Merge pull request 'I2C reboot procedure for EIVE system' (#578) from feature_i2c_reboot_procedure into develop

Reviewed-on: #578
2023-04-07 11:07:04 +02:00 · 2023-04-07 11:07:04 +02:00 · d5d43e8d44
commit d5d43e8d44
parent a8d19b0ff9 55dd4b28ee
45 changed files with 620 additions and 402 deletions
--- a/bsp_hosted/fsfwconfig/events/translateEvents.cpp
+++ b/bsp_hosted/fsfwconfig/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 284 translations.
+ * @brief    Auto-generated event translation file. Contains 285 translations.
 * @details
- * Generated on: 2023-04-04 13:59:07
+ * Generated on: 2023-04-07 11:06:14
 */
 #include "translateEvents.h"

@ -266,7 +266,8 @@ const char *VERSION_INFO_STRING = "VERSION_INFO";
 const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
 const char *REBOOT_COUNTER_STRING = "REBOOT_COUNTER";
 const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
-const char *I2C_UNAVAILABLE_REBOOT_STRING = "I2C_UNAVAILABLE_REBOOT";
+const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
+const char *I2C_REBOOT_STRING = "I2C_REBOOT";
 const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
 const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
 const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
@ -815,7 +816,9 @@ const char *translateEvents(Event event) {
    case (14008):
      return INDIVIDUAL_BOOT_COUNTS_STRING;
    case (14010):
-      return I2C_UNAVAILABLE_REBOOT_STRING;
+      return TRYING_I2C_RECOVERY_STRING;
+    case (14011):
+      return I2C_REBOOT_STRING;
    case (14100):
      return NO_VALID_SENSOR_TEMPERATURE_STRING;
    case (14101):
--- a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
+++ b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 171 translations.
- * Generated on: 2023-04-04 13:59:07
+ * Generated on: 2023-04-07 11:06:14
 */
 #include "translateObjects.h"

--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@ -9,6 +9,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/timemanager/Stopwatch.h"
 #include "fsfw/version.h"
+#include "mission/sysDefs.h"
 #include "watchdog/definitions.h"
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
 #include "fsfw/osal/common/UdpTmTcBridge.h"
@ -31,8 +32,7 @@
 xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
 xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;

-CoreController::CoreController(object_id_t objectId, const std::atomic_uint16_t &i2cErrors,
-                               bool enableHkSet)
+CoreController::CoreController(object_id_t objectId, bool enableHkSet)
    : ExtendedControllerBase(objectId, 5),
      enableHkSet(enableHkSet),
      cmdExecutor(4096),
@ -40,8 +40,7 @@ CoreController::CoreController(object_id_t objectId, const std::atomic_uint16_t
      cmdRepliesSizes(128),
      opDivider5(5),
      opDivider10(10),
-      hkSet(this),
-      i2cErrors(i2cErrors) {
+      hkSet(this) {
  cmdExecutor.setRingBuffer(&cmdReplyBuf, &cmdRepliesSizes);
  try {
    sdcMan = SdCardManager::instance();
@ -110,17 +109,12 @@ void CoreController::performControlOperation() {
  sdStateMachine();
  performMountedSdCardOperations();
  readHkData();
-  if (i2cErrors >= 5) {
-    bool protOpPerformed = false;
-    triggerEvent(I2C_UNAVAILABLE_REBOOT);
-    gracefulShutdownTasks(CURRENT_CHIP, CURRENT_COPY, protOpPerformed);
-    std::system("xsc_boot_copy -r");
-  }
+
  if (shellCmdIsExecuting) {
    bool replyReceived = false;
    // TODO: We could read the data in the ring buffer and send it as an action data reply.
    if (cmdExecutor.check(replyReceived) == CommandExecutor::EXECUTION_FINISHED) {
-      actionHelper.finish(true, successRecipient, EXECUTE_SHELL_CMD);
+      actionHelper.finish(true, successRecipient, core::EXECUTE_SHELL_CMD);
      shellCmdIsExecuting = false;
      cmdReplyBuf.clear();
      while (not cmdRepliesSizes.empty()) {
@ -163,7 +157,7 @@ ReturnValue_t CoreController::initialize() {

  sdStateMachine();

-  triggerEvent(REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
+  triggerEvent(core::REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
  EventManagerIF *eventManager =
      ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
  if (eventManager == nullptr or eventQueue == nullptr) {
@ -202,6 +196,7 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {

 ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                            const uint8_t *data, size_t size) {
+  using namespace core;
  switch (actionId) {
    case (ANNOUNCE_VERSION): {
      uint32_t p1 = (common::OBSW_VERSION_MAJOR << 24) | (common::OBSW_VERSION_MINOR << 16) |
@ -1324,7 +1319,7 @@ ReturnValue_t CoreController::performSdCardCheck() {
    someSdCardActive = true;
  }
  if (not someSdCardActive and remountAttemptFlag) {
-    triggerEvent(NO_SD_CARD_ACTIVE);
+    triggerEvent(core::NO_SD_CARD_ACTIVE);
    initSdCardBlocking();
    remountAttemptFlag = false;
  }
@ -1378,7 +1373,7 @@ void CoreController::performRebootFileHandling(bool recreateFile) {
  if (rebootFile.bootFlag) {
    // Trigger event to inform ground that a reboot was triggered
    uint32_t p1 = rebootFile.lastChip << 16 | rebootFile.lastCopy;
-    triggerEvent(REBOOT_MECHANISM_TRIGGERED, p1, 0);
+    triggerEvent(core::REBOOT_MECHANISM_TRIGGERED, p1, 0);
    // Clear the boot flag
    rebootFile.bootFlag = false;
  }
@ -2047,8 +2042,9 @@ void CoreController::announceBootCounts() {
      rebootFile.img00Cnt + rebootFile.img01Cnt + rebootFile.img10Cnt + rebootFile.img11Cnt;
  uint32_t individualBootCountsP1 = (rebootFile.img00Cnt << 16) | rebootFile.img01Cnt;
  uint32_t individualBootCountsP2 = (rebootFile.img10Cnt << 16) | rebootFile.img11Cnt;
-  triggerEvent(INDIVIDUAL_BOOT_COUNTS, individualBootCountsP1, individualBootCountsP2);
-  triggerEvent(REBOOT_COUNTER, (totalBootCount >> 32) & 0xffffffff, totalBootCount & 0xffffffff);
+  triggerEvent(core::INDIVIDUAL_BOOT_COUNTS, individualBootCountsP1, individualBootCountsP2);
+  triggerEvent(core::REBOOT_COUNTER, (totalBootCount >> 32) & 0xffffffff,
+               totalBootCount & 0xffffffff);
 }

 bool CoreController::isNumber(const std::string &s) {
--- a/bsp_q7s/core/CoreController.h
+++ b/bsp_q7s/core/CoreController.h
@ -78,64 +78,7 @@ class CoreController : public ExtendedControllerBase {
  static constexpr dur_millis_t INIT_SD_CARD_CHECK_TIMEOUT = 5000;
  static constexpr dur_millis_t DEFAULT_SD_CARD_CHECK_TIMEOUT = 60000;

-  static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
-  static constexpr ActionId_t ANNOUNCE_VERSION = 1;
-  static constexpr ActionId_t ANNOUNCE_CURRENT_IMAGE = 2;
-  static constexpr ActionId_t ANNOUNCE_BOOT_COUNTS = 3;
-  static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
-  static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
-  static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
-  static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
-
-  static constexpr ActionId_t OBSW_UPDATE_FROM_SD_0 = 10;
-  static constexpr ActionId_t OBSW_UPDATE_FROM_SD_1 = 11;
-  static constexpr ActionId_t OBSW_UPDATE_FROM_TMP = 12;
-
-  static constexpr ActionId_t SWITCH_TO_SD_0 = 16;
-  static constexpr ActionId_t SWITCH_TO_SD_1 = 17;
-  static constexpr ActionId_t SWITCH_TO_BOTH_SD_CARDS = 18;
-
-  //! Reboot using the xsc_boot_copy command
-  static constexpr ActionId_t XSC_REBOOT_OBC = 32;
-  static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
-  //! Reboot using the reboot command
-  static constexpr ActionId_t REBOOT_OBC = 34;
-
-  static constexpr ActionId_t EXECUTE_SHELL_CMD = 40;
-
-  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
-
-  static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
-  //! [EXPORT] : [COMMENT]  Software reboot occurred. Can also be a systemd reboot.
-  //! P1: Current Chip, P2: Current Copy
-  static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::LOW);
-  //! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
-  //! P1: First 16 bits: Last Chip, Last 16 bits: Last Copy,
-  //! P2: Each byte is the respective reboot count for the slots
-  static constexpr Event REBOOT_MECHANISM_TRIGGERED =
-      event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
-  //! Trying to find a way how to determine that the reboot came from ProASIC3 or PCDU..
-  static constexpr Event REBOOT_HW = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
-  //! [EXPORT] : [COMMENT] No SD card was active. Core controller will attempt to re-initialize
-  //! a SD card.
-  static constexpr Event NO_SD_CARD_ACTIVE = event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
-  //! [EXPORT] : [COMMENT]
-  //! P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash
-  //! P2: First four letters of Git SHA is the last byte of P1 is set.
-  static constexpr Event VERSION_INFO = event::makeEvent(SUBSYSTEM_ID, 5, severity::INFO);
-  //! [EXPORT] : [COMMENT] P1: Current Chip, P2: Current Copy
-  static constexpr Event CURRENT_IMAGE_INFO = event::makeEvent(SUBSYSTEM_ID, 6, severity::INFO);
-  //! [EXPORT] : [COMMENT] Total reboot counter, which is the sum of the boot count of all
-  //! individual images.
-  static constexpr Event REBOOT_COUNTER = event::makeEvent(SUBSYSTEM_ID, 7, severity::INFO);
-  //! [EXPORT] : [COMMENT] Get the boot count of the individual images.
-  //! P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1.
-  //! P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.
-  static constexpr Event INDIVIDUAL_BOOT_COUNTS = event::makeEvent(SUBSYSTEM_ID, 8, severity::INFO);
-  static constexpr Event I2C_UNAVAILABLE_REBOOT =
-      event::makeEvent(SUBSYSTEM_ID, 10, severity::MEDIUM);
-
-  CoreController(object_id_t objectId, const std::atomic_uint16_t& i2cErrors, bool enableHkSet);
+  CoreController(object_id_t objectId, bool enableHkSet);
  virtual ~CoreController();

  ReturnValue_t initialize() override;
@ -266,7 +209,6 @@ class CoreController : public ExtendedControllerBase {
  PoolEntry<float> plVoltageEntry = PoolEntry<float>(0.0);

  core::HkSet hkSet;
-  const std::atomic_uint16_t& i2cErrors;

 #if OBSW_SD_CARD_MUST_BE_ON == 1
  bool remountAttemptFlag = true;
--- a/bsp_q7s/core/ObjectFactory.h
+++ b/bsp_q7s/core/ObjectFactory.h
@ -23,7 +23,6 @@ class HealthTableIF;
 class AcsBoardAssembly;
 class GpioIF;

-extern std::atomic_uint16_t I2C_FATAL_ERRORS;
 extern std::atomic_bool PTME_LOCKED;

 namespace ObjectFactory {
--- a/bsp_q7s/em/emObjectFactory.cpp
+++ b/bsp_q7s/em/emObjectFactory.cpp
@ -5,7 +5,7 @@
 #include <fsfw/power/DummyPowerSwitcher.h>
 #include <fsfw_hal/common/gpio/GpioCookie.h>
 #include <mission/power/gsDefs.h>
-#include <mission/system/tree/system.h>
+#include <mission/system/systemTree.h>
 #include <mission/utility/DummySdCardManager.h>

 #include "OBSWConfig.h"
@ -71,7 +71,7 @@ void ObjectFactory::produce(void* args) {

  dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF);

-  new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS, enableHkSets);
+  new CoreController(objects::CORE_CONTROLLER, enableHkSets);

  // Regular FM code, does not work for EM if the hardware is not connected
  // createPcduComponents(gpioComIF, &pwrSwitcher);
--- a/bsp_q7s/fmObjectFactory.cpp
+++ b/bsp_q7s/fmObjectFactory.cpp
@ -2,6 +2,7 @@
 #include <fsfw/storagemanager/LocalPool.h>
 #include <fsfw/storagemanager/PoolManager.h>
 #include <mission/power/gsDefs.h>
+#include <mission/system/EiveSystem.h>

 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
@ -13,7 +14,7 @@
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "mission/genericFactory.h"
-#include "mission/system/tree/system.h"
+#include "mission/system/systemTree.h"
 #include "mission/tmtc/tmFilters.h"

 void ObjectFactory::produce(void* args) {
@ -43,8 +44,10 @@ void ObjectFactory::produce(void* args) {
  q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
  gpioCallbacks::disableAllDecoder(gpioComIF);

-  new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS, enableHkSets);
+  new CoreController(objects::CORE_CONTROLLER, enableHkSets);
  createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
+  satsystem::EIVE_SYSTEM.setI2cRecoveryParams(pwrSwitcher);
+
  auto* stackHandler = new Stack5VHandler(*pwrSwitcher);

 #if OBSW_ADD_RAD_SENSORS == 1
--- a/bsp_q7s/obsw.cpp
+++ b/bsp_q7s/obsw.cpp
@ -16,7 +16,7 @@
 #include "fsfw/version.h"
 #include "mission/acs/defs.h"
 #include "mission/com/defs.h"
-#include "mission/system/tree/system.h"
+#include "mission/system/systemTree.h"
 #include "q7sConfig.h"
 #include "watchdog/definitions.h"

--- a/dummies/BpxDummy.cpp
+++ b/dummies/BpxDummy.cpp
@ -37,19 +37,19 @@ uint32_t BpxDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return

 ReturnValue_t BpxDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_1, &battTemp1);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_2, &battTemp2);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_3, &battTemp3);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_4, &battTemp4);
-  localDataPoolMap.emplace(BpxBattery::CHARGE_CURRENT, &chargeCurrent);
-  localDataPoolMap.emplace(BpxBattery::DISCHARGE_CURRENT, &dischargeCurrent);
-  localDataPoolMap.emplace(BpxBattery::HEATER_CURRENT, &heaterCurrent);
-  localDataPoolMap.emplace(BpxBattery::BATT_VOLTAGE, &battVolt);
-  localDataPoolMap.emplace(BpxBattery::REBOOT_COUNTER, &rebootCounter);
-  localDataPoolMap.emplace(BpxBattery::BOOTCAUSE, &bootCause);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_1, &battTemp1);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_2, &battTemp2);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_3, &battTemp3);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_4, &battTemp4);
+  localDataPoolMap.emplace(bpxBat::CHARGE_CURRENT, &chargeCurrent);
+  localDataPoolMap.emplace(bpxBat::DISCHARGE_CURRENT, &dischargeCurrent);
+  localDataPoolMap.emplace(bpxBat::HEATER_CURRENT, &heaterCurrent);
+  localDataPoolMap.emplace(bpxBat::BATT_VOLTAGE, &battVolt);
+  localDataPoolMap.emplace(bpxBat::REBOOT_COUNTER, &rebootCounter);
+  localDataPoolMap.emplace(bpxBat::BOOTCAUSE, &bootCause);

-  localDataPoolMap.emplace(BpxBattery::BATTERY_HEATER_MODE, &battheatMode);
-  localDataPoolMap.emplace(BpxBattery::BATTHEAT_LOW_LIMIT, &battheatLow);
-  localDataPoolMap.emplace(BpxBattery::BATTHEAT_HIGH_LIMIT, &battheatHigh);
+  localDataPoolMap.emplace(bpxBat::BATTERY_HEATER_MODE, &battheatMode);
+  localDataPoolMap.emplace(bpxBat::BATTHEAT_LOW_LIMIT, &battheatLow);
+  localDataPoolMap.emplace(bpxBat::BATTHEAT_HIGH_LIMIT, &battheatHigh);
  return returnvalue::OK;
 }
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 6650c293da09d8851c2bd6c4d6e6c5a8390d003e
+Subproject commit e97fa5ac84db7ab5c10a31c2c78b26057cfacb71
--- a/generators/bsp_hosted_events.csv
+++ b/generators/bsp_hosted_events.csv
@ -101,8 +101,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;No description;mission/tcs/HeaterHandler.h
 11402;0x2c8a;HEATER_WENT_ON;INFO;No description;mission/tcs/HeaterHandler.h
 11403;0x2c8b;HEATER_WENT_OFF;INFO;No description;mission/tcs/HeaterHandler.h
-11404;0x2c8c;SWITCH_ALREADY_ON;LOW;No description;mission/tcs/HeaterHandler.h
-11405;0x2c8d;SWITCH_ALREADY_OFF;LOW;No description;mission/tcs/HeaterHandler.h
+11404;0x2c8c;SWITCH_ALREADY_ON;INFO;No description;mission/tcs/HeaterHandler.h
+11405;0x2c8d;SWITCH_ALREADY_OFF;INFO;No description;mission/tcs/HeaterHandler.h
 11406;0x2c8e;MAIN_SWITCH_TIMEOUT;MEDIUM;No description;mission/tcs/HeaterHandler.h
 11407;0x2c8f;FAULTY_HEATER_WAS_ON;LOW;No description;mission/tcs/HeaterHandler.h
 11500;0x2cec;BURN_PHASE_START;INFO;P1: Burn duration in milliseconds, P2: Dry run flag;mission/SolarArrayDeploymentHandler.h
@ -251,16 +251,17 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13903;0x364f;INSERT_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13904;0x3650;WRITE_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13905;0x3651;READ_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
-14000;0x36b0;ALLOC_FAILURE;MEDIUM;No description;bsp_q7s/core/CoreController.h
-14001;0x36b1;REBOOT_SW;LOW; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
-14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
-14003;0x36b3;REBOOT_HW;MEDIUM;No description;bsp_q7s/core/CoreController.h
-14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
-14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;bsp_q7s/core/CoreController.h
-14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
-14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;bsp_q7s/core/CoreController.h
-14008;0x36b8;INDIVIDUAL_BOOT_COUNTS;INFO;Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.;bsp_q7s/core/CoreController.h
-14010;0x36ba;I2C_UNAVAILABLE_REBOOT;MEDIUM;No description;bsp_q7s/core/CoreController.h
+14000;0x36b0;ALLOC_FAILURE;MEDIUM;No description;mission/sysDefs.h
+14001;0x36b1;REBOOT_SW;LOW; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;mission/sysDefs.h
+14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;mission/sysDefs.h
+14003;0x36b3;REBOOT_HW;MEDIUM;No description;mission/sysDefs.h
+14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;mission/sysDefs.h
+14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;mission/sysDefs.h
+14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;mission/sysDefs.h
+14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;mission/sysDefs.h
+14008;0x36b8;INDIVIDUAL_BOOT_COUNTS;INFO;Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.;mission/sysDefs.h
+14010;0x36ba;TRYING_I2C_RECOVERY;MEDIUM;I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C devices.;mission/sysDefs.h
+14011;0x36bb;I2C_REBOOT;MEDIUM;I2C is unavailable. Recovery did not work, performing full reboot.;mission/sysDefs.h
 14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/tcsDefs.h
 14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/tcsDefs.h
 14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
--- a/generators/bsp_hosted_returnvalues.csv
+++ b/generators/bsp_hosted_returnvalues.csv
@ -371,8 +371,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x3e03;HKM_PeriodicHelperInvalid;No description;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
 0x3e04;HKM_PoolobjectNotFound;No description;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
 0x3e05;HKM_DatasetNotFound;No description;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3f01;DLEE_NoPacketFound;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x3f02;DLEE_PossiblePacketLoss;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x3f01;DLEE_StreamTooShort;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
+0x3f02;DLEE_DecodingError;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
 0x4201;PUS11_InvalidTypeTimeWindow;No description;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4202;PUS11_InvalidTimeWindow;No description;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4203;PUS11_TimeshiftingNotPossible;No description;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
@ -402,9 +402,9 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4406;UXOS_PcloseCallError;No description;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
+0x4500;HSPI_HalTimeoutRetval;No description;0;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4501;HSPI_HalBusyRetval;No description;1;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4502;HSPI_HalErrorRetval;No description;2;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
 0x4601;HURT_UartReadFailure;No description;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
 0x4602;HURT_UartReadSizeMissmatch;No description;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
 0x4603;HURT_UartRxBufferTooSmall;No description;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
--- a/generators/bsp_q7s_events.csv
+++ b/generators/bsp_q7s_events.csv
@ -101,8 +101,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;No description;mission/tcs/HeaterHandler.h
 11402;0x2c8a;HEATER_WENT_ON;INFO;No description;mission/tcs/HeaterHandler.h
 11403;0x2c8b;HEATER_WENT_OFF;INFO;No description;mission/tcs/HeaterHandler.h
-11404;0x2c8c;SWITCH_ALREADY_ON;LOW;No description;mission/tcs/HeaterHandler.h
-11405;0x2c8d;SWITCH_ALREADY_OFF;LOW;No description;mission/tcs/HeaterHandler.h
+11404;0x2c8c;SWITCH_ALREADY_ON;INFO;No description;mission/tcs/HeaterHandler.h
+11405;0x2c8d;SWITCH_ALREADY_OFF;INFO;No description;mission/tcs/HeaterHandler.h
 11406;0x2c8e;MAIN_SWITCH_TIMEOUT;MEDIUM;No description;mission/tcs/HeaterHandler.h
 11407;0x2c8f;FAULTY_HEATER_WAS_ON;LOW;No description;mission/tcs/HeaterHandler.h
 11500;0x2cec;BURN_PHASE_START;INFO;P1: Burn duration in milliseconds, P2: Dry run flag;mission/SolarArrayDeploymentHandler.h
@ -251,16 +251,17 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13903;0x364f;INSERT_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13904;0x3650;WRITE_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13905;0x3651;READ_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
-14000;0x36b0;ALLOC_FAILURE;MEDIUM;No description;bsp_q7s/core/CoreController.h
-14001;0x36b1;REBOOT_SW;LOW; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
-14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
-14003;0x36b3;REBOOT_HW;MEDIUM;No description;bsp_q7s/core/CoreController.h
-14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
-14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;bsp_q7s/core/CoreController.h
-14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
-14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;bsp_q7s/core/CoreController.h
-14008;0x36b8;INDIVIDUAL_BOOT_COUNTS;INFO;Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.;bsp_q7s/core/CoreController.h
-14010;0x36ba;I2C_UNAVAILABLE_REBOOT;MEDIUM;No description;bsp_q7s/core/CoreController.h
+14000;0x36b0;ALLOC_FAILURE;MEDIUM;No description;mission/sysDefs.h
+14001;0x36b1;REBOOT_SW;LOW; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;mission/sysDefs.h
+14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;mission/sysDefs.h
+14003;0x36b3;REBOOT_HW;MEDIUM;No description;mission/sysDefs.h
+14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;mission/sysDefs.h
+14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;mission/sysDefs.h
+14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;mission/sysDefs.h
+14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;mission/sysDefs.h
+14008;0x36b8;INDIVIDUAL_BOOT_COUNTS;INFO;Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.;mission/sysDefs.h
+14010;0x36ba;TRYING_I2C_RECOVERY;MEDIUM;I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C devices.;mission/sysDefs.h
+14011;0x36bb;I2C_REBOOT;MEDIUM;I2C is unavailable. Recovery did not work, performing full reboot.;mission/sysDefs.h
 14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/tcsDefs.h
 14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/tcsDefs.h
 14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
--- a/generators/bsp_q7s_returnvalues.csv
+++ b/generators/bsp_q7s_returnvalues.csv
@ -371,8 +371,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x3e03;HKM_PeriodicHelperInvalid;No description;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
 0x3e04;HKM_PoolobjectNotFound;No description;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
 0x3e05;HKM_DatasetNotFound;No description;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3f01;DLEE_NoPacketFound;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x3f02;DLEE_PossiblePacketLoss;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x3f01;DLEE_StreamTooShort;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
+0x3f02;DLEE_DecodingError;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
 0x4201;PUS11_InvalidTypeTimeWindow;No description;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4202;PUS11_InvalidTimeWindow;No description;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4203;PUS11_TimeshiftingNotPossible;No description;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
@ -402,9 +402,9 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4406;UXOS_PcloseCallError;No description;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
+0x4500;HSPI_HalTimeoutRetval;No description;0;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4501;HSPI_HalBusyRetval;No description;1;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4502;HSPI_HalErrorRetval;No description;2;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
 0x4601;HURT_UartReadFailure;No description;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
 0x4602;HURT_UartReadSizeMissmatch;No description;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
 0x4603;HURT_UartRxBufferTooSmall;No description;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
@ -493,8 +493,6 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x58a3;SUSS_ExecutionFailed;Command execution failed;163;SUS_HANDLER;mission/acs/RwHandler.h
 0x58a4;SUSS_CrcError;Reaction wheel reply has invalid crc;164;SUS_HANDLER;mission/acs/RwHandler.h
 0x58a5;SUSS_ValueNotRead;No description;165;SUS_HANDLER;mission/acs/RwHandler.h
-0x5900;IPCI_NoReplyAvailable;No description;0;CCSDS_IP_CORE_BRIDGE;linux/acs/ImtqPollingTask.h
-0x5901;IPCI_NoPacketFound;No description;1;CCSDS_IP_CORE_BRIDGE;linux/com/SyrlinksComHandler.h
 0x59a0;IPCI_PapbBusy;No description;160;CCSDS_IP_CORE_BRIDGE;linux/ipcore/PapbVcInterface.h
 0x5aa0;PTME_UnknownVcId;No description;160;PTME;linux/ipcore/Ptme.h
 0x5c01;STRHLP_SdNotMounted;SD card specified in path string not mounted;1;STR_HELPER;linux/acs/StrComHandler.h
@ -542,7 +540,6 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NvmParameterBase.h
 0x64a0;FSHLP_SdNotMounted;SD card specified with path string not mounted;160;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
 0x64a1;FSHLP_FileNotExists;Specified file does not exist on filesystem;161;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
-0x6502;PLMPHLP_InvalidCrc;No description;2;PLOC_MPSOC_HELPER;linux/payload/ScexHelper.h
 0x65a0;PLMPHLP_FileClosedAccidentally;File accidentally close;160;PLOC_MPSOC_HELPER;linux/payload/PlocMpsocHelper.h
 0x66a0;SADPL_CommandNotSupported;No description;160;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 0x66a1;SADPL_DeploymentAlreadyExecuting;No description;161;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
--- a/generators/events/translateEvents.cpp
+++ b/generators/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 284 translations.
+ * @brief    Auto-generated event translation file. Contains 285 translations.
 * @details
- * Generated on: 2023-04-04 13:59:07
+ * Generated on: 2023-04-07 11:06:14
 */
 #include "translateEvents.h"

@ -266,7 +266,8 @@ const char *VERSION_INFO_STRING = "VERSION_INFO";
 const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
 const char *REBOOT_COUNTER_STRING = "REBOOT_COUNTER";
 const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
-const char *I2C_UNAVAILABLE_REBOOT_STRING = "I2C_UNAVAILABLE_REBOOT";
+const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
+const char *I2C_REBOOT_STRING = "I2C_REBOOT";
 const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
 const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
 const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
@ -815,7 +816,9 @@ const char *translateEvents(Event event) {
    case (14008):
      return INDIVIDUAL_BOOT_COUNTS_STRING;
    case (14010):
-      return I2C_UNAVAILABLE_REBOOT_STRING;
+      return TRYING_I2C_RECOVERY_STRING;
+    case (14011):
+      return I2C_REBOOT_STRING;
    case (14100):
      return NO_VALID_SENSOR_TEMPERATURE_STRING;
    case (14101):
--- a/generators/objects/translateObjects.cpp
+++ b/generators/objects/translateObjects.cpp
@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 175 translations.
- * Generated on: 2023-04-04 13:59:07
+ * Generated on: 2023-04-07 11:06:14
 */
 #include "translateObjects.h"

--- a/linux/acs/ImtqPollingTask.h
+++ b/linux/acs/ImtqPollingTask.h
@ -22,6 +22,7 @@ class ImtqPollingTask : public SystemObject,
  ReturnValue_t initialize() override;

 private:
+  //! [EXPORT] : [SKIP]
  static constexpr ReturnValue_t NO_REPLY_AVAILABLE = returnvalue::makeCode(2, 0);

  enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;
--- a/linux/boardtest/I2cTestClass.cpp
+++ b/linux/boardtest/I2cTestClass.cpp
@ -37,7 +37,7 @@ void I2cTestClass::battInit() {
  if (ioctl(bpxInfo.fd, I2C_SLAVE, bpxInfo.addr) < 0) {
    sif::error << "Failed to acquire bus access and/or talk to slave" << std::endl;
  }
-  cmdBuf[0] = BpxBattery::PORT_PING;
+  cmdBuf[0] = bpxBat::PORT_PING;
  cmdBuf[1] = 0x42;
  sendLen = 2;
  ReturnValue_t result = i2cWrite(bpxInfo.fd, cmdBuf.data(), sendLen);
@ -66,7 +66,7 @@ void I2cTestClass::battPeriodic() {
  if (ioctl(bpxInfo.fd, I2C_SLAVE, bpxInfo.addr) < 0) {
    sif::error << "Failed to acquire bus access and/or talk to slave" << std::endl;
  }
-  cmdBuf[0] = BpxBattery::PORT_GET_HK;
+  cmdBuf[0] = bpxBat::PORT_GET_HK;
  sendLen = 1;
  ReturnValue_t result = i2cWrite(bpxInfo.fd, cmdBuf.data(), sendLen);
  if (result != returnvalue::OK) {
--- a/linux/com/SyrlinksComHandler.h
+++ b/linux/com/SyrlinksComHandler.h
@ -20,6 +20,7 @@ class SyrlinksComHandler : public DeviceCommunicationIF,

  //! [EXPORT] : [SKIP]
  static constexpr ReturnValue_t NO_SERIAL_DATA_READ = returnvalue::makeCode(2, 0);
+  //! [EXPORT] : [SKIP]
  static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(2, 1);

  enum class State { SLEEPING, ACTIVE } state = State::SLEEPING;
--- a/linux/fsfwconfig/events/translateEvents.cpp
+++ b/linux/fsfwconfig/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 284 translations.
+ * @brief    Auto-generated event translation file. Contains 285 translations.
 * @details
- * Generated on: 2023-04-04 13:59:07
+ * Generated on: 2023-04-07 11:06:14
 */
 #include "translateEvents.h"

@ -266,7 +266,8 @@ const char *VERSION_INFO_STRING = "VERSION_INFO";
 const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
 const char *REBOOT_COUNTER_STRING = "REBOOT_COUNTER";
 const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
-const char *I2C_UNAVAILABLE_REBOOT_STRING = "I2C_UNAVAILABLE_REBOOT";
+const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
+const char *I2C_REBOOT_STRING = "I2C_REBOOT";
 const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
 const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
 const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
@ -815,7 +816,9 @@ const char *translateEvents(Event event) {
    case (14008):
      return INDIVIDUAL_BOOT_COUNTS_STRING;
    case (14010):
-      return I2C_UNAVAILABLE_REBOOT_STRING;
+      return TRYING_I2C_RECOVERY_STRING;
+    case (14011):
+      return I2C_REBOOT_STRING;
    case (14100):
      return NO_VALID_SENSOR_TEMPERATURE_STRING;
    case (14101):
--- a/linux/fsfwconfig/objects/translateObjects.cpp
+++ b/linux/fsfwconfig/objects/translateObjects.cpp
@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 175 translations.
- * Generated on: 2023-04-04 13:59:07
+ * Generated on: 2023-04-07 11:06:14
 */
 #include "translateObjects.h"

--- a/linux/payload/ScexHelper.h
+++ b/linux/payload/ScexHelper.h
@ -10,6 +10,7 @@

 class ScexHelper : public SerializeIF {
 public:
+  //! [EXPORT] : [SKIP]
  static const ReturnValue_t INVALID_CRC = returnvalue::makeCode(0, 2);

  ScexHelper();
--- a/mission/controller/ThermalController.h
+++ b/mission/controller/ThermalController.h
@ -182,14 +182,10 @@ class ThermalController : public ExtendedControllerBase {
  susMax1227::SusDataset susSet11;

  lp_var_t<float> tempQ7s = lp_var_t<float>(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE);
-  lp_var_t<int16_t> battTemp1 =
-      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_1);
-  lp_var_t<int16_t> battTemp2 =
-      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_2);
-  lp_var_t<int16_t> battTemp3 =
-      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_3);
-  lp_var_t<int16_t> battTemp4 =
-      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_4);
+  lp_var_t<int16_t> battTemp1 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_1);
+  lp_var_t<int16_t> battTemp2 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_2);
+  lp_var_t<int16_t> battTemp3 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_3);
+  lp_var_t<int16_t> battTemp4 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_4);
  lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, rws::TEMPERATURE_C);
  lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, rws::TEMPERATURE_C);
  lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, rws::TEMPERATURE_C);
--- a/mission/power/BpxBatteryHandler.cpp
+++ b/mission/power/BpxBatteryHandler.cpp
@ -27,54 +27,56 @@ void BpxBatteryHandler::doStartUp() {
 void BpxBatteryHandler::doShutDown() {
  // Perform a COM check on reboot
  state = States::CHECK_COM;
+  setMode(MODE_OFF);
 }

 ReturnValue_t BpxBatteryHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
-  *id = BpxBattery::GET_HK;
+  *id = bpxBat::GET_HK;
  return buildCommandFromCommand(*id, nullptr, 0);
 }

 ReturnValue_t BpxBatteryHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
  if (state == States::CHECK_COM) {
-    *id = BpxBattery::PING;
+    *id = bpxBat::PING;
    return buildCommandFromCommand(*id, nullptr, 0);
  }
  return returnvalue::OK;
 }

 void BpxBatteryHandler::fillCommandAndReplyMap() {
-  using namespace BpxBattery;
+  using namespace bpxBat;
  insertInCommandAndReplyMap(GET_HK, 1, &hkSet, GET_HK_REPLY_LEN);
-  insertInCommandAndReplyMap(BpxBattery::PING, 1, nullptr, PING_REPLY_LEN);
-  insertInCommandAndReplyMap(BpxBattery::REBOOT, 1, nullptr, 0);
-  insertInCommandAndReplyMap(BpxBattery::RESET_COUNTERS, 1, nullptr, EMPTY_REPLY_LEN);
-  insertInCommandAndReplyMap(BpxBattery::CONFIG_CMD, 1, nullptr, EMPTY_REPLY_LEN);
-  insertInCommandAndReplyMap(BpxBattery::CONFIG_GET, 1, &cfgSet, CONFIG_GET_REPLY_LEN);
+  insertInCommandAndReplyMap(bpxBat::PING, 1, nullptr, PING_REPLY_LEN);
+  insertInCommandAndReplyMap(bpxBat::REBOOT, 1, nullptr, 0);
+  insertInCommandAndReplyMap(bpxBat::RESET_COUNTERS, 1, nullptr, EMPTY_REPLY_LEN);
+  insertInCommandAndReplyMap(bpxBat::CONFIG_CMD, 1, nullptr, EMPTY_REPLY_LEN);
+  insertInCommandAndReplyMap(bpxBat::CONFIG_GET, 1, &cfgSet, CONFIG_GET_REPLY_LEN);
 }

 ReturnValue_t BpxBatteryHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                         const uint8_t* commandData,
                                                         size_t commandDataLen) {
  switch (deviceCommand) {
-    case (BpxBattery::GET_HK): {
-      cmdBuf[0] = BpxBattery::PORT_GET_HK;
+    case (bpxBat::GET_HK): {
+      cmdBuf[0] = bpxBat::PORT_GET_HK;
      this->rawPacketLen = 1;
      break;
    }
-    case (BpxBattery::PING): {
+    case (bpxBat::PING): {
      if (commandDataLen == 1 and commandData != nullptr) {
        sentPingByte = commandData[0];
      } else {
-        sentPingByte = BpxBattery::DEFAULT_PING_SENT_BYTE;
+        sentPingByte = bpxBat::DEFAULT_PING_SENT_BYTE;
      }

-      cmdBuf[0] = BpxBattery::PORT_PING;
+      cmdBuf[0] = bpxBat::PORT_PING;
      cmdBuf[1] = sentPingByte;
      this->rawPacketLen = 2;
      break;
    }
-    case (BpxBattery::REBOOT): {
-      cmdBuf[0] = BpxBattery::PORT_REBOOT;
+    case (bpxBat::REBOOT): {
+      sif::info << "BPX BATT: Executing reboot command" << std::endl;
+      cmdBuf[0] = bpxBat::PORT_REBOOT;
      cmdBuf[1] = 0x80;
      cmdBuf[2] = 0x07;
      cmdBuf[3] = 0x80;
@ -85,26 +87,26 @@ ReturnValue_t BpxBatteryHandler::buildCommandFromCommand(DeviceCommandId_t devic
      triggerEvent(DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT);
      break;
    }
-    case (BpxBattery::RESET_COUNTERS): {
-      cmdBuf[0] = BpxBattery::PORT_RESET_COUNTERS;
-      cmdBuf[1] = BpxBattery::RESET_COUNTERS_MAGIC_VALUE;
+    case (bpxBat::RESET_COUNTERS): {
+      cmdBuf[0] = bpxBat::PORT_RESET_COUNTERS;
+      cmdBuf[1] = bpxBat::RESET_COUNTERS_MAGIC_VALUE;
      this->rawPacketLen = 2;
      break;
    }
-    case (BpxBattery::CONFIG_CMD): {
-      cmdBuf[0] = BpxBattery::PORT_CONFIG_CMD;
+    case (bpxBat::CONFIG_CMD): {
+      cmdBuf[0] = bpxBat::PORT_CONFIG_CMD;
      // Needs to be set to 0x01 according to datasheet
      cmdBuf[1] = 0x01;
      this->rawPacketLen = 2;
      break;
    }
-    case (BpxBattery::CONFIG_GET): {
-      cmdBuf[0] = BpxBattery::PORT_CONFIG_GET;
+    case (bpxBat::CONFIG_GET): {
+      cmdBuf[0] = bpxBat::PORT_CONFIG_GET;
      this->rawPacketLen = 1;
      break;
    }
-    case (BpxBattery::CONFIG_SET): {
-      cmdBuf[0] = BpxBattery::PORT_CONFIG_SET;
+    case (bpxBat::CONFIG_SET): {
+      cmdBuf[0] = bpxBat::PORT_CONFIG_SET;
      if (commandDataLen != 3) {
        return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
      }
@ -114,8 +116,8 @@ ReturnValue_t BpxBatteryHandler::buildCommandFromCommand(DeviceCommandId_t devic
      this->rawPacketLen = 4;
      break;
    }
-    case (BpxBattery::MAN_HEAT_ON): {
-      cmdBuf[0] = BpxBattery::PORT_MAN_HEAT_ON;
+    case (bpxBat::MAN_HEAT_ON): {
+      cmdBuf[0] = bpxBat::PORT_MAN_HEAT_ON;
      if (commandDataLen != 2) {
        return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
      }
@ -125,8 +127,8 @@ ReturnValue_t BpxBatteryHandler::buildCommandFromCommand(DeviceCommandId_t devic
      this->rawPacketLen = 3;
      break;
    }
-    case (BpxBattery::MAN_HEAT_OFF): {
-      cmdBuf[0] = BpxBattery::PORT_MAN_HEAT_OFF;
+    case (bpxBat::MAN_HEAT_OFF): {
+      cmdBuf[0] = bpxBat::PORT_MAN_HEAT_OFF;
      this->rawPacketLen = 1;
      break;
    }
@ -142,35 +144,35 @@ ReturnValue_t BpxBatteryHandler::buildCommandFromCommand(DeviceCommandId_t devic

 ReturnValue_t BpxBatteryHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                              DeviceCommandId_t* foundId, size_t* foundLen) {
-  using namespace BpxBattery;
+  using namespace bpxBat;
  switch (lastCmd) {
-    case (BpxBattery::GET_HK): {
+    case (bpxBat::GET_HK): {
      if (remainingSize != GET_HK_REPLY_LEN) {
        return DeviceHandlerIF::LENGTH_MISSMATCH;
      }
      break;
    }
-    case (BpxBattery::PING):
-    case (BpxBattery::MAN_HEAT_ON):
-    case (BpxBattery::MAN_HEAT_OFF): {
+    case (bpxBat::PING):
+    case (bpxBat::MAN_HEAT_ON):
+    case (bpxBat::MAN_HEAT_OFF): {
      if (remainingSize != PING_REPLY_LEN) {
        return DeviceHandlerIF::LENGTH_MISSMATCH;
      }
      break;
    }
-    case (BpxBattery::REBOOT): {
+    case (bpxBat::REBOOT): {
      // Ignore
      break;
    }
-    case (BpxBattery::RESET_COUNTERS):
-    case (BpxBattery::CONFIG_CMD):
-    case (BpxBattery::CONFIG_SET): {
+    case (bpxBat::RESET_COUNTERS):
+    case (bpxBat::CONFIG_CMD):
+    case (bpxBat::CONFIG_SET): {
      if (remainingSize != EMPTY_REPLY_LEN) {
        return DeviceHandlerIF::LENGTH_MISSMATCH;
      }
      break;
    }
-    case (BpxBattery::CONFIG_GET): {
+    case (bpxBat::CONFIG_GET): {
      if (remainingSize != CONFIG_GET_REPLY_LEN) {
        return DeviceHandlerIF::LENGTH_MISSMATCH;
      }
@ -187,11 +189,11 @@ ReturnValue_t BpxBatteryHandler::scanForReply(const uint8_t* start, size_t remai
 }

 ReturnValue_t BpxBatteryHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
-  if (id != BpxBattery::REBOOT and packet[1] != 0) {
+  if (id != bpxBat::REBOOT and packet[1] != 0) {
    return DeviceHandlerIF::DEVICE_REPORTED_ERROR;
  }
  switch (id) {
-    case (BpxBattery::GET_HK): {
+    case (bpxBat::GET_HK): {
      PoolReadGuard rg(&hkSet);
      ReturnValue_t result = hkSet.parseRawHk(packet + 2, 21);
      hkSet.setValidity(true, true);
@ -213,7 +215,7 @@ ReturnValue_t BpxBatteryHandler::interpretDeviceReply(DeviceCommandId_t id, cons
      }
      break;
    }
-    case (BpxBattery::PING): {
+    case (bpxBat::PING): {
      if (packet[2] != sentPingByte) {
        return DeviceHandlerIF::INVALID_DATA;
      }
@ -222,19 +224,19 @@ ReturnValue_t BpxBatteryHandler::interpretDeviceReply(DeviceCommandId_t id, cons
      }
      break;
    }
-    case (BpxBattery::RESET_COUNTERS):
-    case (BpxBattery::CONFIG_CMD):
-    case (BpxBattery::CONFIG_SET): {
+    case (bpxBat::RESET_COUNTERS):
+    case (bpxBat::CONFIG_CMD):
+    case (bpxBat::CONFIG_SET): {
      break;
    }
-    case (BpxBattery::MAN_HEAT_ON):
-    case (BpxBattery::MAN_HEAT_OFF): {
+    case (bpxBat::MAN_HEAT_ON):
+    case (bpxBat::MAN_HEAT_OFF): {
      if (packet[2] != 0x01) {
        return DeviceHandlerIF::DEVICE_DID_NOT_EXECUTE;
      }
      break;
    }
-    case (BpxBattery::CONFIG_GET): {
+    case (bpxBat::CONFIG_GET): {
      PoolReadGuard rg(&cfgSet);
      ReturnValue_t result = cfgSet.parseRawHk(packet + 2, 3);
      if (result != returnvalue::OK) {
@ -243,7 +245,7 @@ ReturnValue_t BpxBatteryHandler::interpretDeviceReply(DeviceCommandId_t id, cons
      cfgSet.setValidity(true, true);
      break;
    }
-    case (BpxBattery::REBOOT): {
+    case (bpxBat::REBOOT): {
      break;
    }
    default: {
@ -257,20 +259,20 @@ uint32_t BpxBatteryHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo)

 ReturnValue_t BpxBatteryHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                         LocalDataPoolManager& poolManager) {
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_1, &battTemp1);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_2, &battTemp2);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_3, &battTemp3);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_4, &battTemp4);
-  localDataPoolMap.emplace(BpxBattery::CHARGE_CURRENT, &chargeCurrent);
-  localDataPoolMap.emplace(BpxBattery::DISCHARGE_CURRENT, &dischargeCurrent);
-  localDataPoolMap.emplace(BpxBattery::HEATER_CURRENT, &heaterCurrent);
-  localDataPoolMap.emplace(BpxBattery::BATT_VOLTAGE, &battVolt);
-  localDataPoolMap.emplace(BpxBattery::REBOOT_COUNTER, &rebootCounter);
-  localDataPoolMap.emplace(BpxBattery::BOOTCAUSE, &bootCause);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_1, &battTemp1);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_2, &battTemp2);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_3, &battTemp3);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_4, &battTemp4);
+  localDataPoolMap.emplace(bpxBat::CHARGE_CURRENT, &chargeCurrent);
+  localDataPoolMap.emplace(bpxBat::DISCHARGE_CURRENT, &dischargeCurrent);
+  localDataPoolMap.emplace(bpxBat::HEATER_CURRENT, &heaterCurrent);
+  localDataPoolMap.emplace(bpxBat::BATT_VOLTAGE, &battVolt);
+  localDataPoolMap.emplace(bpxBat::REBOOT_COUNTER, &rebootCounter);
+  localDataPoolMap.emplace(bpxBat::BOOTCAUSE, &bootCause);

-  localDataPoolMap.emplace(BpxBattery::BATTERY_HEATER_MODE, &battheatMode);
-  localDataPoolMap.emplace(BpxBattery::BATTHEAT_LOW_LIMIT, &battheatLow);
-  localDataPoolMap.emplace(BpxBattery::BATTHEAT_HIGH_LIMIT, &battheatHigh);
+  localDataPoolMap.emplace(bpxBat::BATTERY_HEATER_MODE, &battheatMode);
+  localDataPoolMap.emplace(bpxBat::BATTHEAT_LOW_LIMIT, &battheatLow);
+  localDataPoolMap.emplace(bpxBat::BATTHEAT_HIGH_LIMIT, &battheatHigh);

  poolManager.subscribeForRegularPeriodicPacket(
      subdp::RegularHkPeriodicParams(hkSet.getSid(), enableHkSets, 20.0));
--- a/mission/power/BpxBatteryHandler.h
+++ b/mission/power/BpxBatteryHandler.h
@ -25,7 +25,7 @@ class BpxBatteryHandler : public DeviceHandlerBase {
  bool commandExecuted = false;
  bool debugMode = false;
  bool goToNormalModeImmediately = false;
-  uint8_t sentPingByte = BpxBattery::DEFAULT_PING_SENT_BYTE;
+  uint8_t sentPingByte = bpxBat::DEFAULT_PING_SENT_BYTE;
 #if OBSW_THREAD_TRACING == 1
  uint32_t opCounter = 0;
 #endif
--- a/mission/power/bpxBattDefs.h
+++ b/mission/power/bpxBattDefs.h
@ -8,7 +8,7 @@

 #include "fsfw/devicehandlers/DeviceHandlerIF.h"

-namespace BpxBattery {
+namespace bpxBat {

 enum LocalPoolIds {
  CHARGE_CURRENT = 0,
@ -114,18 +114,18 @@ class BpxHkDeserializer : public SerialLinkedListAdapter<SerializeIF> {
  }
 };

-};  // namespace BpxBattery
+};  // namespace bpxBat

 /**
 * @brief   BPX HK data holder
 */
-class BpxBatteryHk : public StaticLocalDataSet<BpxBattery::HK_ENTRIES> {
+class BpxBatteryHk : public StaticLocalDataSet<bpxBat::HK_ENTRIES> {
 public:
  /**
   * Constructor for data users
   * @param gyroId
   */
-  BpxBatteryHk(object_id_t bpxId) : StaticLocalDataSet(sid_t(bpxId, BpxBattery::HK_SET_ID)) {
+  BpxBatteryHk(object_id_t bpxId) : StaticLocalDataSet(sid_t(bpxId, bpxBat::HK_SET_ID)) {
    setAllVariablesReadOnly();
  }

@ -176,28 +176,25 @@ class BpxBatteryHk : public StaticLocalDataSet<BpxBattery::HK_ENTRIES> {
  }

  //! Charge current in mA
-  lp_var_t<uint16_t> chargeCurrent =
-      lp_var_t<uint16_t>(sid.objectId, BpxBattery::CHARGE_CURRENT, this);
+  lp_var_t<uint16_t> chargeCurrent = lp_var_t<uint16_t>(sid.objectId, bpxBat::CHARGE_CURRENT, this);
  //! Discharge current in mA
  lp_var_t<uint16_t> dischargeCurrent =
-      lp_var_t<uint16_t>(sid.objectId, BpxBattery::DISCHARGE_CURRENT, this);
+      lp_var_t<uint16_t>(sid.objectId, bpxBat::DISCHARGE_CURRENT, this);
  //! Heater current in mA
-  lp_var_t<uint16_t> heaterCurrent =
-      lp_var_t<uint16_t>(sid.objectId, BpxBattery::HEATER_CURRENT, this);
+  lp_var_t<uint16_t> heaterCurrent = lp_var_t<uint16_t>(sid.objectId, bpxBat::HEATER_CURRENT, this);

  //! Battery voltage in mV
-  lp_var_t<uint16_t> battVoltage = lp_var_t<uint16_t>(sid.objectId, BpxBattery::BATT_VOLTAGE, this);
+  lp_var_t<uint16_t> battVoltage = lp_var_t<uint16_t>(sid.objectId, bpxBat::BATT_VOLTAGE, this);
  //! Battery temperature 1 in degC
-  lp_var_t<int16_t> battTemp1 = lp_var_t<int16_t>(sid.objectId, BpxBattery::BATT_TEMP_1, this);
+  lp_var_t<int16_t> battTemp1 = lp_var_t<int16_t>(sid.objectId, bpxBat::BATT_TEMP_1, this);
  //! Battery temperature 2 in degC
-  lp_var_t<int16_t> battTemp2 = lp_var_t<int16_t>(sid.objectId, BpxBattery::BATT_TEMP_2, this);
+  lp_var_t<int16_t> battTemp2 = lp_var_t<int16_t>(sid.objectId, bpxBat::BATT_TEMP_2, this);
  //! Battery temperature 3 in degC
-  lp_var_t<int16_t> battTemp3 = lp_var_t<int16_t>(sid.objectId, BpxBattery::BATT_TEMP_3, this);
+  lp_var_t<int16_t> battTemp3 = lp_var_t<int16_t>(sid.objectId, bpxBat::BATT_TEMP_3, this);
  //! Battery temperature 4 in degC
-  lp_var_t<int16_t> battTemp4 = lp_var_t<int16_t>(sid.objectId, BpxBattery::BATT_TEMP_4, this);
-  lp_var_t<uint32_t> rebootCounter =
-      lp_var_t<uint32_t>(sid.objectId, BpxBattery::REBOOT_COUNTER, this);
-  lp_var_t<uint8_t> bootcause = lp_var_t<uint8_t>(sid.objectId, BpxBattery::BOOTCAUSE, this);
+  lp_var_t<int16_t> battTemp4 = lp_var_t<int16_t>(sid.objectId, bpxBat::BATT_TEMP_4, this);
+  lp_var_t<uint32_t> rebootCounter = lp_var_t<uint32_t>(sid.objectId, bpxBat::REBOOT_COUNTER, this);
+  lp_var_t<uint8_t> bootcause = lp_var_t<uint8_t>(sid.objectId, bpxBat::BOOTCAUSE, this);

 private:
  friend class BpxBatteryHandler;
@ -205,16 +202,16 @@ class BpxBatteryHk : public StaticLocalDataSet<BpxBattery::HK_ENTRIES> {
   * Constructor for data creator
   * @param hkOwner
   */
-  BpxBatteryHk(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, BpxBattery::HK_SET_ID) {}
+  BpxBatteryHk(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, bpxBat::HK_SET_ID) {}
 };

-class BpxBatteryCfg : public StaticLocalDataSet<BpxBattery::CFG_ENTRIES> {
+class BpxBatteryCfg : public StaticLocalDataSet<bpxBat::CFG_ENTRIES> {
 public:
  /**
   * Constructor for data users
   * @param gyroId
   */
-  BpxBatteryCfg(object_id_t bpxId) : StaticLocalDataSet(sid_t(bpxId, BpxBattery::CFG_SET_ID)) {
+  BpxBatteryCfg(object_id_t bpxId) : StaticLocalDataSet(sid_t(bpxId, bpxBat::CFG_SET_ID)) {
    setAllVariablesReadOnly();
  }

@ -230,13 +227,12 @@ class BpxBatteryCfg : public StaticLocalDataSet<BpxBattery::CFG_ENTRIES> {

  //! Mode for battheater [0=OFF,1=Auto]
  lp_var_t<uint8_t> battheatermode =
-      lp_var_t<uint8_t>(sid.objectId, BpxBattery::BATTERY_HEATER_MODE, this);
+      lp_var_t<uint8_t>(sid.objectId, bpxBat::BATTERY_HEATER_MODE, this);
  //! Turn heater on at [degC]
-  lp_var_t<int8_t> battheaterLow =
-      lp_var_t<int8_t>(sid.objectId, BpxBattery::BATTHEAT_LOW_LIMIT, this);
+  lp_var_t<int8_t> battheaterLow = lp_var_t<int8_t>(sid.objectId, bpxBat::BATTHEAT_LOW_LIMIT, this);
  //! Turn heater off at [degC]
  lp_var_t<int8_t> battheaterHigh =
-      lp_var_t<int8_t>(sid.objectId, BpxBattery::BATTHEAT_HIGH_LIMIT, this);
+      lp_var_t<int8_t>(sid.objectId, bpxBat::BATTHEAT_HIGH_LIMIT, this);

 private:
  friend class BpxBatteryHandler;
@ -244,8 +240,7 @@ class BpxBatteryCfg : public StaticLocalDataSet<BpxBattery::CFG_ENTRIES> {
   * Constructor for data creator
   * @param hkOwner
   */
-  BpxBatteryCfg(HasLocalDataPoolIF* hkOwner)
-      : StaticLocalDataSet(hkOwner, BpxBattery::CFG_SET_ID) {}
+  BpxBatteryCfg(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, bpxBat::CFG_SET_ID) {}
 };

 #endif /* MISSION_POWER_BPXBATTDEFS_H_ */
--- a/mission/sysDefs.h
+++ b/mission/sysDefs.h
@ -1,12 +1,79 @@
 #ifndef MISSION_SYSDEFS_H_
 #define MISSION_SYSDEFS_H_

+#include <atomic>
+
 #include "acs/defs.h"

+extern std::atomic_uint16_t I2C_FATAL_ERRORS;
+
 namespace satsystem {

 enum Mode : Mode_t { BOOT = 5, SAFE = acs::AcsMode::SAFE, PTG_IDLE = acs::AcsMode::PTG_IDLE };

 }

+namespace core {
+static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
+static constexpr ActionId_t ANNOUNCE_VERSION = 1;
+static constexpr ActionId_t ANNOUNCE_CURRENT_IMAGE = 2;
+static constexpr ActionId_t ANNOUNCE_BOOT_COUNTS = 3;
+static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
+static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
+static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
+static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
+
+static constexpr ActionId_t OBSW_UPDATE_FROM_SD_0 = 10;
+static constexpr ActionId_t OBSW_UPDATE_FROM_SD_1 = 11;
+static constexpr ActionId_t OBSW_UPDATE_FROM_TMP = 12;
+
+static constexpr ActionId_t SWITCH_TO_SD_0 = 16;
+static constexpr ActionId_t SWITCH_TO_SD_1 = 17;
+static constexpr ActionId_t SWITCH_TO_BOTH_SD_CARDS = 18;
+
+//! Reboot using the xsc_boot_copy command
+static constexpr ActionId_t XSC_REBOOT_OBC = 32;
+static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
+//! Reboot using the reboot command
+static constexpr ActionId_t REBOOT_OBC = 34;
+
+static constexpr ActionId_t EXECUTE_SHELL_CMD = 40;
+
+static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
+
+static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+//! [EXPORT] : [COMMENT]  Software reboot occurred. Can also be a systemd reboot.
+//! P1: Current Chip, P2: Current Copy
+static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::LOW);
+//! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
+//! P1: First 16 bits: Last Chip, Last 16 bits: Last Copy,
+//! P2: Each byte is the respective reboot count for the slots
+static constexpr Event REBOOT_MECHANISM_TRIGGERED =
+    event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
+//! Trying to find a way how to determine that the reboot came from ProASIC3 or PCDU..
+static constexpr Event REBOOT_HW = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
+//! [EXPORT] : [COMMENT] No SD card was active. Core controller will attempt to re-initialize
+//! a SD card.
+static constexpr Event NO_SD_CARD_ACTIVE = event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
+//! [EXPORT] : [COMMENT]
+//! P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash
+//! P2: First four letters of Git SHA is the last byte of P1 is set.
+static constexpr Event VERSION_INFO = event::makeEvent(SUBSYSTEM_ID, 5, severity::INFO);
+//! [EXPORT] : [COMMENT] P1: Current Chip, P2: Current Copy
+static constexpr Event CURRENT_IMAGE_INFO = event::makeEvent(SUBSYSTEM_ID, 6, severity::INFO);
+//! [EXPORT] : [COMMENT] Total reboot counter, which is the sum of the boot count of all
+//! individual images.
+static constexpr Event REBOOT_COUNTER = event::makeEvent(SUBSYSTEM_ID, 7, severity::INFO);
+//! [EXPORT] : [COMMENT] Get the boot count of the individual images.
+//! P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1.
+//! P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.
+static constexpr Event INDIVIDUAL_BOOT_COUNTS = event::makeEvent(SUBSYSTEM_ID, 8, severity::INFO);
+//! [EXPORT] : [COMMENT] I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C
+//! devices.
+static constexpr Event TRYING_I2C_RECOVERY = event::makeEvent(SUBSYSTEM_ID, 10, severity::MEDIUM);
+//! [EXPORT] : [COMMENT] I2C is unavailable. Recovery did not work, performing full reboot.
+static constexpr Event I2C_REBOOT = event::makeEvent(SUBSYSTEM_ID, 11, severity::MEDIUM);
+
+}  // namespace core
+
 #endif /* MISSION_SYSDEFS_H_ */
--- a/mission/system/CMakeLists.txt
+++ b/mission/system/CMakeLists.txt
@ -5,4 +5,6 @@ add_subdirectory(com)
 add_subdirectory(fdir)
 add_subdirectory(power)

-target_sources(${LIB_EIVE_MISSION} PRIVATE DualLanePowerStateMachine.cpp)
+target_sources(
+  ${LIB_EIVE_MISSION} PRIVATE systemTree.cpp DualLanePowerStateMachine.cpp
+                              EiveSystem.cpp treeUtil.cpp)
--- a/mission/system/EiveSystem.cpp
+++ b/mission/system/EiveSystem.cpp
@ -0,0 +1,281 @@
+#include "EiveSystem.h"
+
+#include <eive/objects.h>
+#include <fsfw/events/EventManager.h>
+#include <fsfw/ipc/QueueFactory.h>
+#include <fsfw/power/PowerSwitchIF.h>
+#include <mission/acs/defs.h>
+#include <mission/com/defs.h>
+#include <mission/controller/tcsDefs.h>
+
+#include "mission/power/bpxBattDefs.h"
+#include "mission/power/defs.h"
+#include "mission/sysDefs.h"
+
+EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
+                       uint32_t maxNumberOfTables, std::atomic_uint16_t& i2cErrors)
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables),
+      actionHelper(this, commandQueue),
+      i2cErrors(i2cErrors) {
+  auto mqArgs = MqArgs(SubsystemBase::getObjectId(), static_cast<void*>(this));
+  eventQueue =
+      QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+}
+
+void EiveSystem::announceMode(bool recursive) {
+  const char* modeStr = "UNKNOWN";
+  switch (mode) {
+    case (satsystem::Mode::BOOT): {
+      modeStr = "OFF/BOOT";
+      break;
+    }
+    case (satsystem::Mode::SAFE): {
+      modeStr = "SAFE";
+      break;
+    }
+    case (satsystem::Mode::PTG_IDLE): {
+      modeStr = "POINTING IDLE";
+      break;
+    }
+    case (acs::AcsMode::PTG_INERTIAL): {
+      modeStr = "POINTING INERTIAL";
+      break;
+    }
+    case (acs::AcsMode::PTG_TARGET): {
+      modeStr = "POINTING TARGET";
+      break;
+    }
+    case (acs::AcsMode::PTG_TARGET_GS): {
+      modeStr = "POINTING TARGET GS";
+      break;
+    }
+  }
+  sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl;
+  return Subsystem::announceMode(recursive);
+}
+
+void EiveSystem::performChildOperation() {
+  Subsystem::performChildOperation();
+  handleEventMessages();
+  if (not isInTransition and performSafeRecovery) {
+    commandSelfToSafe();
+    performSafeRecovery = false;
+    return;
+  }
+  i2cRecoveryLogic();
+}
+
+ReturnValue_t EiveSystem::initialize() {
+  if (powerSwitcher == nullptr) {
+    return ObjectManager::CHILD_INIT_FAILED;
+  }
+  ReturnValue_t result = actionHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  auto* bpxDest = ObjectManager::instance()->get<HasActionsIF>(objects::BPX_BATT_HANDLER);
+  if (bpxDest == nullptr) {
+    return ObjectManager::CHILD_INIT_FAILED;
+  }
+  bpxBattQueueId = bpxDest->getCommandQueue();
+
+  auto* coreCtrl = ObjectManager::instance()->get<HasActionsIF>(objects::CORE_CONTROLLER);
+  if (coreCtrl == nullptr) {
+    return ObjectManager::CHILD_INIT_FAILED;
+  }
+  coreCtrlQueueId = coreCtrl->getCommandQueue();
+
+  auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  if (manager == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  result = manager->registerListener(eventQueue->getId());
+  if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "AcsSubsystem::registerListener: Failed to register as "
+                    "listener"
+                 << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  manager->subscribeToEvent(eventQueue->getId(),
+                            event::getEventId(tcsCtrl::PCDU_SYSTEM_OVERHEATING));
+  manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::OBC_OVERHEATING));
+
+  // manager->subscribeToEvent(eventQueue->getId(), event::getEventId(CoreController::))
+  return Subsystem::initialize();
+}
+
+void EiveSystem::handleEventMessages() {
+  EventMessage event;
+  for (ReturnValue_t status = eventQueue->receiveMessage(&event); status == returnvalue::OK;
+       status = eventQueue->receiveMessage(&event)) {
+    switch (event.getMessageId()) {
+      case EventMessage::EVENT_MESSAGE:
+        switch (event.getEvent()) {
+          case tcsCtrl::OBC_OVERHEATING:
+          case tcsCtrl::PCDU_SYSTEM_OVERHEATING: {
+            if (isInTransition) {
+              performSafeRecovery = true;
+              return;
+            }
+
+            commandSelfToSafe();
+            break;
+          }
+        }
+        break;
+      default:
+        sif::debug << "EiveSystem: Did not subscribe to event " << event.getEvent() << std::endl;
+        break;
+    }
+  }
+}
+
+MessageQueueId_t EiveSystem::getCommandQueue() const { return Subsystem::getCommandQueue(); }
+
+ReturnValue_t EiveSystem::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                                        const uint8_t* data, size_t size) {
+  switch (actionId) {
+    case (EXECUTE_I2C_REBOOT): {
+      triggerEvent(core::TRYING_I2C_RECOVERY);
+      performI2cReboot = true;
+      // This flag is more related to autonomous recovery handling, so we reset it here if this
+      // reboot sequence is commanded manually.
+      alreadyTriedI2cRecovery = false;
+      i2cRebootState = I2cRebootState::SYSTEM_MODE_BOOT;
+      this->actionCommandedBy = commandedBy;
+      return returnvalue::OK;
+    }
+    default: {
+      return HasActionsIF::INVALID_ACTION_ID;
+    }
+  }
+  return returnvalue::OK;
+}
+
+void EiveSystem::setI2cRecoveryParams(PowerSwitchIF* pwrSwitcher) {
+  this->powerSwitcher = pwrSwitcher;
+}
+
+void EiveSystem::i2cRecoveryLogic() {
+  ReturnValue_t result;
+  if (not performI2cReboot) {
+    // If a recovery worked, need to reset these flags and the error count after some time.
+    if (i2cRecoveryClearCountdown.hasTimedOut()) {
+      i2cErrors = 0;
+      alreadyTriedI2cRecovery = false;
+      i2cRebootHandlingCountdown.resetTimer();
+    }
+    // If an I2C recovery is not ongoing and the I2C error counter is above a threshold, try
+    // recovery or reboot if recovery was already attempted.
+    if (i2cErrors >= 5) {
+      if (not alreadyTriedI2cRecovery) {
+        // Try recovery.
+        executeAction(EXECUTE_I2C_REBOOT, MessageQueueIF::NO_QUEUE, nullptr, 0);
+      } else {
+        // We already tried an I2C recovery but the bus is still broken.
+        // Send full reboot request to core controller.
+        CommandMessage msg;
+        ActionMessage::setCommand(&msg, core::REBOOT_OBC, store_address_t());
+        result = commandQueue->sendMessage(coreCtrlQueueId, &msg);
+      }
+    }
+  }
+  if (not isInTransition and performI2cReboot) {
+    switch (i2cRebootState) {
+      case (I2cRebootState::NONE): {
+        break;
+      }
+      case (I2cRebootState::SYSTEM_MODE_BOOT): {
+        startTransition(satsystem::Mode::BOOT, 0);
+        i2cRebootState = I2cRebootState::SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT;
+        i2cRebootHandlingCountdown.resetTimer();
+        break;
+      }
+      case (I2cRebootState::SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT): {
+        if (mode == satsystem::Mode::BOOT) {
+          result = powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
+                                                    PowerSwitchIF::SWITCH_OFF);
+          if (result != returnvalue::OK) {
+            actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
+            commonI2cRecoverySequenceFinish();
+            return;
+          }
+          CommandMessage msg;
+          store_address_t dummy{};
+          ActionMessage::setCommand(&msg, bpxBat::REBOOT, dummy);
+          result = commandQueue->sendMessage(bpxBattQueueId, &msg);
+          if (result != returnvalue::OK) {
+            actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
+            commonI2cRecoverySequenceFinish();
+            return;
+          }
+          i2cRebootState = I2cRebootState::WAIT_CYCLE;
+        }
+        break;
+      }
+      case (I2cRebootState::WAIT_CYCLE): {
+        i2cRebootState = I2cRebootState::SWITCH_3V3_STACK_ON;
+        break;
+      }
+      case (I2cRebootState::SWITCH_3V3_STACK_ON): {
+        result = powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
+                                                  PowerSwitchIF::SWITCH_ON);
+        if (result != returnvalue::OK) {
+          actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
+          commonI2cRecoverySequenceFinish();
+          return;
+        }
+        i2cRebootState = I2cRebootState::SYSTEM_MODE_SAFE;
+        break;
+      }
+      case (I2cRebootState::SYSTEM_MODE_SAFE): {
+        if (powerSwitcher->getSwitchState(power::Switches::P60_DOCK_3V3_STACK) ==
+            PowerSwitchIF::SWITCH_ON) {
+          // This should always be accepted
+          commonI2cRecoverySequenceFinish();
+          actionHelper.finish(true, actionCommandedBy, EXECUTE_I2C_REBOOT);
+        }
+        break;
+      }
+      default: {
+        sif::error << "EiveSystem: Unexpected I2C reboot state" << std::endl;
+        break;
+      }
+    }
+    // Timeout handling for the internal procedure.
+    if (i2cRebootState != I2cRebootState::NONE and i2cRebootHandlingCountdown.hasTimedOut()) {
+      actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, returnvalue::FAILED);
+      // Command stack back on in any case.
+      powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
+                                       PowerSwitchIF::SWITCH_ON);
+      commonI2cRecoverySequenceFinish();
+    }
+  }
+}
+
+void EiveSystem::commandSelfToSafe() { startTransition(satsystem::Mode::SAFE, 0); }
+
+void EiveSystem::commonI2cRecoverySequenceFinish() {
+  alreadyTriedI2cRecovery = true;
+  performI2cReboot = false;
+  i2cRecoveryClearCountdown.resetTimer();
+  i2cRebootState = I2cRebootState::NONE;
+  // Reset this counter. If I2C devices are still problematic, we will get a full reboot
+  // next time this count goes above 5.
+  i2cErrors = 0;
+  // This should always be accepted
+  commandSelfToSafe();
+}
+
+ReturnValue_t EiveSystem::handleCommandMessage(CommandMessage* message) {
+  if (message->getMessageType() == messagetypes::ACTION) {
+    return actionHelper.handleActionMessage(message);
+  }
+  return Subsystem::handleCommandMessage(message);
+}
--- a/mission/system/EiveSystem.h
+++ b/mission/system/EiveSystem.h
@ -0,0 +1,61 @@
+#ifndef MISSION_SYSTEM_EIVESYSTEM_H_
+#define MISSION_SYSTEM_EIVESYSTEM_H_
+
+#include <fsfw/action/HasActionsIF.h>
+#include <fsfw/power/PowerSwitchIF.h>
+#include <fsfw/subsystem/Subsystem.h>
+
+#include <atomic>
+
+class EiveSystem : public Subsystem, public HasActionsIF {
+ public:
+  static constexpr ActionId_t EXECUTE_I2C_REBOOT = 10;
+
+  EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables,
+             std::atomic_uint16_t& i2cErrors);
+
+  void setI2cRecoveryParams(PowerSwitchIF* pwrSwitcher);
+
+  [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
+
+ private:
+  enum class I2cRebootState {
+    NONE,
+    SYSTEM_MODE_BOOT,
+    SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT,
+    WAIT_CYCLE,
+    SWITCH_3V3_STACK_ON,
+    SYSTEM_MODE_SAFE
+  } i2cRebootState = I2cRebootState::NONE;
+
+  MessageQueueIF* eventQueue = nullptr;
+  bool performSafeRecovery = false;
+  bool performI2cReboot = false;
+  bool alreadyTriedI2cRecovery = false;
+
+  ActionHelper actionHelper;
+  PowerSwitchIF* powerSwitcher = nullptr;
+  std::atomic_uint16_t& i2cErrors;
+
+  MessageQueueId_t bpxBattQueueId = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t coreCtrlQueueId = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t actionCommandedBy = MessageQueueIF::NO_QUEUE;
+  Countdown i2cRebootHandlingCountdown = Countdown(10000);
+  // Countdown i2cUnavailableCountdown = Countdown(30000);
+  //  After 1 minute, clear the flag to avoid full reboots on I2C issues.
+  Countdown i2cRecoveryClearCountdown = Countdown(60000);
+  ReturnValue_t initialize() override;
+  void performChildOperation() override;
+  void announceMode(bool recursive) override;
+
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size) override;
+  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
+
+  void i2cRecoveryLogic();
+  void handleEventMessages();
+  void commandSelfToSafe();
+  void commonI2cRecoverySequenceFinish();
+};
+
+#endif /* MISSION_SYSTEM_EIVESYSTEM_H_ */
--- a/mission/system/acs/acsModeTree.cpp
+++ b/mission/system/acs/acsModeTree.cpp
@ -11,7 +11,7 @@
 #include "eive/objects.h"
 #include "mission/acs/defs.h"
 #include "mission/power/defs.h"
-#include "mission/system/tree/util.h"
+#include "mission/system/treeUtil.h"

 AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);

--- a/mission/system/com/comModeTree.cpp
+++ b/mission/system/com/comModeTree.cpp
@ -6,7 +6,7 @@

 #include "eive/objects.h"
 #include "mission/com/defs.h"
-#include "mission/system/tree/util.h"
+#include "mission/system/treeUtil.h"

 const auto check = subsystem::checkInsert;

--- a/mission/system/objects/CMakeLists.txt
+++ b/mission/system/objects/CMakeLists.txt
@ -1,9 +1,4 @@
 target_sources(
  ${LIB_EIVE_MISSION}
-  PRIVATE EiveSystem.cpp
-          CamSwitcher.cpp
-          TcsSubsystem.cpp
-          PayloadSubsystem.cpp
-          Stack5VHandler.cpp
-          PowerStateMachineBase.cpp
-          TcsBoardAssembly.cpp)
+  PRIVATE CamSwitcher.cpp TcsSubsystem.cpp PayloadSubsystem.cpp
+          Stack5VHandler.cpp PowerStateMachineBase.cpp TcsBoardAssembly.cpp)
--- a/mission/system/objects/EiveSystem.cpp
+++ b/mission/system/objects/EiveSystem.cpp
@ -1,111 +0,0 @@
-#include "EiveSystem.h"
-
-#include <eive/objects.h>
-#include <fsfw/events/EventManager.h>
-#include <fsfw/ipc/QueueFactory.h>
-#include <mission/acs/defs.h>
-#include <mission/com/defs.h>
-#include <mission/controller/tcsDefs.h>
-
-#include "mission/sysDefs.h"
-
-EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
-                       uint32_t maxNumberOfTables)
-    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {
-  auto mqArgs = MqArgs(SubsystemBase::getObjectId(), static_cast<void*>(this));
-  eventQueue =
-      QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
-}
-
-void EiveSystem::announceMode(bool recursive) {
-  const char* modeStr = "UNKNOWN";
-  switch (mode) {
-    case (satsystem::Mode::BOOT): {
-      modeStr = "OFF/BOOT";
-      break;
-    }
-    case (satsystem::Mode::SAFE): {
-      modeStr = "SAFE";
-      break;
-    }
-    case (satsystem::Mode::PTG_IDLE): {
-      modeStr = "POINTING IDLE";
-      break;
-    }
-    case (acs::AcsMode::PTG_INERTIAL): {
-      modeStr = "POINTING INERTIAL";
-      break;
-    }
-    case (acs::AcsMode::PTG_TARGET): {
-      modeStr = "POINTING TARGET";
-      break;
-    }
-    case (acs::AcsMode::PTG_TARGET_GS): {
-      modeStr = "POINTING TARGET GS";
-      break;
-    }
-  }
-  sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl;
-  return Subsystem::announceMode(recursive);
-}
-
-void EiveSystem::performChildOperation() {
-  Subsystem::performChildOperation();
-  handleEventMessages();
-  if (not isInTransition and performSafeRecovery) {
-    commandSelfToSafe();
-    performSafeRecovery = false;
-  }
-}
-
-ReturnValue_t EiveSystem::initialize() {
-  auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
-  if (manager == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
-#endif
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-  ReturnValue_t result = manager->registerListener(eventQueue->getId());
-  if (result != returnvalue::OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "AcsSubsystem::registerListener: Failed to register as "
-                    "listener"
-                 << std::endl;
-#endif
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-  manager->subscribeToEvent(eventQueue->getId(),
-                            event::getEventId(tcsCtrl::PCDU_SYSTEM_OVERHEATING));
-  manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::OBC_OVERHEATING));
-
-  return Subsystem::initialize();
-}
-
-void EiveSystem::handleEventMessages() {
-  EventMessage event;
-  for (ReturnValue_t status = eventQueue->receiveMessage(&event); status == returnvalue::OK;
-       status = eventQueue->receiveMessage(&event)) {
-    switch (event.getMessageId()) {
-      case EventMessage::EVENT_MESSAGE:
-        switch (event.getEvent()) {
-          case tcsCtrl::OBC_OVERHEATING:
-          case tcsCtrl::PCDU_SYSTEM_OVERHEATING: {
-            if (isInTransition) {
-              performSafeRecovery = true;
-              return;
-            }
-
-            commandSelfToSafe();
-            break;
-          }
-        }
-        break;
-      default:
-        sif::debug << "EiveSystem: Did not subscribe to event " << event.getEvent() << std::endl;
-        break;
-    }
-  }
-}
-
-void EiveSystem::commandSelfToSafe() { startTransition(satsystem::Mode::SAFE, 0); }
--- a/mission/system/objects/EiveSystem.h
+++ b/mission/system/objects/EiveSystem.h
@ -1,21 +0,0 @@
-#ifndef MISSION_SYSTEM_EIVESYSTEM_H_
-#define MISSION_SYSTEM_EIVESYSTEM_H_
-
-#include <fsfw/subsystem/Subsystem.h>
-
-class EiveSystem : public Subsystem {
- public:
-  EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
-
- private:
-  MessageQueueIF* eventQueue = nullptr;
-  bool performSafeRecovery = false;
-
-  ReturnValue_t initialize() override;
-  void performChildOperation() override;
-  void announceMode(bool recursive) override;
-  void handleEventMessages();
-  void commandSelfToSafe();
-};
-
-#endif /* MISSION_SYSTEM_EIVESYSTEM_H_ */
--- a/mission/system/tree/system.cpp
+++ b/mission/system/tree/system.cpp
@ -1,4 +1,4 @@
-#include "system.h"
+#include "systemTree.h"

 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/subsystem/Subsystem.h>
@ -6,12 +6,14 @@
 #include <mission/sysDefs.h>
 #include <mission/system/com/comModeTree.h>

+#include <atomic>
+
 #include "eive/objects.h"
 #include "mission/com/defs.h"
 #include "mission/system/acs/acsModeTree.h"
-#include "payloadModeTree.h"
-#include "tcsModeTree.h"
-#include "util.h"
+#include "mission/system/tree/payloadModeTree.h"
+#include "mission/system/tree/tcsModeTree.h"
+#include "treeUtil.h"

 namespace {
 // Alias for checker function
@ -41,7 +43,7 @@ void satsystem::init() {
  EIVE_SYSTEM.setInitialMode(satsystem::Mode::BOOT, 0);
 }

-EiveSystem satsystem::EIVE_SYSTEM = EiveSystem(objects::EIVE_SYSTEM, 12, 24);
+EiveSystem satsystem::EIVE_SYSTEM = EiveSystem(objects::EIVE_SYSTEM, 12, 24, I2C_FATAL_ERRORS);

 auto EIVE_SEQUENCE_BOOT = std::make_pair(satsystem::Mode::BOOT, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_BOOT_TGT =
--- a/mission/system/tree/system.h
+++ b/mission/system/tree/system.h
@ -1,7 +1,7 @@
 #ifndef MISSION_SYSTEM_TREE_SYSTEM_H_
 #define MISSION_SYSTEM_TREE_SYSTEM_H_

-#include <mission/system/objects/EiveSystem.h>
+#include <mission/system/EiveSystem.h>

 namespace satsystem {

--- a/mission/system/tree/CMakeLists.txt
+++ b/mission/system/tree/CMakeLists.txt
@ -1,2 +1 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp tcsModeTree.cpp
-                                           system.cpp util.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp tcsModeTree.cpp)
--- a/mission/system/tree/payloadModeTree.cpp
+++ b/mission/system/tree/payloadModeTree.cpp
@ -10,7 +10,7 @@
 #include "eive/objects.h"
 #include "mission/power/defs.h"
 #include "mission/system/objects/PayloadSubsystem.h"
-#include "util.h"
+#include "mission/system/treeUtil.h"

 namespace {
 void initOffSequence(Subsystem& ss, ModeListEntry& eh);
--- a/mission/system/tree/tcsModeTree.cpp
+++ b/mission/system/tree/tcsModeTree.cpp
@ -3,7 +3,7 @@
 #include "eive/objects.h"
 #include "fsfw/devicehandlers/DeviceHandlerIF.h"
 #include "fsfw/subsystem/Subsystem.h"
-#include "mission/system/tree/util.h"
+#include "mission/system/treeUtil.h"

 TcsSubsystem satsystem::tcs::SUBSYSTEM(objects::TCS_SUBSYSTEM, 12, 24);

--- a/mission/system/tree/util.cpp
+++ b/mission/system/tree/util.cpp
@ -1,4 +1,4 @@
-#include "util.h"
+#include "treeUtil.h"

 #include "fsfw/container/FixedMap.h"
 #include "fsfw/serviceinterface.h"
--- a/mission/system/tree/util.h
+++ b/mission/system/tree/util.h
--- a/mission/tcs/HeaterHandler.cpp
+++ b/mission/tcs/HeaterHandler.cpp
@ -331,7 +331,6 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
      }
    }
  } else {
-    sif::info << "HeaterHandler::handleSwitchOffCommand: Switch already off" << std::endl;
    triggerEvent(SWITCH_ALREADY_OFF, heaterIdx);
  }
  if (heater.replyQueue != NO_COMMANDER) {
--- a/mission/tcs/HeaterHandler.h
+++ b/mission/tcs/HeaterHandler.h
@ -101,8 +101,8 @@ class HeaterHandler : public ExecutableObjectIF,
  static constexpr Event GPIO_PULL_LOW_FAILED = MAKE_EVENT(1, severity::LOW);
  static constexpr Event HEATER_WENT_ON = event::makeEvent(SUBSYSTEM_ID, 2, severity::INFO);
  static constexpr Event HEATER_WENT_OFF = event::makeEvent(SUBSYSTEM_ID, 3, severity::INFO);
-  static constexpr Event SWITCH_ALREADY_ON = MAKE_EVENT(4, severity::LOW);
-  static constexpr Event SWITCH_ALREADY_OFF = MAKE_EVENT(5, severity::LOW);
+  static constexpr Event SWITCH_ALREADY_ON = MAKE_EVENT(4, severity::INFO);
+  static constexpr Event SWITCH_ALREADY_OFF = MAKE_EVENT(5, severity::INFO);
  static constexpr Event MAIN_SWITCH_TIMEOUT = MAKE_EVENT(6, severity::MEDIUM);
  //! A faulty heater was one. The SW will autonomously attempt to shut it down. P1: Heater Index
  static constexpr Event FAULTY_HEATER_WAS_ON = event::makeEvent(SUBSYSTEM_ID, 7, severity::LOW);
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 7e5fa2e61a3f2b50860fe2e3427f31f7ebaf854f
+Subproject commit 91a8a2e89519ac20d9ddabec2d8eaeb7707718d5