Merge remote-tracking branch 'origin/develop' into mueller/reboot-cmd

2022-05-04 16:54:39 +02:00 · 2022-05-04 16:54:39 +02:00 · d108f7bbda
commit d108f7bbda
parent 5888d90fbc 8315a03efc
113 changed files with 3946 additions and 1357 deletions
--- a/.gitignore
+++ b/.gitignore
@ -1,4 +1,5 @@
 /build*
+/cmake-build*

 # Eclipse
 .settings
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -3,8 +3,7 @@ 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.
@ -13,14 +12,55 @@ list yields a list of all related PRs for each release.

 # [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]

--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -25,10 +25,13 @@ if(NOT FSFW_OSAL)
 endif()

 if(TGT_BSP)
-    if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
+    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)
@ -53,8 +56,27 @@ 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)
+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
@ -98,7 +120,7 @@ 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)
@ -188,7 +210,7 @@ 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(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
 elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse")
@ -305,16 +327,25 @@ add_subdirectory(${UNITTEST_PATH})

 # This should have already been downloaded by the FSFW
 # Still include it to be safe
-include(FetchContent)
-FetchContent_Declare(
+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)
+    )
+    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"))
+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
@ -328,8 +359,21 @@ if (NOT(TGT_BSP MATCHES "arm/te0720-1cfa") AND NOT(TGT_BSP MATCHES "arm/q7s"))
            GIT_TAG        ${FSFW_CATCH2_LIB_VERSION}
        )

-        FetchContent_MakeAvailable(Catch2)
-        #fixes regression -preview4, to be confirmed in later releases
+        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")
@ -378,7 +422,7 @@ endif()

 if(EIVE_ADD_ETL_LIB)
    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        etl
+        ${LIB_ETL_TARGET}
    )
 endif()

--- a/README.md
+++ b/README.md
@ -107,28 +107,47 @@ 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
   ```

@ -167,7 +186,7 @@ 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 +194,7 @@ 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 +209,7 @@ 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 +220,7 @@ 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
 ```
--- a/bsp_hosted/OBSWConfig.h.in
+++ 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_ */
--- a/bsp_hosted/ObjectFactory.cpp
+++ b/bsp_hosted/ObjectFactory.cpp
@ -7,6 +7,7 @@
 #include <objects/systemObjectList.h>
 #include <tmtc/apid.h>
 #include <tmtc/pusIds.h>
+#include "fsfw_tests/integration/task/TestTask.h"

 #include "OBSWConfig.h"

--- a/bsp_hosted/bsp_hosted.mk
+++ b/bsp_hosted/bsp_hosted.mk
@ -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
--- 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;

--- a/bsp_linux_board/OBSWConfig.h.in
+++ 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_ */
--- a/bsp_linux_board/ObjectFactory.cpp
+++ b/bsp_linux_board/ObjectFactory.cpp
@ -121,7 +121,7 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
  auto mgmLis3Handler =
      new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
  mgmLis3Handler->setStartUpImmediately();
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+#if OBSW_TEST_ACS == 1
  mgmLis3Handler->setToGoToNormalMode(true);
 #endif

@ -131,7 +131,7 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
  auto mgmRm3100Handler =
      new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
  mgmRm3100Handler->setStartUpImmediately();
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+#if OBSW_TEST_ACS == 1
  mgmRm3100Handler->setToGoToNormalMode(true);
 #endif

@ -141,7 +141,7 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
  mgmLis3Handler =
      new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
  mgmLis3Handler->setStartUpImmediately();
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+#if OBSW_TEST_ACS == 1
  mgmLis3Handler->setToGoToNormalMode(true);
 #endif

@ -151,7 +151,7 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
  mgmRm3100Handler =
      new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
  mgmRm3100Handler->setStartUpImmediately();
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+#if OBSW_TEST_ACS == 1
  mgmRm3100Handler->setToGoToNormalMode(true);
 #endif

@ -167,7 +167,7 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
  auto gyroL3gHandler =
      new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
  gyroL3gHandler->setStartUpImmediately();
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+#if OBSW_TEST_ACS == 1
  gyroL3gHandler->setToGoToNormalMode(true);
 #endif

@ -184,7 +184,7 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
  gyroL3gHandler =
      new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
  gyroL3gHandler->setStartUpImmediately();
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+#if OBSW_TEST_ACS == 1
  gyroL3gHandler->setToGoToNormalMode(true);
 #endif
 }
--- a/bsp_q7s/CMakeLists.txt
+++ b/bsp_q7s/CMakeLists.txt
@ -13,6 +13,7 @@ add_subdirectory(simple)

 target_sources(${OBSW_NAME} PUBLIC
 	main.cpp
+    obsw.cpp
 )

 add_subdirectory(boardtest)
@ -20,6 +21,13 @@ add_subdirectory(boardtest)
 add_subdirectory(boardconfig)
 add_subdirectory(comIF)
 add_subdirectory(core)
+
+if(EIVE_Q7S_EM)
+    add_subdirectory(em)
+else()
+    add_subdirectory(fm)
+endif()
+
 add_subdirectory(memory)
 add_subdirectory(callbacks)
 add_subdirectory(xadc)
--- a/bsp_q7s/OBSWConfig.h.in
+++ b/bsp_q7s/OBSWConfig.h.in
@ -0,0 +1,126 @@
+/**
+ * @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                    0
+#define OBSW_ADD_PLOC_MPSOC                         0
+#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
+
+// 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_ */
--- 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  */
 /*******************************************************************/
--- 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 +272,69 @@ 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) {
--- a/bsp_q7s/boardtest/Q7STestTask.h
+++ b/bsp_q7s/boardtest/Q7STestTask.h
@ -1,6 +1,7 @@
 #ifndef BSP_Q7S_BOARDTEST_Q7STESTTASK_H_
 #define BSP_Q7S_BOARDTEST_Q7STESTTASK_H_

+#include <libgpsmm.h>
 #include "test/testtasks/TestTask.h"

 class CoreController;
@ -14,14 +15,22 @@ 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();
--- a/bsp_q7s/core/CMakeLists.txt
+++ b/bsp_q7s/core/CMakeLists.txt
@ -1,8 +1,6 @@
 target_sources(${OBSW_NAME} PRIVATE
    CoreController.cpp
-    obsw.cpp
    InitMission.cpp
-    ObjectFactory.cpp
 )

 target_sources(${SIMPLE_OBSW_NAME} PRIVATE
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@ -1,10 +1,10 @@
-#include "InitMission.h"
+#include "bsp_q7s/core/InitMission.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"
@ -294,6 +294,7 @@ 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 +304,7 @@ void initmission::createPstTasks(TaskFactory& factory,
    }
  }
  taskVec.push_back(gomSpacePstTask);
+#endif
 }

 void initmission::createPusTasks(TaskFactory& factory,
--- a/bsp_q7s/core/ParameterHandler.cpp
+++ b/bsp_q7s/core/ParameterHandler.cpp
@ -1,5 +0,0 @@
-#include "ParameterHandler.h"
-
-ParameterHandler::ParameterHandler(std::string mountPrefix) : mountPrefix(mountPrefix) {}
-
-void ParameterHandler::setMountPrefix(std::string prefix) { mountPrefix = prefix; }
--- a/bsp_q7s/core/ParameterHandler.h
+++ b/bsp_q7s/core/ParameterHandler.h
@ -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_ */
--- a/bsp_q7s/em/CMakeLists.txt
+++ b/bsp_q7s/em/CMakeLists.txt
@ -0,0 +1,3 @@
+target_sources(${OBSW_NAME} PRIVATE
+    emObjectFactory.cpp
+)
--- a/bsp_q7s/em/emObjectFactory.cpp
+++ b/bsp_q7s/em/emObjectFactory.cpp
@ -1,4 +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"
@ -7,6 +8,7 @@
 #include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
 #include "bsp_q7s/callbacks/rwSpiCallback.h"
 #include "bsp_q7s/core/CoreController.h"
+#include "bsp_q7s/core/ObjectFactory.h"
 #include "bsp_q7s/memory/FileSystemHandler.h"
 #include "busConf.h"
 #include "ccsdsConfig.h"
@ -37,18 +39,16 @@
 #include "linux/obc/PdecHandler.h"
 #include "linux/obc/Ptme.h"
 #include "linux/obc/PtmeConfig.h"
-#include "mission/system/AcsBoardFdir.h"
-#include "mission/system/RtdFdir.h"
 #include "mission/system/SusAssembly.h"
-#include "mission/system/SusFdir.h"
 #include "mission/system/TcsBoardAssembly.h"
+#include "mission/system/fdir/AcsBoardFdir.h"
+#include "mission/system/fdir/RtdFdir.h"
+#include "mission/system/fdir/SusFdir.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"
@ -96,7 +96,6 @@
 #include "mission/tmtc/CCSDSHandler.h"
 #include "mission/tmtc/VirtualChannel.h"
 #include "mission/utility/TmFunnel.h"
-
 ResetArgs resetArgsGnss0;
 ResetArgs resetArgsGnss1;

@ -111,7 +110,6 @@ void Factory::setStaticFrameworkObjectIds() {

  DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
  //  DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
-
 #if OBSW_TM_TO_PTME == 1
  TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
 #else
@ -147,7 +145,6 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_ACS_BOARD == 1
  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
 #endif
-
  createHeaterComponents();
  createSolarArrayDeploymentComponents();
  createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher);
@ -184,7 +181,6 @@ void ObjectFactory::produce(void* args) {
  bpxHandler->setDebugMode(true);
 #endif
 #endif
-
  new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);

 #if OBSW_ADD_STAR_TRACKER == 1
@ -199,16 +195,13 @@ void ObjectFactory::produce(void* args) {
  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);
 }
@ -251,14 +244,22 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
  CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
  CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
  CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
-  /* Device Handler */
+
+  auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
  P60DockHandler* p60dockhandler =
-      new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie);
+      new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie, p60Fdir);
+
+  auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
  PDU1Handler* pdu1handler =
-      new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie);
+      new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
+
+  auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
  PDU2Handler* pdu2handler =
-      new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
-  ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
+      new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
+
+  auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
+  ACUHandler* acuhandler =
+      new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir);
  auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);

  /**
@ -428,7 +429,6 @@ 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);
@ -445,7 +445,6 @@ 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);
@ -477,7 +476,6 @@ 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,
@ -496,7 +494,6 @@ 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,
@ -514,7 +511,6 @@ 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,
@ -544,7 +540,6 @@ 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;
@ -641,8 +636,10 @@ void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
                     syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
  syrlinksUartCookie->setParityEven();

-  auto syrlinksHandler = new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF,
-                                               syrlinksUartCookie, pcdu::PDU1_CH1_SYRLINKS_12V);
+  auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HK_HANDLER);
+  auto syrlinksHandler =
+      new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
+                            pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
  syrlinksHandler->setPowerSwitcher(pwrSwitcher);
 #if OBSW_DEBUG_SYRLINKS == 1
  syrlinksHandler->setDebugMode(true);
@ -668,7 +665,6 @@ 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(),
@ -752,7 +748,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
  rwHandler1->setStartUpImmediately();
  rwHandler1->setDebugMode(true);
 #endif
-
  auto rwHandler2 =
      new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2);
  rw2SpiCookie->setCallbackArgs(rwHandler2);
@ -760,7 +755,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
  rwHandler2->setStartUpImmediately();
  rwHandler2->setDebugMode(true);
 #endif
-
  auto rwHandler3 =
      new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3);
  rw3SpiCookie->setCallbackArgs(rwHandler3);
@ -768,7 +762,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
  rwHandler3->setStartUpImmediately();
  rwHandler3->setDebugMode(true);
 #endif
-
  auto rwHandler4 =
      new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4);
  rw4SpiCookie->setCallbackArgs(rwHandler4);
@ -776,7 +769,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
  rwHandler4->setStartUpImmediately();
  rwHandler4->setDebugMode(true);
 #endif
-
 #endif /* OBSW_ADD_RW == 1 */
 }

--- a/bsp_q7s/fm/CMakeLists.txt
+++ b/bsp_q7s/fm/CMakeLists.txt
@ -0,0 +1,3 @@
+target_sources(${OBSW_NAME} PRIVATE
+    fmObjectFactory.cpp
+)
--- a/bsp_q7s/fm/fmObjectFactory.cpp
+++ b/bsp_q7s/fm/fmObjectFactory.cpp
@ -0,0 +1,972 @@
+#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"
+#include "bsp_q7s/callbacks/pcduSwitchCb.h"
+#include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
+#include "bsp_q7s/callbacks/rwSpiCallback.h"
+#include "bsp_q7s/core/CoreController.h"
+#include "bsp_q7s/core/ObjectFactory.h"
+#include "bsp_q7s/memory/FileSystemHandler.h"
+#include "busConf.h"
+#include "ccsdsConfig.h"
+#include "devConf.h"
+#include "devices/addresses.h"
+#include "devices/gpioIds.h"
+#include "devices/powerSwitcherList.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "linux/ObjectFactory.h"
+#include "linux/boardtest/I2cTestClass.h"
+#include "linux/boardtest/SpiTestClass.h"
+#include "linux/boardtest/UartTestClass.h"
+#include "linux/callbacks/gpioCallbacks.h"
+#include "linux/csp/CspComIF.h"
+#include "linux/csp/CspCookie.h"
+#include "linux/devices/GPSHyperionLinuxController.h"
+#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
+#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
+#include "linux/devices/ploc/PlocMPSoCHandler.h"
+#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"
+#include "linux/obc/PapbVcInterface.h"
+#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/fdir/AcsBoardFdir.h"
+#include "mission/system/fdir/RtdFdir.h"
+#include "mission/system/fdir/SusFdir.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"
+#include "fsfw/tmtcpacket/pus/tm.h"
+#include "fsfw/tmtcservices/CommandingServiceBase.h"
+#include "fsfw/tmtcservices/PusServiceBase.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
+#include "fsfw_hal/common/gpio/gpioDefinitions.h"
+#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
+#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
+#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
+#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
+#include "fsfw_hal/linux/i2c/I2cComIF.h"
+#include "fsfw_hal/linux/i2c/I2cCookie.h"
+#include "fsfw_hal/linux/spi/SpiComIF.h"
+#include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "fsfw_hal/linux/uart/UartComIF.h"
+#include "fsfw_hal/linux/uart/UartCookie.h"
+#include "mission/core/GenericFactory.h"
+#include "mission/devices/ACUHandler.h"
+#include "mission/devices/BpxBatteryHandler.h"
+#include "mission/devices/GyroADIS1650XHandler.h"
+#include "mission/devices/HeaterHandler.h"
+#include "mission/devices/IMTQHandler.h"
+#include "mission/devices/Max31865PT1000Handler.h"
+#include "mission/devices/P60DockHandler.h"
+#include "mission/devices/PCDUHandler.h"
+#include "mission/devices/PDU1Handler.h"
+#include "mission/devices/PDU2Handler.h"
+#include "mission/devices/PayloadPcduHandler.h"
+#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"
+#include "mission/tmtc/CCSDSHandler.h"
+#include "mission/tmtc/VirtualChannel.h"
+#include "mission/utility/TmFunnel.h"
+ResetArgs resetArgsGnss0;
+ResetArgs resetArgsGnss1;
+
+void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
+
+void Factory::setStaticFrameworkObjectIds() {
+  PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
+  PusServiceBase::packetDestination = objects::TM_FUNNEL;
+
+  CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
+  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+
+  DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
+  //  DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
+#if OBSW_TM_TO_PTME == 1
+  TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
+#else
+  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
+#endif /* OBSW_TM_TO_PTME == 1 */
+  // No storage object for now.
+  TmFunnel::storageDestination = objects::NO_OBJECT;
+
+  LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
+
+  VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
+  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::createTmpComponents() {
+  I2cCookie* i2cCookieTmp1075tcs1 =
+      new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
+  I2cCookie* i2cCookieTmp1075tcs2 =
+      new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
+
+  /* Temperature sensors */
+  Tmp1075Handler* tmp1075Handler_1 =
+      new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
+  (void)tmp1075Handler_1;
+  Tmp1075Handler* tmp1075Handler_2 =
+      new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
+  (void)tmp1075Handler_2;
+}
+
+void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
+                                                  SpiComIF** spiComIF, I2cComIF** i2cComIF) {
+  if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
+    sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
+               << std::endl;
+  }
+  *gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
+
+  /* Communication interfaces */
+  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);
+
+  /* Adding gpios for chip select decoding to the gpioComIf */
+  q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF);
+}
+
+void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
+  CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
+  CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
+  CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
+  CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
+
+  auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
+  P60DockHandler* p60dockhandler =
+      new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie, p60Fdir);
+
+  auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
+  PDU1Handler* pdu1handler =
+      new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
+
+  auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
+  PDU2Handler* pdu2handler =
+      new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
+
+  auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
+  ACUHandler* acuhandler =
+      new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir);
+  auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
+
+  /**
+   * Setting PCDU devices to mode normal immediately after start up because PCDU is always
+   * running.
+   */
+  p60dockhandler->setModeNormal();
+  pdu1handler->setModeNormal();
+  pdu2handler->setModeNormal();
+  acuhandler->setModeNormal();
+  if (pwrSwitcher != nullptr) {
+    *pwrSwitcher = pcduHandler;
+  }
+#if OBSW_DEBUG_P60DOCK == 1
+  p60dockhandler->setDebugMode(true);
+#endif
+#if OBSW_DEBUG_ACU == 1
+  acuhandler->setDebugMode(true);
+#endif
+}
+
+void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
+  using namespace gpio;
+  GpioCookie* gpioCookieRadSensor = new GpioCookie;
+  std::stringstream consumer;
+  consumer << "0x" << std::hex << objects::RAD_SENSOR;
+  GpiodRegularByLineName* gpio = new GpiodRegularByLineName(
+      q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), Direction::OUT, Levels::HIGH);
+  gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio);
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_RADFET, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
+  gpioComIF->addGpios(gpioCookieRadSensor);
+
+  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,
+                                              spiCookieRadSensor, gpioComIF);
+  static_cast<void>(radSensor);
+  // The radiation sensor ADC is powered by the 5V stack connector which should always be on
+  radSensor->setStartUpImmediately();
+  // It's a simple sensor, so just to to normal mode immediately
+  radSensor->setToGoToNormalModeImmediately();
+#if OBSW_DEBUG_RAD_SENSOR == 1
+  radSensor->enablePeriodicDataPrint(true);
+#endif
+}
+
+void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
+                                             PowerSwitchIF* pwrSwitcher) {
+  using namespace gpio;
+  GpioCookie* gpioCookieAcsBoard = new GpioCookie();
+
+  std::stringstream consumer;
+  GpiodRegularByLineName* gpio = nullptr;
+  consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), Direction::OUT,
+                                    Levels::HIGH);
+  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GYRO_1_L3G_HANDLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), Direction::OUT,
+                                    Levels::HIGH);
+  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), Direction::OUT,
+                                    Levels::HIGH);
+  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GYRO_3_L3G_HANDLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), Direction::OUT,
+                                    Levels::HIGH);
+  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::MGM_0_LIS3_HANDLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), Direction::OUT,
+                                    Levels::HIGH);
+  gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::MGM_1_RM3100_HANDLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), Direction::OUT,
+                                    Levels::HIGH);
+  gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(), Direction::OUT,
+                                    Levels::HIGH);
+  gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::MGM_3_RM3100_HANDLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), Direction::OUT,
+                                    Levels::HIGH);
+  gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
+  // GNSS reset pins are active low
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), Direction::OUT,
+                                    Levels::HIGH);
+  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), Direction::OUT,
+                                    Levels::HIGH);
+  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
+  // Enable pins must be pulled low for regular operations
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
+
+  // Enable pins for GNSS
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_ENABLE, gpio);
+
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_1_ENABLE, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio);
+
+  // Select pin. 0 for GPS side A, 1 for GPS side B
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
+  gpioComIF->addGpios(gpioCookieAcsBoard);
+  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,
+                                              spiCookie, spi::LIS3_TRANSITION_DELAY);
+  fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
+  mgmLis3Handler->setCustomFdir(fdir);
+  static_cast<void>(mgmLis3Handler);
+#if OBSW_TEST_ACS == 1
+  mgmLis3Handler->setStartUpImmediately();
+  mgmLis3Handler->setToGoToNormalMode(true);
+#endif
+#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);
+  fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
+  mgmRm3100Handler->setCustomFdir(fdir);
+  mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
+  static_cast<void>(mgmRm3100Handler);
+#if OBSW_TEST_ACS == 1
+  mgmRm3100Handler->setStartUpImmediately();
+  mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
+#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,
+                                         spiCookie, spi::LIS3_TRANSITION_DELAY);
+  fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
+  mgmLis3Handler->setCustomFdir(fdir);
+  mgmLis3Handler->setParent(objects::ACS_BOARD_ASS);
+  static_cast<void>(mgmLis3Handler);
+#if OBSW_TEST_ACS == 1
+  mgmLis3Handler->setStartUpImmediately();
+  mgmLis3Handler->setToGoToNormalMode(true);
+#endif
+#if OBSW_DEBUG_ACS == 1
+  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,
+                                          spiCookie, spi::RM3100_TRANSITION_DELAY);
+  fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
+  mgmRm3100Handler->setCustomFdir(fdir);
+  mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
+#if OBSW_TEST_ACS == 1
+  mgmRm3100Handler->setStartUpImmediately();
+  mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
+#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);
+  fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
+  adisHandler->setCustomFdir(fdir);
+  adisHandler->setParent(objects::ACS_BOARD_ASS);
+  static_cast<void>(adisHandler);
+#if OBSW_TEST_ACS == 1
+  adisHandler->setStartUpImmediately();
+  adisHandler->setToGoToNormalModeImmediately();
+#endif
+#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);
+  fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
+  gyroL3gHandler->setCustomFdir(fdir);
+  gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
+  static_cast<void>(gyroL3gHandler);
+#if OBSW_TEST_ACS == 1
+  gyroL3gHandler->setStartUpImmediately();
+  gyroL3gHandler->setToGoToNormalMode(true);
+#endif
+#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, ADIS1650X::Type::ADIS16505);
+  fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
+  adisHandler->setCustomFdir(fdir);
+  adisHandler->setParent(objects::ACS_BOARD_ASS);
+#if OBSW_TEST_ACS == 1
+  adisHandler->setStartUpImmediately();
+  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, spi::L3G_TRANSITION_DELAY);
+  fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
+  gyroL3gHandler->setCustomFdir(fdir);
+  gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
+#if OBSW_TEST_ACS == 1
+  gyroL3gHandler->setStartUpImmediately();
+  gyroL3gHandler->setToGoToNormalMode(true);
+#endif
+#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 =
+      new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
+  gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
+
+  AcsBoardHelper acsBoardHelper = AcsBoardHelper(
+      objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
+      objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
+      objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
+  auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
+                                     acsBoardHelper, gpioComIF);
+  static_cast<void>(acsAss);
+#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
+}
+
+void ObjectFactory::createHeaterComponents() {
+  using namespace gpio;
+  GpioCookie* heaterGpiosCookie = new GpioCookie;
+  GpiodRegularByLineName* gpio = nullptr;
+
+  std::stringstream consumer;
+  consumer << "0x" << std::hex << objects::HEATER_HANDLER;
+  /* Pin H2-11 on stack connector */
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_0, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpio);
+  /* Pin H2-12 on stack connector */
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_1, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpio);
+
+  /* Pin H2-13 on stack connector */
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_2, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpio);
+
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_3, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpio);
+
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_4, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpio);
+
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_5, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpio);
+
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_6, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpio);
+
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_7, consumer.str(), Direction::OUT,
+                                    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);
+}
+
+void ObjectFactory::createSolarArrayDeploymentComponents() {
+  using namespace gpio;
+  GpioCookie* solarArrayDeplCookie = new GpioCookie;
+  GpiodRegularByLineName* gpio = nullptr;
+
+  std::stringstream consumer;
+  consumer << "0x" << std::hex << objects::SOLAR_ARRAY_DEPL_HANDLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_0, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpio);
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio);
+
+  // TODO: Find out burn time. For now set to 1000 ms.
+  new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
+                                  solarArrayDeplCookie, objects::PCDU_HANDLER,
+                                  pcdu::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
+                                  gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
+}
+
+void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
+  UartCookie* syrlinksUartCookie =
+      new UartCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
+                     syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+  syrlinksUartCookie->setParityEven();
+
+  auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HK_HANDLER);
+  auto syrlinksHandler =
+      new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
+                            pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
+  syrlinksHandler->setPowerSwitcher(pwrSwitcher);
+#if OBSW_DEBUG_SYRLINKS == 1
+  syrlinksHandler->setDebugMode(true);
+#endif
+}
+
+void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
+  using namespace gpio;
+  std::stringstream consumer;
+#if OBSW_ADD_PLOC_MPSOC == 1
+  consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
+  auto gpioConfigMPSoC = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_MPSOC_UART,
+                                                    consumer.str(), Direction::OUT, Levels::HIGH);
+  auto mpsocGpioCookie = new GpioCookie;
+  mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
+  gpioComIF->addGpios(mpsocGpioCookie);
+  auto mpsocCookie =
+      new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
+                     mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+  mpsocCookie->setNoFixedSizeReply();
+  auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
+  new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
+                       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);
+  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);
+  supervisorCookie->setNoFixedSizeReply();
+  new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
+                            supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
+                            pcdu::PDU1_CH6_PLOC_12V);
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
+  static_cast<void>(consumer);
+}
+
+void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
+  using namespace gpio;
+  GpioCookie* gpioCookieRw = new GpioCookie;
+  GpioCallback* csRw1 =
+      new GpioCallback("Chip select reaction wheel 1", Direction::OUT, Levels::HIGH,
+                       &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
+  GpioCallback* csRw2 =
+      new GpioCallback("Chip select reaction wheel 2", Direction::OUT, Levels::HIGH,
+                       &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
+  GpioCallback* csRw3 =
+      new GpioCallback("Chip select reaction wheel 3", Direction::OUT, Levels::HIGH,
+                       &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
+  GpioCallback* csRw4 =
+      new GpioCallback("Chip select reaction wheel 4", Direction::OUT, Levels::HIGH,
+                       &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
+
+  std::stringstream consumer;
+  GpiodRegularByLineName* gpio = nullptr;
+  consumer << "0x" << std::hex << objects::RW1;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookieRw->addGpio(gpioIds::EN_RW1, gpio);
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::RW2;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookieRw->addGpio(gpioIds::EN_RW2, gpio);
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::RW3;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookieRw->addGpio(gpioIds::EN_RW3, gpio);
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::RW4;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
+
+  gpioComIF->addGpios(gpioCookieRw);
+
+#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);
+#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);
+#endif
+#endif /* OBSW_ADD_RW == 1 */
+}
+
+void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
+  using namespace gpio;
+  // GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
+  GpioCookie* gpioCookiePtmeIp = new GpioCookie;
+  GpiodRegularByLineName* gpio = nullptr;
+  std::stringstream consumer;
+  consumer.str("PAPB VC0");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str());
+  gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
+  consumer.str("PAPB VC0");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str());
+  gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
+  consumer.str("PAPB VC 1");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str());
+  gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
+  consumer.str("");
+  consumer.str("PAPB VC 1");
+  gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
+  consumer.str("");
+  consumer.str("PAPB VC 2");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str());
+  gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
+  consumer.str("");
+  consumer.str("PAPB VC 2");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str());
+  gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
+  consumer.str("");
+  consumer.str("PAPB VC 3");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str());
+  gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
+  consumer.str("");
+  consumer.str("PAPB VC 3");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
+  gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
+
+  gpioComIF->addGpios(gpioCookiePtmeIp);
+
+  // Creating virtual channel interfaces
+  VcInterfaceIF* vc0 =
+      new PapbVcInterface(gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
+                          q7s::uiomapids::PTME_VC0);
+  VcInterfaceIF* vc1 =
+      new PapbVcInterface(gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME,
+                          q7s::uiomapids::PTME_VC1);
+  VcInterfaceIF* vc2 =
+      new PapbVcInterface(gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME,
+                          q7s::uiomapids::PTME_VC2);
+  VcInterfaceIF* vc3 =
+      new PapbVcInterface(gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME,
+                          q7s::uiomapids::PTME_VC3);
+
+  // Creating ptme object and adding virtual channel interfaces
+  Ptme* ptme = new Ptme(objects::PTME);
+  ptme->addVcInterface(ccsds::VC0, vc0);
+  ptme->addVcInterface(ccsds::VC1, vc1);
+  ptme->addVcInterface(ccsds::VC2, vc2);
+  ptme->addVcInterface(ccsds::VC3, vc3);
+
+  AxiPtmeConfig* axiPtmeConfig =
+      new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
+  PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
+#if OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT == 1
+  // Set to high value when not sending via syrlinks
+  static const uint32_t TRANSMITTER_TIMEOUT = 86400000;  // 1 day
+#else
+  static const uint32_t TRANSMITTER_TIMEOUT = 900000;  // 15 minutes
+#endif
+  CCSDSHandler* ccsdsHandler = new CCSDSHandler(
+      objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
+      gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA, TRANSMITTER_TIMEOUT);
+
+  VirtualChannel* vc = nullptr;
+  vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
+  ccsdsHandler->addVirtualChannel(ccsds::VC0, vc);
+  vc = new VirtualChannel(ccsds::VC1, common::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
+  ccsdsHandler->addVirtualChannel(ccsds::VC1, vc);
+  vc = new VirtualChannel(ccsds::VC2, common::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
+  ccsdsHandler->addVirtualChannel(ccsds::VC2, vc);
+  vc = new VirtualChannel(ccsds::VC3, common::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
+  ccsdsHandler->addVirtualChannel(ccsds::VC3, vc);
+
+  GpioCookie* gpioCookiePdec = new GpioCookie;
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::PDEC_HANDLER;
+  // GPIO also low after linux boot (specified by device-tree)
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), Direction::OUT,
+                                    Levels::LOW);
+  gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
+
+  gpioComIF->addGpios(gpioCookiePdec);
+
+  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);
+
+  GpioCookie* gpioRS485Chip = new GpioCookie;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
+                                    Direction::OUT, Levels::LOW);
+  gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_CLOCK, gpio);
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_DATA, "RS485 Transceiver",
+                                    Direction::OUT, Levels::LOW);
+  gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_DATA, gpio);
+
+  // Default configuration enables RX channels (RXEN = LOW)
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_CLOCK, "RS485 Transceiver",
+                                    Direction::OUT, Levels::LOW);
+  gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_CLOCK, gpio);
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_DATA, "RS485 Transceiver",
+                                    Direction::OUT, Levels::LOW);
+  gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
+
+  gpioComIF->addGpios(gpioRS485Chip);
+}
+
+void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
+                                           PowerSwitchIF* pwrSwitcher) {
+  using namespace gpio;
+  // Create all GPIO components first
+  GpioCookie* plPcduGpios = new GpioCookie;
+  GpiodRegularByLineName* gpio = nullptr;
+  std::string consumer;
+  // Switch pins are active high
+  consumer = "PLPCDU_ENB_VBAT_0";
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_VBAT0, consumer, Direction::OUT,
+                                    gpio::Levels::LOW);
+  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_VBAT0, gpio);
+  consumer = "PLPCDU_ENB_VBAT_1";
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_VBAT1, consumer, Direction::OUT,
+                                    gpio::Levels::LOW);
+  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_VBAT1, gpio);
+  consumer = "PLPCDU_ENB_DRO";
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_DRO, consumer, Direction::OUT,
+                                    gpio::Levels::LOW);
+  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_DRO, gpio);
+  consumer = "PLPCDU_ENB_X8";
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_X8, consumer, Direction::OUT,
+                                    gpio::Levels::LOW);
+  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_X8, gpio);
+  consumer = "PLPCDU_ENB_TX";
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_TX, consumer, Direction::OUT,
+                                    gpio::Levels::LOW);
+  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_TX, gpio);
+  consumer = "PLPCDU_ENB_MPA";
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_MPA, consumer, Direction::OUT,
+                                    gpio::Levels::LOW);
+  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_MPA, gpio);
+  consumer = "PLPCDU_ENB_HPA";
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_HPA, consumer, Direction::OUT,
+                                    gpio::Levels::LOW);
+  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_HPA, gpio);
+
+  // Chip select pin is active low
+  consumer = "PLPCDU_ADC_CS";
+  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);
+  // 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,
+      pcdu::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8, false);
+  spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
+//  plPcduHandler->enablePeriodicPrintout(true, 5);
+//  static_cast<void>(plPcduHandler);
+#if OBSW_TEST_PL_PCDU == 1
+  plPcduHandler->setStartUpImmediately();
+#endif
+#if OBSW_DEBUG_PL_PCDU == 1
+  plPcduHandler->setToGoToNormalModeImmediately(true);
+  plPcduHandler->enablePeriodicPrintout(true, 10);
+#endif
+}
+
+void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
+  new Q7STestTask(objects::TEST_TASK);
+#if OBSW_ADD_SPI_TEST_CODE == 1
+  new SpiTestClass(objects::SPI_TEST, gpioComIF);
+#endif
+#if OBSW_ADD_I2C_TEST_CODE == 1
+  new I2cTestClass(objects::I2C_TEST, q7s::I2C_DEFAULT_DEV);
+#endif
+#if OBSW_ADD_UART_TEST_CODE == 1
+  new UartTestClass(objects::UART_TEST);
+#endif
+}
+
+void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
+  CommandMessage msg;
+  ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
+                              duallane::A_SIDE);
+  ReturnValue_t result = MessageQueueSenderIF::sendMessage(acsAss->getCommandQueue(), &msg);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "Sending mode command failed" << std::endl;
+  }
+}
--- 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
--- a/bsp_q7s/core/obsw.cpp
+++ b/bsp_q7s/core/obsw.cpp
@ -3,9 +3,9 @@
 #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 "watchdog/definitions.h"
--- a/bsp_q7s/core/obsw.h
+++ b/bsp_q7s/core/obsw.h
--- a/linux/fsfwconfig/OBSWConfig.h.in
+++ b/linux/fsfwconfig/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"
--- a/cmake/PreProjectConfig.cmake
+++ b/cmake/PreProjectConfig.cmake
@ -1,3 +1,6 @@
+function(obsw_module_config)
+endfunction()
+
 function(pre_source_hw_os_config)

 # FreeRTOS
--- a/cmake/scripts/Host/make-debug-cfg.sh
+++ b/cmake/scripts/Host/make-debug-cfg.sh
@ -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
--- a/cmake/scripts/Host/make-release-cfg.sh
+++ b/cmake/scripts/Host/make-release-cfg.sh
@ -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
--- a/cmake/scripts/Host/ninja-debug-cfg.sh
+++ b/cmake/scripts/Host/ninja-debug-cfg.sh
@ -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
--- a/cmake/scripts/Linux/make-debug-cfg.sh
+++ b/cmake/scripts/Linux/make-debug-cfg.sh
@ -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
--- a/cmake/scripts/Linux/make-release-cfg.sh
+++ b/cmake/scripts/Linux/make-release-cfg.sh
@ -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
--- a/cmake/scripts/Linux/ninja-debug-cfg.sh
+++ b/cmake/scripts/Linux/ninja-debug-cfg.sh
@ -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
-
--- a/cmake/scripts/Q7S/make-debug-cfg.sh
+++ b/cmake/scripts/Q7S/make-debug-cfg.sh
@ -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
-
--- a/cmake/scripts/Q7S/make-release-cfg.sh
+++ b/cmake/scripts/Q7S/make-release-cfg.sh
@ -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
--- a/cmake/scripts/Q7S/ninja-debug-cfg.sh
+++ b/cmake/scripts/Q7S/ninja-debug-cfg.sh
@ -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
-
--- a/cmake/scripts/Q7S/ninja-release-cfg.sh
+++ b/cmake/scripts/Q7S/ninja-release-cfg.sh
@ -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"${build_dir}"
-# set +x
-
--- a/cmake/scripts/Q7S/q7s-env.sh
+++ b/cmake/scripts/Q7S/q7s-env.sh
@ -1,7 +0,0 @@
-#!/bin/bash -i
-export PATH=$PATH:"$HOME/EIVE/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
-export CROSS_COMPILE="arm-linux-gnueabihf"
-
-export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"
-export CONSOLE_PREFIX="[Q7S ENV]"
-/bin/bash
--- a/cmake/scripts/BeagleBoneBlack/crosscompile/bbb_path_helper.sh
+++ b/cmake/scripts/BeagleBoneBlack/crosscompile/bbb_path_helper.sh
--- a/cmake/scripts/BeagleBoneBlack/crosscompile/make-debug-cfg.sh
+++ b/cmake/scripts/BeagleBoneBlack/crosscompile/make-debug-cfg.sh
--- a/cmake/scripts/BeagleBoneBlack/crosscompile/make-release-cfg.sh
+++ b/cmake/scripts/BeagleBoneBlack/crosscompile/make-release-cfg.sh
--- a/cmake/scripts/BeagleBoneBlack/make-debug-cfg.sh
+++ b/cmake/scripts/BeagleBoneBlack/make-debug-cfg.sh
--- a/cmake/scripts/host/host-make-debug.sh
+++ b/cmake/scripts/host/host-make-debug.sh
@ -0,0 +1,37 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(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
--- a/cmake/scripts/host/host-make-release.sh
+++ 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
--- a/cmake/scripts/host/host-ninja-debug.sh
+++ 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
+
--- a/cmake/scripts/linux/host-make-debug.sh
+++ 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
--- a/cmake/scripts/linux/host-make-release.sh
+++ 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
--- a/cmake/scripts/linux/host-ninja-debug.sh
+++ 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
+
--- a/cmake/scripts/q7s/q7s-make-debug.sh
+++ 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 ${init_dir}
--- a/cmake/scripts/q7s/q7s-make-release.sh
+++ b/cmake/scripts/q7s/q7s-make-release.sh
@ -0,0 +1,48 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(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 ${init_dir}
--- a/cmake/scripts/q7s/q7s-make-size.sh
+++ b/cmake/scripts/q7s/q7s-make-size.sh
--- a/cmake/scripts/q7s/q7s-ninja-debug.sh
+++ b/cmake/scripts/q7s/q7s-ninja-debug.sh
@ -0,0 +1,48 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(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 ${init_dir}
--- a/cmake/scripts/q7s/q7s-ninja-release.sh
+++ b/cmake/scripts/q7s/q7s-ninja-release.sh
@ -0,0 +1,48 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(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}
--- a/cmake/scripts/rpi/make-debug-cfg.sh
+++ b/cmake/scripts/rpi/make-debug-cfg.sh
--- a/cmake/scripts/rpi/make-release-cfg.sh
+++ b/cmake/scripts/rpi/make-release-cfg.sh
--- a/cmake/scripts/rpi/ninja-debug-cfg.sh
+++ b/cmake/scripts/rpi/ninja-debug-cfg.sh
--- a/cmake/scripts/rpi/rpi_path_helper.sh
+++ b/cmake/scripts/rpi/rpi_path_helper.sh
--- a/cmake/scripts/rpi/rpi_path_helper_win.sh
+++ b/cmake/scripts/rpi/rpi_path_helper_win.sh
--- 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
--- a/common/config/commonSubsystemIds.h
+++ b/common/config/commonSubsystemIds.h
@ -30,6 +30,7 @@ enum: uint8_t {
 	PDU1_HANDLER = 133,
 	PDU2_HANDLER = 134,
 	ACU_HANDLER = 135,
+	SYRLINKS = 136,
 	COMMON_SUBSYSTEM_ID_END
 };
 }
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit d61fe7db93b37dd6652dbfee5b7c93f400ac5a11
+Subproject commit 80cb0e682fb423b4e7b8f45b66b3b5b7249e0d48
--- a/generators/bsp_q7s_events.csv
+++ b/generators/bsp_q7s_events.csv
@ -80,6 +80,7 @@
 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
 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
--- a/generators/bsp_q7s_returnvalues.csv
+++ b/generators/bsp_q7s_returnvalues.csv
--- 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 187 translations.
 * @details
- * Generated on: 2022-04-08 14:13:35
+ * Generated on: 2022-05-03 16:32:00
 */
 #include "translateEvents.h"

@ -87,6 +87,7 @@ 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 *SWITCH_ALREADY_ON_STRING = "SWITCH_ALREADY_ON";
@ -354,6 +355,8 @@ 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):
--- a/generators/fsfwgen
+++ b/generators/fsfwgen
@ -1 +1 @@
-Subproject commit 5ad9fb94af3312d29863527106396395f7b808a5
+Subproject commit 169ad98cdeebe3ccfd1b78938934496a20b6a294
--- a/generators/objects/translateObjects.cpp
+++ b/generators/objects/translateObjects.cpp
@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 117 translations.
- * Generated on: 2022-04-08 14:13:35
+ * Generated on: 2022-05-03 16:32:00
 */
 #include "translateObjects.h"

--- a/generators/system/init.py
+++ b/generators/system/init.py
--- a/generators/system/eive-system.yml
+++ 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
--- a/linux/ObjectFactory.cpp
+++ b/linux/ObjectFactory.cpp
@ -9,10 +9,10 @@
 #include <linux/callbacks/gpioCallbacks.h>
 #include <mission/devices/Max31865PT1000Handler.h>
 #include <mission/devices/SusHandler.h>
-#include <mission/system/RtdFdir.h>
 #include <mission/system/SusAssembly.h>
-#include <mission/system/SusFdir.h>
 #include <mission/system/TcsBoardAssembly.h>
+#include <mission/system/fdir/RtdFdir.h>
+#include <mission/system/fdir/SusFdir.h>

 #include "OBSWConfig.h"
 #include "devConf.h"
--- 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;
--- 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
@ -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;
-    }
-    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) {
+void GPSHyperionLinuxController::readGpsDataFromGpsd() {
+  auto readError = [&](int error) {
    if (gpsReadFailedSwitch) {
      gpsReadFailedSwitch = false;
-        sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed"
-                     << std::endl;
+      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed | "
+                      "Error "
+                   << error << " | " << gps_errstr(error) << 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;
      }
-      return;
-    } else {
+    }
    noModeSetCntr = 0;
+  } else if (readMode == ReadModes::SHM) {
+    int result = gps_read(&gps);
+    if (result == -1) {
+      readError(result);
+      return;
    }
  }
-  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
--- a/linux/devices/GPSHyperionLinuxController.h
+++ b/linux/devices/GPSHyperionLinuxController.h
@ -24,6 +24,8 @@ 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();
@ -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;
--- 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_ */
--- 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 187 translations.
 * @details
- * Generated on: 2022-04-08 14:13:35
+ * Generated on: 2022-05-03 16:32:00
 */
 #include "translateEvents.h"

@ -87,6 +87,7 @@ 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 *SWITCH_ALREADY_ON_STRING = "SWITCH_ALREADY_ON";
@ -354,6 +355,8 @@ 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):
--- a/linux/fsfwconfig/objects/translateObjects.cpp
+++ b/linux/fsfwconfig/objects/translateObjects.cpp
@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 117 translations.
- * Generated on: 2022-04-08 14:13:35
+ * Generated on: 2022-05-03 16:32:00
 */
 #include "translateObjects.h"

--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@ -510,8 +510,6 @@ 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 +541,6 @@ 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;
 }
--- 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;
--- a/misc/eclipse/.cproject
+++ b/misc/eclipse/.cproject
@ -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">
@ -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="${HOME}/Xilinx/eive-compile-rootfs"/>
+					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"/>
 					<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
 				</macros>
 				<externalSettings/>
@ -680,7 +680,7 @@
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other.1721137382" name="Other debugging flags" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other"/>
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.2014131279" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform.363832829" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/>
-							<builder arguments="--build . -j" buildPath="${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="${workspace_loc:/eive-obsw/cmake-build-debug-q7s}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1895725167" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
 							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.2035413172" name="GNU Arm Cross Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
 								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.1527860624" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths.1772224733" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths" valueType="includePath">
@ -758,7 +758,7 @@
 		<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1939781894">
 			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1939781894" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-release">
 				<macros>
-					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_TEXT" value="${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>
 				<externalSettings/>
@ -1482,12 +1482,184 @@
 			</storageModule>
 			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
 		</cconfiguration>
+		<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561">
+			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-debug-em">
+				<macros>
+					<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/>
+				<extensions>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+				</extensions>
+			</storageModule>
+			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561" name="eive-q7s-debug-em" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
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+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}&quot;"/>
+								</option>
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.1692092339" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
+									<listOptionValue builtIn="false" value="LINUX=1"/>
+								</option>
+								<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.259982159" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input"/>
+							</tool>
+							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.c.linker.1974387385" name="GNU Arm Cross C Linker" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.c.linker">
+								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.c.linker.gcsections.1504385753" name="Remove unused sections (-Xlinker --gc-sections)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.linker.gcsections" value="true" valueType="boolean"/>
+							</tool>
+							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker.778224442" name="GNU Arm Cross C++ Linker" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker">
+								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.gcsections.1894384941" name="Remove unused sections (-Xlinker --gc-sections)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.gcsections" value="true" valueType="boolean"/>
+								<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker.input.2064035684" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker.input">
+									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
+									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
+								</inputType>
+							</tool>
+							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.archiver.1013675852" name="GNU Arm Cross Archiver" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.archiver"/>
+							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.createflash.653363853" name="GNU Arm Cross Create Flash Image" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.createflash"/>
+							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.createlisting.6021583" name="GNU Arm Cross Create Listing" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.createlisting">
+								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.source.1044186164" name="Display source (--source|-S)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.source" value="true" valueType="boolean"/>
+								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.allheaders.702471697" name="Display all headers (--all-headers|-x)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.allheaders" value="true" valueType="boolean"/>
+								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.demangle.1993012856" name="Demangle names (--demangle|-C)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.demangle" value="true" valueType="boolean"/>
+								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.linenumbers.402738823" name="Display line numbers (--line-numbers|-l)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.linenumbers" value="true" valueType="boolean"/>
+								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.wide.646452266" name="Wide lines (--wide|-w)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.wide" value="true" valueType="boolean"/>
+							</tool>
+							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.printsize.1800220133" name="GNU Arm Cross Print Size" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.printsize">
+								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format.1281210873" name="Size format" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format"/>
+							</tool>
+						</toolChain>
+					</folderInfo>
+					<sourceEntries>
+						<entry excluding="build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+					</sourceEntries>
+				</configuration>
+			</storageModule>
+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+			<storageModule moduleId="ilg.gnumcueclipse.managedbuild.packs"/>
+		</cconfiguration>
 	</storageModule>
 	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
 		<project id="eive_obsw.null.1109622296" name="eive_obsw"/>
 	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
 	<storageModule moduleId="refreshScope" versionNumber="2">
+		<configuration configurationName="eive-q7s-debug-em">
+			<resource resourceType="PROJECT" workspacePath="/eive-obsw"/>
+		</configuration>
 		<configuration configurationName="eive-q7s-simple">
 			<resource resourceType="PROJECT" workspacePath="/eive-obsw"/>
 		</configuration>
--- 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"/>
--- a/mission/devices/ACUHandler.cpp
+++ b/mission/devices/ACUHandler.cpp
@ -2,8 +2,9 @@

 #include "OBSWConfig.h"

-ACUHandler::ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
-    : GomspaceDeviceHandler(objectId, comIF, comCookie, ACU::MAX_CONFIGTABLE_ADDRESS,
+ACUHandler::ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
+                       FailureIsolationBase *customFdir)
+    : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir, ACU::MAX_CONFIGTABLE_ADDRESS,
                            ACU::MAX_HKTABLE_ADDRESS, ACU::HK_TABLE_REPLY_SIZE),
      acuHkTableDataset(this) {}

--- a/mission/devices/ACUHandler.h
+++ b/mission/devices/ACUHandler.h
@ -12,7 +12,8 @@
 */
 class ACUHandler : public GomspaceDeviceHandler {
 public:
-  ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
+  ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+             FailureIsolationBase* customFdir);
  virtual ~ACUHandler();

  void setDebugMode(bool enable);
--- a/mission/devices/GomspaceDeviceHandler.cpp
+++ b/mission/devices/GomspaceDeviceHandler.cpp
@ -7,9 +7,10 @@
 #include "devicedefinitions/powerDefinitions.h"

 GomspaceDeviceHandler::GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF,
-                                             CookieIF* comCookie, uint16_t maxConfigTableAddress,
+                                             CookieIF* comCookie, FailureIsolationBase* customFdir,
+                                             uint16_t maxConfigTableAddress,
                                             uint16_t maxHkTableAddress, uint16_t hkTableReplySize)
-    : DeviceHandlerBase(objectId, comIF, comCookie),
+    : DeviceHandlerBase(objectId, comIF, comCookie, customFdir),
      maxConfigTableAddress(maxConfigTableAddress),
      maxHkTableAddress(maxHkTableAddress),
      hkTableReplySize(hkTableReplySize) {
--- a/mission/devices/GomspaceDeviceHandler.h
+++ b/mission/devices/GomspaceDeviceHandler.h
@ -38,8 +38,8 @@ class GomspaceDeviceHandler : public DeviceHandlerBase {
   * 							device.
   */
  GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
-                        uint16_t maxConfigTableAddress, uint16_t maxHkTableAddress,
-                        uint16_t hkTableReplySize);
+                        FailureIsolationBase *customFdir, uint16_t maxConfigTableAddress,
+                        uint16_t maxHkTableAddress, uint16_t hkTableReplySize);
  virtual ~GomspaceDeviceHandler();

  /**
--- a/mission/devices/P60DockHandler.cpp
+++ b/mission/devices/P60DockHandler.cpp
@ -4,9 +4,11 @@

 #include "OBSWConfig.h"

-P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
-    : GomspaceDeviceHandler(objectId, comIF, comCookie, P60Dock::MAX_CONFIGTABLE_ADDRESS,
-                            P60Dock::MAX_HKTABLE_ADDRESS, P60Dock::HK_TABLE_REPLY_SIZE),
+P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
+                               FailureIsolationBase *customFdir)
+    : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir,
+                            P60Dock::MAX_CONFIGTABLE_ADDRESS, P60Dock::MAX_HKTABLE_ADDRESS,
+                            P60Dock::HK_TABLE_REPLY_SIZE),
      coreHk(this),
      auxHk(this) {}

--- a/mission/devices/P60DockHandler.h
+++ b/mission/devices/P60DockHandler.h
@ -21,7 +21,8 @@ class P60DockHandler : public GomspaceDeviceHandler {
  //! [EXPORT] : [COMMENT] Battery mode has changed. P1: Old mode. P2: New mode
  static constexpr Event BATT_MODE_CHANGED = event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);

-  P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
+  P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+                 FailureIsolationBase* customFdir);
  virtual ~P60DockHandler();

  void setDebugMode(bool enable);
--- a/mission/devices/PCDUHandler.cpp
+++ b/mission/devices/PCDUHandler.cpp
@ -100,14 +100,9 @@ void PCDUHandler::readCommandQueue() {

  for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
       result = commandQueue->receiveMessage(&command)) {
-    result = commandQueue->receiveMessage(&command);
-    if (result != RETURN_OK) {
-      return;
-    }
-
    result = poolManager.handleHousekeepingMessage(&command);
    if (result == RETURN_OK) {
-      return;
+      continue;
    }
  }
 }
--- a/mission/devices/PDU1Handler.cpp
+++ b/mission/devices/PDU1Handler.cpp
@ -5,8 +5,9 @@

 #include "devices/powerSwitcherList.h"

-PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
-    : GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
+PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
+                         FailureIsolationBase *customFdir)
+    : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir, PDU::MAX_CONFIGTABLE_ADDRESS,
                            PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE),
      coreHk(this),
      auxHk(this) {}
--- a/mission/devices/PDU1Handler.h
+++ b/mission/devices/PDU1Handler.h
@ -21,7 +21,8 @@
 */
 class PDU1Handler : public GomspaceDeviceHandler {
 public:
-  PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
+  PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+              FailureIsolationBase* customFdir);
  virtual ~PDU1Handler();

  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
--- a/mission/devices/PDU2Handler.cpp
+++ b/mission/devices/PDU2Handler.cpp
@ -5,8 +5,9 @@

 #include "devices/powerSwitcherList.h"

-PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
-    : GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
+PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
+                         FailureIsolationBase *customFdir)
+    : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir, PDU::MAX_CONFIGTABLE_ADDRESS,
                            PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE),
      coreHk(this),
      auxHk(this) {}
--- a/mission/devices/PDU2Handler.h
+++ b/mission/devices/PDU2Handler.h
@ -21,7 +21,8 @@
 */
 class PDU2Handler : public GomspaceDeviceHandler {
 public:
-  PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
+  PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+              FailureIsolationBase* customFdir);
  virtual ~PDU2Handler();

  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
--- a/mission/devices/SyrlinksHkHandler.cpp
+++ b/mission/devices/SyrlinksHkHandler.cpp
@ -5,8 +5,8 @@
 #include "OBSWConfig.h"

 SyrlinksHkHandler::SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                                     power::Switch_t powerSwitch)
-    : DeviceHandlerBase(objectId, comIF, comCookie),
+                                     power::Switch_t powerSwitch, FailureIsolationBase* customFdir)
+    : DeviceHandlerBase(objectId, comIF, comCookie, customFdir),
      rxDataset(this),
      txDataset(this),
      temperatureSet(this),
--- a/mission/devices/SyrlinksHkHandler.h
+++ b/mission/devices/SyrlinksHkHandler.h
@ -20,7 +20,7 @@
 class SyrlinksHkHandler : public DeviceHandlerBase {
 public:
  SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                    power::Switch_t powerSwitch);
+                    power::Switch_t powerSwitch, FailureIsolationBase* customFdir);
  virtual ~SyrlinksHkHandler();

  /**
--- a/mission/devices/devicedefinitions/SyrlinksDefinitions.h
+++ b/mission/devices/devicedefinitions/SyrlinksDefinitions.h
@ -1,8 +1,14 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_SYRLINKSDEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_SYRLINKSDEFINITIONS_H_

+#include <commonSubsystemIds.h>
+
 namespace syrlinks {

+static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYRLINKS;
+
+static constexpr Event FDIR_REACTION_IGNORED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+
 static const DeviceCommandId_t NONE = 0;
 static const DeviceCommandId_t RESET_UNIT = 1;
 /** Reads out all status registers */
--- a/mission/devices/devicedefinitions/powerDefinitions.h
+++ b/mission/devices/devicedefinitions/powerDefinitions.h
@ -15,6 +15,8 @@ static constexpr Event SWITCH_CMD_SENT = event::makeEvent(SUBSYSTEM_ID, 0, sever
 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);

+static constexpr Event FDIR_REACTION_IGNORED = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
+
 }  // namespace power

 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_POWERDEFINITIONS_H_ */
--- a/mission/system/CMakeLists.txt
+++ b/mission/system/CMakeLists.txt
@ -10,8 +10,6 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
    PowerStateMachineBase.cpp
    DualLaneAssemblyBase.cpp
    TcsBoardAssembly.cpp
-
-    AcsBoardFdir.cpp
-    SusFdir.cpp
-    RtdFdir.cpp
 )
+
+add_subdirectory(fdir)
--- a/mission/system/fdir/AcsBoardFdir.cpp
+++ b/mission/system/fdir/AcsBoardFdir.cpp
--- a/mission/system/fdir/AcsBoardFdir.h
+++ b/mission/system/fdir/AcsBoardFdir.h
--- a/mission/system/fdir/CMakeLists.txt
+++ b/mission/system/fdir/CMakeLists.txt
@ -0,0 +1,7 @@
+target_sources(${LIB_EIVE_MISSION} PRIVATE
+    AcsBoardFdir.cpp
+    RtdFdir.cpp
+    SusFdir.cpp
+    SyrlinksFdir.cpp
+    GomspacePowerFdir.cpp
+)
--- a/mission/system/fdir/GomspacePowerFdir.cpp
+++ b/mission/system/fdir/GomspacePowerFdir.cpp
@ -0,0 +1,128 @@
+#include "GomspacePowerFdir.h"
+
+#include "fsfw/devicehandlers/DeviceHandlerIF.h"
+#include "fsfw/health/HealthTableIF.h"
+#include "fsfw/modes/HasModesIF.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/power/Fuse.h"
+#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/thermal/ThermalComponentIF.h"
+#include "mission/devices/devicedefinitions/powerDefinitions.h"
+
+GomspacePowerFdir::GomspacePowerFdir(object_id_t devId, object_id_t parentId)
+    : DeviceHandlerFailureIsolation(devId, parentId) {}
+
+ReturnValue_t GomspacePowerFdir::eventReceived(EventMessage* event) {
+  if (isFdirInActionOrAreWeFaulty(event)) {
+    return RETURN_OK;
+  }
+  ReturnValue_t result = RETURN_FAILED;
+  switch (event->getEvent()) {
+    case HasModesIF::MODE_TRANSITION_FAILED:
+    case HasModesIF::OBJECT_IN_INVALID_MODE:
+    case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
+      // We'll try a recovery as long as defined in MAX_REBOOT.
+      // Might cause some AssemblyBase cycles, so keep number low.
+      // handleRecovery(event->getEvent());
+      triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      break;
+    case DeviceHandlerIF::DEVICE_INTERPRETING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_READING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_UNREQUESTED_REPLY:
+    case DeviceHandlerIF::DEVICE_UNKNOWN_REPLY:  // Some DH's generate generic reply-ids.
+    case DeviceHandlerIF::DEVICE_BUILDING_COMMAND_FAILED:
+      // These faults all mean that there were stupid replies from a device.
+      if (strangeReplyCount.incrementAndCheck()) {
+        // handleRecovery(event->getEvent());
+        triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      }
+      break;
+    case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
+    case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
+      // The two above should never be confirmed.
+    case DeviceHandlerIF::DEVICE_MISSED_REPLY:
+      result = sendConfirmationRequest(event);
+      if (result == HasReturnvaluesIF::RETURN_OK) {
+        break;
+      }
+      // else
+      if (missedReplyCount.incrementAndCheck()) {
+        // handleRecovery(event->getEvent());
+        triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      }
+      break;
+    case StorageManagerIF::GET_DATA_FAILED:
+    case StorageManagerIF::STORE_DATA_FAILED:
+      // Rather strange bugs, occur in RAW mode only. Ignore.
+      break;
+    case DeviceHandlerIF::INVALID_DEVICE_COMMAND:
+      // Ignore, is bad configuration. We can't do anything in flight.
+      break;
+    case HasHealthIF::HEALTH_INFO:
+    case HasModesIF::MODE_INFO:
+    case HasModesIF::CHANGING_MODE:
+      // Do nothing, but mark as handled.
+      break;
+      //****Power*****
+    case PowerSwitchIF::SWITCH_WENT_OFF:
+      if (powerConfirmation != MessageQueueIF::NO_QUEUE) {
+        result = sendConfirmationRequest(event, powerConfirmation);
+        if (result == RETURN_OK) {
+          setFdirState(DEVICE_MIGHT_BE_OFF);
+        }
+      }
+      break;
+    case Fuse::FUSE_WENT_OFF:
+      // Not so good, because PCDU reacted.
+    case Fuse::POWER_ABOVE_HIGH_LIMIT:
+      // Better, because software detected over-current.
+      setFaulty(event->getEvent());
+      break;
+    case Fuse::POWER_BELOW_LOW_LIMIT:
+      // Device might got stuck during boot, retry.
+      // handleRecovery(event->getEvent());
+      triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      break;
+      //****Thermal*****
+    case ThermalComponentIF::COMPONENT_TEMP_LOW:
+    case ThermalComponentIF::COMPONENT_TEMP_HIGH:
+    case ThermalComponentIF::COMPONENT_TEMP_OOL_LOW:
+    case ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH:
+      // Well, the device is not really faulty, but it is required to stay off as long as possible.
+      setFaulty(event->getEvent());
+      break;
+    case ThermalComponentIF::TEMP_NOT_IN_OP_RANGE:
+      // Ignore, is information only.
+      break;
+      //*******Default monitoring variables. Are currently not used.*****
+      //    case DeviceHandlerIF::MONITORING_LIMIT_EXCEEDED:
+      //        setFaulty(event->getEvent());
+      //        break;
+      //    case DeviceHandlerIF::MONITORING_AMBIGUOUS:
+      //        break;
+    default:
+      // We don't know the event, someone else should handle it.
+      return RETURN_FAILED;
+  }
+  return RETURN_OK;
+}
+
+void GomspacePowerFdir::eventConfirmed(EventMessage* event) {
+  switch (event->getEvent()) {
+    case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
+    case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_MISSED_REPLY:
+      if (missedReplyCount.incrementAndCheck()) {
+        // handleRecovery(event->getEvent());
+        triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      }
+      break;
+    case PowerSwitchIF::SWITCH_WENT_OFF:
+      // This means the switch went off only for one device.
+      // handleRecovery(event->getEvent());
+      triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      break;
+    default:
+      break;
+  }
+}
--- a/Show More
+++ b/Show More