcherList.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "fsfw/timemanager/Countdown.h"
 #include "fsfw_hal/linux/gpio/Gpio.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "fsfw_hal/linux/uart/UartComIF.h"
 #include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
+#include "linux/devices/devicedefinitions/SupvReturnValuesIF.h"
 
 /**
  * @brief	This is the device handler for the supervisor of the PLOC which is programmed by
  *          Thales.
  *
- * @details The PLOC uses the space packet protocol for communication. To each command the PLOC
+ * @details The PLOC uses the space packet protocol for communication. On each command the PLOC
  *          answers with at least one acknowledgment and one execution report.
  *          Flight manual:
  *          https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/PLOC_Commands
@@ -25,10 +28,14 @@
 class PlocSupervisorHandler : public DeviceHandlerBase {
  public:
   PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
-                        Gpio uartIsolatorSwitch, power::Switch_t powerSwitch);
+                        Gpio uartIsolatorSwitch, power::Switch_t powerSwitch,
+                        PlocSupvHelper* supvHelper);
   virtual ~PlocSupervisorHandler();
 
   virtual ReturnValue_t initialize() override;
+  void performOperationHook() override;
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size) override;
 
  protected:
   void doStartUp() override;
@@ -49,48 +56,10 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
                                       uint8_t expectedReplies = 1, bool useAlternateId = false,
                                       DeviceCommandId_t alternateReplyID = 0) override;
   size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
+  ReturnValue_t doSendReadHook() override;
+  void doOffActivity() override;
 
  private:
-  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPERVISOR_HANDLER;
-
-  //! [EXPORT] : [COMMENT] Space Packet received from PLOC supervisor has invalid CRC
-  static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
-  //! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC supervisor
-  static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
-  //! [EXPORT] : [COMMENT] Received execution failure reply from PLOC supervisor
-  static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
-  //! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC supervisor
-  static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
-  //! [EXPORT] : [COMMENT] Failed to read current system time
-  static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4);
-  //! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0
-  //! for PS, 1 for PL and 2 for INT
-  static const ReturnValue_t INVALID_WATCHDOG = MAKE_RETURN_CODE(0xA5);
-  //! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid
-  //! timeouts must be in the range between 1000 and 360000 ms.
-  static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA6);
-  //! [EXPORT] : [COMMENT] Received latchup config command with invalid latchup ID
-  static const ReturnValue_t INVALID_LATCHUP_ID = MAKE_RETURN_CODE(0xA7);
-  //! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be
-  //! larger than 21.
-  static const ReturnValue_t SWEEP_PERIOD_TOO_SMALL = MAKE_RETURN_CODE(0xA8);
-  //! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1
-  //! and 2.
-  static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xA9);
-  //! [EXPORT] : [COMMENT] Returned when scanning for MRAM dump packets failed.
-  static const ReturnValue_t MRAM_PACKET_PARSING_FAILURE = MAKE_RETURN_CODE(0xAA);
-  //! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM  wipe
-  //! commands are invalid (e.g. start address bigger than stop address)
-  static const ReturnValue_t INVALID_MRAM_ADDRESSES = MAKE_RETURN_CODE(0xAB);
-  //! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with
-  //! other apid.
-  static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAC);
-  //! [EXPORT] : [COMMENT] Path to PLOC directory on SD card does not exist
-  static const ReturnValue_t PATH_DOES_NOT_EXIST = MAKE_RETURN_CODE(0xAD);
-  //! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have
-  //! been created with the reception of the first dump packet.
-  static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAE);
-
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
 
   //! [EXPORT] : [COMMENT] PLOC supervisor crc failure in telemetry packet
@@ -98,12 +67,35 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   //! [EXPORT] : [COMMENT] PLOC supervisor received acknowledgment failure report
   static const Event SUPV_ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
   //! [EXPORT] : [COMMENT] PLOC received execution failure report
+  //! P1: ID of command for which the execution failed
+  //! P2: Status code sent by the supervisor handler
   static const Event SUPV_EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
   //! [EXPORT] : [COMMENT] PLOC supervisor reply has invalid crc
   static const Event SUPV_CRC_FAILURE_EVENT = MAKE_EVENT(4, severity::LOW);
+  //! [EXPORT] : [COMMENT] Supervisor helper currently executing a command
+  static const Event SUPV_HELPER_EXECUTING = MAKE_EVENT(5, severity::LOW);
+  //! [EXPORT] : [COMMENT] Failed to build the command to shutdown the MPSoC
+  static const Event SUPV_MPSOC_SHUWDOWN_BUILD_FAILED = MAKE_EVENT(5, severity::LOW);
 
   static const uint16_t APID_MASK = 0x7FF;
   static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
+  static const uint8_t EXE_STATUS_OFFSET = 10;
+  static const uint8_t SIZE_NULL_TERMINATOR = 1;
+  // 5 s
+  static const uint32_t EXECUTION_DEFAULT_TIMEOUT = 5000;
+  // 70 S
+  static const uint32_t ACKNOWLEDGE_DEFAULT_TIMEOUT = 70000;
+  // 60 s
+  static const uint32_t MRAM_DUMP_EXECUTION_TIMEOUT = 60000;
+  // 70 s
+  static const uint32_t COPY_ADC_TO_MRAM_TIMEOUT = 70000;
+  // 60 s
+  static const uint32_t MRAM_DUMP_TIMEOUT = 60000;
+  // 2 s
+  static const uint32_t BOOT_TIMEOUT = 2000;
+  enum class StartupState : uint8_t { OFF, BOOTING, SET_TIME, SET_TIME_EXECUTING, ON };
+
+  StartupState startupState = StartupState::OFF;
 
   uint8_t commandBuffer[supv::MAX_COMMAND_SIZE];
 
@@ -121,9 +113,14 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   supv::HkSet hkset;
   supv::BootStatusReport bootStatusReport;
   supv::LatchupStatusReport latchupStatusReport;
+  supv::LoggingReport loggingReport;
+  supv::AdcReport adcReport;
 
   const power::Switch_t powerSwitch = power::NO_SWITCH;
 
+  PlocSupvHelper* supvHelper = nullptr;
+  MessageQueueIF* eventQueue = nullptr;
+
   /** Number of expected replies following the MRAM dump command */
   uint32_t expectedMramDumpPackets = 0;
   uint32_t receivedMramDumpPackets = 0;
@@ -135,16 +132,32 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   /** This buffer is used to concatenate space packets received in two different read steps */
   uint8_t spacePacketBuffer[supv::MAX_PACKET_SIZE];
 
-#ifdef TE0720_1CFA
+#ifndef TE0720_1CFA
   SdCardManager* sdcMan = nullptr;
 #endif /* BOARD_TE0720 == 0 */
 
-  /** Path to PLOC specific files on SD card */
-  std::string plocFilePath = "ploc";
+  // Path to supervisor specific files on SD card
+  std::string supervisorFilePath = "ploc/supervisor";
   std::string activeMramFile;
 
-  /** Setting this variable to true will enable direct downlink of MRAM packets */
-  bool downlinkMramDump = false;
+  // Supervisor helper class currently executing a command
+  bool plocSupvHelperExecuting = false;
+
+  Countdown executionReportTimeout = Countdown(EXECUTION_DEFAULT_TIMEOUT, false);
+  Countdown acknowledgementReportTimeout = Countdown(ACKNOWLEDGE_DEFAULT_TIMEOUT, false);
+  // Vorago nees some time to boot properly
+  Countdown bootTimeout = Countdown(BOOT_TIMEOUT);
+  Countdown mramDumpTimeout = Countdown(MRAM_DUMP_TIMEOUT);
+
+  /**
+   * @brief Adjusts the timeout of the execution report dependent on command
+   */
+  void setExecutionTimeout(DeviceCommandId_t command);
+
+  /**
+   * @brief   Handles event messages received from the supervisor helper
+   */
+  void handleEvent(EventMessage* eventMessage);
 
   ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches);
 
@@ -193,6 +206,8 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   ReturnValue_t handleBootStatusReport(const uint8_t* data);
 
   ReturnValue_t handleLatchupStatusReport(const uint8_t* data);
+  ReturnValue_t handleLoggingReport(const uint8_t* data);
+  ReturnValue_t handleAdcReport(const uint8_t* data);
 
   /**
    * @brief   Depending on the current active command, this function sets the reply id of the
@@ -253,22 +268,17 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
 
   ReturnValue_t prepareLatchupConfigCmd(const uint8_t* commandData,
                                         DeviceCommandId_t deviceCommand);
-  ReturnValue_t prepareAutoCalibrateAlertCmd(const uint8_t* commandData);
   ReturnValue_t prepareSetAlertLimitCmd(const uint8_t* commandData);
-  ReturnValue_t prepareSetAlertIrqFilterCmd(const uint8_t* commandData);
-  ReturnValue_t prepareSetAdcSweetPeriodCmd(const uint8_t* commandData);
   void prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData);
   void prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData);
   void prepareSetAdcThresholdCmd(const uint8_t* commandData);
-  void prepareEnableNvmsCmd(const uint8_t* commandData);
-  void prepareSelectNvmCmd(const uint8_t* commandData);
   ReturnValue_t prepareRunAutoEmTest(const uint8_t* commandData);
   ReturnValue_t prepareWipeMramCmd(const uint8_t* commandData);
   ReturnValue_t prepareDumpMramCmd(const uint8_t* commandData);
-  void preparePrintCpuStatsCmd(const uint8_t* commandData);
-  void prepareSetDbgVerbosityCmd(const uint8_t* commandData);
   void prepareSetGpioCmd(const uint8_t* commandData);
   void prepareReadGpioCmd(const uint8_t* commandData);
+  ReturnValue_t prepareLoggingRequest(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t prepareEnableNvmsCommand(const uint8_t* commandData);
 
   /**
    * @brief   Copies the content of a space packet to the command buffer.
@@ -282,6 +292,8 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
    */
   void disableAllReplies();
 
+  void disableReply(DeviceCommandId_t replyId);
+
   /**
    * @brief   This function sends a failure report if the active action was commanded by an other
    *          object.
@@ -348,6 +360,15 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
 
   ReturnValue_t createMramDumpFile();
   ReturnValue_t getTimeStampString(std::string& timeStamp);
+
+  void prepareSetShutdownTimeoutCmd(const uint8_t* commandData);
+
+  ReturnValue_t extractUpdateCommand(const uint8_t* commandData, size_t size, std::string* file,
+                                     uint8_t* memoryId, uint32_t* startAddress);
+  ReturnValue_t eventSubscription();
+
+  void handleExecutionSuccessReport(const uint8_t* data);
+  void handleExecutionFailureReport(uint16_t statusCode);
 };
 
 #endif /* MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_ */
diff --git a/linux/devices/ploc/PlocSupvHelper.cpp b/linux/devices/ploc/PlocSupvHelper.cpp
new file mode 100644
index 00000000..544a98eb
--- /dev/null
+++ b/linux/devices/ploc/PlocSupvHelper.cpp
@@ -0,0 +1,562 @@
+#include "PlocSupvHelper.h"
+
+#include <filesystem>
+#include <fstream>
+
+#include "OBSWConfig.h"
+#ifdef XIPHOS_Q7S
+#include "bsp_q7s/memory/FilesystemHelper.h"
+#include "bsp_q7s/memory/SdCardManager.h"
+#endif
+
+#include "fsfw/globalfunctions/CRC.h"
+#include "fsfw/tasks/TaskFactory.h"
+#include "fsfw/timemanager/Countdown.h"
+#include "mission/utility/Filenaming.h"
+#include "mission/utility/ProgressPrinter.h"
+#include "mission/utility/Timestamp.h"
+
+PlocSupvHelper::PlocSupvHelper(object_id_t objectId) : SystemObject(objectId) {}
+
+PlocSupvHelper::~PlocSupvHelper() {}
+
+ReturnValue_t PlocSupvHelper::initialize() {
+#ifdef XIPHOS_Q7S
+  sdcMan = SdCardManager::instance();
+  if (sdcMan == nullptr) {
+    sif::warning << "PlocSupvHelper::initialize: Invalid SD Card Manager" << std::endl;
+    return RETURN_FAILED;
+  }
+#endif
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocSupvHelper::performOperation(uint8_t operationCode) {
+  ReturnValue_t result = RETURN_OK;
+  semaphore.acquire();
+  while (true) {
+    switch (internalState) {
+      case InternalState::IDLE: {
+        semaphore.acquire();
+        break;
+      }
+      case InternalState::UPDATE: {
+        result = performUpdate();
+        if (result == RETURN_OK) {
+          triggerEvent(SUPV_UPDATE_SUCCESSFUL, result);
+        } else if (result == PROCESS_TERMINATED) {
+          // Event already triggered
+        } else {
+          triggerEvent(SUPV_UPDATE_FAILED, result);
+        }
+        internalState = InternalState::IDLE;
+        break;
+      }
+      case InternalState::CONTINUE_UPDATE: {
+        result = continueUpdate();
+        if (result == RETURN_OK) {
+          triggerEvent(SUPV_CONTINUE_UPDATE_SUCCESSFUL, result);
+        } else if (result == PROCESS_TERMINATED) {
+          // Event already triggered
+        } else {
+          triggerEvent(SUPV_CONTINUE_UPDATE_FAILED, result);
+        }
+        internalState = InternalState::IDLE;
+        break;
+      }
+      case InternalState::REQUEST_EVENT_BUFFER: {
+        result = performEventBufferRequest();
+        if (result == RETURN_OK) {
+          triggerEvent(SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL, result);
+        } else if (result == PROCESS_TERMINATED) {
+          // Event already triggered
+          break;
+        } else {
+          triggerEvent(SUPV_EVENT_BUFFER_REQUEST_FAILED, result);
+        }
+        internalState = InternalState::IDLE;
+        break;
+      }
+      default:
+        sif::debug << "PlocSupvHelper::performOperation: Invalid state" << std::endl;
+        break;
+    }
+  }
+}
+
+ReturnValue_t PlocSupvHelper::setComIF(UartComIF* uartComIF_) {
+  if (uartComIF_ == nullptr) {
+    sif::warning << "PlocSupvHelper::initialize: Provided invalid uart com if" << std::endl;
+    return RETURN_FAILED;
+  }
+  uartComIF = uartComIF_;
+  return RETURN_OK;
+}
+
+void PlocSupvHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
+
+ReturnValue_t PlocSupvHelper::startUpdate(std::string file, uint8_t memoryId,
+                                          uint32_t startAddress) {
+  ReturnValue_t result = RETURN_OK;
+#ifdef XIPHOS_Q7S
+  result = FilesystemHelper::checkPath(file);
+  if (result != RETURN_OK) {
+    sif::warning << "PlocSupvHelper::startUpdate: File " << file << " does not exist" << std::endl;
+    return result;
+  }
+  result = FilesystemHelper::fileExists(file);
+  if (result != RETURN_OK) {
+    sif::warning << "PlocSupvHelper::startUpdate: The file " << file << " does not exist"
+                 << std::endl;
+    return result;
+  }
+#endif
+#ifdef TE0720_1CFA
+  if (not std::filesystem::exists(file)) {
+    sif::warning << "PlocSupvHelper::startUpdate: The file " << file << " does not exist"
+                 << std::endl;
+    return RETURN_FAILED;
+  }
+#endif
+  update.file = file;
+  update.length = getFileSize(update.file);
+  update.memoryId = memoryId;
+  update.startAddress = startAddress;
+  update.remainingSize = update.length;
+  update.bytesWritten = 0;
+  update.packetNum = 1;
+  update.sequenceCount = 1;
+  internalState = InternalState::UPDATE;
+  uartComIF->flushUartTxAndRxBuf(comCookie);
+  semaphore.release();
+  return result;
+}
+
+void PlocSupvHelper::initiateUpdateContinuation() {
+  internalState = InternalState::CONTINUE_UPDATE;
+  semaphore.release();
+}
+
+ReturnValue_t PlocSupvHelper::startEventbBufferRequest(std::string path) {
+#ifdef XIPHOS_Q7S
+  ReturnValue_t result = FilesystemHelper::checkPath(path);
+  if (result != RETURN_OK) {
+    return result;
+  }
+#endif
+  if (not std::filesystem::exists(path)) {
+    return PATH_NOT_EXISTS;
+  }
+  eventBufferReq.path = path;
+  internalState = InternalState::REQUEST_EVENT_BUFFER;
+  uartComIF->flushUartTxAndRxBuf(comCookie);
+  semaphore.release();
+  return RETURN_OK;
+}
+
+void PlocSupvHelper::stopProcess() { terminate = true; }
+
+ReturnValue_t PlocSupvHelper::performUpdate() {
+  ReturnValue_t result = RETURN_OK;
+  result = calcImageCrc();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = selectMemory();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = prepareUpdate();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = eraseMemory();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = writeUpdatePackets();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = handleCheckMemoryCommand();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocSupvHelper::continueUpdate() {
+  ReturnValue_t result = prepareUpdate();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = writeUpdatePackets();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = handleCheckMemoryCommand();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocSupvHelper::writeUpdatePackets() {
+  ReturnValue_t result = RETURN_OK;
+#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
+  ProgressPrinter progressPrinter("Supervisor update", update.length,
+                                  ProgressPrinter::HALF_PERCENT);
+#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
+  uint8_t tempData[supv::WriteMemory::CHUNK_MAX];
+  std::ifstream file(update.file, std::ifstream::binary);
+  uint16_t dataLength = 0;
+  supv::SequenceFlags seqFlags;
+  while (update.remainingSize > 0) {
+    if (terminate) {
+      terminate = false;
+      triggerEvent(TERMINATED_UPDATE_PROCEDURE);
+      return PROCESS_TERMINATED;
+    }
+    if (update.remainingSize > supv::WriteMemory::CHUNK_MAX) {
+      dataLength = supv::WriteMemory::CHUNK_MAX;
+    } else {
+      dataLength = static_cast<uint16_t>(update.remainingSize);
+    }
+    if (file.is_open()) {
+      file.seekg(update.bytesWritten, file.beg);
+      file.read(reinterpret_cast<char*>(tempData), dataLength);
+      if (!file) {
+        sif::warning << "PlocSupvHelper::performUpdate: Read only " << file.gcount() << " of "
+                     << dataLength << " bytes" << std::endl;
+        sif::info << "PlocSupvHelper::performUpdate: Failed when trying to read byte "
+                  << update.bytesWritten << std::endl;
+      }
+    } else {
+      return FILE_CLOSED_ACCIDENTALLY;
+    }
+    if (update.bytesWritten == 0) {
+      seqFlags = supv::SequenceFlags::FIRST_PKT;
+    } else if (update.remainingSize == 0) {
+      seqFlags = supv::SequenceFlags::LAST_PKT;
+    } else {
+      seqFlags = supv::SequenceFlags::CONTINUED_PKT;
+    }
+    supv::WriteMemory packet(seqFlags, update.sequenceCount++, update.memoryId,
+                             update.startAddress + update.bytesWritten, dataLength, tempData);
+    result = handlePacketTransmission(packet);
+    if (result != RETURN_OK) {
+      update.sequenceCount--;
+      triggerEvent(WRITE_MEMORY_FAILED, update.packetNum);
+      return result;
+    }
+    update.remainingSize -= dataLength;
+    update.packetNum += 1;
+    update.bytesWritten += dataLength;
+#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
+    progressPrinter.print(update.bytesWritten);
+#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
+  }
+  return result;
+}
+
+ReturnValue_t PlocSupvHelper::performEventBufferRequest() {
+  using namespace supv;
+  ReturnValue_t result = RETURN_OK;
+  RequestLoggingData packet(RequestLoggingData::Sa::REQUEST_EVENT_BUFFERS);
+  result = sendCommand(packet);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = handleAck();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = handleEventBufferReception();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = handleExe();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocSupvHelper::selectMemory() {
+  ReturnValue_t result = RETURN_OK;
+  supv::MPSoCBootSelect packet(update.memoryId);
+  result = handlePacketTransmission(packet);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocSupvHelper::prepareUpdate() {
+  ReturnValue_t result = RETURN_OK;
+  supv::ApidOnlyPacket packet(supv::APID_PREPARE_UPDATE);
+  result = handlePacketTransmission(packet, PREPARE_UPDATE_EXECUTION_REPORT);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocSupvHelper::eraseMemory() {
+  ReturnValue_t result = RETURN_OK;
+  supv::EraseMemory eraseMemory(update.memoryId, update.startAddress, update.length);
+  result = handlePacketTransmission(eraseMemory, supv::recv_timeout::ERASE_MEMORY);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocSupvHelper::handlePacketTransmission(SpacePacket& packet,
+                                                       uint32_t timeoutExecutionReport) {
+  ReturnValue_t result = RETURN_OK;
+  result = sendCommand(packet);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = handleAck();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = handleExe(timeoutExecutionReport);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocSupvHelper::sendCommand(SpacePacket& packet) {
+  ReturnValue_t result = RETURN_OK;
+  rememberApid = packet.getAPID();
+  result = uartComIF->sendMessage(comCookie, packet.getWholeData(), packet.getFullSize());
+  if (result != RETURN_OK) {
+    sif::warning << "PlocSupvHelper::sendCommand: Failed to send command" << std::endl;
+    triggerEvent(SUPV_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocSupvHelper::handleAck() {
+  ReturnValue_t result = RETURN_OK;
+  supv::AcknowledgmentReport ackReport;
+  result = handleTmReception(&ackReport, supv::SIZE_ACK_REPORT);
+  if (result != RETURN_OK) {
+    triggerEvent(ACK_RECEPTION_FAILURE, result, static_cast<uint32_t>(rememberApid));
+    sif::warning << "PlocSupvHelper::handleAck: Error in reception of acknowledgment report"
+                 << std::endl;
+    return result;
+  }
+  result = ackReport.checkApid();
+  if (result != RETURN_OK) {
+    if (result == SupvReturnValuesIF::RECEIVED_ACK_FAILURE) {
+      triggerEvent(SUPV_ACK_FAILURE_REPORT, static_cast<uint32_t>(ackReport.getRefApid()));
+    } else if (result == SupvReturnValuesIF::INVALID_APID) {
+      triggerEvent(SUPV_ACK_INVALID_APID, static_cast<uint32_t>(rememberApid));
+    }
+    return result;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocSupvHelper::handleExe(uint32_t timeout) {
+  ReturnValue_t result = RETURN_OK;
+  supv::ExecutionReport exeReport;
+  result = handleTmReception(&exeReport, supv::SIZE_EXE_REPORT, timeout);
+  if (result != RETURN_OK) {
+    triggerEvent(EXE_RECEPTION_FAILURE, result, static_cast<uint32_t>(rememberApid));
+    sif::warning << "PlocSupvHelper::handleExe: Error in reception of execution report"
+                 << std::endl;
+    return result;
+  }
+  result = exeReport.checkApid();
+  if (result != RETURN_OK) {
+    if (result == SupvReturnValuesIF::RECEIVED_EXE_FAILURE) {
+      triggerEvent(SUPV_EXE_FAILURE_REPORT, static_cast<uint32_t>(exeReport.getRefApid()));
+    } else if (result == SupvReturnValuesIF::INVALID_APID) {
+      triggerEvent(SUPV_EXE_INVALID_APID, static_cast<uint32_t>(rememberApid));
+    }
+    return result;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocSupvHelper::handleTmReception(supv::TmPacket* tmPacket, size_t remainingBytes,
+                                                uint32_t timeout) {
+  ReturnValue_t result = RETURN_OK;
+  size_t readBytes = 0;
+  size_t currentBytes = 0;
+  Countdown countdown(timeout);
+  while (!countdown.hasTimedOut()) {
+    result = receive(tmPacket->getWholeData() + readBytes, &currentBytes, remainingBytes);
+    if (result != RETURN_OK) {
+      return result;
+    }
+    readBytes += currentBytes;
+    remainingBytes = remainingBytes - currentBytes;
+    if (remainingBytes == 0) {
+      break;
+    }
+  }
+  if (remainingBytes != 0) {
+    sif::warning << "PlocSupvHelper::handleTmReception: Failed to read " << std::dec
+                 << remainingBytes << " bytes" << std::endl;
+    return RETURN_FAILED;
+  }
+  result = tmPacket->checkCrc();
+  if (result != RETURN_OK) {
+    sif::warning << "PlocSupvHelper::handleTmReception: CRC check failed" << std::endl;
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocSupvHelper::receive(uint8_t* data, size_t* readBytes, size_t requestBytes) {
+  ReturnValue_t result = RETURN_OK;
+  uint8_t* buffer = nullptr;
+  result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
+  if (result != RETURN_OK) {
+    sif::warning << "PlocSupvHelper::receive: Failed to request reply" << std::endl;
+    triggerEvent(SUPV_HELPER_REQUESTING_REPLY_FAILED, result,
+                 static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
+    return RETURN_FAILED;
+  }
+  result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
+  if (result != RETURN_OK) {
+    sif::warning << "PlocSupvHelper::receive: Failed to read received message" << std::endl;
+    triggerEvent(SUPV_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
+    return RETURN_FAILED;
+  }
+  if (*readBytes > 0) {
+    std::memcpy(data, buffer, *readBytes);
+  } else {
+    TaskFactory::delayTask(40);
+  }
+  return result;
+}
+
+ReturnValue_t PlocSupvHelper::calcImageCrc() {
+  ReturnValue_t result = RETURN_OK;
+#ifdef XIPHOS_Q7S
+  result = FilesystemHelper::checkPath(update.file);
+#endif
+  if (result != RETURN_OK) {
+    sif::warning << "PlocSupvHelper::calcImageCrc: File " << update.file << " does not exist"
+                 << std::endl;
+    return result;
+  }
+  std::ifstream file(update.file, std::ifstream::binary);
+  uint16_t remainder = CRC16_INIT;
+  uint8_t input;
+#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
+  ProgressPrinter progress("Supervisor update crc calculation", update.length,
+                           ProgressPrinter::ONE_PERCENT);
+#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
+  uint32_t byteCount = 0;
+  for (byteCount = 0; byteCount < update.length; byteCount++) {
+    file.seekg(byteCount, file.beg);
+    file.read(reinterpret_cast<char*>(&input), 1);
+    remainder = CRC::crc16ccitt(&input, sizeof(input), remainder);
+#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
+    progress.print(byteCount);
+#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
+  }
+#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
+  progress.print(byteCount);
+#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
+  file.close();
+  update.crc = remainder;
+  return result;
+}
+
+ReturnValue_t PlocSupvHelper::handleCheckMemoryCommand() {
+  ReturnValue_t result = RETURN_OK;
+  // Verification of update write procedure
+  supv::CheckMemory packet(update.memoryId, update.startAddress, update.length);
+  result = sendCommand(packet);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = handleAck();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  supv::UpdateStatusReport updateStatusReport;
+  result = handleTmReception(&updateStatusReport,
+                             static_cast<size_t>(updateStatusReport.getNominalSize()),
+                             supv::recv_timeout::UPDATE_STATUS_REPORT);
+  if (result != RETURN_OK) {
+    sif::warning
+        << "PlocSupvHelper::handleCheckMemoryCommand: Failed to receive update status report"
+        << std::endl;
+    return result;
+  }
+  result = handleExe(CRC_EXECUTION_TIMEOUT);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = updateStatusReport.parseDataField();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = updateStatusReport.verifycrc(update.crc);
+  if (result != RETURN_OK) {
+    sif::warning << "PlocSupvHelper::handleCheckMemoryCommand: CRC failure. Expected CRC 0x"
+                 << std::hex << update.crc << " but received CRC 0x" << updateStatusReport.getCrc()
+                 << std::endl;
+    return result;
+  }
+  return result;
+}
+
+uint32_t PlocSupvHelper::getFileSize(std::string filename) {
+  std::ifstream file(filename, std::ifstream::binary);
+  file.seekg(0, file.end);
+  uint32_t size = file.tellg();
+  file.close();
+  return size;
+}
+
+ReturnValue_t PlocSupvHelper::handleEventBufferReception() {
+  ReturnValue_t result = RETURN_OK;
+  std::string filename = Filenaming::generateAbsoluteFilename(
+      eventBufferReq.path, eventBufferReq.filename, timestamping);
+  std::ofstream file(filename, std::ios_base::app | std::ios_base::out);
+  uint32_t packetsRead = 0;
+  size_t requestLen = 0;
+  supv::TmPacket tmPacket;
+  for (packetsRead = 0; packetsRead < NUM_EVENT_BUFFER_PACKETS; packetsRead++) {
+    if (terminate) {
+      triggerEvent(SUPV_EVENT_BUFFER_REQUEST_TERMINATED, packetsRead - 1);
+      file.close();
+      return PROCESS_TERMINATED;
+    }
+    if (packetsRead == NUM_EVENT_BUFFER_PACKETS - 1) {
+      requestLen = SIZE_EVENT_BUFFER_LAST_PACKET;
+    } else {
+      requestLen = SIZE_EVENT_BUFFER_FULL_PACKET;
+    }
+    result = handleTmReception(&tmPacket, requestLen);
+    if (result != RETURN_OK) {
+      sif::debug << "PlocSupvHelper::handleEventBufferReception: Failed while trying to read packet"
+                 << " " << packetsRead + 1 << std::endl;
+      file.close();
+      return result;
+    }
+    uint16_t apid = tmPacket.getAPID();
+    if (apid != supv::APID_MRAM_DUMP_TM) {
+      sif::warning << "PlocSupvHelper::handleEventBufferReception: Did not expect space packet "
+                   << "with APID 0x" << std::hex << apid << std::endl;
+      file.close();
+      return EVENT_BUFFER_REPLY_INVALID_APID;
+    }
+    file.write(reinterpret_cast<const char*>(tmPacket.getPacketData()),
+               tmPacket.getPayloadDataLength());
+  }
+  return result;
+}
diff --git a/linux/devices/ploc/PlocSupvHelper.h b/linux/devices/ploc/PlocSupvHelper.h
new file mode 100644
index 00000000..69d26264
--- /dev/null
+++ b/linux/devices/ploc/PlocSupvHelper.h
@@ -0,0 +1,241 @@
+#ifndef BSP_Q7S_DEVICES_PLOCSUPVHELPER_H_
+#define BSP_Q7S_DEVICES_PLOCSUPVHELPER_H_
+
+#include <string>
+
+#include "OBSWConfig.h"
+#include "fsfw/devicehandlers/CookieIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/osal/linux/BinarySemaphore.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw_hal/linux/uart/UartComIF.h"
+#include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
+#ifdef XIPHOS_Q7S
+#include "bsp_q7s/memory/SdCardManager.h"
+#endif
+
+/**
+ * @brief   Helper class for supervisor of PLOC intended to accelerate large data transfers between
+ *          the supervisor and the OBC.
+ * @author  J. Meier
+ */
+class PlocSupvHelper : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
+ public:
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPV_HELPER;
+
+  //! [EXPORT] : [COMMENT] update failed
+  static const Event SUPV_UPDATE_FAILED = MAKE_EVENT(0, severity::LOW);
+  //! [EXPORT] : [COMMENT] update successful
+  static const Event SUPV_UPDATE_SUCCESSFUL = MAKE_EVENT(1, severity::LOW);
+  //! [EXPORT] : [COMMENT] Continue update command failed
+  static const Event SUPV_CONTINUE_UPDATE_FAILED = MAKE_EVENT(2, severity::LOW);
+  //! [EXPORT] : [COMMENT] Continue update command successful
+  static const Event SUPV_CONTINUE_UPDATE_SUCCESSFUL = MAKE_EVENT(3, severity::LOW);
+  //! [EXPORT] : [COMMENT] Terminated update procedure by command
+  static const Event TERMINATED_UPDATE_PROCEDURE = MAKE_EVENT(4, severity::LOW);
+  //! [EXPORT] : [COMMENT] Requesting event buffer was successful
+  static const Event SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL = MAKE_EVENT(5, severity::LOW);
+  //! [EXPORT] : [COMMENT] Requesting event buffer failed
+  static const Event SUPV_EVENT_BUFFER_REQUEST_FAILED = MAKE_EVENT(6, severity::LOW);
+  //! [EXPORT] : [COMMENT] Terminated event buffer request by command
+  //! P1: Number of packets read before process was terminated
+  static const Event SUPV_EVENT_BUFFER_REQUEST_TERMINATED = MAKE_EVENT(7, severity::LOW);
+  //! [EXPORT] : [COMMENT] Communication interface returned failure when trying to send the command
+  //! to the supervisor
+  //! P1: Return value returned by the communication interface sendMessage function
+  //! P2: Internal state of supervisor helper
+  static const Event SUPV_SENDING_COMMAND_FAILED = MAKE_EVENT(8, severity::LOW);
+  //! [EXPORT] : [COMMENT] Request receive message of communication interface failed
+  //! P1: Return value returned by the communication interface requestReceiveMessage function
+  //! P2: Internal state of supervisor helper
+  static const Event SUPV_HELPER_REQUESTING_REPLY_FAILED = MAKE_EVENT(9, severity::LOW);
+  //! [EXPORT] : [COMMENT] Reading receive message of communication interface failed
+  //! P1: Return value returned by the communication interface readingReceivedMessage function
+  //! P2: Internal state of supervisor helper
+  static const Event SUPV_HELPER_READING_REPLY_FAILED = MAKE_EVENT(10, severity::LOW);
+  //! [EXPORT] : [COMMENT] Did not receive acknowledgement report
+  //! P1: Number of bytes missing
+  //! P2: Internal state of MPSoC helper
+  static const Event SUPV_MISSING_ACK = MAKE_EVENT(11, severity::LOW);
+  //! [EXPORT] : [COMMENT] Supervisor did not receive execution report
+  //! P1: Number of bytes missing
+  //! P2: Internal state of supervisor helper
+  static const Event SUPV_MISSING_EXE = MAKE_EVENT(12, severity::LOW);
+  //! [EXPORT] : [COMMENT] Supervisor received acknowledgment failure report
+  //! P1: Internal state of supervisor helper
+  static const Event SUPV_ACK_FAILURE_REPORT = MAKE_EVENT(13, severity::LOW);
+  //! [EXPORT] : [COMMENT] Execution report failure
+  //! P1:
+  static const Event SUPV_EXE_FAILURE_REPORT = MAKE_EVENT(14, severity::LOW);
+  //! [EXPORT] : [COMMENT] Supervisor expected acknowledgment report but received space packet with
+  //! other apid P1: Apid of received space packet P2: Internal state of supervisor helper
+  static const Event SUPV_ACK_INVALID_APID = MAKE_EVENT(15, severity::LOW);
+  //! [EXPORT] : [COMMENT] Supervisor helper expected execution report but received space packet
+  //! with other apid P1: Apid of received space packet P2: Internal state of supervisor helper
+  static const Event SUPV_EXE_INVALID_APID = MAKE_EVENT(16, severity::LOW);
+  //! [EXPORT] : [COMMENT] Failed to receive acknowledgment report
+  //! P1: Return value
+  //! P2: Apid of command for which the reception of the acknowledgment report failed
+  static const Event ACK_RECEPTION_FAILURE = MAKE_EVENT(17, severity::LOW);
+  //! [EXPORT] : [COMMENT] Failed to receive execution report
+  //! P1: Return value
+  //! P2: Apid of command for which the reception of the execution report failed
+  static const Event EXE_RECEPTION_FAILURE = MAKE_EVENT(18, severity::LOW);
+  //! [EXPORT] : [COMMENT] Update procedure failed when sending packet with number P1
+  //! P1: Packet number for which the memory write command fails
+  static const Event WRITE_MEMORY_FAILED = MAKE_EVENT(19, severity::LOW);
+
+  PlocSupvHelper(object_id_t objectId);
+  virtual ~PlocSupvHelper();
+
+  ReturnValue_t initialize() override;
+  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+
+  ReturnValue_t setComIF(UartComIF* uartComfIF_);
+  void setComCookie(CookieIF* comCookie_);
+
+  /**
+   * @brief   Starts update procedure
+   *
+   * @param file            File containing the update data
+   * @param memoryId        ID of the memory where to write to
+   * @param startAddress    Address where to write data
+   *
+   * @return  RETURN_OK if successful, otherwise error return value
+   */
+  ReturnValue_t startUpdate(std::string file, uint8_t memoryId, uint32_t startAddress);
+
+  /**
+   * @brief This initiate the continuation of a failed update.
+   */
+  void initiateUpdateContinuation();
+
+  /**
+   * @brief Calling this function will initiate the procedure to request the event buffer
+   */
+  ReturnValue_t startEventbBufferRequest(std::string path);
+
+  /**
+   * @brief   Can be used to interrupt a running data transfer.
+   */
+  void stopProcess();
+
+ private:
+  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPV_HELPER;
+
+  //! [EXPORT] : [COMMENT] File accidentally close
+  static const ReturnValue_t FILE_CLOSED_ACCIDENTALLY = MAKE_RETURN_CODE(0xA0);
+  //! [EXPORT] : [COMMENT] Process has been terminated by command
+  static const ReturnValue_t PROCESS_TERMINATED = MAKE_RETURN_CODE(0xA1);
+  //! [EXPORT] : [COMMENT] Received command with invalid pathname
+  static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(0xA2);
+  //! [EXPORT] : [COMMENT] Expected event buffer TM but received space packet with other APID
+  static const ReturnValue_t EVENT_BUFFER_REPLY_INVALID_APID = MAKE_RETURN_CODE(0xA3);
+
+  static const uint16_t CRC16_INIT = 0xFFFF;
+  // Event buffer reply will carry 24 space packets with 1016 bytes and one space packet with
+  // 192 bytes
+  static const uint8_t NUM_EVENT_BUFFER_PACKETS = 25;
+  static const size_t SIZE_EVENT_BUFFER_FULL_PACKET = 1024;
+  static const size_t SIZE_EVENT_BUFFER_LAST_PACKET = 200;
+  static const uint32_t CRC_EXECUTION_TIMEOUT = 60000;
+  static const uint32_t PREPARE_UPDATE_EXECUTION_REPORT = 2000;
+
+  struct Update {
+    uint8_t memoryId;
+    uint32_t startAddress;
+    // Absolute name of file containing update data
+    std::string file;
+    // Size of update
+    uint32_t length;
+    uint32_t crc;
+    size_t remainingSize;
+    size_t bytesWritten;
+    uint32_t packetNum;
+    uint16_t sequenceCount;
+  };
+
+  struct Update update;
+
+  struct EventBufferRequest {
+    std::string path = "";
+    // Default name of file where event buffer data will be written to. Timestamp will be added to
+    // name when new file is created
+    std::string filename = "event-buffer.bin";
+  };
+
+  EventBufferRequest eventBufferReq;
+
+  enum class InternalState { IDLE, UPDATE, CONTINUE_UPDATE, REQUEST_EVENT_BUFFER };
+
+  InternalState internalState = InternalState::IDLE;
+
+  BinarySemaphore semaphore;
+#ifdef XIPHOS_Q7S
+  SdCardManager* sdcMan = nullptr;
+#endif
+  uint8_t commandBuffer[supv::MAX_COMMAND_SIZE];
+
+  bool terminate = false;
+
+  /**
+   * Communication interface responsible for data transactions between OBC and Supervisor.
+   */
+  UartComIF* uartComIF = nullptr;
+  // Communication cookie. Must be set by the supervisor Handler
+  CookieIF* comCookie = nullptr;
+
+  bool timestamping = true;
+
+  // Remembers APID to know at which command a procedure failed
+  uint16_t rememberApid = 0;
+
+  ReturnValue_t performUpdate();
+  ReturnValue_t continueUpdate();
+  ReturnValue_t writeUpdatePackets();
+  ReturnValue_t performEventBufferRequest();
+  ReturnValue_t handlePacketTransmission(SpacePacket& packet,
+                                         uint32_t timeoutExecutionReport = 60000);
+  ReturnValue_t sendCommand(SpacePacket& packet);
+  /**
+   * @brief Function which reads form the communication interface
+   *
+   * @param data            Pointer to buffer where read data will be written to
+   * @param raedBytes       Actual number of bytes read
+   * @param requestBytes    Number of bytes to read
+   */
+  ReturnValue_t receive(uint8_t* data, size_t* readBytes, size_t requestBytes);
+  ReturnValue_t handleAck();
+  ReturnValue_t handleExe(uint32_t timeout = 1000);
+  /**
+   * @brief Handles reading of TM packets from the communication interface
+   *
+   * @param tmPacket        Pointer to space packet where received data will be written to
+   * @param reaminingBytes  Number of bytes to read in the space packet
+   * @param timeout         Receive timeout in milliseconds
+   *
+   * @note  It can take up to 70 seconds until the supervisor replies with an acknowledgment
+   *        failure report.
+   */
+  ReturnValue_t handleTmReception(supv::TmPacket* tmPacket, size_t remainingBytes,
+                                  uint32_t timeout = 70000);
+  ReturnValue_t selectMemory();
+  ReturnValue_t prepareUpdate();
+  ReturnValue_t eraseMemory();
+  // Calculates CRC over image. Will be used for verification after update writing has
+  // finished.
+  ReturnValue_t calcImageCrc();
+  ReturnValue_t handleCheckMemoryCommand();
+  /**
+   * @brief Return size of file with name filename
+   *
+   * @param filename
+   *
+   * @return The size of the file
+   */
+  uint32_t getFileSize(std::string filename);
+  ReturnValue_t handleEventBufferReception();
+};
+
+#endif /* BSP_Q7S_DEVICES_PLOCSUPVHELPER_H_ */
diff --git a/linux/devices/ploc/PlocUpdater.cpp b/linux/devices/ploc/PlocUpdater.cpp
deleted file mode 100644
index 37a553da..00000000
--- a/linux/devices/ploc/PlocUpdater.cpp
+++ /dev/null
@@ -1,385 +0,0 @@
-#include "PlocUpdater.h"
-
-#include <filesystem>
-#include <fstream>
-#include <string>
-
-#include "fsfw/ipc/QueueFactory.h"
-
-PlocUpdater::PlocUpdater(object_id_t objectId)
-    : SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
-  auto mqArgs = MqArgs(this->getObjectId());
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
-}
-
-PlocUpdater::~PlocUpdater() {}
-
-ReturnValue_t PlocUpdater::initialize() {
-#ifdef XIPHOS_Q7S
-  sdcMan = SdCardManager::instance();
-#endif
-  ReturnValue_t result = SystemObject::initialize();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-  result = commandActionHelper.initialize();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-  result = actionHelper.initialize(commandQueue);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t PlocUpdater::performOperation(uint8_t operationCode) {
-  readCommandQueue();
-  doStateMachine();
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                         const uint8_t* data, size_t size) {
-  ReturnValue_t result = RETURN_FAILED;
-
-  if (state != State::IDLE) {
-    return IS_BUSY;
-  }
-
-  if (size > MAX_PLOC_UPDATE_PATH) {
-    return NAME_TOO_LONG;
-  }
-
-  switch (actionId) {
-    case UPDATE_A_UBOOT:
-      image = Image::A;
-      partition = Partition::UBOOT;
-      break;
-    case UPDATE_A_BITSTREAM:
-      image = Image::A;
-      partition = Partition::BITSTREAM;
-      break;
-    case UPDATE_A_LINUX:
-      image = Image::A;
-      partition = Partition::LINUX_OS;
-      break;
-    case UPDATE_A_APP_SW:
-      image = Image::A;
-      partition = Partition::APP_SW;
-      break;
-    case UPDATE_B_UBOOT:
-      image = Image::B;
-      partition = Partition::UBOOT;
-      break;
-    case UPDATE_B_BITSTREAM:
-      image = Image::B;
-      partition = Partition::BITSTREAM;
-      break;
-    case UPDATE_B_LINUX:
-      image = Image::B;
-      partition = Partition::LINUX_OS;
-      break;
-    case UPDATE_B_APP_SW:
-      image = Image::B;
-      partition = Partition::APP_SW;
-      break;
-    default:
-      return INVALID_ACTION_ID;
-  }
-
-  result = getImageLocation(data, size);
-
-  if (result != RETURN_OK) {
-    return result;
-  }
-
-  state = State::UPDATE_AVAILABLE;
-
-  return EXECUTION_FINISHED;
-}
-
-MessageQueueId_t PlocUpdater::getCommandQueue() const { return commandQueue->getId(); }
-
-MessageQueueIF* PlocUpdater::getCommandQueuePtr() { return commandQueue; }
-
-void PlocUpdater::readCommandQueue() {
-  CommandMessage message;
-  ReturnValue_t result;
-
-  for (result = commandQueue->receiveMessage(&message); result == HasReturnvaluesIF::RETURN_OK;
-       result = commandQueue->receiveMessage(&message)) {
-    if (result != RETURN_OK) {
-      continue;
-    }
-    result = actionHelper.handleActionMessage(&message);
-    if (result == HasReturnvaluesIF::RETURN_OK) {
-      continue;
-    }
-
-    result = commandActionHelper.handleReply(&message);
-    if (result == HasReturnvaluesIF::RETURN_OK) {
-      continue;
-    }
-  }
-}
-
-void PlocUpdater::doStateMachine() {
-  switch (state) {
-    case State::IDLE:
-      break;
-    case State::UPDATE_AVAILABLE:
-      commandUpdateAvailable();
-      break;
-    case State::UPDATE_TRANSFER:
-      commandUpdatePacket();
-      break;
-    case State::UPDATE_VERIFY:
-      commandUpdateVerify();
-      break;
-    case State::COMMAND_EXECUTING:
-      break;
-    default:
-      break;
-  }
-}
-
-ReturnValue_t PlocUpdater::checkNameLength(size_t size) {
-  if (size > MAX_PLOC_UPDATE_PATH) {
-    return NAME_TOO_LONG;
-  }
-  return RETURN_OK;
-}
-
-ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
-  ReturnValue_t result = checkNameLength(size);
-  if (result != RETURN_OK) {
-    return result;
-  }
-
-#ifdef XIPHOS_Q7S
-  // Check if file is stored on SD card and if associated SD card is mounted
-  if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) ==
-      std::string(SdCardManager::SD_0_MOUNT_POINT)) {
-    if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
-      sif::warning << "PlocUpdater::getImageLocation: SD card 0 not mounted" << std::endl;
-      return SD_NOT_MOUNTED;
-    }
-  } else if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) ==
-             std::string(SdCardManager::SD_1_MOUNT_POINT)) {
-    if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
-      sif::warning << "PlocUpdater::getImageLocation: SD card 1 not mounted" << std::endl;
-      return SD_NOT_MOUNTED;
-    }
-  } else {
-    // update image not stored on SD card
-  }
-#endif /* BOARD_TE0720 == 0 */
-
-  updateFile = std::string(reinterpret_cast<const char*>(data), size);
-
-  // Check if file exists
-  if (not std::filesystem::exists(updateFile)) {
-    return FILE_NOT_EXISTS;
-  }
-  return RETURN_OK;
-}
-
-void PlocUpdater::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
-
-void PlocUpdater::stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) {}
-
-void PlocUpdater::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
-
-void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
-  switch (pendingCommand) {
-    case (supv::UPDATE_AVAILABLE):
-      state = State::UPDATE_TRANSFER;
-      break;
-    case (supv::UPDATE_IMAGE_DATA):
-      if (remainingPackets == 0) {
-        packetsSent = 0;  // Reset packets sent variable for next update sequence
-        state = State::UPDATE_VERIFY;
-      } else {
-        state = State::UPDATE_TRANSFER;
-      }
-      break;
-    case (supv::UPDATE_VERIFY):
-      triggerEvent(UPDATE_FINISHED);
-      state = State::IDLE;
-      pendingCommand = supv::NONE;
-      break;
-    default:
-      state = State::IDLE;
-      break;
-  }
-}
-
-void PlocUpdater::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
-  switch (pendingCommand) {
-    case (supv::UPDATE_AVAILABLE): {
-      triggerEvent(UPDATE_AVAILABLE_FAILED);
-      break;
-    }
-    case (supv::UPDATE_IMAGE_DATA): {
-      triggerEvent(UPDATE_TRANSFER_FAILED, packetsSent);
-      break;
-    }
-    case (supv::UPDATE_VERIFY): {
-      triggerEvent(UPDATE_VERIFY_FAILED);
-      break;
-    }
-    default:
-      break;
-  }
-  state = State::IDLE;
-}
-
-void PlocUpdater::commandUpdateAvailable() {
-  ReturnValue_t result = RETURN_OK;
-
-  if (not std::filesystem::exists(updateFile)) {
-    triggerEvent(UPDATE_FILE_NOT_EXISTS, static_cast<uint8_t>(state));
-    state = State::IDLE;
-    return;
-  }
-
-  std::ifstream file(updateFile, std::ifstream::binary);
-  file.seekg(0, file.end);
-  imageSize = static_cast<size_t>(file.tellg());
-  file.close();
-
-  numOfUpdatePackets = imageSize / MAX_SP_DATA;
-  if (imageSize % MAX_SP_DATA) {
-    numOfUpdatePackets++;
-  }
-
-  remainingPackets = numOfUpdatePackets;
-  packetsSent = 0;
-
-  calcImageCrc();
-
-  supv::UpdateInfo packet(supv::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
-                          static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets);
-
-  result =
-      commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, supv::UPDATE_AVAILABLE,
-                                        packet.getWholeData(), packet.getFullSize());
-  if (result != RETURN_OK) {
-    sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
-                 << " packet to supervisor handler" << std::endl;
-    triggerEvent(ACTION_COMMANDING_FAILED, result, supv::UPDATE_AVAILABLE);
-    state = State::IDLE;
-    pendingCommand = supv::NONE;
-    return;
-  }
-
-  pendingCommand = supv::UPDATE_AVAILABLE;
-  state = State::COMMAND_EXECUTING;
-  return;
-}
-
-void PlocUpdater::commandUpdatePacket() {
-  ReturnValue_t result = RETURN_OK;
-  uint16_t payloadLength = 0;
-
-  if (not std::filesystem::exists(updateFile)) {
-    triggerEvent(UPDATE_FILE_NOT_EXISTS, static_cast<uint8_t>(state), packetsSent);
-    state = State::IDLE;
-    return;
-  }
-
-  std::ifstream file(updateFile, std::ifstream::binary);
-  file.seekg(packetsSent * MAX_SP_DATA, file.beg);
-
-  if (remainingPackets == 1) {
-    payloadLength = imageSize - static_cast<uint16_t>(file.tellg());
-  } else {
-    payloadLength = MAX_SP_DATA;
-  }
-
-  supv::UpdatePacket packet(payloadLength);
-  file.read(reinterpret_cast<char*>(packet.getDataFieldPointer()), payloadLength);
-  file.close();
-  // sequence count of first packet is 1
-  packet.setPacketSequenceCount((packetsSent + 1) & supv::SEQUENCE_COUNT_MASK);
-  if (numOfUpdatePackets > 1) {
-    adjustSequenceFlags(packet);
-  }
-  packet.makeCrc();
-
-  result =
-      commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, supv::UPDATE_IMAGE_DATA,
-                                        packet.getWholeData(), packet.getFullSize());
-
-  if (result != RETURN_OK) {
-    sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update"
-                 << " packet to supervisor handler" << std::endl;
-    triggerEvent(ACTION_COMMANDING_FAILED, result, supv::UPDATE_IMAGE_DATA);
-    state = State::IDLE;
-    pendingCommand = supv::NONE;
-    return;
-  }
-
-  remainingPackets--;
-  packetsSent++;
-
-  pendingCommand = supv::UPDATE_IMAGE_DATA;
-  state = State::COMMAND_EXECUTING;
-}
-
-void PlocUpdater::commandUpdateVerify() {
-  ReturnValue_t result = RETURN_OK;
-
-  supv::UpdateInfo packet(supv::APID_UPDATE_VERIFY, static_cast<uint8_t>(image),
-                          static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets);
-
-  result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, supv::UPDATE_VERIFY,
-                                             packet.getWholeData(), packet.getFullSize());
-  if (result != RETURN_OK) {
-    sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
-                 << " packet to supervisor handler" << std::endl;
-    triggerEvent(ACTION_COMMANDING_FAILED, result, supv::UPDATE_VERIFY);
-    state = State::IDLE;
-    pendingCommand = supv::NONE;
-    return;
-  }
-  state = State::COMMAND_EXECUTING;
-  pendingCommand = supv::UPDATE_VERIFY;
-  return;
-}
-
-void PlocUpdater::calcImageCrc() {
-  std::ifstream file(updateFile, std::ifstream::binary);
-  file.seekg(0, file.end);
-  uint32_t count;
-  uint32_t bit;
-  uint32_t remainder = INITIAL_REMAINDER_32;
-  char input;
-  for (count = 0; count < imageSize; count++) {
-    file.seekg(count, file.beg);
-    file.read(&input, 1);
-    remainder ^= (input << 16);
-    for (bit = 8; bit > 0; --bit) {
-      if (remainder & TOPBIT_32) {
-        remainder = (remainder << 1) ^ POLYNOMIAL_32;
-      } else {
-        remainder = (remainder << 1);
-      }
-    }
-  }
-  file.close();
-  imageCrc = (remainder ^ FINAL_XOR_VALUE_32);
-}
-
-void PlocUpdater::adjustSequenceFlags(supv::UpdatePacket& packet) {
-  if (packetsSent == 0) {
-    packet.setSequenceFlags(static_cast<uint8_t>(supv::SequenceFlags::FIRST_PKT));
-  } else if (remainingPackets == 1) {
-    packet.setSequenceFlags(static_cast<uint8_t>(supv::SequenceFlags::LAST_PKT));
-  } else {
-    packet.setSequenceFlags(static_cast<uint8_t>(supv::SequenceFlags::CONTINUED_PKT));
-  }
-}
diff --git a/linux/devices/ploc/PlocUpdater.h b/linux/devices/ploc/PlocUpdater.h
deleted file mode 100644
index 1bb9a1bd..00000000
--- a/linux/devices/ploc/PlocUpdater.h
+++ /dev/null
@@ -1,174 +0,0 @@
-#ifndef MISSION_DEVICES_PLOCUPDATER_H_
-#define MISSION_DEVICES_PLOCUPDATER_H_
-
-#include <linux/devices/devicedefinitions/PlocSupervisorDefinitions.h>
-
-#include "OBSWConfig.h"
-#include "bsp_q7s/memory/SdCardManager.h"
-#include "eive/definitions.h"
-#include "fsfw/action/ActionHelper.h"
-#include "fsfw/action/CommandActionHelper.h"
-#include "fsfw/action/CommandsActionsIF.h"
-#include "fsfw/action/HasActionsIF.h"
-#include "fsfw/objectmanager/SystemObject.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-#include "fsfw/tasks/ExecutableObjectIF.h"
-#include "fsfw/tmtcpacket/SpacePacket.h"
-#include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
-#include "linux/fsfwconfig/objects/systemObjectList.h"
-
-/**
- * @brief   An object of this class can be used to perform the software updates of the PLOC. The
- *          software update will be read from one of the SD cards, split into multiple space
- *          packets and sent to the PlocSupervisorHandler.
- *
- * @details The MPSoC has two boot memories (NVM0 and NVM1) where each stores two images (Partition
- *          A and Partition B)
- *
- * @author  J. Meier
- */
-class PlocUpdater : public SystemObject,
-                    public HasActionsIF,
-                    public ExecutableObjectIF,
-                    public HasReturnvaluesIF,
-                    public CommandsActionsIF {
- public:
-  static const ActionId_t UPDATE_A_UBOOT = 0;
-  static const ActionId_t UPDATE_A_BITSTREAM = 1;
-  static const ActionId_t UPDATE_A_LINUX = 2;
-  static const ActionId_t UPDATE_A_APP_SW = 3;
-  static const ActionId_t UPDATE_B_UBOOT = 4;
-  static const ActionId_t UPDATE_B_BITSTREAM = 5;
-  static const ActionId_t UPDATE_B_LINUX = 6;
-  static const ActionId_t UPDATE_B_APP_SW = 7;
-
-  PlocUpdater(object_id_t objectId);
-  virtual ~PlocUpdater();
-
-  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
-  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                              const uint8_t* data, size_t size);
-  MessageQueueId_t getCommandQueue() const;
-  ReturnValue_t initialize() override;
-  MessageQueueIF* getCommandQueuePtr() override;
-  void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
-  void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
-  void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
-  void completionSuccessfulReceived(ActionId_t actionId) override;
-  void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
-
- private:
-  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_UPDATER;
-
-  //! [EXPORT] : [COMMENT] Updater is already performing an update
-  static const ReturnValue_t UPDATER_BUSY = MAKE_RETURN_CODE(0xA0);
-  //! [EXPORT] : [COMMENT] Received update command with invalid path string (too long).
-  static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA1);
-  //! [EXPORT] : [COMMENT] Received command to initiate update but SD card with update image not
-  //! mounted.
-  static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA2);
-  //! [EXPORT] : [COMMENT] Update file received with update command does not exist.
-  static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA3);
-
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_UPDATER;
-
-  //! [EXPORT] : [COMMENT] Try to read update file but the file does not exist.
-  //! P1: Indicates in which state the file read fails
-  //! P2: During the update transfer the second parameter gives information about the number of
-  //! already sent packets
-  static const Event UPDATE_FILE_NOT_EXISTS = MAKE_EVENT(0, severity::LOW);
-  //! [EXPORT] : [COMMENT] Failed to send command to supervisor handler
-  //! P1: Return value of CommandActionHelper::commandAction
-  //! P2: Action ID of command to send
-  static const Event ACTION_COMMANDING_FAILED = MAKE_EVENT(1, severity::LOW);
-  //! [EXPORT] : [COMMENT] Supervisor handler replied action message indicating a command execution
-  //! failure of the update available command
-  static const Event UPDATE_AVAILABLE_FAILED = MAKE_EVENT(2, severity::LOW);
-  //! [EXPORT] : [COMMENT] Supervisor handler failed to transfer an update space packet.
-  //! P1: Parameter holds the number of update packets already sent (inclusive the failed packet)
-  static const Event UPDATE_TRANSFER_FAILED = MAKE_EVENT(3, severity::LOW);
-  //! [EXPORT] : [COMMENT] Supervisor failed to execute the update verify command.
-  static const Event UPDATE_VERIFY_FAILED = MAKE_EVENT(4, severity::LOW);
-  //! [EXPORT] : [COMMENT] MPSoC update successful completed
-  static const Event UPDATE_FINISHED = MAKE_EVENT(5, severity::INFO);
-
-  static const uint32_t QUEUE_SIZE = config::PLOC_UPDATER_QUEUE_SIZE;
-  static const size_t MAX_PLOC_UPDATE_PATH = 50;
-  static const size_t SD_PREFIX_LENGTH = 8;
-  // Maximum size of update payload data per space packet (max size of space packet is 1024 bytes)
-  static const size_t MAX_SP_DATA = 1016;
-
-  static const uint32_t TOPBIT_32 = (1 << 31);
-  static const uint32_t POLYNOMIAL_32 = 0x04C11DB7;
-  static const uint32_t INITIAL_REMAINDER_32 = 0xFFFFFFFF;
-  static const uint32_t FINAL_XOR_VALUE_32 = 0xFFFFFFFF;
-
-  MessageQueueIF* commandQueue = nullptr;
-
-#ifdef XIPHOS_Q7S
-  SdCardManager* sdcMan = nullptr;
-#endif
-  CommandActionHelper commandActionHelper;
-
-  ActionHelper actionHelper;
-
-  enum class State : uint8_t {
-    IDLE,
-    UPDATE_AVAILABLE,
-    UPDATE_TRANSFER,
-    UPDATE_VERIFY,
-    COMMAND_EXECUTING
-  };
-
-  State state = State::IDLE;
-
-  ActionId_t pendingCommand = supv::NONE;
-
-  enum class Image : uint8_t { NONE, A, B };
-
-  Image image = Image::NONE;
-
-  enum class Partition : uint8_t { NONE, UBOOT, BITSTREAM, LINUX_OS, APP_SW };
-
-  Partition partition = Partition::NONE;
-
-  uint32_t packetsSent = 0;
-  uint32_t remainingPackets = 0;
-  // Number of packets required to transfer the update image
-  uint32_t numOfUpdatePackets = 0;
-
-  std::string updateFile;
-  uint32_t imageSize = 0;
-  uint32_t imageCrc = 0;
-
-  void readCommandQueue();
-  void doStateMachine();
-
-  /**
-   * @brief   Extracts the path and name of the update image from the service 8 command data.
-   */
-  ReturnValue_t getImageLocation(const uint8_t* data, size_t size);
-
-  ReturnValue_t checkNameLength(size_t size);
-
-  /**
-   * @brief   Prepares and sends update available command to PLOC supervisor handler.
-   */
-  void commandUpdateAvailable();
-
-  /**
-   * @brief   Prepares and sends and update packet to the PLOC supervisor handler.
-   */
-  void commandUpdatePacket();
-
-  /**
-   * @brief   Prepares and sends the update verification packet to the PLOC supervisor handler.
-   */
-  void commandUpdateVerify();
-
-  void calcImageCrc();
-
-  void adjustSequenceFlags(supv::UpdatePacket& packet);
-};
-
-#endif /* MISSION_DEVICES_PLOCUPDATER_H_ */
diff --git a/linux/devices/startracker/CMakeLists.txt b/linux/devices/startracker/CMakeLists.txt
index be2bf861..963b2a44 100644
--- a/linux/devices/startracker/CMakeLists.txt
+++ b/linux/devices/startracker/CMakeLists.txt
@@ -1,7 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE
-    StarTrackerHandler.cpp
-    StarTrackerJsonCommands.cpp
-    ArcsecDatalinkLayer.cpp
-    ArcsecJsonParamBase.cpp
-    StrHelper.cpp
-)
\ No newline at end of file
+target_sources(
+  ${OBSW_NAME}
+  PRIVATE StarTrackerHandler.cpp StarTrackerJsonCommands.cpp
+          ArcsecDatalinkLayer.cpp ArcsecJsonParamBase.cpp StrHelper.cpp)
diff --git a/linux/devices/startracker/StrHelper.cpp b/linux/devices/startracker/StrHelper.cpp
index 599b706f..b2f02f24 100644
--- a/linux/devices/startracker/StrHelper.cpp
+++ b/linux/devices/startracker/StrHelper.cpp
@@ -6,6 +6,7 @@
 #include "OBSWConfig.h"
 #include "fsfw/timemanager/Countdown.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
+#include "mission/utility/Filenaming.h"
 #include "mission/utility/ProgressPrinter.h"
 #include "mission/utility/Timestamp.h"
 
@@ -181,7 +182,8 @@ ReturnValue_t StrHelper::performImageDownload() {
   struct DownloadActionRequest downloadReq;
   uint32_t size = 0;
   uint32_t retries = 0;
-  std::string image = makeFullFilename(downloadImage.path, downloadImage.filename);
+  std::string image = Filenaming::generateAbsoluteFilename(downloadImage.path,
+                                                           downloadImage.filename, timestamping);
   std::ofstream file(image, std::ios_base::out);
   if (not std::filesystem::exists(image)) {
     return FILE_CREATION_FAILED;
@@ -400,7 +402,8 @@ ReturnValue_t StrHelper::performFlashRead() {
   uint32_t size = 0;
   uint32_t retries = 0;
   Timestamp timestamp;
-  std::string fullname = makeFullFilename(flashRead.path, flashRead.filename);
+  std::string fullname =
+      Filenaming::generateAbsoluteFilename(flashRead.path, flashRead.filename, timestamping);
   std::ofstream file(fullname, std::ios_base::app | std::ios_base::out);
   if (not std::filesystem::exists(fullname)) {
     return FILE_CREATION_FAILED;
@@ -588,14 +591,3 @@ ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) {
   }
   return result;
 }
-
-std::string StrHelper::makeFullFilename(std::string path, std::string filename) {
-  std::string image;
-  Timestamp timestamp;
-  if (timestamping) {
-    image = path + "/" + timestamp.str() + filename;
-  } else {
-    image = path + "/" + filename;
-  }
-  return image;
-}
diff --git a/linux/devices/startracker/StrHelper.h b/linux/devices/startracker/StrHelper.h
index f34e96ce..63f85233 100644
--- a/linux/devices/startracker/StrHelper.h
+++ b/linux/devices/startracker/StrHelper.h
@@ -173,8 +173,7 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
   static const size_t SIZE_IMAGE_PART = 1024;
   static const uint32_t FLASH_REGION_SIZE = 0x20000;
 
-  class ImageDownload {
-   public:
+  struct ImageDownload {
     static const uint32_t LAST_POSITION = 4095;
   };
 
@@ -199,15 +198,13 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
 
   BinarySemaphore semaphore;
 
-  class UploadImage {
-   public:
+  struct UploadImage {
     // Name including absolute path of image to upload
     std::string uploadFile;
   };
   UploadImage uploadImage;
 
-  class DownloadImage {
-   public:
+  struct DownloadImage {
     // Path where the downloaded image will be stored
     std::string path;
     // Default name of downloaded image, can be changed via command
@@ -215,8 +212,7 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
   };
   DownloadImage downloadImage;
 
-  class FlashWrite {
-   public:
+  struct FlashWrite {
     // File which contains data to write when executing the flash write command
     std::string fullname;
     // The first region to write to
@@ -229,8 +225,7 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
   };
   FlashWrite flashWrite;
 
-  class FlashRead {
-   public:
+  struct FlashRead {
     // Path where the file containing the read data will be stored
     std::string path = "";
     // Default name of file containing the data read from flash, can be changed via command
@@ -349,16 +344,6 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
    *
    */
   ReturnValue_t unlockAndEraseRegions(uint32_t from, uint32_t to);
-
-  /**
-   * @brief Creates full filename either with timestamp or without
-   *
-   * @param path    Path where to create the file
-   * @param filename    Name fo the file
-   *
-   * @return    Full filename
-   */
-  std::string makeFullFilename(std::string path, std::string filename);
 };
 
 #endif /* BSP_Q7S_DEVICES_STRHELPER_H_ */
diff --git a/linux/fsfwconfig/CMakeLists.txt b/linux/fsfwconfig/CMakeLists.txt
index 8d13e67b..bfede452 100644
--- a/linux/fsfwconfig/CMakeLists.txt
+++ b/linux/fsfwconfig/CMakeLists.txt
@@ -1,28 +1,16 @@
-target_sources(${OBSW_NAME} PRIVATE
-	ipc/MissionMessageTypes.cpp
-	pollingsequence/pollingSequenceFactory.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE ipc/MissionMessageTypes.cpp
+                                    pollingsequence/pollingSequenceFactory.cpp)
 
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 # If a special translation file for object IDs exists, compile it.
 if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
-    target_sources(${OBSW_NAME} PRIVATE
-        objects/translateObjects.cpp
-    )
-    target_sources(${UNITTEST_NAME} PRIVATE
-        objects/translateObjects.cpp
-    )
+  target_sources(${OBSW_NAME} PRIVATE objects/translateObjects.cpp)
+  target_sources(${UNITTEST_NAME} PRIVATE objects/translateObjects.cpp)
 endif()
 
 # If a special translation file for events exists, compile it.
 if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
-    target_sources(${OBSW_NAME} PRIVATE
-        events/translateEvents.cpp
-    )
-    target_sources(${UNITTEST_NAME} PRIVATE
-        events/translateEvents.cpp
-    )
+  target_sources(${OBSW_NAME} PRIVATE events/translateEvents.cpp)
+  target_sources(${UNITTEST_NAME} PRIVATE events/translateEvents.cpp)
 endif()
diff --git a/linux/fsfwconfig/FSFWConfig.h.in b/linux/fsfwconfig/FSFWConfig.h.in
index 9db84254..072c47c8 100644
--- a/linux/fsfwconfig/FSFWConfig.h.in
+++ b/linux/fsfwconfig/FSFWConfig.h.in
@@ -76,9 +76,4 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
 #define FSFW_HAL_I2C_WIRETAPPING                0
 #define FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV   0
 
-#define FSFW_HAL_L3GD20_GYRO_DEBUG              0
-#define FSFW_HAL_RM3100_MGM_DEBUG               0
-#define FSFW_HAL_LIS3MDL_MGM_DEBUG              0
-#define FSFW_HAL_ADIS1650X_GYRO_DEBUG           0
-
 #endif /* CONFIG_FSFWCONFIG_H_ */
diff --git a/linux/fsfwconfig/devices/addresses.h b/linux/fsfwconfig/devices/addresses.h
index 0016c6a4..ec794490 100644
--- a/linux/fsfwconfig/devices/addresses.h
+++ b/linux/fsfwconfig/devices/addresses.h
@@ -24,18 +24,18 @@ enum logicalAddresses : address_t {
 
   RAD_SENSOR = objects::RAD_SENSOR,
 
-  SUS_0 = objects::SUS_0,
-  SUS_1 = objects::SUS_1,
-  SUS_2 = objects::SUS_2,
-  SUS_3 = objects::SUS_3,
-  SUS_4 = objects::SUS_4,
-  SUS_5 = objects::SUS_5,
-  SUS_6 = objects::SUS_6,
-  SUS_7 = objects::SUS_7,
-  SUS_8 = objects::SUS_8,
-  SUS_9 = objects::SUS_9,
-  SUS_10 = objects::SUS_10,
-  SUS_11 = objects::SUS_11,
+  SUS_0 = objects::SUS_0_N_LOC_XFYFZM_PT_XF,
+  SUS_1 = objects::SUS_1_N_LOC_XBYFZM_PT_XB,
+  SUS_2 = objects::SUS_2_N_LOC_XFYBZB_PT_YB,
+  SUS_3 = objects::SUS_3_N_LOC_XFYBZF_PT_YF,
+  SUS_4 = objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
+  SUS_5 = objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+  SUS_6 = objects::SUS_6_R_LOC_XFYBZM_PT_XF,
+  SUS_7 = objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+  SUS_8 = objects::SUS_8_R_LOC_XBYBZB_PT_YB,
+  SUS_9 = objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+  SUS_10 = objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
+  SUS_11 = objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
 
   /* Dummy and Test Addresses */
   DUMMY_ECHO = 129,
diff --git a/linux/fsfwconfig/events/subsystemIdRanges.h b/linux/fsfwconfig/events/subsystemIdRanges.h
index 768797b5..f0a0316c 100644
--- a/linux/fsfwconfig/events/subsystemIdRanges.h
+++ b/linux/fsfwconfig/events/subsystemIdRanges.h
@@ -13,7 +13,7 @@
 namespace SUBSYSTEM_ID {
 enum : uint8_t {
   SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END,
-  CORE = 136,
+  CORE = 137,
 };
 }
 
diff --git a/linux/fsfwconfig/events/translateEvents.cpp b/linux/fsfwconfig/events/translateEvents.cpp
index 1a24c553..74b07b0b 100644
--- a/linux/fsfwconfig/events/translateEvents.cpp
+++ b/linux/fsfwconfig/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 186 translations.
+ * @brief    Auto-generated event translation file. Contains 207 translations.
  * @details
- * Generated on: 2022-04-08 14:13:35
+ * Generated on: 2022-05-25 18:41:07
  */
 #include "translateEvents.h"
 
@@ -82,16 +82,21 @@ const char *BIT_LOCK_LOST_STRING = "BIT_LOCK_LOST";
 const char *FRAME_PROCESSING_FAILED_STRING = "FRAME_PROCESSING_FAILED";
 const char *CLOCK_SET_STRING = "CLOCK_SET";
 const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
+const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
 const char *TEST_STRING = "TEST";
 const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
+const char *FDIR_REACTION_IGNORED_STRING = "FDIR_REACTION_IGNORED";
 const char *GPIO_PULL_HIGH_FAILED_STRING = "GPIO_PULL_HIGH_FAILED";
 const char *GPIO_PULL_LOW_FAILED_STRING = "GPIO_PULL_LOW_FAILED";
+const char *HEATER_WENT_ON_STRING = "HEATER_WENT_ON";
+const char *HEATER_WENT_OFF_STRING = "HEATER_WENT_OFF";
 const char *SWITCH_ALREADY_ON_STRING = "SWITCH_ALREADY_ON";
 const char *SWITCH_ALREADY_OFF_STRING = "SWITCH_ALREADY_OFF";
 const char *MAIN_SWITCH_TIMEOUT_STRING = "MAIN_SWITCH_TIMEOUT";
+const char *FAULTY_HEATER_WAS_ON_STRING = "FAULTY_HEATER_WAS_ON";
 const char *MAIN_SWITCH_ON_TIMEOUT_STRING = "MAIN_SWITCH_ON_TIMEOUT";
 const char *MAIN_SWITCH_OFF_TIMEOUT_STRING = "MAIN_SWITCH_OFF_TIMEOUT";
 const char *DEPLOYMENT_FAILED_STRING = "DEPLOYMENT_FAILED";
@@ -101,7 +106,7 @@ const char *MEMORY_READ_RPT_CRC_FAILURE_STRING = "MEMORY_READ_RPT_CRC_FAILURE";
 const char *ACK_FAILURE_STRING = "ACK_FAILURE";
 const char *EXE_FAILURE_STRING = "EXE_FAILURE";
 const char *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE";
-const char *MPSOC_HANDLER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQ_CNT_MISMATCH";
+const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH";
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
@@ -112,20 +117,16 @@ const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE";
 const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE";
 const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
 const char *ERROR_STATE_STRING = "ERROR_STATE";
+const char *RESET_OCCURED_STRING = "RESET_OCCURED";
 const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
 const char *BOOTING_BOOTLOADER_FAILED_STRING = "BOOTING_BOOTLOADER_FAILED";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
 const char *SUPV_ACK_FAILURE_STRING = "SUPV_ACK_FAILURE";
 const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
 const char *SUPV_CRC_FAILURE_EVENT_STRING = "SUPV_CRC_FAILURE_EVENT";
+const char *SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUWDOWN_BUILD_FAILED";
 const char *SANITIZATION_FAILED_STRING = "SANITIZATION_FAILED";
 const char *MOUNTED_SD_CARD_STRING = "MOUNTED_SD_CARD";
-const char *UPDATE_FILE_NOT_EXISTS_STRING = "UPDATE_FILE_NOT_EXISTS";
-const char *ACTION_COMMANDING_FAILED_STRING = "ACTION_COMMANDING_FAILED";
-const char *UPDATE_AVAILABLE_FAILED_STRING = "UPDATE_AVAILABLE_FAILED";
-const char *UPDATE_TRANSFER_FAILED_STRING = "UPDATE_TRANSFER_FAILED";
-const char *UPDATE_VERIFY_FAILED_STRING = "UPDATE_VERIFY_FAILED";
-const char *UPDATE_FINISHED_STRING = "UPDATE_FINISHED";
 const char *SEND_MRAM_DUMP_FAILED_STRING = "SEND_MRAM_DUMP_FAILED";
 const char *MRAM_DUMP_FAILED_STRING = "MRAM_DUMP_FAILED";
 const char *MRAM_DUMP_FINISHED_STRING = "MRAM_DUMP_FINISHED";
@@ -152,15 +153,15 @@ const char *STR_HELPER_SENDING_PACKET_FAILED_STRING = "STR_HELPER_SENDING_PACKET
 const char *STR_HELPER_REQUESTING_MSG_FAILED_STRING = "STR_HELPER_REQUESTING_MSG_FAILED";
 const char *MPSOC_FLASH_WRITE_FAILED_STRING = "MPSOC_FLASH_WRITE_FAILED";
 const char *MPSOC_FLASH_WRITE_SUCCESSFUL_STRING = "MPSOC_FLASH_WRITE_SUCCESSFUL";
-const char *SENDING_COMMAND_FAILED_STRING = "SENDING_COMMAND_FAILED";
+const char *MPSOC_SENDING_COMMAND_FAILED_STRING = "MPSOC_SENDING_COMMAND_FAILED";
 const char *MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING = "MPSOC_HELPER_REQUESTING_REPLY_FAILED";
 const char *MPSOC_HELPER_READING_REPLY_FAILED_STRING = "MPSOC_HELPER_READING_REPLY_FAILED";
-const char *MISSING_ACK_STRING = "MISSING_ACK";
-const char *MISSING_EXE_STRING = "MISSING_EXE";
-const char *ACK_FAILURE_REPORT_STRING = "ACK_FAILURE_REPORT";
-const char *EXE_FAILURE_REPORT_STRING = "EXE_FAILURE_REPORT";
-const char *ACK_INVALID_APID_STRING = "ACK_INVALID_APID";
-const char *EXE_INVALID_APID_STRING = "EXE_INVALID_APID";
+const char *MPSOC_MISSING_ACK_STRING = "MPSOC_MISSING_ACK";
+const char *MPSOC_MISSING_EXE_STRING = "MPSOC_MISSING_EXE";
+const char *MPSOC_ACK_FAILURE_REPORT_STRING = "MPSOC_ACK_FAILURE_REPORT";
+const char *MPSOC_EXE_FAILURE_REPORT_STRING = "MPSOC_EXE_FAILURE_REPORT";
+const char *MPSOC_ACK_INVALID_APID_STRING = "MPSOC_ACK_INVALID_APID";
+const char *MPSOC_EXE_INVALID_APID_STRING = "MPSOC_EXE_INVALID_APID";
 const char *MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HELPER_SEQ_CNT_MISMATCH";
 const char *TRANSITION_BACK_TO_OFF_STRING = "TRANSITION_BACK_TO_OFF";
 const char *NEG_V_OUT_OF_BOUNDS_STRING = "NEG_V_OUT_OF_BOUNDS";
@@ -183,6 +184,26 @@ const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
 const char *P60_BOOT_COUNT_STRING = "P60_BOOT_COUNT";
 const char *BATT_MODE_STRING = "BATT_MODE";
 const char *BATT_MODE_CHANGED_STRING = "BATT_MODE_CHANGED";
+const char *SUPV_UPDATE_FAILED_STRING = "SUPV_UPDATE_FAILED";
+const char *SUPV_UPDATE_SUCCESSFUL_STRING = "SUPV_UPDATE_SUCCESSFUL";
+const char *SUPV_CONTINUE_UPDATE_FAILED_STRING = "SUPV_CONTINUE_UPDATE_FAILED";
+const char *SUPV_CONTINUE_UPDATE_SUCCESSFUL_STRING = "SUPV_CONTINUE_UPDATE_SUCCESSFUL";
+const char *TERMINATED_UPDATE_PROCEDURE_STRING = "TERMINATED_UPDATE_PROCEDURE";
+const char *SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL_STRING = "SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL";
+const char *SUPV_EVENT_BUFFER_REQUEST_FAILED_STRING = "SUPV_EVENT_BUFFER_REQUEST_FAILED";
+const char *SUPV_EVENT_BUFFER_REQUEST_TERMINATED_STRING = "SUPV_EVENT_BUFFER_REQUEST_TERMINATED";
+const char *SUPV_SENDING_COMMAND_FAILED_STRING = "SUPV_SENDING_COMMAND_FAILED";
+const char *SUPV_HELPER_REQUESTING_REPLY_FAILED_STRING = "SUPV_HELPER_REQUESTING_REPLY_FAILED";
+const char *SUPV_HELPER_READING_REPLY_FAILED_STRING = "SUPV_HELPER_READING_REPLY_FAILED";
+const char *SUPV_MISSING_ACK_STRING = "SUPV_MISSING_ACK";
+const char *SUPV_MISSING_EXE_STRING = "SUPV_MISSING_EXE";
+const char *SUPV_ACK_FAILURE_REPORT_STRING = "SUPV_ACK_FAILURE_REPORT";
+const char *SUPV_EXE_FAILURE_REPORT_STRING = "SUPV_EXE_FAILURE_REPORT";
+const char *SUPV_ACK_INVALID_APID_STRING = "SUPV_ACK_INVALID_APID";
+const char *SUPV_EXE_INVALID_APID_STRING = "SUPV_EXE_INVALID_APID";
+const char *ACK_RECEPTION_FAILURE_STRING = "ACK_RECEPTION_FAILURE";
+const char *EXE_RECEPTION_FAILURE_STRING = "EXE_RECEPTION_FAILURE";
+const char *WRITE_MEMORY_FAILED_STRING = "WRITE_MEMORY_FAILED";
 const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
 const char *REBOOT_SW_STRING = "REBOOT_SW";
 const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
@@ -344,6 +365,8 @@ const char *translateEvents(Event event) {
       return CLOCK_SET_STRING;
     case (8901):
       return CLOCK_SET_FAILURE_STRING;
+    case (9100):
+      return TC_DELETION_FAILED_STRING;
     case (9700):
       return TEST_STRING;
     case (10600):
@@ -354,16 +377,24 @@ const char *translateEvents(Event event) {
       return SWITCH_HAS_CHANGED_STRING;
     case (11302):
       return SWITCHING_Q7S_DENIED_STRING;
+    case (11303):
+      return FDIR_REACTION_IGNORED_STRING;
     case (11400):
       return GPIO_PULL_HIGH_FAILED_STRING;
     case (11401):
       return GPIO_PULL_LOW_FAILED_STRING;
     case (11402):
-      return SWITCH_ALREADY_ON_STRING;
+      return HEATER_WENT_ON_STRING;
     case (11403):
-      return SWITCH_ALREADY_OFF_STRING;
+      return HEATER_WENT_OFF_STRING;
     case (11404):
+      return SWITCH_ALREADY_ON_STRING;
+    case (11405):
+      return SWITCH_ALREADY_OFF_STRING;
+    case (11406):
       return MAIN_SWITCH_TIMEOUT_STRING;
+    case (11407):
+      return FAULTY_HEATER_WAS_ON_STRING;
     case (11500):
       return MAIN_SWITCH_ON_TIMEOUT_STRING;
     case (11501):
@@ -383,7 +414,7 @@ const char *translateEvents(Event event) {
     case (11604):
       return MPSOC_HANDLER_CRC_FAILURE_STRING;
     case (11605):
-      return MPSOC_HANDLER_SEQ_CNT_MISMATCH_STRING;
+      return MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING;
     case (11606):
       return MPSOC_SHUTDOWN_FAILED_STRING;
     case (11701):
@@ -404,6 +435,8 @@ const char *translateEvents(Event event) {
       return INVALID_ERROR_BYTE_STRING;
     case (11801):
       return ERROR_STATE_STRING;
+    case (11802):
+      return RESET_OCCURED_STRING;
     case (11901):
       return BOOTING_FIRMWARE_FAILED_STRING;
     case (11902):
@@ -416,22 +449,12 @@ const char *translateEvents(Event event) {
       return SUPV_EXE_FAILURE_STRING;
     case (12004):
       return SUPV_CRC_FAILURE_EVENT_STRING;
+    case (12005):
+      return SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING;
     case (12100):
       return SANITIZATION_FAILED_STRING;
     case (12101):
       return MOUNTED_SD_CARD_STRING;
-    case (12200):
-      return UPDATE_FILE_NOT_EXISTS_STRING;
-    case (12201):
-      return ACTION_COMMANDING_FAILED_STRING;
-    case (12202):
-      return UPDATE_AVAILABLE_FAILED_STRING;
-    case (12203):
-      return UPDATE_TRANSFER_FAILED_STRING;
-    case (12204):
-      return UPDATE_VERIFY_FAILED_STRING;
-    case (12205):
-      return UPDATE_FINISHED_STRING;
     case (12300):
       return SEND_MRAM_DUMP_FAILED_STRING;
     case (12301):
@@ -485,23 +508,23 @@ const char *translateEvents(Event event) {
     case (12601):
       return MPSOC_FLASH_WRITE_SUCCESSFUL_STRING;
     case (12602):
-      return SENDING_COMMAND_FAILED_STRING;
+      return MPSOC_SENDING_COMMAND_FAILED_STRING;
     case (12603):
       return MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING;
     case (12604):
       return MPSOC_HELPER_READING_REPLY_FAILED_STRING;
     case (12605):
-      return MISSING_ACK_STRING;
+      return MPSOC_MISSING_ACK_STRING;
     case (12606):
-      return MISSING_EXE_STRING;
+      return MPSOC_MISSING_EXE_STRING;
     case (12607):
-      return ACK_FAILURE_REPORT_STRING;
+      return MPSOC_ACK_FAILURE_REPORT_STRING;
     case (12608):
-      return EXE_FAILURE_REPORT_STRING;
+      return MPSOC_EXE_FAILURE_REPORT_STRING;
     case (12609):
-      return ACK_INVALID_APID_STRING;
+      return MPSOC_ACK_INVALID_APID_STRING;
     case (12610):
-      return EXE_INVALID_APID_STRING;
+      return MPSOC_EXE_INVALID_APID_STRING;
     case (12611):
       return MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING;
     case (12700):
@@ -547,12 +570,52 @@ const char *translateEvents(Event event) {
     case (13202):
       return BATT_MODE_CHANGED_STRING;
     case (13600):
-      return ALLOC_FAILURE_STRING;
+      return SUPV_UPDATE_FAILED_STRING;
     case (13601):
-      return REBOOT_SW_STRING;
+      return SUPV_UPDATE_SUCCESSFUL_STRING;
     case (13602):
-      return REBOOT_MECHANISM_TRIGGERED_STRING;
+      return SUPV_CONTINUE_UPDATE_FAILED_STRING;
     case (13603):
+      return SUPV_CONTINUE_UPDATE_SUCCESSFUL_STRING;
+    case (13604):
+      return TERMINATED_UPDATE_PROCEDURE_STRING;
+    case (13605):
+      return SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL_STRING;
+    case (13606):
+      return SUPV_EVENT_BUFFER_REQUEST_FAILED_STRING;
+    case (13607):
+      return SUPV_EVENT_BUFFER_REQUEST_TERMINATED_STRING;
+    case (13608):
+      return SUPV_SENDING_COMMAND_FAILED_STRING;
+    case (13609):
+      return SUPV_HELPER_REQUESTING_REPLY_FAILED_STRING;
+    case (13610):
+      return SUPV_HELPER_READING_REPLY_FAILED_STRING;
+    case (13611):
+      return SUPV_MISSING_ACK_STRING;
+    case (13612):
+      return SUPV_MISSING_EXE_STRING;
+    case (13613):
+      return SUPV_ACK_FAILURE_REPORT_STRING;
+    case (13614):
+      return SUPV_EXE_FAILURE_REPORT_STRING;
+    case (13615):
+      return SUPV_ACK_INVALID_APID_STRING;
+    case (13616):
+      return SUPV_EXE_INVALID_APID_STRING;
+    case (13617):
+      return ACK_RECEPTION_FAILURE_STRING;
+    case (13618):
+      return EXE_RECEPTION_FAILURE_STRING;
+    case (13619):
+      return WRITE_MEMORY_FAILED_STRING;
+    case (13700):
+      return ALLOC_FAILURE_STRING;
+    case (13701):
+      return REBOOT_SW_STRING;
+    case (13702):
+      return REBOOT_MECHANISM_TRIGGERED_STRING;
+    case (13703):
       return REBOOT_HW_STRING;
     default:
       return "UNKNOWN_EVENT";
diff --git a/linux/fsfwconfig/objects/systemObjectList.h b/linux/fsfwconfig/objects/systemObjectList.h
index ec711711..2463837d 100644
--- a/linux/fsfwconfig/objects/systemObjectList.h
+++ b/linux/fsfwconfig/objects/systemObjectList.h
@@ -47,15 +47,10 @@ enum sourceObjects : uint32_t {
   CSP_COM_IF = 0x49050001,
   I2C_COM_IF = 0x49040002,
   UART_COM_IF = 0x49030003,
-  SPI_COM_IF = 0x49020004,
+  SPI_MAIN_COM_IF = 0x49020004,
   GPIO_IF = 0x49010005,
-
-  /* Custom device handler */
-  PCDU_HANDLER = 0x442000A1,
-  SOLAR_ARRAY_DEPL_HANDLER = 0x444100A2,
-  SYRLINKS_HK_HANDLER = 0x445300A3,
-  HEATER_HANDLER = 0x444100A4,
-  RAD_SENSOR = 0x443200A5,
+  SPI_RW_COM_IF = 0x49020005,
+  SPI_RTD_COM_IF = 0x49020006,
 
   /* 0x54 ('T') for test handlers */
   TEST_TASK = 0x54694269,
diff --git a/linux/fsfwconfig/objects/translateObjects.cpp b/linux/fsfwconfig/objects/translateObjects.cpp
index 70904882..12ec5008 100644
--- a/linux/fsfwconfig/objects/translateObjects.cpp
+++ b/linux/fsfwconfig/objects/translateObjects.cpp
@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 117 translations.
- * Generated on: 2022-04-08 14:13:35
+ * Contains 131 translations.
+ * Generated on: 2022-05-25 18:41:13
  */
 #include "translateObjects.h"
 
@@ -12,18 +12,18 @@ const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
 const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
 const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
 const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER";
-const char *SUS_0_STRING = "SUS_0";
-const char *SUS_1_STRING = "SUS_1";
-const char *SUS_2_STRING = "SUS_2";
-const char *SUS_3_STRING = "SUS_3";
-const char *SUS_4_STRING = "SUS_4";
-const char *SUS_5_STRING = "SUS_5";
-const char *SUS_6_STRING = "SUS_6";
-const char *SUS_7_STRING = "SUS_7";
-const char *SUS_8_STRING = "SUS_8";
-const char *SUS_9_STRING = "SUS_9";
-const char *SUS_10_STRING = "SUS_10";
-const char *SUS_11_STRING = "SUS_11";
+const char *SUS_0_N_LOC_XFYFZM_PT_XF_STRING = "SUS_0_N_LOC_XFYFZM_PT_XF";
+const char *SUS_1_N_LOC_XBYFZM_PT_XB_STRING = "SUS_1_N_LOC_XBYFZM_PT_XB";
+const char *SUS_2_N_LOC_XFYBZB_PT_YB_STRING = "SUS_2_N_LOC_XFYBZB_PT_YB";
+const char *SUS_3_N_LOC_XFYBZF_PT_YF_STRING = "SUS_3_N_LOC_XFYBZF_PT_YF";
+const char *SUS_4_N_LOC_XMYFZF_PT_ZF_STRING = "SUS_4_N_LOC_XMYFZF_PT_ZF";
+const char *SUS_5_N_LOC_XFYMZB_PT_ZB_STRING = "SUS_5_N_LOC_XFYMZB_PT_ZB";
+const char *SUS_6_R_LOC_XFYBZM_PT_XF_STRING = "SUS_6_R_LOC_XFYBZM_PT_XF";
+const char *SUS_7_R_LOC_XBYBZM_PT_XB_STRING = "SUS_7_R_LOC_XBYBZM_PT_XB";
+const char *SUS_8_R_LOC_XBYBZB_PT_YB_STRING = "SUS_8_R_LOC_XBYBZB_PT_YB";
+const char *SUS_9_R_LOC_XBYBZB_PT_YF_STRING = "SUS_9_R_LOC_XBYBZB_PT_YF";
+const char *SUS_10_N_LOC_XMYBZF_PT_ZF_STRING = "SUS_10_N_LOC_XMYBZF_PT_ZF";
+const char *SUS_11_R_LOC_XBYMZB_PT_ZB_STRING = "SUS_11_R_LOC_XBYMZB_PT_ZB";
 const char *RW1_STRING = "RW1";
 const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER";
 const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER";
@@ -49,6 +49,8 @@ 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 *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
+const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
+const char *PTME_CONFIG_STRING = "PTME_CONFIG";
 const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
 const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
 const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
@@ -56,26 +58,28 @@ const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
 const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
 const char *TMP1075_HANDLER_1_STRING = "TMP1075_HANDLER_1";
 const char *TMP1075_HANDLER_2_STRING = "TMP1075_HANDLER_2";
-const char *RTD_IC_3_STRING = "RTD_IC_3";
-const char *RTD_IC_4_STRING = "RTD_IC_4";
-const char *RTD_IC_5_STRING = "RTD_IC_5";
-const char *RTD_IC_6_STRING = "RTD_IC_6";
-const char *RTD_IC_7_STRING = "RTD_IC_7";
-const char *RTD_IC_8_STRING = "RTD_IC_8";
-const char *RTD_IC_9_STRING = "RTD_IC_9";
-const char *RTD_IC_10_STRING = "RTD_IC_10";
-const char *RTD_IC_11_STRING = "RTD_IC_11";
-const char *RTD_IC_12_STRING = "RTD_IC_12";
-const char *RTD_IC_13_STRING = "RTD_IC_13";
-const char *RTD_IC_14_STRING = "RTD_IC_14";
-const char *RTD_IC_15_STRING = "RTD_IC_15";
-const char *RTD_IC_16_STRING = "RTD_IC_16";
-const char *RTD_IC_17_STRING = "RTD_IC_17";
-const char *RTD_IC_18_STRING = "RTD_IC_18";
+const char *RTD_0_IC3_PLOC_HEATSPREADER_STRING = "RTD_0_IC3_PLOC_HEATSPREADER";
+const char *RTD_1_IC4_PLOC_MISSIONBOARD_STRING = "RTD_1_IC4_PLOC_MISSIONBOARD";
+const char *RTD_2_IC5_4K_CAMERA_STRING = "RTD_2_IC5_4K_CAMERA";
+const char *RTD_3_IC6_DAC_HEATSPREADER_STRING = "RTD_3_IC6_DAC_HEATSPREADER";
+const char *RTD_4_IC7_STARTRACKER_STRING = "RTD_4_IC7_STARTRACKER";
+const char *RTD_5_IC8_RW1_MX_MY_STRING = "RTD_5_IC8_RW1_MX_MY";
+const char *RTD_6_IC9_DRO_STRING = "RTD_6_IC9_DRO";
+const char *RTD_7_IC10_SCEX_STRING = "RTD_7_IC10_SCEX";
+const char *RTD_8_IC11_X8_STRING = "RTD_8_IC11_X8";
+const char *RTD_9_IC12_HPA_STRING = "RTD_9_IC12_HPA";
+const char *RTD_10_IC13_PL_TX_STRING = "RTD_10_IC13_PL_TX";
+const char *RTD_11_IC14_MPA_STRING = "RTD_11_IC14_MPA";
+const char *RTD_12_IC15_ACU_STRING = "RTD_12_IC15_ACU";
+const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPREADER";
+const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
+const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
 const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
-const char *SPI_COM_IF_STRING = "SPI_COM_IF";
+const char *SPI_MAIN_COM_IF_STRING = "SPI_MAIN_COM_IF";
+const char *SPI_RW_COM_IF_STRING = "SPI_RW_COM_IF";
+const char *SPI_RTD_COM_IF_STRING = "SPI_RTD_COM_IF";
 const char *UART_COM_IF_STRING = "UART_COM_IF";
 const char *I2C_COM_IF_STRING = "I2C_COM_IF";
 const char *CSP_COM_IF_STRING = "CSP_COM_IF";
@@ -96,6 +100,7 @@ const char *PUS_SERVICE_3_HOUSEKEEPING_STRING = "PUS_SERVICE_3_HOUSEKEEPING";
 const char *PUS_SERVICE_5_EVENT_REPORTING_STRING = "PUS_SERVICE_5_EVENT_REPORTING";
 const char *PUS_SERVICE_8_FUNCTION_MGMT_STRING = "PUS_SERVICE_8_FUNCTION_MGMT";
 const char *PUS_SERVICE_9_TIME_MGMT_STRING = "PUS_SERVICE_9_TIME_MGMT";
+const char *PUS_SERVICE_11_TC_SCHEDULER_STRING = "PUS_SERVICE_11_TC_SCHEDULER";
 const char *PUS_SERVICE_17_TEST_STRING = "PUS_SERVICE_17_TEST";
 const char *PUS_SERVICE_20_PARAMETERS_STRING = "PUS_SERVICE_20_PARAMETERS";
 const char *PUS_SERVICE_200_MODE_MGMT_STRING = "PUS_SERVICE_200_MODE_MGMT";
@@ -117,9 +122,18 @@ const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
 const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
 const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
 const char *TEST_TASK_STRING = "TEST_TASK";
+const char *HEATER_0_PLOC_PROC_BRD_STRING = "HEATER_0_PLOC_PROC_BRD";
+const char *HEATER_1_PCDU_BRD_STRING = "HEATER_1_PCDU_BRD";
+const char *HEATER_2_ACS_BRD_STRING = "HEATER_2_ACS_BRD";
+const char *HEATER_3_OBC_BRD_STRING = "HEATER_3_OBC_BRD";
+const char *HEATER_4_CAMERA_STRING = "HEATER_4_CAMERA";
+const char *HEATER_5_STR_STRING = "HEATER_5_STR";
+const char *HEATER_6_DRO_STRING = "HEATER_6_DRO";
+const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
 const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
 const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
 const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
+const char *RW_ASS_STRING = "RW_ASS";
 const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
@@ -139,29 +153,29 @@ const char *translateObject(object_id_t object) {
     case 0x44120010:
       return GYRO_0_ADIS_HANDLER_STRING;
     case 0x44120032:
-      return SUS_0_STRING;
+      return SUS_0_N_LOC_XFYFZM_PT_XF_STRING;
     case 0x44120033:
-      return SUS_1_STRING;
+      return SUS_1_N_LOC_XBYFZM_PT_XB_STRING;
     case 0x44120034:
-      return SUS_2_STRING;
+      return SUS_2_N_LOC_XFYBZB_PT_YB_STRING;
     case 0x44120035:
-      return SUS_3_STRING;
+      return SUS_3_N_LOC_XFYBZF_PT_YF_STRING;
     case 0x44120036:
-      return SUS_4_STRING;
+      return SUS_4_N_LOC_XMYFZF_PT_ZF_STRING;
     case 0x44120037:
-      return SUS_5_STRING;
+      return SUS_5_N_LOC_XFYMZB_PT_ZB_STRING;
     case 0x44120038:
-      return SUS_6_STRING;
+      return SUS_6_R_LOC_XFYBZM_PT_XF_STRING;
     case 0x44120039:
-      return SUS_7_STRING;
+      return SUS_7_R_LOC_XBYBZM_PT_XB_STRING;
     case 0x44120040:
-      return SUS_8_STRING;
+      return SUS_8_R_LOC_XBYBZB_PT_YB_STRING;
     case 0x44120041:
-      return SUS_9_STRING;
+      return SUS_9_R_LOC_XBYBZB_PT_YF_STRING;
     case 0x44120042:
-      return SUS_10_STRING;
+      return SUS_10_N_LOC_XMYBZF_PT_ZF_STRING;
     case 0x44120043:
-      return SUS_11_STRING;
+      return SUS_11_R_LOC_XBYMZB_PT_ZB_STRING;
     case 0x44120047:
       return RW1_STRING;
     case 0x44120107:
@@ -212,6 +226,10 @@ const char *translateObject(object_id_t object) {
       return STR_HELPER_STRING;
     case 0x44330003:
       return PLOC_MPSOC_HELPER_STRING;
+    case 0x44330004:
+      return AXI_PTME_CONFIG_STRING;
+    case 0x44330005:
+      return PTME_CONFIG_STRING;
     case 0x44330015:
       return PLOC_MPSOC_HANDLER_STRING;
     case 0x44330016:
@@ -227,37 +245,37 @@ const char *translateObject(object_id_t object) {
     case 0x44420005:
       return TMP1075_HANDLER_2_STRING;
     case 0x44420016:
-      return RTD_IC_3_STRING;
+      return RTD_0_IC3_PLOC_HEATSPREADER_STRING;
     case 0x44420017:
-      return RTD_IC_4_STRING;
+      return RTD_1_IC4_PLOC_MISSIONBOARD_STRING;
     case 0x44420018:
-      return RTD_IC_5_STRING;
+      return RTD_2_IC5_4K_CAMERA_STRING;
     case 0x44420019:
-      return RTD_IC_6_STRING;
+      return RTD_3_IC6_DAC_HEATSPREADER_STRING;
     case 0x44420020:
-      return RTD_IC_7_STRING;
+      return RTD_4_IC7_STARTRACKER_STRING;
     case 0x44420021:
-      return RTD_IC_8_STRING;
+      return RTD_5_IC8_RW1_MX_MY_STRING;
     case 0x44420022:
-      return RTD_IC_9_STRING;
+      return RTD_6_IC9_DRO_STRING;
     case 0x44420023:
-      return RTD_IC_10_STRING;
+      return RTD_7_IC10_SCEX_STRING;
     case 0x44420024:
-      return RTD_IC_11_STRING;
+      return RTD_8_IC11_X8_STRING;
     case 0x44420025:
-      return RTD_IC_12_STRING;
+      return RTD_9_IC12_HPA_STRING;
     case 0x44420026:
-      return RTD_IC_13_STRING;
+      return RTD_10_IC13_PL_TX_STRING;
     case 0x44420027:
-      return RTD_IC_14_STRING;
+      return RTD_11_IC14_MPA_STRING;
     case 0x44420028:
-      return RTD_IC_15_STRING;
+      return RTD_12_IC15_ACU_STRING;
     case 0x44420029:
-      return RTD_IC_16_STRING;
+      return RTD_13_IC16_PLPCDU_HEATSPREADER_STRING;
     case 0x44420030:
-      return RTD_IC_17_STRING;
+      return RTD_14_IC17_TCS_BOARD_STRING;
     case 0x44420031:
-      return RTD_IC_18_STRING;
+      return RTD_15_IC18_IMTQ_STRING;
     case 0x445300A3:
       return SYRLINKS_HK_HANDLER_STRING;
     case 0x49000000:
@@ -265,7 +283,11 @@ const char *translateObject(object_id_t object) {
     case 0x49010005:
       return GPIO_IF_STRING;
     case 0x49020004:
-      return SPI_COM_IF_STRING;
+      return SPI_MAIN_COM_IF_STRING;
+    case 0x49020005:
+      return SPI_RW_COM_IF_STRING;
+    case 0x49020006:
+      return SPI_RTD_COM_IF_STRING;
     case 0x49030003:
       return UART_COM_IF_STRING;
     case 0x49040002:
@@ -306,6 +328,8 @@ const char *translateObject(object_id_t object) {
       return PUS_SERVICE_8_FUNCTION_MGMT_STRING;
     case 0x53000009:
       return PUS_SERVICE_9_TIME_MGMT_STRING;
+    case 0x53000011:
+      return PUS_SERVICE_11_TC_SCHEDULER_STRING;
     case 0x53000017:
       return PUS_SERVICE_17_TEST_STRING;
     case 0x53000020:
@@ -348,12 +372,30 @@ const char *translateObject(object_id_t object) {
       return LIBGPIOD_TEST_STRING;
     case 0x54694269:
       return TEST_TASK_STRING;
+    case 0x60000000:
+      return HEATER_0_PLOC_PROC_BRD_STRING;
+    case 0x60000001:
+      return HEATER_1_PCDU_BRD_STRING;
+    case 0x60000002:
+      return HEATER_2_ACS_BRD_STRING;
+    case 0x60000003:
+      return HEATER_3_OBC_BRD_STRING;
+    case 0x60000004:
+      return HEATER_4_CAMERA_STRING;
+    case 0x60000005:
+      return HEATER_5_STR_STRING;
+    case 0x60000006:
+      return HEATER_6_DRO_STRING;
+    case 0x60000007:
+      return HEATER_7_HPA_STRING;
     case 0x73000001:
       return ACS_BOARD_ASS_STRING;
     case 0x73000002:
       return SUS_BOARD_ASS_STRING;
     case 0x73000003:
       return TCS_BOARD_ASS_STRING;
+    case 0x73000004:
+      return RW_ASS_STRING;
     case 0x73000100:
       return TM_FUNNEL_STRING;
     case 0x73500000:
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index 942404d3..87bd9c51 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -5,6 +5,8 @@
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 
+#include "mission/devices/devicedefinitions/Max31865Definitions.h"
+
 #ifndef RPI_TEST_ADIS16507
 #define RPI_TEST_ADIS16507 0
 #endif
@@ -29,138 +31,69 @@ ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence) {
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
+ReturnValue_t pst::pstSpiRw(FixedTimeslotTaskIF *thisSequence) {
+  uint32_t length = thisSequence->getPeriodMs();
+  static_cast<void>(length);
+  thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+
+  thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+
+  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_WRITE);
+
+  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::SEND_READ);
+
+  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
+  return thisSequence->checkSequence();
+}
+
 ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
   static_cast<void>(length);
 #if OBSW_ADD_PL_PCDU == 1
   thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
 #endif
 #if OBSW_ADD_TMP_DEVICES == 1
   thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
 #endif
-#if OBSW_ADD_RTD_DEVICES == 1
-  thisSequence->addSlot(objects::RTD_IC_3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_5, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_6, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_7, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_8, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_9, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_10, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_11, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_12, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_13, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_14, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_15, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_16, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_17, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_18, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-#endif /* OBSW_ADD_RTD_DEVICES */
 
 #if OBSW_ADD_TMP_DEVICES == 1
   thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
   thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
 #endif
-#if OBSW_ADD_RTD_DEVICES == 1
-  thisSequence->addSlot(objects::RTD_IC_3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_5, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_6, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_7, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_8, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_9, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_10, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_11, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_12, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_13, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_14, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_15, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_16, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_17, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_18, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-#endif /* OBSW_ADD_RTD_DEVICES */
 
 #if OBSW_ADD_TMP_DEVICES == 1
-  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::GET_WRITE);
 #endif
-#if OBSW_ADD_RTD_DEVICES == 1
-  thisSequence->addSlot(objects::RTD_IC_3, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_4, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_5, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_6, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_7, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_8, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_9, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_10, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_11, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_12, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_13, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_14, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_15, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_16, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_17, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_18, length * 0.4, DeviceHandlerIF::GET_WRITE);
-#endif /* OBSW_ADD_RTD_DEVICES */
 
 #if OBSW_ADD_TMP_DEVICES == 1
-  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_READ);
 #endif
-#if OBSW_ADD_RTD_DEVICES == 1
-  thisSequence->addSlot(objects::RTD_IC_3, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_4, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_5, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_6, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_7, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_8, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_9, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_10, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_11, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_12, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_13, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_14, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_15, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_16, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_17, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_18, length * 0.6, DeviceHandlerIF::SEND_READ);
-#endif /* OBSW_ADD_RTD_DEVICES */
 
 #if OBSW_ADD_TMP_DEVICES == 1
-  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif
-#if OBSW_ADD_RTD_DEVICES == 1
-  thisSequence->addSlot(objects::RTD_IC_3, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_4, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_5, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_6, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_7, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_8, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_9, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_10, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_11, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_12, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_13, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_14, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_15, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_16, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_17, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_18, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif /* OBSW_ADD_RTD_DEVICES */
-
-#if OBSW_ADD_RAD_SENSORS == 1
-  /* Radiation sensor */
-  thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::GET_READ);
 #endif
 
 #if OBSW_ADD_SUN_SENSORS == 1
@@ -180,180 +113,261 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
 
   if (addSus0) {
     /* Write setup */
-    thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
   if (addSus1) {
-    thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
   if (addSus2) {
-    thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
   if (addSus3) {
-    thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
   if (addSus4) {
-    thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
   if (addSus5) {
-    thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
 
   if (addSus6) {
-    thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
 
   if (addSus7) {
-    thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
 
   if (addSus8) {
-    thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
 
   if (addSus9) {
-    thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
 
   if (addSus10) {
-    thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
 
   if (addSus11) {
-    thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
 #endif /* OBSW_ADD_SUN_SENSORS == 1 */
 
-#if OBSW_ADD_RW == 1
-  thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW1, length * 0.5, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW1, length * 0.65, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ);
-
-  thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW2, length * 0.5, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW2, length * 0.65, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
-
-  thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW3, length * 0.5, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW3, length * 0.65, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
-
-  thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW4, length * 0.5, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW4, length * 0.65, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
+#if OBSW_ADD_RAD_SENSORS == 1
+  /* Radiation sensor */
+  thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif
 
 #if OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1
@@ -464,11 +478,8 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif
 
-#ifdef XIPHOS_Q7S
-  thisSequence->addSlot(objects::PLOC_UPDATER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::PLOC_MEMORY_DUMPER, length * 0,
                         DeviceHandlerIF::PERFORM_OPERATION);
-#endif
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
                         DeviceHandlerIF::PERFORM_OPERATION);
@@ -510,8 +521,6 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
 
 ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
-#ifndef TE0720_1CFA
-#if Q7S_EM != 1
   // PCDU handlers receives two messages and both must be handled
   thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
 
@@ -543,8 +552,6 @@ ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
     sif::error << "GomSpace PST initialization failed" << std::endl;
     return HasReturnvaluesIF::RETURN_FAILED;
   }
-#endif /* Q7S_EM == 0 */
-#endif
   static_cast<void>(length);
   return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
index 19c86e52..03b0afb5 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
@@ -46,6 +46,8 @@ ReturnValue_t pstUart(FixedTimeslotTaskIF* thisSequence);
 
 ReturnValue_t pstSpi(FixedTimeslotTaskIF* thisSequence);
 
+ReturnValue_t pstSpiRw(FixedTimeslotTaskIF* thisSequence);
+
 ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);
 
 /**
diff --git a/linux/obc/CMakeLists.txt b/linux/obc/CMakeLists.txt
index 6d5c4436..e45a1fe2 100644
--- a/linux/obc/CMakeLists.txt
+++ b/linux/obc/CMakeLists.txt
@@ -1,10 +1,3 @@
-target_sources(${OBSW_NAME} PUBLIC
-	PapbVcInterface.cpp
-	Ptme.cpp
-	PdecHandler.cpp
-	PdecConfig.cpp
-	PtmeConfig.cpp
-	AxiPtmeConfig.cpp
-)
-
-
+target_sources(
+  ${OBSW_NAME} PUBLIC PapbVcInterface.cpp Ptme.cpp PdecHandler.cpp
+                      PdecConfig.cpp PtmeConfig.cpp AxiPtmeConfig.cpp)
diff --git a/linux/obc/PapbVcInterface.cpp b/linux/obc/PapbVcInterface.cpp
index 5636975a..643104d7 100644
--- a/linux/obc/PapbVcInterface.cpp
+++ b/linux/obc/PapbVcInterface.cpp
@@ -42,17 +42,17 @@ void PapbVcInterface::startPacketTransfer() { *vcBaseReg = CONFIG_START; }
 void PapbVcInterface::endPacketTransfer() { *vcBaseReg = CONFIG_END; }
 
 ReturnValue_t PapbVcInterface::pollPapbBusySignal() {
-  int papbBusyState = 0;
+  gpio::Levels papbBusyState = gpio::Levels::LOW;
   ReturnValue_t result = RETURN_OK;
 
   /** Check if PAPB interface is ready to receive data */
-  result = gpioComIF->readGpio(papbBusyId, &papbBusyState);
+  result = gpioComIF->readGpio(papbBusyId, papbBusyState);
   if (result != RETURN_OK) {
     sif::warning << "PapbVcInterface::pollPapbBusySignal: Failed to read papb busy signal"
                  << std::endl;
     return RETURN_FAILED;
   }
-  if (!papbBusyState) {
+  if (papbBusyState == gpio::Levels::LOW) {
     sif::warning << "PapbVcInterface::pollPapbBusySignal: PAPB busy" << std::endl;
     return PAPB_BUSY;
   }
@@ -62,9 +62,9 @@ ReturnValue_t PapbVcInterface::pollPapbBusySignal() {
 
 void PapbVcInterface::isVcInterfaceBufferEmpty() {
   ReturnValue_t result = RETURN_OK;
-  int papbEmptyState = 1;
+  gpio::Levels papbEmptyState = gpio::Levels::HIGH;
 
-  result = gpioComIF->readGpio(papbEmptyId, &papbEmptyState);
+  result = gpioComIF->readGpio(papbEmptyId, papbEmptyState);
 
   if (result != RETURN_OK) {
     sif::warning << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
@@ -72,7 +72,7 @@ void PapbVcInterface::isVcInterfaceBufferEmpty() {
     return;
   }
 
-  if (papbEmptyState == 1) {
+  if (papbEmptyState == gpio::Levels::HIGH) {
     sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is empty" << std::endl;
   } else {
     sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is not empty" << std::endl;
diff --git a/linux/obc/PdecHandler.cpp b/linux/obc/PdecHandler.cpp
index 48816512..4c8beeed 100644
--- a/linux/obc/PdecHandler.cpp
+++ b/linux/obc/PdecHandler.cpp
@@ -6,7 +6,6 @@
 #include <cstring>
 #include <sstream>
 
-#include "OBSWConfig.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
diff --git a/linux/utility/CMakeLists.txt b/linux/utility/CMakeLists.txt
index 56937cea..f0d4e69c 100644
--- a/linux/utility/CMakeLists.txt
+++ b/linux/utility/CMakeLists.txt
@@ -1,7 +1 @@
-target_sources(${OBSW_NAME} PUBLIC
-    utility.cpp
-)
-
-
-
-
+target_sources(${OBSW_NAME} PUBLIC utility.cpp)
diff --git a/misc/eclipse/.cproject b/misc/eclipse/.cproject
index b0f56271..d30ef1ec 100644
--- a/misc/eclipse/.cproject
+++ b/misc/eclipse/.cproject
@@ -57,7 +57,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -119,7 +119,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -143,7 +143,7 @@
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473." name="/" resourcePath="">
 						<toolChain id="cdt.managedbuild.toolchain.gnu.base.451747644" name="Linux GCC" superClass="cdt.managedbuild.toolchain.gnu.base">
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.base.1935224860" name="Debug Platform" osList="linux,hpux,aix,qnx" superClass="cdt.managedbuild.target.gnu.platform.base"/>
-							<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/build-Debug-Host}" command="cmake" id="cdt.managedbuild.target.gnu.builder.base.1977029024" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.target.gnu.builder.base"/>
+							<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/cmake-build-debug}" command="cmake" id="cdt.managedbuild.target.gnu.builder.base.1977029024" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.target.gnu.builder.base"/>
 							<tool id="cdt.managedbuild.tool.gnu.archiver.base.1958098629" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
 							<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.1405808772" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.include.paths.44677510" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
@@ -187,7 +187,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -215,10 +215,10 @@
 							<tool id="cdt.managedbuild.tool.gnu.archiver.base.977464664" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
 							<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.1522927967" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.include.paths.1753272978" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive_obsw}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.preprocessor.def.209901553" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="LINUX=1"/>
@@ -227,10 +227,10 @@
 							</tool>
 							<tool id="cdt.managedbuild.tool.gnu.c.compiler.base.623389075" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.base">
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.c.compiler.option.include.paths.407728215" name="Include paths (-I)" superClass="gnu.c.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive_obsw}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.c.compiler.option.preprocessor.def.symbols.841213070" name="Defined symbols (-D)" superClass="gnu.c.compiler.option.preprocessor.def.symbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="LINUX=1"/>
@@ -255,7 +255,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -418,7 +418,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="bsp_hosted|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -580,7 +580,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="bsp_hosted|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -589,7 +589,7 @@
 		<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689">
 			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-debug">
 				<macros>
-					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="${HOME}/Xilinx/eive-compile-rootfs"/>
+					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"/>
 					<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
 				</macros>
 				<externalSettings/>
@@ -603,7 +603,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null" parent="org.eclipse.cdt.build.core.emptycfg">
+				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689." name="/" resourcePath="">
 						<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1439714522" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1064018737" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
@@ -680,14 +680,15 @@
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other.1721137382" name="Other debugging flags" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other"/>
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.2014131279" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform.363832829" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/>
-							<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/build-Debug-Q7S}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1895725167" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
+							<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/cmake-build-debug-q7s}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1895725167" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
 							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.2035413172" name="GNU Arm Cross Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
 								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.1527860624" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths.1772224733" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s/fsfw}&quot;"/>
 								</option>
 								<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.1331264991" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
 							</tool>
@@ -699,7 +700,8 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s/fsfw}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.1143219558" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="LINUX=1"/>
@@ -713,10 +715,10 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/common/config}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s/fsfw}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.1199844227" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="LINUX=1"/>
@@ -748,7 +750,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|cmake-build-debug-q7s-em|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
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@@ -758,7 +760,7 @@
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 				<macros>
-					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_TEXT" value="${HOME}/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"/>
+					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_TEXT" value="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"/>
 					<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
 				</macros>
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@@ -849,7 +851,7 @@
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-							<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/build-Release-Q7S}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1351628857" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
+							<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/cmake-build-release-q7s}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1351628857" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
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@@ -858,6 +860,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-release-q7s}&quot;"/>
 								</option>
 								<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.2127363958" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
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@@ -868,6 +871,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-release-q7s}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.1774225921" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="LINUX=1"/>
@@ -881,6 +885,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-release-q7s}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.41651526" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="LINUX=1"/>
@@ -912,7 +917,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="cmake-build-release-q7s/_deps/etl-src/uml|cmake-build-release-q7s/_deps/etl-src/test|cmake-build-release-q7s/_deps/etl-src/temp|cmake-build-release-q7s/_deps/etl-src/support|cmake-build-release-q7s/_deps/etl-src/subprojects|cmake-build-release-q7s/_deps/etl-src/scripts|cmake-build-release-q7s/_deps/etl-src/images|cmake-build-release-q7s/_deps/etl-src/examples|cmake-build-release-q7s/_deps/etl-src/cmake|cmake-build-release-q7s/_deps/etl-src/arduino|build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|cmake-build-debug-q7s-em|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
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 				</configuration>
 			</storageModule>
@@ -1079,344 +1084,12 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
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 			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
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-					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="/home/rmueller/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"/>
-					<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
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@@ -1476,7 +1149,244 @@
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-						<entry excluding="fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
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+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
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+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.;cdt.managedbuild.tool.gnu.c.compiler.base.1946711528;cdt.managedbuild.tool.gnu.c.compiler.input.584209663">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		</scannerConfigBuildInfo>
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171.;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.2044466190;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.1551006500">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		</scannerConfigBuildInfo>
 		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.1535302916;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.96000231">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
@@ -1574,25 +1520,13 @@
 		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.364559455;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.364559455.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.1970346305;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.2096585345">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249.;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.539225324;cdt.managedbuild.tool.gnu.cpp.compiler.input.1848997248">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
 		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075.;cdt.managedbuild.tool.gnu.c.compiler.base.623389075;cdt.managedbuild.tool.gnu.c.compiler.input.1382191457">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.193772074;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.2081570054">
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.758550634;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.758550634.;cdt.managedbuild.tool.gnu.c.compiler.base.1695077973;cdt.managedbuild.tool.gnu.c.compiler.input.509259725">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.;cdt.managedbuild.tool.gnu.c.compiler.mingw.base.397223006;cdt.managedbuild.tool.gnu.c.compiler.input.1482659499">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1031020513;cdt.managedbuild.toolchain.gnu.mingw.base.1031020513.519944638;cdt.managedbuild.tool.gnu.c.compiler.mingw.base.438317679;cdt.managedbuild.tool.gnu.c.compiler.input.336445831">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1939781894;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1939781894.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.2002501811;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.1316209993">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.646655988;cdt.managedbuild.tool.gnu.cpp.compiler.input.1437856797">
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.1477130926;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.779990384">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
 		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.1595165802;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.1925043110">
diff --git a/misc/eclipse/Host/eive-linux-host-debug-cmake.launch b/misc/eclipse/host/eive-linux-host-debug-cmake.launch
similarity index 98%
rename from misc/eclipse/Host/eive-linux-host-debug-cmake.launch
rename to misc/eclipse/host/eive-linux-host-debug-cmake.launch
index d8cfc8c1..8b33d9b5 100644
--- a/misc/eclipse/Host/eive-linux-host-debug-cmake.launch
+++ b/misc/eclipse/host/eive-linux-host-debug-cmake.launch
@@ -18,7 +18,7 @@
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
     <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="build-Debug-Host/eive-obsw"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="cmake-build-debug/eive-obsw"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive-obsw"/>
     <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473"/>
diff --git a/misc/eclipse/Host/eive-linux-host-release-cmake.launch b/misc/eclipse/host/eive-linux-host-release-cmake.launch
similarity index 100%
rename from misc/eclipse/Host/eive-linux-host-release-cmake.launch
rename to misc/eclipse/host/eive-linux-host-release-cmake.launch
diff --git a/misc/eclipse/Host/eive-mingw-debug-cmake.launch b/misc/eclipse/host/eive-mingw-debug-cmake.launch
similarity index 100%
rename from misc/eclipse/Host/eive-mingw-debug-cmake.launch
rename to misc/eclipse/host/eive-mingw-debug-cmake.launch
diff --git a/misc/eclipse/Host/eive-mingw-release-cmake.launch b/misc/eclipse/host/eive-mingw-release-cmake.launch
similarity index 100%
rename from misc/eclipse/Host/eive-mingw-release-cmake.launch
rename to misc/eclipse/host/eive-mingw-release-cmake.launch
diff --git a/misc/eclipse/Host/eive-linux-host-unittest.launch b/misc/eclipse/host/eive-unittest.launch
similarity index 85%
rename from misc/eclipse/Host/eive-linux-host-unittest.launch
rename to misc/eclipse/host/eive-unittest.launch
index 68c1747f..6b2e845c 100644
--- a/misc/eclipse/Host/eive-linux-host-unittest.launch
+++ b/misc/eclipse/host/eive-unittest.launch
@@ -4,7 +4,6 @@
     <listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
     <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
     <booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
     <stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
     <booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
     <booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
@@ -18,16 +17,15 @@
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
     <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="fsfw/build-Unittest/fsfw-tests"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="cmake-build-debug/eive-unittest"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive-obsw"/>
     <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value=""/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.758550634"/>
     <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
         <listEntry value="/eive-obsw"/>
     </listAttribute>
     <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
         <listEntry value="4"/>
     </listAttribute>
-    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
     <stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
 </launchConfiguration>
diff --git a/mission/controller/CMakeLists.txt b/mission/controller/CMakeLists.txt
index 2b0bac62..9587a704 100644
--- a/mission/controller/CMakeLists.txt
+++ b/mission/controller/CMakeLists.txt
@@ -1,3 +1 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE
-	ThermalController.cpp
-)
+target_sources(${LIB_EIVE_MISSION} PRIVATE ThermalController.cpp)
diff --git a/mission/core/CMakeLists.txt b/mission/core/CMakeLists.txt
index 1fdc146e..c7be4ac9 100644
--- a/mission/core/CMakeLists.txt
+++ b/mission/core/CMakeLists.txt
@@ -1,5 +1 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE
-	GenericFactory.cpp
-)
-
-
+target_sources(${LIB_EIVE_MISSION} PRIVATE GenericFactory.cpp)
diff --git a/mission/core/GenericFactory.cpp b/mission/core/GenericFactory.cpp
index d2db67fd..b602703f 100644
--- a/mission/core/GenericFactory.cpp
+++ b/mission/core/GenericFactory.cpp
@@ -4,6 +4,7 @@
 #include <fsfw/health/HealthTable.h>
 #include <fsfw/internalerror/InternalErrorReporter.h>
 #include <fsfw/pus/CService200ModeCommanding.h>
+#include <fsfw/pus/CService201HealthCommanding.h>
 #include <fsfw/pus/Service17Test.h>
 #include <fsfw/pus/Service1TelecommandVerification.h>
 #include <fsfw/pus/Service20ParameterManagement.h>
@@ -20,6 +21,7 @@
 
 #include "OBSWConfig.h"
 #include "eive/definitions.h"
+#include "fsfw/pus/Service11TelecommandScheduling.h"
 #include "objects/systemObjectList.h"
 #include "tmtc/apid.h"
 #include "tmtc/pusIds.h"
@@ -44,10 +46,13 @@
 #define OBSW_TM_TO_PTME 0
 #endif
 
-void ObjectFactory::produceGenericObjects() {
+void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) {
   // Framework objects
   new EventManager(objects::EVENT_MANAGER);
-  new HealthTable(objects::HEALTH_TABLE);
+  auto healthTable = new HealthTable(objects::HEALTH_TABLE);
+  if (healthTable_ != nullptr) {
+    *healthTable_ = healthTable;
+  }
   new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
   new TimeStamper(objects::TIME_STAMPER);
 
@@ -69,7 +74,7 @@ void ObjectFactory::produceGenericObjects() {
     new PoolManager(objects::IPC_STORE, poolCfg);
   }
 
-  new CCSDSDistributor(apid::EIVE_OBSW, objects::CCSDS_PACKET_DISTRIBUTOR);
+  auto* ccsdsDistrib = new CCSDSDistributor(apid::EIVE_OBSW, objects::CCSDS_PACKET_DISTRIBUTOR);
   new PUSDistributor(apid::EIVE_OBSW, objects::PUS_PACKET_DISTRIBUTOR,
                      objects::CCSDS_PACKET_DISTRIBUTOR);
 
@@ -92,12 +97,16 @@ void ObjectFactory::produceGenericObjects() {
   new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT, apid::EIVE_OBSW,
                                  pus::PUS_SERVICE_8, 3, 60);
   new Service9TimeManagement(objects::PUS_SERVICE_9_TIME_MGMT, apid::EIVE_OBSW, pus::PUS_SERVICE_9);
+
+  new Service11TelecommandScheduling<common::OBSW_MAX_SCHEDULED_TCS>(
+      objects::PUS_SERVICE_11_TC_SCHEDULER, apid::EIVE_OBSW, pus::PUS_SERVICE_11, ccsdsDistrib);
   new Service17Test(objects::PUS_SERVICE_17_TEST, apid::EIVE_OBSW, pus::PUS_SERVICE_17);
   new Service20ParameterManagement(objects::PUS_SERVICE_20_PARAMETERS, apid::EIVE_OBSW,
                                    pus::PUS_SERVICE_20);
   new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, apid::EIVE_OBSW,
-                                pus::PUS_SERVICE_200, 8, config::LONGEST_MODE_TIMEOUT_SECONDS);
-
+                                pus::PUS_SERVICE_200, 8);
+  new CService201HealthCommanding(objects::PUS_SERVICE_201_HEALTH, apid::EIVE_OBSW,
+                                  pus::PUS_SERVICE_201);
 #if OBSW_ADD_TCPIP_BRIDGE == 1
 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
   auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
@@ -115,6 +124,6 @@ void ObjectFactory::produceGenericObjects() {
   tcpServer->enableWiretapping(true);
 #endif /* OBSW_TCP_SERVER_WIRETAPPING == 1 */
 #endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
-  tmtcBridge->setMaxNumberOfPacketsStored(70);
+  tmtcBridge->setMaxNumberOfPacketsStored(300);
 #endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */
 }
diff --git a/mission/core/GenericFactory.h b/mission/core/GenericFactory.h
index 1a3b1300..4bc6695d 100644
--- a/mission/core/GenericFactory.h
+++ b/mission/core/GenericFactory.h
@@ -1,9 +1,11 @@
 #ifndef MISSION_CORE_GENERICFACTORY_H_
 #define MISSION_CORE_GENERICFACTORY_H_
 
+class HealthTableIF;
+
 namespace ObjectFactory {
 
-void produceGenericObjects();
+void produceGenericObjects(HealthTableIF** healthTable = nullptr);
 
 }
 
diff --git a/mission/devices/ACUHandler.cpp b/mission/devices/ACUHandler.cpp
index f881479d..a3b5eeee 100644
--- a/mission/devices/ACUHandler.cpp
+++ b/mission/devices/ACUHandler.cpp
@@ -6,7 +6,8 @@ ACUHandler::ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCoo
                        FailureIsolationBase *customFdir)
     : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir, ACU::MAX_CONFIGTABLE_ADDRESS,
                             ACU::MAX_HKTABLE_ADDRESS, ACU::HK_TABLE_REPLY_SIZE),
-      acuHkTableDataset(this) {}
+      coreHk(this),
+      auxHk(this) {}
 
 ACUHandler::~ACUHandler() {}
 
@@ -15,243 +16,145 @@ ReturnValue_t ACUHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return buildCommandFromCommand(*id, NULL, 0);
 }
 
-void ACUHandler::fillCommandAndReplyMap() {
-  GomspaceDeviceHandler::fillCommandAndReplyMap();
-  this->insertInCommandMap(PRINT_CHANNEL_STATS);
-}
+void ACUHandler::fillCommandAndReplyMap() { GomspaceDeviceHandler::fillCommandAndReplyMap(); }
 
 void ACUHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
   parseHkTableReply(packet);
-  handleDeviceTM(&acuHkTableDataset, id, true);
-
   if (debugMode) {
 #if OBSW_VERBOSE_LEVEL >= 1
-    acuHkTableDataset.read();
-    float temperatureC_1 = acuHkTableDataset.temperature1.value * 0.1;
-    float temperatureC_2 = acuHkTableDataset.temperature2.value * 0.1;
-    float temperatureC_3 = acuHkTableDataset.temperature3.value * 0.1;
-    sif::info << "ACU: Temperature 1: " << temperatureC_1 << " °C" << std::endl;
-    sif::info << "ACU: Temperature 2: " << temperatureC_2 << " °C" << std::endl;
-    sif::info << "ACU: Temperature 3: " << temperatureC_3 << " °C" << std::endl;
-    sif::info << "ACU: Ground Watchdog Timer Count: " << acuHkTableDataset.wdtCntGnd.value
-              << std::endl;
+    PoolReadGuard pg0(&auxHk);
+    PoolReadGuard pg1(&coreHk);
+    if (pg0.getReadResult() != RETURN_OK or pg1.getReadResult() != RETURN_OK) {
+      return;
+    }
+    for (size_t idx = 0; idx < 3; idx++) {
+      float tempC = coreHk.temperatures[idx] * 0.1;
+      sif::info << "ACU: Temperature " << idx << ": " << tempC << " °C" << std::endl;
+    }
+    sif::info << "ACU: Ground Watchdog Timer Count: " << auxHk.wdtCntGnd.value << std::endl;
     sif::info << "ACU: Ground watchdog timer, seconds left before reboot: "
-              << acuHkTableDataset.wdtGndLeft.value << std::endl;
-    acuHkTableDataset.commit();
+              << auxHk.wdtGndLeft.value << std::endl;
 #endif
   }
 }
 
 LocalPoolDataSetBase *ACUHandler::getDataSetHandle(sid_t sid) {
-  if (sid == acuHkTableDataset.getSid()) {
-    return &acuHkTableDataset;
+  if (sid == coreHk.getSid()) {
+    return &coreHk;
+  } else if (sid == auxHk.getSid()) {
+    return &auxHk;
   }
   return nullptr;
 }
 
-void ACUHandler::parseHkTableReply(const uint8_t *packet) {
+ReturnValue_t ACUHandler::parseHkTableReply(const uint8_t *packet) {
   uint16_t dataOffset = 0;
-  acuHkTableDataset.read();
+  PoolReadGuard pg0(&coreHk);
+  PoolReadGuard pg1(&auxHk);
+  auto res0 = pg0.getReadResult();
+  auto res1 = pg1.getReadResult();
+  if (res0 != RETURN_OK) {
+    return res0;
+  }
+  if (res1 != RETURN_OK) {
+    return res1;
+  }
   dataOffset += 12;
-  acuHkTableDataset.currentInChannel0 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+  for (size_t idx = 0; idx < 6; idx++) {
+    coreHk.currentInChannels[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
+    dataOffset += 4;
+  }
+  for (size_t idx = 0; idx < 6; idx++) {
+    coreHk.voltageInChannels[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
+    dataOffset += 4;
+  }
+
+  coreHk.vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
   dataOffset += 4;
-  acuHkTableDataset.currentInChannel1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.currentInChannel2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.currentInChannel3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.currentInChannel4 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.currentInChannel5 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+  coreHk.vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
   dataOffset += 4;
 
-  acuHkTableDataset.voltageInChannel0 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.voltageInChannel1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.voltageInChannel2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.voltageInChannel3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.voltageInChannel4 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.voltageInChannel5 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
+  for (size_t idx = 0; idx < 3; idx++) {
+    coreHk.temperatures[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
+    dataOffset += 4;
+  }
 
-  acuHkTableDataset.vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-
-  acuHkTableDataset.temperature1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.temperature2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.temperature3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-
-  acuHkTableDataset.mpptMode = *(packet + dataOffset);
+  coreHk.mpptMode = packet[dataOffset];
   dataOffset += 3;
 
-  acuHkTableDataset.vboostInChannel0 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.vboostInChannel1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.vboostInChannel2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.vboostInChannel3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.vboostInChannel4 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.vboostInChannel5 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
+  for (size_t idx = 0; idx < 6; idx++) {
+    coreHk.vboostInChannels[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
+    dataOffset += 4;
+  }
+  for (size_t idx = 0; idx < 6; idx++) {
+    coreHk.powerInChannels[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
+    dataOffset += 4;
+  }
+  for (size_t idx = 0; idx < 3; idx++) {
+    auxHk.dacEnables[idx] = packet[dataOffset];
+    dataOffset += 3;
+  }
+  for (size_t idx = 0; idx < 6; idx++) {
+    auxHk.dacRawChannelVals[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
+    dataOffset += 4;
+  }
 
-  acuHkTableDataset.powerInChannel0 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.powerInChannel1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.powerInChannel2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.powerInChannel3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.powerInChannel4 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.powerInChannel5 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-
-  acuHkTableDataset.dac0Enable = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.dac1Enable = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.dac2Enable = *(packet + dataOffset);
-  dataOffset += 3;
-
-  acuHkTableDataset.dacRawChannelVal0 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.dacRawChannelVal1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.dacRawChannelVal2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.dacRawChannelVal3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.dacRawChannelVal4 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  acuHkTableDataset.dacRawChannelVal5 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-
-  acuHkTableDataset.bootCause = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-                                *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+  auxHk.bootCause = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+                    *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
   dataOffset += 6;
-  acuHkTableDataset.bootcnt = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-                              *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+  coreHk.bootcnt = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+                   *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
   dataOffset += 6;
-  acuHkTableDataset.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-                             *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+  coreHk.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+                  *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
   dataOffset += 6;
-  acuHkTableDataset.resetCause = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+  auxHk.resetCause = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
   dataOffset += 4;
-  acuHkTableDataset.mpptTime = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+  coreHk.mpptTime = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
   /* +12 because here starts the second csp packet */
   dataOffset += 2 + 12;
 
-  acuHkTableDataset.mpptPeriod = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+  coreHk.mpptPeriod = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
   dataOffset += 4;
 
-  acuHkTableDataset.device0 = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device1 = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device2 = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device3 = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device4 = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device5 = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device6 = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device7 = *(packet + dataOffset);
-  dataOffset += 3;
+  for (size_t idx = 0; idx < 8; idx++) {
+    auxHk.deviceTypes[idx] = packet[dataOffset];
+    dataOffset += 3;
+  }
+  for (size_t idx = 0; idx < 8; idx++) {
+    auxHk.devicesStatus[idx] = packet[dataOffset];
+    dataOffset += 3;
+  }
 
-  acuHkTableDataset.device0Status = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device1Status = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device2Status = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device3Status = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device4Status = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device5Status = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device6Status = *(packet + dataOffset);
-  dataOffset += 3;
-  acuHkTableDataset.device7Status = *(packet + dataOffset);
-  dataOffset += 3;
-
-  acuHkTableDataset.wdtCntGnd = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-                                *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+  auxHk.wdtCntGnd = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+                    *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
   dataOffset += 6;
-  acuHkTableDataset.wdtGndLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-                                 *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+  auxHk.wdtGndLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+                     *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
   dataOffset += 6;
-
-  acuHkTableDataset.commit();
+  coreHk.setValidity(true, true);
+  auxHk.setValidity(true, true);
+  return RETURN_OK;
 }
 
 ReturnValue_t ACUHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                   LocalDataPoolManager &poolManager) {
   using namespace P60System;
-  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNEL0, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNEL1, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNEL2, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNEL3, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNEL4, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNEL5, new PoolEntry<int16_t>({0}));
-
-  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNEL0, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNEL1, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNEL2, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNEL3, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNEL4, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNEL5, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNELS, new PoolEntry<int16_t>(6));
+  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNELS, new PoolEntry<uint16_t>(6));
 
   localDataPoolMap.emplace(pool::ACU_VCC, new PoolEntry<uint16_t>({0}));
   localDataPoolMap.emplace(pool::ACU_VBAT, new PoolEntry<uint16_t>({0}));
 
-  localDataPoolMap.emplace(pool::ACU_TEMPERATURE_1, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_TEMPERATURE_2, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_TEMPERATURE_3, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_TEMPERATURES, new PoolEntry<int16_t>(3));
 
   localDataPoolMap.emplace(pool::ACU_MPPT_MODE, new PoolEntry<uint8_t>({0}));
 
-  localDataPoolMap.emplace(pool::ACU_VBOOST_CHANNEL0, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_VBOOST_CHANNEL1, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_VBOOST_CHANNEL2, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_VBOOST_CHANNEL3, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_VBOOST_CHANNEL4, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_VBOOST_CHANNEL5, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_VBOOST_IN_CHANNELS, new PoolEntry<uint16_t>(6));
+  localDataPoolMap.emplace(pool::ACU_POWER_IN_CHANNELS, new PoolEntry<uint16_t>(6));
 
-  localDataPoolMap.emplace(pool::ACU_POWER_CHANNEL0, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_POWER_CHANNEL1, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_POWER_CHANNEL2, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_POWER_CHANNEL3, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_POWER_CHANNEL4, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_POWER_CHANNEL5, new PoolEntry<uint16_t>({0}));
-
-  localDataPoolMap.emplace(pool::ACU_DAC_EN_0, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DAC_EN_1, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DAC_EN_2, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(pool::ACU_DAC_RAW_0, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DAC_RAW_1, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DAC_RAW_2, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DAC_RAW_3, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DAC_RAW_4, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DAC_RAW_5, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_DAC_ENABLES, new PoolEntry<uint8_t>(3));
+  localDataPoolMap.emplace(pool::ACU_DAC_RAW_CHANNELS, new PoolEntry<uint16_t>(6));
 
   localDataPoolMap.emplace(pool::ACU_BOOTCAUSE, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(pool::ACU_BOOTCNT, new PoolEntry<uint32_t>({0}));
@@ -260,65 +163,47 @@ ReturnValue_t ACUHandler::initializeLocalDataPool(localpool::DataPool &localData
   localDataPoolMap.emplace(pool::ACU_MPPT_TIME, new PoolEntry<uint16_t>({0}));
   localDataPoolMap.emplace(pool::ACU_MPPT_PERIOD, new PoolEntry<uint16_t>({0}));
 
-  localDataPoolMap.emplace(pool::ACU_DEVICE_0, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_1, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_2, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_3, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_4, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_5, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_6, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_7, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(pool::ACU_DEVICE_0_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_1_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_2_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_3_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_4_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_5_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_6_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::ACU_DEVICE_7_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_DEVICES, new PoolEntry<uint8_t>(8));
+  localDataPoolMap.emplace(pool::ACU_DEVICES_STATUS, new PoolEntry<uint8_t>(8));
 
   localDataPoolMap.emplace(pool::ACU_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(pool::ACU_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
 
-  poolManager.subscribeForPeriodicPacket(acuHkTableDataset.getSid(), false, 30.0, false);
+  poolManager.subscribeForPeriodicPacket(coreHk.getSid(), false, 10.0, true);
+  poolManager.subscribeForPeriodicPacket(auxHk.getSid(), false, 30.0, false);
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t ACUHandler::childCommandHook(DeviceCommandId_t cmd, const uint8_t *commandData,
-                                           size_t commandDataLen) {
-  switch (cmd) {
-    case PRINT_CHANNEL_STATS: {
-      printChannelStats();
-      return RETURN_OK;
-    }
-    default: {
-      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
-    }
+void ACUHandler::printChannelStats() {
+  PoolReadGuard pg(&coreHk);
+  sif::info << "ACU Info: Current [mA], Voltage [mV]" << std::endl;
+  for (size_t idx = 0; idx < 6; idx++) {
+    sif::info << std::setw(8) << std::left << "Channel " << idx << std::dec << "| "
+              << static_cast<unsigned int>(coreHk.currentInChannels[idx]) << std::setw(15)
+              << std::right << coreHk.voltageInChannels[idx] << std::endl;
   }
 }
 
-void ACUHandler::printChannelStats() {
-  PoolReadGuard pg(&acuHkTableDataset);
-  sif::info << "ACU Info: Current [mA], Voltage [mV]" << std::endl;
-  sif::info << std::setw(8) << std::left << "Ch0" << std::dec << "| "
-            << static_cast<unsigned int>(acuHkTableDataset.currentInChannel0.value) << std::setw(15)
-            << std::right << acuHkTableDataset.voltageInChannel0.value << std::endl;
-  sif::info << std::setw(8) << std::left << "Ch1" << std::dec << "| "
-            << static_cast<unsigned int>(acuHkTableDataset.currentInChannel1.value) << std::setw(15)
-            << std::right << acuHkTableDataset.voltageInChannel1.value << std::endl;
-  sif::info << std::setw(8) << std::left << "Ch2" << std::dec << "| "
-            << static_cast<unsigned int>(acuHkTableDataset.currentInChannel2.value) << std::setw(15)
-            << std::right << acuHkTableDataset.voltageInChannel2.value << std::endl;
-  sif::info << std::setw(8) << std::left << "Ch3" << std::dec << "| "
-            << static_cast<unsigned int>(acuHkTableDataset.currentInChannel3.value) << std::setw(15)
-            << std::right << acuHkTableDataset.voltageInChannel3.value << std::endl;
-  sif::info << std::setw(8) << std::left << "Ch4" << std::dec << "| "
-            << static_cast<unsigned int>(acuHkTableDataset.currentInChannel4.value) << std::setw(15)
-            << std::right << acuHkTableDataset.voltageInChannel4.value << std::endl;
-  sif::info << std::setw(8) << std::left << "Ch5" << std::dec << "| "
-            << static_cast<unsigned int>(acuHkTableDataset.currentInChannel5.value) << std::setw(15)
-            << std::right << acuHkTableDataset.voltageInChannel5.value << std::endl;
-}
-
 void ACUHandler::setDebugMode(bool enable) { this->debugMode = enable; }
+
+ReturnValue_t ACUHandler::printStatus(DeviceCommandId_t cmd) {
+  ReturnValue_t result = RETURN_OK;
+  switch (cmd) {
+    case (GOMSPACE::PRINT_SWITCH_V_I): {
+      PoolReadGuard pg(&coreHk);
+      result = pg.getReadResult();
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+        break;
+      }
+      printChannelStats();
+      break;
+    }
+    default: {
+      return DeviceHandlerIF::COMMAND_NOT_SUPPORTED;
+    }
+  }
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "Reading PDU1 HK table failed!" << std::endl;
+  }
+  return result;
+}
diff --git a/mission/devices/ACUHandler.h b/mission/devices/ACUHandler.h
index 16a7c6db..3154e547 100644
--- a/mission/devices/ACUHandler.h
+++ b/mission/devices/ACUHandler.h
@@ -29,24 +29,22 @@ class ACUHandler : public GomspaceDeviceHandler {
    */
   virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
 
-  virtual void fillCommandAndReplyMap() override;
+  ReturnValue_t printStatus(DeviceCommandId_t cmd) override;
 
-  virtual ReturnValue_t childCommandHook(DeviceCommandId_t cmd, const uint8_t* commandData,
-                                         size_t commandDataLen) override;
+  virtual void fillCommandAndReplyMap() override;
 
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
 
  private:
-  static const DeviceCommandId_t PRINT_CHANNEL_STATS = 51;
-
-  ACU::HkTableDataset acuHkTableDataset;
+  ACU::CoreHk coreHk;
+  ACU::AuxHk auxHk;
   bool debugMode = false;
 
   /**
    * @brief   Function extracts the hk table information from the received csp packet and stores
    *          the values in the acuHkTableDataset.
    */
-  void parseHkTableReply(const uint8_t* packet);
+  ReturnValue_t parseHkTableReply(const uint8_t* packet);
 
   /**
    * @brief   Prints channel statistics (current and voltage) to console
diff --git a/mission/devices/CMakeLists.txt b/mission/devices/CMakeLists.txt
index 2919ff1f..1a9b2efd 100644
--- a/mission/devices/CMakeLists.txt
+++ b/mission/devices/CMakeLists.txt
@@ -1,21 +1,22 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE
-    GomspaceDeviceHandler.cpp
-    BpxBatteryHandler.cpp
-    Tmp1075Handler.cpp
-    PCDUHandler.cpp
-    P60DockHandler.cpp
-    PDU1Handler.cpp
-    PDU2Handler.cpp
-    ACUHandler.cpp
-    SyrlinksHkHandler.cpp
-    Max31865PT1000Handler.cpp
-    IMTQHandler.cpp
-    HeaterHandler.cpp
-    RadiationSensorHandler.cpp
-    GyroADIS1650XHandler.cpp
-    RwHandler.cpp
-    max1227.cpp
-    SusHandler.cpp
-    PayloadPcduHandler.cpp
-    SolarArrayDeploymentHandler.cpp
-)
+target_sources(
+  ${LIB_EIVE_MISSION}
+  PRIVATE GomspaceDeviceHandler.cpp
+          BpxBatteryHandler.cpp
+          Tmp1075Handler.cpp
+          PCDUHandler.cpp
+          P60DockHandler.cpp
+          PDU1Handler.cpp
+          PDU2Handler.cpp
+          ACUHandler.cpp
+          SyrlinksHkHandler.cpp
+          Max31865PT1000Handler.cpp
+          Max31865EiveHandler.cpp
+          IMTQHandler.cpp
+          HeaterHandler.cpp
+          RadiationSensorHandler.cpp
+          GyroADIS1650XHandler.cpp
+          RwHandler.cpp
+          max1227.cpp
+          SusHandler.cpp
+          PayloadPcduHandler.cpp
+          SolarArrayDeploymentHandler.cpp)
diff --git a/mission/devices/GyroADIS1650XHandler.cpp b/mission/devices/GyroADIS1650XHandler.cpp
index 3b525287..77862bfb 100644
--- a/mission/devices/GyroADIS1650XHandler.cpp
+++ b/mission/devices/GyroADIS1650XHandler.cpp
@@ -408,7 +408,7 @@ ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *
       int retval = 0;
       // Prepare transfer
       int fileDescriptor = 0;
-      std::string device = cookie->getSpiDevice();
+      std::string device = comIf->getSpiDev();
       UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
       if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
         return SpiComIF::OPENING_FILE_FAILED;
@@ -424,7 +424,8 @@ ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *
       GpioIF *gpioIF = comIf->getGpioInterface();
       MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
       uint32_t timeoutMs = 0;
-      MutexIF *mutex = comIf->getMutex(&timeoutType, &timeoutMs);
+      MutexIF *mutex = comIf->getCsMutex();
+      cookie->getMutexParams(timeoutType, timeoutMs);
       if (mutex == nullptr or gpioIF == nullptr) {
 #if OBSW_VERBOSE_LEVEL >= 1
         sif::warning << "GyroADIS16507Handler::spiSendCallback: "
diff --git a/mission/devices/HeaterHandler.cpp b/mission/devices/HeaterHandler.cpp
index 5e78bc0e..6953dc54 100644
--- a/mission/devices/HeaterHandler.cpp
+++ b/mission/devices/HeaterHandler.cpp
@@ -1,21 +1,38 @@
 #include "HeaterHandler.h"
 
+#include <fsfw/health/HealthTableIF.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw_hal/common/gpio/GpioCookie.h>
 
+#include <stdexcept>
+
 #include "devices/gpioIds.h"
 #include "devices/powerSwitcherList.h"
 
-HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_,
-                             CookieIF* gpioCookie_, object_id_t mainLineSwitcherObjectId_,
-                             uint8_t mainLineSwitch_)
+HeaterHandler::HeaterHandler(object_id_t setObjectId_, GpioIF* gpioInterface_, HeaterHelper helper,
+                             PowerSwitchIF* mainLineSwitcher_, power::Switch_t mainLineSwitch_)
     : SystemObject(setObjectId_),
-      gpioDriverId(gpioDriverId_),
-      gpioCookie(gpioCookie_),
-      mainLineSwitcherObjectId(mainLineSwitcherObjectId_),
+      helper(helper),
+      gpioInterface(gpioInterface_),
+      mainLineSwitcher(mainLineSwitcher_),
       mainLineSwitch(mainLineSwitch_),
       actionHelper(this, nullptr) {
+  for (const auto& heater : helper.heaters) {
+    if (heater.first == nullptr) {
+      throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid Heater Object");
+    }
+  }
+  if (gpioInterface_ == nullptr) {
+    throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid Gpio IF");
+  }
+  if (mainLineSwitcher == nullptr) {
+    throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid PowerSwitchIF");
+  }
+  heaterMutex = MutexFactory::instance()->createMutex();
+  if (heaterMutex == nullptr) {
+    throw std::runtime_error("HeaterHandler::HeaterHandler: Creating Mutex failed");
+  }
   auto mqArgs = MqArgs(setObjectId_, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
       cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
@@ -24,10 +41,16 @@ HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_
 HeaterHandler::~HeaterHandler() {}
 
 ReturnValue_t HeaterHandler::performOperation(uint8_t operationCode) {
-  if (operationCode == DeviceHandlerIF::PERFORM_OPERATION) {
+  try {
     readCommandQueue();
-    handleActiveCommands();
-    return RETURN_OK;
+    for (const auto& heater : helper.heaters) {
+      heater.first->performOperation(0);
+    }
+    handleSwitchHandling();
+  } catch (const std::out_of_range& e) {
+    sif::warning << "HeaterHandler::performOperation: "
+                    "Out of range error | "
+                 << e.what() << std::endl;
   }
   return RETURN_OK;
 }
@@ -43,33 +66,12 @@ ReturnValue_t HeaterHandler::initialize() {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
-  gpioInterface = ObjectManager::instance()->get<GpioIF>(gpioDriverId);
-  if (gpioInterface == nullptr) {
-    sif::error << "HeaterHandler::initialize: Invalid Gpio interface." << std::endl;
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  result = gpioInterface->addGpios(dynamic_cast<GpioCookie*>(gpioCookie));
-  if (result != RETURN_OK) {
-    sif::error << "HeaterHandler::initialize: Failed to initialize Gpio interface" << std::endl;
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
-  if (IPCStore == nullptr) {
+  ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+  if (ipcStore == nullptr) {
     sif::error << "HeaterHandler::initialize: IPC store not set up in factory." << std::endl;
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
-  if (mainLineSwitcherObjectId != objects::NO_OBJECT) {
-    mainLineSwitcher = ObjectManager::instance()->get<PowerSwitchIF>(mainLineSwitcherObjectId);
-    if (mainLineSwitcher == nullptr) {
-      sif::error << "HeaterHandler::initialize: Failed to get main line switcher. Make sure "
-                 << "main line switcher object is initialized." << std::endl;
-      return ObjectManagerIF::CHILD_INIT_FAILED;
-    }
-  }
-
   result = actionHelper.initialize(commandQueue);
   if (result != RETURN_OK) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
@@ -79,81 +81,97 @@ ReturnValue_t HeaterHandler::initialize() {
 }
 
 ReturnValue_t HeaterHandler::initializeHeaterMap() {
-  HeaterCommandInfo_t heaterCommandInfo;
-  for (switchNr_t switchNr = 0; switchNr < heaterSwitches::NUMBER_OF_SWITCHES; switchNr++) {
-    std::pair status = heaterMap.emplace(switchNr, heaterCommandInfo);
-    if (status.second == false) {
-      sif::error << "HeaterHandler::initializeHeaterMap: Failed to initialize heater map"
-                 << std::endl;
-      return RETURN_FAILED;
-    }
+  for (power::Switch_t switchNr = 0; switchNr < heater::NUMBER_OF_SWITCHES; switchNr++) {
+    heaterVec.push_back(HeaterWrapper(helper.heaters[switchNr], SwitchState::OFF));
   }
   return RETURN_OK;
 }
 
-void HeaterHandler::setInitialSwitchStates() {
-  for (switchNr_t switchNr = 0; switchNr < heaterSwitches::NUMBER_OF_SWITCHES; switchNr++) {
-    switchStates[switchNr] = OFF;
-  }
-}
-
 void HeaterHandler::readCommandQueue() {
+  ReturnValue_t result = RETURN_OK;
   CommandMessage command;
-  ReturnValue_t result = commandQueue->receiveMessage(&command);
-  if (result != RETURN_OK) {
-    return;
-  }
-
-  result = actionHelper.handleActionMessage(&command);
-  if (result == RETURN_OK) {
-    return;
-  }
+  do {
+    result = commandQueue->receiveMessage(&command);
+    if (result == MessageQueueIF::EMPTY) {
+      break;
+    } else if (result != RETURN_OK) {
+      sif::warning << "HeaterHandler::readCommandQueue: Message reception error" << std::endl;
+    }
+    result = actionHelper.handleActionMessage(&command);
+    if (result == RETURN_OK) {
+      continue;
+    }
+  } while (result == RETURN_OK);
 }
 
 ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                            const uint8_t* data, size_t size) {
-  ReturnValue_t result;
-  if (actionId != SWITCH_HEATER) {
-    result = COMMAND_NOT_SUPPORTED;
-  } else {
-    switchNr_t switchNr = *data;
-    HeaterMapIter heaterMapIter = heaterMap.find(switchNr);
-    if (heaterMapIter != heaterMap.end()) {
-      if (heaterMapIter->second.active) {
-        return COMMAND_ALREADY_WAITING;
-      }
-      heaterMapIter->second.action = *(data + 1);
-      heaterMapIter->second.active = true;
-      heaterMapIter->second.replyQueue = commandedBy;
-    } else {
-      sif::error << "HeaterHandler::executeAction: Invalid switchNr" << std::endl;
-      return INVALID_SWITCH_NR;
-    }
-    result = RETURN_OK;
+  if (data == nullptr or size < 3) {
+    return HasActionsIF::INVALID_PARAMETERS;
   }
-  return result;
+  if (actionId != SWITCH_HEATER) {
+    return COMMAND_NOT_SUPPORTED;
+  }
+  auto switchNr = data[0];
+  if (switchNr > 7) {
+    return HasActionsIF::INVALID_PARAMETERS;
+  }
+  auto& heater = heaterVec.at(switchNr);
+
+  auto actionRaw = data[1];
+  if (actionRaw != 0 and actionRaw != 1) {
+    return HasActionsIF::INVALID_PARAMETERS;
+  }
+  auto action = static_cast<SwitchAction>(data[1]);
+  // Always accepts OFF commands
+  if (action == SwitchAction::SET_SWITCH_ON) {
+    HasHealthIF::HealthState health = heater.healthDevice->getHealth();
+    if (health == HasHealthIF::FAULTY or health == HasHealthIF::PERMANENT_FAULTY or
+        health == HasHealthIF::NEEDS_RECOVERY) {
+      return HasHealthIF::OBJECT_NOT_HEALTHY;
+    }
+    CmdSourceParam cmdSource = CmdSourceParam::EXTERNAL;
+    uint8_t cmdSourceRaw = data[2];
+    if (cmdSourceRaw > 1) {
+      return HasActionsIF::INVALID_PARAMETERS;
+    }
+    cmdSource = static_cast<CmdSourceParam>(data[2]);
+    if (health == HasHealthIF::EXTERNAL_CONTROL and cmdSource == CmdSourceParam::INTERNAL) {
+      return HasHealthIF::IS_EXTERNALLY_CONTROLLED;
+    }
+  }
+
+  if (heater.cmdActive) {
+    return COMMAND_ALREADY_WAITING;
+  }
+  heater.action = action;
+  heater.cmdActive = true;
+  heater.replyQueue = commandedBy;
+  return RETURN_OK;
 }
 
 ReturnValue_t HeaterHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) {
   ReturnValue_t result;
   store_address_t storeAddress;
-  uint8_t commandData[2];
+  uint8_t commandData[3] = {};
 
   switch (onOff) {
     case PowerSwitchIF::SWITCH_ON:
       commandData[0] = switchNr;
       commandData[1] = SET_SWITCH_ON;
+      commandData[2] = CmdSourceParam::INTERNAL;
       break;
     case PowerSwitchIF::SWITCH_OFF:
       commandData[0] = switchNr;
       commandData[1] = SET_SWITCH_OFF;
+      commandData[2] = CmdSourceParam::INTERNAL;
       break;
     default:
       sif::error << "HeaterHandler::sendSwitchCommand: Invalid switch request" << std::endl;
       break;
   }
 
-  result = IPCStore->addData(&storeAddress, commandData, sizeof(commandData));
+  result = ipcStore->addData(&storeAddress, commandData, sizeof(commandData));
   if (result == RETURN_OK) {
     CommandMessage message;
     ActionMessage::setCommand(&message, SWITCH_HEATER, storeAddress);
@@ -167,16 +185,27 @@ ReturnValue_t HeaterHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t o
   return result;
 }
 
-void HeaterHandler::handleActiveCommands() {
-  HeaterMapIter heaterMapIter = heaterMap.begin();
-  for (; heaterMapIter != heaterMap.end(); heaterMapIter++) {
-    if (heaterMapIter->second.active) {
-      switch (heaterMapIter->second.action) {
+void HeaterHandler::handleSwitchHandling() {
+  for (uint8_t idx = 0; idx < heater::NUMBER_OF_SWITCHES; idx++) {
+    auto health = heaterVec[idx].healthDevice->getHealth();
+    if (heaterVec[idx].switchState == SwitchState::ON) {
+      // If a heater is still on but the device was marked faulty by the operator, the SW
+      // will shut down the heater
+      if (health == HasHealthIF::FAULTY or health == HasHealthIF::PERMANENT_FAULTY) {
+        heaterVec[idx].cmdActive = true;
+        heaterVec[idx].action = SET_SWITCH_OFF;
+        triggerEvent(FAULTY_HEATER_WAS_ON, idx, 0);
+        handleSwitchOffCommand(static_cast<heater::Switchers>(idx));
+        continue;
+      }
+    }
+    if (heaterVec[idx].cmdActive) {
+      switch (heaterVec[idx].action) {
         case SET_SWITCH_ON:
-          handleSwitchOnCommand(heaterMapIter);
+          handleSwitchOnCommand(static_cast<heater::Switchers>(idx));
           break;
         case SET_SWITCH_OFF:
-          handleSwitchOffCommand(heaterMapIter);
+          handleSwitchOffCommand(static_cast<heater::Switchers>(idx));
           break;
         default:
           sif::error << "HeaterHandler::handleActiveCommands: Invalid action commanded"
@@ -187,162 +216,139 @@ void HeaterHandler::handleActiveCommands() {
   }
 }
 
-void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
+void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
   ReturnValue_t result = RETURN_OK;
-  switchNr_t switchNr;
-
+  auto& heater = heaterVec.at(heaterIdx);
   /* Check if command waits for main switch being set on and whether the timeout has expired */
-  if (heaterMapIter->second.waitMainSwitchOn &&
-      heaterMapIter->second.mainSwitchCountdown.hasTimedOut()) {
+  if (heater.waitMainSwitchOn && heater.mainSwitchCountdown.hasTimedOut()) {
     // TODO - This requires the initiation of an FDIR procedure
     triggerEvent(MAIN_SWITCH_TIMEOUT);
     sif::error << "HeaterHandler::handleSwitchOnCommand: Main switch setting on timeout"
                << std::endl;
-    heaterMapIter->second.active = false;
-    heaterMapIter->second.waitMainSwitchOn = false;
-    if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
-      actionHelper.finish(false, heaterMapIter->second.replyQueue, heaterMapIter->second.action,
-                          MAIN_SWITCH_SET_TIMEOUT);
+    heater.cmdActive = false;
+    heater.waitMainSwitchOn = false;
+    if (heater.replyQueue != commandQueue->getId()) {
+      actionHelper.finish(false, heater.replyQueue, heater.action, MAIN_SWITCH_SET_TIMEOUT);
     }
     return;
   }
 
-  switchNr = heaterMapIter->first;
-  /* Check state of main line switch */
+  // Check state of main line switch
   ReturnValue_t mainSwitchState = mainLineSwitcher->getSwitchState(mainLineSwitch);
   if (mainSwitchState == PowerSwitchIF::SWITCH_ON) {
-    if (!checkSwitchState(switchNr)) {
-      gpioId_t gpioId = getGpioIdFromSwitchNr(switchNr);
+    if (checkSwitchState(heaterIdx) == SwitchState::OFF) {
+      gpioId_t gpioId = heater.gpioId;
       result = gpioInterface->pullHigh(gpioId);
       if (result != RETURN_OK) {
         sif::error << "HeaterHandler::handleSwitchOnCommand: Failed to pull gpio with id " << gpioId
                    << " high" << std::endl;
         triggerEvent(GPIO_PULL_HIGH_FAILED, result);
       } else {
-        switchStates[switchNr] = ON;
+        triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
+        heater.switchState = ON;
       }
     } else {
-      triggerEvent(SWITCH_ALREADY_ON, switchNr);
+      triggerEvent(SWITCH_ALREADY_ON, heaterIdx);
     }
-    /* There is no need to send action finish replies if the sender was the
-     * HeaterHandler itself. */
-    if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
+    // There is no need to send action finish replies if the sender was the
+    // HeaterHandler itself
+    if (heater.replyQueue != commandQueue->getId()) {
       if (result == RETURN_OK) {
-        actionHelper.finish(true, heaterMapIter->second.replyQueue, heaterMapIter->second.action,
-                            result);
+        actionHelper.finish(true, heater.replyQueue, heater.action, result);
       } else {
-        actionHelper.finish(false, heaterMapIter->second.replyQueue, heaterMapIter->second.action,
-                            result);
+        actionHelper.finish(false, heater.replyQueue, heater.action, result);
       }
     }
-    heaterMapIter->second.active = false;
-    heaterMapIter->second.waitMainSwitchOn = false;
-  } else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF &&
-             heaterMapIter->second.waitMainSwitchOn) {
-    /* Just waiting for the main switch being set on */
+    heater.cmdActive = false;
+    heater.waitMainSwitchOn = false;
+  } else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF && heater.waitMainSwitchOn) {
+    // Just waiting for the main switch being set on
     return;
   } else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF) {
     mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON);
-    heaterMapIter->second.mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
-    heaterMapIter->second.waitMainSwitchOn = true;
+    heater.mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
+    heater.waitMainSwitchOn = true;
   } else {
-    sif::debug << "HeaterHandler::handleActiveCommands: Failed to get state of"
+    sif::debug << "HeaterHandler::handleSwitchHandling: Failed to get state of"
                << " main line switch" << std::endl;
-    if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
-      actionHelper.finish(false, heaterMapIter->second.replyQueue, heaterMapIter->second.action,
-                          mainSwitchState);
+    if (heater.replyQueue != commandQueue->getId()) {
+      actionHelper.finish(false, heater.replyQueue, heater.action, mainSwitchState);
     }
-    heaterMapIter->second.active = false;
+    heater.cmdActive = false;
   }
 }
 
-void HeaterHandler::handleSwitchOffCommand(HeaterMapIter heaterMapIter) {
+void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
   ReturnValue_t result = RETURN_OK;
-  switchNr_t switchNr = heaterMapIter->first;
-  /* Check whether switch is already off */
-  if (checkSwitchState(switchNr)) {
-    gpioId_t gpioId = getGpioIdFromSwitchNr(switchNr);
+  auto& heater = heaterVec.at(heaterIdx);
+  // Check whether switch is already off
+  if (checkSwitchState(heaterIdx)) {
+    gpioId_t gpioId = heater.gpioId;
     result = gpioInterface->pullLow(gpioId);
     if (result != RETURN_OK) {
       sif::error << "HeaterHandler::handleSwitchOffCommand: Failed to pull gpio with id" << gpioId
                  << " low" << std::endl;
       triggerEvent(GPIO_PULL_LOW_FAILED, result);
     } else {
-      switchStates[switchNr] = OFF;
-      /* When all switches are off, also main line switch will be turned off */
+      auto result = heaterMutex->lockMutex();
+      heater.switchState = OFF;
+      if (result == HasReturnvaluesIF::RETURN_OK) {
+        heaterMutex->unlockMutex();
+      }
+      triggerEvent(HEATER_WENT_OFF, heaterIdx, 0);
+      // When all switches are off, also main line switch will be turned off
       if (allSwitchesOff()) {
         mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
       }
     }
   } else {
     sif::info << "HeaterHandler::handleSwitchOffCommand: Switch already off" << std::endl;
-    triggerEvent(SWITCH_ALREADY_OFF, switchNr);
+    triggerEvent(SWITCH_ALREADY_OFF, heaterIdx);
   }
-  if (heaterMapIter->second.replyQueue != NO_COMMANDER) {
-    /* Report back switch command reply if necessary */
+  if (heater.replyQueue != NO_COMMANDER) {
+    // Report back switch command reply if necessary
     if (result == HasReturnvaluesIF::RETURN_OK) {
-      actionHelper.finish(true, heaterMapIter->second.replyQueue, heaterMapIter->second.action,
-                          result);
+      actionHelper.finish(true, heater.replyQueue, heater.action, result);
     } else {
-      actionHelper.finish(false, heaterMapIter->second.replyQueue, heaterMapIter->second.action,
-                          result);
+      actionHelper.finish(false, heater.replyQueue, heater.action, result);
     }
   }
-  heaterMapIter->second.active = false;
+  heater.cmdActive = false;
 }
 
-bool HeaterHandler::checkSwitchState(int switchNr) { return switchStates[switchNr]; }
+HeaterHandler::SwitchState HeaterHandler::checkSwitchState(heater::Switchers switchNr) const {
+  MutexGuard mg(heaterMutex);
+  return heaterVec.at(switchNr).switchState;
+}
 
 bool HeaterHandler::allSwitchesOff() {
   bool allSwitchesOrd = false;
+  MutexGuard mg(heaterMutex);
   /* Or all switches. As soon one switch is on, allSwitchesOrd will be true */
-  for (switchNr_t switchNr = 0; switchNr < heaterSwitches::NUMBER_OF_SWITCHES; switchNr++) {
-    allSwitchesOrd = allSwitchesOrd || switchStates[switchNr];
+  for (power::Switch_t switchNr = 0; switchNr < heater::NUMBER_OF_SWITCHES; switchNr++) {
+    allSwitchesOrd = allSwitchesOrd || heaterVec.at(switchNr).switchState;
   }
   return !allSwitchesOrd;
 }
 
-gpioId_t HeaterHandler::getGpioIdFromSwitchNr(int switchNr) {
-  gpioId_t gpioId = 0xFFFF;
-  switch (switchNr) {
-    case heaterSwitches::HEATER_0:
-      gpioId = gpioIds::HEATER_0;
-      break;
-    case heaterSwitches::HEATER_1:
-      gpioId = gpioIds::HEATER_1;
-      break;
-    case heaterSwitches::HEATER_2:
-      gpioId = gpioIds::HEATER_2;
-      break;
-    case heaterSwitches::HEATER_3:
-      gpioId = gpioIds::HEATER_3;
-      break;
-    case heaterSwitches::HEATER_4:
-      gpioId = gpioIds::HEATER_4;
-      break;
-    case heaterSwitches::HEATER_5:
-      gpioId = gpioIds::HEATER_5;
-      break;
-    case heaterSwitches::HEATER_6:
-      gpioId = gpioIds::HEATER_6;
-      break;
-    case heaterSwitches::HEATER_7:
-      gpioId = gpioIds::HEATER_7;
-      break;
-    default:
-      sif::error << "HeaterHandler::getGpioIdFromSwitchNr: Unknown heater switch number"
-                 << std::endl;
-      break;
-  }
-  return gpioId;
-}
-
 MessageQueueId_t HeaterHandler::getCommandQueue() const { return commandQueue->getId(); }
 
 ReturnValue_t HeaterHandler::sendFuseOnCommand(uint8_t fuseNr) { return RETURN_OK; }
 
-ReturnValue_t HeaterHandler::getSwitchState(uint8_t switchNr) const { return 0; }
+ReturnValue_t HeaterHandler::getSwitchState(uint8_t switchNr) const {
+  ReturnValue_t mainSwitchState = mainLineSwitcher->getSwitchState(mainLineSwitch);
+  if (mainSwitchState == PowerSwitchIF::SWITCH_OFF) {
+    return PowerSwitchIF::SWITCH_OFF;
+  }
+  if (switchNr > 7) {
+    return PowerSwitchIF::RETURN_FAILED;
+  }
+  if (checkSwitchState(static_cast<heater::Switchers>(switchNr)) == SwitchState::ON) {
+    return PowerSwitchIF::SWITCH_ON;
+  }
+  return PowerSwitchIF::SWITCH_OFF;
+}
 
 ReturnValue_t HeaterHandler::getFuseState(uint8_t fuseNr) const { return 0; }
 
-uint32_t HeaterHandler::getSwitchDelayMs(void) const { return 0; }
+uint32_t HeaterHandler::getSwitchDelayMs(void) const { return 2000; }
diff --git a/mission/devices/HeaterHandler.h b/mission/devices/HeaterHandler.h
index 18b821ec..85583591 100644
--- a/mission/devices/HeaterHandler.h
+++ b/mission/devices/HeaterHandler.h
@@ -4,6 +4,9 @@
 #include <fsfw/action/HasActionsIF.h>
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/devicehandlers/HealthDevice.h>
+#include <fsfw/health/HasHealthIF.h>
+#include <fsfw/health/HealthHelper.h>
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/power/PowerSwitchIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
@@ -11,10 +14,20 @@
 #include <fsfw/timemanager/Countdown.h>
 #include <fsfw_hal/common/gpio/GpioIF.h>
 
-#include <unordered_map>
+#include <vector>
 
 #include "devices/heaterSwitcherList.h"
 
+class PowerSwitchIF;
+class HealthTableIF;
+
+using HeaterPair = std::pair<HealthDevice*, gpioId_t>;
+
+struct HeaterHelper {
+ public:
+  HeaterHelper(std::array<HeaterPair, heater::NUMBER_OF_SWITCHES> heaters) : heaters(heaters) {}
+  std::array<HeaterPair, heater::NUMBER_OF_SWITCHES> heaters = {};
+};
 /**
  * @brief	This class intends the control of heaters.
  *
@@ -33,42 +46,49 @@ class HeaterHandler : public ExecutableObjectIF,
   static const ReturnValue_t MAIN_SWITCH_SET_TIMEOUT = MAKE_RETURN_CODE(0xA4);
   static const ReturnValue_t COMMAND_ALREADY_WAITING = MAKE_RETURN_CODE(0xA5);
 
+  enum CmdSourceParam : uint8_t { INTERNAL = 0, EXTERNAL = 1 };
+
   /** Device command IDs */
   static const DeviceCommandId_t SWITCH_HEATER = 0x0;
 
-  HeaterHandler(object_id_t setObjectId, object_id_t gpioDriverId, CookieIF* gpioCookie,
-                object_id_t mainLineSwitcherObjectId, uint8_t mainLineSwitch);
+  HeaterHandler(object_id_t setObjectId, GpioIF* gpioInterface_, HeaterHelper helper,
+                PowerSwitchIF* mainLineSwitcherObjectId, power::Switch_t mainLineSwitch);
 
   virtual ~HeaterHandler();
 
-  virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
-  virtual ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
-  virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
+  ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
+  ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
   /**
    * @brief	This function will be called from the Heater object to check
    * 			the current switch state.
    */
-  virtual ReturnValue_t getSwitchState(uint8_t switchNr) const override;
-  virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override;
-  virtual uint32_t getSwitchDelayMs(void) const override;
+  ReturnValue_t getSwitchState(uint8_t switchNr) const override;
+  ReturnValue_t getFuseState(uint8_t fuseNr) const override;
+  uint32_t getSwitchDelayMs(void) const override;
 
-  virtual MessageQueueId_t getCommandQueue() const override;
-  virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                      const uint8_t* data, size_t size) override;
-  virtual ReturnValue_t initialize() override;
+  MessageQueueId_t getCommandQueue() const override;
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size) override;
+  ReturnValue_t initialize() override;
 
  private:
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HEATER_HANDLER;
-  static const Event GPIO_PULL_HIGH_FAILED = MAKE_EVENT(0, severity::LOW);
-  static const Event GPIO_PULL_LOW_FAILED = MAKE_EVENT(1, severity::LOW);
-  static const Event SWITCH_ALREADY_ON = MAKE_EVENT(2, severity::LOW);
-  static const Event SWITCH_ALREADY_OFF = MAKE_EVENT(3, severity::LOW);
-  static const Event MAIN_SWITCH_TIMEOUT = MAKE_EVENT(4, severity::LOW);
+  static constexpr Event GPIO_PULL_HIGH_FAILED = MAKE_EVENT(0, severity::LOW);
+  static constexpr Event GPIO_PULL_LOW_FAILED = MAKE_EVENT(1, severity::LOW);
+  static constexpr Event HEATER_WENT_ON = event::makeEvent(SUBSYSTEM_ID, 2, severity::INFO);
+  static constexpr Event HEATER_WENT_OFF = event::makeEvent(SUBSYSTEM_ID, 3, severity::INFO);
+  static constexpr Event SWITCH_ALREADY_ON = MAKE_EVENT(4, severity::LOW);
+  static constexpr Event SWITCH_ALREADY_OFF = MAKE_EVENT(5, severity::LOW);
+  static constexpr Event MAIN_SWITCH_TIMEOUT = MAKE_EVENT(6, severity::MEDIUM);
+  //! A faulty heater was one. The SW will autonomously attempt to shut it down. P1: Heater Index
+  static constexpr Event FAULTY_HEATER_WAS_ON = event::makeEvent(SUBSYSTEM_ID, 7, severity::LOW);
 
   static const MessageQueueId_t NO_COMMANDER = 0;
 
   enum SwitchState : bool { ON = true, OFF = false };
+  enum SwitchAction : uint8_t { SET_SWITCH_OFF, SET_SWITCH_ON, NONE };
 
   /**
    * @brief   Struct holding information about a heater command to execute.
@@ -80,54 +100,46 @@ class HeaterHandler : public ExecutableObjectIF,
    * @param waitSwitchOn  True if the command is waiting for the main switch being set on.
    * @param mainSwitchCountdown   Sets timeout to wait for main switch being set on.
    */
-  typedef struct HeaterCommandInfo {
-    uint8_t action;
-    MessageQueueId_t replyQueue;
-    bool active = false;
+  struct HeaterWrapper {
+    HeaterWrapper(HeaterPair pair, SwitchState initState)
+        : healthDevice(pair.first), gpioId(pair.second), switchState(initState) {}
+    HealthDevice* healthDevice = nullptr;
+    gpioId_t gpioId = gpio::NO_GPIO;
+    SwitchAction action = SwitchAction::NONE;
+    MessageQueueId_t replyQueue = MessageQueueIF::NO_QUEUE;
+    bool cmdActive = false;
+    SwitchState switchState = SwitchState::OFF;
     bool waitMainSwitchOn = false;
     Countdown mainSwitchCountdown;
-  } HeaterCommandInfo_t;
+  };
 
-  enum SwitchAction { SET_SWITCH_OFF, SET_SWITCH_ON };
+  using HeaterMap = std::vector<HeaterWrapper>;
 
-  using switchNr_t = uint8_t;
-  using HeaterMap = std::unordered_map<switchNr_t, HeaterCommandInfo_t>;
-  using HeaterMapIter = HeaterMap::iterator;
+  HeaterMap heaterVec = {};
 
-  HeaterMap heaterMap;
+  MutexIF* heaterMutex = nullptr;
 
-  bool switchStates[heaterSwitches::NUMBER_OF_SWITCHES];
+  HeaterHelper helper;
 
   /** Size of command queue */
   size_t cmdQueueSize = 20;
 
-  /**
-   * The object ID of the GPIO driver which enables and disables the
-   * heaters.
-   */
-  object_id_t gpioDriverId;
-
-  CookieIF* gpioCookie;
-
   GpioIF* gpioInterface = nullptr;
 
   /** Queue to receive messages from other objects. */
   MessageQueueIF* commandQueue = nullptr;
 
-  object_id_t mainLineSwitcherObjectId;
-
-  /** Switch number of the heater power supply switch */
-  uint8_t mainLineSwitch;
-
   /**
    * Power switcher object which controls the 8V main line of the heater
    * logic on the TCS board.
    */
   PowerSwitchIF* mainLineSwitcher = nullptr;
+  /** Switch number of the heater power supply switch */
+  power::Switch_t mainLineSwitch;
 
   ActionHelper actionHelper;
 
-  StorageManagerIF* IPCStore = nullptr;
+  StorageManagerIF* ipcStore = nullptr;
 
   void readCommandQueue();
 
@@ -135,18 +147,12 @@ class HeaterHandler : public ExecutableObjectIF,
    * @brief   Returns the state of a switch (ON - true, or OFF - false).
    * @param switchNr  The number of the switch to check.
    */
-  bool checkSwitchState(int switchNr);
-
-  /**
-   * @brief   Returns the ID of the GPIO related to a heater identified by the switch number
-   *          which is defined in the heaterSwitches list.
-   */
-  gpioId_t getGpioIdFromSwitchNr(int switchNr);
+  SwitchState checkSwitchState(heater::Switchers switchNr) const;
 
   /**
    * @brief	This function runs commands waiting for execution.
    */
-  void handleActiveCommands();
+  void handleSwitchHandling();
 
   ReturnValue_t initializeHeaterMap();
 
@@ -155,9 +161,9 @@ class HeaterHandler : public ExecutableObjectIF,
    */
   void setInitialSwitchStates();
 
-  void handleSwitchOnCommand(HeaterMapIter heaterMapIter);
+  void handleSwitchOnCommand(heater::Switchers heaterIdx);
 
-  void handleSwitchOffCommand(HeaterMapIter heaterMapIter);
+  void handleSwitchOffCommand(heater::Switchers heaterIdx);
 
   /**
    * @brief   Checks if all switches are off.
diff --git a/mission/devices/IMTQHandler.cpp b/mission/devices/IMTQHandler.cpp
index 403adece..049d5b15 100644
--- a/mission/devices/IMTQHandler.cpp
+++ b/mission/devices/IMTQHandler.cpp
@@ -63,7 +63,9 @@ ReturnValue_t IMTQHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
   return buildCommandFromCommand(*id, NULL, 0);
 }
 
-ReturnValue_t IMTQHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) { return RETURN_OK; }
+ReturnValue_t IMTQHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  return NOTHING_TO_SEND;
+}
 
 ReturnValue_t IMTQHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                    const uint8_t* commandData,
@@ -606,6 +608,7 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat
 
   poolManager.subscribeForPeriodicPacket(engHkDataset.getSid(), false, 10.0, true);
   poolManager.subscribeForPeriodicPacket(calMtmMeasurementSet.getSid(), false, 10.0, true);
+  poolManager.subscribeForPeriodicPacket(rawMtmMeasurementSet.getSid(), false, 10.0, true);
   return HasReturnvaluesIF::RETURN_OK;
 }
 
diff --git a/mission/devices/IMTQHandler.h b/mission/devices/IMTQHandler.h
index 03c044cb..1cd5d0f4 100644
--- a/mission/devices/IMTQHandler.h
+++ b/mission/devices/IMTQHandler.h
@@ -99,6 +99,8 @@ class IMTQHandler : public DeviceHandlerBase {
   IMTQ::PosZSelfTestSet posZselfTestDataset;
   IMTQ::NegZSelfTestSet negZselfTestDataset;
 
+  power::Switch_t switcher = power::NO_SWITCH;
+
   uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE];
   bool goToNormalMode = false;
   bool debugMode = false;
@@ -116,7 +118,6 @@ class IMTQHandler : public DeviceHandlerBase {
 
   StartupStep startupStep = StartupStep::COMMAND_SELF_TEST;
 
-  power::Switch_t switcher = power::NO_SWITCH;
   bool selfTestPerformed = false;
 
   /**
diff --git a/mission/devices/Max31865EiveHandler.cpp b/mission/devices/Max31865EiveHandler.cpp
new file mode 100644
index 00000000..a77bbd51
--- /dev/null
+++ b/mission/devices/Max31865EiveHandler.cpp
@@ -0,0 +1,183 @@
+#include "Max31865EiveHandler.h"
+
+Max31865EiveHandler::Max31865EiveHandler(object_id_t objectId, object_id_t comIF,
+                                         CookieIF* comCookie)
+    : DeviceHandlerBase(objectId, comIF, comCookie, nullptr),
+      sensorDataset(this, EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
+      debugDivider(5) {
+  structLen = exchangeStruct.getSerializedSize();
+}
+
+void Max31865EiveHandler::doStartUp() {
+  updatePeriodicReply(true, EiveMax31855::RtdCommands::EXCHANGE_SET_ID);
+  if (state == InternalState::NONE or state == InternalState::INACTIVE) {
+    if (instantNormal) {
+      state = InternalState::ACTIVE;
+    } else {
+      state = InternalState::ON;
+    }
+    transitionOk = false;
+  }
+  if ((state == InternalState::ON or state == InternalState::ACTIVE) and transitionOk) {
+    if (instantNormal) {
+      setMode(MODE_NORMAL);
+    } else {
+      setMode(MODE_ON);
+    }
+  }
+}
+
+void Max31865EiveHandler::doShutDown() {
+  updatePeriodicReply(false, EiveMax31855::RtdCommands::EXCHANGE_SET_ID);
+  if (state == InternalState::NONE or state == InternalState::ACTIVE or
+      state == InternalState::ON) {
+    state = InternalState::INACTIVE;
+    transitionOk = false;
+  } else {
+    transitionOk = true;
+  }
+  if (state == InternalState::INACTIVE and transitionOk) {
+    setMode(_MODE_POWER_DOWN);
+  }
+}
+
+ReturnValue_t Max31865EiveHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+  //*id = EiveMax31855::RtdCommands::EXCHANGE_SET_ID;
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t Max31865EiveHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  ReturnValue_t result = NOTHING_TO_SEND;
+  if (state == InternalState::ON) {
+    *id = EiveMax31855::RtdCommands::ON;
+    result = buildCommandFromCommand(*id, nullptr, 0);
+  }
+  if (state == InternalState::ACTIVE) {
+    *id = EiveMax31855::RtdCommands::ACTIVE;
+    result = buildCommandFromCommand(*id, nullptr, 0);
+  }
+  if (state == InternalState::INACTIVE) {
+    *id = EiveMax31855::RtdCommands::OFF;
+    result = buildCommandFromCommand(*id, nullptr, 0);
+  }
+  return result;
+}
+
+ReturnValue_t Max31865EiveHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                           const uint8_t* commandData,
+                                                           size_t commandDataLen) {
+  auto cmdTyped = static_cast<EiveMax31855::RtdCommands>(deviceCommand);
+  switch (cmdTyped) {
+    case (EiveMax31855::RtdCommands::ON):
+    case (EiveMax31855::RtdCommands::ACTIVE):
+    case (EiveMax31855::RtdCommands::OFF): {
+      simpleCommand(cmdTyped);
+      break;
+    }
+    case (EiveMax31855::RtdCommands::LOW_THRESHOLD):
+    case (EiveMax31855::RtdCommands::HIGH_TRESHOLD): {
+      break;
+    }
+    case (EiveMax31855::RtdCommands::CFG): {
+      break;
+    }
+    default:
+      return NOTHING_TO_SEND;
+  }
+  return RETURN_OK;
+}
+
+void Max31865EiveHandler::setInstantNormal(bool instantNormal) {
+  this->instantNormal = instantNormal;
+}
+
+void Max31865EiveHandler::setDebugMode(bool enable, uint32_t divider) {
+  this->debugMode = enable;
+  debugDivider.setDivider(divider);
+}
+
+void Max31865EiveHandler::simpleCommand(EiveMax31855::RtdCommands cmd) {
+  cmdBuf[0] = static_cast<uint8_t>(cmd);
+  rawPacket = cmdBuf.data();
+  rawPacketLen = 1;
+}
+void Max31865EiveHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
+  if (mode == _MODE_TO_NORMAL) {
+    if (state != InternalState::ACTIVE) {
+      state = InternalState::ACTIVE;
+      transitionOk = false;
+    } else if (transitionOk) {
+      setMode(MODE_NORMAL);
+    }
+  } else {
+    DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
+  }
+}
+
+void Max31865EiveHandler::fillCommandAndReplyMap() {
+  insertInCommandMap(EiveMax31855::RtdCommands::ON);
+  insertInCommandMap(EiveMax31855::RtdCommands::ACTIVE);
+  insertInCommandMap(EiveMax31855::RtdCommands::OFF);
+  insertInReplyMap(EiveMax31855::RtdCommands::EXCHANGE_SET_ID, 200, &sensorDataset, 0, true);
+}
+
+ReturnValue_t Max31865EiveHandler::scanForReply(const uint8_t* start, size_t remainingSize,
+                                                DeviceCommandId_t* foundId, size_t* foundLen) {
+  if (mode == _MODE_POWER_ON or mode == _MODE_WAIT_ON) {
+    return IGNORE_FULL_PACKET;
+  }
+  if (remainingSize != structLen) {
+    sif::error << "Invalid reply from RTD reader detected, reply size " << remainingSize
+               << " not equal to exchange struct size " << structLen << std::endl;
+    return DeviceHandlerIF::INVALID_DATA;
+  }
+  *foundId = EiveMax31855::RtdCommands::EXCHANGE_SET_ID;
+  *foundLen = remainingSize;
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865EiveHandler::interpretDeviceReply(DeviceCommandId_t id,
+                                                        const uint8_t* packet) {
+  size_t deserTmp = structLen;
+  auto result = exchangeStruct.deSerialize(&packet, &deserTmp, SerializeIF::Endianness::MACHINE);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  if (mode == _MODE_TO_NORMAL and exchangeStruct.active and state == InternalState::ACTIVE) {
+    transitionOk = true;
+  }
+  if (mode == _MODE_START_UP and exchangeStruct.configured and state == InternalState::ON) {
+    transitionOk = true;
+  }
+  // Calculate resistance
+  float rtdValue = exchangeStruct.adcCode * EiveMax31855::RTD_RREF_PT1000 / INT16_MAX;
+  // calculate approximation
+  float approxTemp = exchangeStruct.adcCode / 32.0 - 256.0;
+
+  if (debugMode) {
+    if (debugDivider.checkAndIncrement()) {
+      sif::info << "Max31865: " << std::setw(20) << std::left << locString << std::right
+                << " | R[Ohm] " << rtdValue << " Ohms | Approx T[C]: " << approxTemp << std::endl;
+    }
+  }
+  return RETURN_OK;
+}
+
+uint32_t Max31865EiveHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 2000; }
+
+ReturnValue_t Max31865EiveHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                                           LocalDataPoolManager& poolManager) {
+  using namespace MAX31865;
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::RTD_VALUE), new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::TEMPERATURE_C), new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::FAULT_BYTE), new PoolEntry<uint8_t>({0}));
+  poolManager.subscribeForPeriodicPacket(sensorDataset.getSid(), false, 30.0, false);
+  return RETURN_OK;
+}
+
+void Max31865EiveHandler::setDeviceInfo(uint8_t idx_, std::string location_) {
+  idx = idx_;
+  locString = std::move(location_);
+}
+
+ReturnValue_t Max31865EiveHandler::initialize() { return DeviceHandlerBase::initialize(); }
diff --git a/mission/devices/Max31865EiveHandler.h b/mission/devices/Max31865EiveHandler.h
new file mode 100644
index 00000000..121929e7
--- /dev/null
+++ b/mission/devices/Max31865EiveHandler.h
@@ -0,0 +1,47 @@
+#ifndef MISSION_DEVICES_MAX31865EIVEHANDLER_H_
+#define MISSION_DEVICES_MAX31865EIVEHANDLER_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
+
+#include "devicedefinitions/Max31865Definitions.h"
+
+class Max31865EiveHandler : public DeviceHandlerBase {
+ public:
+  Max31865EiveHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
+  void setInstantNormal(bool instantNormal);
+  void setDebugMode(bool enable, uint32_t divider);
+  void setDeviceInfo(uint8_t idx, std::string location);
+
+ private:
+  void doStartUp() override;
+  void doShutDown() override;
+  void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
+  void fillCommandAndReplyMap() override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
+                             size_t* foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                        LocalDataPoolManager& poolManager) override;
+  ReturnValue_t initialize() override;
+
+  void simpleCommand(EiveMax31855::RtdCommands cmd);
+  std::array<uint8_t, 12> cmdBuf = {};
+  uint8_t idx = 0;
+  std::string locString = "Unknown";
+  EiveMax31855::ReadOutStruct exchangeStruct;
+  bool debugMode = false;
+  size_t structLen = 0;
+  bool instantNormal = false;
+  MAX31865::Max31865Set sensorDataset;
+  PeriodicOperationDivider debugDivider;
+  enum class InternalState { NONE, ON, ACTIVE, INACTIVE } state = InternalState::NONE;
+  bool transitionOk = false;
+};
+
+#endif /* MISSION_DEVICES_MAX31865EIVEHANDLER_H_ */
diff --git a/mission/devices/Max31865PT1000Handler.cpp b/mission/devices/Max31865PT1000Handler.cpp
index 580c8637..354fe1c5 100644
--- a/mission/devices/Max31865PT1000Handler.cpp
+++ b/mission/devices/Max31865PT1000Handler.cpp
@@ -8,7 +8,7 @@
 Max31865PT1000Handler::Max31865PT1000Handler(object_id_t objectId, object_id_t comIF,
                                              CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comIF, comCookie),
-      sensorDataset(this),
+      sensorDataset(this, MAX31865::REQUEST_RTD),
       sensorDatasetSid(sensorDataset.getSid()) {
 #if OBSW_VERBOSE_LEVEL >= 1
   debugDivider = new PeriodicOperationDivider(10);
@@ -93,13 +93,13 @@ void Max31865PT1000Handler::doShutDown() {
 
 ReturnValue_t Max31865PT1000Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   if (internalState == InternalState::RUNNING) {
-    *id = Max31865Definitions::REQUEST_RTD;
+    *id = MAX31865::REQUEST_RTD;
     return buildCommandFromCommand(*id, nullptr, 0);
   } else if (internalState == InternalState::REQUEST_FAULT_BYTE) {
-    *id = Max31865Definitions::REQUEST_FAULT_BYTE;
+    *id = MAX31865::REQUEST_FAULT_BYTE;
     return buildCommandFromCommand(*id, nullptr, 0);
   } else if (internalState == InternalState::CLEAR_FAULT_BYTE) {
-    *id = Max31865Definitions::CLEAR_FAULT_BYTE;
+    *id = MAX31865::CLEAR_FAULT_BYTE;
     return buildCommandFromCommand(*id, nullptr, 0);
   } else {
     return DeviceHandlerBase::NOTHING_TO_SEND;
@@ -113,32 +113,32 @@ ReturnValue_t Max31865PT1000Handler::buildTransitionDeviceCommand(DeviceCommandI
     case (InternalState::RUNNING):
       return DeviceHandlerBase::NOTHING_TO_SEND;
     case (InternalState::CONFIGURE): {
-      *id = Max31865Definitions::CONFIG_CMD;
+      *id = MAX31865::CONFIG_CMD;
       uint8_t config[1] = {DEFAULT_CONFIG};
       return buildCommandFromCommand(*id, config, 1);
     }
     case (InternalState::REQUEST_CONFIG): {
-      *id = Max31865Definitions::REQUEST_CONFIG;
+      *id = MAX31865::REQUEST_CONFIG;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
     case (InternalState::CONFIG_HIGH_THRESHOLD): {
-      *id = Max31865Definitions::WRITE_HIGH_THRESHOLD;
+      *id = MAX31865::WRITE_HIGH_THRESHOLD;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
     case (InternalState::REQUEST_HIGH_THRESHOLD): {
-      *id = Max31865Definitions::REQUEST_HIGH_THRESHOLD;
+      *id = MAX31865::REQUEST_HIGH_THRESHOLD;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
     case (InternalState::CONFIG_LOW_THRESHOLD): {
-      *id = Max31865Definitions::WRITE_LOW_THRESHOLD;
+      *id = MAX31865::WRITE_LOW_THRESHOLD;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
     case (InternalState::REQUEST_LOW_THRESHOLD): {
-      *id = Max31865Definitions::REQUEST_LOW_THRESHOLD;
+      *id = MAX31865::REQUEST_LOW_THRESHOLD;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
     case (InternalState::CLEAR_FAULT_BYTE): {
-      *id = Max31865Definitions::CLEAR_FAULT_BYTE;
+      *id = MAX31865::CLEAR_FAULT_BYTE;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
 
@@ -156,10 +156,11 @@ ReturnValue_t Max31865PT1000Handler::buildCommandFromCommand(DeviceCommandId_t d
                                                              const uint8_t *commandData,
                                                              size_t commandDataLen) {
   switch (deviceCommand) {
-    case (Max31865Definitions::CONFIG_CMD): {
-      commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::CONFIG_CMD);
+    case (MAX31865::CONFIG_CMD): {
+      commandBuffer[0] = static_cast<uint8_t>(MAX31865::CONFIG_CMD);
       if (commandDataLen == 1) {
         commandBuffer[1] = commandData[0];
+        currentCfg = commandData[0];
         DeviceHandlerBase::rawPacketLen = 2;
         DeviceHandlerBase::rawPacket = commandBuffer.data();
         return HasReturnvaluesIF::RETURN_OK;
@@ -167,54 +168,54 @@ ReturnValue_t Max31865PT1000Handler::buildCommandFromCommand(DeviceCommandId_t d
         return DeviceHandlerIF::NO_COMMAND_DATA;
       }
     }
-    case (Max31865Definitions::CLEAR_FAULT_BYTE): {
-      commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::CONFIG_CMD);
-      commandBuffer[1] = Max31865Definitions::CLEAR_FAULT_BIT_VAL;
+    case (MAX31865::CLEAR_FAULT_BYTE): {
+      commandBuffer[0] = static_cast<uint8_t>(MAX31865::CONFIG_CMD);
+      commandBuffer[1] = currentCfg | MAX31865::CLEAR_FAULT_BIT_VAL;
       DeviceHandlerBase::rawPacketLen = 2;
       DeviceHandlerBase::rawPacket = commandBuffer.data();
       return HasReturnvaluesIF::RETURN_OK;
     }
-    case (Max31865Definitions::REQUEST_CONFIG): {
-      commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::REQUEST_CONFIG);
+    case (MAX31865::REQUEST_CONFIG): {
+      commandBuffer[0] = static_cast<uint8_t>(MAX31865::REQUEST_CONFIG);
       commandBuffer[1] = 0x00;  // dummy byte
       DeviceHandlerBase::rawPacketLen = 2;
       DeviceHandlerBase::rawPacket = commandBuffer.data();
       return HasReturnvaluesIF::RETURN_OK;
     }
-    case (Max31865Definitions::WRITE_HIGH_THRESHOLD): {
-      commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::WRITE_HIGH_THRESHOLD);
+    case (MAX31865::WRITE_HIGH_THRESHOLD): {
+      commandBuffer[0] = static_cast<uint8_t>(MAX31865::WRITE_HIGH_THRESHOLD);
       commandBuffer[1] = static_cast<uint8_t>(HIGH_THRESHOLD >> 8);
       commandBuffer[2] = static_cast<uint8_t>(HIGH_THRESHOLD & 0xFF);
       DeviceHandlerBase::rawPacketLen = 3;
       DeviceHandlerBase::rawPacket = commandBuffer.data();
       return HasReturnvaluesIF::RETURN_OK;
     }
-    case (Max31865Definitions::REQUEST_HIGH_THRESHOLD): {
-      commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::REQUEST_HIGH_THRESHOLD);
+    case (MAX31865::REQUEST_HIGH_THRESHOLD): {
+      commandBuffer[0] = static_cast<uint8_t>(MAX31865::REQUEST_HIGH_THRESHOLD);
       commandBuffer[1] = 0x00;  // dummy byte
       commandBuffer[2] = 0x00;  // dummy byte
       DeviceHandlerBase::rawPacketLen = 3;
       DeviceHandlerBase::rawPacket = commandBuffer.data();
       return HasReturnvaluesIF::RETURN_OK;
     }
-    case (Max31865Definitions::WRITE_LOW_THRESHOLD): {
-      commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::WRITE_LOW_THRESHOLD);
+    case (MAX31865::WRITE_LOW_THRESHOLD): {
+      commandBuffer[0] = static_cast<uint8_t>(MAX31865::WRITE_LOW_THRESHOLD);
       commandBuffer[1] = static_cast<uint8_t>(LOW_THRESHOLD >> 8);
       commandBuffer[2] = static_cast<uint8_t>(LOW_THRESHOLD & 0xFF);
       DeviceHandlerBase::rawPacketLen = 3;
       DeviceHandlerBase::rawPacket = commandBuffer.data();
       return HasReturnvaluesIF::RETURN_OK;
     }
-    case (Max31865Definitions::REQUEST_LOW_THRESHOLD): {
-      commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::REQUEST_LOW_THRESHOLD);
+    case (MAX31865::REQUEST_LOW_THRESHOLD): {
+      commandBuffer[0] = static_cast<uint8_t>(MAX31865::REQUEST_LOW_THRESHOLD);
       commandBuffer[1] = 0x00;  // dummy byte
       commandBuffer[2] = 0x00;  // dummy byte
       DeviceHandlerBase::rawPacketLen = 3;
       DeviceHandlerBase::rawPacket = commandBuffer.data();
       return HasReturnvaluesIF::RETURN_OK;
     }
-    case (Max31865Definitions::REQUEST_RTD): {
-      commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::REQUEST_RTD);
+    case (MAX31865::REQUEST_RTD): {
+      commandBuffer[0] = static_cast<uint8_t>(MAX31865::REQUEST_RTD);
       // two dummy bytes
       commandBuffer[1] = 0x00;
       commandBuffer[2] = 0x00;
@@ -222,8 +223,8 @@ ReturnValue_t Max31865PT1000Handler::buildCommandFromCommand(DeviceCommandId_t d
       DeviceHandlerBase::rawPacket = commandBuffer.data();
       return HasReturnvaluesIF::RETURN_OK;
     }
-    case (Max31865Definitions::REQUEST_FAULT_BYTE): {
-      commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::REQUEST_FAULT_BYTE);
+    case (MAX31865::REQUEST_FAULT_BYTE): {
+      commandBuffer[0] = static_cast<uint8_t>(MAX31865::REQUEST_FAULT_BYTE);
       commandBuffer[1] = 0x00;
       DeviceHandlerBase::rawPacketLen = 2;
       DeviceHandlerBase::rawPacket = commandBuffer.data();
@@ -236,15 +237,15 @@ ReturnValue_t Max31865PT1000Handler::buildCommandFromCommand(DeviceCommandId_t d
 }
 
 void Max31865PT1000Handler::fillCommandAndReplyMap() {
-  insertInCommandAndReplyMap(Max31865Definitions::CONFIG_CMD, 3);
-  insertInCommandAndReplyMap(Max31865Definitions::REQUEST_CONFIG, 3);
-  insertInCommandAndReplyMap(Max31865Definitions::WRITE_LOW_THRESHOLD, 3);
-  insertInCommandAndReplyMap(Max31865Definitions::REQUEST_LOW_THRESHOLD, 3);
-  insertInCommandAndReplyMap(Max31865Definitions::WRITE_HIGH_THRESHOLD, 3);
-  insertInCommandAndReplyMap(Max31865Definitions::REQUEST_HIGH_THRESHOLD, 3);
-  insertInCommandAndReplyMap(Max31865Definitions::REQUEST_RTD, 3, &sensorDataset);
-  insertInCommandAndReplyMap(Max31865Definitions::REQUEST_FAULT_BYTE, 3);
-  insertInCommandAndReplyMap(Max31865Definitions::CLEAR_FAULT_BYTE, 3);
+  insertInCommandAndReplyMap(MAX31865::CONFIG_CMD, 3);
+  insertInCommandAndReplyMap(MAX31865::REQUEST_CONFIG, 3);
+  insertInCommandAndReplyMap(MAX31865::WRITE_LOW_THRESHOLD, 3);
+  insertInCommandAndReplyMap(MAX31865::REQUEST_LOW_THRESHOLD, 3);
+  insertInCommandAndReplyMap(MAX31865::WRITE_HIGH_THRESHOLD, 3);
+  insertInCommandAndReplyMap(MAX31865::REQUEST_HIGH_THRESHOLD, 3);
+  insertInCommandAndReplyMap(MAX31865::REQUEST_RTD, 3, &sensorDataset);
+  insertInCommandAndReplyMap(MAX31865::REQUEST_FAULT_BYTE, 3);
+  insertInCommandAndReplyMap(MAX31865::CLEAR_FAULT_BYTE, 3);
 }
 
 ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start, size_t remainingSize,
@@ -253,7 +254,7 @@ ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start, size_t r
   size_t configReplySize = 2;
 
   if (remainingSize == rtdReplySize and internalState == InternalState::RUNNING) {
-    *foundId = Max31865Definitions::REQUEST_RTD;
+    *foundId = MAX31865::REQUEST_RTD;
     *foundLen = rtdReplySize;
     return RETURN_OK;
   }
@@ -262,24 +263,24 @@ ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start, size_t r
     switch (internalState) {
       case (InternalState::CONFIG_HIGH_THRESHOLD): {
         *foundLen = 3;
-        *foundId = Max31865Definitions::WRITE_HIGH_THRESHOLD;
+        *foundId = MAX31865::WRITE_HIGH_THRESHOLD;
         commandExecuted = true;
         return RETURN_OK;
       }
       case (InternalState::REQUEST_HIGH_THRESHOLD): {
         *foundLen = 3;
-        *foundId = Max31865Definitions::REQUEST_HIGH_THRESHOLD;
+        *foundId = MAX31865::REQUEST_HIGH_THRESHOLD;
         return RETURN_OK;
       }
       case (InternalState::CONFIG_LOW_THRESHOLD): {
         *foundLen = 3;
-        *foundId = Max31865Definitions::WRITE_LOW_THRESHOLD;
+        *foundId = MAX31865::WRITE_LOW_THRESHOLD;
         commandExecuted = true;
         return RETURN_OK;
       }
       case (InternalState::REQUEST_LOW_THRESHOLD): {
         *foundLen = 3;
-        *foundId = Max31865Definitions::REQUEST_LOW_THRESHOLD;
+        *foundId = MAX31865::REQUEST_LOW_THRESHOLD;
         return RETURN_OK;
       }
       default: {
@@ -293,13 +294,13 @@ ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start, size_t r
     if (internalState == InternalState::CONFIGURE) {
       commandExecuted = true;
       *foundLen = configReplySize;
-      *foundId = Max31865Definitions::CONFIG_CMD;
+      *foundId = MAX31865::CONFIG_CMD;
     } else if (internalState == InternalState::REQUEST_FAULT_BYTE) {
-      *foundId = Max31865Definitions::REQUEST_FAULT_BYTE;
+      *foundId = MAX31865::REQUEST_FAULT_BYTE;
       *foundLen = 2;
       internalState = InternalState::RUNNING;
     } else if (internalState == InternalState::CLEAR_FAULT_BYTE) {
-      *foundId = Max31865Definitions::CLEAR_FAULT_BYTE;
+      *foundId = MAX31865::CLEAR_FAULT_BYTE;
       *foundLen = 2;
       if (mode == _MODE_START_UP) {
         commandExecuted = true;
@@ -307,7 +308,7 @@ ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start, size_t r
         internalState = InternalState::RUNNING;
       }
     } else {
-      *foundId = Max31865Definitions::REQUEST_CONFIG;
+      *foundId = MAX31865::REQUEST_CONFIG;
       *foundLen = configReplySize;
     }
   }
@@ -318,7 +319,7 @@ ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start, size_t r
 ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
                                                           const uint8_t *packet) {
   switch (id) {
-    case (Max31865Definitions::REQUEST_CONFIG): {
+    case (MAX31865::REQUEST_CONFIG): {
       if (packet[1] != DEFAULT_CONFIG) {
         if (warningSwitch) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -342,7 +343,7 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
       }
       break;
     }
-    case (Max31865Definitions::REQUEST_LOW_THRESHOLD): {
+    case (MAX31865::REQUEST_LOW_THRESHOLD): {
       uint16_t readLowThreshold = packet[1] << 8 | packet[2];
       if (readLowThreshold != LOW_THRESHOLD) {
 #if FSFW_VERBOSE_LEVEL >= 1
@@ -360,8 +361,8 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
       commandExecuted = true;
       break;
     }
-    case (Max31865Definitions::REQUEST_HIGH_THRESHOLD): {
-      uint16_t readHighThreshold = packet[1] << 8 | packet[2];
+    case (MAX31865::REQUEST_HIGH_THRESHOLD): {
+      uint16_t readHighThreshold = (packet[1] << 8) | packet[2];
       if (readHighThreshold != HIGH_THRESHOLD) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -378,13 +379,13 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
       commandExecuted = true;
       break;
     }
-    case (Max31865Definitions::REQUEST_RTD): {
+    case (MAX31865::REQUEST_RTD): {
       // first bit of LSB reply byte is the fault bit
-      uint8_t faultBit = packet[2] & 0b0000'0001;
+      bool faultBit = packet[2] & 0b0000'0001;
       if (resetFaultBit) {
         internalState = InternalState::CLEAR_FAULT_BYTE;
         resetFaultBit = false;
-      } else if (faultBit == 1) {
+      } else if (shouldFaultStatusBeRequested(faultBit)) {
         // Maybe we should attempt to restart it?
         internalState = InternalState::REQUEST_FAULT_BYTE;
         resetFaultBit = true;
@@ -393,9 +394,8 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
       // RTD value consists of last seven bits of the LSB reply byte and
       // the MSB reply byte
       uint16_t adcCode = ((packet[1] << 8) | packet[2]) >> 1;
-      // do something with rtd value, will propably be stored in
-      // dataset.
-      float rtdValue = adcCode * RTD_RREF_PT1000 / INT16_MAX;
+      // Calculate resistance
+      float rtdValue = adcCode * EiveMax31855::RTD_RREF_PT1000 / INT16_MAX;
       // calculate approximation
       float approxTemp = adcCode / 32.0 - 256.0;
 
@@ -403,9 +403,9 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
 #if OBSW_VERBOSE_LEVEL >= 1
         if (debugDivider->checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::info << "Max31865: ObjID " << std::hex << this->getObjectId() << " | RTD "
-                    << std::dec << static_cast<int>(deviceIdx) << ": R[Ohm] " << rtdValue
-                    << " Ohms | Approx T[C]: " << approxTemp << std::endl;
+          sif::info << "Max31865: " << std::setw(24) << std::left << locString << std::right
+                    << " | R[Ohm] " << rtdValue << " Ohms | Approx T[C]: " << approxTemp
+                    << std::endl;
 #else
           sif::printInfo("Max31685: Measured resistance is %f Ohms\n", rtdValue);
           sif::printInfo("Approximated temperature is %f C\n", approxTemp);
@@ -438,58 +438,57 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
       sensorDataset.temperatureCelcius = approxTemp;
       break;
     }
-    case (Max31865Definitions::REQUEST_FAULT_BYTE): {
-      faultByte = packet[1];
+    case (MAX31865::REQUEST_FAULT_BYTE): {
+      currentFaultStatus = packet[1];
+      bool faultStatusChanged = (currentFaultStatus != lastFaultStatus);
+      // Spam protection
+      if (faultStatusChanged or
+          ((currentFaultStatus == lastFaultStatus) and (sameFaultStatusCounter < 3))) {
+        // TODO: Think about triggering an event here
 #if OBSW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "Max31865PT1000Handler::interpretDeviceReply: Object ID: " << std::hex
-                   << this->getObjectId()
-                   << ": Fault byte"
-                      " is: 0b"
-                   << std::bitset<8>(faultByte) << std::endl;
+        sif::warning << "Max31865PT1000Handler::interpretDeviceReply: Object ID: " << std::hex
+                     << this->getObjectId() << ": Fault byte is: 0b"
+                     << std::bitset<8>(currentFaultStatus) << std::endl;
 #else
-      sif::printWarning(
-          "Max31865PT1000Handler::interpretDeviceReply: Fault byte"
-          " is: 0b" BYTE_TO_BINARY_PATTERN "\n",
-          BYTE_TO_BINARY(faultByte));
+        sif::printWarning(
+            "Max31865PT1000Handler::interpretDeviceReply: Fault byte"
+            " is: 0b" BYTE_TO_BINARY_PATTERN "\n",
+            BYTE_TO_BINARY(faultByte));
 #endif
 #endif
-      ReturnValue_t result = sensorDataset.read();
+        if (faultStatusChanged) {
+          sameFaultStatusCounter = 0;
+        } else {
+          sameFaultStatusCounter++;
+        }
+      }
+      if (faultStatusChanged) {
+        lastFaultStatus = currentFaultStatus;
+      }
+
+      PoolReadGuard pg(&sensorDataset);
+      auto result = pg.getReadResult();
       if (result != HasReturnvaluesIF::RETURN_OK) {
         // Configuration error
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::debug << "Max31865PT1000Handler::interpretDeviceReply: Object ID: " << std::hex
-                   << this->getObjectId()
-                   << ":"
-                      "Error reading dataset!"
-                   << std::endl;
+        sif::warning << "Max31865PT1000Handler::interpretDeviceReply: Object ID: " << std::hex
+                     << this->getObjectId() << ": Error reading dataset" << std::endl;
 #else
-        sif::printDebug(
-            "Max31865PT1000Handler::interpretDeviceReply: "
-            "Error reading dataset!\n");
+        sif::printWarning("Max31865PT1000Handler::interpretDeviceReply: Error reading dataset\n");
 #endif
         return result;
       }
+      if (faultStatusChanged) {
+        sensorDataset.lastErrorByte.setValid(true);
+        sensorDataset.lastErrorByte = lastFaultStatus;
+      }
       sensorDataset.errorByte.setValid(true);
-      sensorDataset.errorByte = faultByte;
-      if (faultByte != 0) {
+      sensorDataset.errorByte = currentFaultStatus;
+
+      if (currentFaultStatus != 0) {
         sensorDataset.temperatureCelcius.setValid(false);
       }
-
-      result = sensorDataset.commit();
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-        // Configuration error
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::debug << "Max31865PT1000Handler::interpretDeviceReply: Object ID: " << std::hex
-                   << this->getObjectId() << ": Error commiting dataset!" << std::endl;
-#else
-        sif::printDebug(
-            "Max31865PT1000Handler::interpretDeviceReply: "
-            "Error commiting dataset!\n");
-#endif
-        return result;
-      }
-
       break;
     }
     default:
@@ -498,11 +497,8 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-void Max31865PT1000Handler::debugInterface(uint8_t positionTracker, object_id_t objectId,
-                                           uint32_t parameter) {}
-
 uint32_t Max31865PT1000Handler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
-  return 25000;
+  return 5000;
 }
 
 ReturnValue_t Max31865PT1000Handler::getSwitches(const uint8_t **switches,
@@ -512,10 +508,12 @@ ReturnValue_t Max31865PT1000Handler::getSwitches(const uint8_t **switches,
 
 ReturnValue_t Max31865PT1000Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                              LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(Max31865Definitions::PoolIds::RTD_VALUE, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(Max31865Definitions::PoolIds::TEMPERATURE_C,
-                           new PoolEntry<float>({0}, 1, true));
-  localDataPoolMap.emplace(Max31865Definitions::PoolIds::FAULT_BYTE, new PoolEntry<uint8_t>({0}));
+  using namespace MAX31865;
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::RTD_VALUE), new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::TEMPERATURE_C), new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::LAST_FAULT_BYTE),
+                           new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::FAULT_BYTE), new PoolEntry<uint8_t>({0}));
   poolManager.subscribeForPeriodicPacket(sensorDataset.getSid(), false, 30.0, false);
   return HasReturnvaluesIF::RETURN_OK;
 }
@@ -526,10 +524,23 @@ void Max31865PT1000Handler::setInstantNormal(bool instantNormal) {
 
 void Max31865PT1000Handler::modeChanged() {
   if (mode == MODE_OFF) {
+    lastFaultStatus = 0;
+    currentFaultStatus = 0;
+    sameFaultStatusCounter = 0;
     internalState = InternalState::NONE;
   }
 }
 
-void Max31865PT1000Handler::setDeviceIdx(uint8_t idx) { deviceIdx = idx; }
+void Max31865PT1000Handler::setDeviceInfo(uint8_t idx, std::string locString_) {
+  deviceIdx = idx;
+  locString = std::move(locString_);
+}
 
 void Max31865PT1000Handler::setDebugMode(bool enable) { this->debugMode = enable; }
+
+bool Max31865PT1000Handler::shouldFaultStatusBeRequested(bool faultBit) {
+  if ((sameFaultStatusCounter < 3) and faultBit) {
+    return true;
+  }
+  return false;
+}
diff --git a/mission/devices/Max31865PT1000Handler.h b/mission/devices/Max31865PT1000Handler.h
index 4f617b9d..6b136f13 100644
--- a/mission/devices/Max31865PT1000Handler.h
+++ b/mission/devices/Max31865PT1000Handler.h
@@ -48,7 +48,7 @@ class Max31865PT1000Handler : public DeviceHandlerBase {
   static constexpr uint8_t DEFAULT_CONFIG = 0b11000001;
 
   void setInstantNormal(bool instantNormal);
-  void setDeviceIdx(uint8_t idx);
+  void setDeviceInfo(uint8_t idx, std::string locString);
 
   /**
    * Expected temperature range is -100 C and 100 C.
@@ -61,7 +61,6 @@ class Max31865PT1000Handler : public DeviceHandlerBase {
   static constexpr uint16_t HIGH_THRESHOLD = 11298;  // = 100 C
   static constexpr uint16_t LOW_THRESHOLD = 4902;    // = -100 C
 
-  static constexpr float RTD_RREF_PT1000 = 4020.0;         //!< Ohm
   static constexpr float RTD_RESISTANCE0_PT1000 = 1000.0;  //!< Ohm
  protected:
   // DeviceHandlerBase abstract function implementation
@@ -77,12 +76,10 @@ class Max31865PT1000Handler : public DeviceHandlerBase {
   ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) override;
-
-  void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
-                      uint32_t parameter = 0) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                         LocalDataPoolManager &poolManager) override;
   void modeChanged() override;
+  bool shouldFaultStatusBeRequested(bool faultBit);
 
  private:
   uint8_t switchId = 0;
@@ -109,11 +106,15 @@ class Max31865PT1000Handler : public DeviceHandlerBase {
 
   bool resetFaultBit = false;
   dur_millis_t startTime = 0;
-  uint8_t faultByte = 0;
+  uint8_t currentCfg = 0;
+  uint8_t currentFaultStatus = 0;
+  uint8_t lastFaultStatus = 0;
+  uint16_t sameFaultStatusCounter = 0;
+  std::string locString;
   uint8_t deviceIdx = 0;
   std::array<uint8_t, 3> commandBuffer{0};
 
-  Max31865Definitions::Max31865Set sensorDataset;
+  MAX31865::Max31865Set sensorDataset;
   sid_t sensorDatasetSid;
 
 #if OBSW_VERBOSE_LEVEL >= 1
diff --git a/mission/devices/P60DockHandler.cpp b/mission/devices/P60DockHandler.cpp
index f1df649d..25fb238f 100644
--- a/mission/devices/P60DockHandler.cpp
+++ b/mission/devices/P60DockHandler.cpp
@@ -251,7 +251,7 @@ ReturnValue_t P60DockHandler::printStatus(DeviceCommandId_t cmd) {
       return HasReturnvaluesIF::RETURN_OK;
     }
     default: {
-      return HasReturnvaluesIF::RETURN_FAILED;
+      return DeviceHandlerIF::COMMAND_NOT_SUPPORTED;
     }
   }
   sif::warning << "Reading P60 Dock HK table failed" << std::endl;
diff --git a/mission/devices/PDU1Handler.cpp b/mission/devices/PDU1Handler.cpp
index 44f8fb04..fca0fbeb 100644
--- a/mission/devices/PDU1Handler.cpp
+++ b/mission/devices/PDU1Handler.cpp
@@ -122,7 +122,7 @@ ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
       break;
     }
     default: {
-      return HasReturnvaluesIF::RETURN_FAILED;
+      return DeviceHandlerIF::COMMAND_NOT_SUPPORTED;
     }
   }
   if (result != HasReturnvaluesIF::RETURN_OK) {
diff --git a/mission/devices/PDU2Handler.cpp b/mission/devices/PDU2Handler.cpp
index 1476f95d..d0cef3f5 100644
--- a/mission/devices/PDU2Handler.cpp
+++ b/mission/devices/PDU2Handler.cpp
@@ -76,7 +76,7 @@ ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
       break;
     }
     default: {
-      return HasReturnvaluesIF::RETURN_FAILED;
+      return DeviceHandlerIF::COMMAND_NOT_SUPPORTED;
     }
   }
   if (result != HasReturnvaluesIF::RETURN_OK) {
diff --git a/mission/devices/PayloadPcduHandler.cpp b/mission/devices/PayloadPcduHandler.cpp
index 28ce0772..3e18a94e 100644
--- a/mission/devices/PayloadPcduHandler.cpp
+++ b/mission/devices/PayloadPcduHandler.cpp
@@ -490,10 +490,9 @@ void PayloadPcduHandler::checkAdcValues() {
 
 void PayloadPcduHandler::checkJsonFileInit() {
   if (not jsonFileInitComplete) {
-    sd::SdCard prefSd;
-    sdcMan->getPreferredSdCard(prefSd);
-    if (sdcMan->isSdCardMounted(prefSd)) {
-      params.initialize(sdcMan->getCurrentMountPrefix(prefSd));
+    sd::SdCard activeSd = sdcMan->getActiveSdCard();
+    if (sdcMan->isSdCardMounted(activeSd)) {
+      params.initialize(sdcMan->getCurrentMountPrefix());
       jsonFileInitComplete = true;
     }
   }
@@ -697,8 +696,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   int retval = 0;
   // Prepare transfer
   int fileDescriptor = 0;
-  std::string device = cookie->getSpiDevice();
-  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
+  UnixFileGuard fileHelper(comIf->getSpiDev(), &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
   if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
     return SpiComIF::OPENING_FILE_FAILED;
   }
@@ -717,7 +715,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   GpioIF* gpioIF = comIf->getGpioInterface();
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 0;
-  MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
+  MutexIF* mutex = comIf->getCsMutex();
   if (mutex == nullptr or gpioIF == nullptr) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::warning << "GyroADIS16507Handler::spiSendCallback: "
@@ -728,6 +726,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   }
 
   if (gpioId != gpio::NO_GPIO) {
+    cookie->getMutexParams(timeoutType, timeoutMs);
     result = mutex->lockMutex(timeoutType, timeoutMs);
     if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
diff --git a/mission/devices/RadiationSensorHandler.cpp b/mission/devices/RadiationSensorHandler.cpp
index b3a9954a..f2694476 100644
--- a/mission/devices/RadiationSensorHandler.cpp
+++ b/mission/devices/RadiationSensorHandler.cpp
@@ -158,18 +158,18 @@ ReturnValue_t RadiationSensorHandler::interpretDeviceReply(DeviceCommandId_t id,
       int16_t tempRaw = ((packet[offset] & 0x0f) << 8) | packet[offset + 1];
       dataset.temperatureCelcius = tempRaw * 0.125;
       offset += 2;
-      dataset.ain0 = (*(packet + offset) << 8 | *(packet + offset + 1));
+      dataset.ain0 = (*(packet + offset) << 8) | *(packet + offset + 1);
       offset += 2;
-      dataset.ain1 = (*(packet + offset) << 8 | *(packet + offset + 1));
+      dataset.ain1 = (*(packet + offset) << 8) | *(packet + offset + 1);
       offset += 6;
-      dataset.ain4 = (*(packet + offset) << 8 | *(packet + offset + 1));
+      dataset.ain4 = (*(packet + offset) << 8) | *(packet + offset + 1);
       offset += 2;
-      dataset.ain5 = (*(packet + offset) << 8 | *(packet + offset + 1));
+      dataset.ain5 = (*(packet + offset) << 8) | *(packet + offset + 1);
       offset += 2;
-      dataset.ain6 = (*(packet + offset) << 8 | *(packet + offset + 1));
+      dataset.ain6 = (*(packet + offset) << 8) | *(packet + offset + 1);
       offset += 2;
-      dataset.ain7 = (*(packet + offset) << 8 | *(packet + offset + 1));
-
+      dataset.ain7 = (*(packet + offset) << 8) | *(packet + offset + 1);
+      dataset.setValidity(true, true);
       if (printPeriodicData) {
         sif::info << "Radiation sensor temperature: " << dataset.temperatureCelcius << " °C"
                   << std::dec << std::endl;
diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp
index 9ceeab79..fd3462ec 100644
--- a/mission/devices/RwHandler.cpp
+++ b/mission/devices/RwHandler.cpp
@@ -2,22 +2,22 @@
 
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/globalfunctions/CRC.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
 
 #include "OBSWConfig.h"
 
 RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                     LinuxLibgpioIF* gpioComIF, gpioId_t enableGpio)
+                     GpioIF* gpioComIF, gpioId_t enableGpio)
     : DeviceHandlerBase(objectId, comIF, comCookie),
       gpioComIF(gpioComIF),
       enableGpio(enableGpio),
-      temperatureSet(this),
       statusSet(this),
       lastResetStatusSet(this),
       tmDataset(this) {
-  if (comCookie == NULL) {
+  if (comCookie == nullptr) {
     sif::error << "RwHandler: Invalid com cookie" << std::endl;
   }
-  if (gpioComIF == NULL) {
+  if (gpioComIF == nullptr) {
     sif::error << "RwHandler: Invalid gpio communication interface" << std::endl;
   }
 }
@@ -46,11 +46,6 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
       *id = RwDefinitions::GET_LAST_RESET_STATUS;
       internalState = InternalState::READ_TEMPERATURE;
       break;
-    case InternalState::CLEAR_RESET_STATUS:
-      *id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
-      /** After reset status is cleared, reset status will be polled again for verification */
-      internalState = InternalState::GET_RESET_STATUS;
-      break;
     case InternalState::READ_TEMPERATURE:
       *id = RwDefinitions::GET_TEMPERATURE;
       internalState = InternalState::GET_RW_SATUS;
@@ -59,6 +54,11 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
       *id = RwDefinitions::GET_RW_STATUS;
       internalState = InternalState::GET_RESET_STATUS;
       break;
+    case InternalState::CLEAR_RESET_STATUS:
+      *id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
+      /** After reset status is cleared, reset status will be polled again for verification */
+      internalState = InternalState::GET_RESET_STATUS;
+      break;
     default:
       sif::debug << "RwHandler::buildNormalDeviceCommand: Invalid internal step" << std::endl;
       break;
@@ -133,7 +133,7 @@ void RwHandler::fillCommandAndReplyMap() {
                                    RwDefinitions::SIZE_GET_RW_STATUS);
   this->insertInCommandAndReplyMap(RwDefinitions::INIT_RW_CONTROLLER, 1, nullptr,
                                    RwDefinitions::SIZE_INIT_RW);
-  this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, &temperatureSet,
+  this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, nullptr,
                                    RwDefinitions::SIZE_GET_TEMPERATURE_REPLY);
   this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr,
                                    RwDefinitions::SIZE_SET_SPEED_REPLY);
@@ -239,8 +239,6 @@ ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_
   return RETURN_OK;
 }
 
-void RwHandler::setNormalDatapoolEntriesInvalid() {}
-
 uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }
 
 ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -279,7 +277,6 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
   localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(RwDefinitions::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(RwDefinitions::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
-  poolManager.subscribeForPeriodicPacket(temperatureSet.getSid(), false, 30.0, false);
   poolManager.subscribeForPeriodicPacket(statusSet.getSid(), false, 5.0, true);
   poolManager.subscribeForPeriodicPacket(tmDataset.getSid(), false, 30.0, false);
   return RETURN_OK;
@@ -335,16 +332,18 @@ void RwHandler::prepareSetSpeedCmd(const uint8_t* commandData, size_t commandDat
 void RwHandler::handleResetStatusReply(const uint8_t* packet) {
   PoolReadGuard rg(&lastResetStatusSet);
   uint8_t offset = 2;
-  uint8_t resetStatus = *(packet + offset);
-  if (resetStatus != RwDefinitions::CLEARED) {
+  uint8_t resetStatus = packet[offset];
+  if (resetStatus != 0) {
     internalState = InternalState::CLEAR_RESET_STATUS;
-    lastResetStatusSet.lastResetStatus = resetStatus;
+    lastResetStatusSet.lastNonClearedResetStatus = resetStatus;
+    triggerEvent(RwDefinitions::RESET_OCCURED, resetStatus, 0);
   }
   lastResetStatusSet.currentResetStatus = resetStatus;
   if (debugMode) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "RwHandler::handleResetStatusReply: Last reset status: "
-              << static_cast<unsigned int>(lastResetStatusSet.lastResetStatus.value) << std::endl;
+              << static_cast<unsigned int>(lastResetStatusSet.lastNonClearedResetStatus.value)
+              << std::endl;
     sif::info << "RwHandler::handleResetStatusReply: Current reset status: "
               << static_cast<unsigned int>(lastResetStatusSet.currentResetStatus.value)
               << std::endl;
@@ -353,24 +352,33 @@ void RwHandler::handleResetStatusReply(const uint8_t* packet) {
 }
 
 void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
-  PoolReadGuard rg(&statusSet);
+  PoolReadGuard rg0(&statusSet);
+  PoolReadGuard rg1(&tmDataset);
   uint8_t offset = 2;
   statusSet.currSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                         *(packet + offset + 1) << 8 | *(packet + offset);
+  tmDataset.rwCurrSpeed = statusSet.currSpeed;
+  tmDataset.rwCurrSpeed.setValid(true);
   offset += 4;
   statusSet.referenceSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                              *(packet + offset + 1) << 8 | *(packet + offset);
+  tmDataset.rwRefSpeed = statusSet.referenceSpeed;
+  tmDataset.rwRefSpeed.setValid(true);
   offset += 4;
   statusSet.state = *(packet + offset);
+  tmDataset.rwState = statusSet.state;
+  tmDataset.rwState.setValid(true);
   offset += 1;
   statusSet.clcMode = *(packet + offset);
+  tmDataset.rwClcMode = statusSet.clcMode;
+  tmDataset.rwClcMode.setValid(true);
+
+  statusSet.setValidity(true, true);
 
   if (statusSet.state == RwDefinitions::STATE_ERROR) {
-    /**
-     * This requires the commanding of the init reaction wheel controller command to recover
-     * form error state which must be handled by the FDIR instance.
-     */
-    triggerEvent(ERROR_STATE);
+    // This requires the commanding of the init reaction wheel controller command to recover
+    // from error state which must be handled by the FDIR instance.
+    triggerEvent(RwDefinitions::ERROR_STATE, statusSet.state.value, 0);
     sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state" << std::endl;
   }
 
@@ -389,14 +397,14 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
 }
 
 void RwHandler::handleTemperatureReply(const uint8_t* packet) {
-  PoolReadGuard rg(&temperatureSet);
+  PoolReadGuard rg(&statusSet);
   uint8_t offset = 2;
-  temperatureSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
-                                      *(packet + offset + 1) << 8 | *(packet + offset);
+  statusSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
+                                 *(packet + offset + 1) << 8 | *(packet + offset);
   if (debugMode) {
 #if OBSW_VERBOSE_LEVEL >= 1
-    sif::info << "RwHandler::handleTemperatureReply: Temperature: "
-              << temperatureSet.temperatureCelcius << " °C" << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: Temperature: " << statusSet.temperatureCelcius
+              << " °C" << std::endl;
 #endif
   }
 }
diff --git a/mission/devices/RwHandler.h b/mission/devices/RwHandler.h
index 425753db..ed5e957c 100644
--- a/mission/devices/RwHandler.h
+++ b/mission/devices/RwHandler.h
@@ -2,10 +2,12 @@
 #define MISSION_DEVICES_RWHANDLER_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
+#include <fsfw_hal/common/gpio/gpioDefinitions.h>
 #include <mission/devices/devicedefinitions/RwDefinitions.h>
 #include <string.h>
 
+class GpioIF;
+
 /**
  * @brief	This is the device handler for the reaction wheel from nano avionics.
  *
@@ -28,7 +30,7 @@ class RwHandler : public DeviceHandlerBase {
    * @param enablePin 	GPIO connected to the enable pin of the reaction wheels. Must be pulled
    * 						to high to enable the device.
    */
-  RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, LinuxLibgpioIF* gpioComIF,
+  RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, GpioIF* gpioComIF,
             gpioId_t enableGpio);
 
   void setDebugMode(bool enable);
@@ -64,14 +66,11 @@ class RwHandler : public DeviceHandlerBase {
   ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
                              size_t* foundLen) override;
   ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
-  void setNormalDatapoolEntriesInvalid() override;
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
 
  private:
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::RW_HANDLER;
-
   //! [EXPORT] : [COMMENT] Action Message with invalid speed was received. Valid speeds must be in
   //! the range of [-65000; 1000] or [1000; 65000]
   static const ReturnValue_t INVALID_SPEED = MAKE_RETURN_CODE(0xA0);
@@ -84,14 +83,10 @@ class RwHandler : public DeviceHandlerBase {
   //! [EXPORT] : [COMMENT] Reaction wheel reply has invalid crc
   static const ReturnValue_t CRC_ERROR = MAKE_RETURN_CODE(0xA4);
 
-  //! [EXPORT] : [COMMENT] Reaction wheel signals an error state
-  static const Event ERROR_STATE = MAKE_EVENT(1, severity::HIGH);
-
-  LinuxLibgpioIF* gpioComIF = nullptr;
+  GpioIF* gpioComIF = nullptr;
   gpioId_t enableGpio = gpio::NO_GPIO;
   bool debugMode = false;
 
-  RwDefinitions::TemperatureSet temperatureSet;
   RwDefinitions::StatusSet statusSet;
   RwDefinitions::LastResetSatus lastResetStatusSet;
   RwDefinitions::TmDataset tmDataset;
diff --git a/mission/devices/devicedefinitions/GPSDefinitions.h b/mission/devices/devicedefinitions/GPSDefinitions.h
index f953da22..e842f54b 100644
--- a/mission/devices/devicedefinitions/GPSDefinitions.h
+++ b/mission/devices/devicedefinitions/GPSDefinitions.h
@@ -14,7 +14,7 @@ static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::GPS_HANDLER;
 static constexpr Event GPS_FIX_CHANGE = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
 
 static constexpr DeviceCommandId_t GPS_REPLY = 0;
-static constexpr DeviceCommandId_t TRIGGER_RESET_PIN = 5;
+static constexpr DeviceCommandId_t TRIGGER_RESET_PIN_GNSS = 5;
 
 static constexpr uint32_t DATASET_ID = 0;
 
diff --git a/mission/devices/devicedefinitions/GomspaceDefinitions.h b/mission/devices/devicedefinitions/GomspaceDefinitions.h
index 5c59d3d8..18059fc8 100644
--- a/mission/devices/devicedefinitions/GomspaceDefinitions.h
+++ b/mission/devices/devicedefinitions/GomspaceDefinitions.h
@@ -38,7 +38,8 @@ static const DeviceCommandId_t PARAM_GET = 0;          //!< [EXPORT] : [COMMAND]
 static const DeviceCommandId_t PARAM_SET = 255;        //!< [EXPORT] : [COMMAND]
 static const DeviceCommandId_t REQUEST_HK_TABLE = 16;  //!< [EXPORT] : [COMMAND]
 
-//!< [EXPORT] : [COMMAND] Print switch states, voltages and currents to the console
+//! [EXPORT] : [COMMAND] Print switch states, voltages and currents to the console
+//! For the ACU device, only print voltages and currents of the 6 ACU channels
 static const DeviceCommandId_t PRINT_SWITCH_V_I = 32;
 static const DeviceCommandId_t PRINT_LATCHUPS = 33;
 
@@ -55,7 +56,8 @@ enum class SetIds : uint32_t {
   PDU_2_AUX = 4,
   P60_CORE = 5,
   P60_AUX = 6,
-  ACU = 7
+  ACU_CORE = 7,
+  ACU_AUX = 8
 };
 
 namespace pool {
@@ -129,67 +131,24 @@ enum Ids : lp_id_t {
   PDU_WDT_CSP_LEFT2,
 
   /** ACU Ids */
-  ACU_CURRENT_IN_CHANNEL0,
-  ACU_CURRENT_IN_CHANNEL1,
-  ACU_CURRENT_IN_CHANNEL2,
-  ACU_CURRENT_IN_CHANNEL3,
-  ACU_CURRENT_IN_CHANNEL4,
-  ACU_CURRENT_IN_CHANNEL5,
-  ACU_VOLTAGE_IN_CHANNEL0,
-  ACU_VOLTAGE_IN_CHANNEL1,
-  ACU_VOLTAGE_IN_CHANNEL2,
-  ACU_VOLTAGE_IN_CHANNEL3,
-  ACU_VOLTAGE_IN_CHANNEL4,
-  ACU_VOLTAGE_IN_CHANNEL5,
+  ACU_CURRENT_IN_CHANNELS,
+  ACU_VOLTAGE_IN_CHANNELS,
   ACU_VCC,
   ACU_VBAT,
-  ACU_TEMPERATURE_1,
-  ACU_TEMPERATURE_2,
-  ACU_TEMPERATURE_3,
+  ACU_TEMPERATURES,
   ACU_MPPT_MODE,
-  ACU_VBOOST_CHANNEL0,
-  ACU_VBOOST_CHANNEL1,
-  ACU_VBOOST_CHANNEL2,
-  ACU_VBOOST_CHANNEL3,
-  ACU_VBOOST_CHANNEL4,
-  ACU_VBOOST_CHANNEL5,
-  ACU_POWER_CHANNEL0,
-  ACU_POWER_CHANNEL1,
-  ACU_POWER_CHANNEL2,
-  ACU_POWER_CHANNEL3,
-  ACU_POWER_CHANNEL4,
-  ACU_POWER_CHANNEL5,
-  ACU_DAC_EN_0,
-  ACU_DAC_EN_1,
-  ACU_DAC_EN_2,
-  ACU_DAC_RAW_0,
-  ACU_DAC_RAW_1,
-  ACU_DAC_RAW_2,
-  ACU_DAC_RAW_3,
-  ACU_DAC_RAW_4,
-  ACU_DAC_RAW_5,
+  ACU_VBOOST_IN_CHANNELS,
+  ACU_POWER_IN_CHANNELS,
+  ACU_DAC_ENABLES,
+  ACU_DAC_RAW_CHANNELS,
   ACU_BOOTCAUSE,
   ACU_BOOTCNT,
   ACU_UPTIME,
   ACU_RESET_CAUSE,
   ACU_MPPT_TIME,
   ACU_MPPT_PERIOD,
-  ACU_DEVICE_0,
-  ACU_DEVICE_1,
-  ACU_DEVICE_2,
-  ACU_DEVICE_3,
-  ACU_DEVICE_4,
-  ACU_DEVICE_5,
-  ACU_DEVICE_6,
-  ACU_DEVICE_7,
-  ACU_DEVICE_0_STATUS,
-  ACU_DEVICE_1_STATUS,
-  ACU_DEVICE_2_STATUS,
-  ACU_DEVICE_3_STATUS,
-  ACU_DEVICE_4_STATUS,
-  ACU_DEVICE_5_STATUS,
-  ACU_DEVICE_6_STATUS,
-  ACU_DEVICE_7_STATUS,
+  ACU_DEVICES,
+  ACU_DEVICES_STATUS,
   ACU_WDT_CNT_GND,
   ACU_WDT_GND_LEFT,
 };
@@ -592,143 +551,76 @@ static const uint16_t MAX_HKTABLE_ADDRESS = 120;
 static const uint8_t HK_TABLE_ENTRIES = 64;
 static const uint16_t HK_TABLE_REPLY_SIZE = 262;
 
-/**
- * @brief   This class defines a dataset for the hk table of the ACU.
- */
-class HkTableDataset : public StaticLocalDataSet<HK_TABLE_ENTRIES> {
+class CoreHk : public StaticLocalDataSet<14> {
  public:
-  HkTableDataset(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::ACU)) {}
+  CoreHk(HasLocalDataPoolIF* owner)
+      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::ACU_CORE)) {}
 
-  HkTableDataset(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::ACU))) {}
-
-  lp_var_t<int16_t> currentInChannel0 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::ACU_CURRENT_IN_CHANNEL0, this);
-  lp_var_t<int16_t> currentInChannel1 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::ACU_CURRENT_IN_CHANNEL1, this);
-  lp_var_t<int16_t> currentInChannel2 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::ACU_CURRENT_IN_CHANNEL2, this);
-  lp_var_t<int16_t> currentInChannel3 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::ACU_CURRENT_IN_CHANNEL3, this);
-  lp_var_t<int16_t> currentInChannel4 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::ACU_CURRENT_IN_CHANNEL4, this);
-  lp_var_t<int16_t> currentInChannel5 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::ACU_CURRENT_IN_CHANNEL5, this);
-
-  lp_var_t<uint16_t> voltageInChannel0 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VOLTAGE_IN_CHANNEL0, this);
-  lp_var_t<uint16_t> voltageInChannel1 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VOLTAGE_IN_CHANNEL1, this);
-  lp_var_t<uint16_t> voltageInChannel2 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VOLTAGE_IN_CHANNEL2, this);
-  lp_var_t<uint16_t> voltageInChannel3 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VOLTAGE_IN_CHANNEL3, this);
-  lp_var_t<uint16_t> voltageInChannel4 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VOLTAGE_IN_CHANNEL4, this);
-  lp_var_t<uint16_t> voltageInChannel5 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VOLTAGE_IN_CHANNEL5, this);
-
-  lp_var_t<uint16_t> vcc = lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VCC, this);
-  lp_var_t<uint16_t> vbat = lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VBAT, this);
-
-  lp_var_t<int16_t> temperature1 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::ACU_TEMPERATURE_1, this);
-  lp_var_t<int16_t> temperature2 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::ACU_TEMPERATURE_2, this);
-  lp_var_t<int16_t> temperature3 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::ACU_TEMPERATURE_3, this);
+  CoreHk(object_id_t objectId)
+      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::ACU_CORE))) {}
 
   lp_var_t<uint8_t> mpptMode =
       lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_MPPT_MODE, this);
 
-  lp_var_t<uint16_t> vboostInChannel0 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VBOOST_CHANNEL0, this);
-  lp_var_t<uint16_t> vboostInChannel1 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VBOOST_CHANNEL1, this);
-  lp_var_t<uint16_t> vboostInChannel2 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VBOOST_CHANNEL2, this);
-  lp_var_t<uint16_t> vboostInChannel3 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VBOOST_CHANNEL3, this);
-  lp_var_t<uint16_t> vboostInChannel4 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VBOOST_CHANNEL4, this);
-  lp_var_t<uint16_t> vboostInChannel5 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VBOOST_CHANNEL5, this);
+  lp_vec_t<int16_t, 6> currentInChannels =
+      lp_vec_t<int16_t, 6>(sid.objectId, P60System::pool::ACU_CURRENT_IN_CHANNELS, this);
+  lp_vec_t<uint16_t, 6> voltageInChannels =
+      lp_vec_t<uint16_t, 6>(sid.objectId, P60System::pool::ACU_VOLTAGE_IN_CHANNELS, this);
 
-  lp_var_t<uint16_t> powerInChannel0 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_POWER_CHANNEL0, this);
-  lp_var_t<uint16_t> powerInChannel1 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_POWER_CHANNEL1, this);
-  lp_var_t<uint16_t> powerInChannel2 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_POWER_CHANNEL2, this);
-  lp_var_t<uint16_t> powerInChannel3 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_POWER_CHANNEL3, this);
-  lp_var_t<uint16_t> powerInChannel4 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_POWER_CHANNEL4, this);
-  lp_var_t<uint16_t> powerInChannel5 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_POWER_CHANNEL5, this);
+  lp_var_t<uint16_t> vcc = lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VCC, this);
+  lp_var_t<uint16_t> vbat = lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VBAT, this);
 
-  lp_var_t<uint8_t> dac0Enable =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DAC_EN_0, this);
-  lp_var_t<uint8_t> dac1Enable =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DAC_EN_1, this);
-  lp_var_t<uint8_t> dac2Enable =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DAC_EN_2, this);
+  lp_vec_t<uint16_t, 6> vboostInChannels =
+      lp_vec_t<uint16_t, 6>(sid.objectId, P60System::pool::ACU_VBOOST_IN_CHANNELS, this);
+  lp_vec_t<uint16_t, 6> powerInChannels =
+      lp_vec_t<uint16_t, 6>(sid.objectId, P60System::pool::ACU_POWER_IN_CHANNELS, this);
 
-  lp_var_t<uint16_t> dacRawChannelVal0 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_DAC_RAW_0, this);
-  lp_var_t<uint16_t> dacRawChannelVal1 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_DAC_RAW_1, this);
-  lp_var_t<uint16_t> dacRawChannelVal2 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_DAC_RAW_2, this);
-  lp_var_t<uint16_t> dacRawChannelVal3 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_DAC_RAW_3, this);
-  lp_var_t<uint16_t> dacRawChannelVal4 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_DAC_RAW_4, this);
-  lp_var_t<uint16_t> dacRawChannelVal5 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_DAC_RAW_5, this);
+  lp_vec_t<int16_t, 3> temperatures =
+      lp_vec_t<int16_t, 3>(sid.objectId, P60System::pool::ACU_TEMPERATURES, this);
 
-  lp_var_t<uint32_t> bootCause =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::ACU_BOOTCAUSE, this);
   lp_var_t<uint32_t> bootcnt = lp_var_t<uint32_t>(sid.objectId, P60System::pool::ACU_BOOTCNT, this);
   lp_var_t<uint32_t> uptime = lp_var_t<uint32_t>(sid.objectId, P60System::pool::ACU_UPTIME, this);
-  lp_var_t<uint16_t> resetCause =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_RESET_CAUSE, this);
   lp_var_t<uint16_t> mpptTime =
       lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_MPPT_TIME, this);
   lp_var_t<uint16_t> mpptPeriod =
       lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_MPPT_PERIOD, this);
+};
+/**
+ * @brief   This class defines a dataset for the hk table of the ACU.
+ */
+class AuxHk : public StaticLocalDataSet<12> {
+ public:
+  AuxHk(HasLocalDataPoolIF* owner)
+      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::ACU_AUX)) {}
 
-  lp_var_t<uint8_t> device0 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_0, this);
-  lp_var_t<uint8_t> device1 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_1, this);
-  lp_var_t<uint8_t> device2 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_2, this);
-  lp_var_t<uint8_t> device3 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_3, this);
-  lp_var_t<uint8_t> device4 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_4, this);
-  lp_var_t<uint8_t> device5 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_5, this);
-  lp_var_t<uint8_t> device6 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_6, this);
-  lp_var_t<uint8_t> device7 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_7, this);
+  AuxHk(object_id_t objectId)
+      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::ACU_AUX))) {}
 
-  lp_var_t<uint8_t> device0Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_0_STATUS, this);
-  lp_var_t<uint8_t> device1Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_1_STATUS, this);
-  lp_var_t<uint8_t> device2Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_2_STATUS, this);
-  lp_var_t<uint8_t> device3Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_3_STATUS, this);
-  lp_var_t<uint8_t> device4Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_4_STATUS, this);
-  lp_var_t<uint8_t> device5Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_5_STATUS, this);
-  lp_var_t<uint8_t> device6Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_6_STATUS, this);
-  lp_var_t<uint8_t> device7Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_DEVICE_7_STATUS, this);
+  lp_vec_t<uint8_t, 3> dacEnables =
+      lp_vec_t<uint8_t, 3>(sid.objectId, P60System::pool::ACU_DAC_ENABLES, this);
+
+  lp_vec_t<uint16_t, 6> dacRawChannelVals =
+      lp_vec_t<uint16_t, 6>(sid.objectId, P60System::pool::ACU_DAC_RAW_CHANNELS, this);
+
+  lp_var_t<uint32_t> bootCause =
+      lp_var_t<uint32_t>(sid.objectId, P60System::pool::ACU_BOOTCAUSE, this);
+  lp_var_t<uint16_t> resetCause =
+      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_RESET_CAUSE, this);
 
   lp_var_t<uint32_t> wdtCntGnd =
       lp_var_t<uint32_t>(sid.objectId, P60System::pool::ACU_WDT_CNT_GND, this);
   lp_var_t<uint32_t> wdtGndLeft =
       lp_var_t<uint32_t>(sid.objectId, P60System::pool::ACU_WDT_GND_LEFT, this);
+
+  /**
+   * There are 8 devices on the PDU. FRAM, ADCs, temperature sensor etc. Each device is
+   * identified by an ID. Refer also to gs-man-nanopower-p60-pdu-200-1.pdf on pages 17 and 18.
+   */
+  lp_vec_t<uint8_t, 8> deviceTypes =
+      lp_vec_t<uint8_t, 8>(sid.objectId, P60System::pool::ACU_DEVICES, this);
+  /** The status of each device. 0 = None, 1 = Ok, 2 = Error, 3 = Not found */
+  lp_vec_t<uint8_t, 8> devicesStatus =
+      lp_vec_t<uint8_t, 8>(sid.objectId, P60System::pool::ACU_DEVICES_STATUS, this);
 };
 }  // namespace ACU
 
diff --git a/mission/devices/devicedefinitions/Max31865Definitions.h b/mission/devices/devicedefinitions/Max31865Definitions.h
index 58faaf97..d7d6455d 100644
--- a/mission/devices/devicedefinitions/Max31865Definitions.h
+++ b/mission/devices/devicedefinitions/Max31865Definitions.h
@@ -7,20 +7,48 @@
 
 #include "objects/systemObjectList.h"
 
-namespace Max31865Definitions {
+namespace MAX31865 {
 
-enum PoolIds : lp_id_t { RTD_VALUE, TEMPERATURE_C, FAULT_BYTE };
+enum class PoolIds : lp_id_t { RTD_VALUE, TEMPERATURE_C, LAST_FAULT_BYTE, FAULT_BYTE };
+enum Wires : unsigned int { TWO_WIRE = 0, THREE_WIRE = 1, FOUR_WIRE = 0 };
+
+enum ConvMode : unsigned int { NORM_OFF = 0, AUTO = 1 };
+
+enum Bias : unsigned int { OFF = 0, ON = 1 };
+
+enum FilterSel : unsigned int { FIFTY_HERTZ = 1, SIXTY_HERTZ = 0 };
+
+enum CfgBitPos {
+  FILTER_SEL = 0,
+  FAULT_STATUS_CLEAR = 1,
+  FDCC = 2,
+  WIRE_SEL = 4,
+  ONE_SHOT = 5,
+  CONV_MODE = 6,
+  BIAS_SEL = 7
+};
+
+static constexpr uint32_t WARMUP_MS = 100;
+
+static constexpr uint8_t WRITE_BIT = 0b10000000;
+
+enum Regs : uint8_t {
+  CONFIG = 0x00,
+  RTD = 0x01,
+  HIGH_THRESHOLD = 0x03,
+  LOW_THRESHOLD = 0x05,
+  FAULT_BYTE = 0x07
+};
 
 static constexpr DeviceCommandId_t CONFIG_CMD = 0x80;
 static constexpr DeviceCommandId_t WRITE_HIGH_THRESHOLD = 0x83;
 static constexpr DeviceCommandId_t WRITE_LOW_THRESHOLD = 0x85;
 
-static constexpr DeviceCommandId_t REQUEST_CONFIG = 0x00;
-static constexpr DeviceCommandId_t REQUEST_RTD = 0x01;
-static constexpr DeviceCommandId_t REQUEST_HIGH_THRESHOLD = 0x03;
-static constexpr DeviceCommandId_t REQUEST_LOW_THRESHOLD = 0x05;
-static constexpr DeviceCommandId_t REQUEST_FAULT_BYTE = 0x07;
-
+static constexpr DeviceCommandId_t REQUEST_CONFIG = CONFIG;
+static constexpr DeviceCommandId_t REQUEST_RTD = RTD;
+static constexpr DeviceCommandId_t REQUEST_HIGH_THRESHOLD = HIGH_THRESHOLD;
+static constexpr DeviceCommandId_t REQUEST_LOW_THRESHOLD = LOW_THRESHOLD;
+static constexpr DeviceCommandId_t REQUEST_FAULT_BYTE = FAULT_BYTE;
 static constexpr DeviceCommandId_t CLEAR_FAULT_BYTE = 0x08;
 
 static constexpr uint32_t MAX31865_SET_ID = REQUEST_RTD;
@@ -28,26 +56,82 @@ static constexpr uint8_t CLEAR_FAULT_BIT_VAL = 0b0000'0010;
 
 static constexpr size_t MAX_REPLY_SIZE = 5;
 
-class Max31865Set : public StaticLocalDataSet<sizeof(float) + sizeof(uint8_t)> {
+class Max31865Set : public StaticLocalDataSet<4> {
  public:
   /**
    * Constructor used by owner and data creators like device handlers.
    * @param owner
    * @param setId
    */
-  Max31865Set(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, MAX31865_SET_ID) {}
+  Max31865Set(HasLocalDataPoolIF* owner, uint32_t setId) : StaticLocalDataSet(owner, setId) {}
 
   /**
    * Constructor used by data users like controllers.
    * @param sid
    */
-  Max31865Set(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, MAX31865_SET_ID)) {}
+  Max31865Set(object_id_t objectId, uint32_t setId) : StaticLocalDataSet(sid_t(objectId, setId)) {}
 
-  lp_var_t<float> rtdValue = lp_var_t<float>(sid.objectId, PoolIds::RTD_VALUE, this);
-  lp_var_t<float> temperatureCelcius = lp_var_t<float>(sid.objectId, PoolIds::TEMPERATURE_C, this);
-  lp_var_t<uint8_t> errorByte = lp_var_t<uint8_t>(sid.objectId, PoolIds::FAULT_BYTE, this);
+  lp_var_t<float> rtdValue =
+      lp_var_t<float>(sid.objectId, static_cast<lp_id_t>(PoolIds::RTD_VALUE), this);
+  lp_var_t<float> temperatureCelcius =
+      lp_var_t<float>(sid.objectId, static_cast<lp_id_t>(PoolIds::TEMPERATURE_C), this);
+  lp_var_t<uint8_t> lastErrorByte =
+      lp_var_t<uint8_t>(sid.objectId, static_cast<lp_id_t>(PoolIds::LAST_FAULT_BYTE), this);
+  lp_var_t<uint8_t> errorByte =
+      lp_var_t<uint8_t>(sid.objectId, static_cast<lp_id_t>(PoolIds::FAULT_BYTE), this);
 };
 
-}  // namespace Max31865Definitions
+}  // namespace MAX31865
+
+namespace EiveMax31855 {
+
+static constexpr float RTD_RREF_PT1000 = 4020.0;  //!< Ohm
+static constexpr uint8_t NUM_RTDS = 16;
+
+enum RtdCommands : DeviceCommandId_t {
+  ON = 0,
+  EXCHANGE_SET_ID = MAX31865::REQUEST_RTD,
+  ACTIVE = 2,
+  LOW_THRESHOLD = 3,
+  HIGH_TRESHOLD = 4,
+  OFF = 5,
+  CFG = 6,
+  NUM_CMDS
+};
+
+class ReadOutStruct : public SerialLinkedListAdapter<SerializeIF> {
+ public:
+  ReadOutStruct() { setLinks(); }
+  ReadOutStruct(bool active, uint32_t spiErrCnt, bool faultBitSet, uint8_t faultVal,
+                uint16_t rtdVal)
+      : active(active),
+        adcCode(rtdVal),
+        faultBitSet(faultBitSet),
+        faultValue(faultVal),
+        spiErrorCount(spiErrCnt) {
+    setLinks();
+  }
+
+  //! RTD was set on and is configured, but is not periodically polled
+  SerializeElement<bool> configured = false;
+  //! RTD is active and polled periodically
+  SerializeElement<bool> active = false;
+  SerializeElement<uint16_t> adcCode = 0;
+  SerializeElement<bool> faultBitSet = false;
+  SerializeElement<uint8_t> faultValue = 0;
+  SerializeElement<uint32_t> spiErrorCount = 0;
+
+ private:
+  void setLinks() {
+    setStart(&configured);
+    configured.setNext(&active);
+    active.setNext(&adcCode);
+    adcCode.setNext(&faultBitSet);
+    faultBitSet.setNext(&faultValue);
+    faultValue.setNext(&spiErrorCount);
+  };
+};
+
+};  // namespace EiveMax31855
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MAX13865DEFINITIONS_H_ */
diff --git a/mission/devices/devicedefinitions/RwDefinitions.h b/mission/devices/devicedefinitions/RwDefinitions.h
index c25e3f09..d6a43622 100644
--- a/mission/devices/devicedefinitions/RwDefinitions.h
+++ b/mission/devices/devicedefinitions/RwDefinitions.h
@@ -9,6 +9,13 @@
 
 namespace RwDefinitions {
 
+static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::RW_HANDLER;
+
+//! [EXPORT] : [COMMENT] Reaction wheel signals an error state
+static constexpr Event ERROR_STATE = MAKE_EVENT(1, severity::HIGH);
+
+static constexpr Event RESET_OCCURED = event::makeEvent(SUBSYSTEM_ID, 2, severity::LOW);
+
 static const uint32_t SPI_REPLY_DELAY = 70000;  // us
 
 enum PoolIds : lp_id_t {
@@ -48,14 +55,13 @@ enum PoolIds : lp_id_t {
 
 enum States : uint8_t { STATE_ERROR, IDLE, COASTING, RUNNING_SPEED_STABLE, RUNNING_SPEED_CHANGING };
 
-enum LastResetStatus : uint8_t {
-  CLEARED = 0,
-  PIN_RESET = 1,
-  POR_PDR_BOR_RESET = 2,
-  SOFTWARE_RESET = 4,
-  INDEPENDENT_WATCHDOG_RESET = 8,
-  WINDOW_WATCHDOG_RESET = 16,
-  LOW_POWER_RESET = 32
+enum LastResetStatusBitPos : uint8_t {
+  PIN_RESET = 0,
+  POR_PDR_BOR_RESET = 1,
+  SOFTWARE_RESET = 2,
+  INDEPENDENT_WATCHDOG_RESET = 3,
+  WINDOW_WATCHDOG_RESET = 4,
+  LOW_POWER_RESET = 5
 };
 
 static const DeviceCommandId_t RESET_MCU = 1;
@@ -91,25 +97,11 @@ static const size_t MAX_CMD_SIZE = 9;
 static const size_t MAX_REPLY_SIZE = 2 * SIZE_GET_TELEMETRY_REPLY;
 
 static const uint8_t LAST_RESET_ENTRIES = 2;
-static const uint8_t TEMPERATURE_SET_ENTRIES = 1;
-static const uint8_t STATUS_SET_ENTRIES = 4;
+static const uint8_t STATUS_SET_ENTRIES = 5;
 static const uint8_t TM_SET_ENTRIES = 24;
 
 /**
- * @brief   This dataset can be used to store the temperature of a reaction wheel.
- */
-class TemperatureSet : public StaticLocalDataSet<TEMPERATURE_SET_ENTRIES> {
- public:
-  TemperatureSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TEMPERATURE_SET_ID) {}
-
-  TemperatureSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TEMPERATURE_SET_ID)) {}
-
-  lp_var_t<int32_t> temperatureCelcius =
-      lp_var_t<int32_t>(sid.objectId, PoolIds::TEMPERATURE_C, this);
-};
-
-/**
- * @brief   This dataset can be used to store the reaction wheel status.
+ * @brief   This dataset can be used to store the data periodically polled from the RW
  */
 class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
  public:
@@ -117,6 +109,8 @@ class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
 
   StatusSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, STATUS_SET_ID)) {}
 
+  lp_var_t<int32_t> temperatureCelcius =
+      lp_var_t<int32_t>(sid.objectId, PoolIds::TEMPERATURE_C, this);
   lp_var_t<int32_t> currSpeed = lp_var_t<int32_t>(sid.objectId, PoolIds::CURR_SPEED, this);
   lp_var_t<int32_t> referenceSpeed =
       lp_var_t<int32_t>(sid.objectId, PoolIds::REFERENCE_SPEED, this);
@@ -133,8 +127,10 @@ class LastResetSatus : public StaticLocalDataSet<LAST_RESET_ENTRIES> {
 
   LastResetSatus(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, LAST_RESET_ID)) {}
 
-  lp_var_t<uint8_t> lastResetStatus =
+  // If a reset occurs, the status code will be cached into this variable
+  lp_var_t<uint8_t> lastNonClearedResetStatus =
       lp_var_t<uint8_t>(sid.objectId, PoolIds::LAST_RESET_STATUS, this);
+  // This will always contain the last polled reset status
   lp_var_t<uint8_t> currentResetStatus =
       lp_var_t<uint8_t>(sid.objectId, PoolIds::CURRRENT_RESET_STATUS, this);
 };
diff --git a/mission/devices/devicedefinitions/powerDefinitions.h b/mission/devices/devicedefinitions/powerDefinitions.h
index 1cffa835..9060c3b9 100644
--- a/mission/devices/devicedefinitions/powerDefinitions.h
+++ b/mission/devices/devicedefinitions/powerDefinitions.h
@@ -10,7 +10,7 @@ static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_HANDLER;
 //! [EXPORT] : [COMMENT] Indicates that a FSFW object requested setting a switch
 //! P1: 1 if on was requested, 0 for off | P2: Switch Index
 static constexpr Event SWITCH_CMD_SENT = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
-//! [EXPORT] : [COMMENT] Indicated that a swithc state has changed
+//! [EXPORT] : [COMMENT] Indicated that a switch state has changed
 //! P1: New switch state, 1 for on, 0 for off | P2: Switch Index
 static constexpr Event SWITCH_HAS_CHANGED = event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
 static constexpr Event SWITCHING_Q7S_DENIED = event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
diff --git a/mission/memory/CMakeLists.txt b/mission/memory/CMakeLists.txt
index cd0938f2..132f0551 100644
--- a/mission/memory/CMakeLists.txt
+++ b/mission/memory/CMakeLists.txt
@@ -1,5 +1 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE
-	NVMParameterBase.cpp
-)
-
-
+target_sources(${LIB_EIVE_MISSION} PRIVATE NVMParameterBase.cpp)
diff --git a/mission/memory/SdCardMountedIF.h b/mission/memory/SdCardMountedIF.h
index ff6aace3..853c7e8d 100644
--- a/mission/memory/SdCardMountedIF.h
+++ b/mission/memory/SdCardMountedIF.h
@@ -8,9 +8,11 @@
 class SdCardMountedIF {
  public:
   virtual ~SdCardMountedIF(){};
-  virtual std::string getCurrentMountPrefix(sd::SdCard prefSdCardPtr = sd::SdCard::NONE) = 0;
+  virtual std::string getCurrentMountPrefix() const = 0;
   virtual bool isSdCardMounted(sd::SdCard sdCard) = 0;
-  virtual ReturnValue_t getPreferredSdCard(sd::SdCard& sdCard) const = 0;
+  virtual sd::SdCard getPreferredSdCard() const = 0;
+  virtual void setActiveSdCard(sd::SdCard sdCard) = 0;
+  virtual sd::SdCard getActiveSdCard() const = 0;
 
  private:
 };
diff --git a/mission/system/CMakeLists.txt b/mission/system/CMakeLists.txt
index b6f4baab..21a2fd72 100644
--- a/mission/system/CMakeLists.txt
+++ b/mission/system/CMakeLists.txt
@@ -1,15 +1,15 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE
-    EiveSystem.cpp
-    AcsSubsystem.cpp
-    ComSubsystem.cpp
-    PayloadSubsystem.cpp
-
-    AcsBoardAssembly.cpp
-    SusAssembly.cpp
-    DualLanePowerStateMachine.cpp
-    PowerStateMachineBase.cpp
-    DualLaneAssemblyBase.cpp
-    TcsBoardAssembly.cpp
-)
+target_sources(
+  ${LIB_EIVE_MISSION}
+  PRIVATE EiveSystem.cpp
+          AcsSubsystem.cpp
+          ComSubsystem.cpp
+          PayloadSubsystem.cpp
+          AcsBoardAssembly.cpp
+          RwAssembly.cpp
+          SusAssembly.cpp
+          DualLanePowerStateMachine.cpp
+          PowerStateMachineBase.cpp
+          DualLaneAssemblyBase.cpp
+          TcsBoardAssembly.cpp)
 
 add_subdirectory(fdir)
diff --git a/mission/system/RwAssembly.cpp b/mission/system/RwAssembly.cpp
new file mode 100644
index 00000000..7149747e
--- /dev/null
+++ b/mission/system/RwAssembly.cpp
@@ -0,0 +1,191 @@
+#include "RwAssembly.h"
+
+RwAssembly::RwAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
+                       power::Switch_t switcher, RwHelper helper)
+    : AssemblyBase(objectId, parentId), helper(helper), switcher(pwrSwitcher, switcher) {
+  ModeListEntry entry;
+  for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
+    entry.setObject(helper.rwIds[idx]);
+    entry.setMode(MODE_OFF);
+    entry.setSubmode(SUBMODE_NONE);
+    entry.setInheritSubmode(false);
+    modeTable.insert(entry);
+  }
+}
+
+void RwAssembly::performChildOperation() {
+  auto state = switcher.getState();
+  if (state != PowerSwitcher::WAIT_OFF and state != PowerSwitcher::WAIT_ON) {
+    AssemblyBase::performChildOperation();
+    return;
+  }
+  switcher.doStateMachine();
+  if (state == PowerSwitcher::WAIT_OFF and switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
+    // Indicator that a transition to off is finished
+    AssemblyBase::handleModeReached();
+  } else if (state == PowerSwitcher::WAIT_ON and
+             switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
+    // Indicator that mode commanding can be performed now
+    AssemblyBase::startTransition(targetMode, targetSubmode);
+  }
+}
+
+ReturnValue_t RwAssembly::commandChildren(Mode_t mode, Submode_t submode) {
+  ReturnValue_t result = RETURN_OK;
+  modeTransitionFailedSwitch = true;
+  // Initialize the mode table to ensure all devices are in a defined state
+  for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
+    modeTable[idx].setMode(MODE_OFF);
+    modeTable[idx].setSubmode(SUBMODE_NONE);
+  }
+  if (recoveryState != RecoveryState::RECOVERY_STARTED) {
+    if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
+      result = handleNormalOrOnModeCmd(mode, submode);
+    }
+  }
+  HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
+  executeTable(tableIter);
+  return result;
+}
+
+ReturnValue_t RwAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
+  int devsInCorrectMode = 0;
+  try {
+    for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
+      if (childrenMap.at(helper.rwIds[idx]).mode == wantedMode) {
+        devsInCorrectMode++;
+      }
+    }
+  } catch (const std::out_of_range& e) {
+    sif::error << "RwAssembly: Invalid children map: " << e.what() << std::endl;
+  }
+  if (devsInCorrectMode < 3) {
+    if (warningSwitch) {
+      sif::warning << "RwAssembly::checkChildrenStateOn: Only " << devsInCorrectMode
+                   << " devices in correct mode" << std::endl;
+      warningSwitch = false;
+    }
+    return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t RwAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
+  if (mode == MODE_ON or mode == MODE_OFF or mode == DeviceHandlerIF::MODE_NORMAL) {
+    return RETURN_OK;
+  }
+  return HasModesIF::INVALID_MODE;
+}
+
+void RwAssembly::startTransition(Mode_t mode, Submode_t submode) {
+  if (mode != MODE_OFF) {
+    switcher.turnOn(true);
+    switcher.doStateMachine();
+    if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
+      AssemblyBase::startTransition(mode, submode);
+    } else {
+      // Need to wait with mode commanding until power switcher is done
+      targetMode = mode;
+      targetSubmode = submode;
+    }
+  } else {
+    // Perform regular mode commanding first
+    AssemblyBase::startTransition(mode, submode);
+  }
+}
+
+void RwAssembly::handleModeReached() {
+  if (targetMode == MODE_OFF) {
+    switcher.turnOff(true);
+    switcher.doStateMachine();
+    // Need to wait with call to AssemblyBase::handleModeReached until power switcher is done
+    if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
+      AssemblyBase::handleModeReached();
+    }
+  } else {
+    AssemblyBase::handleModeReached();
+  }
+}
+
+void RwAssembly::handleChildrenLostMode(ReturnValue_t result) {
+  AssemblyBase::handleChildrenLostMode(result);
+}
+
+ReturnValue_t RwAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
+  ReturnValue_t result = RETURN_OK;
+  bool needsSecondStep = false;
+  Mode_t devMode = 0;
+  object_id_t objId = 0;
+  try {
+    for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
+      devMode = childrenMap.at(helper.rwIds[idx]).mode;
+      objId = helper.rwIds[idx];
+      if (mode == devMode) {
+        modeTable[idx].setMode(mode);
+      } else if (mode == DeviceHandlerIF::MODE_NORMAL) {
+        if (isUseable(objId, devMode)) {
+          if (devMode == MODE_ON) {
+            modeTable[idx].setMode(mode);
+            modeTable[idx].setSubmode(SUBMODE_NONE);
+          } else {
+            modeTable[idx].setMode(MODE_ON);
+            modeTable[idx].setSubmode(SUBMODE_NONE);
+            if (internalState != STATE_SECOND_STEP) {
+              needsSecondStep = true;
+            }
+          }
+        }
+      } else if (mode == MODE_ON) {
+        if (isUseable(objId, devMode)) {
+          modeTable[idx].setMode(MODE_ON);
+          modeTable[idx].setSubmode(SUBMODE_NONE);
+        }
+      }
+    }
+  } catch (const std::out_of_range& e) {
+    sif::error << "TcsBoardAssembly: Invalid children map: " << e.what() << std::endl;
+  }
+  if (needsSecondStep) {
+    result = NEED_SECOND_STEP;
+  }
+  return result;
+}
+
+bool RwAssembly::isUseable(object_id_t object, Mode_t mode) {
+  if (healthHelper.healthTable->isFaulty(object)) {
+    return false;
+  }
+
+  // Check if device is already in target mode
+  if (childrenMap[object].mode == mode) {
+    return true;
+  }
+
+  if (healthHelper.healthTable->isCommandable(object)) {
+    return true;
+  }
+  return false;
+}
+
+ReturnValue_t RwAssembly::initialize() {
+  ReturnValue_t result = RETURN_OK;
+  for (const auto& obj : helper.rwIds) {
+    result = registerChild(obj);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+  }
+  return SubsystemBase::initialize();
+}
+
+void RwAssembly::handleModeTransitionFailed(ReturnValue_t result) {
+  if (targetMode == MODE_OFF) {
+    AssemblyBase::handleModeTransitionFailed(result);
+  } else {
+    if (modeTransitionFailedSwitch) {
+      // To avoid transitioning back to off
+      triggerEvent(MODE_TRANSITION_FAILED, result);
+      modeTransitionFailedSwitch = false;
+    }
+  }
+}
diff --git a/mission/system/RwAssembly.h b/mission/system/RwAssembly.h
new file mode 100644
index 00000000..482a18a3
--- /dev/null
+++ b/mission/system/RwAssembly.h
@@ -0,0 +1,51 @@
+#ifndef MISSION_SYSTEM_RWASS_H_
+#define MISSION_SYSTEM_RWASS_H_
+
+#include <fsfw/devicehandlers/AssemblyBase.h>
+#include <fsfw/power/PowerSwitcher.h>
+
+struct RwHelper {
+  RwHelper(std::array<object_id_t, 4> rwIds) : rwIds(rwIds) {}
+
+  std::array<object_id_t, 4> rwIds = {};
+};
+
+class RwAssembly : public AssemblyBase {
+ public:
+  RwAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
+             power::Switch_t switcher, RwHelper helper);
+
+ private:
+  static constexpr uint8_t NUMBER_RWS = 4;
+  RwHelper helper;
+  PowerSwitcher switcher;
+  bool warningSwitch = true;
+  bool modeTransitionFailedSwitch = true;
+  FixedArrayList<ModeListEntry, NUMBER_RWS> modeTable;
+
+  ReturnValue_t initialize() override;
+
+  ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
+  /**
+   * Check whether it makes sense to send mode commands to the device
+   * @param object
+   * @param mode
+   * @return
+   */
+  bool isUseable(object_id_t object, Mode_t mode);
+
+  // AssemblyBase implementation
+  void performChildOperation() override;
+  ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
+  ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
+  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+  void startTransition(Mode_t mode, Submode_t submode) override;
+  void handleModeReached() override;
+
+  // These two overrides prevent a transition of the whole assembly back to off just because
+  // some devices are not working
+  void handleChildrenLostMode(ReturnValue_t result) override;
+  void handleModeTransitionFailed(ReturnValue_t result) override;
+};
+
+#endif /* MISSION_SYSTEM_RWASS_H_ */
diff --git a/mission/system/TcsBoardAssembly.cpp b/mission/system/TcsBoardAssembly.cpp
index f011c931..f973335e 100644
--- a/mission/system/TcsBoardAssembly.cpp
+++ b/mission/system/TcsBoardAssembly.cpp
@@ -10,7 +10,7 @@ TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, object_id_t parentId,
   eventQueue = QueueFactory::instance()->createMessageQueue(24);
   ModeListEntry entry;
   for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
-    entry.setObject(helper.rtdIds[idx]);
+    entry.setObject(helper.rtdInfos[idx].first);
     entry.setMode(MODE_OFF);
     entry.setSubmode(SUBMODE_NONE);
     entry.setInheritSubmode(false);
@@ -32,7 +32,6 @@ void TcsBoardAssembly::performChildOperation() {
              switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
     // Indicator that mode commanding can be performed now
     AssemblyBase::startTransition(targetMode, targetSubmode);
-    // AssemblyBase::performChildOperation();
   }
 }
 
@@ -57,7 +56,7 @@ ReturnValue_t TcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
   int devsInWrongMode = 0;
   try {
     for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
-      if (childrenMap.at(helper.rtdIds[idx]).mode != wantedMode) {
+      if (childrenMap.at(helper.rtdInfos[idx].first).mode != wantedMode) {
         devsInWrongMode++;
       }
     }
@@ -93,8 +92,8 @@ ReturnValue_t TcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t su
 
 ReturnValue_t TcsBoardAssembly::initialize() {
   ReturnValue_t result = RETURN_OK;
-  for (const auto& obj : helper.rtdIds) {
-    result = registerChild(obj);
+  for (const auto& obj : helper.rtdInfos) {
+    result = registerChild(obj.first);
     if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
@@ -126,8 +125,8 @@ ReturnValue_t TcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
   object_id_t objId = 0;
   try {
     for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
-      devMode = childrenMap.at(helper.rtdIds[idx]).mode;
-      objId = helper.rtdIds[idx];
+      devMode = childrenMap.at(helper.rtdInfos[idx].first).mode;
+      objId = helper.rtdInfos[idx].first;
       if (mode == devMode) {
         modeTable[idx].setMode(mode);
       } else if (mode == DeviceHandlerIF::MODE_NORMAL) {
diff --git a/mission/system/TcsBoardAssembly.h b/mission/system/TcsBoardAssembly.h
index 832f335d..10b451b2 100644
--- a/mission/system/TcsBoardAssembly.h
+++ b/mission/system/TcsBoardAssembly.h
@@ -6,9 +6,10 @@
 #include <fsfw/power/PowerSwitcher.h>
 
 struct TcsBoardHelper {
-  TcsBoardHelper(std::array<object_id_t, 16> rtdIds) : rtdIds(rtdIds) {}
+  TcsBoardHelper(std::array<std::pair<object_id_t, std::string>, 16> rtdInfos)
+      : rtdInfos(std::move(rtdInfos)) {}
 
-  std::array<object_id_t, 16> rtdIds = {};
+  std::array<std::pair<object_id_t, std::string>, 16> rtdInfos = {};
 };
 
 class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
@@ -21,8 +22,6 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
 
   ReturnValue_t initialize() override;
 
-  void performChildOperation() override;
-
  private:
   static constexpr uint8_t NUMBER_RTDS = 16;
   PowerSwitcher switcher;
@@ -44,6 +43,7 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
   MessageQueueId_t getEventReceptionQueue() override;
 
   // AssemblyBase implementation
+  void performChildOperation() override;
   ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
   ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
   ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
diff --git a/mission/system/fdir/CMakeLists.txt b/mission/system/fdir/CMakeLists.txt
index c5414fe8..37b2c290 100644
--- a/mission/system/fdir/CMakeLists.txt
+++ b/mission/system/fdir/CMakeLists.txt
@@ -1,7 +1,3 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE
-    AcsBoardFdir.cpp
-    RtdFdir.cpp
-    SusFdir.cpp
-    SyrlinksFdir.cpp
-    GomspacePowerFdir.cpp
-)
+target_sources(
+  ${LIB_EIVE_MISSION} PRIVATE AcsBoardFdir.cpp RtdFdir.cpp SusFdir.cpp
+                              SyrlinksFdir.cpp GomspacePowerFdir.cpp)
diff --git a/mission/tmtc/CCSDSHandler.cpp b/mission/tmtc/CCSDSHandler.cpp
index a42a798a..0c49f6af 100644
--- a/mission/tmtc/CCSDSHandler.cpp
+++ b/mission/tmtc/CCSDSHandler.cpp
@@ -22,7 +22,7 @@ CCSDSHandler::CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t
       gpioIF(gpioIF),
       enTxClock(enTxClock),
       enTxData(enTxData),
-      TRANSMITTER_TIMEOUT(transmitterTimeout) {
+      transmitterTimeout(transmitterTimeout) {
   commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
   auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
   eventQueue =
@@ -312,7 +312,7 @@ void CCSDSHandler::enableTransmit() {
     // Transmitter already enabled
     return;
   }
-  transmitterCountdown.setTimeout(TRANSMITTER_TIMEOUT);
+  transmitterCountdown.setTimeout(transmitterTimeout);
 #ifndef TE0720_1CFA
   gpioIF->pullHigh(enTxClock);
   gpioIF->pullHigh(enTxData);
diff --git a/mission/tmtc/CCSDSHandler.h b/mission/tmtc/CCSDSHandler.h
index 1c4fde09..d4cf1da4 100644
--- a/mission/tmtc/CCSDSHandler.h
+++ b/mission/tmtc/CCSDSHandler.h
@@ -133,9 +133,9 @@ class CCSDSHandler : public SystemObject,
   gpioId_t enTxClock = gpio::NO_GPIO;
   gpioId_t enTxData = gpio::NO_GPIO;
 
-  // syrlinks must not be transmitting more than 15 minutes (according to datasheet)
-  // Value can be configured via CTOR argument to allow test setups
-  const uint32_t TRANSMITTER_TIMEOUT = 900000;  // 900000 ms = 15 min
+  // Syrlinks must not be transmitting more than 15 minutes (according to datasheet)
+  // Value initialized by constructor argument
+  const uint32_t transmitterTimeout = 0;
 
   // Countdown to disable transmitter after 15 minutes
   Countdown transmitterCountdown;
diff --git a/mission/tmtc/CMakeLists.txt b/mission/tmtc/CMakeLists.txt
index 1d3baae7..96b02307 100644
--- a/mission/tmtc/CMakeLists.txt
+++ b/mission/tmtc/CMakeLists.txt
@@ -1,6 +1 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE
-	CCSDSHandler.cpp
- 	VirtualChannel.cpp
-)
-
-
+target_sources(${LIB_EIVE_MISSION} PRIVATE CCSDSHandler.cpp VirtualChannel.cpp)
diff --git a/mission/tmtc/VirtualChannel.h b/mission/tmtc/VirtualChannel.h
index c661c4c5..229bcc40 100644
--- a/mission/tmtc/VirtualChannel.h
+++ b/mission/tmtc/VirtualChannel.h
@@ -46,7 +46,7 @@ class VirtualChannel : public AcceptsTelemetryIF, public HasReturnvaluesIF {
  private:
   PtmeIF* ptme = nullptr;
   MessageQueueIF* tmQueue = nullptr;
-  uint8_t vcId;
+  uint8_t vcId = 0;
 
   bool linkIsUp = false;
 
diff --git a/mission/utility/CMakeLists.txt b/mission/utility/CMakeLists.txt
index 979ada94..6e862138 100644
--- a/mission/utility/CMakeLists.txt
+++ b/mission/utility/CMakeLists.txt
@@ -1,7 +1,2 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE
-	TmFunnel.cpp
-	Timestamp.cpp
-	ProgressPrinter.cpp
-)
-
-
+target_sources(${LIB_EIVE_MISSION} PRIVATE TmFunnel.cpp Timestamp.cpp
+                                           ProgressPrinter.cpp Filenaming.cpp GlobalConfigHandler.cpp)
diff --git a/mission/utility/Filenaming.cpp b/mission/utility/Filenaming.cpp
new file mode 100644
index 00000000..3f4ec997
--- /dev/null
+++ b/mission/utility/Filenaming.cpp
@@ -0,0 +1,17 @@
+#include "Filenaming.h"
+
+#include "Timestamp.h"
+
+Filenaming::Filenaming() {}
+
+std::string Filenaming::generateAbsoluteFilename(std::string path, std::string filename,
+                                                 bool addTimestamp) {
+  std::string absoluteName;
+  Timestamp timestamp;
+  if (addTimestamp) {
+    absoluteName = path + "/" + timestamp.str() + filename;
+  } else {
+    absoluteName = path + "/" + filename;
+  }
+  return absoluteName;
+}
diff --git a/mission/utility/Filenaming.h b/mission/utility/Filenaming.h
new file mode 100644
index 00000000..9c7b1cb8
--- /dev/null
+++ b/mission/utility/Filenaming.h
@@ -0,0 +1,28 @@
+#ifndef MISSION_UTILITY_FILENAMING_H_
+#define MISSION_UTILITY_FILENAMING_H_
+
+#include <string>
+
+/**
+ * @brief Static functions related to file name creation
+ */
+class Filenaming {
+ public:
+  /**
+   * @brief Creates the absolute name of a file by merging the path name, the filename and adding
+   *        an optional timestamp.
+   *
+   * @param path
+   * @param filename
+   * @param addTimestap Set to true if timestamp should be considered in name
+   *
+   * @return The absolute filename
+   */
+  static std::string generateAbsoluteFilename(std::string path, std::string filename,
+                                              bool addTimestamp);
+
+ private:
+  Filenaming();
+};
+
+#endif /* MISSION_UTILITY_FILENAMING_H_ */
diff --git a/bsp_hosted/GlobalConfigHandler.cpp b/mission/utility/GlobalConfigHandler.cpp
similarity index 86%
rename from bsp_hosted/GlobalConfigHandler.cpp
rename to mission/utility/GlobalConfigHandler.cpp
index 7a995aa3..109fbfa6 100644
--- a/bsp_hosted/GlobalConfigHandler.cpp
+++ b/mission/utility/GlobalConfigHandler.cpp
@@ -15,9 +15,8 @@ MutexIF* GlobalConfigHandler::configLock = nullptr;
 GlobalConfigHandler::GlobalConfigHandler(object_id_t objectId, std::string configFilePath):
 		SystemObject(objectId),
 		NVMParameterBase(configFilePath),
-		parameterHelper(this),
-		commandQueue(QueueFactory::instance()->createMessageQueue(20)),
-		actionHelper(this, commandQueue){
+		commandQueue(QueueFactory::instance()->createMessageQueue(20))
+		{
 	 if (configLock == nullptr) {
 		 configLock = MutexFactory::instance()->createMutex();
 	  }
@@ -27,13 +26,12 @@ ReturnValue_t GlobalConfigHandler::initialize(){
 
 	ReturnValue_t result = SystemObject::initialize();
 	if (result != RETURN_OK) {
+#if OBSW_VERBOSE_LEVEL >= 1
+	      sif::info << "GlobalConfigHandler::initialize: SystemObject::initialize() failed with " << result << std::endl;
+#endif
 		return result;
 	}
 
-	result = actionHelper.initialize(commandQueue);
-	if(result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
 
 	result =  ReadConfigFile();
 	if(result!=RETURN_OK){
@@ -46,13 +44,6 @@ ReturnValue_t GlobalConfigHandler::initialize(){
 	  }
 	}
 
-	result = parameterHelper.initialize();
-	  if (result != HasReturnvaluesIF::RETURN_OK) {
-#if OBSW_VERBOSE_LEVEL >= 1
-	      sif::info << "GlobalConfigHandler::initialize: parameterHelper init failed with " << result << std::endl;
-#endif
-		return result;
-	  }
 
 #if OBSW_VERBOSE_LEVEL >= 1
 	      sif::info << "GlobalConfigHandler::initialize success " <<  std::endl;
@@ -66,29 +57,10 @@ GlobalConfigHandler::~GlobalConfigHandler() {
 ReturnValue_t GlobalConfigHandler::performOperation(uint8_t operationCode) {
   ReturnValue_t result = RETURN_OK;
   sif::debug<<"GlobalConfigHandler::performOperation"<<std::endl;
-  readCommandQueue();
   return result;
 }
 
-void GlobalConfigHandler::readCommandQueue(){
-	CommandMessage command;
-	ReturnValue_t result = commandQueue->receiveMessage(&command);
-	if (result != RETURN_OK) {
-	return;
-	}
 
-	result = parameterHelper.handleParameterMessage(&command);
-	if (result == RETURN_OK) {
-		return;
-	}
-
-	result = actionHelper.handleActionMessage(&command);
-	if (result == HasReturnvaluesIF::RETURN_OK) {
-		sif::debug<<"GlobalConfigHandler::readCommandQueue handleActionMessage success"<<std::endl;
-		return;
-	}
-	return;
-}
 
 ReturnValue_t GlobalConfigHandler::lockConfigFile(){
 	ReturnValue_t result = RETURN_OK;
@@ -329,8 +301,7 @@ ReturnValue_t GlobalConfigHandler::handleDoubleParamUpdate(std::string key,
     return result;
   }
   // Do this so the dumping and loading with the framework works as well
-  doubleDummy = newValue;
-  parameterWrapper->set(doubleDummy);
+
   return WriteConfigFile();
 }
 
@@ -346,20 +317,8 @@ ReturnValue_t GlobalConfigHandler::handleIntParamUpdate(std::string key,
   if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
-  // Do this so the dumping and loading with the framework works as well
-  intDummy = newValue;
-  parameterWrapper->set(intDummy);
+
   return WriteConfigFile();
 }
 
-MessageQueueId_t GlobalConfigHandler::getCommandQueue() const{
-    return commandQueue->getId();
-}
 
-ReturnValue_t GlobalConfigHandler::executeAction(ActionId_t actionId,
-	        MessageQueueId_t commandedBy, const uint8_t* data,
-	        size_t size) {
-
-	//Currently, no commands are used
-	return RETURN_FAILED;
-}
diff --git a/bsp_hosted/GlobalConfigHandler.h b/mission/utility/GlobalConfigHandler.h
similarity index 88%
rename from bsp_hosted/GlobalConfigHandler.h
rename to mission/utility/GlobalConfigHandler.h
index 2beffa67..14e20b28 100644
--- a/bsp_hosted/GlobalConfigHandler.h
+++ b/mission/utility/GlobalConfigHandler.h
@@ -41,9 +41,7 @@ static std::map<ParamIds, std::string> PARAM_KEY_MAP = {
  */
 class GlobalConfigHandler: public SystemObject,
 			public ExecutableObjectIF,
-			public NVMParameterBase,
-			public ReceivesParameterMessagesIF,
-			public HasActionsIF{
+			public NVMParameterBase{
 public:
 	GlobalConfigHandler(object_id_t objectId, std::string configFilePath);
 	virtual ~GlobalConfigHandler();
@@ -57,7 +55,7 @@ public:
 	static constexpr Event READ_CONFIGFILE_FAILED = MAKE_EVENT(5, severity::MEDIUM);
 
 	ReturnValue_t performOperation(uint8_t operationCode);
-	void readCommandQueue();
+
 	ReturnValue_t initialize();
 
 	ReturnValue_t lockConfigFile();
@@ -84,19 +82,16 @@ public:
 	ReturnValue_t handleIntParamUpdate(std::string key,
 									  ParameterWrapper* parameterWrapper,
 									  const ParameterWrapper* newValues) ;
-	MessageQueueId_t getCommandQueue() const override;
-	ReturnValue_t executeAction(ActionId_t actionId,
-	        MessageQueueId_t commandedBy, const uint8_t* data,
-	        size_t size) override;
+
+
 private:
 	static MutexIF* configLock ;
 
-	ParameterHelper parameterHelper;
-    MessageQueueIF* commandQueue;
-	ActionHelper actionHelper;
 
-	double doubleDummy = 0.0;
-	int intDummy = 0;
+    MessageQueueIF* commandQueue;
+
+
+
 };
 
 #endif /* BSP_LINUX_GLOBALCONFIGHANDLER_H_ */
diff --git a/mission/utility/ProgressPrinter.cpp b/mission/utility/ProgressPrinter.cpp
index 16a0f148..124ae395 100644
--- a/mission/utility/ProgressPrinter.cpp
+++ b/mission/utility/ProgressPrinter.cpp
@@ -1,16 +1,25 @@
 #include "ProgressPrinter.h"
 
+#include <cmath>
+#include <iomanip>
+
 #include "fsfw/serviceinterface/ServiceInterfaceStream.h"
 
-ProgressPrinter::ProgressPrinter(std::string name, uint32_t numSteps)
-    : name(name), numSteps(numSteps) {}
+ProgressPrinter::ProgressPrinter(std::string name, uint32_t numSteps, float percentageResolution)
+    : name(name), numSteps(numSteps), percentageResolution(percentageResolution) {}
 
 ProgressPrinter::~ProgressPrinter() {}
 
 void ProgressPrinter::print(uint32_t currentStep) {
   float progressInPercent = static_cast<float>(currentStep) / static_cast<float>(numSteps) * 100;
-  if (static_cast<uint32_t>(progressInPercent) >= nextProgressPrint) {
-    sif::info << name << " progress: " << progressInPercent << " %" << std::endl;
-    nextProgressPrint += FIVE_PERCENT;
+  if (progressInPercent >= nextProgressPrint) {
+    sif::info << name << " progress: " << std::setprecision(4) << progressInPercent << " %"
+              << std::endl;
+    nextProgressPrint += percentageResolution;
+  }
+  if (nextProgressPrint - progressInPercent < 0) {
+    nextProgressPrint =
+        (std::floor(progressInPercent / percentageResolution) * percentageResolution) +
+        percentageResolution;
   }
 }
diff --git a/mission/utility/ProgressPrinter.h b/mission/utility/ProgressPrinter.h
index 593526ba..9db27c7d 100644
--- a/mission/utility/ProgressPrinter.h
+++ b/mission/utility/ProgressPrinter.h
@@ -10,13 +10,19 @@
  */
 class ProgressPrinter {
  public:
+  static constexpr float HALF_PERCENT = 0.5;
+  static constexpr float ONE_PERCENT = 1;
+  static constexpr float FIVE_PERCENT = 5;
+
   /**
    * @brief Constructor
    *
-   * @param name       Name of the process to monitor
-   * @param numSteps   Number of steps to execute
+   * @param name                   Name of the process to monitor
+   * @param numSteps               Number of steps to execute
+   * @param percentageResolution   Distance between printed percentage steps. E.g. 5 means that
+   *                               a printout will be generated after 0%, 5%, 10% etc.
    */
-  ProgressPrinter(std::string name, uint32_t numSteps);
+  ProgressPrinter(std::string name, uint32_t numSteps, float percentageResolution = FIVE_PERCENT);
   virtual ~ProgressPrinter();
 
   /**
@@ -27,11 +33,10 @@ class ProgressPrinter {
   void print(uint32_t step);
 
  private:
-  static constexpr uint32_t FIVE_PERCENT = 5;
-
   std::string name = "";
   uint32_t numSteps = 0;
-  uint32_t nextProgressPrint = 0;
+  float nextProgressPrint = 0;
+  float percentageResolution = 0;
 };
 
 #endif /* MISSION_UTILITY_PROGRESSPRINTER_H_ */
diff --git a/scripts/apply-clang-format.sh b/scripts/apply-clang-format.sh
deleted file mode 100755
index eb2f4931..00000000
--- a/scripts/apply-clang-format.sh
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/bin/bash
-if [[ ! -f README.md ]]; then
-	cd ..
-fi
-
-find ./mission -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./linux -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./bsp_q7s -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./bsp_linux_board -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./bsp_hosted -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./bsp_egse -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./test -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./unittest -iname *.h -o -iname *.cpp -o -iname *.c -o -type d -name build -prune | \
-	xargs clang-format --style=file -i
diff --git a/scripts/auto-formatter.sh b/scripts/auto-formatter.sh
new file mode 100755
index 00000000..9d2efbad
--- /dev/null
+++ b/scripts/auto-formatter.sh
@@ -0,0 +1,40 @@
+#!/bin/bash
+if [[ ! -f README.md ]]; then
+	cd ..
+fi
+
+folder_list=(
+  "./mission"
+  "./linux"
+  "./bsp_q7s"
+  "./bsp_linux_board"
+  "./bsp_hosted"
+  "./bsp_egse"
+  "./test"
+  "./common"
+)
+
+cmake_fmt="cmake-format"
+file_selectors="-iname CMakeLists.txt"
+if command -v ${cmake_fmt} &> /dev/null; then
+  echo "Auto-formatting all CMakeLists.txt files"
+  ${cmake_fmt} -i CMakeLists.txt
+  for dir in ${folder_list[@]}; do
+  	find ${dir} ${file_selectors} | xargs ${cmake_fmt} -i
+  done
+else
+  echo "No ${cmake_fmt} tool found, not formatting CMake files"
+fi
+
+cpp_format="clang-format"
+file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
+if command -v ${cpp_format} &> /dev/null; then
+  for dir in ${folder_list[@]}; do
+    echo "Auto-formatting C/C++ files in ${dir} recursively"
+    find ${dir} ${file_selectors} | xargs ${cpp_format} --style=file -i
+  done
+  find ./unittest ${file_selectors} -o -type d -name build -prune | \
+	xargs clang-format --style=file -i
+else
+  echo "No ${cpp_format} tool found, not formatting C++/C files"
+fi
diff --git a/scripts/install-obsw-yocto.sh b/scripts/install-obsw-yocto.sh
new file mode 100755
index 00000000..059d7244
--- /dev/null
+++ b/scripts/install-obsw-yocto.sh
@@ -0,0 +1,94 @@
+#!/bin/bash
+# This is a helper script to install the compiles EIVE OBSW files
+# into the yocto repository to re-generate the mission root filesystem
+build_dir=cmake-build-release-q7s
+if [ ! -z ${1} ]; then
+  if [[ "${1}" == "em" ]]; then
+    echo "-I- Installing EM binaries"
+    build_dir=cmake-build-release-q7s-em
+  fi
+fi
+
+init_dir=$(pwd)
+
+obsw_root=""
+q7s_yocto_dir="q7s-yocto"
+q7s_package_path="q7s-package/${q7s_yocto_dir}"
+
+obsw_version_filename="obsw_version.txt"
+yocto_obsw_path="yocto/meta-eive/recipes-core/eive-obsw/files"
+yocto_watchdog_path="yocto/meta-eive/recipes-support/eive-obsw-watchdog/files"
+obsw_bin_name="eive-obsw"
+watchdog_bin_name="eive-watchdog"
+obsw_target_name="eive-obsw"
+watchdog_target_name="eive-watchdog"
+
+if [ ! -z ${EIVE_OBSW_ROOT} ]; then
+	cd ${EIVE_OBSW_ROOT}
+  obsw_root=$(pwd)
+elif [ -d ${build_dir} ]; then
+  obsw_root=${build_dir}
+  :
+elif [ -d ../${build_dir} ]; then
+  cd ..
+  obsw_root=$(pwd)
+else
+  echo "-E- No way into the EIVE OBSW Root folder found. Exiting"
+  exit 1
+fi
+
+yocto_root=""
+if [ -d ../${q7s_package_path} ]; then
+  cd ../${q7s_package_path}
+  yocto_root=$(pwd)
+elif [ -d ../${q7s_yocto_dir} ]; then
+  cd ../${q7s_yocto_dir}
+  yocto_root=$(pwd)
+fi
+if [ -z ${yocto_root} ]; then
+  echo "-E- No yocto directory found. Exiting"
+  exit 1
+fi
+
+cd ${obsw_root}
+
+version_cmd="git describe --tags --always --exclude docker_*"
+echo "-I- Running ${version_cmd} to retrieve OBSW version and store it into ${obsw_version_filename}"
+version_tag=$(${version_cmd})
+echo "-I- Detected version tag ${version_tag}"
+echo ${version_tag} > ${obsw_version_filename}
+
+if [ ! -d ${build_dir} ]; then
+  echo "No Q7S Release binary folder ${build_dir} found. Exiting"
+  exit 1
+fi
+
+if [ ! -f ${build_dir}/${obsw_bin_name} ]; then
+  echo "-W- No EIVE OBSW binary found to intall to yocto"
+else
+  cp_cmd="cp $(pwd)/${build_dir}/${obsw_bin_name} ${yocto_root}/${yocto_obsw_path}/${obsw_target_name}"
+  echo "-I- Executing: ${cp_cmd}"
+  eval ${cp_cmd}
+  cp_ver_cmd="cp $(pwd)/${obsw_version_filename} ${yocto_root}/${yocto_obsw_path}"
+  echo "-I- Executing: ${cp_ver_cmd}"
+  eval ${cp_ver_cmd}
+  echo "-I- Installed EIVE OBSW into yocto repository successfully"
+fi
+
+if [ ! -f ${build_dir}/${watchdog_bin_name} ]; then
+  echo "-W- No EIVE Watchdog found to intall to yocto"
+else
+  cp_cmd="cp $(pwd)/${build_dir}/${watchdog_bin_name} ${yocto_root}/${yocto_watchdog_path}/${watchdog_target_name}"
+  echo "-I- Executing: ${cp_cmd}"
+  eval ${cp_cmd}
+  cp_ver_cmd="cp $(pwd)/${obsw_version_filename} ${yocto_root}/${yocto_watchdog_path}"
+  echo "-I- Executing: ${cp_ver_cmd}"
+  eval ${cp_ver_cmd}
+  echo "-I- Installed EIVE watchdog into yocto repository successfully"
+fi
+
+if [ -f $(pwd)/${obsw_version_filename} ]; then
+  rm $(pwd)/${obsw_version_filename}
+fi
+
+cd ${init_dir}
diff --git a/scripts/q7s-cp.py b/scripts/q7s-cp.py
index 9bc18201..d0543b45 100755
--- a/scripts/q7s-cp.py
+++ b/scripts/q7s-cp.py
@@ -11,16 +11,27 @@ def main():
     print(f"Running command: {cmd}")
     result = os.system(cmd)
     if result != 0:
-        print("")
-        print("Removing problematic SSH key and trying again..")
-        remove_ssh_key_cmd = (
-            'ssh-keygen -f "${HOME}/.ssh/known_hosts" -R "[localhost]:1535"'
-        )
-        os.system(remove_ssh_key_cmd)
+        prompt_ssh_key_removal()
         print(f'Running command "{cmd}"')
         result = os.system(cmd)
 
 
+def prompt_ssh_key_removal():
+    do_remove_key = input("Do you want to remove problematic keys on localhost ([Y]/n)?: ")
+    if not do_remove_key.lower() in ["y", "yes", "1", ""]:
+        sys.exit(1)
+    port = 0
+    while True:
+        port = input("Enter port to remove: ")
+        if not port.isdecimal():
+            print("Invalid port detected")
+        else:
+            break
+    cmd = f'ssh-keygen -f "$HOME/.ssh/known_hosts" -R "[localhost]:{port}"'
+    print(f"Removing problematic SSH key with command {cmd}..")
+    os.system(cmd)
+
+
 def handle_args():
     help_string = (
         "This script copies files to the Q7S as long as port forwarding is active.\n"
@@ -58,8 +69,7 @@ def handle_args():
     )
     # Positional argument(s)
     parser.add_argument(
-        "source", help="Source files to copy or target files to copy back to host",
-         nargs="+"
+        "source", help="Source files to copy or target files to copy back to host"
     )
     return parser.parse_args()
 
@@ -72,10 +82,6 @@ def build_cmd(args):
     address = ""
     port_args = ""
     target = args.target
-    if args.invert and len(args.source) > 1:
-        print("Multiple source files not allowed for inverse copying")
-        sys.exit(1)
-    source_files = " ".join(args.source)
     if args.flatsat:
         address = "eive@flatsat.eive.absatvirt.lw"
     else:
@@ -92,9 +98,9 @@ def build_cmd(args):
         else:
             target = args.target
     if args.invert:
-        cmd += f"{port_args} {address}:{source_files} {target}"
+        cmd += f"{port_args} {address}:{args.source} {target}"
     else:
-        cmd += f"{port_args} {source_files} {address}:{target}"
+        cmd += f"{port_args} {args.source} {address}:{target}"
     return cmd
 
 
diff --git a/scripts/q7s-env-em.sh b/scripts/q7s-env-em.sh
new file mode 100755
index 00000000..895648a2
--- /dev/null
+++ b/scripts/q7s-env-em.sh
@@ -0,0 +1,23 @@
+#!/bin/bash -i
+# This script is intended to be copied outside of the source directory on the
+# same folder level as the eive-obsw folder. This allows to tweak it to
+# custom cross-compiler and sysroot path setups
+
+# Adapt the following two entries to your need
+CROSS_COMPILE_BIN_PATH="$HOME/EIVE/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
+export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"
+
+export PATH=$PATH:${CROSS_COMPILE_BIN_PATH}
+export CROSS_COMPILE="arm-linux-gnueabihf"
+export EIVE_Q7S_EM=1
+
+if [[ -d "eive-obsw" ]]; then
+	echo "Detected EIVE OBSW root directory at $(pwd)/eive-obsw. Setting to EIVE_OBSW_ROOT"
+	export EIVE_OBSW_ROOT="$(pwd)/eive-obsw"
+	echo "Adding $(pwd)/eive-obsw/cmake/scripts/q7s helper script path to PATH"
+	export PATH=$PATH:"$(pwd)/eive-obsw/cmake/scripts/q7s"
+	export PATH=$PATH:"$(pwd)/eive-obsw/scripts"
+	cd "eive-obsw"
+fi
+export CONSOLE_PREFIX="[Q7S ENV]"
+/bin/bash
diff --git a/scripts/q7s-env.sh b/scripts/q7s-env.sh
new file mode 100755
index 00000000..c5638323
--- /dev/null
+++ b/scripts/q7s-env.sh
@@ -0,0 +1,23 @@
+#!/bin/bash -i
+# This script is intended to be copied outside of the source directory on the
+# same folder level as the eive-obsw folder. This allows to tweak it to
+# custom cross-compiler and sysroot path setups
+
+# Adapt the following two entries to your need
+CROSS_COMPILE_BIN_PATH="$HOME/EIVE/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
+export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"
+
+export PATH=$PATH:${CROSS_COMPILE_BIN_PATH}
+export CROSS_COMPILE="arm-linux-gnueabihf"
+# export EIVE_Q7S_EM=1
+
+if [[ -d "eive-obsw" ]]; then
+	echo "Detected EIVE OBSW root directory at $(pwd)/eive-obsw. Setting to EIVE_OBSW_ROOT"
+	export EIVE_OBSW_ROOT="$(pwd)/eive-obsw"
+	echo "Adding $(pwd)/eive-obsw/cmake/scripts/q7s helper script path to PATH"
+	export PATH=$PATH:"$(pwd)/eive-obsw/cmake/scripts/q7s"
+	export PATH=$PATH:"$(pwd)/eive-obsw/scripts"
+	cd "eive-obsw"
+fi
+export CONSOLE_PREFIX="[Q7S ENV]"
+/bin/bash
diff --git a/cmake/scripts/Q7S/win-q7s-env.sh b/scripts/win-q7s-env-em.sh
similarity index 74%
rename from cmake/scripts/Q7S/win-q7s-env.sh
rename to scripts/win-q7s-env-em.sh
index 7dce820e..5ff9bcf4 100644
--- a/cmake/scripts/Q7S/win-q7s-env.sh
+++ b/scripts/win-q7s-env-em.sh
@@ -6,6 +6,7 @@ function help () {
 
 TOOLCHAIN_PATH="/c/Xilinx/Vitis/2019.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
 SYSROOT="/c/Users/${USER}/eive-software/eive-compile-rootfs"
+export EIVE_Q7S_EM=1
 
 for i in "$@"; do
   case $i in
@@ -47,3 +48,12 @@ else
 	echo "Sysroot path $SYSROOT does not exist"
 	return
 fi
+
+if [ -d "eive-obsw" ]; then
+	echo "Detected EIVE OBSW root directory at $(pwd)/eive-obsw. Setting to EIVE_OBSW_ROOT"
+	export EIVE_OBSW_ROOT="$(pwd)/eive-obsw"
+	echo "Adding $(pwd)/eive-obsw/cmake/scripts/q7s helper script path to PATH"
+	export PATH=$PATH:"$(pwd)/eive-obsw/cmake/scripts/q7s"
+	export PATH=$PATH:"$(pwd)/eive-obsw/scripts"
+	cd "eive-obsw"
+fi
diff --git a/scripts/win-q7s-env.sh b/scripts/win-q7s-env.sh
new file mode 100644
index 00000000..243ea311
--- /dev/null
+++ b/scripts/win-q7s-env.sh
@@ -0,0 +1,59 @@
+#!/bin/sh
+# Run with: source win-q7s-env.sh [OPTIONS]
+function help () {
+	echo "source win-q7s-env.sh [options] -t|--toolchain=<toolchain path> -s|--sysroot=<sysroot path>"
+}
+
+TOOLCHAIN_PATH="/c/Xilinx/Vitis/2019.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
+SYSROOT="/c/Users/${USER}/eive-software/eive-compile-rootfs"
+# export EIVE_Q7S_EM=1
+
+for i in "$@"; do
+  case $i in
+    -t=*|--toolchain=*)
+      TOOLCHAIN_PATH="${i#*=}"
+      shift
+      ;;
+    -s=*|--sysroot=*)
+      SYSROOT="${i#*=}"
+      shift
+      ;;
+	-h|--help)
+	  help
+	  shift
+      ;;
+    -*|--*)
+      echo "Unknown option $i"
+	  help
+      return
+      ;;
+    *)
+      ;;
+  esac
+done
+
+if [ -d "$TOOLCHAIN_PATH" ]; then
+	export PATH=$PATH:"/c/Xilinx/Vitis/2019.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
+	export CROSS_COMPILE="arm-linux-gnueabihf"
+	echo "Set toolchain path to /c/Xilinx/Vitis/2019.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
+else 
+	echo "Toolchain path $TOOLCHAIN_PATH does not exist"
+	return
+fi
+
+if [ -d "$SYSROOT" ]; then
+	export ZYNQ_7020_SYSROOT=$SYSROOT
+	echo "Set sysroot path to $SYSROOT"
+else 
+	echo "Sysroot path $SYSROOT does not exist"
+	return
+fi
+
+if [ -d "eive-obsw" ]; then
+	echo "Detected EIVE OBSW root directory at $(pwd)/eive-obsw. Setting to EIVE_OBSW_ROOT"
+	export EIVE_OBSW_ROOT="$(pwd)/eive-obsw"
+	echo "Adding $(pwd)/eive-obsw/cmake/scripts/q7s helper script path to PATH"
+	export PATH=$PATH:"$(pwd)/eive-obsw/cmake/scripts/q7s"
+	export PATH=$PATH:"$(pwd)/eive-obsw/scripts"
+	cd "eive-obsw"
+fi
diff --git a/test/gpio/CMakeLists.txt b/test/gpio/CMakeLists.txt
index 880f097c..4ba24fd5 100644
--- a/test/gpio/CMakeLists.txt
+++ b/test/gpio/CMakeLists.txt
@@ -1,7 +1,3 @@
-target_sources(${OBSW_NAME} PUBLIC
-	DummyGpioIF.cpp
-)
+target_sources(${OBSW_NAME} PUBLIC DummyGpioIF.cpp)
 
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
\ No newline at end of file
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/test/gpio/DummyGpioIF.cpp b/test/gpio/DummyGpioIF.cpp
index 2db78eec..3938f711 100644
--- a/test/gpio/DummyGpioIF.cpp
+++ b/test/gpio/DummyGpioIF.cpp
@@ -10,7 +10,7 @@ ReturnValue_t DummyGpioIF::pullHigh(gpioId_t gpioId) { return RETURN_OK; }
 
 ReturnValue_t DummyGpioIF::pullLow(gpioId_t gpioId) { return RETURN_OK; }
 
-ReturnValue_t DummyGpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
-  *gpioState = 0;
+ReturnValue_t DummyGpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState) {
+  gpioState = gpio::Levels::LOW;
   return RETURN_OK;
 }
diff --git a/test/gpio/DummyGpioIF.h b/test/gpio/DummyGpioIF.h
index e6037628..8a259f00 100644
--- a/test/gpio/DummyGpioIF.h
+++ b/test/gpio/DummyGpioIF.h
@@ -10,7 +10,7 @@ class DummyGpioIF : public GpioIF {
   virtual ReturnValue_t addGpios(GpioCookie* cookie);
   virtual ReturnValue_t pullHigh(gpioId_t gpioId);
   virtual ReturnValue_t pullLow(gpioId_t gpioId);
-  virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState);
+  virtual ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState);
 };
 
 #endif /* TEST_GPIO_DUMMYGPIOIF_H_ */
diff --git a/test/testtasks/CMakeLists.txt b/test/testtasks/CMakeLists.txt
index 628e3c52..c0d6ed09 100644
--- a/test/testtasks/CMakeLists.txt
+++ b/test/testtasks/CMakeLists.txt
@@ -1,7 +1,3 @@
-target_sources(${OBSW_NAME} PUBLIC
-	TestTask.cpp
-)
+target_sources(${OBSW_NAME} PUBLIC TestTask.cpp)
 
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
\ No newline at end of file
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/thirdparty/etl b/thirdparty/etl
new file mode 160000
index 00000000..5468eb65
--- /dev/null
+++ b/thirdparty/etl
@@ -0,0 +1 @@
+Subproject commit 5468eb659c8b4ecdb3d08e8b8f0442c5a2549a48
diff --git a/thirdparty/rapidcsv b/thirdparty/rapidcsv
new file mode 160000
index 00000000..d4e0bc10
--- /dev/null
+++ b/thirdparty/rapidcsv
@@ -0,0 +1 @@
+Subproject commit d4e0bc1047ca3965653463dc63f6d230a043a060
diff --git a/unittest/controller/CMakeLists.txt b/unittest/controller/CMakeLists.txt
index ee9b1a8b..7680eefa 100644
--- a/unittest/controller/CMakeLists.txt
+++ b/unittest/controller/CMakeLists.txt
@@ -1,3 +1,5 @@
 target_sources(${UNITTEST_NAME} PRIVATE
     testThermalController.cpp
-)
\ No newline at end of file
+    testAcsController.cpp
+    testConfigFileHandler.cpp
+)
diff --git a/unittest/controller/testAcsController.cpp b/unittest/controller/testAcsController.cpp
new file mode 100644
index 00000000..acc4dfec
--- /dev/null
+++ b/unittest/controller/testAcsController.cpp
@@ -0,0 +1,41 @@
+#include <fsfw/ipc/QueueFactory.h>
+#include <mission/controller/ThermalController.h>
+
+#include <catch2/catch_test_macros.hpp>
+#include <fstream>
+#include <iostream>
+#include <stdexcept>
+
+#include "../testEnvironment.h"
+#include "rapidcsv.h"
+
+TEST_CASE("ACS Controller", "[AcsController]") {
+  SECTION("SectionTest") {
+    // acsCtrl.performOperation();
+    CHECK(1 == 1);
+
+    try {
+      {
+        std::ifstream file("unittest/meineTestDaten.txt");
+        if (file.good()) {
+          std::string line;
+          while (std::getline(file, line)) {
+            std::cout << "ACS CTRL Test test file: " << line << std::endl;
+          }
+        }
+      }
+
+      {
+        rapidcsv::Document doc("unittest/meineTestDaten.txt");
+        std::vector<int> col = doc.GetColumn<int>("test0");
+        std::cout << "Read " << col.size() << " values: " << col[0] << ", " << col[1] << std::endl;
+      }
+    } catch (const std::exception& e) {
+      sif::warning << "CSV file test exception occured: " << e.what() << std::endl;
+    }
+
+    REQUIRE(2 == 2);
+  }
+
+  SECTION("SectionTest2") {}
+}
diff --git a/unittest/controller/testConfigFileHandler.cpp b/unittest/controller/testConfigFileHandler.cpp
new file mode 100644
index 00000000..a76a9efe
--- /dev/null
+++ b/unittest/controller/testConfigFileHandler.cpp
@@ -0,0 +1,19 @@
+
+
+#include <mission/utility/GlobalConfigHandler.h>
+#include <catch2/catch_test_macros.hpp>
+#include <fstream>
+#include <iostream>
+#include <stdexcept>
+
+#include "../testEnvironment.h"
+#include <objects/systemObjectList.h>
+
+TEST_CASE("Configfile Handler", "[ConfigHandler]") {
+
+	GlobalConfigHandler confighandler=  GlobalConfigHandler(objects::CONFIG_TEST,"JSON.config");
+	sif::debug<<"Testcase config file handler"<<std::endl;
+
+	REQUIRE(confighandler.initialize() == HasReturnvaluesIF::RETURN_OK);
+
+}
diff --git a/unittest/controller/testThermalController.cpp b/unittest/controller/testThermalController.cpp
index a0e96d68..908b4c78 100644
--- a/unittest/controller/testThermalController.cpp
+++ b/unittest/controller/testThermalController.cpp
@@ -42,4 +42,4 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
   componentTemperatures.commit();
 
   QueueFactory::instance()->deleteMessageQueue(commandQueue);
-}
\ No newline at end of file
+}
diff --git a/unittest/meineTestDaten.txt b/unittest/meineTestDaten.txt
new file mode 100644
index 00000000..0fc31c9d
--- /dev/null
+++ b/unittest/meineTestDaten.txt
@@ -0,0 +1,3 @@
+test0,test1,test2
+0,2,3
+4,5,6