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

mission/CMakeLists.txt

@@ -5,9 +5,10 @@ add_subdirectory(utility)
 add_subdirectory(memory)
 add_subdirectory(tmtc)
 add_subdirectory(system)
+add_subdirectory(com)
+add_subdirectory(acs)
 add_subdirectory(csp)
 add_subdirectory(cfdp)
 add_subdirectory(config)
 
-target_sources(${LIB_EIVE_MISSION} PRIVATE acsDefs.cpp payloadDefs.cpp
-                                           trace.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE payloadDefs.cpp trace.cpp)

mission/acs/CMakeLists.txt

@@ -0,0 +1,13 @@
+target_sources(
+  ${LIB_EIVE_MISSION}
+  PRIVATE GyrAdis1650XHandler.cpp
+          GyrL3gCustomHandler.cpp
+          ImtqHandler.cpp
+          MgmLis3CustomHandler.cpp
+          MgmRm3100CustomHandler.cpp
+          RwHandler.cpp
+          SusHandler.cpp
+          gyroAdisHelpers.cpp
+          imtqHelpers.cpp
+          rwHelpers.cpp
+          defs.cpp)

mission/acs/GyrAdis1650XHandler.cpp

@@ -1,8 +1,8 @@
-#include "mission/devices/GyrAdis1650XHandler.h"
+#include "GyrAdis1650XHandler.h"
 
 #include "fsfw/action/HasActionsIF.h"
 #include "fsfw/datapool/PoolReadGuard.h"
-#include "mission/devices/devicedefinitions/acsPolling.h"
+#include "mission/acs/acsBoardPolling.h"
 
 GyrAdis1650XHandler::GyrAdis1650XHandler(object_id_t objectId, object_id_t deviceCommunication,
                                          CookieIF *comCookie, adis1650x::Type type)

mission/acs/GyrAdis1650XHandler.h

@@ -1,8 +1,8 @@
 #ifndef MISSION_DEVICES_GYROADIS16507HANDLER_H_
 #define MISSION_DEVICES_GYROADIS16507HANDLER_H_
 
-#include <mission/devices/devicedefinitions/acsPolling.h>
-#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
+#include <mission/acs/acsBoardPolling.h>
+#include <mission/acs/gyroAdisHelpers.h>
 
 #include "FSFWConfig.h"
 #include "OBSWConfig.h"

mission/acs/GyrL3gCustomHandler.cpp

@@ -1,10 +1,10 @@
 
-#include <mission/devices/GyrL3gCustomHandler.h>
+#include <mission/acs/GyrL3gCustomHandler.h>
+#include <mission/acs/acsBoardPolling.h>
 
 #include <cmath>
 
 #include "fsfw/datapool/PoolReadGuard.h"
-#include "mission/devices/devicedefinitions/acsPolling.h"
 
 GyrL3gCustomHandler::GyrL3gCustomHandler(object_id_t objectId, object_id_t deviceCommunication,
                                          CookieIF *comCookie, uint32_t transitionDelayMs)

mission/acs/GyrL3gCustomHandler.h

@@ -4,7 +4,7 @@
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
-#include <mission/devices/devicedefinitions/acsPolling.h>
+#include <mission/acs/acsBoardPolling.h>
 
 /**
  * @brief 	Device Handler for the L3GD20H gyroscope sensor

mission/acs/ImtqHandler.cpp

@@ -20,7 +20,7 @@
 #include <fsfw/tasks/TaskFactory.h>
 #include <fsfw/timemanager/Countdown.h>
 #include <fsfw/timemanager/clockDefinitions.h>
-#include <mission/devices/ImtqHandler.h>
+#include <mission/acs/ImtqHandler.h>
 
 #include <cmath>
 #include <fsfw/datapoollocal/LocalPoolVariable.tpp>

mission/acs/ImtqHandler.h

@@ -2,7 +2,7 @@
 #define MISSION_DEVICES_IMTQHANDLER_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-#include <mission/devices/devicedefinitions/imtqHelpers.h>
+#include <mission/acs/imtqHelpers.h>
 #include <string.h>
 
 #include "events/subsystemIdRanges.h"

mission/acs/MgmLis3CustomHandler.cpp

@@ -1,4 +1,4 @@
-#include <mission/devices/MgmLis3CustomHandler.h>
+#include "MgmLis3CustomHandler.h"
 
 #include <cmath>
 

mission/acs/MgmLis3CustomHandler.h

@@ -5,7 +5,7 @@
 
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
-#include "mission/devices/devicedefinitions/acsPolling.h"
+#include "mission/acs/acsBoardPolling.h"
 
 class PeriodicOperationDivider;
 

mission/acs/MgmRm3100CustomHandler.cpp

@@ -1,4 +1,4 @@
-#include <mission/devices/MgmRm3100CustomHandler.h>
+#include "MgmRm3100CustomHandler.h"
 
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/devicehandlers/DeviceHandlerMessage.h"

mission/acs/MgmRm3100CustomHandler.h

@@ -5,7 +5,7 @@
 
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
-#include "mission/devices/devicedefinitions/acsPolling.h"
+#include "mission/acs/acsBoardPolling.h"
 
 /**
  * @brief 	Device Handler for the RM3100 geomagnetic magnetometer sensor

mission/acs/RwHandler.h

@@ -3,7 +3,7 @@
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw_hal/common/gpio/gpioDefinitions.h>
-#include <mission/devices/devicedefinitions/rwHelpers.h>
+#include <mission/acs/rwHelpers.h>
 #include <string.h>
 
 #include "events/subsystemIdRanges.h"

mission/acs/SusHandler.h

@@ -6,7 +6,7 @@
 
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
-#include "mission/devices/devicedefinitions/acsPolling.h"
+#include "mission/acs/acsBoardPolling.h"
 #include "mission/devices/devicedefinitions/susMax1227Helpers.h"
 
 class SusHandler : public DeviceHandlerBase {

mission/acs/defs.cpp

@@ -1,4 +1,4 @@
-#include "acsDefs.h"
+#include "defs.h"
 
 const char* acs::getModeStr(AcsMode mode) {
   static const char* modeStr = "UNKNOWN";

mission/acs/defs.h

@@ -30,10 +30,12 @@ static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
 static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);
 //!< MEKF was not able to compute a solution.
 static constexpr Event MEKF_INVALID_INFO = MAKE_EVENT(3, severity::INFO);
+//!< MEKF is able to compute a solution again.
+static constexpr Event MEKF_RECOVERY = MAKE_EVENT(4, severity::INFO);
 //!< MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.
-static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(4, severity::HIGH);
+static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(5, severity::HIGH);
 //!< The ACS safe mode controller was not able to compute a solution and has failed.
-static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(5, severity::HIGH);
+static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(6, severity::HIGH);
 
 extern const char* getModeStr(AcsMode mode);
 

mission/com/CMakeLists.txt

@@ -0,0 +1,2 @@
+target_sources(${LIB_EIVE_MISSION} PRIVATE SyrlinksHandler.cpp
+                                           CcsdsIpCoreHandler.cpp)

mission/com/CcsdsIpCoreHandler.cpp

@@ -3,6 +3,7 @@
 #include <fsfw/subsystem/helper.h>
 #include <linux/ipcore/PtmeConfig.h>
 #include <mission/config/comCfg.h>
+#include <unistd.h>
 
 #include "eive/definitions.h"
 #include "fsfw/ipc/QueueFactory.h"
@@ -10,7 +11,7 @@
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
-#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
+#include "mission/com/syrlinksDefs.h"
 
 CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDestination,
                                        PtmeConfig& ptmeConfig, std::atomic_bool& linkState,
@@ -38,7 +39,6 @@ ReturnValue_t CcsdsIpCoreHandler::performOperation(uint8_t operationCode) {
 }
 
 ReturnValue_t CcsdsIpCoreHandler::initialize() {
-  ReturnValue_t result = returnvalue::OK;
   AcceptsTelecommandsIF* tcDistributor =
       ObjectManager::instance()->get<AcceptsTelecommandsIF>(tcDestination);
   if (tcDistributor == nullptr) {
@@ -50,7 +50,7 @@ ReturnValue_t CcsdsIpCoreHandler::initialize() {
 
   tcDistributorQueueId = tcDistributor->getRequestQueue();
 
-  result = parameterHelper.initialize();
+  ReturnValue_t result = parameterHelper.initialize();
   if (result != returnvalue::OK) {
     return result;
   }
@@ -70,6 +70,7 @@ ReturnValue_t CcsdsIpCoreHandler::initialize() {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
+  // This also pulls the PTME out of reset state.
   if (batPriorityParam == 0) {
     disablePrioritySelectMode();
   } else {
@@ -205,6 +206,8 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu
 void CcsdsIpCoreHandler::updateLinkState() { linkState = LINK_UP; }
 
 void CcsdsIpCoreHandler::enableTransmit() {
+  // Reset PTME on each transmit enable.
+  updateBatPriorityFromParam();
 #ifndef TE0720_1CFA
   gpioIF->pullHigh(ptmeGpios.enableTxClock);
   gpioIF->pullHigh(ptmeGpios.enableTxData);
@@ -266,7 +269,6 @@ void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
 void CcsdsIpCoreHandler::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, submode); }
 
 void CcsdsIpCoreHandler::disableTransmit() {
-  ptmeConfig.enableBatPriorityBit(false);
 #ifndef TE0720_1CFA
   gpioIF->pullLow(ptmeGpios.enableTxClock);
   gpioIF->pullLow(ptmeGpios.enableTxData);
@@ -296,6 +298,7 @@ void CcsdsIpCoreHandler::enablePrioritySelectMode() {
   ptmeConfig.enableBatPriorityBit(true);
   // Reset the PTME
   gpioIF->pullLow(ptmeGpios.ptmeResetn);
+  usleep(10);
   gpioIF->pullHigh(ptmeGpios.ptmeResetn);
 }
 
@@ -303,6 +306,7 @@ void CcsdsIpCoreHandler::disablePrioritySelectMode() {
   ptmeConfig.enableBatPriorityBit(false);
   // Reset the PTME
   gpioIF->pullLow(ptmeGpios.ptmeResetn);
+  usleep(10);
   gpioIF->pullHigh(ptmeGpios.ptmeResetn);
 }
 

mission/com/CcsdsIpCoreHandler.h

@@ -23,7 +23,7 @@
 #include "fsfw_hal/common/gpio/GpioIF.h"
 #include "fsfw_hal/common/gpio/gpioDefinitions.h"
 #include "linux/ipcore/PtmeConfig.h"
-#include "mission/comDefs.h"
+#include "mission/com/defs.h"
 
 struct PtmeGpios {
   gpioId_t enableTxClock = gpio::NO_GPIO;
@@ -153,7 +153,7 @@ class CcsdsIpCoreHandler : public SystemObject,
   PtmeConfig& ptmeConfig;
   PtmeGpios ptmeGpios;
   // BAT priority bit on by default to enable priority selection mode for the PTME.
-  uint8_t batPriorityParam = 1;
+  uint8_t batPriorityParam = 0;
   bool updateBatPriorityOnTxOff = false;
 
   GpioIF* gpioIF = nullptr;

mission/com/SyrlinksHandler.cpp

@@ -1,6 +1,6 @@
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/globalfunctions/CRC.h>
-#include <mission/devices/SyrlinksHandler.h>
+#include <mission/com/SyrlinksHandler.h>
 
 #include "OBSWConfig.h"
 #include "mission/config/comCfg.h"

mission/com/SyrlinksHandler.h

@@ -7,8 +7,8 @@
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/timemanager/Countdown.h"
 #include "fsfw_hal/linux/gpio/Gpio.h"
-#include "mission/comDefs.h"
-#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
+#include "mission/com/defs.h"
+#include "mission/com/syrlinksDefs.h"
 #include "returnvalues/classIds.h"
 
 /**

mission/com/defs.h

@@ -1,6 +1,8 @@
 #ifndef MISSION_COMDEFS_H_
 #define MISSION_COMDEFS_H_
 
+#include <cstdint>
+
 namespace com {
 
 enum class Datarate : uint8_t {

mission/com/syrlinksDefs.h

@@ -10,7 +10,6 @@ enum class ParameterId : uint8_t { DATARATE = 0 };
 
 static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYRLINKS;
 
-static constexpr Event FDIR_REACTION_IGNORED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
 //! [EXPORT] : [COMMENT] Transmitter is on now. P1: Submode, P2: Current default datarate.
 static constexpr Event TX_ON = event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
 //! [EXPORT] : [COMMENT] Transmitter is off now.

mission/config/comCfg.h

@@ -3,7 +3,7 @@
 
 #include <fsfw/ipc/MutexIF.h>
 
-#include "mission/comDefs.h"
+#include "mission/com/defs.h"
 
 namespace com {
 

mission/controller/AcsController.cpp

@@ -1,7 +1,7 @@
 #include "AcsController.h"
 
 #include <fsfw/datapool/PoolReadGuard.h>
-#include <mission/acsDefs.h>
+#include <mission/acs/defs.h>
 #include <mission/config/torquer.h>
 
 AcsController::AcsController(object_id_t objectId)
@@ -289,6 +289,7 @@ void AcsController::performPointingCtrl() {
                                             &susDataProcessed, &mekfData, &acsParameters);
   if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
       result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
+    mekfInvalidCounter++;
     if (not mekfInvalidFlag) {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
@@ -299,15 +300,18 @@ void AcsController::performPointingCtrl() {
     if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) {
       // Trigger this so STR FDIR can set the device faulty.
       EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0);
+      mekfInvalidCounter = 0;
     }
-    mekfInvalidCounter++;
     //    commandActuators(0, 0, 0, acsParameters.magnetorquesParameter.torqueDuration,
     //    cmdSpeedRws[0],
     //                     cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
     //                     acsParameters.rwHandlingParameters.rampTime);
     return;
   } else {
-    mekfInvalidFlag = false;
+    if (mekfInvalidFlag) {
+      triggerEvent(acs::MEKF_RECOVERY);
+      mekfInvalidFlag = false;
+    }
     mekfInvalidCounter = 0;
   }
   uint8_t enableAntiStiction = true;

mission/controller/AcsController.h

@@ -9,8 +9,8 @@
 #include <fsfw/parameters/ReceivesParameterMessagesIF.h>
 #include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
 #include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
-#include <mission/devices/devicedefinitions/imtqHelpers.h>
-#include <mission/devices/devicedefinitions/rwHelpers.h>
+#include <mission/acs/imtqHelpers.h>
+#include <mission/acs/rwHelpers.h>
 #include <mission/devices/devicedefinitions/susMax1227Helpers.h>
 #include <mission/trace.h>
 

mission/controller/ThermalController.cpp

@@ -4,16 +4,16 @@
 #include <eive/objects.h>
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/thermal/ThermalComponentIF.h>
+#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
 #include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
 #include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
+#include <mission/acs/gyroAdisHelpers.h>
+#include <mission/acs/imtqHelpers.h>
+#include <mission/acs/rwHelpers.h>
+#include <mission/com/syrlinksDefs.h>
 #include <mission/devices/devicedefinitions/BpxBatteryDefinitions.h>
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
-#include <mission/devices/devicedefinitions/GyroL3GD20Definitions.h>
-#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
-#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
-#include <mission/devices/devicedefinitions/imtqHelpers.h>
 #include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
-#include <mission/devices/devicedefinitions/rwHelpers.h>
 #include <objects/systemObjectList.h>
 
 // Enabling this should trigger a special event which in turn should trigger a system reaction.
@@ -628,7 +628,6 @@ void ThermalController::copySus() {
 }
 
 void ThermalController::copyDevices() {
-  lp_var_t<float> tempQ7s = lp_var_t<float>(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE);
   {
     PoolReadGuard pg(&tempQ7s, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() == returnvalue::OK) {
@@ -641,8 +640,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int16_t> battTemp1 =
-        lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_1);
     PoolReadGuard pg(&battTemp1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read battery temperature 1" << std::endl;
@@ -655,8 +652,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int16_t> battTemp2 =
-        lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_2);
     PoolReadGuard pg(&battTemp2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read battery temperature 2" << std::endl;
@@ -669,8 +664,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int16_t> battTemp3 =
-        lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_3);
     PoolReadGuard pg(&battTemp3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read battery temperature 3" << std::endl;
@@ -683,8 +676,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int16_t> battTemp4 =
-        lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_4);
     PoolReadGuard pg(&battTemp4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read battery temperature 4" << std::endl;
@@ -697,7 +688,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, rws::TEMPERATURE_C);
     PoolReadGuard pg(&tempRw1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read reaction wheel 1 temperature" << std::endl;
@@ -710,7 +700,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, rws::TEMPERATURE_C);
     PoolReadGuard pg(&tempRw2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read reaction wheel 2 temperature" << std::endl;
@@ -723,7 +712,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, rws::TEMPERATURE_C);
     PoolReadGuard pg(&tempRw3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read reaction wheel 3 temperature" << std::endl;
@@ -736,7 +724,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, rws::TEMPERATURE_C);
     PoolReadGuard pg(&tempRw4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read reaction wheel 4 temperature" << std::endl;
@@ -749,8 +736,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempStartracker =
-        lp_var_t<float>(objects::STAR_TRACKER, startracker::MCU_TEMPERATURE);
     PoolReadGuard pg(&tempStartracker, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read startracker temperature" << std::endl;
@@ -763,8 +748,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempSyrlinksPowerAmplifier =
-        lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
     PoolReadGuard pg(&tempSyrlinksPowerAmplifier, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read syrlinks power amplifier temperature"
@@ -778,8 +761,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempSyrlinksBasebandBoard =
-        lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
     PoolReadGuard pg(&tempSyrlinksBasebandBoard, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read syrlinks baseband board temperature"
@@ -793,7 +774,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int16_t> tempMgt = lp_var_t<int16_t>(objects::IMTQ_HANDLER, imtq::MCU_TEMPERATURE);
     PoolReadGuard pg(&tempMgt, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read MGT temperature" << std::endl;
@@ -806,8 +786,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_vec_t<float, 3> tempAcu =
-        lp_vec_t<float, 3>(objects::ACU_HANDLER, ACU::pool::ACU_TEMPERATURES);
     PoolReadGuard pg(&tempAcu, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read ACU temperatures" << std::endl;
@@ -822,7 +800,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempPdu1 = lp_var_t<float>(objects::PDU1_HANDLER, PDU::pool::PDU_TEMPERATURE);
     PoolReadGuard pg(&tempPdu1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read PDU1 temperature" << std::endl;
@@ -835,7 +812,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempPdu2 = lp_var_t<float>(objects::PDU2_HANDLER, PDU::pool::PDU_TEMPERATURE);
     PoolReadGuard pg(&tempPdu2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read PDU2 temperature" << std::endl;
@@ -848,8 +824,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> temp1P60dock =
-        lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_1);
     PoolReadGuard pg(&temp1P60dock, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read P60 dock temperature 1" << std::endl;
@@ -862,8 +836,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> temp2P60dock =
-        lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_2);
     PoolReadGuard pg(&temp2P60dock, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read P60 dock temperature 2" << std::endl;
@@ -876,8 +848,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempGyro0 =
-        lp_var_t<float>(objects::GYRO_0_ADIS_HANDLER, adis1650x::TEMPERATURE);
     PoolReadGuard pg(&tempGyro0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read gyro 0 temperature" << std::endl;
@@ -890,7 +860,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempGyro1 = lp_var_t<float>(objects::GYRO_1_L3G_HANDLER, l3gd20h::TEMPERATURE);
     PoolReadGuard pg(&tempGyro1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read gyro 1 temperature" << std::endl;
@@ -903,8 +872,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempGyro2 =
-        lp_var_t<float>(objects::GYRO_2_ADIS_HANDLER, adis1650x::TEMPERATURE);
     PoolReadGuard pg(&tempGyro2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read gyro 2 temperature" << std::endl;
@@ -917,7 +884,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempGyro3 = lp_var_t<float>(objects::GYRO_3_L3G_HANDLER, l3gd20h::TEMPERATURE);
     PoolReadGuard pg(&tempGyro3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read gyro 3 temperature" << std::endl;
@@ -930,8 +896,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempMgm0 =
-        lp_var_t<float>(objects::MGM_0_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
     PoolReadGuard pg(&tempMgm0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read MGM 0 temperature" << std::endl;
@@ -944,8 +908,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempMgm2 =
-        lp_var_t<float>(objects::MGM_2_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
     PoolReadGuard pg(&tempMgm2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read MGM 2 temperature" << std::endl;
@@ -958,7 +920,6 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<float> tempAdcPayloadPcdu = lp_var_t<float>(objects::PLPCDU_HANDLER, plpcdu::TEMP);
     PoolReadGuard pg(&tempAdcPayloadPcdu, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read payload PCDU ADC temperature" << std::endl;

mission/controller/ThermalController.h

@@ -1,12 +1,23 @@
 #ifndef MISSION_CONTROLLER_THERMALCONTROLLER_H_
 #define MISSION_CONTROLLER_THERMALCONTROLLER_H_
 
+#include <bsp_q7s/core/CoreDefinitions.h>
 #include <fsfw/controller/ExtendedControllerBase.h>
 #include <fsfw/devicehandlers/DeviceHandlerThermalSet.h>
 #include <fsfw/timemanager/Countdown.h>
-#include <mission/controller/controllerdefinitions/tcsCtrlDefs.h>
+
+#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
+#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
+#include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
+#include <mission/acs/gyroAdisHelpers.h>
+#include <mission/acs/imtqHelpers.h>
+#include <mission/acs/rwHelpers.h>
+#include <mission/com/syrlinksDefs.h>
+#include <mission/controller/controllerdefinitions/ThermalControllerDefinitions.h>
+#include <mission/devices/devicedefinitions/BpxBatteryDefinitions.h>
 #include <mission/devices/devicedefinitions/Max31865Definitions.h>
 #include <mission/devices/devicedefinitions/Tmp1075Definitions.h>
+#include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
 #include <mission/devices/devicedefinitions/susMax1227Helpers.h>
 
 #include <list>
@@ -155,6 +166,44 @@ class ThermalController : public ExtendedControllerBase {
   susMax1227::SusDataset susSet10;
   susMax1227::SusDataset susSet11;
 
+  lp_var_t<float> tempQ7s = lp_var_t<float>(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE);
+  lp_var_t<int16_t> battTemp1 =
+      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_1);
+  lp_var_t<int16_t> battTemp2 =
+      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_2);
+  lp_var_t<int16_t> battTemp3 =
+      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_3);
+  lp_var_t<int16_t> battTemp4 =
+      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_4);
+  lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, rws::TEMPERATURE_C);
+  lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, rws::TEMPERATURE_C);
+  lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, rws::TEMPERATURE_C);
+  lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, rws::TEMPERATURE_C);
+  lp_var_t<float> tempStartracker =
+      lp_var_t<float>(objects::STAR_TRACKER, startracker::MCU_TEMPERATURE);
+  lp_var_t<float> tempSyrlinksPowerAmplifier =
+      lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
+  lp_var_t<float> tempSyrlinksBasebandBoard =
+      lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
+  lp_var_t<int16_t> tempMgt = lp_var_t<int16_t>(objects::IMTQ_HANDLER, imtq::MCU_TEMPERATURE);
+  lp_vec_t<float, 3> tempAcu =
+      lp_vec_t<float, 3>(objects::ACU_HANDLER, ACU::pool::ACU_TEMPERATURES);
+  lp_var_t<float> tempPdu1 = lp_var_t<float>(objects::PDU1_HANDLER, PDU::pool::PDU_TEMPERATURE);
+  lp_var_t<float> tempPdu2 = lp_var_t<float>(objects::PDU2_HANDLER, PDU::pool::PDU_TEMPERATURE);
+  lp_var_t<float> temp1P60dock =
+      lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_1);
+  lp_var_t<float> temp2P60dock =
+      lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_2);
+  lp_var_t<float> tempGyro0 = lp_var_t<float>(objects::GYRO_0_ADIS_HANDLER, adis1650x::TEMPERATURE);
+  lp_var_t<float> tempGyro1 = lp_var_t<float>(objects::GYRO_1_L3G_HANDLER, l3gd20h::TEMPERATURE);
+  lp_var_t<float> tempGyro2 = lp_var_t<float>(objects::GYRO_2_ADIS_HANDLER, adis1650x::TEMPERATURE);
+  lp_var_t<float> tempGyro3 = lp_var_t<float>(objects::GYRO_3_L3G_HANDLER, l3gd20h::TEMPERATURE);
+  lp_var_t<float> tempMgm0 =
+      lp_var_t<float>(objects::MGM_0_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
+  lp_var_t<float> tempMgm2 =
+      lp_var_t<float>(objects::MGM_2_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
+  lp_var_t<float> tempAdcPayloadPcdu = lp_var_t<float>(objects::PLPCDU_HANDLER, plpcdu::TEMP);
+
   // TempLimits
   TempLimits acsBoardLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
   TempLimits mgtLimits = TempLimits(-40.0, -40.0, 65.0, 70.0, 70.0);

mission/controller/acs/SensorValues.h

@@ -3,12 +3,12 @@
 
 #include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
 #include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
+#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
 #include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
+#include <mission/acs/gyroAdisHelpers.h>
+#include <mission/acs/imtqHelpers.h>
+#include <mission/acs/rwHelpers.h>
 #include <mission/devices/devicedefinitions/GPSDefinitions.h>
-#include <mission/devices/devicedefinitions/GyroL3GD20Definitions.h>
-#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
-#include <mission/devices/devicedefinitions/imtqHelpers.h>
-#include <mission/devices/devicedefinitions/rwHelpers.h>
 #include <mission/devices/devicedefinitions/susMax1227Helpers.h>
 
 namespace ACS {

mission/core/GenericFactory.cpp

@@ -29,9 +29,9 @@
 #include <mission/devices/HeaterHandler.h>
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 #include <mission/persistentTmStoreDefs.h>
-#include <mission/system/objects/AcsBoardAssembly.h>
-#include <mission/system/objects/RwAssembly.h>
-#include <mission/system/objects/SusAssembly.h>
+#include <mission/system/acs/AcsBoardAssembly.h>
+#include <mission/system/acs/RwAssembly.h>
+#include <mission/system/acs/SusAssembly.h>
 #include <mission/system/objects/TcsBoardAssembly.h>
 #include <mission/tmtc/CfdpTmFunnel.h>
 #include <mission/tmtc/PersistentTmStore.h>
@@ -46,8 +46,8 @@
 #include "eive/definitions.h"
 #include "fsfw/pus/Service11TelecommandScheduling.h"
 #include "mission/cfdp/Config.h"
-#include "mission/system/objects/RwAssembly.h"
-#include "mission/system/tree/acsModeTree.h"
+#include "mission/system/acs/RwAssembly.h"
+#include "mission/system/acs/acsModeTree.h"
 #include "mission/system/tree/tcsModeTree.h"
 #include "mission/tmtc/tmFilters.h"
 #include "objects/systemObjectList.h"

mission/core/pollingSeqTables.cpp

@@ -4,7 +4,7 @@
 #include <fsfw/objectmanager/ObjectManagerIF.h>
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
-#include <mission/devices/devicedefinitions/imtqHelpers.h>
+#include <mission/acs/imtqHelpers.h>
 
 #include "OBSWConfig.h"
 #include "eive/definitions.h"
@@ -21,13 +21,15 @@
 ReturnValue_t pst::pstSyrlinks(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
 
-#if OBSW_ADD_SYRLINKS == 1
   thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.25, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::SEND_WRITE);
   thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.7, DeviceHandlerIF::GET_READ);
 
   static_cast<void>(length);
 
@@ -318,11 +320,23 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
   }
 
   if (cfg.scheduleStr) {
+    // 2 COM cycles for full PST for STR. The STR requests 2 packets types in NORMAL mode, this
+    // ensures we always get an updated STR dataset for a regular normal mode cycle.
     thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+                          DeviceHandlerIF::GET_READ);
   }
 
   bool enableAside = true;

mission/devices/CMakeLists.txt

@@ -8,19 +8,10 @@ target_sources(
           Pdu1Handler.cpp
           Pdu2Handler.cpp
           ACUHandler.cpp
-          SyrlinksHandler.cpp
-          Max31865PT1000Handler.cpp
           Max31865EiveHandler.cpp
-          ImtqHandler.cpp
           HeaterHandler.cpp
           RadiationSensorHandler.cpp
-          GyrAdis1650XHandler.cpp
-          GyrL3gCustomHandler.cpp
-          MgmRm3100CustomHandler.cpp
-          MgmLis3CustomHandler.cpp
-          RwHandler.cpp
           max1227.cpp
-          SusHandler.cpp
           PayloadPcduHandler.cpp
           SolarArrayDeploymentHandler.cpp
           ScexDeviceHandler.cpp)

mission/devices/PayloadPcduHandler.h

@@ -11,8 +11,8 @@
 #include "fsfw_hal/common/gpio/GpioIF.h"
 #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
 #include "mission/memory/SdCardMountedIF.h"
-#include "mission/system/objects/DualLanePowerStateMachine.h"
-#include "mission/system/objects/definitions.h"
+#include "mission/powerDefs.h"
+#include "mission/system/DualLanePowerStateMachine.h"
 
 #ifdef FSFW_OSAL_LINUX
 class SpiComIF;

mission/devices/devicedefinitions/CMakeLists.txt

@@ -1,2 +1 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE ScexDefinitions.cpp rwHelpers.cpp
-                                           imtqHelpers.cpp gyroAdisHelpers.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE ScexDefinitions.cpp)

mission/devices/devicedefinitions/GyroL3GD20Definitions.h

@@ -1,130 +0,0 @@
-#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
-#define MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
-
-#include <fsfw/datapoollocal/StaticLocalDataSet.h>
-#include <fsfw/devicehandlers/DeviceHandlerIF.h>
-
-#include <cstdint>
-
-namespace l3gd20h {
-
-/* Actual size is 15 but we round up a bit */
-static constexpr size_t MAX_BUFFER_SIZE = 16;
-
-static constexpr uint8_t READ_MASK = 0b1000'0000;
-
-static constexpr uint8_t AUTO_INCREMENT_MASK = 0b0100'0000;
-
-static constexpr uint8_t WHO_AM_I_REG = 0b0000'1111;
-static constexpr uint8_t WHO_AM_I_VAL = 0b1101'0111;
-
-/*------------------------------------------------------------------------*/
-/* Control registers */
-/*------------------------------------------------------------------------*/
-static constexpr uint8_t CTRL_REG_1 = 0b0010'0000;
-static constexpr uint8_t CTRL_REG_2 = 0b0010'0001;
-static constexpr uint8_t CTRL_REG_3 = 0b0010'0010;
-static constexpr uint8_t CTRL_REG_4 = 0b0010'0011;
-static constexpr uint8_t CTRL_REG_5 = 0b0010'0100;
-
-/* Register 1 */
-static constexpr uint8_t SET_DR_1 = 1 << 7;
-static constexpr uint8_t SET_DR_0 = 1 << 6;
-static constexpr uint8_t SET_BW_1 = 1 << 5;
-static constexpr uint8_t SET_BW_0 = 1 << 4;
-static constexpr uint8_t SET_POWER_NORMAL_MODE = 1 << 3;
-static constexpr uint8_t SET_Z_ENABLE = 1 << 2;
-static constexpr uint8_t SET_X_ENABLE = 1 << 1;
-static constexpr uint8_t SET_Y_ENABLE = 1;
-
-static constexpr uint8_t CTRL_REG_1_VAL =
-    SET_POWER_NORMAL_MODE | SET_Z_ENABLE | SET_Y_ENABLE | SET_X_ENABLE;
-
-/* Register 2 */
-static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
-static constexpr uint8_t LEVEL_SENSITIVE_TRIGGER = 1 << 6;
-static constexpr uint8_t SET_HPM_1 = 1 << 5;
-static constexpr uint8_t SET_HPM_0 = 1 << 4;
-static constexpr uint8_t SET_HPCF_3 = 1 << 3;
-static constexpr uint8_t SET_HPCF_2 = 1 << 2;
-static constexpr uint8_t SET_HPCF_1 = 1 << 1;
-static constexpr uint8_t SET_HPCF_0 = 1;
-
-static constexpr uint8_t CTRL_REG_2_VAL = 0b0000'0000;
-
-/* Register 3 */
-static constexpr uint8_t CTRL_REG_3_VAL = 0b0000'0000;
-
-/* Register 4 */
-static constexpr uint8_t SET_BNU = 1 << 7;
-static constexpr uint8_t SET_BLE = 1 << 6;
-static constexpr uint8_t SET_FS_1 = 1 << 5;
-static constexpr uint8_t SET_FS_0 = 1 << 4;
-static constexpr uint8_t SET_IMP_ENB = 1 << 3;
-static constexpr uint8_t SET_SELF_TEST_ENB_1 = 1 << 2;
-static constexpr uint8_t SET_SELF_TEST_ENB_0 = 1 << 1;
-static constexpr uint8_t SET_SPI_IF_SELECT = 1;
-
-/* Enable big endian data format */
-static constexpr uint8_t CTRL_REG_4_VAL = SET_BLE;
-
-/* Register 5 */
-static constexpr uint8_t SET_REBOOT_MEM = 1 << 7;
-static constexpr uint8_t SET_FIFO_ENB = 1 << 6;
-
-static constexpr uint8_t CTRL_REG_5_VAL = 0b0000'0000;
-
-/* Possible range values in degrees per second (DPS). */
-static constexpr uint16_t RANGE_DPS_00 = 245;
-static constexpr uint16_t RANGE_DPS_01 = 500;
-static constexpr uint16_t RANGE_DPS_11 = 2000;
-
-static constexpr uint8_t READ_START = CTRL_REG_1;
-static constexpr size_t READ_LEN = 14;
-
-/* Indexing */
-static constexpr uint8_t REFERENCE_IDX = 6;
-static constexpr uint8_t TEMPERATURE_IDX = 7;
-static constexpr uint8_t STATUS_IDX = 8;
-static constexpr uint8_t OUT_X_H = 9;
-static constexpr uint8_t OUT_X_L = 10;
-static constexpr uint8_t OUT_Y_H = 11;
-static constexpr uint8_t OUT_Y_L = 12;
-static constexpr uint8_t OUT_Z_H = 13;
-static constexpr uint8_t OUT_Z_L = 14;
-
-/*------------------------------------------------------------------------*/
-/* Device Handler specific */
-/*------------------------------------------------------------------------*/
-static constexpr DeviceCommandId_t READ_REGS = 0;
-static constexpr DeviceCommandId_t CONFIGURE_CTRL_REGS = 1;
-static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
-
-static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
-
-enum GyroPoolIds : lp_id_t { ANG_VELOC_X, ANG_VELOC_Y, ANG_VELOC_Z, TEMPERATURE };
-
-}  // namespace l3gd20h
-
-class GyroPrimaryDataset : public StaticLocalDataSet<5> {
- public:
-  /** Constructor  for data users like controllers */
-  GyroPrimaryDataset(object_id_t mgmId)
-      : StaticLocalDataSet(sid_t(mgmId, l3gd20h::GYRO_DATASET_ID)) {
-    setAllVariablesReadOnly();
-  }
-
-  /* Angular velocities in degrees per second (DPS) */
-  lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_X, this);
-  lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_Y, this);
-  lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_Z, this);
-  lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, l3gd20h::TEMPERATURE, this);
-
- private:
-  friend class GyroHandlerL3GD20H;
-  /** Constructor  for the data creator */
-  GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
-      : StaticLocalDataSet(hkOwner, l3gd20h::GYRO_DATASET_ID) {}
-};
-
-#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */

mission/mission.mk

@@ -1,17 +0,0 @@
-# add main and others
-CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
-CSRC += $(wildcard $(CURRENTPATH)/*.c)
-
-CSRC += $(wildcard $(CURRENTPATH)/core/*.c)
-CXXSRC += $(wildcard $(CURRENTPATH)/core/*.cpp)
-
-CXXSRC += $(wildcard $(CURRENTPATH)/devices/*.cpp)
-CSRC += $(wildcard $(CURRENTPATH)/devices/*.c)
-
-CXXSRC += $(wildcard $(CURRENTPATH)/utility/*.cpp)
-CSRC += $(wildcard $(CURRENTPATH)/utility/*.c)
-
-CXXSRC += $(wildcard $(CURRENTPATH)/test/*.cpp)
-CSRC += $(wildcard $(CURRENTPATH)/test/*.c)
-
-

mission/powerDefs.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <fsfw/power/definitions.h>
+#include <fsfw/modes/ModeMessage.h>
 
 namespace power {
 
@@ -30,4 +31,13 @@ enum Switches : power::Switch_t {
   NUMBER_OF_SWITCHES
 };
 
+enum class States { IDLE, SWITCHING_POWER, CHECKING_POWER, MODE_COMMANDING };
+enum class OpCodes { NONE, TO_OFF_DONE, TO_NOT_OFF_DONE, TIMEOUT_OCCURED };
+
 }  // namespace power
+
+namespace duallane {
+
+enum Submodes : Submode_t { A_SIDE = 0, B_SIDE = 1, DUAL_MODE = 2 };
+
+}  // namespace duallane

mission/sysDefs.h

@@ -1,7 +1,8 @@
 #ifndef MISSION_SYSDEFS_H_
 #define MISSION_SYSDEFS_H_
 
-#include "acsDefs.h"
+#include "acs/defs.h"
+
 namespace satsystem {
 
 enum Mode : Mode_t { BOOT = 5, SAFE = acs::AcsMode::SAFE, PTG_IDLE = acs::AcsMode::PTG_IDLE };

mission/system/CMakeLists.txt

@@ -1,3 +1,7 @@
 add_subdirectory(objects)
 add_subdirectory(tree)
+add_subdirectory(acs)
+add_subdirectory(com)
 add_subdirectory(fdir)
+
+target_sources(${LIB_EIVE_MISSION} PRIVATE DualLanePowerStateMachine.cpp)

mission/system/DualLanePowerStateMachine.h

@@ -5,7 +5,7 @@
 #include <fsfw/modes/HasModesIF.h>
 #include <mission/system/objects/PowerStateMachineBase.h>
 
-#include "definitions.h"
+#include "mission/powerDefs.h"
 
 class AssemblyBase;
 class PowerSwitchIF;

mission/system/acs/AcsBoardAssembly.cpp

@@ -110,27 +110,25 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
   using namespace duallane;
   ReturnValue_t result = returnvalue::OK;
   bool needsSecondStep = false;
+  if (sideSwitchState == SideSwitchState::REQUESTED) {
+    sideSwitchState = SideSwitchState::TO_DUAL;
+  }
+  // Switch to dual side first, and later switch back to the otherside
+  if (sideSwitchState == SideSwitchState::TO_DUAL) {
+    targetSubmodeForSideSwitch = static_cast<duallane::Submodes>(submode);
+    submode = Submodes::DUAL_MODE;
+    sideSwitchState = SideSwitchState::DISABLE_OTHER_SIDE;
+    // TODO: Ugly hack. The base class should support arbitrary number of steps..
+    needsSecondStep = true;
+  } else if (sideSwitchState == SideSwitchState::DISABLE_OTHER_SIDE) {
+    submode = targetSubmodeForSideSwitch;
+  }
   auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, ModeTableIdx tableIdx) {
     if (mode == devMode) {
       modeTable[tableIdx].setMode(mode);
-    } else if (mode == DeviceHandlerIF::MODE_NORMAL) {
-      if (isUseable(objectId, devMode)) {
-        if (devMode == MODE_ON) {
-          modeTable[tableIdx].setMode(mode);
-          modeTable[tableIdx].setSubmode(SUBMODE_NONE);
-        } else {
-          modeTable[tableIdx].setMode(MODE_ON);
-          modeTable[tableIdx].setSubmode(SUBMODE_NONE);
-          if (internalState != STATE_SECOND_STEP) {
-            needsSecondStep = true;
-          }
-        }
-      }
-    } else if (mode == MODE_ON) {
-      if (isUseable(objectId, devMode)) {
-        modeTable[tableIdx].setMode(MODE_ON);
-        modeTable[tableIdx].setSubmode(SUBMODE_NONE);
-      }
+    } else if (isUseable(objectId, devMode)) {
+      modeTable[tableIdx].setMode(mode);
+      modeTable[tableIdx].setSubmode(SUBMODE_NONE);
     }
   };
   bool gpsUsable = isUseable(helper.gpsId, helper.gpsMode);

mission/system/acs/AcsBoardAssembly.h

@@ -6,8 +6,8 @@
 #include <fsfw_hal/common/gpio/gpioDefinitions.h>
 
 #include "DualLaneAssemblyBase.h"
-#include "DualLanePowerStateMachine.h"
 #include "eive/eventSubsystemIds.h"
+#include "mission/system/DualLanePowerStateMachine.h"
 
 struct AcsBoardHelper {
   AcsBoardHelper(object_id_t mgm0Id, object_id_t mgm1Id, object_id_t mgm2Id, object_id_t mgm3Id,

mission/system/acs/AcsSubsystem.cpp

@@ -4,7 +4,7 @@
 #include <fsfw/ipc/QueueFactory.h>
 
 #include "fsfw/modes/ModeMessage.h"
-#include "mission/acsDefs.h"
+#include "mission/acs/defs.h"
 
 AcsSubsystem::AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
                            uint32_t maxNumberOfTables)

mission/system/acs/CMakeLists.txt

@@ -0,0 +1,11 @@
+target_sources(
+  ${LIB_EIVE_MISSION}
+  PRIVATE AcsBoardAssembly.cpp
+          AcsSubsystem.cpp
+          DualLaneAssemblyBase.cpp
+          ImtqAssembly.cpp
+          RwAssembly.cpp
+          SusAssembly.cpp
+          AcsBoardFdir.cpp
+          acsModeTree.cpp
+          SusFdir.cpp)

mission/system/acs/DualLaneAssemblyBase.cpp

@@ -36,6 +36,7 @@ void DualLaneAssemblyBase::performChildOperation() {
 void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
   using namespace duallane;
   pwrStateMachine.reset();
+
   if (mode != MODE_OFF) {
     // Special exception: A transition from dual side to single mode must be handled like
     // going OFF.
@@ -45,9 +46,13 @@ void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
       AssemblyBase::startTransition(mode, submode);
       return;
     }
+    uint8_t pwrSubmode = submode;
+    if (sideSwitchState == SideSwitchState::REQUESTED) {
+      pwrSubmode = duallane::DUAL_MODE;
+    }
     // If anything other than MODE_OFF is commanded, perform power state machine first
     // Cache the target modes, required by power state machine
-    pwrStateMachine.start(mode, submode);
+    pwrStateMachine.start(mode, pwrSubmode);
     // Cache these for later after the power state machine has finished
     targetMode = mode;
     targetSubmode = submode;
@@ -111,11 +116,7 @@ ReturnValue_t DualLaneAssemblyBase::isModeCombinationValid(Mode_t mode, Submode_
     return returnvalue::FAILED;
   }
   if (sideSwitchTransition(mode, submode)) {
-    // I could implement this but this would increase the already high complexity. This is not
-    // necessary. The operator should can send a command to switch the assembly off first and
-    // then send a command to turn on the other side, either to ON or to NORMAL
-    triggerEvent(SIDE_SWITCH_TRANSITION_NOT_ALLOWED_ID, 0, 0);
-    return TRANS_NOT_ALLOWED;
+    sideSwitchState = SideSwitchState::REQUESTED;
   }
   return returnvalue::OK;
 }
@@ -231,9 +232,8 @@ bool DualLaneAssemblyBase::sideSwitchTransition(Mode_t mode, Submode_t submode)
     return false;
   }
   if (this->mode == MODE_ON or this->mode == DeviceHandlerIF::MODE_NORMAL) {
-    if (this->submode == Submodes::A_SIDE and submode == Submodes::B_SIDE) {
-      return true;
-    } else if (this->submode == Submodes::B_SIDE and submode == Submodes::A_SIDE) {
+    if ((this->submode == Submodes::A_SIDE and submode == Submodes::B_SIDE) or
+        (this->submode == Submodes::B_SIDE and submode == Submodes::A_SIDE)) {
       return true;
     }
     return false;
@@ -247,6 +247,7 @@ void DualLaneAssemblyBase::finishModeOp() {
   pwrStateMachine.reset();
   powerRetryCounter = 0;
   tryingOtherSide = false;
+  sideSwitchState = SideSwitchState::NONE;
   dualToSingleSideTransition = false;
   dualModeErrorSwitch = true;
 }

mission/system/acs/DualLaneAssemblyBase.h

@@ -2,7 +2,7 @@
 #define MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_
 
 #include <fsfw/devicehandlers/AssemblyBase.h>
-#include <mission/system/objects/DualLanePowerStateMachine.h>
+#include <mission/system/DualLanePowerStateMachine.h>
 
 /**
  * @brief   Encapsulates assemblies which are also responsible for dual lane power switching
@@ -34,6 +34,11 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
   bool dualToSingleSideTransition = false;
   duallane::Submodes defaultSubmode = duallane::Submodes::A_SIDE;
 
+  enum SideSwitchState { NONE, REQUESTED, TO_DUAL, DISABLE_OTHER_SIDE };
+
+  SideSwitchState sideSwitchState = SideSwitchState::NONE;
+  duallane::Submodes targetSubmodeForSideSwitch = duallane::Submodes::B_SIDE;
+
   enum RecoveryCustomStates {
     IDLE,
     POWER_SWITCHING_OFF,

mission/system/acs/acsModeTree.cpp

@@ -9,9 +9,9 @@
 #include <optional>
 
 #include "eive/objects.h"
-#include "mission/acsDefs.h"
-#include "mission/system/objects/definitions.h"
-#include "util.h"
+#include "mission/acs/defs.h"
+#include "mission/powerDefs.h"
+#include "mission/system/tree/util.h"
 
 AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
 

mission/system/acs/acsModeTree.h

@@ -1,4 +1,4 @@
-#include <mission/system/objects/AcsSubsystem.h>
+#include <mission/system/acs/AcsSubsystem.h>
 
 namespace satsystem {
 namespace acs {

mission/system/com/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(
+  ${LIB_EIVE_MISSION} PRIVATE comModeTree.cpp ComSubsystem.cpp
+                              SyrlinksAssembly.cpp SyrlinksFdir.cpp)

mission/system/com/ComSubsystem.cpp

@@ -6,7 +6,7 @@
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 #include <linux/ipcore/PdecHandler.h>
-#include <mission/comDefs.h>
+#include <mission/com/defs.h>
 #include <mission/config/comCfg.h>
 #include <mission/controller/controllerdefinitions/tcsCtrlDefs.h>
 

mission/system/com/ComSubsystem.h

@@ -7,7 +7,7 @@
 #include <fsfw/parameters/ParameterHelper.h>
 #include <fsfw/subsystem/Subsystem.h>
 
-#include "mission/comDefs.h"
+#include "mission/com/defs.h"
 
 class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
  public:

mission/system/com/SyrlinksAssembly.cpp

@@ -0,0 +1,57 @@
+#include "SyrlinksAssembly.h"
+
+#include <eive/objects.h>
+
+using namespace returnvalue;
+
+SyrlinksAssembly::SyrlinksAssembly(object_id_t objectId) : AssemblyBase(objectId) {
+  ModeListEntry entry;
+  entry.setObject(objects::SYRLINKS_HANDLER);
+  entry.setMode(MODE_OFF);
+  entry.setSubmode(SUBMODE_NONE);
+  commandTable.insert(entry);
+}
+
+ReturnValue_t SyrlinksAssembly::commandChildren(Mode_t mode, Submode_t submode) {
+  commandTable[0].setMode(mode);
+  commandTable[0].setSubmode(submode);
+  HybridIterator<ModeListEntry> iter(commandTable.begin(), commandTable.end());
+  if (recoveryState == RECOVERY_IDLE) {
+    ReturnValue_t result = checkAndHandleHealthState(mode, submode);
+    if (result == NEED_TO_CHANGE_HEALTH) {
+      return OK;
+    }
+  }
+  executeTable(iter);
+  return returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
+  if (childrenMap[objects::SYRLINKS_HANDLER].mode != wantedMode) {
+    return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
+  if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_OFF) {
+    return returnvalue::OK;
+  }
+  return returnvalue::FAILED;
+}
+
+ReturnValue_t SyrlinksAssembly::checkAndHandleHealthState(Mode_t deviceMode,
+                                                          Submode_t deviceSubmode) {
+  HealthState health = healthHelper.healthTable->getHealth(objects::SYRLINKS_HANDLER);
+  if (health == FAULTY or health == PERMANENT_FAULTY) {
+    overwriteDeviceHealth(objects::SYRLINKS_HANDLER, health);
+    return NEED_TO_CHANGE_HEALTH;
+  } else if (health == EXTERNAL_CONTROL) {
+    modeHelper.setForced(true);
+  }
+  return OK;
+}
+
+void SyrlinksAssembly::handleChildrenLostMode(ReturnValue_t result) {
+  startTransition(mode, submode);
+}

mission/system/com/SyrlinksAssembly.h

@@ -0,0 +1,20 @@
+#ifndef MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_
+#define MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_
+#include <fsfw/devicehandlers/AssemblyBase.h>
+
+class SyrlinksAssembly : public AssemblyBase {
+ public:
+  SyrlinksAssembly(object_id_t objectId);
+
+ private:
+  FixedArrayList<ModeListEntry, 1> commandTable;
+
+  ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
+  ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
+  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+  void handleChildrenLostMode(ReturnValue_t result) override;
+
+  ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode);
+};
+
+#endif /* MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_ */

mission/system/com/SyrlinksFdir.cpp

@@ -7,7 +7,7 @@
 #include "fsfw/power/Fuse.h"
 #include "fsfw/serviceinterface/ServiceInterfaceStream.h"
 #include "fsfw/thermal/ThermalComponentIF.h"
-#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
+#include "mission/com/syrlinksDefs.h"
 
 SyrlinksFdir::SyrlinksFdir(object_id_t syrlinksId)
     : DeviceHandlerFailureIsolation(syrlinksId, objects::NO_OBJECT) {}
@@ -23,8 +23,7 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) {
     case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
       // We'll try a recovery as long as defined in MAX_REBOOT.
       // Might cause some AssemblyBase cycles, so keep number low.
-      // handleRecovery(event->getEvent());
-      triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      handleRecovery(event->getEvent());
       break;
     case DeviceHandlerIF::DEVICE_INTERPRETING_REPLY_FAILED:
     case DeviceHandlerIF::DEVICE_READING_REPLY_FAILED:
@@ -33,8 +32,7 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) {
     case DeviceHandlerIF::DEVICE_BUILDING_COMMAND_FAILED:
       // These faults all mean that there were stupid replies from a device.
       if (strangeReplyCount.incrementAndCheck()) {
-        // handleRecovery(event->getEvent());
-        triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+        handleRecovery(event->getEvent());
       }
       break;
     case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
@@ -48,7 +46,6 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) {
       // else
       if (missedReplyCount.incrementAndCheck()) {
         handleRecovery(event->getEvent());
-        // triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
       }
       break;
     case StorageManagerIF::GET_DATA_FAILED:
@@ -81,7 +78,6 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) {
     case Fuse::POWER_BELOW_LOW_LIMIT:
       // Device might got stuck during boot, retry.
       handleRecovery(event->getEvent());
-      triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
       break;
       //****Thermal*****
     case ThermalComponentIF::COMPONENT_TEMP_LOW:
@@ -113,14 +109,12 @@ void SyrlinksFdir::eventConfirmed(EventMessage* event) {
     case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
     case DeviceHandlerIF::DEVICE_MISSED_REPLY:
       if (missedReplyCount.incrementAndCheck()) {
-        // handleRecovery(event->getEvent());
-        triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+        handleRecovery(event->getEvent());
       }
       break;
     case PowerSwitchIF::SWITCH_WENT_OFF:
       // This means the switch went off only for one device.
-      // handleRecovery(event->getEvent());
-      triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      handleRecovery(event->getEvent());
       break;
     default:
       break;

mission/system/com/comModeTree.cpp

@@ -5,8 +5,8 @@
 #include <fsfw/subsystem/Subsystem.h>
 
 #include "eive/objects.h"
-#include "mission/comDefs.h"
-#include "util.h"
+#include "mission/com/defs.h"
+#include "mission/system/tree/util.h"
 
 const auto check = subsystem::checkInsert;
 

mission/system/com/comModeTree.h

@@ -2,7 +2,8 @@
 #define MISSION_SYSTEM_TREE_COMMODETREE_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
-#include <mission/system/objects/ComSubsystem.h>
+
+#include "ComSubsystem.h"
 
 namespace satsystem {
 

mission/system/fdir/CMakeLists.txt

@@ -1,4 +1,2 @@
-target_sources(
-  ${LIB_EIVE_MISSION}
-  PRIVATE AcsBoardFdir.cpp RtdFdir.cpp StrFdir.cpp SusFdir.cpp SyrlinksFdir.cpp
-          GomspacePowerFdir.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE RtdFdir.cpp StrFdir.cpp
+                                           GomspacePowerFdir.cpp)

mission/system/fdir/StrFdir.cpp

@@ -1,6 +1,6 @@
 #include "StrFdir.h"
 
-#include "mission/acsDefs.h"
+#include "mission/acs/defs.h"
 
 StrFdir::StrFdir(object_id_t strObject)
     : DeviceHandlerFailureIsolation(strObject, objects::NO_OBJECT) {}

mission/system/objects/CMakeLists.txt

@@ -2,18 +2,9 @@ target_sources(
   ${LIB_EIVE_MISSION}
   PRIVATE EiveSystem.cpp
           CamSwitcher.cpp
-          AcsSubsystem.cpp
-          ComSubsystem.cpp
           TcsSubsystem.cpp
           PayloadSubsystem.cpp
-          AcsBoardAssembly.cpp
-          ImtqAssembly.cpp
-          SyrlinksAssembly.cpp
           Stack5VHandler.cpp
-          SusAssembly.cpp
-          RwAssembly.cpp
-          DualLanePowerStateMachine.cpp
           StrAssembly.cpp
           PowerStateMachineBase.cpp
-          DualLaneAssemblyBase.cpp
           TcsBoardAssembly.cpp)

mission/system/objects/EiveSystem.cpp

@@ -3,7 +3,8 @@
 #include <eive/objects.h>
 #include <fsfw/events/EventManager.h>
 #include <fsfw/ipc/QueueFactory.h>
-#include <mission/acsDefs.h>
+
+#include <mission/acs/defs.h>
 #include <mission/comDefs.h>
 #include <mission/controller/controllerdefinitions/tcsCtrlDefs.h>
 

mission/system/objects/PowerStateMachineBase.h

@@ -5,7 +5,7 @@
 #include <fsfw/power/PowerSwitchIF.h>
 #include <fsfw/timemanager/Countdown.h>
 
-#include "definitions.h"
+#include "mission/powerDefs.h"
 
 class PowerStateMachineBase {
  public:

mission/system/objects/definitions.h

@@ -1,16 +0,0 @@
-#pragma once
-
-#include <fsfw/modes/ModeMessage.h>
-
-namespace power {
-
-enum class States { IDLE, SWITCHING_POWER, CHECKING_POWER, MODE_COMMANDING };
-enum class OpCodes { NONE, TO_OFF_DONE, TO_NOT_OFF_DONE, TIMEOUT_OCCURED };
-
-}  // namespace power
-
-namespace duallane {
-
-enum Submodes : Submode_t { A_SIDE = 0, B_SIDE = 1, DUAL_MODE = 2 };
-
-}  // namespace duallane

mission/system/tree/CMakeLists.txt

@@ -1,4 +1,2 @@
-target_sources(
-  ${LIB_EIVE_MISSION}
-  PRIVATE acsModeTree.cpp payloadModeTree.cpp comModeTree.cpp tcsModeTree.cpp
-          system.cpp util.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp tcsModeTree.cpp
+                                           system.cpp util.cpp)

mission/system/tree/payloadModeTree.cpp

@@ -8,8 +8,8 @@
 #include "eive/objects.h"
 #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
 #include "mission/payloadDefs.h"
+#include "mission/powerDefs.h"
 #include "mission/system/objects/PayloadSubsystem.h"
-#include "mission/system/objects/definitions.h"
 #include "util.h"
 
 namespace {

mission/system/tree/system.cpp

@@ -2,13 +2,13 @@
 
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/subsystem/Subsystem.h>
-#include <mission/acsDefs.h>
+#include <mission/acs/defs.h>
 #include <mission/sysDefs.h>
+#include <mission/system/com/comModeTree.h>
 
-#include "acsModeTree.h"
-#include "comModeTree.h"
 #include "eive/objects.h"
-#include "mission/comDefs.h"
+#include "mission/com/defs.h"
+#include "mission/system/acs/acsModeTree.h"
 #include "payloadModeTree.h"
 #include "tcsModeTree.h"
 #include "util.h"

mission/tmtc/CMakeLists.txt

@@ -1,7 +1,6 @@
 target_sources(
   ${LIB_EIVE_MISSION}
-  PRIVATE CcsdsIpCoreHandler.cpp
-          VirtualChannelWithQueue.cpp
+  PRIVATE VirtualChannelWithQueue.cpp
           PersistentTmStoreWithTmQueue.cpp
           LiveTmTask.cpp
           VirtualChannel.cpp

mission/tmtc/LiveTmTask.cpp

@@ -11,6 +11,9 @@ ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
   while (true) {
     // The funnel tasks are scheduled here directly as well.
     ReturnValue_t result = channel.sendNextTm();
+    if (result == DirectTmSinkIF::IS_BUSY) {
+      sif::error << "Lost live TM, PAPB busy" << std::endl;
+    }
     if (result == MessageQueueIF::EMPTY) {
       if (tmFunnelCd.hasTimedOut()) {
         pusFunnel.performOperation(0);

mission/tmtc/PersistentLogTmStoreTask.cpp

@@ -13,26 +13,32 @@ PersistentLogTmStoreTask::PersistentLogTmStoreTask(object_id_t objectId, Storage
       miscStoreContext(persTmStore::DUMP_MISC_STORE_DONE) {}
 
 ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) {
+  bool someonesBusy = false;
+  auto stateHandlingForStore = [&](bool storeIsBusy) {
+    if (storeIsBusy) {
+      someonesBusy = true;
+    }
+    if (fileHasSwapped) {
+      someFileWasSwapped = fileHasSwapped;
+    }
+  };
   while (true) {
     if (not cyclicStoreCheck()) {
       continue;
     }
-    bool someonesBusy = false;
-    bool busy = false;
-    busy = handleOneStore(stores.okStore, okStoreContext);
-    if (busy) {
-      someonesBusy = true;
-    }
-    busy = handleOneStore(stores.notOkStore, notOkStoreContext);
-    if (busy) {
-      someonesBusy = true;
-    }
-    busy = handleOneStore(stores.miscStore, miscStoreContext);
-    if (busy) {
-      someonesBusy = true;
-    }
+    someonesBusy = false;
+    someFileWasSwapped = false;
+    stateHandlingForStore(handleOneStore(stores.okStore, okStoreContext));
+    stateHandlingForStore(handleOneStore(stores.notOkStore, notOkStoreContext));
+    stateHandlingForStore(handleOneStore(stores.miscStore, miscStoreContext));
     if (not someonesBusy) {
-      TaskFactory::delayTask(40);
+      TaskFactory::delayTask(100);
+    } else /* and graceDelayDuringDumping.hasTimedOut()*/ {
+      if (someFileWasSwapped) {
+        TaskFactory::delayTask(20);
+      }
+      //      TaskFactory::delayTask(2);
+      //      graceDelayDuringDumping.resetTimer();
     }
   }
 }

mission/tmtc/PersistentLogTmStoreTask.h

@@ -32,6 +32,8 @@ class PersistentLogTmStoreTask : public TmStoreTaskBase, public ExecutableObject
   DumpContext notOkStoreContext;
   DumpContext miscStoreContext;
   Countdown tcHandlingCd = Countdown(400);
+  Countdown graceDelayDuringDumping = Countdown(200);
+  bool someFileWasSwapped = false;
 
   bool initStoresIfPossible();
 };

mission/tmtc/PersistentSingleTmStoreTask.cpp

@@ -17,7 +17,15 @@ ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
     }
     bool busy = handleOneStore(storeWithQueue, dumpContext);
     if (not busy) {
-      TaskFactory::delayTask(40);
+      TaskFactory::delayTask(100);
+    } else {
+      if (fileHasSwapped) {
+        TaskFactory::delayTask(20);
+      }
+      //      if (fileHasSwapped and graceDelayDuringDumping.hasTimedOut()) {
+      //        TaskFactory::delayTask(2);
+      //        graceDelayDuringDumping.resetTimer();
+      //      }
     }
   }
 }

mission/tmtc/PersistentSingleTmStoreTask.h

@@ -19,6 +19,7 @@ class PersistentSingleTmStoreTask : public TmStoreTaskBase, public ExecutableObj
   PersistentTmStoreWithTmQueue& storeWithQueue;
   DumpContext dumpContext;
   Countdown tcHandlingCd = Countdown(400);
+  Countdown graceDelayDuringDumping = Countdown(100);
 
   bool initStoresIfPossible();
 };

mission/tmtc/PersistentTmStore.cpp

@@ -195,11 +195,7 @@ ReturnValue_t PersistentTmStore::startDumpFromUpTo(uint32_t fromUnixSeconds,
   dumpParams.fromUnixTime = fromUnixSeconds;
   dumpParams.untilUnixTime = upToUnixSeconds;
   state = State::DUMPING;
-  if (loadNextDumpFile() == DUMP_DONE) {
-    // State will be set inside the function loading the next file.
-    return DUMP_DONE;
-  }
-  return returnvalue::OK;
+  return loadNextDumpFile();
 }
 
 ReturnValue_t PersistentTmStore::loadNextDumpFile() {
@@ -218,7 +214,7 @@ ReturnValue_t PersistentTmStore::loadNextDumpFile() {
     }
     sif::debug << "Path: " << dumpParams.dirEntry.path() << std::endl;
 
-    // Can't even read CCSDS header.
+    // File empty or can't even read CCSDS header.
     if (dumpParams.fileSize <= 6) {
       continue;
     }
@@ -247,14 +243,12 @@ ReturnValue_t PersistentTmStore::loadNextDumpFile() {
                  static_cast<std::streamsize>(dumpParams.fileSize));
       // Increment iterator for next cycle.
       dumpParams.dirIter++;
-      break;
+      return returnvalue::OK;
     }
   }
-  if (dumpParams.dirIter == directory_iterator()) {
-    state = State::IDLE;
-    return DUMP_DONE;
-  }
-  return returnvalue::OK;
+  // Directory iterator was consumed and we are done.
+  state = State::IDLE;
+  return DUMP_DONE;
 }
 
 ReturnValue_t PersistentTmStore::dumpNextPacket(DirectTmSinkIF& tmSink, size_t& dumpedLen,

mission/tmtc/TmStoreTaskBase.cpp

@@ -25,10 +25,12 @@ bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store,
   // Dump TMs when applicable
   if (store.getState() == PersistentTmStore::State::DUMPING) {
     size_t dumpedLen = 0;
-    bool fileHasSwapped;
     if (not channel.isBusy()) {
       tmSinkBusyCd.resetTimer();
       result = store.dumpNextPacket(channel, dumpedLen, fileHasSwapped);
+      if (result == DirectTmSinkIF::IS_BUSY) {
+        sif::warning << "Unexpected PAPB busy" << std::endl;
+      }
       if ((result == PersistentTmStore::DUMP_DONE or result == returnvalue::OK) and dumpedLen > 0) {
         dumpContext.dumpedBytes += dumpedLen;
         dumpContext.numberOfDumpedPackets += 1;
@@ -43,6 +45,13 @@ bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store,
       } else if (result == returnvalue::OK) {
         dumpsPerformed = true;
       }
+    } else {
+      dumpContext.ptmeBusyCounter++;
+      if (dumpContext.ptmeBusyCounter == 50) {
+        sif::warning << "PTME busy for longer period. Dumped length so far: "
+                     << dumpContext.dumpedBytes << std::endl;
+        dumpContext.ptmeBusyCounter = 0;
+      }
     }
     if (cancelDumpCd.hasTimedOut() or tmSinkBusyCd.hasTimedOut()) {
       triggerEvent(persTmStore::DUMP_WAS_CANCELLED, store.getObjectId());

mission/tmtc/TmStoreTaskBase.h

@@ -16,6 +16,7 @@ class TmStoreTaskBase : public SystemObject {
     const Event eventIfDone;
     uint32_t numberOfDumpedPackets = 0;
     uint32_t dumpedBytes = 0;
+    uint32_t ptmeBusyCounter = 0;
   };
 
   TmStoreTaskBase(object_id_t objectId, StorageManagerIF& ipcStore, VirtualChannel& channel,
@@ -45,6 +46,7 @@ class TmStoreTaskBase : public SystemObject {
   Countdown tmSinkBusyCd = Countdown(60 * 1000);
   VirtualChannel& channel;
   bool storesInitialized = false;
+  bool fileHasSwapped = false;
   SdCardMountedIF& sdcMan;
 };