Merge pull request 'prepare patch release' (#901) from prep-patch-release into main

Reviewed-on: #901

CHANGELOG.md

@@ -16,9 +16,42 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v8.1.1] 2024-06-05
+
+## Added
+
+- PLOC SUPV MPSoC update re-try logic for the `WRITE_MEMORY` command. These packets form  > 98%
+  of all packets required for a software update, but the update mechanism is not tolerant against
+  occasional glitches on the RS485 communication to the PLOC SUPV. A simple re-try mechanism which
+  tries to re-attempt packet handling up to three times for those packets is introduced.
+
+# [v8.1.0] 2024-05-29
+
+## Fixed
+
+- Small fix for transition failure handling of the MPSoC when the `START_MPSOC` action command
+  to the supervisor fails.
+- Fixed inits of arrays within the `MEKF` not being zeros.
+- Important bugfix for PLOC SUPV: The SUPV previously was able to steal packets from the special
+  communication helper, for example during software updates.
+- Corrected sigma of STR for `MEKF`.
+
+## Added
+
+- Added new command to cancel the PLOC SUPV special communication helper.
+
+# [v8.0.0] 2024-05-13
+
+- `eive-tmtc` v7.0.0
+
+## Fixed
+
+- Fixed calculation for target rotation rate during pointing modes.
+- Possible fix for MPSoC file read algorithm.
+
 ## Changed
 
-- Reworked MPSoC handler to be compatible to new MPSoC software image and use 
+- Reworked MPSoC handler to be compatible to new MPSoC software image and use
   new device handler base class. This should increase the reliability of the communication
   significantly.
 - MPSoC device modes IDLE, SNAPSHOT and REPLAY are now modelled using submodes.
@@ -32,6 +65,8 @@ will consitute of a breaking change warranting a new major release:
 
 # [v7.8.1] 2024-04-11
 
+## Fixed
+
 - Reverted fix for wrong order in quaternion multiplication for computation of the error quaternion.
 
 # [v7.8.0] 2024-04-10
@@ -42,7 +77,7 @@ will consitute of a breaking change warranting a new major release:
 - All pointing laws are now allowed to use the `MEKF` per default.
 - Changed limits in `PWR Controller`.
 - PUS time service: Now dumps the time before and after relative timeshift or setting absolute time
-- The `GPS Controller` does not set itself to `OFF` anymore, if it has not detected a valid fix for 
+- The `GPS Controller` does not set itself to `OFF` anymore, if it has not detected a valid fix for
   some time. Instead it attempts to reset both GNSS devices once.
 - The maximum time to reach a fix is shortened from 30min to 15min.
 - The time the reset pin of the GNSS devices is pulled is prolonged from 5ms to 10s.
@@ -51,7 +86,7 @@ will consitute of a breaking change warranting a new major release:
   of the controller is changed. As arguments it now displays the new fix and the numer of fix changes
   missed.
 - The number of satellites seen and used is reset to 0, in case they are set to invalid.
-- Altitude, latitude and longitude messages are not checked anymore, in case the mode message was 
+- Altitude, latitude and longitude messages are not checked anymore, in case the mode message was
   already invalid.
 
 ## Added
@@ -265,7 +300,7 @@ will consitute of a breaking change warranting a new major release:
 - `ACS Controller` now has the function `performAttitudeControl` which is called prior to passing
   on to the relevant mode functions. It handles all telemetry relevant functions, which were
   always called, regardless of the mode.
- 
+
 ## Added
 
 - Higher ACS modes can now be entered without a running `MEKF`. Higher modes will collect their

CMakeLists.txt

@@ -10,8 +10,8 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 8)
-set(OBSW_VERSION_MINOR 0)
+set(OBSW_VERSION_MINOR 1)
-set(OBSW_VERSION_REVISION 0)
+set(OBSW_VERSION_REVISION 1)
 
 # set(CMAKE_VERBOSE TRUE)
 

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 324 translations.
+ * @brief    Auto-generated event translation file. Contains 325 translations.
  * @details
- * Generated on: 2024-04-17 11:22:10
+ * Generated on: 2024-05-06 13:47:38
  */
 #include "translateEvents.h"
 
@@ -142,6 +142,7 @@ const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUEN
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
 const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
+const char *CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING = "CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -606,6 +607,8 @@ const char *translateEvents(Event event) {
       return SUPV_NOT_ON_STRING;
     case (11608):
       return SUPV_REPLY_TIMEOUT_STRING;
+    case (11609):
+      return CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING;
     case (11701):
       return SELF_TEST_I2C_FAILURE_STRING;
     case (11702):

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 176 translations.
- * Generated on: 2024-04-17 11:22:10
+ * Generated on: 2024-05-06 13:47:38
  */
 #include "translateObjects.h"
 

bsp_q7s/objectFactory.cpp

@@ -65,6 +65,7 @@
 #include "linux/payload/PlocMpsocSpecialComHelper.h"
 #include "linux/payload/SerialConfig.h"
 #include "mission/config/configfile.h"
+#include "mission/power/defs.h"
 #include "mission/system/acs/AcsBoardFdir.h"
 #include "mission/system/acs/AcsSubsystem.h"
 #include "mission/system/acs/RwAssembly.h"
@@ -635,9 +636,9 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
   auto specialComHelper =
       new PlocMpsocSpecialComHelper(objects::PLOC_MPSOC_HELPER, *mpsocCommunication);
   DhbConfig dhbConf(objects::PLOC_MPSOC_HANDLER);
-  auto* mpsocHandler = new FreshMpsocHandler(dhbConf, *mpsocCommunication, *specialComHelper,
+  auto* mpsocHandler = new FreshMpsocHandler(
-                                             Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
+      dhbConf, *mpsocCommunication, *specialComHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
-                                             objects::PLOC_SUPERVISOR_HANDLER);
+      objects::PLOC_SUPERVISOR_HANDLER, pwrSwitcher, power::PDU2_CH8_PAYLOAD_CAMERA);
   mpsocHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 #if OBSW_ADD_PLOC_SUPERVISOR == 1

generators/bsp_hosted_events.csv

@@ -135,7 +135,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/payload/plocMpsocHelpers.h
 11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/payload/plocMpsocHelpers.h
 11607;0x2d57;SUPV_NOT_ON;LOW;SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition.;linux/payload/plocMpsocHelpers.h
-11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/plocMpsocHelpers.h
+11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;SUPV reply timeout.;linux/payload/plocMpsocHelpers.h
+11609;0x2d59;CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE;LOW;Camera must be commanded on first.;linux/payload/plocMpsocHelpers.h
 11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h

generators/bsp_q7s_events.csv

@@ -135,7 +135,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/payload/plocMpsocHelpers.h
 11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/payload/plocMpsocHelpers.h
 11607;0x2d57;SUPV_NOT_ON;LOW;SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition.;linux/payload/plocMpsocHelpers.h
-11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/plocMpsocHelpers.h
+11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;SUPV reply timeout.;linux/payload/plocMpsocHelpers.h
+11609;0x2d59;CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE;LOW;Camera must be commanded on first.;linux/payload/plocMpsocHelpers.h
 11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 324 translations.
+ * @brief    Auto-generated event translation file. Contains 325 translations.
  * @details
- * Generated on: 2024-04-17 11:22:10
+ * Generated on: 2024-05-06 13:47:38
  */
 #include "translateEvents.h"
 
@@ -142,6 +142,7 @@ const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUEN
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
 const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
+const char *CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING = "CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -606,6 +607,8 @@ const char *translateEvents(Event event) {
       return SUPV_NOT_ON_STRING;
     case (11608):
       return SUPV_REPLY_TIMEOUT_STRING;
+    case (11609):
+      return CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING;
     case (11701):
       return SELF_TEST_I2C_FAILURE_STRING;
     case (11702):

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 180 translations.
- * Generated on: 2024-04-17 11:22:10
+ * Generated on: 2024-05-06 13:47:38
  */
 #include "translateObjects.h"
 

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 324 translations.
+ * @brief    Auto-generated event translation file. Contains 325 translations.
  * @details
- * Generated on: 2024-04-17 11:22:10
+ * Generated on: 2024-05-06 13:47:38
  */
 #include "translateEvents.h"
 
@@ -142,6 +142,7 @@ const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUEN
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
 const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
+const char *CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING = "CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -606,6 +607,8 @@ const char *translateEvents(Event event) {
       return SUPV_NOT_ON_STRING;
     case (11608):
       return SUPV_REPLY_TIMEOUT_STRING;
+    case (11609):
+      return CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING;
     case (11701):
       return SELF_TEST_I2C_FAILURE_STRING;
     case (11702):

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 180 translations.
- * Generated on: 2024-04-17 11:22:10
+ * Generated on: 2024-05-06 13:47:38
  */
 #include "translateObjects.h"
 

linux/payload/FreshMpsocHandler.cpp

@@ -8,22 +8,29 @@
 #include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/ipc/messageQueueDefinitions.h"
+#include "fsfw/power/PowerSwitchIF.h"
+#include "fsfw/power/definitions.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "linux/payload/MpsocCommunication.h"
 #include "linux/payload/plocMpsocHelpers.h"
 #include "linux/payload/plocSupvDefs.h"
+#include "mission/power/gsDefs.h"
 
 FreshMpsocHandler::FreshMpsocHandler(DhbConfig cfg, MpsocCommunication& comInterface,
                                      PlocMpsocSpecialComHelper& specialComHelper,
-                                     Gpio uartIsolatorSwitch, object_id_t supervisorHandler)
+                                     Gpio uartIsolatorSwitch, object_id_t supervisorHandler,
+                                     PowerSwitchIF& powerSwitcher, power::Switch_t camSwitchId)
     : FreshDeviceHandlerBase(cfg),
       comInterface(comInterface),
       specialComHelper(specialComHelper),
       commandActionHelper(this),
       uartIsolatorSwitch(uartIsolatorSwitch),
       hkReport(this),
-      supervisorHandler(supervisorHandler) {
+      supervisorHandler(supervisorHandler),
+      powerSwitcher(powerSwitcher),
+      camSwitchId(camSwitchId) {
   commandActionHelperQueue = QueueFactory::instance()->createMessageQueue(10);
   eventQueue = QueueFactory::instance()->createMessageQueue(10);
   spParams.maxSize = sizeof(commandBuffer);
@@ -38,7 +45,7 @@ void FreshMpsocHandler::performDeviceOperation(uint8_t opCode) {
 
   if (opCode == OpCode::DEFAULT_OPERATION) {
     performDefaultDeviceOperation();
-  } else if (opCode == OpCode::PARSE_TM) {
+  } else if (opCode == OpCode::PARSE_TM and not specialComHelperExecuting) {
     // Just need to call this once, this should take care of processing the whole received
     // Linux UART RX buffer.
     comInterface.readSerialInterface();
@@ -77,8 +84,13 @@ void FreshMpsocHandler::performDefaultDeviceOperation() {
     }
   }
 
-  if (mode == MODE_NORMAL and not activeCmdInfo.pending) {
+  // We checked the action queue beforehand, so action commands should always be performed
-    // TODO: Take care of regular periodic commanding here.
+  // before normal commands.
+  if (mode == MODE_NORMAL and not activeCmdInfo.pending and not specialComHelperExecuting) {
+    ReturnValue_t result = commandTcGetHkReport();
+    if (result == returnvalue::OK) {
+      commandInitHandling(mpsoc::TC_GET_HK_REPORT, MessageQueueIF::NO_QUEUE);
+    }
   }
 
   if (activeCmdInfo.pending and activeCmdInfo.cmdCountdown.hasTimedOut()) {
@@ -153,7 +165,6 @@ ReturnValue_t FreshMpsocHandler::initialize() {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
-  specialComHelper.setSequenceCount(&commandSequenceCount);
   result = commandActionHelper.initialize();
   if (result != returnvalue::OK) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
@@ -225,6 +236,11 @@ ReturnValue_t FreshMpsocHandler::checkModeCommand(Mode_t mode, Submode_t submode
       return HasModesIF::INVALID_SUBMODE;
     }
   }
+  if (submode == mpsoc::Submode::SNAPSHOT and
+      powerSwitcher.getSwitchState(camSwitchId) != PowerSwitchIF::SWITCH_ON) {
+    triggerEvent(mpsoc::CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE);
+    return HasModesIF::TRANS_NOT_ALLOWED;
+  }
   *msToReachTheMode = MPSOC_MODE_CMD_TIMEOUT_MS;
   return returnvalue::OK;
 }
@@ -265,11 +281,11 @@ ReturnValue_t FreshMpsocHandler::executeAction(ActionId_t actionId, MessageQueue
         return result;
       }
       result = specialComHelper.startFlashWrite(flashWritePusCmd.getObcFile(),
-                                                flashWritePusCmd.getMPSoCFile());
+                                                flashWritePusCmd.getMpsocFile());
       if (result != returnvalue::OK) {
         return result;
       }
-      specialComHelperExecuting = true;
+      commonSpecialComInit();
       return EXECUTION_FINISHED;
     }
     case mpsoc::TC_FLASH_READ_FULL_FILE: {
@@ -279,12 +295,15 @@ ReturnValue_t FreshMpsocHandler::executeAction(ActionId_t actionId, MessageQueue
         return result;
       }
       result = specialComHelper.startFlashRead(flashReadPusCmd.getObcFile(),
-                                               flashReadPusCmd.getMPSoCFile(),
+                                               flashReadPusCmd.getMpsocFile(),
                                                flashReadPusCmd.getReadSize());
       if (result != returnvalue::OK) {
         return result;
       }
-      specialComHelperExecuting = true;
+      sif::info << "PLOC MPSoC: Reading " << flashReadPusCmd.getMpsocFile() << " with size "
+                << flashReadPusCmd.getReadSize() << " to " << flashReadPusCmd.getObcFile()
+                << std::endl;
+      commonSpecialComInit();
       return EXECUTION_FINISHED;
     }
     case (mpsoc::OBSW_RESET_SEQ_COUNT_LEGACY): {
@@ -294,12 +313,15 @@ ReturnValue_t FreshMpsocHandler::executeAction(ActionId_t actionId, MessageQueue
     default:
       break;
   }
-  // For longer commands, do not set these.
-  // TODO: Do all the stuff the form buildDeviceFromDevice blah did.
   executeRegularCmd(actionId, commandedBy, data, size);
   return returnvalue::OK;
 }
 
+void FreshMpsocHandler::commonSpecialComInit() {
+  specialComHelperExecuting = true;
+  specialComHelper.setCommandSequenceCount(commandSequenceCount.get());
+}
+
 /**
  * @overload
  * @param submode
@@ -315,6 +337,10 @@ void FreshMpsocHandler::startTransition(Mode_t newMode, Submode_t submode) {
   } else if ((newMode == MODE_ON or newMode == MODE_NORMAL) &&
              ((mode == MODE_OFF) or (mode == MODE_UNDEFINED))) {
     transitionState = TransitionState::TO_ON;
+  } else if (mode == MODE_ON && newMode == MODE_NORMAL) {
+    hkReport.setReportingEnabled(true);
+  } else if (mode == MODE_NORMAL && newMode == MODE_ON) {
+    hkReport.setReportingEnabled(false);
   } else if (newMode == MODE_OFF) {
     transitionState = TransitionState::TO_OFF;
   }
@@ -350,7 +376,9 @@ void FreshMpsocHandler::handleTransitionToOn() {
   if (startupState == StartupState::DONE) {
     setMode(targetMode, targetSubmode);
     transitionState = TransitionState::NONE;
-    hkReport.setReportingEnabled(true);
+    if (targetMode == MODE_NORMAL) {
+      hkReport.setReportingEnabled(true);
+    }
     powerState = PowerState::IDLE;
     startupState = StartupState::IDLE;
   }
@@ -359,7 +387,7 @@ void FreshMpsocHandler::handleTransitionToOn() {
 void FreshMpsocHandler::handleTransitionToOff() {
   if (handleHwShutdown()) {
     hkReport.setReportingEnabled(false);
-    setMode(MODE_OFF);
+    setMode(MODE_OFF, 0);
     transitionState = TransitionState::NONE;
     activeCmdInfo.reset();
     powerState = PowerState::IDLE;
@@ -428,7 +456,7 @@ void FreshMpsocHandler::handleActionCommandFailure(ActionId_t actionId, ReturnVa
       if (actionId != supv::START_MPSOC) {
         return;
       }
-      sif::info << "PlocMPSoCHandler::handleActionCommandFailure: MPSoC boot command failed"
+      sif::info << "FreshMpsocHandler::handleActionCommandFailure: MPSoC boot command failed"
                 << std::endl;
       // This is commonly the case when the MPSoC is already operational. Thus the power state is
       // set to on here
@@ -476,6 +504,23 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
       result = commandTcMemRead(commandData, commandDataLen);
       break;
     }
+    case (mpsoc::TC_FLASHFOPEN): {
+      mpsoc::TcFlashFopen cmd(spParams, commandSequenceCount);
+      // C string constructor.
+      std::string filename = std::string(reinterpret_cast<const char*>(commandData));
+      if (filename.size() > mpsoc::MAX_FILENAME_SIZE) {
+        return mpsoc::NAME_TOO_LONG;
+      }
+      uint8_t mode = commandData[filename.size() + 2];
+      cmd.setPayload(filename, mode);
+      result = finishAndSendTc(actionId, cmd);
+      break;
+    }
+    case (mpsoc::TC_FLASHFCLOSE): {
+      mpsoc::TcFlashFclose cmd(spParams, commandSequenceCount);
+      result = finishAndSendTc(actionId, cmd);
+      break;
+    }
     case (mpsoc::TC_FLASHDELETE): {
       result = commandTcFlashDelete(commandData, commandDataLen);
       break;
@@ -518,6 +563,7 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
       }
       mpsoc::TcFlashMkfs cmd(spParams, commandSequenceCount,
                              static_cast<mpsoc::FlashId>(commandData[0]));
+      sif::info << "PLOC MPSoC: Formatting Flash " << (int)commandData[0] << std::endl;
       result = finishAndSendTc(actionId, cmd, mpsoc::CMD_TIMEOUT_MKFS);
       break;
     }
@@ -538,9 +584,16 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
       break;
     }
     case (mpsoc::TC_SIMPLEX_STREAM_FILE): {
+      if (submode != mpsoc::Submode::SNAPSHOT) {
+        return HasModesIF::INVALID_SUBMODE;
+      }
       result = commandTcSimplexStreamFile(commandData, commandDataLen);
       break;
     }
+    case (mpsoc::TC_SPLIT_FILE): {
+      result = commandTcSplitFile(commandData, commandDataLen);
+      break;
+    }
     case (mpsoc::TC_DOWNLINK_DATA_MODULATE): {
       result = commandTcDownlinkDataModulate(commandData, commandDataLen);
       break;
@@ -553,16 +606,20 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
   }
 
   if (result == returnvalue::OK) {
-    activeCmdInfo.start(actionId, commandedBy);
+    commandInitHandling(actionId, commandedBy);
-    /**
-     * Flushing the receive buffer to make sure there are no data left from a faulty reply.
-     */
-    comInterface.getComHelper().flushUartRxBuffer();
   }
 
   return result;
 }
 
+void FreshMpsocHandler::commandInitHandling(ActionId_t actionId, MessageQueueId_t commandedBy) {
+  activeCmdInfo.start(actionId, commandedBy);
+  /**
+   * Flushing the receive buffer to make sure there are no data left from a faulty reply.
+   */
+  comInterface.getComHelper().flushUartRxBuffer();
+}
+
 ReturnValue_t FreshMpsocHandler::commandTcMemWrite(const uint8_t* commandData,
                                                    size_t commandDataLen) {
   ReturnValue_t result = returnvalue::OK;
@@ -590,7 +647,7 @@ ReturnValue_t FreshMpsocHandler::commandTcMemRead(const uint8_t* commandData,
 
 ReturnValue_t FreshMpsocHandler::commandTcFlashDelete(const uint8_t* commandData,
                                                       size_t commandDataLen) {
-  if (commandDataLen > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
+  if (commandDataLen > mpsoc::FILENAME_FIELD_SIZE) {
     return mpsoc::NAME_TOO_LONG;
   }
   ReturnValue_t result = returnvalue::OK;
@@ -687,6 +744,15 @@ ReturnValue_t FreshMpsocHandler::commandTcCamTakePic(const uint8_t* commandData,
   if (result != returnvalue::OK) {
     return result;
   }
+  sif::info << "PLOC MPSoC Take Picture Command" << std::endl;
+  sif::info << "filename: " << tcCamTakePic.fileName << std::endl;
+  sif::info << "encoder [Y, Cb, Cr]: [" << (int)tcCamTakePic.encoderSettingY << ", "
+            << (int)tcCamTakePic.encoderSettingsCb << ", " << (int)tcCamTakePic.encoderSettingsCr
+            << "]" << std::endl;
+  sif::info << "quantization [Y, Cb, Cr]: [" << tcCamTakePic.quantizationY << ", "
+            << tcCamTakePic.quantizationCb << ", " << tcCamTakePic.quantizationCr << "]"
+            << std::endl;
+  sif::info << "bypass compressor: " << (int)tcCamTakePic.bypassCompressor << std::endl;
   finishAndSendTc(mpsoc::TC_CAM_TAKE_PIC, tcCamTakePic);
   return returnvalue::OK;
 }
@@ -702,14 +768,14 @@ ReturnValue_t FreshMpsocHandler::commandTcSimplexStreamFile(const uint8_t* comma
   return returnvalue::OK;
 }
 
-ReturnValue_t FreshMpsocHandler::commandTcSimplexStoreFile(const uint8_t* commandData,
+ReturnValue_t FreshMpsocHandler::commandTcSplitFile(const uint8_t* commandData,
-                                                           size_t commandDataLen) {
+                                                    size_t commandDataLen) {
-  mpsoc::TcSimplexStoreFile tcSimplexStoreFile(spParams, commandSequenceCount);
+  mpsoc::TcSplitFile tcSplitFile(spParams, commandSequenceCount);
-  ReturnValue_t result = tcSimplexStoreFile.setPayload(commandData, commandDataLen);
+  ReturnValue_t result = tcSplitFile.setPayload(commandData, commandDataLen);
   if (result != returnvalue::OK) {
     return result;
   }
-  finishAndSendTc(mpsoc::TC_SIMPLEX_STORE_FILE, tcSimplexStoreFile);
+  finishAndSendTc(mpsoc::TC_SPLIT_FILE, tcSplitFile);
   return returnvalue::OK;
 }
 
@@ -743,18 +809,18 @@ ReturnValue_t FreshMpsocHandler::commandTcModeSnapshot() {
 
 ReturnValue_t FreshMpsocHandler::finishAndSendTc(DeviceCommandId_t cmdId, mpsoc::TcBase& tcBase,
                                                  uint32_t cmdCountdownMs) {
+  // Emit warning but still send command.
+  if (specialComHelperExecuting) {
+    sif::warning << "PLOC MPSoC: Sending command even though special COM helper is executing"
+                 << std::endl;
+  }
   ReturnValue_t result = tcBase.finishPacket();
   if (result != returnvalue::OK) {
     return result;
   }
-  // TODO: We should find a way so this works with the old implementation.
   commandSequenceCount++;
 
-  if (MPSOC_TX_WIRETAPPING) {
+  mpsoc::printTxPacket(tcBase);
-    sif::debug << "SEND MPSOC packet. APID 0x" << std::hex << std::setw(3) << tcBase.getApid()
-               << " Size " << std::dec << tcBase.getFullPacketLen() << " SSC "
-               << tcBase.getSeqCount() << std::endl;
-  }
   activeCmdInfo.cmdCountdown.setTimeout(cmdCountdownMs);
   activeCmdInfo.cmdCountdown.resetTimer();
   activeCmdInfo.pending = true;
@@ -764,11 +830,10 @@ ReturnValue_t FreshMpsocHandler::finishAndSendTc(DeviceCommandId_t cmdId, mpsoc:
 }
 
 void FreshMpsocHandler::handleEvent(EventMessage* eventMessage) {
-  // TODO: Shouldn't we check for specific events?
   object_id_t objectId = eventMessage->getReporter();
   switch (objectId) {
-    case objects::PLOC_MPSOC_HANDLER: {
+    case objects::PLOC_MPSOC_HELPER: {
-      specialComHelperExecuting = false;
+      commonSpecialComStop();
       break;
     }
     default:
@@ -776,6 +841,10 @@ void FreshMpsocHandler::handleEvent(EventMessage* eventMessage) {
       break;
   }
 }
+void FreshMpsocHandler::commonSpecialComStop() {
+  specialComHelperExecuting = false;
+  commandSequenceCount.set(specialComHelper.getCommandSequenceCount());
+}
 
 void FreshMpsocHandler::cmdDoneHandler(bool success, ReturnValue_t result) {
   if (transitionState == TransitionState::SUBMODE) {
@@ -796,17 +865,11 @@ void FreshMpsocHandler::cmdDoneHandler(bool success, ReturnValue_t result) {
 ReturnValue_t FreshMpsocHandler::handleDeviceReply() {
   ReturnValue_t result = returnvalue::OK;
 
-  // SpacePacketReader spacePacket;
+  const auto& replyReader = comInterface.getSpReader();
-  // spacePacket.setReadOnlyData(start, remainingSize);
-  auto& replyReader = comInterface.getSpReader();
   if (replyReader.isNull()) {
     return returnvalue::FAILED;
   }
-  if (MPSOC_RX_WIRETAPPING) {
+  mpsoc::printRxPacket(replyReader);
-    sif::debug << "RECV MPSOC packet. APID 0x" << std::hex << std::setw(3) << replyReader.getApid()
-               << std::dec << " Size " << replyReader.getFullPacketLen() << " SSC "
-               << replyReader.getSequenceCount() << std::endl;
-  }
   uint16_t apid = replyReader.getApid();
 
   switch (apid) {
@@ -853,15 +916,14 @@ ReturnValue_t FreshMpsocHandler::handleDeviceReply() {
     default: {
       sif::debug << "FreshMpsocHandler:: Reply has invalid APID 0x" << std::hex << std::setfill('0')
                  << std::setw(2) << apid << std::dec << std::endl;
-      //*foundLen = remainingSize;
       return mpsoc::INVALID_APID;
     }
   }
 
-  // TODO: We should implement some way so this can also be used with the former implementation.
   uint16_t sequenceCount = replyReader.getSequenceCount();
   if (sequenceCount != lastReplySequenceCount + 1) {
-    // TODO: Trigger event for possible missing reply packet to inform operator.
+    // We could trigger event for possible missing reply packet to inform operator, but I don't
+    // think this is properly implemented and used on the MPSoC side anymore.
   }
   lastReplySequenceCount = sequenceCount;
 
@@ -916,7 +978,6 @@ ReturnValue_t FreshMpsocHandler::handleAckReport() {
 
   switch (replyReader.getApid()) {
     case mpsoc::apid::ACK_FAILURE: {
-      // DeviceCommandId_t commandId = getPendingCommand();
       uint16_t status = mpsoc::getStatusFromRawData(replyReader.getFullData());
       sif::warning << "MPSoC ACK Failure: " << mpsoc::getStatusString(status) << std::endl;
       triggerEvent(mpsoc::ACK_FAILURE, activeCmdInfo.pendingCmd, status);
@@ -1163,6 +1224,7 @@ bool FreshMpsocHandler::handleHwStartup() {
   if (powerState == PowerState::SUPV_FAILED) {
     setMode(MODE_OFF);
     powerState = PowerState::IDLE;
+    transitionState = TransitionState::NONE;
     return false;
   }
   if (powerState == PowerState::PENDING_STARTUP) {
@@ -1200,7 +1262,9 @@ bool FreshMpsocHandler::handleHwShutdown() {
       supvTransitionCd.resetTimer();
       powerState = PowerState::PENDING_SHUTDOWN;
     } else {
-      triggerEvent(mpsoc::SUPV_NOT_ON, 0);
+      if ((this->mode != MODE_OFF) and (this->mode != MODE_UNDEFINED)) {
+        triggerEvent(mpsoc::SUPV_NOT_ON, 0);
+      }
       powerState = PowerState::DONE;
     }
   }

linux/payload/FreshMpsocHandler.h

@@ -1,3 +1,4 @@
+#include "fsfw/action/ActionMessage.h"
 #include "fsfw/action/CommandsActionsIF.h"
 #include "fsfw/devicehandlers/DeviceHandlerIF.h"
 #include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
@@ -5,15 +6,14 @@
 #include "fsfw/ipc/messageQueueDefinitions.h"
 #include "fsfw/modes/ModeMessage.h"
 #include "fsfw/objectmanager/SystemObjectIF.h"
+#include "fsfw/power/PowerSwitchIF.h"
+#include "fsfw/power/definitions.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw_hal/linux/gpio/Gpio.h"
 #include "linux/payload/MpsocCommunication.h"
 #include "linux/payload/PlocMpsocSpecialComHelper.h"
 #include "linux/payload/plocMpsocHelpers.h"
 
-static constexpr bool MPSOC_TX_WIRETAPPING = true;
-static constexpr bool MPSOC_RX_WIRETAPPING = true;
-
 class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsIF {
  public:
   enum OpCode { DEFAULT_OPERATION = 0, PARSE_TM = 1 };
@@ -21,7 +21,8 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI
 
   FreshMpsocHandler(DhbConfig cfg, MpsocCommunication& comInterface,
                     PlocMpsocSpecialComHelper& specialComHelper, Gpio uartIsolatorSwitch,
-                    object_id_t supervisorHandler);
+                    object_id_t supervisorHandler, PowerSwitchIF& powerSwitcher,
+                    power::Switch_t camSwitchId);
 
   /**
    * Periodic helper executed function, implemented by child class.
@@ -131,6 +132,8 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI
   TmMemReadReport tmMemReadReport;
   uint32_t lastReplySequenceCount = 0;
   uint8_t skipSupvCommandingToOn = false;
+  PowerSwitchIF& powerSwitcher;
+  power::Switch_t camSwitchId;
 
   // HK manager abstract functions.
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
@@ -184,7 +187,7 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI
   ReturnValue_t commandTcModeIdle();
   ReturnValue_t commandTcCamTakePic(const uint8_t* commandData, size_t commandDataLen);
   ReturnValue_t commandTcSimplexStreamFile(const uint8_t* commandData, size_t commandDataLen);
-  ReturnValue_t commandTcSimplexStoreFile(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t commandTcSplitFile(const uint8_t* commandData, size_t commandDataLen);
   ReturnValue_t commandTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen);
   ReturnValue_t commandTcModeSnapshot();
 
@@ -203,4 +206,7 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI
 
   void stopSpecialComHelper();
   void commandSubmodeTransition();
+  void commonSpecialComInit();
+  void commonSpecialComStop();
+  void commandInitHandling(ActionId_t actionId, MessageQueueId_t commandedBy);
 };

linux/payload/FreshSupvHandler.cpp

@@ -241,6 +241,10 @@ ReturnValue_t FreshSupvHandler::executeAction(ActionId_t actionId, MessageQueueI
       uartManager->initiateUpdateContinuation();
       return EXECUTION_FINISHED;
     }
+    case ABORT_LONGER_REQUEST: {
+      uartManager->stop();
+      return EXECUTION_FINISHED;
+    }
     case MEMORY_CHECK_WITH_FILE: {
       UpdateParams params;
       result = extractBaseParams(&data, size, params);
@@ -849,6 +853,10 @@ ReturnValue_t FreshSupvHandler::prepareWipeMramCmd(const uint8_t* commandData, s
 ReturnValue_t FreshSupvHandler::parseTmPackets() {
   uint8_t* receivedData = nullptr;
   size_t receivedSize = 0;
+  // We do not want to steal packets from the long request handler.
+  if (uartManager->longerRequestActive()) {
+    return returnvalue::OK;
+  }
   while (true) {
     ReturnValue_t result =
         uartManager->readReceivedMessage(comCookie, &receivedData, &receivedSize);

linux/payload/MpsocCommunication.cpp

@@ -13,6 +13,9 @@ MpsocCommunication::MpsocCommunication(object_id_t objectId, SerialConfig cfg)
 ReturnValue_t MpsocCommunication::initialize() { return helper.initialize(); }
 
 ReturnValue_t MpsocCommunication::send(const uint8_t* data, size_t dataLen) {
+  if (MPSOC_LOW_LEVEL_TX_WIRETAPPING) {
+    sif::debug << "SEND MPSOC packet with size " << dataLen << std::endl;
+  }
   return helper.send(data, dataLen);
 }
 
@@ -27,7 +30,7 @@ ReturnValue_t MpsocCommunication::parseAndRetrieveNextPacket() {
     return returnvalue::OK;
   }
   readRingBuf.readData(readBuf, availableReadData);
-  spReader.setReadOnlyData(readBuf, availableReadData);
+  spReader.setReadOnlyData(readBuf, sizeof(readBuf));
   auto res = spReader.checkSize();
   if (res != returnvalue::OK) {
     return res;

linux/payload/MpsocCommunication.h

@@ -9,7 +9,8 @@
 #include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
 #include "linux/payload/SerialCommunicationHelper.h"
 
-static constexpr bool MPSOC_LOW_LEVEL_RX_WIRETAPPING = true;
+static constexpr bool MPSOC_LOW_LEVEL_TX_WIRETAPPING = false;
+static constexpr bool MPSOC_LOW_LEVEL_RX_WIRETAPPING = false;
 
 class MpsocCommunication : public SystemObject {
  public:

linux/payload/PlocMpsocSpecialComHelper.cpp

@@ -6,14 +6,16 @@
 #include <filesystem>
 #include <fstream>
 
+#include "fsfw/serviceinterface/ServiceInterfacePrinter.h"
+#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
 #include "linux/payload/MpsocCommunication.h"
+#include "linux/payload/plocMpsocHelpers.h"
 
 #ifdef XIPHOS_Q7S
 #include "bsp_q7s/fs/FilesystemHelper.h"
 #endif
 
-#include "mission/utility/Timestamp.h"
-
 using namespace ploc;
 
 PlocMpsocSpecialComHelper::PlocMpsocSpecialComHelper(object_id_t objectId,
@@ -51,9 +53,9 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
       case InternalState::FLASH_WRITE: {
         result = performFlashWrite();
         if (result == returnvalue::OK) {
-          triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, sequenceCount->get());
+          triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, txSequenceCount.get());
         } else {
-          triggerEvent(MPSOC_FLASH_WRITE_FAILED, sequenceCount->get());
+          triggerEvent(MPSOC_FLASH_WRITE_FAILED, txSequenceCount.get());
         }
         internalState = InternalState::IDLE;
         break;
@@ -61,9 +63,10 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
       case InternalState::FLASH_READ: {
         result = performFlashRead();
         if (result == returnvalue::OK) {
-          triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, sequenceCount->get());
+          triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, txSequenceCount.get());
         } else {
-          triggerEvent(MPSOC_FLASH_READ_FAILED, sequenceCount->get());
+          sif::printWarning("PLOC MPSoC Helper: Flash read failed with code %04x\n", result);
+          triggerEvent(MPSOC_FLASH_READ_FAILED, txSequenceCount.get(), result);
         }
         internalState = InternalState::IDLE;
         break;
@@ -75,8 +78,12 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
   }
 }
 
-void PlocMpsocSpecialComHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
+void PlocMpsocSpecialComHelper::setCommandSequenceCount(uint16_t sequenceCount_) {
-  sequenceCount = sequenceCount_;
+  txSequenceCount.set(sequenceCount_);
+}
+
+uint16_t PlocMpsocSpecialComHelper::getCommandSequenceCount() const {
+  return txSequenceCount.get();
 }
 
 ReturnValue_t PlocMpsocSpecialComHelper::startFlashWrite(std::string obcFile,
@@ -148,7 +155,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
     file.read(reinterpret_cast<char*>(fileBuf.data()), dataLength);
     bytesRead += dataLength;
     remainingSize -= dataLength;
-    mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
+    mpsoc::TcFlashWrite tc(spParams, txSequenceCount);
     result = tc.setPayload(fileBuf.data(), dataLength);
     if (result != returnvalue::OK) {
       return result;
@@ -157,7 +164,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
     if (result != returnvalue::OK) {
       return result;
     }
-    (*sequenceCount)++;
+    txSequenceCount.increment();
     result = handlePacketTransmissionNoReply(tc);
     if (result != returnvalue::OK) {
       return result;
@@ -172,8 +179,12 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
 
 ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
   std::error_code e;
-  std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::trunc | std::ios::binary);
+  if (std::filesystem::exists(flashReadAndWrite.obcFile)) {
-  if (ofile.bad()) {
+    // Truncate the file first.
+    std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::binary | std::ios::trunc);
+  }
+  std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::binary | std::ios::app);
+  if (ofile.bad() or not ofile.is_open()) {
     return returnvalue::FAILED;
   }
   ReturnValue_t result = flashfopen(mpsoc::FileAccessModes::READ);
@@ -196,7 +207,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
       std::filesystem::remove(flashReadAndWrite.obcFile, e);
       return FILE_READ_ERROR;
     }
-    mpsoc::TcFlashRead flashReadRequest(spParams, *sequenceCount);
+    mpsoc::TcFlashRead flashReadRequest(spParams, txSequenceCount);
     result = flashReadRequest.setPayload(nextReadSize);
     if (result != returnvalue::OK) {
       std::filesystem::remove(flashReadAndWrite.obcFile, e);
@@ -207,7 +218,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
       std::filesystem::remove(flashReadAndWrite.obcFile, e);
       return result;
     }
-    (*sequenceCount)++;
+    txSequenceCount.increment();
     result = handlePacketTransmissionFlashRead(flashReadRequest, ofile, nextReadSize);
     if (result != returnvalue::OK) {
       std::filesystem::remove(flashReadAndWrite.obcFile, e);
@@ -224,7 +235,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
 
 ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
   spParams.buf = commandBuffer;
-  mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
+  mpsoc::TcFlashFopen flashFopen(spParams, txSequenceCount);
   ReturnValue_t result = flashFopen.setPayload(flashReadAndWrite.mpsocFile, mode);
   if (result != returnvalue::OK) {
     return result;
@@ -233,7 +244,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
   if (result != returnvalue::OK) {
     return result;
   }
-  (*sequenceCount)++;
+  txSequenceCount.increment();
   result = handlePacketTransmissionNoReply(flashFopen);
   if (result != returnvalue::OK) {
     return result;
@@ -243,12 +254,12 @@ ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
 
 ReturnValue_t PlocMpsocSpecialComHelper::flashfclose() {
   spParams.buf = commandBuffer;
-  mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
+  mpsoc::TcFlashFclose flashFclose(spParams, txSequenceCount);
   ReturnValue_t result = flashFclose.finishPacket();
   if (result != returnvalue::OK) {
     return result;
   }
-  (*sequenceCount)++;
+  txSequenceCount.increment();
   result = handlePacketTransmissionNoReply(flashFclose);
   if (result != returnvalue::OK) {
     return result;
@@ -271,6 +282,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc
   if (result != returnvalue::OK) {
     return result;
   }
+  auto& spReader = comInterface.getSpReader();
 
   // We have the nominal case where the flash read report appears first, or the case where we
   // get an EXE failure immediately.
@@ -281,7 +293,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc
     }
     return handleExe();
   } else if (spReader.getApid() == mpsoc::apid::EXE_FAILURE) {
-    handleExeFailure();
+    handleExeFailure(spReader);
   } else {
     triggerEvent(MPSOC_EXE_INVALID_APID, spReader.getApid(), static_cast<uint32_t>(internalState));
     sif::warning << "PLOC MPSoC: Expected execution report "
@@ -305,6 +317,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionNoReply(ploc::S
 
 ReturnValue_t PlocMpsocSpecialComHelper::sendCommand(ploc::SpTcBase& tc) {
   ReturnValue_t result = comInterface.send(tc.getFullPacket(), tc.getFullPacketLen());
+  mpsoc::printTxPacket(tc);
   if (result != returnvalue::OK) {
     sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
     triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
@@ -323,6 +336,8 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleAck() {
   if (result != returnvalue::OK) {
     return result;
   }
+  const auto& spReader = comInterface.getSpReader();
+
   uint16_t apid = spReader.getApid();
   if (apid != mpsoc::apid::ACK_SUCCESS) {
     handleAckApidFailure(spReader);
@@ -331,7 +346,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleAck() {
   return returnvalue::OK;
 }
 
-void PlocMpsocSpecialComHelper::handleAckApidFailure(const ploc::SpTmReader& reader) {
+void PlocMpsocSpecialComHelper::handleAckApidFailure(const SpacePacketReader& reader) {
   uint16_t apid = reader.getApid();
   if (apid == mpsoc::apid::ACK_FAILURE) {
     uint16_t status = mpsoc::getStatusFromRawData(reader.getFullData());
@@ -355,9 +370,10 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleExe() {
   if (result != returnvalue::OK) {
     return result;
   }
+  const auto& spReader = comInterface.getSpReader();
   uint16_t apid = spReader.getApid();
   if (apid == mpsoc::apid::EXE_FAILURE) {
-    handleExeFailure();
+    handleExeFailure(spReader);
     return returnvalue::FAILED;
   } else if (apid != mpsoc::apid::EXE_SUCCESS) {
     triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
@@ -367,7 +383,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleExe() {
   return returnvalue::OK;
 }
 
-void PlocMpsocSpecialComHelper::handleExeFailure() {
+void PlocMpsocSpecialComHelper::handleExeFailure(const SpacePacketReader& spReader) {
   uint16_t status = mpsoc::getStatusFromRawData(spReader.getFullData());
   sif::warning << "PLOC MPSoC EXE Failure: " << mpsoc::getStatusString(status) << std::endl;
   triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
@@ -376,46 +392,32 @@ void PlocMpsocSpecialComHelper::handleExeFailure() {
 ReturnValue_t PlocMpsocSpecialComHelper::handleTmReception() {
   ReturnValue_t result = returnvalue::OK;
   tmCountdown.resetTimer();
-  size_t readBytes = 0;
-  size_t currentBytes = 0;
   uint32_t usleepDelay = 5;
-  size_t fullPacketLen = 0;
   while (true) {
     if (tmCountdown.hasTimedOut()) {
       triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
       return returnvalue::FAILED;
     }
-    result = receive(tmBuf.data() + readBytes, 6, &currentBytes);
+    result = tryReceiveNextReply();
+    if (result == MpsocCommunication::PACKET_RECEIVED) {
+      // Need to convert this, we are faking a synchronous API here.
+      result = returnvalue::OK;
+      break;
+    }
     if (result != returnvalue::OK) {
+      if (result == MpsocCommunication::FAULTY_PACKET_SIZE) {
+        sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed: faulty packet size\n");
+      } else if (result == MpsocCommunication::CRC_CHECK_FAILED) {
+        sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed: CRC check failed\n");
+      }
+      sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed with code %d\n", result);
       return result;
     }
-    spReader.setReadOnlyData(tmBuf.data(), tmBuf.size());
-    fullPacketLen = spReader.getFullPacketLen();
-    readBytes += currentBytes;
-    if (readBytes == 6) {
-      break;
-    }
     usleep(usleepDelay);
     if (usleepDelay < 200000) {
       usleepDelay *= 4;
     }
   }
-  while (true) {
-    if (tmCountdown.hasTimedOut()) {
-      triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
-      return returnvalue::FAILED;
-    }
-    result = receive(tmBuf.data() + readBytes, fullPacketLen - readBytes, &currentBytes);
-    readBytes += currentBytes;
-    if (fullPacketLen == readBytes) {
-      break;
-    }
-    usleep(usleepDelay);
-    if (usleepDelay < 200000) {
-      usleepDelay *= 4;
-    }
-  }
-  // arrayprinter::print(tmBuf.data(), readBytes);
   return result;
 }
 
@@ -425,6 +427,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleFlashReadReply(std::ofstream& ofi
   if (result != returnvalue::OK) {
     return result;
   }
+  auto& spReader = comInterface.getSpReader();
   uint16_t apid = spReader.getApid();
   if (apid != mpsoc::apid::TM_FLASH_READ_REPORT) {
     triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_APID_ERROR);
@@ -490,25 +493,19 @@ ReturnValue_t PlocMpsocSpecialComHelper::startFlashReadOrWriteBase(std::string o
 }
 
 ReturnValue_t PlocMpsocSpecialComHelper::checkReceivedTm() {
+  const auto& spReader = comInterface.getSpReader();
   ReturnValue_t result = spReader.checkSize();
   if (result != returnvalue::OK) {
     sif::error << "PLOC MPSoC: Size check on received TM failed" << std::endl;
     triggerEvent(MPSOC_TM_SIZE_ERROR);
     return result;
   }
-  // No CRC check, this is already done by the communication interface..
+  rxSequenceCount = spReader.getSequenceCount();
-  uint16_t recvSeqCnt = spReader.getSequenceCount();
+  mpsoc::printRxPacket(spReader);
-  if (recvSeqCnt != *sequenceCount) {
-    triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
-    *sequenceCount = recvSeqCnt;
-  }
-  // This sequence count ping pong does not make any sense but it is how the MPSoC expects it.
-  (*sequenceCount)++;
   return returnvalue::OK;
 }
 
-ReturnValue_t PlocMpsocSpecialComHelper::receive(uint8_t* data, size_t requestBytes,
+ReturnValue_t PlocMpsocSpecialComHelper::tryReceiveNextReply() {
-                                                 size_t* readBytes) {
   ReturnValue_t result = returnvalue::OK;
   result = comInterface.readSerialInterface();
   if (result != returnvalue::OK) {
@@ -516,11 +513,5 @@ ReturnValue_t PlocMpsocSpecialComHelper::receive(uint8_t* data, size_t requestBy
                  static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
     return returnvalue::FAILED;
   }
-  result = comInterface.parseAndRetrieveNextPacket();
+  return comInterface.parseAndRetrieveNextPacket();
-  if (result == MpsocCommunication::PACKET_RECEIVED) {
-    auto& spReader = comInterface.getSpReader();
-    // Maybe unnecessary copy, but the easiest way to get this done for now..
-    std::memcpy(data, spReader.getFullData(), spReader.getFullPacketLen());
-  }
-  return result;
 }

linux/payload/PlocMpsocSpecialComHelper.h

@@ -10,6 +10,7 @@
 #include "fsfw/osal/linux/BinarySemaphore.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
 #include "fsfw/tmtcservices/SourceSequenceCounter.h"
 #include "linux/payload/MpsocCommunication.h"
 #ifdef XIPHOS_Q7S
@@ -113,7 +114,8 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
   /**
    * @brief   Sets the sequence count object responsible for the sequence count handling
    */
-  void setSequenceCount(SourceSequenceCounter* sequenceCount_);
+  void setCommandSequenceCount(uint16_t sequenceCount_);
+  uint16_t getCommandSequenceCount() const;
 
  private:
   static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HELPER;
@@ -169,8 +171,9 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
   // CookieIF* comCookie = nullptr;
   MpsocCommunication& comInterface;
   // Sequence count, must be set by Ploc MPSoC Handler
-  SourceSequenceCounter* sequenceCount = nullptr;
+  // ploc::SpTmReader spReader;
-  ploc::SpTmReader spReader;
+  uint16_t rxSequenceCount = 0;
+  SourceSequenceCounter txSequenceCount = 0;
 
   void resetHelper();
   ReturnValue_t performFlashWrite();
@@ -182,13 +185,13 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
                                                   size_t expectedReadLen);
   ReturnValue_t handleFlashReadReply(std::ofstream& ofile, size_t expectedReadLen);
   ReturnValue_t sendCommand(ploc::SpTcBase& tc);
-  ReturnValue_t receive(uint8_t* data, size_t requestBytes, size_t* readBytes);
+  ReturnValue_t tryReceiveNextReply();
   ReturnValue_t handleAck();
   ReturnValue_t handleExe();
   ReturnValue_t startFlashReadOrWriteBase(std::string obcFile, std::string mpsocFile);
   ReturnValue_t fileCheck(std::string obcFile);
-  void handleAckApidFailure(const ploc::SpTmReader& reader);
+  void handleAckApidFailure(const SpacePacketReader& reader);
-  void handleExeFailure();
+  void handleExeFailure(const SpacePacketReader& reader);
   ReturnValue_t handleTmReception();
   ReturnValue_t checkReceivedTm();
 };

linux/payload/PlocSupvUartMan.cpp

@@ -11,6 +11,8 @@
 #include <fstream>
 
 #include "OBSWConfig.h"
+#include "fsfw/returnvalues/returnvalue.h"
+#include "linux/payload/plocSupvDefs.h"
 #include "tas/hdlc.h"
 #ifdef XIPHOS_Q7S
 #include "bsp_q7s/fs/FilesystemHelper.h"
@@ -21,9 +23,13 @@
 
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/timemanager/Countdown.h"
+
+#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
 #include "mission/utility/Filenaming.h"
 #include "mission/utility/ProgressPrinter.h"
 #include "mission/utility/Timestamp.h"
+#endif
+
 #include "tas/crc.h"
 
 using namespace returnvalue;
@@ -277,23 +283,6 @@ ReturnValue_t PlocSupvUartManager::initiateUpdateContinuation() {
   return returnvalue::OK;
 }
 
-// ReturnValue_t PlocSupvHelper::startEventBufferRequest(std::string path) {
-// #ifdef XIPHOS_Q7S
-//   ReturnValue_t result = FilesystemHelper::checkPath(path);
-//   if (result != returnvalue::OK) {
-//     return result;
-//   }
-// #endif
-//   if (not std::filesystem::exists(path)) {
-//     return PATH_NOT_EXISTS;
-//   }
-//   eventBufferReq.path = path;
-//   request = Request::REQUEST_EVENT_BUFFER;
-//   //uartComIF->flushUartTxAndRxBuf(comCookie);
-//   semaphore->release();
-//   return returnvalue::OK;
-// }
-
 void PlocSupvUartManager::stop() {
   MutexGuard mg(lock);
   if (state == InternalState::SLEEPING or state == InternalState::GO_TO_SLEEP) {
@@ -437,6 +426,8 @@ ReturnValue_t PlocSupvUartManager::writeUpdatePackets() {
         // Useful to allow restarting the update
         triggerEvent(SUPV_UPDATE_PROGRESS, buildProgParams1(progPercent, update.sequenceCount),
                      update.bytesWritten);
+        sif::info << "PLOC SUPV update progress " << (int)progPercent << " % at "
+                  << update.bytesWritten << " bytes" << std::endl;
       }
     }
     supv::WriteMemory packet(spParams);
@@ -447,10 +438,8 @@ ReturnValue_t PlocSupvUartManager::writeUpdatePackets() {
                    update.bytesWritten);
       return result;
     }
-    result = handlePacketTransmissionNoReply(packet, 5000);
+    result = writeMemoryHandlingWithRetryLogic(packet, progPercent);
     if (result != returnvalue::OK) {
-      triggerEvent(WRITE_MEMORY_FAILED, buildProgParams1(progPercent, update.sequenceCount),
-                   update.bytesWritten);
       return result;
     }
 
@@ -461,7 +450,25 @@ ReturnValue_t PlocSupvUartManager::writeUpdatePackets() {
 #if OBSW_DEBUG_PLOC_SUPERVISOR == 1
     progressPrinter.print(update.bytesWritten);
 #endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
-    // TaskFactory::delayTask(1);
+  }
+  return result;
+}
+
+ReturnValue_t PlocSupvUartManager::writeMemoryHandlingWithRetryLogic(supv::WriteMemory& packet,
+                                                                     unsigned progPercent) {
+  ReturnValue_t result = returnvalue::OK;
+  // Simple re-try logic in place to deal with communication unreliability in orbit.
+  for (uint8_t retryCount = 0; retryCount < MAX_RETRY_COUNT; retryCount++) {
+    result = handlePacketTransmissionNoReply(packet, COM_TIMEOUT_MS);
+    if (result == returnvalue::OK) {
+      return result;
+    }
+    triggerEvent(WRITE_MEMORY_FAILED, buildProgParams1(progPercent, update.sequenceCount),
+                 update.bytesWritten);
+    // Clear data structures related to reply handling.
+    serial::flushTxRxBuf(serialPort);
+    recRingBuf.clear();
+    decodedRingBuf.clear();
   }
   return result;
 }
@@ -570,7 +577,16 @@ ReturnValue_t PlocSupvUartManager::handlePacketTransmissionNoReply(
   bool ackReceived = false;
   bool packetWasHandled = false;
   while (true) {
-    handleUartReception();
+    ReturnValue_t status = handleUartReception();
+    if (status != returnvalue::OK) {
+      result = status;
+      if (result == HDLC_ERROR) {
+        // We could bail here immediately.. but I prefer to wait for the timeout, because we should
+        // ensure that all packets which might be related to the transfer are still received and
+        // cleared from all data structures related to reply handling.
+        // return result;
+      }
+    }
     if (not decodedQueue.empty()) {
       size_t packetLen = 0;
       decodedQueue.retrieve(&packetLen);
@@ -613,7 +629,7 @@ ReturnValue_t PlocSupvUartManager::handlePacketTransmissionNoReply(
       return result::NO_REPLY_TIMEOUT;
     }
   }
-  return returnvalue::OK;
+  return result;
 }
 
 int PlocSupvUartManager::handleAckReception(supv::TcBase& tc, size_t packetLen) {

linux/payload/PlocSupvUartMan.h

@@ -118,6 +118,7 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
   static constexpr Event HDLC_FRAME_REMOVAL_ERROR = MAKE_EVENT(31, severity::INFO);
   static constexpr Event HDLC_CRC_ERROR = MAKE_EVENT(32, severity::INFO);
 
+  static constexpr unsigned MAX_RETRY_COUNT = 3;
   PlocSupvUartManager(object_id_t objectId);
   virtual ~PlocSupvUartManager();
   /**
@@ -199,6 +200,8 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
   static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS_CONSECUTIVE_END = returnvalue::makeCode(1, 4);
   static constexpr ReturnValue_t HDLC_ERROR = returnvalue::makeCode(1, 5);
 
+  static constexpr uint32_t COM_TIMEOUT_MS = 3000;
+
   static const uint16_t CRC16_INIT = 0xFFFF;
   // Event buffer reply will carry 24 space packets with 1016 bytes and one space packet with
   // 192 bytes
@@ -369,6 +372,8 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
    */
   ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
 
+  ReturnValue_t writeMemoryHandlingWithRetryLogic(supv::WriteMemory& packet, unsigned progPercent);
+
   void performUartShutdown();
   void updateVtime(uint8_t vtime);
 };

linux/payload/plocMpsocHelpers.cpp

@@ -1,5 +1,8 @@
 #include "plocMpsocHelpers.h"
 
+#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
+#include "mission/payload/plocSpBase.h"
+
 uint16_t mpsoc::getStatusFromRawData(const uint8_t* data) {
   return (*(data + STATUS_OFFSET) << 8) | *(data + STATUS_OFFSET + 1);
 }
@@ -13,6 +16,10 @@ std::string mpsoc::getStatusString(uint16_t status) {
       return "Incorrect length";
       break;
     }
+    case (mpsoc::statusCode::FLASH_DRIVE_ERROR): {
+      return "flash drive error";
+      break;
+    }
     case (mpsoc::statusCode::INCORRECT_CRC): {
       return "Incorrect crc";
       break;
@@ -93,3 +100,19 @@ std::string mpsoc::getStatusString(uint16_t status) {
   }
   return "";
 }
+
+void mpsoc::printRxPacket(const SpacePacketReader& spReader) {
+  if (mpsoc::MPSOC_RX_WIRETAPPING) {
+    sif::debug << "RECV MPSOC packet. APID 0x" << std::hex << std::setw(3) << spReader.getApid()
+               << std::dec << " Size " << spReader.getFullPacketLen() << " SSC "
+               << spReader.getSequenceCount() << std::endl;
+  }
+}
+
+void mpsoc::printTxPacket(const ploc::SpTcBase& tcBase) {
+  if (mpsoc::MPSOC_TX_WIRETAPPING) {
+    sif::debug << "SEND MPSOC packet. APID 0x" << std::hex << std::setw(3) << tcBase.getApid()
+               << " Size " << std::dec << tcBase.getFullPacketLen() << " SSC "
+               << tcBase.getSeqCount() << std::endl;
+  }
+}

linux/payload/plocMpsocHelpers.h

@@ -5,20 +5,65 @@
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <mission/payload/plocSpBase.h>
 
-#include "eive/definitions.h"
 #include "eive/eventSubsystemIds.h"
 #include "eive/resultClassIds.h"
 #include "fsfw/action/HasActionsIF.h"
+#include "fsfw/events/Event.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serialize/SerializeIF.h"
 
 namespace mpsoc {
 
+static constexpr bool MPSOC_TX_WIRETAPPING = false;
+static constexpr bool MPSOC_RX_WIRETAPPING = false;
+
+static constexpr size_t CRC_SIZE = 2;
+
+/**
+ * @brief   Abstract base class for TC space packet of MPSoC.
+ */
+class TcBase : public ploc::SpTcBase {
+ public:
+  virtual ~TcBase() = default;
+
+  // Initial length field of space packet. Will always be updated when packet is created.
+  static const uint16_t INIT_LENGTH = CRC_SIZE;
+
+  /**
+   * @brief    Constructor
+   *
+   * @param sequenceCount Sequence count of space packet which will be incremented with each
+   *        sent and received packets.
+   */
+  TcBase(ploc::SpTcParams params, uint16_t apid, uint16_t sequenceCount)
+      : ploc::SpTcBase(params, apid, 0, sequenceCount) {
+    payloadStart = spParams.buf + ccsds::HEADER_LEN;
+    spParams.setFullPayloadLen(INIT_LENGTH);
+  }
+
+  /**
+   * @brief   Function to finsh and write the space packet. It is expected that the user has
+   * set the payload fields in the child class*
+   * @return  returnvalue::OK if packet creation was successful, otherwise error return value
+   */
+  ReturnValue_t finishPacket() {
+    updateSpFields();
+    ReturnValue_t res = checkSizeAndSerializeHeader();
+    if (res != returnvalue::OK) {
+      return res;
+    }
+    return calcAndSetCrc();
+  }
+};
+
+void printRxPacket(const SpacePacketReader& spReader);
+void printTxPacket(const ploc::SpTcBase& tcBase);
+
 static constexpr uint32_t DEFAULT_CMD_TIMEOUT_MS = 5000;
 static constexpr uint32_t CMD_TIMEOUT_MKFS = 15000;
 
-enum FlashId : uint8_t { FLASH_0 = 0, FLASH_1 = 0 };
+enum FlashId : uint8_t { FLASH_0 = 0, FLASH_1 = 1 };
 
 static const uint8_t INTERFACE_ID = CLASS_ID::MPSOC_RETURN_VALUES_IF;
 
@@ -68,7 +113,11 @@ static const Event MPSOC_SHUTDOWN_FAILED = MAKE_EVENT(6, severity::HIGH);
 //! [EXPORT] : [COMMENT] SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for
 //! ON transition.
 static constexpr Event SUPV_NOT_ON = event::makeEvent(SUBSYSTEM_ID, 7, severity::LOW);
+//! [EXPORT] : [COMMENT] SUPV reply timeout.
 static constexpr Event SUPV_REPLY_TIMEOUT = event::makeEvent(SUBSYSTEM_ID, 8, severity::LOW);
+//! [EXPORT] : [COMMENT] Camera must be commanded on first.
+static constexpr Event CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE =
+    event::makeEvent(SUBSYSTEM_ID, 9, severity::LOW);
 
 enum ParamId : uint8_t { SKIP_SUPV_ON_COMMANDING = 0x01 };
 
@@ -161,7 +210,7 @@ static const DeviceCommandId_t TC_FLASH_GET_DIRECTORY_CONTENT = 28;
 static const DeviceCommandId_t TM_FLASH_DIRECTORY_CONTENT = 29;
 static constexpr DeviceCommandId_t TC_FLASH_READ_FULL_FILE = 30;
 // Store file on MPSoC.
-static const DeviceCommandId_t TC_SIMPLEX_STORE_FILE = 31;
+static const DeviceCommandId_t TC_SPLIT_FILE = 31;
 static const DeviceCommandId_t TC_VERIFY_BOOT = 32;
 static const DeviceCommandId_t TC_ENABLE_TC_EXECTION = 33;
 static const DeviceCommandId_t TC_FLASH_MKFS = 34;
@@ -171,8 +220,6 @@ static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT_LEGACY = 50;
 
 static const uint16_t SIZE_ACK_REPORT = 14;
 static const uint16_t SIZE_EXE_REPORT = 14;
-// static const uint16_t SIZE_TM_MEM_READ_REPORT = 18;
-// static const uint16_t SIZE_TM_CAM_CMD_RPT = 18;
 static constexpr size_t SIZE_TM_HK_REPORT = 369;
 
 enum Submode : uint8_t { IDLE_OR_NONE = 0, REPLAY = 1, SNAPSHOT = 2 };
@@ -237,15 +284,15 @@ static const uint8_t SPACE_PACKET_HEADER_SIZE = 6;
 
 static const uint8_t STATUS_OFFSET = 10;
 
-static constexpr size_t CRC_SIZE = 2;
-
 /**
  * The size of payload data which will be forwarded to the requesting object. e.g. PUS Service
  * 8.
  */
 static const uint8_t SIZE_MEM_READ_RPT_FIX = 6;
 
-static const size_t MAX_FILENAME_SIZE = 256;
+static const size_t FILENAME_FIELD_SIZE = 256;
+// Subtract size of NULL terminator.
+static const size_t MAX_FILENAME_SIZE = FILENAME_FIELD_SIZE - 1;
 
 /**
  * PLOC space packet length for fixed size packets. This is the size of the whole packet data
@@ -282,6 +329,7 @@ static const uint16_t TC_SIMPLEX_SEND_FILE_DELAY = 80;
 
 namespace statusCode {
 static const uint16_t DEFAULT_ERROR_CODE = 0x1;
+static constexpr uint16_t FLASH_DRIVE_ERROR = 0xb;
 static const uint16_t UNKNOWN_APID = 0x5DD;
 static const uint16_t INCORRECT_LENGTH = 0x5DE;
 static const uint16_t INCORRECT_CRC = 0x5DF;
@@ -308,47 +356,10 @@ static const uint16_t RESERVED_3 = 0x5F3;
 static const uint16_t RESERVED_4 = 0x5F4;
 }  // namespace statusCode
 
-/**
- * @brief   Abstract base class for TC space packet of MPSoC.
- */
-class TcBase : public ploc::SpTcBase {
- public:
-  virtual ~TcBase() = default;
-
-  // Initial length field of space packet. Will always be updated when packet is created.
-  static const uint16_t INIT_LENGTH = CRC_SIZE;
-
-  /**
-   * @brief    Constructor
-   *
-   * @param sequenceCount Sequence count of space packet which will be incremented with each
-   *        sent and received packets.
-   */
-  TcBase(ploc::SpTcParams params, uint16_t apid, uint16_t sequenceCount)
-      : ploc::SpTcBase(params, apid, 0, sequenceCount) {
-    payloadStart = spParams.buf + ccsds::HEADER_LEN;
-    spParams.setFullPayloadLen(INIT_LENGTH);
-  }
-
-  /**
-   * @brief   Function to finsh and write the space packet. It is expected that the user has
-   * set the payload fields in the child class*
-   * @return  returnvalue::OK if packet creation was successful, otherwise error return value
-   */
-  ReturnValue_t finishPacket() {
-    updateSpFields();
-    ReturnValue_t res = checkSizeAndSerializeHeader();
-    if (res != returnvalue::OK) {
-      return res;
-    }
-    return calcAndSetCrc();
-  }
-};
-
 /**
  * @brief   This class helps to build the memory read command for the PLOC.
  */
-class TcMemRead : public TcBase {
+class TcMemRead : public mpsoc::TcBase {
  public:
   /**
    * @brief   Constructor
@@ -398,7 +409,7 @@ class TcMemRead : public TcBase {
  * @brief   This class helps to generate the space packet to write data to a memory address within
  *          the PLOC.
  */
-class TcMemWrite : public TcBase {
+class TcMemWrite : public mpsoc::TcBase {
  public:
   /**
    * @brief   Constructor
@@ -448,24 +459,21 @@ class TcMemWrite : public TcBase {
 /**
  * @brief   Class to help creation of flash fopen command.
  */
-class FlashFopen : public TcBase {
+class TcFlashFopen : public mpsoc::TcBase {
  public:
-  FlashFopen(ploc::SpTcParams params, uint16_t sequenceCount)
+  TcFlashFopen(ploc::SpTcParams params, uint16_t sequenceCount)
       : TcBase(params, apid::TC_FLASHFOPEN, sequenceCount) {}
 
   ReturnValue_t setPayload(std::string filename, uint8_t mode) {
     accessMode = mode;
-    size_t nameSize = filename.size();
-    spParams.setFullPayloadLen(256 + sizeof(uint8_t) + CRC_SIZE);
     ReturnValue_t result = checkPayloadLen();
     if (result != returnvalue::OK) {
       return result;
     }
-    std::memcpy(payloadStart, filename.c_str(), nameSize);
+    std::memset(payloadStart, 0, FILENAME_FIELD_SIZE);
-    // payloadStart[nameSize] = NULL_TERMINATOR;
+    std::memcpy(payloadStart, filename.c_str(), filename.size());
-    std::memset(payloadStart + nameSize, 0, 256 - nameSize);
+    payloadStart[FILENAME_FIELD_SIZE] = accessMode;
-    // payloadStart[255] = NULL_TERMINATOR;
+    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + 1 + CRC_SIZE);
-    payloadStart[256] = accessMode;
     return returnvalue::OK;
   }
 
@@ -476,9 +484,9 @@ class FlashFopen : public TcBase {
 /**
  * @brief   Class to help creation of flash fclose command.
  */
-class FlashFclose : public TcBase {
+class TcFlashFclose : public TcBase {
  public:
-  FlashFclose(ploc::SpTcParams params, uint16_t sequenceCount)
+  TcFlashFclose(ploc::SpTcParams params, uint16_t sequenceCount)
       : TcBase(params, apid::TC_FLASHFCLOSE, sequenceCount) {
     spParams.setFullPayloadLen(CRC_SIZE);
   }
@@ -505,8 +513,14 @@ class TcFlashMkfs : public TcBase {
  public:
   TcFlashMkfs(ploc::SpTcParams params, uint16_t sequenceCount, FlashId flashId)
       : TcBase(params, apid::TC_FLASH_MKFS, sequenceCount) {
-    spParams.setFullPayloadLen(1 + CRC_SIZE);
+    const char* flashIdStr = "0:\\";
-    payloadStart[0] = flashId;
+    if (flashId == FlashId::FLASH_1) {
+      flashIdStr = "1:\\";
+    }
+    std::memcpy(payloadStart, flashIdStr, 3);
+    // Null terminator
+    payloadStart[3] = 0;
+    spParams.setFullPayloadLen(4 + CRC_SIZE);
   }
 };
 
@@ -569,15 +583,6 @@ class TcFlashRead : public TcBase {
     if (result != returnvalue::OK) {
       return result;
     }
-    updateSpFields();
-    result = checkSizeAndSerializeHeader();
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = calcAndSetCrc();
-    if (result != returnvalue::OK) {
-      return result;
-    }
     readSize = readLen;
     return result;
   }
@@ -595,20 +600,14 @@ class TcFlashDelete : public TcBase {
 
   ReturnValue_t setPayload(std::string filename) {
     size_t nameSize = filename.size();
-    spParams.setFullPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE);
+    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
     auto res = checkPayloadLen();
     if (res != returnvalue::OK) {
       return res;
     }
     std::memcpy(payloadStart, filename.c_str(), nameSize);
     *(payloadStart + nameSize) = NULL_TERMINATOR;
-
+    return returnvalue::OK;
-    updateSpFields();
-    res = checkSizeAndSerializeHeader();
-    if (res != returnvalue::OK) {
-      return res;
-    }
-    return calcAndSetCrc();
   }
 };
 
@@ -760,8 +759,9 @@ class TcGetDirContent : public TcBase {
     if (result != returnvalue::OK) {
       return result;
     }
+    std::memset(payloadStart, 0, 256);
     std::memcpy(payloadStart, commandData, commandDataLen);
-    payloadStart[255] = '\0';
+    payloadStart[255] = 0;
     return result;
   }
 };
@@ -802,7 +802,7 @@ class TcReplayWriteSeq : public TcBase {
   static const size_t USE_DECODING_LENGTH = 1;
 
   ReturnValue_t lengthCheck(size_t commandDataLen) {
-    if (commandDataLen > USE_DECODING_LENGTH + MAX_FILENAME_SIZE or
+    if (commandDataLen > USE_DECODING_LENGTH + FILENAME_FIELD_SIZE or
         checkPayloadLen() != returnvalue::OK) {
       sif::warning << "TcReplayWriteSeq: Command has invalid length " << commandDataLen
                    << std::endl;
@@ -821,18 +821,18 @@ class FlashBasePusCmd {
   virtual ~FlashBasePusCmd() = default;
 
   virtual ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) {
-    if (commandDataLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE + MAX_FILENAME_SIZE)) {
+    if (commandDataLen > FILENAME_FIELD_SIZE) {
       return INVALID_LENGTH;
     }
     size_t fileLen = strnlen(reinterpret_cast<const char*>(commandData), commandDataLen);
-    if (fileLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE)) {
+    if (fileLen > MAX_FILENAME_SIZE) {
       return FILENAME_TOO_LONG;
     }
     obcFile = std::string(reinterpret_cast<const char*>(commandData), fileLen);
     fileLen =
         strnlen(reinterpret_cast<const char*>(commandData + obcFile.size() + SIZE_NULL_TERMINATOR),
                 commandDataLen - obcFile.size() - 1);
-    if (fileLen > MAX_FILENAME_SIZE) {
+    if (fileLen > FILENAME_FIELD_SIZE) {
       return MPSOC_FILENAME_TOO_LONG;
     }
     mpsocFile = std::string(
@@ -843,11 +843,11 @@ class FlashBasePusCmd {
 
   const std::string& getObcFile() const { return obcFile; }
 
-  const std::string& getMPSoCFile() const { return mpsocFile; }
+  const std::string& getMpsocFile() const { return mpsocFile; }
 
  protected:
   size_t getParsedSize() const {
-    return getObcFile().size() + getMPSoCFile().size() + 2 * SIZE_NULL_TERMINATOR;
+    return getObcFile().size() + getMpsocFile().size() + 2 * SIZE_NULL_TERMINATOR;
   }
   static const size_t SIZE_NULL_TERMINATOR = 1;
 
@@ -914,24 +914,115 @@ class TcCamTakePic : public TcBase {
       : TcBase(params, apid::TC_CAM_TAKE_PIC, sequenceCount) {}
 
   ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
-    if (commandDataLen > MAX_DATA_LENGTH) {
+    const uint8_t** dataPtr = &commandData;
+    if (commandDataLen > FULL_PAYLOAD_SIZE) {
       return INVALID_LENGTH;
     }
-    std::string fileName(reinterpret_cast<const char*>(commandData));
+    size_t deserLen = commandDataLen;
-    if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
+    size_t serLen = 0;
+    fileName = reinterpret_cast<const char*>(commandData);
+    if (fileName.size() > MAX_FILENAME_SIZE) {
       return FILENAME_TOO_LONG;
     }
-    if (commandDataLen - (fileName.size() + sizeof(NULL_TERMINATOR)) != PARAMETER_SIZE) {
+    deserLen -= fileName.length() + 1;
-      return INVALID_LENGTH;
+    *dataPtr += fileName.length() + 1;
+    uint8_t** payloadPtr = &payloadStart;
+    memcpy(payloadStart, fileName.data(), fileName.size());
+    *payloadPtr += FILENAME_FIELD_SIZE;
+    serLen += FILENAME_FIELD_SIZE;
+    ReturnValue_t result = SerializeAdapter::deSerialize(&encoderSettingY, dataPtr, &deserLen,
+                                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
     }
-    spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
+    result = SerializeAdapter::serialize(&encoderSettingY, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
-    std::memcpy(payloadStart, commandData, commandDataLen);
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    result = SerializeAdapter::deSerialize(&quantizationY, dataPtr, &deserLen,
+                                           SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::serialize(&quantizationY, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    result = SerializeAdapter::deSerialize(&encoderSettingsCb, dataPtr, &deserLen,
+                                           SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::serialize(&encoderSettingsCb, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    result = SerializeAdapter::deSerialize(&quantizationCb, dataPtr, &deserLen,
+                                           SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::serialize(&quantizationCb, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    result = SerializeAdapter::deSerialize(&encoderSettingsCr, dataPtr, &deserLen,
+                                           SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::serialize(&encoderSettingsCr, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    result = SerializeAdapter::deSerialize(&quantizationCr, dataPtr, &deserLen,
+                                           SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::serialize(&quantizationCr, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    result = SerializeAdapter::deSerialize(&bypassCompressor, dataPtr, &deserLen,
+                                           SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::serialize(&bypassCompressor, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    spParams.setFullPayloadLen(FULL_PAYLOAD_SIZE + CRC_SIZE);
     return returnvalue::OK;
   }
 
+  std::string fileName;
+  uint8_t encoderSettingY = 7;
+  uint64_t quantizationY = 0;
+  uint8_t encoderSettingsCb = 7;
+  uint64_t quantizationCb = 0;
+  uint8_t encoderSettingsCr = 7;
+  uint64_t quantizationCr = 0;
+  uint8_t bypassCompressor = 0;
+
  private:
-  static const size_t MAX_DATA_LENGTH = 286;
   static const size_t PARAMETER_SIZE = 28;
+  static constexpr size_t FULL_PAYLOAD_SIZE = FILENAME_FIELD_SIZE + PARAMETER_SIZE;
 };
 
 /**
@@ -943,30 +1034,31 @@ class TcSimplexStreamFile : public TcBase {
       : TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}
 
   ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
-    if (commandDataLen > MAX_DATA_LENGTH) {
+    if (commandDataLen > MAX_FILENAME_SIZE) {
       return INVALID_LENGTH;
     }
     std::string fileName(reinterpret_cast<const char*>(commandData));
-    if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
+    if (fileName.size() > MAX_FILENAME_SIZE) {
       return FILENAME_TOO_LONG;
     }
 
+    std::memset(payloadStart, 0, FILENAME_FIELD_SIZE);
     std::memcpy(payloadStart, fileName.data(), fileName.length());
     payloadStart[fileName.length()] = 0;
-    spParams.setFullPayloadLen(fileName.length() + 1);
+    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
+    ;
     return returnvalue::OK;
   }
 
  private:
-  static constexpr size_t MAX_DATA_LENGTH = 256;
 };
 
 /**
  * @brief   Class to build simplex send file command
  */
-class TcSimplexStoreFile : public TcBase {
+class TcSplitFile : public TcBase {
  public:
-  TcSimplexStoreFile(ploc::SpTcParams params, uint16_t sequenceCount)
+  TcSplitFile(ploc::SpTcParams params, uint16_t sequenceCount)
       : TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}
 
   ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
@@ -988,29 +1080,24 @@ class TcSimplexStoreFile : public TcBase {
       return INVALID_PARAMETER;
     }
     std::string fileName(reinterpret_cast<const char*>(*dataPtr));
-    if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
+    if (fileName.size() > MAX_FILENAME_SIZE) {
       return FILENAME_TOO_LONG;
     }
-    size_t currentCopyIdx = 0;
+    char divStr[16]{};
-    size_t payloadLen = fileName.length() + sizeof(NULL_TERMINATOR) + CRC_SIZE;
+    sprintf(divStr, "DIV%03u", chunkParameter);
-    if (chunkParameter > 1) {
+    std::memcpy(payloadStart, divStr, DIV_STR_LEN);
-      char divStr[16]{};
+    payloadStart[DIV_STR_LEN] = 0;
-      sprintf(divStr, "DIV%03u", chunkParameter);
+    std::memset(payloadStart + DIV_STR_LEN + 1, 0, FILENAME_FIELD_SIZE - DIV_STR_LEN - 1);
-      std::memcpy(payloadStart, divStr, DIV_STR_LEN);
+    std::memcpy(payloadStart + DIV_STR_LEN + 1, fileName.data(), fileName.length());
-      payloadLen += DIV_STR_LEN;
+    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
-      currentCopyIdx += DIV_STR_LEN;
-    }
-
-    std::memcpy(payloadStart + currentCopyIdx, *dataPtr, fileName.length());
-    spParams.setFullPayloadLen(payloadLen);
     return returnvalue::OK;
   }
 
  private:
   uint32_t chunkParameter = 0;
-  static constexpr size_t MAX_DATA_LENGTH = 256;
   static constexpr size_t MIN_DATA_LENGTH = 4;
   static constexpr size_t DIV_STR_LEN = 6;
+  static constexpr size_t MAX_DATA_LENGTH = 4 + MAX_FILENAME_SIZE;
 };
 
 /**

linux/payload/plocSupvDefs.h

@@ -159,6 +159,7 @@ static const DeviceCommandId_t ENABLE_NVMS = 59;
 static const DeviceCommandId_t CONTINUE_UPDATE = 60;
 static const DeviceCommandId_t MEMORY_CHECK_WITH_FILE = 61;
 static constexpr DeviceCommandId_t MEMORY_CHECK = 62;
+static constexpr DeviceCommandId_t ABORT_LONGER_REQUEST = 63;
 
 /** Reply IDs */
 enum ReplyId : DeviceCommandId_t {
@@ -1145,14 +1146,14 @@ class WriteMemory : public TcBase {
       : TcBase(params, Apid::MEM_MAN, static_cast<uint8_t>(tc::MemManId::WRITE), 1) {}
 
   ReturnValue_t buildPacket(ccsds::SequenceFlags seqFlags, uint16_t sequenceCount, uint8_t memoryId,
-                            uint32_t startAddress, uint16_t length, uint8_t* updateData) {
+                            uint32_t currentAddr, uint16_t length, uint8_t* updateData) {
     if (length > CHUNK_MAX) {
       sif::error << "WriteMemory::WriteMemory: Invalid length" << std::endl;
       return SerializeIF::BUFFER_TOO_SHORT;
     }
     spParams.creator.setSeqFlags(seqFlags);
     spParams.creator.setSeqCount(sequenceCount);
-    auto res = initPacket(memoryId, startAddress, length, updateData);
+    auto res = initPacket(memoryId, currentAddr, length, updateData);
     if (res != returnvalue::OK) {
       return res;
     }
@@ -1170,7 +1171,7 @@ class WriteMemory : public TcBase {
   static const uint16_t META_DATA_LENGTH = 8;
   uint8_t n = 1;
 
-  ReturnValue_t initPacket(uint8_t memoryId, uint32_t startAddr, uint16_t updateDataLen,
+  ReturnValue_t initPacket(uint8_t memoryId, uint32_t currentAddr, uint16_t updateDataLen,
                            uint8_t* updateData) {
     uint8_t* data = payloadStart;
     if (updateDataLen % 2 != 0) {
@@ -1188,7 +1189,7 @@ class WriteMemory : public TcBase {
                                 SerializeIF::Endianness::BIG);
     SerializeAdapter::serialize(&n, &data, &serializedSize, spParams.maxSize,
                                 SerializeIF::Endianness::BIG);
-    SerializeAdapter::serialize(&startAddr, &data, &serializedSize, spParams.maxSize,
+    SerializeAdapter::serialize(&currentAddr, &data, &serializedSize, spParams.maxSize,
                                 SerializeIF::Endianness::BIG);
     SerializeAdapter::serialize(&updateDataLen, &data, &serializedSize, spParams.maxSize,
                                 SerializeIF::Endianness::BIG);

mission/controller/acs/AcsParameters.h

@@ -941,7 +941,7 @@ class AcsParameters : public HasParametersIF {
   } sunModelParameters;
 
   struct KalmanFilterParameters {
-    double sensorNoiseStr = 0.1 * DEG2RAD;
+    double sensorNoiseStr = 0.0028 * DEG2RAD;
     double sensorNoiseSus = 8. * DEG2RAD;
     double sensorNoiseMgm = 4. * DEG2RAD;
     double sensorNoiseGyr = 0.1 * DEG2RAD;

mission/controller/acs/Guidance.cpp

@@ -232,6 +232,7 @@ void Guidance::targetRotationRate(const double timeDelta, double quatIX[4], doub
   }
   if (timeDelta != 0.0) {
     QuaternionOperations::rotationFromQuaternions(quatIX, quatIXprev, timeDelta, refSatRate);
+    VectorOperations<double>::mulScalar(refSatRate, -1, refSatRate, 3);
   } else {
     std::memcpy(refSatRate, ZERO_VEC3, 3 * sizeof(double));
   }
@@ -315,9 +316,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
 
   // Calculate error satellite rotational rate
   // Convert target rotational rate into body RF
-  double errorQuatInv[4] = {0, 0, 0, 0}, targetSatRotRateB[3] = {0, 0, 0};
+  double targetSatRotRateB[3] = {0, 0, 0};
-  QuaternionOperations::inverse(errorQuat, errorQuatInv);
+  QuaternionOperations::multiplyVector(currentQuat, targetSatRotRate, targetSatRotRateB);
-  QuaternionOperations::multiplyVector(errorQuatInv, targetSatRotRate, targetSatRotRateB);
+  VectorOperations<double>::copy(targetSatRotRateB, targetSatRotRate, 3);
   // Combine the target and reference satellite rotational rates
   double combinedRefSatRotRate[3] = {0, 0, 0};
   VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);

mission/controller/acs/MultiplicativeKalmanFilter.cpp

@@ -114,12 +114,13 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
     return result;
   }
 
-  double measSensMatrix[matrixDimensionFactor][6] = {{0}},
+  double measSensMatrix[matrixDimensionFactor][6] = {},
-         measCovMatrix[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
+         measCovMatrix[matrixDimensionFactor][matrixDimensionFactor] = {},
-         measVec[matrixDimensionFactor] = {0}, estVec[matrixDimensionFactor] = {0};
+         measVec[matrixDimensionFactor] = {}, estVec[matrixDimensionFactor] = {};
   kfUpdate(susData, mgmData, *measSensMatrix, *measCovMatrix, measVec, estVec);
 
-  double kalmanGain[6][matrixDimensionFactor] = {{0}};
+  double kalmanGain[6][matrixDimensionFactor];
+  std::memset(kalmanGain, 0, sizeof(kalmanGain));
   result = kfGain(*measSensMatrix, *measCovMatrix, *kalmanGain, attitudeEstimationData);
   if (result != returnvalue::OK) {
     reset(attitudeEstimationData);
@@ -342,10 +343,11 @@ ReturnValue_t MultiplicativeKalmanFilter::kfGain(
     double *measSensMatrix, double *measCovMatrix, double *kalmanGain,
     acsctrl::AttitudeEstimationData *attitudeEstimationData) {
   // Kalman Gain: K = P * H' / (H * P * H' + R)
-  double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
+  double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {},
-         invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
+         invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {};
-         residualCov[6][matrixDimensionFactor] = {{0}},
+  double residualCov[6][matrixDimensionFactor], measSensMatrixTransposed[6][matrixDimensionFactor];
-         measSensMatrixTransposed[6][matrixDimensionFactor] = {{0}};
+  std::memset(residualCov, 0, sizeof(residualCov));
+  std::memset(measSensMatrixTransposed, 0, sizeof(measSensMatrixTransposed));
 
   MatrixOperations<double>::transpose(measSensMatrix, *measSensMatrixTransposed,
                                       matrixDimensionFactor, 6);
@@ -382,8 +384,7 @@ void MultiplicativeKalmanFilter::kfCovAposteriori(double *kalmanGain, double *me
 
 void MultiplicativeKalmanFilter::kfStateAposteriori(double *kalmanGain, double *measVec,
                                                     double *estVec) {
-  double stateVecErr[6] = {0, 0, 0, 0, 0, 0};
+  double stateVecErr[6] = {0, 0, 0, 0, 0, 0}, plantOutputDiff[matrixDimensionFactor] = {};
-  double plantOutputDiff[matrixDimensionFactor] = {0};
   VectorOperations<double>::subtract(measVec, estVec, plantOutputDiff, matrixDimensionFactor);
   MatrixOperations<double>::multiply(kalmanGain, plantOutputDiff, stateVecErr, 6,
                                      matrixDimensionFactor, 1);

q7s-env.sh

@@ -9,7 +9,7 @@ export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-li
 
 export PATH=${CROSS_COMPILE_BIN_PATH}:$PATH
 export CROSS_COMPILE="arm-linux-gnueabihf"
-# export EIVE_Q7S_EM=1
+unset EIVE_Q7S_EM
 
 if [[ -d "eive-obsw" ]]; then
 	echo "Detected EIVE OBSW root directory at $(pwd)/eive-obsw. Setting to EIVE_OBSW_ROOT"

scripts/q7s-cp.py

@@ -4,6 +4,9 @@ import os
 import sys
 
 
+DEFAULT_PORT = 1539
+
+
 def main():
     args = handle_args()
     cmd = build_cmd(args)
@@ -20,7 +23,7 @@ def prompt_ssh_key_removal():
     do_remove_key = input(
         "Do you want to remove problematic keys on localhost ([Y]/n)?: "
     )
-    if not do_remove_key.lower() in ["y", "yes", "1", ""]:
+    if do_remove_key.lower() not in ["y", "yes", "1", ""]:
         sys.exit(1)
     port = 0
     while True:
@@ -54,7 +57,7 @@ def handle_args():
         "If files are copied back to host, will be current directory by default",
         default="",
     )
-    parser.add_argument("-P", "--port", help="Target port", default=1535)
+    parser.add_argument("-P", "--port", help="Target port", default=DEFAULT_PORT)
     parser.add_argument(
         "-i",
         "--invert",