Merge branch 'develop' into mueller/core-controller-remount-sd-handling

2022-05-20 08:20:13 +02:00 · 2022-05-20 08:20:13 +02:00 · dc6fa57c03
commit dc6fa57c03
parent d4dd75acae 79d3755c16
65 changed files with 661 additions and 805 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -1,12 +1,12 @@
-################################################################################
+# ##############################################################################
 # CMake support for the EIVE OBSW
 #
 # Author: R. Mueller
-################################################################################
+# ##############################################################################

-################################################################################
+# ##############################################################################
 # Pre-Project preparation
-################################################################################
+# ##############################################################################
 cmake_minimum_required(VERSION 3.13)

 set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 0)
@ -15,17 +15,23 @@ set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)

 # set(CMAKE_VERBOSE TRUE)

-option(EIVE_HARDCODED_TOOLCHAIN_FILE "\
+option(
+  EIVE_HARDCODED_TOOLCHAIN_FILE
+  "\
 For Linux Board Target BSPs, a default toolchain file will be set. Should be set to OFF \
-if a different toolchain file is set externally" ON
-)
+if a different toolchain file is set externally"
+  ON)

 if(NOT FSFW_OSAL)
-    set(FSFW_OSAL linux CACHE STRING "OS for the FSFW.")
+  set(FSFW_OSAL
+      linux
+      CACHE STRING "OS for the FSFW.")
 endif()

 if(TGT_BSP)
-    if(TGT_BSP MATCHES "arm/q7s" OR 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")
@ -34,9 +40,11 @@ if(TGT_BSP)
    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)
+  option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name"
+         ON)
 else()
-    option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" OFF)
+  option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name"
+         OFF)
 endif()

 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
@ -57,38 +65,74 @@ option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
 option(EIVE_ADD_JSON_LIB "Add JSON library" ON)

 if(EIVE_Q7S_EM)
-    set(OBSW_Q7S_EM 1 CACHE STRING "Q7S EM configuration")
+  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(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")
+set(OBSW_ADD_MGT
+    ${INIT_VAL}
+    CACHE STRING "Add MGT module")
+set(OBSW_ADD_BPX_BATTERY_HANDLER
+    ${INIT_VAL}
+    CACHE STRING "Add MGT module")
+set(OBSW_ADD_STAR_TRACKER
+    ${INIT_VAL}
+    CACHE STRING "Add Startracker module")
+set(OBSW_ADD_SUN_SENSORS
+    ${INIT_VAL}
+    CACHE STRING "Add sun sensor module")
+set(OBSW_ADD_SUS_BOARD_ASS
+    ${INIT_VAL}
+    CACHE STRING "Add sun sensor board assembly")
+set(OBSW_ADD_ACS_BOARD
+    ${INIT_VAL}
+    CACHE STRING "Add ACS board module")
+set(OBSW_ADD_ACS_HANDLERS
+    ${INIT_VAL}
+    CACHE STRING "Add ACS handlers")
+set(OBSW_ADD_RTD_DEVICES
+    ${INIT_VAL}
+    CACHE STRING "Add RTD devices")
+set(OBSW_ADD_RAD_SENSORS
+    ${INIT_VAL}
+    CACHE STRING "Add Rad Sensor module")
+set(OBSW_ADD_PL_PCDU
+    ${INIT_VAL}
+    CACHE STRING "Add Payload PCDU modukle")
+set(OBSW_ADD_SYRLINKS
+    ${INIT_VAL}
+    CACHE STRING "Add Syrlinks module")
+set(OBSW_ADD_TMP_DEVICES
+    ${INIT_VAL}
+    CACHE STRING "Add TMP devices")
+set(OBSW_ADD_GOMSPACE_PCDU
+    ${INIT_VAL}
+    CACHE STRING "Add GomSpace PCDU modules")
+set(OBSW_ADD_RW
+    ${INIT_VAL}
+    CACHE STRING "Add RW modules")

-################################################################################
+# ##############################################################################
 # Pre-Sources preparation
-################################################################################
+# ##############################################################################

 # Version handling
 set(GIT_VER_HANDLING_OK FALSE)
 if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
  determine_version_with_git("--exclude" "docker_*")
-    set(GIT_INFO ${GIT_INFO} CACHE STRING "Version information retrieved with git describe")
+  set(GIT_INFO
+      ${GIT_INFO}
+      CACHE STRING "Version information retrieved with git describe")
  if(GIT_INFO)
-        set(GIT_INFO ${GIT_INFO} CACHE STRING "Version information retrieved with git describe")
+    set(GIT_INFO
+        ${GIT_INFO}
+        CACHE STRING "Version information retrieved with git describe")
    list(GET GIT_INFO 1 OBSW_VERSION_MAJOR)
    list(GET GIT_INFO 2 OBSW_VERSION_MINOR)
    list(GET GIT_INFO 3 OBSW_VERSION_REVISION)
@ -157,12 +201,14 @@ pre_source_hw_os_config()

 if(TGT_BSP)
  set(LIBGPS_VERSION_MAJOR 3)
-    # I assume a newer version than 3.17 will be installed on other Linux board than the Q7S
+  # I assume a newer version than 3.17 will be installed on other Linux board
+  # than the Q7S
  set(LIBGPS_VERSION_MINOR 20)
-    if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi"
-        OR TGT_BSP MATCHES "arm/beagleboneblack" OR TGT_BSP MATCHES "arm/egse" 
-        OR TGT_BSP MATCHES "arm/te0720-1cfa"
-    )
+  if(TGT_BSP MATCHES "arm/q7s"
+     OR TGT_BSP MATCHES "arm/raspberrypi"
+     OR TGT_BSP MATCHES "arm/beagleboneblack"
+     OR TGT_BSP MATCHES "arm/egse"
+     OR TGT_BSP MATCHES "arm/te0720-1cfa")
    find_library(${LIB_GPS} gps)
    set(FSFW_CONFIG_PATH "linux/fsfwconfig")
    if(NOT BUILD_Q7S_SIMPLE_MODE)
@ -172,7 +218,7 @@ if(TGT_BSP)
    endif()
  endif()

-    if(TGT_BSP MATCHES "arm/raspberrypi" )
+  if(TGT_BSP MATCHES "arm/raspberrypi")
    # Used by configure file
    set(RASPBERRY_PI ON)
    set(FSFW_HAL_ADD_RASPBERRY_PI ON)
@ -206,7 +252,6 @@ else()
  set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
 endif()

-
 # Configuration files
 configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
 configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
@ -220,16 +265,14 @@ endif()
 configure_file(${WATCHDOG_PATH}/watchdogConf.h.in watchdogConf.h)

 # Set common config path for FSFW
-set(FSFW_ADDITIONAL_INC_PATHS 
-    "${COMMON_PATH}/config"
-    ${CMAKE_CURRENT_BINARY_DIR}
-)
+set(FSFW_ADDITIONAL_INC_PATHS "${COMMON_PATH}/config"
+                              ${CMAKE_CURRENT_BINARY_DIR})

-################################################################################
+# ##############################################################################
 # Executable and Sources
-################################################################################
+# ##############################################################################

-#global compiler options need to be set before adding executables
+# global compiler options need to be set before adding executables
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
  add_compile_options(
    "-Wall"
@ -252,20 +295,15 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
    "-Wcast-qual" # Warn if the constness is cast away
    "-Wstringop-overflow=4"
    # -Wstack-protector # Emits a few false positives for low level access
-        # -Wconversion # Creates many false positives
-        # -Warith-conversion # Use with Wconversion to find more implicit conversions
-        # -fanalyzer # Should be used to look through problems
+    # -Wconversion # Creates many false positives -Warith-conversion # Use with
+    # Wconversion to find more implicit conversions -fanalyzer # Should be used
+    # to look through problems
  )
  # Remove unused sections.
-    add_compile_options(
-        "-ffunction-sections"
-        "-fdata-sections"
-    )
+  add_compile_options("-ffunction-sections" "-fdata-sections")

  # Removed unused sections.
-    add_link_options(
-        "-Wl,--gc-sections"
-    )
+  add_link_options("-Wl,--gc-sections")

 elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
  set(COMPILER_FLAGS "/permissive-")
@ -287,12 +325,8 @@ else()
 endif()

 add_subdirectory(${WATCHDOG_PATH})
-target_link_libraries(${WATCHDOG_NAME} PUBLIC
-    ${LIB_CXX_FS}
-)
-target_include_directories(${WATCHDOG_NAME} PUBLIC
-    ${CMAKE_BINARY_DIR}
-)
+target_link_libraries(${WATCHDOG_NAME} PUBLIC ${LIB_CXX_FS})
+target_include_directories(${WATCHDOG_NAME} PUBLIC ${CMAKE_BINARY_DIR})

 # unittests
 if(NOT TGT_BSP)
@ -302,6 +336,7 @@ else()
 endif()

 if(EIVE_ADD_ETL_LIB)
+
 endif()

 if(EIVE_ADD_JSON_LIB)
@ -328,39 +363,41 @@ add_subdirectory(${TEST_PATH})

 add_subdirectory(${UNITTEST_PATH})

-# This should have already been downloaded by the FSFW
-# Still include it to be safe
+# This should have already been downloaded by the FSFW Still include it to be
+# safe
 find_package(etl ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
 # Not installed, so use FetchContent to download and provide etl
 if(NOT etl_FOUND)
-    message(STATUS
+  message(
+    STATUS
      "No ETL installation was found with find_package. Installing and providing "
-        "etl with FindPackage"
-    )
+      "etl with FindPackage")
  include(FetchContent)
  FetchContent_Declare(
    etl
    GIT_REPOSITORY https://github.com/ETLCPP/etl
-        GIT_TAG        ${FSFW_ETL_LIB_VERSION}
-    )
+    GIT_TAG ${FSFW_ETL_LIB_VERSION})
  list(APPEND FSFW_FETCH_CONTENT_TARGETS etl)
 endif()

 # Use same Catch2 version as framework
-if (NOT(TGT_BSP MATCHES "arm/te0720-1cfa") AND NOT(TGT_BSP MATCHES "arm/q7s")
+if(NOT (TGT_BSP MATCHES "arm/te0720-1cfa")
+   AND NOT (TGT_BSP MATCHES "arm/q7s")
   AND NOT (TGT_BSP MATCHES "arm/raspberrypi"))
  # Check whether the user has already installed Catch2 first
  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
  # Not installed, so use FetchContent to download and provide Catch2
  if(NOT Catch2_FOUND)
-        message(STATUS "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent")
+    message(
+      STATUS
+        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
+    )
    include(FetchContent)

    FetchContent_Declare(
      Catch2
      GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-            GIT_TAG        ${FSFW_CATCH2_LIB_VERSION}
-        )
+      GIT_TAG ${FSFW_CATCH2_LIB_VERSION})

    list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
  endif()
@ -375,93 +412,64 @@ if(FSFW_FETCH_CONTENT_TARGETS)
    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
+    # Fixes regression -preview4, to be confirmed in later releases Related
+    # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
    set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
    set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
  endif()
 endif()

-################################################################################
+# ##############################################################################
 # Post-Sources preparation
-################################################################################
+# ##############################################################################

 # Add libraries
-target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-    ${LIB_FSFW_NAME}
-    ${LIB_LWGPS_NAME}
-    ${LIB_OS_NAME}
-)
+target_link_libraries(${LIB_EIVE_MISSION}
+                      PUBLIC ${LIB_FSFW_NAME} ${LIB_LWGPS_NAME} ${LIB_OS_NAME})

-target_link_libraries(${OBSW_NAME} PRIVATE
-    ${LIB_EIVE_MISSION}
-)
+target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_EIVE_MISSION})

 if(TGT_BSP MATCHES "arm/q7s")
-    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        ${LIB_GPS}
-        ${LIB_ARCSEC}
-    )
+  target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_GPS} ${LIB_ARCSEC})
 endif()

-target_link_libraries(${UNITTEST_NAME} PRIVATE
-    Catch2
-    ${LIB_EIVE_MISSION}
-    rapidcsv
-)
+target_link_libraries(${UNITTEST_NAME} PRIVATE Catch2 ${LIB_EIVE_MISSION}
+                                               rapidcsv)

 if(TGT_BSP MATCHES "arm/egse")
-    target_link_libraries(${OBSW_NAME} PRIVATE
-	    ${LIB_ARCSEC}
-	)
+  target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_ARCSEC})
 endif()

 if(ADD_CSP_LIB)
-    target_link_libraries(${OBSW_NAME} PRIVATE
-        ${LIB_CSP_NAME}
-    )
+  target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_CSP_NAME})
 endif()

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

 if(EIVE_ADD_JSON_LIB)
-    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        ${LIB_JSON_NAME}
-    )
+  target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_JSON_NAME})
 endif()

-target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-    ${LIB_CXX_FS}
-)
+target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_CXX_FS})

 # Add include paths for all sources.
-target_include_directories(${LIB_EIVE_MISSION} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-	${FSFW_CONFIG_PATH}
-	${CMAKE_CURRENT_BINARY_DIR}
-	${LIB_ARCSEC_PATH}
-)
+target_include_directories(
+  ${LIB_EIVE_MISSION} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} ${FSFW_CONFIG_PATH}
+                             ${CMAKE_CURRENT_BINARY_DIR} ${LIB_ARCSEC_PATH})

 if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/egse")
-    target_include_directories(${LIB_EIVE_MISSION} PUBLIC
-        ${ARCSEC_LIB_PATH}
-    )
+  target_include_directories(${LIB_EIVE_MISSION} PUBLIC ${ARCSEC_LIB_PATH})
 endif()

 if(CMAKE_VERBOSE)
  message(STATUS "Warning flags: ${WARNING_FLAGS}")
 endif()

-
-
 if(CMAKE_CROSSCOMPILING)
-	include (HardwareOsPostConfig)
+  include(HardwareOsPostConfig)
  post_source_hw_os_config()
 endif()

@ -484,19 +492,15 @@ endif()

 install(TARGETS ${OBSW_NAME} RUNTIME DESTINATION bin)

-string(CONCAT POST_BUILD_COMMENT
-    "Build directory: ${CMAKE_BINARY_DIR}\n"
+string(CONCAT POST_BUILD_COMMENT "Build directory: ${CMAKE_BINARY_DIR}\n"
              "Target OSAL: ${FSFW_OSAL}\n"
-    "Target Build Type: ${CMAKE_BUILD_TYPE}\n"
-    "${TARGET_STRING}"
-)
+              "Target Build Type: ${CMAKE_BUILD_TYPE}\n" "${TARGET_STRING}")

 add_custom_command(
  TARGET ${OBSW_NAME}
  POST_BUILD
  COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
-   COMMENT ${POST_BUILD_COMMENT}
-)
+  COMMENT ${POST_BUILD_COMMENT})

-include (BuildType)
+include(BuildType)
 set_build_type()
--- a/bsp_egse/CMakeLists.txt
+++ b/bsp_egse/CMakeLists.txt
@ -1,7 +1,3 @@
-target_sources(${OBSW_NAME} PUBLIC
-	InitMission.cpp
-	main.cpp
-	ObjectFactory.cpp
-)
+target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp ObjectFactory.cpp)

 add_subdirectory(boardconfig)
--- a/bsp_egse/boardconfig/CMakeLists.txt
+++ b/bsp_egse/boardconfig/CMakeLists.txt
@ -1,7 +1,3 @@
-target_sources(${OBSW_NAME} PRIVATE
-	print.c
-)
+target_sources(${OBSW_NAME} PRIVATE print.c)

-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
--- a/bsp_hosted/CMakeLists.txt
+++ b/bsp_hosted/CMakeLists.txt
@ -1,8 +1,4 @@
-target_sources(${OBSW_NAME} PUBLIC
-	InitMission.cpp
-	main.cpp
-	ObjectFactory.cpp
-)
+target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp ObjectFactory.cpp)

 add_subdirectory(fsfwconfig)
 add_subdirectory(boardconfig)
--- a/bsp_hosted/boardconfig/CMakeLists.txt
+++ b/bsp_hosted/boardconfig/CMakeLists.txt
@ -1,10 +1,3 @@
-target_sources(${OBSW_NAME} PRIVATE
-	print.c
-)
-
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-
+target_sources(${OBSW_NAME} PRIVATE print.c)

+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
--- a/bsp_hosted/comIF/CMakeLists.txt
+++ b/bsp_hosted/comIF/CMakeLists.txt
@ -1,8 +1 @@
-target_sources(${TARGET_NAME} PUBLIC
-	ArduinoComIF.cpp
-	ArduinoCookie.cpp
-)
-
-
-
-
+target_sources(${TARGET_NAME} PUBLIC ArduinoComIF.cpp ArduinoCookie.cpp)
--- a/bsp_hosted/fsfwconfig/CMakeLists.txt
+++ b/bsp_hosted/fsfwconfig/CMakeLists.txt
@ -1,27 +1,15 @@
-target_sources(${OBSW_NAME} PRIVATE
-	ipc/MissionMessageTypes.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE ipc/MissionMessageTypes.cpp)

-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

 # If a special translation file for object IDs exists, compile it.
 if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
-    target_sources(${OBSW_NAME} PRIVATE
-        objects/translateObjects.cpp
-    )
-    target_sources(${UNITTEST_NAME} PRIVATE
-        objects/translateObjects.cpp
-    )
+  target_sources(${OBSW_NAME} PRIVATE objects/translateObjects.cpp)
+  target_sources(${UNITTEST_NAME} PRIVATE objects/translateObjects.cpp)
 endif()

 # If a special translation file for events exists, compile it.
 if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
-    target_sources(${OBSW_NAME} PRIVATE
-        events/translateEvents.cpp
-    )
-    target_sources(${UNITTEST_NAME} PRIVATE
-        events/translateEvents.cpp
-    )
+  target_sources(${OBSW_NAME} PRIVATE events/translateEvents.cpp)
+  target_sources(${UNITTEST_NAME} PRIVATE events/translateEvents.cpp)
 endif()
--- a/bsp_linux_board/CMakeLists.txt
+++ b/bsp_linux_board/CMakeLists.txt
@ -1,9 +1,5 @@
-target_sources(${OBSW_NAME} PUBLIC
-	InitMission.cpp
-	main.cpp
-	gpioInit.cpp
-	ObjectFactory.cpp
-)
+target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp gpioInit.cpp
+                                   ObjectFactory.cpp)

 add_subdirectory(boardconfig)
 add_subdirectory(boardtest)
--- a/bsp_linux_board/boardconfig/CMakeLists.txt
+++ b/bsp_linux_board/boardconfig/CMakeLists.txt
@ -1,7 +1,3 @@
-target_sources(${OBSW_NAME} PRIVATE
-	print.c
-)
+target_sources(${OBSW_NAME} PRIVATE print.c)

-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
--- a/bsp_linux_board/boardtest/CMakeLists.txt
+++ b/bsp_linux_board/boardtest/CMakeLists.txt
@ -1,6 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
-)
-
-
-
-
+target_sources(${OBSW_NAME} PRIVATE)
--- a/bsp_q7s/CMakeLists.txt
+++ b/bsp_q7s/CMakeLists.txt
@ -1,20 +1,13 @@
-#simple mode
+# simple mode
 add_executable(${SIMPLE_OBSW_NAME} EXCLUDE_FROM_ALL)
 target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
-target_sources(${SIMPLE_OBSW_NAME} PUBLIC
-	main.cpp
-)
-#I think this is unintentional? (produces linker errors for stuff in /linux)
-target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC
-    ${LIB_FSFW_NAME}
-)
+target_sources(${SIMPLE_OBSW_NAME} PUBLIC main.cpp)
+# I think this is unintentional? (produces linker errors for stuff in /linux)
+target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC ${LIB_FSFW_NAME})
 target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
 add_subdirectory(simple)

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

 add_subdirectory(boardtest)

@ -25,9 +18,7 @@ add_subdirectory(core)
 if(EIVE_Q7S_EM)
  add_subdirectory(em)
 else()
-    target_sources(${OBSW_NAME} PUBLIC
-        fmObjectFactory.cpp
-    )
+  target_sources(${OBSW_NAME} PUBLIC fmObjectFactory.cpp)
 endif()

 add_subdirectory(memory)
--- a/bsp_q7s/boardconfig/CMakeLists.txt
+++ b/bsp_q7s/boardconfig/CMakeLists.txt
@ -1,12 +1,5 @@
-target_sources(${OBSW_NAME} PRIVATE
-	print.c
-)
+target_sources(${OBSW_NAME} PRIVATE print.c)

-target_sources(${SIMPLE_OBSW_NAME} PRIVATE
-	print.c
-)
+target_sources(${SIMPLE_OBSW_NAME} PRIVATE print.c)

-
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
--- a/bsp_q7s/boardtest/CMakeLists.txt
+++ b/bsp_q7s/boardtest/CMakeLists.txt
@ -1,10 +1,5 @@
-target_sources(${OBSW_NAME} PRIVATE
-    FileSystemTest.cpp
-    Q7STestTask.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE FileSystemTest.cpp Q7STestTask.cpp)

 if(EIVE_BUILD_Q7S_SIMPLE_MODE)
-    target_sources(${SIMPLE_OBSW_NAME} PRIVATE
-        FileSystemTest.cpp
-    )
+  target_sources(${SIMPLE_OBSW_NAME} PRIVATE FileSystemTest.cpp)
 endif()
--- a/bsp_q7s/callbacks/CMakeLists.txt
+++ b/bsp_q7s/callbacks/CMakeLists.txt
@ -1,6 +1,2 @@
-target_sources(${OBSW_NAME} PRIVATE
-	rwSpiCallback.cpp
-	gnssCallback.cpp
-	pcduSwitchCb.cpp
-	q7sGpioCallbacks.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE rwSpiCallback.cpp gnssCallback.cpp
+                                    pcduSwitchCb.cpp q7sGpioCallbacks.cpp)
--- a/bsp_q7s/callbacks/rwSpiCallback.cpp
+++ b/bsp_q7s/callbacks/rwSpiCallback.cpp
@ -44,7 +44,8 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
  GpioIF* gpioIF = comIf->getGpioInterface();
  MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
  uint32_t timeoutMs = 0;
-  MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
+  cookie->getMutexParams(timeoutType, timeoutMs);
+  MutexIF* mutex = comIf->getCsMutex();
  if (mutex == nullptr or gpioIF == nullptr) {
    sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
    return HasReturnvaluesIF::RETURN_FAILED;
--- a/bsp_q7s/comIF/CMakeLists.txt
+++ b/bsp_q7s/comIF/CMakeLists.txt
@ -1,6 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
-)
-
-
-
-
+target_sources(${OBSW_NAME} PRIVATE)
--- a/bsp_q7s/core/CMakeLists.txt
+++ b/bsp_q7s/core/CMakeLists.txt
@ -1,9 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE
-    CoreController.cpp
-    InitMission.cpp
-    ObjectFactory.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE CoreController.cpp InitMission.cpp
+                                    ObjectFactory.cpp)

-target_sources(${SIMPLE_OBSW_NAME} PRIVATE
-    InitMission.cpp
-)
+target_sources(${SIMPLE_OBSW_NAME} PRIVATE InitMission.cpp)
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@ -87,6 +87,7 @@ ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &local
  localDataPoolMap.emplace(core::TEMPERATURE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(core::PS_VOLTAGE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(core::PL_VOLTAGE, new PoolEntry<float>({0}));
+  poolManager.subscribeForPeriodicPacket(hkSet.getSid(), false, 10.0, false);
  return HasReturnvaluesIF::RETURN_OK;
 }

--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@ -132,6 +132,7 @@ void initmission::initTasks() {

  PeriodicTaskIF* sysTask = factory->createPeriodicTask(
      "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  static_cast<void>(sysTask);
 #if OBSW_ADD_ACS_HANDLERS == 1
  result = sysTask->addComponent(objects::ACS_BOARD_ASS);
  if (result != HasReturnvaluesIF::RETURN_OK) {
--- a/bsp_q7s/em/CMakeLists.txt
+++ b/bsp_q7s/em/CMakeLists.txt
@ -1,3 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
-    emObjectFactory.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE emObjectFactory.cpp)
--- a/bsp_q7s/em/emObjectFactory.cpp
+++ b/bsp_q7s/em/emObjectFactory.cpp
@ -1,3 +1,4 @@
+#include <fsfw/health/HealthTableIF.h>
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
 #include "bsp_q7s/core/ObjectFactory.h"
@ -11,7 +12,8 @@

 void ObjectFactory::produce(void* args) {
  ObjectFactory::setStatics();
-  ObjectFactory::produceGenericObjects();
+  HealthTableIF* healthTable = nullptr;
+  ObjectFactory::produceGenericObjects(&healthTable);

  LinuxLibgpioIF* gpioComIF = nullptr;
  UartComIF* uartComIF = nullptr;
@ -31,7 +33,7 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_ACS_BOARD == 1
  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
 #endif
-  createHeaterComponents();
+  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
  createSolarArrayDeploymentComponents();
  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
 #if OBSW_ADD_SYRLINKS == 1
--- a/bsp_q7s/memory/CMakeLists.txt
+++ b/bsp_q7s/memory/CMakeLists.txt
@ -1,6 +1,2 @@
-target_sources(${OBSW_NAME} PRIVATE
-    FileSystemHandler.cpp
-    SdCardManager.cpp
-    scratchApi.cpp
-    FilesystemHelper.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE FileSystemHandler.cpp SdCardManager.cpp
+                                    scratchApi.cpp FilesystemHelper.cpp)
--- a/bsp_q7s/obsw.cpp
+++ b/bsp_q7s/obsw.cpp
@ -4,6 +4,7 @@
 #include <iostream>

 #include "OBSWConfig.h"
+#include "q7sConfig.h"
 #include "commonConfig.h"
 #include "core/InitMission.h"
 #include "fsfw/tasks/TaskFactory.h"
@ -11,11 +12,15 @@
 #include "watchdog/definitions.h"

 static int OBSW_ALREADY_RUNNING = -2;
-
+#if OBSW_Q7S_EM == 0
+static const char* DEV_STRING = "Xiphos Q7S FM";
+#else
+static const char* DEV_STRING = "Xiphos Q7S EM";
+#endif
 int obsw::obsw() {
  using namespace fsfw;
  std::cout << "-- EIVE OBSW --" << std::endl;
-  std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
+  std::cout << "-- Compiled for Linux (" << DEV_STRING << ") --" << std::endl;
  std::cout << "-- OBSW v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
            << std::endl;
  std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
--- a/bsp_q7s/simple/CMakeLists.txt
+++ b/bsp_q7s/simple/CMakeLists.txt
@ -1,3 +1 @@
-target_sources(${SIMPLE_OBSW_NAME} PRIVATE
-    simple.cpp
-)
+target_sources(${SIMPLE_OBSW_NAME} PRIVATE simple.cpp)
--- a/bsp_q7s/xadc/CMakeLists.txt
+++ b/bsp_q7s/xadc/CMakeLists.txt
@ -1,3 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
-    Xadc.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE Xadc.cpp)
--- a/common/config/CMakeLists.txt
+++ b/common/config/CMakeLists.txt
@ -1,7 +1,3 @@
-target_include_directories(${OBSW_NAME} PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})

-target_sources(${OBSW_NAME} PRIVATE
-    commonConfig.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE commonConfig.cpp)
--- a/common/config/ccsdsConfig.h
+++ b/common/config/ccsdsConfig.h
@ -2,14 +2,7 @@
 #define COMMON_CONFIG_CCSDSCONFIG_H_

 namespace ccsds {
-enum {
-    VC0,
-    VC1,
-    VC2,
-    VC3
-};
+enum { VC0, VC1, VC2, VC3 };
 }

-
-
 #endif /* COMMON_CONFIG_CCSDSCONFIG_H_ */
--- a/common/config/commonClassIds.h
+++ b/common/config/commonClassIds.h
@ -2,38 +2,39 @@
 #define COMMON_CONFIG_COMMONCLASSIDS_H_

 #include <fsfw/returnvalues/FwClassIds.h>
+
 #include <cstdint>

 namespace CLASS_ID {
-enum commonClassIds: uint8_t {
+enum commonClassIds : uint8_t {
  COMMON_CLASS_ID_START = FW_CLASS_ID_COUNT,
-  PCDU_HANDLER, //PCDU
-  HEATER_HANDLER, //HEATER
-  SYRLINKS_HANDLER, //SYRLINKS
-  IMTQ_HANDLER, //IMTQ
-  RW_HANDLER, //RWHA
-  STR_HANDLER, //STRH
-  DWLPWRON_CMD, //DWLPWRON
-  MPSOC_TM, //MPTM
-  PLOC_SUPERVISOR_HANDLER, //PLSV
-  PLOC_SUPV_HELPER, //PLSPVhLP
-  SUS_HANDLER, //SUSS
-  CCSDS_IP_CORE_BRIDGE, //IPCI
-  PTME, //PTME
-  PLOC_UPDATER, //PLUD
-  STR_HELPER, //STRHLP
-  GOM_SPACE_HANDLER, //GOMS
-  PLOC_MEMORY_DUMPER, //PLMEMDUMP
-  PDEC_HANDLER, //PDEC
-  CCSDS_HANDLER, //CCSDS
-  RATE_SETTER, //RS
-  ARCSEC_JSON_BASE, //JSONBASE
-  NVM_PARAM_BASE, //NVMB
-  FILE_SYSTEM_HELPER, //FSHLP
+  PCDU_HANDLER,             // PCDU
+  HEATER_HANDLER,           // HEATER
+  SYRLINKS_HANDLER,         // SYRLINKS
+  IMTQ_HANDLER,             // IMTQ
+  RW_HANDLER,               // RWHA
+  STR_HANDLER,              // STRH
+  DWLPWRON_CMD,             // DWLPWRON
+  MPSOC_TM,                 // MPTM
+  PLOC_SUPERVISOR_HANDLER,  // PLSV
+  PLOC_SUPV_HELPER,         // PLSPVhLP
+  SUS_HANDLER,              // SUSS
+  CCSDS_IP_CORE_BRIDGE,     // IPCI
+  PTME,                     // PTME
+  PLOC_UPDATER,             // PLUD
+  STR_HELPER,               // STRHLP
+  GOM_SPACE_HANDLER,        // GOMS
+  PLOC_MEMORY_DUMPER,       // PLMEMDUMP
+  PDEC_HANDLER,             // PDEC
+  CCSDS_HANDLER,            // CCSDS
+  RATE_SETTER,              // RS
+  ARCSEC_JSON_BASE,         // JSONBASE
+  NVM_PARAM_BASE,           // NVMB
+  FILE_SYSTEM_HELPER,       // FSHLP
  PLOC_MPSOC_HELPER,        // PLMPHLP
-  SA_DEPL_HANDLER, //SADPL
-  MPSOC_RETURN_VALUES_IF, //MPSOCRTVIF
-  SUPV_RETURN_VALUES_IF, //SPVRTVIF
+  SA_DEPL_HANDLER,          // SADPL
+  MPSOC_RETURN_VALUES_IF,   // MPSOCRTVIF
+  SUPV_RETURN_VALUES_IF,    // SPVRTVIF
  COMMON_CLASS_ID_END       // [EXPORT] : [END]
 };

--- a/common/config/commonConfig.cpp
+++ b/common/config/commonConfig.cpp
@ -1,6 +1,8 @@
 #include "commonConfig.h"
-#include "tmtc/apid.h"
-#include "fsfw/tmtcpacket/SpacePacket.h"

-const Version common::OBSW_VERSION { OBSW_VERSION_MAJOR, OBSW_VERSION_MINOR, OBSW_VERSION_REVISION, OBSW_VERSION_CST_GIT_SHA1 };
+#include "fsfw/tmtcpacket/SpacePacket.h"
+#include "tmtc/apid.h"
+
+const fsfw::Version common::OBSW_VERSION{OBSW_VERSION_MAJOR, OBSW_VERSION_MINOR,
+                                         OBSW_VERSION_REVISION, OBSW_VERSION_CST_GIT_SHA1};
 const uint16_t common::PUS_PACKET_ID = spacepacket::getTcSpacePacketIdFromApid(apid::EIVE_OBSW);
--- a/common/config/commonConfig.h.in
+++ b/common/config/commonConfig.h.in
@ -33,7 +33,7 @@ static constexpr uint8_t OBSW_VERSION_REVISION = @OBSW_VERSION_REVISION@;
 // CST: Commits since tag
 static const char OBSW_VERSION_CST_GIT_SHA1[] = "@OBSW_VERSION_CST_GIT_SHA1@";

-extern const Version OBSW_VERSION;
+extern const fsfw::Version OBSW_VERSION;

 extern const uint16_t PUS_PACKET_ID;

--- a/common/config/commonObjects.h
+++ b/common/config/commonObjects.h
@ -4,7 +4,7 @@
 #include <cstdint>

 namespace objects {
-enum commonObjects: uint32_t {
+enum commonObjects : uint32_t {
  /* First Byte 0x50-0x52 reserved for PUS Services **/
  CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
  PUS_PACKET_DISTRIBUTOR = 0x50000200,
@ -125,5 +125,4 @@ enum commonObjects: uint32_t {
 };
 }

-
 #endif /* COMMON_CONFIG_COMMONOBJECTS_H_ */
--- a/common/config/commonSubsystemIds.h
+++ b/common/config/commonSubsystemIds.h
@ -4,7 +4,7 @@
 #include <fsfw/events/fwSubsystemIdRanges.h>

 namespace SUBSYSTEM_ID {
-enum: uint8_t {
+enum : uint8_t {
  COMMON_SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
  ACS_SUBSYSTEM = 112,
  PCDU_HANDLER = 113,
@ -36,5 +36,4 @@ enum: uint8_t {
 };
 }

-
 #endif /* COMMON_CONFIG_COMMONSUBSYSTEMIDS_H_ */
--- a/common/config/devConf.h
+++ b/common/config/devConf.h
@ -1,10 +1,11 @@
 #ifndef COMMON_CONFIG_DEVCONF_H_
 #define COMMON_CONFIG_DEVCONF_H_

-#include <cstdint>
 #include <fsfw_hal/linux/spi/spiDefinitions.h>
 #include <fsfw_hal/linux/uart/UartCookie.h>

+#include <cstdint>
+
 /**
 * SPI configuration will be contained here to let the device handlers remain independent
 * of SPI specific properties.
@ -45,7 +46,7 @@ static constexpr spi::SpiModes RW_MODE = spi::SpiModes::MODE_0;
 static constexpr uint32_t RTD_SPEED = 2'000'000;
 static constexpr spi::SpiModes RTD_MODE = spi::SpiModes::MODE_3;

-}
+}  // namespace spi

 namespace uart {

@ -56,6 +57,6 @@ static constexpr UartBaudRate PLOC_MPSOC_BAUD = UartBaudRate::RATE_115200;
 static constexpr UartBaudRate PLOC_SUPV_BAUD = UartBaudRate::RATE_115200;
 static constexpr UartBaudRate STAR_TRACKER_BAUD = UartBaudRate::RATE_921600;

-}
+}  // namespace uart

 #endif /* COMMON_CONFIG_DEVCONF_H_ */
--- a/common/config/devices/heaterSwitcherList.h
+++ b/common/config/devices/heaterSwitcherList.h
@ -4,7 +4,7 @@
 #include <cstdint>

 namespace heater {
-	enum Switchers: uint8_t {
+enum Switchers : uint8_t {
  HEATER_0_OBC_BRD,
  HEATER_1_PLOC_PROC_BRD,
  HEATER_2_ACS_BRD,
@ -14,7 +14,7 @@ namespace heater {
  HEATER_6_DRO,
  HEATER_7_HPA,
  NUMBER_OF_SWITCHES
-	};
+};
 }

 #endif /* FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_ */
--- a/common/config/eive/definitions.h
+++ b/common/config/eive/definitions.h
@ -19,7 +19,6 @@ static constexpr uint8_t LIVE_TM = 0;
 static constexpr uint32_t MAX_PATH_SIZE = 100;
 static constexpr uint32_t MAX_FILENAME_SIZE = 50;

-}
-
+}  // namespace config

 #endif /* COMMON_CONFIG_DEFINITIONS_H_ */
--- a/common/config/tmtc/apid.h
+++ b/common/config/tmtc/apid.h
@ -12,8 +12,7 @@
 * APID is a 11 bit number
 */
 namespace apid {
-	static const uint16_t EIVE_OBSW = 0x65;
+static const uint16_t EIVE_OBSW = 0x65;
 }

-
 #endif /* FSFWCONFIG_TMTC_APID_H_ */
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 4841d5d92d721383e92b521b584c7d0e62c9873d
+Subproject commit e758f0be2e8864c761877a4dcbdf461df52072f7
--- a/linux/CMakeLists.txt
+++ b/linux/CMakeLists.txt
@ -6,6 +6,4 @@ add_subdirectory(devices)
 add_subdirectory(fsfwconfig)
 add_subdirectory(obc)

-target_sources(${OBSW_NAME} PUBLIC
-    ObjectFactory.cpp
-)
+target_sources(${OBSW_NAME} PUBLIC ObjectFactory.cpp)
--- a/linux/boardtest/CMakeLists.txt
+++ b/linux/boardtest/CMakeLists.txt
@ -1,10 +1,2 @@
-target_sources(${OBSW_NAME} PRIVATE
-	LibgpiodTest.cpp
-	I2cTestClass.cpp
-	SpiTestClass.cpp
-	UartTestClass.cpp
-)
-
-
-
-
+target_sources(${OBSW_NAME} PRIVATE LibgpiodTest.cpp I2cTestClass.cpp
+                                    SpiTestClass.cpp UartTestClass.cpp)
--- a/linux/callbacks/CMakeLists.txt
+++ b/linux/callbacks/CMakeLists.txt
@ -1,3 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
-	gpioCallbacks.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE gpioCallbacks.cpp)
--- a/linux/csp/CMakeLists.txt
+++ b/linux/csp/CMakeLists.txt
@ -1,8 +1 @@
-target_sources(${OBSW_NAME} PUBLIC
-	CspComIF.cpp
-	CspCookie.cpp
-)
-
-
-
-
+target_sources(${OBSW_NAME} PUBLIC CspComIF.cpp CspCookie.cpp)
--- a/linux/devices/CMakeLists.txt
+++ b/linux/devices/CMakeLists.txt
@ -1,7 +1,5 @@
 if(EIVE_BUILD_GPSD_GPS_HANDLER)
-    target_sources(${OBSW_NAME} PRIVATE
-        GPSHyperionLinuxController.cpp
-    )
+  target_sources(${OBSW_NAME} PRIVATE GPSHyperionLinuxController.cpp)
 endif()

 add_subdirectory(ploc)
--- a/linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+++ b/linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
@ -309,7 +309,6 @@ class ApidOnlyPacket : public SpacePacket {
 */
 class MPSoCBootSelect : public SpacePacket {
 public:
-
  static const uint8_t NVM0 = 0;
  static const uint8_t NVM1 = 1;

--- a/linux/devices/ploc/CMakeLists.txt
+++ b/linux/devices/ploc/CMakeLists.txt
@ -1,7 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE
-    PlocSupervisorHandler.cpp
-    PlocMemoryDumper.cpp
-    PlocMPSoCHandler.cpp
-    PlocMPSoCHelper.cpp
-    PlocSupvHelper.cpp
-)
+target_sources(
+  ${OBSW_NAME}
+  PRIVATE PlocSupervisorHandler.cpp PlocMemoryDumper.cpp PlocMPSoCHandler.cpp
+          PlocMPSoCHelper.cpp PlocSupvHelper.cpp)
--- a/linux/devices/ploc/PlocSupervisorHandler.cpp
+++ b/linux/devices/ploc/PlocSupervisorHandler.cpp
@ -1062,7 +1062,8 @@ ReturnValue_t PlocSupervisorHandler::handleBootStatusReport(const uint8_t* data)
  nextReplyId = supv::EXE_REPORT;

 #if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
-  sif::info << "PlocSupervisorHandler::handleBootStatusReport: SoC State (0 - off, 1 - booting, 2 - Update, 3 "
+  sif::info << "PlocSupervisorHandler::handleBootStatusReport: SoC State (0 - off, 1 - booting, 2 "
+               "- Update, 3 "
               "- operating, 4 - Shutdown, 5 - Reset): "
            << static_cast<unsigned int>(bootStatusReport.socState.value) << std::endl;
  sif::info << "PlocSupervisorHandler::handleBootStatusReport: Power Cycles: "
--- a/linux/devices/startracker/CMakeLists.txt
+++ b/linux/devices/startracker/CMakeLists.txt
@ -1,7 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE
-    StarTrackerHandler.cpp
-    StarTrackerJsonCommands.cpp
-    ArcsecDatalinkLayer.cpp
-    ArcsecJsonParamBase.cpp
-    StrHelper.cpp
-)
+target_sources(
+  ${OBSW_NAME}
+  PRIVATE StarTrackerHandler.cpp StarTrackerJsonCommands.cpp
+          ArcsecDatalinkLayer.cpp ArcsecJsonParamBase.cpp StrHelper.cpp)
--- a/linux/fsfwconfig/CMakeLists.txt
+++ b/linux/fsfwconfig/CMakeLists.txt
@ -1,28 +1,16 @@
-target_sources(${OBSW_NAME} PRIVATE
-	ipc/MissionMessageTypes.cpp
-	pollingsequence/pollingSequenceFactory.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE ipc/MissionMessageTypes.cpp
+                                    pollingsequence/pollingSequenceFactory.cpp)

-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

 # If a special translation file for object IDs exists, compile it.
 if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
-    target_sources(${OBSW_NAME} PRIVATE
-        objects/translateObjects.cpp
-    )
-    target_sources(${UNITTEST_NAME} PRIVATE
-        objects/translateObjects.cpp
-    )
+  target_sources(${OBSW_NAME} PRIVATE objects/translateObjects.cpp)
+  target_sources(${UNITTEST_NAME} PRIVATE objects/translateObjects.cpp)
 endif()

 # If a special translation file for events exists, compile it.
 if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
-    target_sources(${OBSW_NAME} PRIVATE
-        events/translateEvents.cpp
-    )
-    target_sources(${UNITTEST_NAME} PRIVATE
-        events/translateEvents.cpp
-    )
+  target_sources(${OBSW_NAME} PRIVATE events/translateEvents.cpp)
+  target_sources(${UNITTEST_NAME} PRIVATE events/translateEvents.cpp)
 endif()
--- a/linux/obc/CMakeLists.txt
+++ b/linux/obc/CMakeLists.txt
@ -1,10 +1,3 @@
-target_sources(${OBSW_NAME} PUBLIC
-	PapbVcInterface.cpp
-	Ptme.cpp
-	PdecHandler.cpp
-	PdecConfig.cpp
-	PtmeConfig.cpp
-	AxiPtmeConfig.cpp
-)
-
-
+target_sources(
+  ${OBSW_NAME} PUBLIC PapbVcInterface.cpp Ptme.cpp PdecHandler.cpp
+                      PdecConfig.cpp PtmeConfig.cpp AxiPtmeConfig.cpp)
--- a/linux/utility/CMakeLists.txt
+++ b/linux/utility/CMakeLists.txt
@ -1,7 +1 @@
-target_sources(${OBSW_NAME} PUBLIC
-    utility.cpp
-)
-
-
-
-
+target_sources(${OBSW_NAME} PUBLIC utility.cpp)
--- a/mission/controller/CMakeLists.txt
+++ b/mission/controller/CMakeLists.txt
@ -1,3 +1 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE
-	ThermalController.cpp
-)
+target_sources(${LIB_EIVE_MISSION} PRIVATE ThermalController.cpp)
--- a/mission/core/CMakeLists.txt
+++ b/mission/core/CMakeLists.txt
@ -1,5 +1 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE
-	GenericFactory.cpp
-)
-
-
+target_sources(${LIB_EIVE_MISSION} PRIVATE GenericFactory.cpp)
--- a/mission/devices/CMakeLists.txt
+++ b/mission/devices/CMakeLists.txt
@ -1,5 +1,6 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE
-    GomspaceDeviceHandler.cpp
+target_sources(
+  ${LIB_EIVE_MISSION}
+  PRIVATE GomspaceDeviceHandler.cpp
          BpxBatteryHandler.cpp
          Tmp1075Handler.cpp
          PCDUHandler.cpp
@ -17,5 +18,4 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
          max1227.cpp
          SusHandler.cpp
          PayloadPcduHandler.cpp
-    SolarArrayDeploymentHandler.cpp
-)
+          SolarArrayDeploymentHandler.cpp)
--- a/mission/devices/GyroADIS1650XHandler.cpp
+++ b/mission/devices/GyroADIS1650XHandler.cpp
@ -424,7 +424,8 @@ ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *
      GpioIF *gpioIF = comIf->getGpioInterface();
      MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
      uint32_t timeoutMs = 0;
-      MutexIF *mutex = comIf->getMutex(&timeoutType, &timeoutMs);
+      cookie->getMutexParams(timeoutType, timeoutMs);
+      MutexIF *mutex = comIf->getCsMutex();
      if (mutex == nullptr or gpioIF == nullptr) {
 #if OBSW_VERBOSE_LEVEL >= 1
        sif::warning << "GyroADIS16507Handler::spiSendCallback: "
--- a/mission/devices/PayloadPcduHandler.cpp
+++ b/mission/devices/PayloadPcduHandler.cpp
@ -716,7 +716,8 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
  GpioIF* gpioIF = comIf->getGpioInterface();
  MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
  uint32_t timeoutMs = 0;
-  MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
+  cookie->getMutexParams(timeoutType, timeoutMs);
+  MutexIF* mutex = comIf->getCsMutex();
  if (mutex == nullptr or gpioIF == nullptr) {
 #if OBSW_VERBOSE_LEVEL >= 1
    sif::warning << "GyroADIS16507Handler::spiSendCallback: "
--- a/mission/memory/CMakeLists.txt
+++ b/mission/memory/CMakeLists.txt
@ -1,5 +1 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE
-	NVMParameterBase.cpp
-)
-
-
+target_sources(${LIB_EIVE_MISSION} PRIVATE NVMParameterBase.cpp)
--- a/mission/system/CMakeLists.txt
+++ b/mission/system/CMakeLists.txt
@ -1,16 +1,15 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE
-    EiveSystem.cpp
+target_sources(
+  ${LIB_EIVE_MISSION}
+  PRIVATE EiveSystem.cpp
          AcsSubsystem.cpp
          ComSubsystem.cpp
          PayloadSubsystem.cpp
-
          AcsBoardAssembly.cpp
          RwAssembly.cpp
          SusAssembly.cpp
          DualLanePowerStateMachine.cpp
          PowerStateMachineBase.cpp
          DualLaneAssemblyBase.cpp
-    TcsBoardAssembly.cpp
-)
+          TcsBoardAssembly.cpp)

 add_subdirectory(fdir)
--- a/mission/system/fdir/CMakeLists.txt
+++ b/mission/system/fdir/CMakeLists.txt
@ -1,7 +1,3 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE
-    AcsBoardFdir.cpp
-    RtdFdir.cpp
-    SusFdir.cpp
-    SyrlinksFdir.cpp
-    GomspacePowerFdir.cpp
-)
+target_sources(
+  ${LIB_EIVE_MISSION} PRIVATE AcsBoardFdir.cpp RtdFdir.cpp SusFdir.cpp
+                              SyrlinksFdir.cpp GomspacePowerFdir.cpp)
--- a/mission/tmtc/CMakeLists.txt
+++ b/mission/tmtc/CMakeLists.txt
@ -1,6 +1 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE
-	CCSDSHandler.cpp
- 	VirtualChannel.cpp
-)
-
-
+target_sources(${LIB_EIVE_MISSION} PRIVATE CCSDSHandler.cpp VirtualChannel.cpp)
--- a/mission/utility/CMakeLists.txt
+++ b/mission/utility/CMakeLists.txt
@ -1,8 +1,2 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE
-	TmFunnel.cpp
-	Timestamp.cpp
-	ProgressPrinter.cpp
-	Filenaming.cpp
-)
-
-
+target_sources(${LIB_EIVE_MISSION} PRIVATE TmFunnel.cpp Timestamp.cpp
+                                           ProgressPrinter.cpp Filenaming.cpp)
--- a/scripts/apply-clang-format.sh
+++ b/scripts/apply-clang-format.sh
@ -1,14 +0,0 @@
-#!/bin/bash
-if [[ ! -f README.md ]]; then
-	cd ..
-fi
-
-find ./mission -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./linux -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./bsp_q7s -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./bsp_linux_board -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./bsp_hosted -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./bsp_egse -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./test -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
-find ./unittest -iname *.h -o -iname *.cpp -o -iname *.c -o -type d -name build -prune | \
-	xargs clang-format --style=file -i
--- a/scripts/auto-formatter.sh
+++ b/scripts/auto-formatter.sh
@ -0,0 +1,40 @@
+#!/bin/bash
+if [[ ! -f README.md ]]; then
+	cd ..
+fi
+
+folder_list=(
+  "./mission"
+  "./linux"
+  "./bsp_q7s"
+  "./bsp_linux_board"
+  "./bsp_hosted"
+  "./bsp_egse"
+  "./test"
+  "./common"
+)
+
+cmake_fmt="cmake-format"
+file_selectors="-iname CMakeLists.txt"
+if command -v ${cmake_fmt} &> /dev/null; then
+  echo "Auto-formatting all CMakeLists.txt files"
+  ${cmake_fmt} -i CMakeLists.txt
+  for dir in ${folder_list[@]}; do
+  	find ${dir} ${file_selectors} | xargs ${cmake_fmt} -i
+  done
+else
+  echo "No ${cmake_fmt} tool found, not formatting CMake files"
+fi
+
+cpp_format="clang-format"
+file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
+if command -v ${cpp_format} &> /dev/null; then
+  for dir in ${folder_list[@]}; do
+    echo "Auto-formatting C/C++ files in ${dir} recursively"
+    find ${dir} ${file_selectors} | xargs ${cpp_format} --style=file -i
+  done
+  find ./unittest ${file_selectors} -o -type d -name build -prune | \
+	xargs clang-format --style=file -i
+else
+  echo "No ${cpp_format} tool found, not formatting C++/C files"
+fi
--- a/scripts/install-obsw-yocto.sh
+++ b/scripts/install-obsw-yocto.sh
@ -1,9 +1,16 @@
 #!/bin/bash
 # This is a helper script to install the compiles EIVE OBSW files
 # into the yocto repository to re-generate the mission root filesystem
+build_dir=cmake-build-release-q7s
+if [ ! -z ${1} ]; then
+  if [[ "${1}" == "em" ]]; then
+    echo "-I- Installing EM binaries"
+    build_dir=cmake-build-release-q7s-em
+  fi
+fi

 init_dir=$(pwd)
-build_dir=cmake-build-release-q7s
+
 obsw_root=""
 q7s_yocto_dir="q7s-yocto"
 q7s_package_path="q7s-package/${q7s_yocto_dir}"
--- a/test/gpio/CMakeLists.txt
+++ b/test/gpio/CMakeLists.txt
@ -1,7 +1,3 @@
-target_sources(${OBSW_NAME} PUBLIC
-	DummyGpioIF.cpp
-)
+target_sources(${OBSW_NAME} PUBLIC DummyGpioIF.cpp)

-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
--- a/test/testtasks/CMakeLists.txt
+++ b/test/testtasks/CMakeLists.txt
@ -1,7 +1,3 @@
-target_sources(${OBSW_NAME} PUBLIC
-	TestTask.cpp
-)
+target_sources(${OBSW_NAME} PUBLIC TestTask.cpp)

-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit b81f756e4b70e55a443cba50bab0a519a0dc3591
+Subproject commit 480e0f07e03edeb55a3d6e3d629e7601b6bf90a2