bump tmtc

CHANGELOG.md

@@ -16,98 +16,6 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
-# [v8.2.1] 2025-02-07
-
-Patch release with EM changes only.
-
-## Changed
-
-- BPX battery is not added anymore for EM build, dummy is used by default now.
-
-## Fixed
-
-- Small fix for `q7s-cp.py` script: Add `-O` argument.
-
-# [v8.2.0] 2024-06-26
-
-## Changed
-
-- STR quaternions are now used by the `MEKF` by default
-- Changed nominal `SUS Assembly` side to `B Side`.
-- Changed source for state machine of detumbling to SUS and MGM only.
-- Changed `FusedRotRateData` dataset to always display rotation rate from SUS and MGM.
-- Solution from `QUEST` will be set to invalid if sun vector and magnetic field vector are too close
-  to each other.
-- Changed collection intervals of dataset collection
-  - `GPS Controller`: `GPS Set` to 60s
-  - `MTQ Handler`: `HK with Torque`, `HK without Torque` to 60s
-  - `RW Handler`: `Status Set` to 30s
-  - `STR Handler`: `Solution Set` to 30s
-  - `ACS Controller`: `MGM Sensor`, `MGM Processed`, `SUS Sensor`, `SUS Processed`, `GYR Sensor`,
-    `GPS Processed` to 60s
-  - `ACS Controller` at or below `IDLE`: `CTRL Values`, `ACT Commands`, `Attitude Estimation`,
-    `Fused Rotation Rate` to 30s
-  - `ACS Controller` above `IDLE`: `CTRL Values`, `ACT Commands`, `Attitude Estimation`,
-    `Fused Rotation Rate` to 10s
-
-## Fixed
-
-- Added null termination for PLOC MPSoC image taking command which could possibly lead to
-  default target filenames.
-
-# [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
-  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.
-- Commanding a submode the device is already in will not result in a completion failure
-  anymore.
-
-## Added
-
-- Added `VERIFY_BOOT` command for MPSoC.
-- New command for MPSoC to store camera image in chunks.
-
-# [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
 
 ## Changed
@@ -116,7 +24,7 @@ Patch release with EM changes only.
 - 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.
@@ -125,7 +33,7 @@ Patch release with EM changes only.
   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
@@ -339,7 +247,7 @@ Patch release with EM changes only.
 - `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

@@ -9,9 +9,9 @@
 # ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
-set(OBSW_VERSION_MAJOR 8)
-set(OBSW_VERSION_MINOR 2)
-set(OBSW_VERSION_REVISION 1)
+set(OBSW_VERSION_MAJOR 7)
+set(OBSW_VERSION_MINOR 8)
+set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)
 
@@ -70,13 +70,13 @@ if(EIVE_Q7S_EM)
   set(OBSW_Q7S_EM
       1
       CACHE STRING "Q7S EM configuration")
-  set(OBSW_Q7S_FM 0)
+  set(INIT_VAL 0)
   set(OBSW_STAR_TRACKER_GROUND_CONFIG 1)
 else()
   set(OBSW_Q7S_EM
       0
       CACHE STRING "Q7S EM configuration")
-  set(OBSW_Q7S_FM 1)
+  set(INIT_VAL 1)
   set(OBSW_STAR_TRACKER_GROUND_CONFIG 0)
 endif()
 
@@ -87,19 +87,19 @@ set(OBSW_ADD_TMTC_UDP_SERVER
     0
     CACHE STRING "Add UDP TMTC Server")
 set(OBSW_ADD_MGT
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
     CACHE STRING "Add MGT module")
 set(OBSW_ADD_BPX_BATTERY_HANDLER
-    ${OBSW_Q7S_FM}
+    1
     CACHE STRING "Add BPX battery module")
 set(OBSW_ADD_STAR_TRACKER
     1
     CACHE STRING "Add Startracker module")
 set(OBSW_ADD_SUN_SENSORS
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
     CACHE STRING "Add sun sensor module")
 set(OBSW_ADD_SUS_BOARD_ASS
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
     CACHE STRING "Add sun sensor board assembly")
 set(OBSW_ADD_THERMAL_TEMP_INSERTER
     ${OBSW_Q7S_EM}
@@ -108,7 +108,7 @@ set(OBSW_ADD_ACS_BOARD
     1
     CACHE STRING "Add ACS board module")
 set(OBSW_ADD_GPS_CTRL
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
     CACHE STRING "Add GPS controllers")
 set(OBSW_ADD_CCSDS_IP_CORES
     1
@@ -129,19 +129,19 @@ set(OBSW_ADD_PLOC_SUPERVISOR
     1
     CACHE STRING "Add PLOC supervisor handler")
 set(OBSW_ADD_SA_DEPL
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
     CACHE STRING "Add SA deployment handler")
 set(OBSW_ADD_PLOC_MPSOC
     1
     CACHE STRING "Add MPSoC handler")
 set(OBSW_ADD_ACS_CTRL
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
     CACHE STRING "Add ACS controller")
 set(OBSW_ADD_RTD_DEVICES
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
     CACHE STRING "Add RTD devices")
 set(OBSW_ADD_RAD_SENSORS
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
     CACHE STRING "Add Rad Sensor module")
 set(OBSW_ADD_PL_PCDU
     1
@@ -156,10 +156,10 @@ set(OBSW_ADD_GOMSPACE_PCDU
     1
     CACHE STRING "Add GomSpace PCDU modules")
 set(OBSW_ADD_GOMSPACE_ACU
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
     CACHE STRING "Add GomSpace ACU submodule")
 set(OBSW_ADD_RW
-    ${OBSW_Q7S_FM}
+    ${INIT_VAL}
     CACHE STRING "Add RW modules")
 set(OBSW_ADD_SCEX_DEVICE
     1

archive/PlocMpsocSpecialComHelperLegacy.cpp

@@ -1,545 +0,0 @@
-#include <fsfw/globalfunctions/arrayprinter.h>
-#include <fsfw/tasks/TaskFactory.h>
-#include <linux/payload/PlocMpsocSpecialComHelperLegacy.h>
-#include <unistd.h>
-
-#include <filesystem>
-#include <fstream>
-
-#ifdef XIPHOS_Q7S
-#include "bsp_q7s/fs/FilesystemHelper.h"
-#endif
-
-#include "mission/utility/Timestamp.h"
-
-using namespace ploc;
-
-PlocMpsocSpecialComHelperLegacy::PlocMpsocSpecialComHelperLegacy(object_id_t objectId)
-    : SystemObject(objectId) {
-  spParams.buf = commandBuffer;
-  spParams.maxSize = sizeof(commandBuffer);
-}
-
-PlocMpsocSpecialComHelperLegacy::~PlocMpsocSpecialComHelperLegacy() {}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::initialize() {
-#ifdef XIPHOS_Q7S
-  sdcMan = SdCardManager::instance();
-  if (sdcMan == nullptr) {
-    sif::warning << "PlocMPSoCHelper::initialize: Invalid SD Card Manager" << std::endl;
-    return returnvalue::FAILED;
-  }
-#endif
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::performOperation(uint8_t operationCode) {
-  ReturnValue_t result = returnvalue::OK;
-  semaphore.acquire();
-  while (true) {
-#if OBSW_THREAD_TRACING == 1
-    trace::threadTrace(opCounter, "PLOC MPSOC Helper");
-#endif
-    switch (internalState) {
-      case InternalState::IDLE: {
-        semaphore.acquire();
-        break;
-      }
-      case InternalState::FLASH_WRITE: {
-        result = performFlashWrite();
-        if (result == returnvalue::OK) {
-          triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, sequenceCount->get());
-        } else {
-          triggerEvent(MPSOC_FLASH_WRITE_FAILED, sequenceCount->get());
-        }
-        internalState = InternalState::IDLE;
-        break;
-      }
-      case InternalState::FLASH_READ: {
-        result = performFlashRead();
-        if (result == returnvalue::OK) {
-          triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, sequenceCount->get());
-        } else {
-          triggerEvent(MPSOC_FLASH_READ_FAILED, sequenceCount->get());
-        }
-        internalState = InternalState::IDLE;
-        break;
-      }
-      default:
-        sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl;
-        break;
-    }
-  }
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::setComIF(
-    DeviceCommunicationIF* communicationInterface_) {
-  uartComIF = dynamic_cast<SerialComIF*>(communicationInterface_);
-  if (uartComIF == nullptr) {
-    sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
-    return returnvalue::FAILED;
-  }
-  return returnvalue::OK;
-}
-
-void PlocMpsocSpecialComHelperLegacy::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
-
-void PlocMpsocSpecialComHelperLegacy::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
-  sequenceCount = sequenceCount_;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::startFlashWrite(std::string obcFile,
-                                                               std::string mpsocFile) {
-  if (internalState != InternalState::IDLE) {
-    return returnvalue::FAILED;
-  }
-  ReturnValue_t result = startFlashReadOrWriteBase(std::move(obcFile), std::move(mpsocFile));
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  internalState = InternalState::FLASH_WRITE;
-  return semaphore.release();
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::startFlashRead(std::string obcFile,
-                                                              std::string mpsocFile,
-                                                              size_t readFileSize) {
-  if (internalState != InternalState::IDLE) {
-    return returnvalue::FAILED;
-  }
-  ReturnValue_t result = startFlashReadOrWriteBase(std::move(obcFile), std::move(mpsocFile));
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  flashReadAndWrite.totalReadSize = readFileSize;
-  internalState = InternalState::FLASH_READ;
-  return semaphore.release();
-}
-
-void PlocMpsocSpecialComHelperLegacy::resetHelper() {
-  spParams.buf = commandBuffer;
-  terminate = false;
-  uartComIF->flushUartRxBuffer(comCookie);
-}
-
-void PlocMpsocSpecialComHelperLegacy::stopProcess() { terminate = true; }
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::performFlashWrite() {
-  ReturnValue_t result = returnvalue::OK;
-  std::ifstream file(flashReadAndWrite.obcFile, std::ifstream::binary);
-  if (file.bad()) {
-    return returnvalue::FAILED;
-  }
-  result = flashfopen(mpsoc::FileAccessModes::WRITE | mpsoc::FileAccessModes::OPEN_ALWAYS);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  // Set position of next character to end of file input stream
-  file.seekg(0, file.end);
-  // tellg returns position of character in input stream
-  size_t remainingSize = file.tellg();
-  size_t dataLength = 0;
-  size_t bytesRead = 0;
-  while (remainingSize > 0) {
-    if (terminate) {
-      return returnvalue::OK;
-    }
-    // The minus 4 is necessary for unknown reasons. Maybe some bug in the ILH software?
-    if (remainingSize > mpsoc::MAX_FLASH_WRITE_DATA_SIZE - 4) {
-      dataLength = mpsoc::MAX_FLASH_WRITE_DATA_SIZE - 4;
-    } else {
-      dataLength = remainingSize;
-    }
-    if (file.bad() or not file.is_open()) {
-      return FILE_WRITE_ERROR;
-    }
-    file.seekg(bytesRead, file.beg);
-    file.read(reinterpret_cast<char*>(fileBuf.data()), dataLength);
-    bytesRead += dataLength;
-    remainingSize -= dataLength;
-    mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
-    result = tc.setPayload(fileBuf.data(), dataLength);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = tc.finishPacket();
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    (*sequenceCount)++;
-    result = handlePacketTransmissionNoReply(tc);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-  }
-  result = flashfclose();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return result;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::performFlashRead() {
-  std::error_code e;
-  std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::trunc | std::ios::binary);
-  if (ofile.bad()) {
-    return returnvalue::FAILED;
-  }
-  ReturnValue_t result = flashfopen(mpsoc::FileAccessModes::READ);
-  if (result != returnvalue::OK) {
-    std::filesystem::remove(flashReadAndWrite.obcFile, e);
-    return result;
-  }
-  size_t readSoFar = 0;
-  size_t nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE;
-  while (readSoFar < flashReadAndWrite.totalReadSize) {
-    if (terminate) {
-      std::filesystem::remove(flashReadAndWrite.obcFile, e);
-      return returnvalue::OK;
-    }
-    nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE;
-    if (flashReadAndWrite.totalReadSize - readSoFar < mpsoc::MAX_FLASH_READ_DATA_SIZE) {
-      nextReadSize = flashReadAndWrite.totalReadSize - readSoFar;
-    }
-    if (ofile.bad() or not ofile.is_open()) {
-      std::filesystem::remove(flashReadAndWrite.obcFile, e);
-      return FILE_READ_ERROR;
-    }
-    mpsoc::TcFlashRead flashReadRequest(spParams, *sequenceCount);
-    result = flashReadRequest.setPayload(nextReadSize);
-    if (result != returnvalue::OK) {
-      std::filesystem::remove(flashReadAndWrite.obcFile, e);
-      return result;
-    }
-    result = flashReadRequest.finishPacket();
-    if (result != returnvalue::OK) {
-      std::filesystem::remove(flashReadAndWrite.obcFile, e);
-      return result;
-    }
-    (*sequenceCount)++;
-    result = handlePacketTransmissionFlashRead(flashReadRequest, ofile, nextReadSize);
-    if (result != returnvalue::OK) {
-      std::filesystem::remove(flashReadAndWrite.obcFile, e);
-      return result;
-    }
-    readSoFar += nextReadSize;
-  }
-  result = flashfclose();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return result;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::flashfopen(uint8_t mode) {
-  spParams.buf = commandBuffer;
-  mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
-  ReturnValue_t result = flashFopen.setPayload(flashReadAndWrite.mpsocFile, mode);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = flashFopen.finishPacket();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  (*sequenceCount)++;
-  result = handlePacketTransmissionNoReply(flashFopen);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::flashfclose() {
-  spParams.buf = commandBuffer;
-  mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
-  ReturnValue_t result = flashFclose.finishPacket();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  (*sequenceCount)++;
-  result = handlePacketTransmissionNoReply(flashFclose);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return result;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::handlePacketTransmissionFlashRead(
-    mpsoc::TcFlashRead& tc, std::ofstream& ofile, size_t expectedReadLen) {
-  ReturnValue_t result = sendCommand(tc);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handleAck();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handleTmReception();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-
-  // We have the nominal case where the flash read report appears first, or the case where we
-  // get an EXE failure immediately.
-  if (spReader.getApid() == mpsoc::apid::TM_FLASH_READ_REPORT) {
-    result = handleFlashReadReply(ofile, expectedReadLen);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    return handleExe();
-  } else if (spReader.getApid() == mpsoc::apid::EXE_FAILURE) {
-    handleExeFailure();
-  } else {
-    triggerEvent(MPSOC_EXE_INVALID_APID, spReader.getApid(), static_cast<uint32_t>(internalState));
-    sif::warning << "PLOC MPSoC: Expected execution report "
-                 << "but received space packet with apid " << std::hex << spReader.getApid()
-                 << std::endl;
-  }
-  return returnvalue::FAILED;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::handlePacketTransmissionNoReply(ploc::SpTcBase& tc) {
-  ReturnValue_t result = sendCommand(tc);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handleAck();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return handleExe();
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::sendCommand(ploc::SpTcBase& tc) {
-  ReturnValue_t result = returnvalue::OK;
-  result = uartComIF->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
-  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));
-    return result;
-  }
-  return result;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::handleAck() {
-  ReturnValue_t result = returnvalue::OK;
-  result = handleTmReception();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = checkReceivedTm();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  uint16_t apid = spReader.getApid();
-  if (apid != mpsoc::apid::ACK_SUCCESS) {
-    handleAckApidFailure(spReader);
-    return returnvalue::FAILED;
-  }
-  return returnvalue::OK;
-}
-
-void PlocMpsocSpecialComHelperLegacy::handleAckApidFailure(const ploc::SpTmReader& reader) {
-  uint16_t apid = reader.getApid();
-  if (apid == mpsoc::apid::ACK_FAILURE) {
-    uint16_t status = mpsoc::getStatusFromRawData(reader.getFullData());
-    sif::warning << "PLOC MPSoC ACK Failure: " << mpsoc::getStatusString(status) << std::endl;
-    triggerEvent(MPSOC_ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState), status);
-  } else {
-    triggerEvent(MPSOC_ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
-    sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
-                 << "but received space packet with apid " << std::hex << apid << std::endl;
-  }
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::handleExe() {
-  ReturnValue_t result = returnvalue::OK;
-
-  result = handleTmReception();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = checkReceivedTm();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  uint16_t apid = spReader.getApid();
-  if (apid == mpsoc::apid::EXE_FAILURE) {
-    handleExeFailure();
-    return returnvalue::FAILED;
-  } else if (apid != mpsoc::apid::EXE_SUCCESS) {
-    triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
-    sif::warning << "PLOC MPSoC: Expected execution report "
-                 << "but received space packet with apid " << std::hex << apid << std::endl;
-  }
-  return returnvalue::OK;
-}
-
-void PlocMpsocSpecialComHelperLegacy::handleExeFailure() {
-  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));
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::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);
-    if (result != returnvalue::OK) {
-      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;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::handleFlashReadReply(std::ofstream& ofile,
-                                                                    size_t expectedReadLen) {
-  ReturnValue_t result = checkReceivedTm();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  uint16_t apid = spReader.getApid();
-  if (apid != mpsoc::apid::TM_FLASH_READ_REPORT) {
-    triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_APID_ERROR);
-    sif::warning << "PLOC MPSoC Flash Read: Unexpected APID" << std::endl;
-    return result;
-  }
-  const uint8_t* packetData = spReader.getPacketData();
-  size_t deserDummy = spReader.getPacketDataLen() - mpsoc::CRC_SIZE;
-  uint32_t receivedReadLen = 0;
-  // I think this is buggy, weird stuff in the short name field.
-  //  std::string receivedShortName = std::string(reinterpret_cast<const char*>(packetData), 12);
-  //  if (receivedShortName != flashReadAndWrite.mpsocFile.substr(0, 11)) {
-  //    sif::warning << "PLOC MPSoC Flash Read: Missmatch between request file name and "
-  //                    "received file name"
-  //                 << std::endl;
-  //    triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_FILENAME_ERROR);
-  //    return returnvalue::FAILED;
-  //  }
-  packetData += 12;
-  result = SerializeAdapter::deSerialize(&receivedReadLen, &packetData, &deserDummy,
-                                         SerializeIF::Endianness::NETWORK);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  if (receivedReadLen != expectedReadLen) {
-    sif::warning << "PLOC MPSoC Flash Read: Missmatch between request read length and "
-                    "received read length"
-                 << std::endl;
-    triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_READLEN_ERROR);
-    return returnvalue::FAILED;
-  }
-  ofile.write(reinterpret_cast<const char*>(packetData), receivedReadLen);
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::fileCheck(std::string obcFile) {
-#ifdef XIPHOS_Q7S
-  ReturnValue_t result = FilesystemHelper::checkPath(obcFile);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-#elif defined(TE0720_1CFA)
-  if (not std::filesystem::exists(obcFile)) {
-    sif::warning << "PlocMPSoCHelper::startFlashWrite: File " << obcFile << "does not exist"
-                 << std::endl;
-    return returnvalue::FAILED;
-  }
-#endif
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::startFlashReadOrWriteBase(std::string obcFile,
-                                                                         std::string mpsocFile) {
-  ReturnValue_t result = fileCheck(obcFile);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-
-  flashReadAndWrite.obcFile = std::move(obcFile);
-  flashReadAndWrite.mpsocFile = std::move(mpsocFile);
-  resetHelper();
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocMpsocSpecialComHelperLegacy::checkReceivedTm() {
-  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;
-  }
-  result = spReader.checkCrc();
-  if (result != returnvalue::OK) {
-    sif::warning << "PLOC MPSoC: CRC check failed" << std::endl;
-    triggerEvent(MPSOC_TM_CRC_MISSMATCH, *sequenceCount);
-    return result;
-  }
-  uint16_t recvSeqCnt = spReader.getSequenceCount();
-  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 PlocMpsocSpecialComHelperLegacy::receive(uint8_t* data, size_t requestBytes,
-                                                       size_t* readBytes) {
-  ReturnValue_t result = returnvalue::OK;
-  uint8_t* buffer = nullptr;
-  result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
-    triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
-                 static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
-    return returnvalue::FAILED;
-  }
-  result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
-    triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
-    return returnvalue::FAILED;
-  }
-  if (*readBytes > 0) {
-    std::memcpy(data, buffer, *readBytes);
-  }
-  return result;
-}

archive/PlocMpsocSpecialComHelperLegacy.h

@@ -1,200 +0,0 @@
-#ifndef BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_
-#define BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_
-
-#include <linux/payload/plocMpsocHelpers.h>
-#include <mission/utility/trace.h>
-
-#include <string>
-
-#include "OBSWConfig.h"
-#include "fsfw/devicehandlers/CookieIF.h"
-#include "fsfw/objectmanager/SystemObject.h"
-#include "fsfw/osal/linux/BinarySemaphore.h"
-#include "fsfw/returnvalues/returnvalue.h"
-#include "fsfw/tasks/ExecutableObjectIF.h"
-#include "fsfw/tmtcservices/SourceSequenceCounter.h"
-#include "fsfw_hal/linux/serial/SerialComIF.h"
-#ifdef XIPHOS_Q7S
-#include "bsp_q7s/fs/SdCardManager.h"
-#endif
-
-/**
- * @brief   Helper class for MPSoC of PLOC intended to accelerate large data transfers between
- *          MPSoC and OBC.
- * @author  J. Meier
- */
-class PlocMpsocSpecialComHelperLegacy : public SystemObject, public ExecutableObjectIF {
- public:
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HELPER;
-
-  //! [EXPORT] : [COMMENT] Flash write fails
-  static const Event MPSOC_FLASH_WRITE_FAILED = MAKE_EVENT(0, severity::LOW);
-  //! [EXPORT] : [COMMENT] Flash write successful
-  static const Event MPSOC_FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(1, severity::INFO);
-  //! [EXPORT] : [COMMENT] Communication interface returned failure when trying to send the command
-  //! to the MPSoC
-  //! P1: Return value returned by the communication interface sendMessage function
-  //! P2: Internal state of MPSoC helper
-  static const Event MPSOC_SENDING_COMMAND_FAILED = MAKE_EVENT(2, severity::LOW);
-  //! [EXPORT] : [COMMENT] Request receive message of communication interface failed
-  //! P1: Return value returned by the communication interface requestReceiveMessage function
-  //! P2: Internal state of MPSoC helper
-  static const Event MPSOC_HELPER_REQUESTING_REPLY_FAILED = MAKE_EVENT(3, severity::LOW);
-  //! [EXPORT] : [COMMENT] Reading receive message of communication interface failed
-  //! P1: Return value returned by the communication interface readingReceivedMessage function
-  //! P2: Internal state of MPSoC helper
-  static const Event MPSOC_HELPER_READING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
-  //! [EXPORT] : [COMMENT] Did not receive acknowledgment report
-  //! P1: Number of bytes missing
-  //! P2: Internal state of MPSoC helper
-  static const Event MPSOC_MISSING_ACK = MAKE_EVENT(5, severity::LOW);
-  //! [EXPORT] : [COMMENT] Did not receive execution report
-  //! P1: Number of bytes missing
-  //! P2: Internal state of MPSoC helper
-  static const Event MPSOC_MISSING_EXE = MAKE_EVENT(6, severity::LOW);
-  //! [EXPORT] : [COMMENT] Received acknowledgment failure report
-  //! P1: Internal state of MPSoC
-  static const Event MPSOC_ACK_FAILURE_REPORT = MAKE_EVENT(7, severity::LOW);
-  //! [EXPORT] : [COMMENT] Received execution failure report
-  //! P1: Internal state of MPSoC
-  static const Event MPSOC_EXE_FAILURE_REPORT = MAKE_EVENT(8, severity::LOW);
-  //! [EXPORT] : [COMMENT] Expected acknowledgment report but received space packet with other apid
-  //! P1: Apid of received space packet
-  //! P2: Internal state of MPSoC
-  static const Event MPSOC_ACK_INVALID_APID = MAKE_EVENT(9, severity::LOW);
-  //! [EXPORT] : [COMMENT] Expected execution report but received space packet with other apid
-  //! P1: Apid of received space packet
-  //! P2: Internal state of MPSoC
-  static const Event MPSOC_EXE_INVALID_APID = MAKE_EVENT(10, severity::LOW);
-  //! [EXPORT] : [COMMENT] Received sequence count does not match expected sequence count
-  //! P1: Expected sequence count
-  //! P2: Received sequence count
-  static const Event MPSOC_HELPER_SEQ_CNT_MISMATCH = MAKE_EVENT(11, severity::LOW);
-  static const Event MPSOC_TM_SIZE_ERROR = MAKE_EVENT(12, severity::LOW);
-  static const Event MPSOC_TM_CRC_MISSMATCH = MAKE_EVENT(13, severity::LOW);
-  static const Event MPSOC_FLASH_READ_PACKET_ERROR = MAKE_EVENT(14, severity::LOW);
-  static const Event MPSOC_FLASH_READ_FAILED = MAKE_EVENT(15, severity::LOW);
-  static const Event MPSOC_FLASH_READ_SUCCESSFUL = MAKE_EVENT(16, severity::INFO);
-  static const Event MPSOC_READ_TIMEOUT = MAKE_EVENT(17, severity::LOW);
-
-  enum FlashReadErrorType : uint32_t {
-    FLASH_READ_APID_ERROR = 0,
-    FLASH_READ_FILENAME_ERROR = 1,
-    FLASH_READ_READLEN_ERROR = 2
-  };
-
-  PlocMpsocSpecialComHelperLegacy(object_id_t objectId);
-  virtual ~PlocMpsocSpecialComHelperLegacy();
-
-  ReturnValue_t initialize() override;
-  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
-
-  ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
-  void setComCookie(CookieIF* comCookie_);
-
-  /**
-   * @brief   Starts flash write sequence
-   *
-   * @param obcFile   File where to read from the data
-   * @param mpsocFile The file of the MPSoC where should be written to
-   *
-   * @return  returnvalue::OK if successful, otherwise error return value
-   */
-  ReturnValue_t startFlashWrite(std::string obcFile, std::string mpsocFile);
-  /**
-   *
-   * @param obcFile Full target file name on OBC
-   * @param mpsocFile The file on the MPSoC which should be copied ot the OBC
-   * @param readFileSize The size of the file on the MPSoC.
-   * @return
-   */
-  ReturnValue_t startFlashRead(std::string obcFile, std::string mpsocFile, size_t readFileSize);
-
-  /**
-   * @brief   Can be used to interrupt a running data transfer.
-   */
-  void stopProcess();
-
-  /**
-   * @brief   Sets the sequence count object responsible for the sequence count handling
-   */
-  void setSequenceCount(SourceSequenceCounter* sequenceCount_);
-
- private:
-  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HELPER;
-
-  //! [EXPORT] : [COMMENT] File error occured for file transfers from OBC to the MPSoC.
-  static const ReturnValue_t FILE_WRITE_ERROR = MAKE_RETURN_CODE(0xA0);
-  //! [EXPORT] : [COMMENT] File error occured for file transfers from MPSoC to OBC.
-  static const ReturnValue_t FILE_READ_ERROR = MAKE_RETURN_CODE(0xA1);
-
-  // Maximum number of times the communication interface retries polling data from the reply
-  // buffer
-  static const int RETRIES = 10000;
-
-  struct FlashInfo {
-    std::string obcFile;
-    std::string mpsocFile;
-  };
-
-  struct FlashRead : public FlashInfo {
-    size_t totalReadSize = 0;
-  };
-
-  struct FlashRead flashReadAndWrite;
-#if OBSW_THREAD_TRACING == 1
-  uint32_t opCounter = 0;
-#endif
-
-  enum class InternalState { IDLE, FLASH_WRITE, FLASH_READ };
-
-  InternalState internalState = InternalState::IDLE;
-
-  BinarySemaphore semaphore;
-#ifdef XIPHOS_Q7S
-  SdCardManager* sdcMan = nullptr;
-#endif
-  uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
-  SpacePacketCreator creator;
-  ploc::SpTcParams spParams = ploc::SpTcParams(creator);
-
-  Countdown tmCountdown = Countdown(5000);
-
-  std::array<uint8_t, mpsoc::SP_MAX_DATA_SIZE> fileBuf{};
-  std::array<uint8_t, mpsoc::MAX_REPLY_SIZE> tmBuf{};
-
-  bool terminate = false;
-
-  /**
-   * Communication interface of MPSoC responsible for low level access. Must be set by the
-   * MPSoC Handler.
-   */
-  SerialComIF* uartComIF = nullptr;
-  // Communication cookie. Must be set by the MPSoC Handler
-  CookieIF* comCookie = nullptr;
-  // Sequence count, must be set by Ploc MPSoC Handler
-  SourceSequenceCounter* sequenceCount = nullptr;
-  ploc::SpTmReader spReader;
-
-  void resetHelper();
-  ReturnValue_t performFlashWrite();
-  ReturnValue_t performFlashRead();
-  ReturnValue_t flashfopen(uint8_t accessMode);
-  ReturnValue_t flashfclose();
-  ReturnValue_t handlePacketTransmissionNoReply(ploc::SpTcBase& tc);
-  ReturnValue_t handlePacketTransmissionFlashRead(mpsoc::TcFlashRead& tc, std::ofstream& ofile,
-                                                  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 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 handleExeFailure();
-  ReturnValue_t handleTmReception();
-  ReturnValue_t checkReceivedTm();
-};
-
-#endif /* BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_ */

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 325 translations.
+ * @brief    Auto-generated event translation file. Contains 324 translations.
  * @details
- * Generated on: 2024-05-06 13:47:38
+ * Generated on: 2024-04-10 11:49:35
  */
 #include "translateEvents.h"
 
@@ -142,7 +142,6 @@ 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";
@@ -607,8 +606,6 @@ 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

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 176 translations.
- * Generated on: 2024-05-06 13:47:38
+ * Contains 175 translations.
+ * Generated on: 2024-04-10 11:49:35
  */
 #include "translateObjects.h"
 
@@ -65,7 +65,6 @@ const char *PTME_VC3_CFDP_TM_STRING = "PTME_VC3_CFDP_TM";
 const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
 const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
 const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
-const char *PLOC_MPSOC_COMMUNICATION_STRING = "PLOC_MPSOC_COMMUNICATION";
 const char *SCEX_STRING = "SCEX";
 const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
 const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
@@ -303,8 +302,6 @@ const char *translateObject(object_id_t object) {
       return PLOC_SUPERVISOR_HANDLER_STRING;
     case 0x44330017:
       return PLOC_SUPERVISOR_HELPER_STRING;
-    case 0x44330018:
-      return PLOC_MPSOC_COMMUNICATION_STRING;
     case 0x44330032:
       return SCEX_STRING;
     case 0x444100A2:

bsp_hosted/objectFactory.cpp

@@ -39,6 +39,8 @@
 #include "devices/gpioIds.h"
 #include "fsfw_hal/linux/gpio/Gpio.h"
 #include "linux/payload/FreshSupvHandler.h"
+#include "linux/payload/PlocMpsocHandler.h"
+#include "linux/payload/PlocMpsocSpecialComHelper.h"
 #include "linux/payload/PlocSupvUartMan.h"
 #include "test/gpio/DummyGpioIF.h"
 #endif
@@ -77,10 +79,7 @@ void ObjectFactory::produce(void* args) {
     switcherList.emplace_back(initVal);
   }
   dummySwitcher->setInitialSwitcherList(switcherList);
-
 #ifdef PLATFORM_UNIX
-  // Obsolete dev handler..
-  /*
   new SerialComIF(objects::UART_COM_IF);
 #if OBSW_ADD_PLOC_MPSOC == 1
   std::string mpscoDev = "";
@@ -91,8 +90,7 @@ void ObjectFactory::produce(void* args) {
   new PlocMpsocHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
                        plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF),
                        objects::PLOC_SUPERVISOR_HANDLER);
-#endif // OBSW_ADD_PLOC_MPSOC == 1
-  */
+#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   std::string plocSupvString = "/dev/ploc_supv";
   auto supervisorCookie =

bsp_q7s/em/emObjectFactory.cpp

@@ -117,11 +117,10 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
   createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
 #endif
+  createPowerController(true, enableHkSets);
 
   dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF, enableHkSets);
 
-  createPowerController(true, enableHkSets);
-
   new CoreController(objects::CORE_CONTROLLER, enableHkSets);
 
   auto* stackHandler = new Stack5VHandler(*pwrSwitcher);
@@ -144,6 +143,10 @@ void ObjectFactory::produce(void* args) {
   createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
 #endif
 
+#if OBSW_ADD_SYRLINKS == 1
+  createSyrlinksComponents(pwrSwitcher);
+#endif /* OBSW_ADD_SYRLINKS == 1 */
+
 #if OBSW_ADD_RW == 1
   createReactionWheelComponents(gpioComIF, pwrSwitcher);
 #endif
@@ -152,10 +155,6 @@ void ObjectFactory::produce(void* args) {
   createStrComponents(pwrSwitcher, *SdCardManager::instance());
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
-#if OBSW_ADD_SYRLINKS == 1
-  createSyrlinksComponents(pwrSwitcher);
-#endif
-
 #if OBSW_ADD_PL_PCDU == 1
   createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
 #endif

bsp_q7s/objectFactory.cpp

@@ -10,9 +10,8 @@
 #include <linux/acs/RwPollingTask.h>
 #include <linux/acs/StrComHandler.h>
 #include <linux/com/SyrlinksComHandler.h>
-#include <linux/payload/FreshMpsocHandler.h>
-#include <linux/payload/MpsocCommunication.h>
 #include <linux/payload/PlocMemoryDumper.h>
+#include <linux/payload/PlocMpsocHandler.h>
 #include <linux/payload/PlocMpsocSpecialComHelper.h>
 #include <linux/payload/ScexUartReader.h>
 #include <linux/payload/plocMpsocHelpers.h>
@@ -48,7 +47,6 @@
 #include "devices/gpioIds.h"
 #include "devices/powerSwitcherList.h"
 #include "eive/definitions.h"
-#include "eive/objects.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "linux/ObjectFactory.h"
 #include "linux/boardtest/I2cTestClass.h"
@@ -61,11 +59,7 @@
 #include "linux/ipcore/Ptme.h"
 #include "linux/ipcore/PtmeConfig.h"
 #include "linux/payload/FreshSupvHandler.h"
-#include "linux/payload/MpsocCommunication.h"
-#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"
@@ -73,7 +67,7 @@
 #include "mission/system/acs/acsModeTree.h"
 #include "mission/system/com/SyrlinksFdir.h"
 #include "mission/system/com/comModeTree.h"
-#include "mission/system/payload/payloadModeTree.h"
+#include "mission/system/payloadModeTree.h"
 #include "mission/system/power/GomspacePowerFdir.h"
 #include "mission/system/tcs/RtdFdir.h"
 #include "mission/system/tcs/TcsBoardAssembly.h"
@@ -598,13 +592,14 @@ void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitc
 }
 
 void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
-  new SyrlinksComHandler(objects::SYRLINKS_COM_HANDLER);
-  auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
-  syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
   auto* syrlinksUartCookie =
       new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, serial::SYRLINKS_BAUD,
                        syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   syrlinksUartCookie->setParityEven();
+
+  new SyrlinksComHandler(objects::SYRLINKS_COM_HANDLER);
+  auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
+  syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
   auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
   auto syrlinksHandler =
       new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::SYRLINKS_COM_HANDLER,
@@ -629,15 +624,14 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
   auto mpsocGpioCookie = new GpioCookie;
   mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
   gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC");
-  SerialConfig serialCfg(q7s::UART_PLOC_MPSOC_DEV, serial::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE,
-                         UartModes::NON_CANONICAL);
-  auto mpsocCommunication = new MpsocCommunication(objects::PLOC_MPSOC_COMMUNICATION, serialCfg);
-  auto specialComHelper =
-      new PlocMpsocSpecialComHelper(objects::PLOC_MPSOC_HELPER, *mpsocCommunication);
-  DhbConfig dhbConf(objects::PLOC_MPSOC_HANDLER);
-  auto* mpsocHandler = new FreshMpsocHandler(
-      dhbConf, *mpsocCommunication, *specialComHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
-      objects::PLOC_SUPERVISOR_HANDLER, pwrSwitcher, power::PDU2_CH8_PAYLOAD_CAMERA);
+  auto mpsocCookie =
+      new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
+                       serial::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+  mpsocCookie->setNoFixedSizeReply();
+  auto plocMpsocHelper = new PlocMpsocSpecialComHelper(objects::PLOC_MPSOC_HELPER);
+  auto* mpsocHandler = new PlocMpsocHandler(
+      objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie, plocMpsocHelper,
+      Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF), objects::PLOC_SUPERVISOR_HANDLER);
   mpsocHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
@@ -656,7 +650,7 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
                        supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
   supervisorCookie->setNoFixedSizeReply();
   new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
-  dhbConf = DhbConfig(objects::PLOC_SUPERVISOR_HANDLER);
+  DhbConfig dhbConf(objects::PLOC_SUPERVISOR_HANDLER);
   auto* supvHandler =
       new FreshSupvHandler(dhbConf, supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
                            pwrSwitcher, power::PDU1_CH6_PLOC_12V);
@@ -839,7 +833,7 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
                                     Levels::LOW);
   gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
   gpioChecker(args.gpioComIF.addGpios(gpioCookiePdec), "PDEC");
-  struct UioNames uioNames{};
+  struct UioNames uioNames {};
   uioNames.configMemory = q7s::UIO_PDEC_CONFIG_MEMORY;
   uioNames.ramMemory = q7s::UIO_PDEC_RAM;
   uioNames.registers = q7s::UIO_PDEC_REGISTERS;

bsp_q7s/simple/simple.cpp

@@ -10,9 +10,7 @@
 int simple::simple() {
   std::cout << "-- Q7S Simple Application --" << std::endl;
 #if Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST == 1
-  {
-    FileSystemTest fileSystemTest;
-  }
+  { FileSystemTest fileSystemTest; }
 #endif
 
 #if TE0720_GPIO_TEST

common/config/eive/objects.h

@@ -77,7 +77,6 @@ enum commonObjects : uint32_t {
   PLOC_MPSOC_HANDLER = 0x44330015,
   PLOC_SUPERVISOR_HANDLER = 0x44330016,
   PLOC_SUPERVISOR_HELPER = 0x44330017,
-  PLOC_MPSOC_COMMUNICATION = 0x44330018,
   SCEX = 0x44330032,
   SOLAR_ARRAY_DEPL_HANDLER = 0x444100A2,
   HEATER_HANDLER = 0x444100A4,

common/config/eive/resultClassIds.h

@@ -42,7 +42,6 @@ enum commonClassIds : uint8_t {
   PERSISTENT_TM_STORE,      // PTM
   TM_SINK,                  // TMS
   VIRTUAL_CHANNEL,          // VCS
-  PLOC_MPSOC_COM,           // PLMPCOM
   COMMON_CLASS_ID_END       // [EXPORT] : [END]
 };
 }

dummies/BatteryDummy.cpp

@@ -1,54 +0,0 @@
-#include "BatteryDummy.h"
-
-BatteryDummy::BatteryDummy(DhbConfig cfg)
-    : FreshDeviceHandlerBase(cfg), cfgSet(this), hkSet(this) {}
-
-void BatteryDummy::performDeviceOperation(uint8_t opCode) {}
-
-LocalPoolDataSetBase* BatteryDummy::getDataSetHandle(sid_t sid) {
-  if (sid == hkSet.getSid()) {
-    return &hkSet;
-  }
-  if (sid == cfgSet.getSid()) {
-    return &cfgSet;
-  }
-  return nullptr;
-}
-
-ReturnValue_t BatteryDummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-                                                    LocalDataPoolManager& poolManager) {
-  localDataPoolMap.emplace(bpxBat::BATT_TEMP_1, &battTemp1);
-  localDataPoolMap.emplace(bpxBat::BATT_TEMP_2, &battTemp2);
-  localDataPoolMap.emplace(bpxBat::BATT_TEMP_3, &battTemp3);
-  localDataPoolMap.emplace(bpxBat::BATT_TEMP_4, &battTemp4);
-  localDataPoolMap.emplace(bpxBat::CHARGE_CURRENT, &chargeCurrent);
-  localDataPoolMap.emplace(bpxBat::DISCHARGE_CURRENT, &dischargeCurrent);
-  localDataPoolMap.emplace(bpxBat::HEATER_CURRENT, &heaterCurrent);
-  localDataPoolMap.emplace(bpxBat::BATT_VOLTAGE, &battVolt);
-  localDataPoolMap.emplace(bpxBat::REBOOT_COUNTER, &rebootCounter);
-  localDataPoolMap.emplace(bpxBat::BOOTCAUSE, &bootCause);
-
-  localDataPoolMap.emplace(bpxBat::BATTERY_HEATER_MODE, &battheatMode);
-  localDataPoolMap.emplace(bpxBat::BATTHEAT_LOW_LIMIT, &battheatLow);
-  localDataPoolMap.emplace(bpxBat::BATTHEAT_HIGH_LIMIT, &battheatHigh);
-
-  poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(hkSet.getSid(), true, 20.0));
-  poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(cfgSet.getSid(), false, 30.0));
-  return returnvalue::OK;
-}
-
-ReturnValue_t BatteryDummy::checkModeCommand(Mode_t mode, Submode_t submode,
-                                             uint32_t* msToReachTheMode) {
-  return returnvalue::OK;
-}
-
-ReturnValue_t BatteryDummy::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                          const uint8_t* data, size_t size) {
-  return returnvalue::OK;
-}
-
-ReturnValue_t BatteryDummy::handleCommandMessage(CommandMessage* message) {
-  return returnvalue::FAILED;
-}

dummies/BatteryDummy.h

@@ -1,52 +0,0 @@
-#pragma once
-
-#include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
-#include "mission/power/bpxBattDefs.h"
-
-/// @brief
-class BatteryDummy : public FreshDeviceHandlerBase {
- public:
-  BatteryDummy(DhbConfig cfg);
-
- private:
-  /**
-   * Periodic helper executed function, implemented by child class.
-   */
-  void performDeviceOperation(uint8_t opCode) override;
-
-  /**
-   * Implemented by child class. Handle all command messages which are
-   * not health, mode, action or housekeeping messages.
-   * @param message
-   * @return
-   */
-  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
-
-  // HK manager abstract functions.
-  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
-  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-                                        LocalDataPoolManager& poolManager) override;
-
-  // Mode abstract functions
-  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                 uint32_t* msToReachTheMode) override;
-  // Action override. Forward to user.
-  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                              const uint8_t* data, size_t size) override;
-
-  BpxBatteryCfg cfgSet;
-  BpxBatteryHk hkSet;
-  PoolEntry<uint16_t> chargeCurrent = PoolEntry<uint16_t>({0});
-  PoolEntry<uint16_t> dischargeCurrent = PoolEntry<uint16_t>({0});
-  PoolEntry<uint16_t> heaterCurrent = PoolEntry<uint16_t>({0});
-  PoolEntry<uint16_t> battVolt = PoolEntry<uint16_t>({16'000});
-  PoolEntry<int16_t> battTemp1 = PoolEntry<int16_t>({10}, true);
-  PoolEntry<int16_t> battTemp2 = PoolEntry<int16_t>({10}, true);
-  PoolEntry<int16_t> battTemp3 = PoolEntry<int16_t>({10}, true);
-  PoolEntry<int16_t> battTemp4 = PoolEntry<int16_t>({10}, true);
-  PoolEntry<uint32_t> rebootCounter = PoolEntry<uint32_t>({0});
-  PoolEntry<uint8_t> bootCause = PoolEntry<uint8_t>({0});
-  PoolEntry<uint8_t> battheatMode = PoolEntry<uint8_t>({0});
-  PoolEntry<int8_t> battheatLow = PoolEntry<int8_t>({0});
-  PoolEntry<int8_t> battheatHigh = PoolEntry<int8_t>({0});
-};

dummies/CMakeLists.txt

@@ -29,5 +29,4 @@ target_sources(
          PlocSupervisorDummy.cpp
          helperFactory.cpp
          MgmRm3100Dummy.cpp
-         BatteryDummy.cpp
          Tmp1075Dummy.cpp)

dummies/SyrlinksDummy.cpp

@@ -2,15 +2,14 @@
 
 #include <mission/com/syrlinksDefs.h>
 
-SyrlinksDummy::SyrlinksDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
-                             DeviceHandlerFailureIsolation *fdir)
-    : DeviceHandlerBase(objectId, comif, comCookie, fdir) {}
+SyrlinksDummy::SyrlinksDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie) {}
 
 SyrlinksDummy::~SyrlinksDummy() {}
 
-void SyrlinksDummy::doStartUp() { setMode(MODE_ON); }
+void SyrlinksDummy::doStartUp() {}
 
-void SyrlinksDummy::doShutDown() { setMode(MODE_OFF); }
+void SyrlinksDummy::doShutDown() {}
 
 ReturnValue_t SyrlinksDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;
@@ -37,7 +36,7 @@ ReturnValue_t SyrlinksDummy::interpretDeviceReply(DeviceCommandId_t id, const ui
 
 void SyrlinksDummy::fillCommandAndReplyMap() {}
 
-uint32_t SyrlinksDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 1000; }
+uint32_t SyrlinksDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
 
 ReturnValue_t SyrlinksDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                      LocalDataPoolManager &poolManager) {

dummies/SyrlinksDummy.h

@@ -11,8 +11,7 @@ class SyrlinksDummy : public DeviceHandlerBase {
   static const uint8_t SIMPLE_COMMAND_DATA = 1;
   static const uint8_t PERIODIC_REPLY_DATA = 2;
 
-  SyrlinksDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
-                DeviceHandlerFailureIsolation *fdir);
+  SyrlinksDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
   virtual ~SyrlinksDummy();
 
  protected:

dummies/helperFactory.cpp

@@ -1,7 +1,6 @@
 #include "helperFactory.h"
 
 #include <dummies/AcuDummy.h>
-#include <dummies/BatteryDummy.h>
 #include <dummies/BpxDummy.h>
 #include <dummies/ComCookieDummy.h>
 #include <dummies/ComIFDummy.h>
@@ -31,8 +30,6 @@
 #include <mission/power/gsDefs.h>
 #include <mission/system/acs/ImtqAssembly.h>
 #include <mission/system/acs/StrAssembly.h>
-#include <mission/system/com/SyrlinksAssembly.h>
-#include <mission/system/com/SyrlinksFdir.h>
 #include <mission/system/objects/CamSwitcher.h>
 #include <mission/system/tcs/TcsBoardAssembly.h>
 
@@ -43,7 +40,7 @@
 #include "mission/genericFactory.h"
 #include "mission/system/acs/acsModeTree.h"
 #include "mission/system/com/comModeTree.h"
-#include "mission/system/payload/payloadModeTree.h"
+#include "mission/system/payloadModeTree.h"
 #include "mission/system/tcs/tcsModeTree.h"
 #include "mission/tcs/defs.h"
 
@@ -52,7 +49,7 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
   new ComIFDummy(objects::DUMMY_COM_IF);
   auto* comCookieDummy = new ComCookieDummy();
   if (cfg.addBpxBattDummy) {
-    new BatteryDummy(DhbConfig(objects::BPX_BATT_HANDLER));
+    new BpxDummy(objects::BPX_BATT_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
   }
   if (cfg.addCoreCtrlCfg) {
     new CoreControllerDummy(objects::CORE_CONTROLLER);
@@ -77,13 +74,9 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
     strDummy->connectModeTreeParent(*strAssy);
   }
   if (cfg.addSyrlinksDummies) {
-    auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
-    syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
-
-    auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
-    auto* syrlinksDummy = new SyrlinksDummy(objects::SYRLINKS_HANDLER, objects::DUMMY_COM_IF,
-                                            comCookieDummy, syrlinksFdir);
-    syrlinksDummy->connectModeTreeParent(*syrlinksAssy);
+    auto* syrlinksDummy =
+        new SyrlinksDummy(objects::SYRLINKS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    syrlinksDummy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
   }
   auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
   imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);

fsfw

@@ -1 +1 @@
-Subproject commit 42867ad0cba088ab1cb6cb672d001f991f7e4a60
+Subproject commit 8b21dd276de72b46b41bc7080d6646180bfa0662

generators/bsp_hosted_events.csv

@@ -128,15 +128,14 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11506;0x2cf2;DEPL_SA1_GPIO_SWTICH_OFF_FAILED;HIGH;No description;mission/SolarArrayDeploymentHandler.h
 11507;0x2cf3;DEPL_SA2_GPIO_SWTICH_OFF_FAILED;HIGH;No description;mission/SolarArrayDeploymentHandler.h
 11508;0x2cf4;AUTONOMOUS_DEPLOYMENT_COMPLETED;INFO;No description;mission/SolarArrayDeploymentHandler.h
-11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/payload/plocMpsocHelpers.h
-11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/plocMpsocHelpers.h
-11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/plocMpsocHelpers.h
-11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/payload/plocMpsocHelpers.h
-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;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
+11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/payload/PlocMpsocHandler.h
+11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/PlocMpsocHandler.h
+11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/PlocMpsocHandler.h
+11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/payload/PlocMpsocHandler.h
+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/PlocMpsocHandler.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/PlocMpsocHandler.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/PlocMpsocHandler.h
+11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/PlocMpsocHandler.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_hosted_objects.csv

@@ -57,7 +57,6 @@
 0x44330015;PLOC_MPSOC_HANDLER
 0x44330016;PLOC_SUPERVISOR_HANDLER
 0x44330017;PLOC_SUPERVISOR_HELPER
-0x44330018;PLOC_MPSOC_COMMUNICATION
 0x44330032;SCEX
 0x444100A2;SOLAR_ARRAY_DEPL_HANDLER
 0x444100A4;HEATER_HANDLER

generators/bsp_q7s_events.csv

@@ -128,15 +128,14 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11506;0x2cf2;DEPL_SA1_GPIO_SWTICH_OFF_FAILED;HIGH;No description;mission/SolarArrayDeploymentHandler.h
 11507;0x2cf3;DEPL_SA2_GPIO_SWTICH_OFF_FAILED;HIGH;No description;mission/SolarArrayDeploymentHandler.h
 11508;0x2cf4;AUTONOMOUS_DEPLOYMENT_COMPLETED;INFO;No description;mission/SolarArrayDeploymentHandler.h
-11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/payload/plocMpsocHelpers.h
-11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/plocMpsocHelpers.h
-11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/plocMpsocHelpers.h
-11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/payload/plocMpsocHelpers.h
-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;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
+11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/payload/PlocMpsocHandler.h
+11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/PlocMpsocHandler.h
+11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/PlocMpsocHandler.h
+11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/payload/PlocMpsocHandler.h
+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/PlocMpsocHandler.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/PlocMpsocHandler.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/PlocMpsocHandler.h
+11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/PlocMpsocHandler.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_objects.csv

@@ -56,7 +56,6 @@
 0x44330015;PLOC_MPSOC_HANDLER
 0x44330016;PLOC_SUPERVISOR_HANDLER
 0x44330017;PLOC_SUPERVISOR_HELPER
-0x44330018;PLOC_MPSOC_COMMUNICATION
 0x44330032;SCEX
 0x444100A2;SOLAR_ARRAY_DEPL_HANDLER
 0x444100A4;HEATER_HANDLER

generators/bsp_q7s_returnvalues.csv

@@ -561,17 +561,16 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x67a2;SADPL_MainSwitchTimeoutFailure;No description;162;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 0x67a3;SADPL_SwitchingDeplSa1Failed;No description;163;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 0x67a4;SADPL_SwitchingDeplSa2Failed;No description;164;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
-0x6810;MPSOCRTVIF_CommandTimeout;Command has timed out.;16;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
-0x68a0;MPSOCRTVIF_CrcFailure;Space Packet received from PLOC has invalid CRC;160;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
-0x68a1;MPSOCRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC;161;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
-0x68a2;MPSOCRTVIF_ReceivedExeFailure;Received execution failure reply from PLOC;162;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
-0x68a3;MPSOCRTVIF_InvalidApid;Received space packet with invalid APID from PLOC;163;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
-0x68a4;MPSOCRTVIF_InvalidLength;Received command with invalid length;164;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
-0x68a5;MPSOCRTVIF_FilenameTooLong;Filename of file in OBC filesystem is too long;165;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
-0x68a6;MPSOCRTVIF_MpsocHelperExecuting;MPSoC helper is currently executing a command;166;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
-0x68a7;MPSOCRTVIF_MpsocFilenameTooLong;Filename of MPSoC file is to long (max. 256 bytes);167;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
-0x68a8;MPSOCRTVIF_InvalidParameter;Command has invalid parameter;168;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
-0x68a9;MPSOCRTVIF_NameTooLong;Received command has file string with invalid length;169;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
+0x68a0;MPSOCRTVIF_CrcFailure;Space Packet received from PLOC has invalid CRC;160;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
+0x68a1;MPSOCRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC;161;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
+0x68a2;MPSOCRTVIF_ReceivedExeFailure;Received execution failure reply from PLOC;162;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
+0x68a3;MPSOCRTVIF_InvalidApid;Received space packet with invalid APID from PLOC;163;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
+0x68a4;MPSOCRTVIF_InvalidLength;Received command with invalid length;164;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
+0x68a5;MPSOCRTVIF_FilenameTooLong;Filename of file in OBC filesystem is too long;165;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
+0x68a6;MPSOCRTVIF_MpsocHelperExecuting;MPSoC helper is currently executing a command;166;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
+0x68a7;MPSOCRTVIF_MpsocFilenameTooLong;Filename of MPSoC file is to long (max. 256 bytes);167;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
+0x68a8;MPSOCRTVIF_InvalidParameter;Command has invalid parameter;168;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
+0x68a9;MPSOCRTVIF_NameTooLong;Received command has file string with invalid length;169;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
 0x69a0;SPVRTVIF_CrcFailure;Space Packet received from PLOC supervisor has invalid CRC;160;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
 0x69a1;SPVRTVIF_InvalidServiceId;No description;161;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
 0x69a2;SPVRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC supervisor;162;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
@@ -627,7 +626,4 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x6f02;TMS_NoWriteActive;No description;2;TM_SINK;mission/tmtc/DirectTmSinkIF.h
 0x6f03;TMS_Timeout;No description;3;TM_SINK;mission/tmtc/DirectTmSinkIF.h
 0x7000;VCS_ChannelDoesNotExist;No description;0;VIRTUAL_CHANNEL;mission/com/VirtualChannel.h
-0x7100;PLMPCOM_PacketReceived;No description;0;PLOC_MPSOC_COM;linux/payload/MpsocCommunication.h
-0x7101;PLMPCOM_FaultyPacketSize;No description;1;PLOC_MPSOC_COM;linux/payload/MpsocCommunication.h
-0x7102;PLMPCOM_CrcCheckFailed;No description;2;PLOC_MPSOC_COM;linux/payload/MpsocCommunication.h
-0x7300;SCBU_KeyNotFound;No description;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h
+0x7200;SCBU_KeyNotFound;No description;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 325 translations.
+ * @brief    Auto-generated event translation file. Contains 324 translations.
  * @details
- * Generated on: 2024-05-06 13:47:38
+ * Generated on: 2024-04-10 11:49:35
  */
 #include "translateEvents.h"
 
@@ -142,7 +142,6 @@ 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";
@@ -607,8 +606,6 @@ 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

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 180 translations.
- * Generated on: 2024-05-06 13:47:38
+ * Contains 179 translations.
+ * Generated on: 2024-04-10 11:49:35
  */
 #include "translateObjects.h"
 
@@ -64,7 +64,6 @@ const char *PTME_VC3_CFDP_TM_STRING = "PTME_VC3_CFDP_TM";
 const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
 const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
 const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
-const char *PLOC_MPSOC_COMMUNICATION_STRING = "PLOC_MPSOC_COMMUNICATION";
 const char *SCEX_STRING = "SCEX";
 const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
 const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
@@ -305,8 +304,6 @@ const char *translateObject(object_id_t object) {
       return PLOC_SUPERVISOR_HANDLER_STRING;
     case 0x44330017:
       return PLOC_SUPERVISOR_HELPER_STRING;
-    case 0x44330018:
-      return PLOC_MPSOC_COMMUNICATION_STRING;
     case 0x44330032:
       return SCEX_STRING;
     case 0x444100A2:

linux/ObjectFactory.cpp

@@ -26,7 +26,7 @@
 #include "devConf.h"
 #include "devices/gpioIds.h"
 #include "mission/system/acs/acsModeTree.h"
-#include "mission/system/payload/payloadModeTree.h"
+#include "mission/system/payloadModeTree.h"
 #include "mission/system/power/epsModeTree.h"
 
 void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,

linux/acs/GpsHyperionLinuxController.cpp

@@ -100,7 +100,7 @@ ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(
   localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
   localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
   localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
-  poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), enableHkSets, 60.0});
+  poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), enableHkSets, 30.0});
   localDataPoolMap.emplace(GpsHyperion::SKYVIEW_UNIX_SECONDS, new PoolEntry<double>());
   localDataPoolMap.emplace(GpsHyperion::PRN_ID, new PoolEntry<int16_t>());
   localDataPoolMap.emplace(GpsHyperion::AZIMUTH, new PoolEntry<int16_t>());

linux/com/SyrlinksComHandler.h

@@ -28,7 +28,7 @@ class SyrlinksComHandler : public DeviceCommunicationIF,
   MutexIF *lock;
   SemaphoreIF *semaphore;
   int serialPort = 0;
-  struct termios tty{};
+  struct termios tty {};
   Countdown replyTimeout = Countdown(2000);
   std::array<uint8_t, 2048> recBuf{};
   SimpleRingBuffer ringBuf;

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 325 translations.
+ * @brief    Auto-generated event translation file. Contains 324 translations.
  * @details
- * Generated on: 2024-05-06 13:47:38
+ * Generated on: 2024-04-10 11:49:35
  */
 #include "translateEvents.h"
 
@@ -142,7 +142,6 @@ 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";
@@ -607,8 +606,6 @@ 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

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 180 translations.
- * Generated on: 2024-05-06 13:47:38
+ * Contains 179 translations.
+ * Generated on: 2024-04-10 11:49:35
  */
 #include "translateObjects.h"
 
@@ -64,7 +64,6 @@ const char *PTME_VC3_CFDP_TM_STRING = "PTME_VC3_CFDP_TM";
 const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
 const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
 const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
-const char *PLOC_MPSOC_COMMUNICATION_STRING = "PLOC_MPSOC_COMMUNICATION";
 const char *SCEX_STRING = "SCEX";
 const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
 const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
@@ -305,8 +304,6 @@ const char *translateObject(object_id_t object) {
       return PLOC_SUPERVISOR_HANDLER_STRING;
     case 0x44330017:
       return PLOC_SUPERVISOR_HELPER_STRING;
-    case 0x44330018:
-      return PLOC_MPSOC_COMMUNICATION_STRING;
     case 0x44330032:
       return SCEX_STRING;
     case 0x444100A2:

linux/ipcore/PtmeIF.h

@@ -14,7 +14,7 @@
  */
 class PtmeIF {
  public:
-  virtual ~PtmeIF() {};
+  virtual ~PtmeIF(){};
 
   virtual bool containsVc(uint8_t vcId) const = 0;
   virtual VirtualChannelIF* getVirtChannel(uint8_t vcId) = 0;

linux/ipcore/VirtualChannelIF.h

@@ -15,7 +15,7 @@
  */
 class VirtualChannelIF : public DirectTmSinkIF {
  public:
-  virtual ~VirtualChannelIF() {};
+  virtual ~VirtualChannelIF(){};
 
   virtual ReturnValue_t initialize() = 0;
   virtual void cancelTransfer() = 0;

linux/payload/CMakeLists.txt

@@ -1,9 +1,7 @@
 target_sources(
   ${OBSW_NAME}
   PUBLIC PlocMemoryDumper.cpp
-         MpsocCommunication.cpp
-         SerialCommunicationHelper.cpp
-         FreshMpsocHandler.cpp
+         PlocMpsocHandler.cpp
          FreshSupvHandler.cpp
          PlocMpsocSpecialComHelper.cpp
          plocMpsocHelpers.cpp

linux/payload/FreshMpsocHandler.h

@@ -1,212 +0,0 @@
-#include "fsfw/action/ActionMessage.h"
-#include "fsfw/action/CommandsActionsIF.h"
-#include "fsfw/devicehandlers/DeviceHandlerIF.h"
-#include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
-#include "fsfw/ipc/MessageQueueIF.h"
-#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"
-
-class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsIF {
- public:
-  enum OpCode { DEFAULT_OPERATION = 0, PARSE_TM = 1 };
-  static constexpr uint32_t MPSOC_MODE_CMD_TIMEOUT_MS = 120000;
-
-  FreshMpsocHandler(DhbConfig cfg, MpsocCommunication& comInterface,
-                    PlocMpsocSpecialComHelper& specialComHelper, Gpio uartIsolatorSwitch,
-                    object_id_t supervisorHandler, PowerSwitchIF& powerSwitcher,
-                    power::Switch_t camSwitchId);
-
-  /**
-   * Periodic helper executed function, implemented by child class.
-   */
-  void performDeviceOperation(uint8_t opCode) override;
-
-  void performDefaultDeviceOperation();
-
-  /**
-   * Implemented by child class. Handle all command messages which are
-   * not health, mode, action or housekeeping messages.
-   * @param message
-   * @return
-   */
-  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
-
-  ReturnValue_t initialize() override;
-
- private:
-  enum class StartupState { IDLE, HW_INIT, DONE } startupState = StartupState::IDLE;
-  enum class PowerState { IDLE, PENDING_STARTUP, PENDING_SHUTDOWN, SUPV_FAILED, DONE };
-
-  enum TransitionState { NONE, TO_ON, TO_OFF, SUBMODE } transitionState = TransitionState::NONE;
-  MpsocCommunication& comInterface;
-  PlocMpsocSpecialComHelper& specialComHelper;
-  MessageQueueIF* eventQueue = nullptr;
-  SourceSequenceCounter commandSequenceCount = SourceSequenceCounter(0);
-  MessageQueueIF* commandActionHelperQueue = nullptr;
-  CommandActionHelper commandActionHelper;
-  Gpio uartIsolatorSwitch;
-  mpsoc::HkReport hkReport;
-  object_id_t supervisorHandler;
-
-  Countdown mpsocBootTransitionCd = Countdown(6500);
-  Countdown supvTransitionCd = Countdown(3000);
-
-  PoolEntry<uint32_t> peStatus = PoolEntry<uint32_t>();
-  PoolEntry<uint8_t> peMode = PoolEntry<uint8_t>();
-  PoolEntry<uint8_t> peDownlinkPwrOn = PoolEntry<uint8_t>();
-  PoolEntry<uint8_t> peDownlinkReplyActive = PoolEntry<uint8_t>();
-  PoolEntry<uint8_t> peDownlinkJesdSyncStatus = PoolEntry<uint8_t>();
-  PoolEntry<uint8_t> peDownlinkDacStatus = PoolEntry<uint8_t>();
-  PoolEntry<uint8_t> peCameraStatus = PoolEntry<uint8_t>();
-  PoolEntry<uint8_t> peCameraSdiStatus = PoolEntry<uint8_t>();
-  PoolEntry<float> peCameraFpgaTemp = PoolEntry<float>();
-  PoolEntry<float> peCameraSocTemp = PoolEntry<float>();
-  PoolEntry<float> peSysmonTemp = PoolEntry<float>();
-  PoolEntry<float> peSysmonVccInt = PoolEntry<float>();
-  PoolEntry<float> peSysmonVccAux = PoolEntry<float>();
-  PoolEntry<float> peSysmonVccBram = PoolEntry<float>();
-  PoolEntry<float> peSysmonVccPaux = PoolEntry<float>();
-  PoolEntry<float> peSysmonVccPint = PoolEntry<float>();
-  PoolEntry<float> peSysmonVccPdro = PoolEntry<float>();
-  PoolEntry<float> peSysmonMb12V = PoolEntry<float>();
-  PoolEntry<float> peSysmonMb3V3 = PoolEntry<float>();
-  PoolEntry<float> peSysmonMb1V8 = PoolEntry<float>();
-  PoolEntry<float> peSysmonVcc12V = PoolEntry<float>();
-  PoolEntry<float> peSysmonVcc5V = PoolEntry<float>();
-  PoolEntry<float> peSysmonVcc3V3 = PoolEntry<float>();
-  PoolEntry<float> peSysmonVcc3V3VA = PoolEntry<float>();
-  PoolEntry<float> peSysmonVcc2V5DDR = PoolEntry<float>();
-  PoolEntry<float> peSysmonVcc1V2DDR = PoolEntry<float>();
-  PoolEntry<float> peSysmonVcc0V9 = PoolEntry<float>();
-  PoolEntry<float> peSysmonVcc0V6VTT = PoolEntry<float>();
-  PoolEntry<float> peSysmonSafeCotsCur = PoolEntry<float>();
-  PoolEntry<float> peSysmonNvm4XoCur = PoolEntry<float>();
-  PoolEntry<uint16_t> peSemUncorrectableErrs = PoolEntry<uint16_t>();
-  PoolEntry<uint16_t> peSemCorrectableErrs = PoolEntry<uint16_t>();
-  PoolEntry<uint8_t> peSemStatus = PoolEntry<uint8_t>();
-  PoolEntry<uint8_t> peRebootMpsocRequired = PoolEntry<uint8_t>();
-
-  PowerState powerState;
-  bool specialComHelperExecuting = false;
-
-  struct ActionCommandInfo {
-    Countdown cmdCountdown = Countdown(mpsoc::DEFAULT_CMD_TIMEOUT_MS);
-    bool pending = false;
-    MessageQueueId_t commandedBy = MessageQueueIF::NO_QUEUE;
-    DeviceCommandId_t pendingCmd = DeviceHandlerIF::NO_COMMAND_ID;
-    uint16_t pendingCmdMpsocApid = 0;
-
-    void reset() {
-      pending = false;
-      commandedBy = MessageQueueIF::NO_QUEUE;
-      pendingCmd = DeviceHandlerIF::NO_COMMAND_ID;
-    }
-
-    void start(DeviceCommandId_t commandId, MessageQueueId_t commandedBy) {
-      pending = true;
-      cmdCountdown.resetTimer();
-      pendingCmd = commandId;
-      this->commandedBy = commandedBy;
-    }
-  } activeCmdInfo;
-
-  uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
-  SpacePacketCreator creator;
-  ploc::SpTcParams spParams = ploc::SpTcParams(creator);
-  Mode_t targetMode = HasModesIF::MODE_UNDEFINED;
-  Submode_t targetSubmode = 0;
-
-  struct TmMemReadReport {
-    static const uint8_t FIX_SIZE = 14;
-    size_t rememberRequestedSize = 0;
-  };
-
-  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;
-  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-                                        LocalDataPoolManager& poolManager) override;
-
-  // Mode abstract functions
-  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                 uint32_t* msToReachTheMode) override;
-  // Action override. Forward to user.
-  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                              const uint8_t* data, size_t size) override;
-
-  /**
-   * @overload
-   * @param submode
-   */
-  void startTransition(Mode_t newMode, Submode_t submode) override;
-
-  ReturnValue_t performDeviceOperationPreQueueHandling(uint8_t opCode) override;
-
-  // CommandsActionsIF overrides.
-  MessageQueueIF* getCommandQueuePtr() override;
-
-  void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
-  void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
-  void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
-  void completionSuccessfulReceived(ActionId_t actionId) override;
-  void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
-  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
-                             const ParameterWrapper* newValues, uint16_t startAtIndex) override;
-
-  void handleActionCommandFailure(ActionId_t actionId, ReturnValue_t returnCode);
-  ReturnValue_t executeRegularCmd(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                  const uint8_t* data, size_t dataLen);
-  void handleTransitionToOn();
-  void handleTransitionToOff();
-
-  ReturnValue_t commandTcModeReplay();
-  ReturnValue_t commandTcMemWrite(const uint8_t* commandData, size_t commandDataLen);
-  ReturnValue_t commandTcMemRead(const uint8_t* commandData, size_t commandDataLen);
-  ReturnValue_t commandTcFlashDelete(const uint8_t* commandData, size_t commandDataLen);
-  ReturnValue_t commandTcReplayStart(const uint8_t* commandData, size_t commandDataLen);
-  ReturnValue_t commandTcReplayStop();
-  ReturnValue_t commandTcDownlinkPwrOn(const uint8_t* commandData, size_t commandDataLen);
-  ReturnValue_t commandTcDownlinkPwrOff();
-  ReturnValue_t commandTcGetHkReport();
-  ReturnValue_t commandTcGetDirContent(const uint8_t* commandData, size_t commandDataLen);
-  ReturnValue_t commandTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen);
-  ReturnValue_t commandTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen);
-  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 commandTcSplitFile(const uint8_t* commandData, size_t commandDataLen);
-  ReturnValue_t commandTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen);
-  ReturnValue_t commandTcModeSnapshot();
-
-  ReturnValue_t finishAndSendTc(DeviceCommandId_t cmdId, mpsoc::TcBase& tcBase,
-                                uint32_t cmdCountdown = mpsoc::DEFAULT_CMD_TIMEOUT_MS);
-  void handleEvent(EventMessage* eventMessage);
-  void cmdDoneHandler(bool success, ReturnValue_t result);
-  ReturnValue_t handleDeviceReply();
-  ReturnValue_t handleAckReport();
-  ReturnValue_t handleExecutionReport();
-  void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
-  ReturnValue_t reportReplyData(DeviceCommandId_t tmId);
-  ReturnValue_t handleGetHkReport();
-  bool handleHwStartup();
-  bool handleHwShutdown();
-
-  void stopSpecialComHelper();
-  void commandSubmodeTransition();
-  void commonSpecialComInit();
-  void commonSpecialComStop();
-  void commandInitHandling(ActionId_t actionId, MessageQueueId_t commandedBy);
-};

linux/payload/FreshSupvHandler.cpp

@@ -241,10 +241,6 @@ 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);
@@ -853,10 +849,6 @@ 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);
@@ -1307,7 +1299,7 @@ void FreshSupvHandler::handleExecutionFailureReport(ActiveCmdInfo& info, Executi
     triggerEvent(SUPV_EXE_FAILURE, info.commandId, static_cast<uint32_t>(report.getStatusCode()));
   }
   if (info.commandedBy) {
-    actionHelper.finish(false, info.commandedBy, info.commandId, result::RECEIVED_EXE_FAILURE);
+    actionHelper.finish(false, info.commandedBy, info.commandId, report.getStatusCode());
   }
   info.isPending = false;
 }

linux/payload/MpsocCommunication.cpp

@@ -1,75 +0,0 @@
-#include "MpsocCommunication.h"
-
-#include "fsfw/globalfunctions/CRC.h"
-#include "fsfw/returnvalues/returnvalue.h"
-#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
-#include "fsfw/tmtcpacket/ccsds/header.h"
-#include "linux/payload/plocMpsocHelpers.h"
-#include "unistd.h"
-
-MpsocCommunication::MpsocCommunication(object_id_t objectId, SerialConfig cfg)
-    : SystemObject(objectId), readRingBuf(4096, true), helper(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);
-}
-
-ReturnValue_t MpsocCommunication::parseAndRetrieveNextPacket() {
-  // We do not have a data link layer, so this whole thing is a mess in any case..
-  // But basically, we try to parse space packets from the internal ring buffer and trasnfer
-  // them to the higher level device handler. The CRC check is performed here as well, with
-  // few other ways to detect if we even have a valid packet.
-  size_t availableReadData = readRingBuf.getAvailableReadData();
-  // Minimum valid size for a space packet header.
-  if (availableReadData < ccsds::HEADER_LEN + 1) {
-    return returnvalue::OK;
-  }
-  readRingBuf.readData(readBuf, availableReadData);
-  spReader.setReadOnlyData(readBuf, sizeof(readBuf));
-  auto res = spReader.checkSize();
-  if (res != returnvalue::OK) {
-    return res;
-  }
-  // The packet might be garbage, with no way to recover without a data link layer.
-  if (spReader.getFullPacketLen() > 4096) {
-    readRingBuf.clear();
-    // TODO: Maybe we should also clear the serial input buffer in Linux?
-    return FAULTY_PACKET_SIZE;
-  }
-  if (availableReadData < spReader.getFullPacketLen()) {
-    // Might be split packet where the rest still has to be read.
-    return returnvalue::OK;
-  }
-  if (CRC::crc16ccitt(readBuf, spReader.getFullPacketLen()) != 0) {
-    // Possibly invalid packet. We can not even trust the detected packet length.
-    // Just clear the whole read buffer as well.
-    readRingBuf.clear();
-    triggerEvent(mpsoc::CRC_FAILURE);
-    return CRC_CHECK_FAILED;
-  }
-  readRingBuf.deleteData(spReader.getFullPacketLen());
-  return PACKET_RECEIVED;
-}
-
-ReturnValue_t MpsocCommunication::readSerialInterface() {
-  int bytesRead = read(helper.rawFd(), readBuf, sizeof(readBuf));
-  if (bytesRead < 0) {
-    return returnvalue::FAILED;
-  }
-  if (bytesRead > 0) {
-    if (MPSOC_LOW_LEVEL_RX_WIRETAPPING) {
-      sif::debug << "Read " << bytesRead << " bytes on the MPSoC interface" << std::endl;
-    }
-    return readRingBuf.writeData(readBuf, bytesRead);
-  }
-  return returnvalue::OK;
-}
-
-const SpacePacketReader& MpsocCommunication::getSpReader() const { return spReader; }
-
-SerialCommunicationHelper& MpsocCommunication::getComHelper() { return helper; }

linux/payload/MpsocCommunication.h

@@ -1,44 +0,0 @@
-
-#pragma once
-
-#include <fsfw/objectmanager/SystemObject.h>
-
-#include "eive/resultClassIds.h"
-#include "fsfw/container/SimpleRingBuffer.h"
-#include "fsfw/returnvalues/returnvalue.h"
-#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
-#include "linux/payload/SerialCommunicationHelper.h"
-
-static constexpr bool MPSOC_LOW_LEVEL_TX_WIRETAPPING = false;
-static constexpr bool MPSOC_LOW_LEVEL_RX_WIRETAPPING = false;
-
-class MpsocCommunication : public SystemObject {
- public:
-  static const uint8_t CLASS_ID = CLASS_ID::PLOC_MPSOC_COM;
-  static constexpr ReturnValue_t PACKET_RECEIVED = returnvalue::makeCode(CLASS_ID, 0);
-  static constexpr ReturnValue_t FAULTY_PACKET_SIZE = returnvalue::makeCode(CLASS_ID, 1);
-  static constexpr ReturnValue_t CRC_CHECK_FAILED = returnvalue::makeCode(CLASS_ID, 2);
-
-  MpsocCommunication(object_id_t objectId, SerialConfig cfg);
-  ReturnValue_t initialize() override;
-
-  ReturnValue_t send(const uint8_t* data, size_t dataLen);
-
-  // Should be called periodically to transfer the received data from the MPSoC from the Linux
-  // buffer to the internal ring buffer for further processing.
-  ReturnValue_t readSerialInterface();
-
-  // Parses the internal ring buffer for packets and checks whether a packet was received.
-  ReturnValue_t parseAndRetrieveNextPacket();
-
-  // Can be used to read the parse packet, if one was received.
-  const SpacePacketReader& getSpReader() const;
-
-  SerialCommunicationHelper& getComHelper();
-
- private:
-  SpacePacketReader spReader;
-  uint8_t readBuf[4096];
-  SimpleRingBuffer readRingBuf;
-  SerialCommunicationHelper helper;
-};

linux/payload/PlocMpsocHandler.cpp

@@ -2,15 +2,15 @@
 #include <linux/payload/PlocMpsocHandler.h>
 #include <linux/payload/plocSupvDefs.h>
 
+#include <sstream>
+
 #include "OBSWConfig.h"
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/globalfunctions/CRC.h"
-#include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/parameters/HasParametersIF.h"
 
 PlocMpsocHandler::PlocMpsocHandler(object_id_t objectId, object_id_t uartComIFid,
-                                   CookieIF* comCookie,
-                                   PlocMpsocSpecialComHelperLegacy* plocMPSoCHelper,
+                                   CookieIF* comCookie, PlocMpsocSpecialComHelper* plocMPSoCHelper,
                                    Gpio uartIsolatorSwitch, object_id_t supervisorHandler)
     : DeviceHandlerBase(objectId, uartComIFid, comCookie),
       hkReport(this),
@@ -54,26 +54,24 @@ ReturnValue_t PlocMpsocHandler::initialize() {
     return result;
   }
   result = manager->subscribeToEvent(
-      eventQueue->getId(),
-      event::getEventId(PlocMpsocSpecialComHelperLegacy::MPSOC_FLASH_WRITE_FAILED));
+      eventQueue->getId(), event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_WRITE_FAILED));
   if (result != returnvalue::OK) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
   result = manager->subscribeToEvent(
       eventQueue->getId(),
-      event::getEventId(PlocMpsocSpecialComHelperLegacy::MPSOC_FLASH_WRITE_SUCCESSFUL));
+      event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_WRITE_SUCCESSFUL));
   if (result != returnvalue::OK) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
   result = manager->subscribeToEvent(
       eventQueue->getId(),
-      event::getEventId(PlocMpsocSpecialComHelperLegacy::MPSOC_FLASH_READ_SUCCESSFUL));
+      event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_READ_SUCCESSFUL));
   if (result != returnvalue::OK) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
   result = manager->subscribeToEvent(
-      eventQueue->getId(),
-      event::getEventId(PlocMpsocSpecialComHelperLegacy::MPSOC_FLASH_READ_FAILED));
+      eventQueue->getId(), event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_READ_FAILED));
   if (result != returnvalue::OK) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
@@ -141,7 +139,7 @@ ReturnValue_t PlocMpsocHandler::executeAction(ActionId_t actionId, MessageQueueI
   }
 
   if (specialComHelperExecuting) {
-    return mpsoc::MPSOC_HELPER_EXECUTING;
+    return MPSoCReturnValuesIF::MPSOC_HELPER_EXECUTING;
   }
 
   switch (actionId) {
@@ -410,7 +408,7 @@ ReturnValue_t PlocMpsocHandler::scanForReply(const uint8_t* start, size_t remain
       sif::debug << "PlocMPSoCHandler::scanForReply: Reply has invalid APID 0x" << std::hex
                  << std::setfill('0') << std::setw(2) << apid << std::dec << std::endl;
       *foundLen = remainingSize;
-      return mpsoc::INVALID_APID;
+      return MPSoCReturnValuesIF::INVALID_APID;
     }
   }
 
@@ -447,7 +445,7 @@ ReturnValue_t PlocMpsocHandler::interpretDeviceReply(DeviceCommandId_t id, const
     }
     case (mpsoc::TM_FLASH_DIRECTORY_CONTENT): {
       result = verifyPacket(packet, foundPacketLen);
-      if (result == mpsoc::CRC_FAILURE) {
+      if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
         sif::warning << "PLOC MPSoC: Flash directory content reply invalid CRC" << std::endl;
       }
       /** Send data to commanding queue */
@@ -559,7 +557,7 @@ ReturnValue_t PlocMpsocHandler::prepareTcMemRead(const uint8_t* commandData,
 ReturnValue_t PlocMpsocHandler::prepareTcFlashDelete(const uint8_t* commandData,
                                                      size_t commandDataLen) {
   if (commandDataLen > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
-    return mpsoc::NAME_TOO_LONG;
+    return MPSoCReturnValuesIF::NAME_TOO_LONG;
   }
   ReturnValue_t result = returnvalue::OK;
   mpsoc::TcFlashDelete tcFlashDelete(spParams, sequenceCount);
@@ -720,7 +718,7 @@ ReturnValue_t PlocMpsocHandler::finishTcPrep(mpsoc::TcBase& tcBase) {
 
 ReturnValue_t PlocMpsocHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
   if (CRC::crc16ccitt(start, foundLen) != 0) {
-    return mpsoc::CRC_FAILURE;
+    return MPSoCReturnValuesIF::CRC_FAILURE;
   }
   return returnvalue::OK;
 }
@@ -729,12 +727,12 @@ ReturnValue_t PlocMpsocHandler::handleAckReport(const uint8_t* data) {
   ReturnValue_t result = returnvalue::OK;
 
   result = verifyPacket(data, mpsoc::SIZE_ACK_REPORT);
-  if (result == mpsoc::CRC_FAILURE) {
+  if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
     sif::warning << "PlocMPSoCHandler::handleAckReport: CRC failure" << std::endl;
     nextReplyId = mpsoc::NONE;
     replyRawReplyIfnotWiretapped(data, mpsoc::SIZE_ACK_REPORT);
     triggerEvent(MPSOC_HANDLER_CRC_FAILURE);
-    sendFailureReport(mpsoc::ACK_REPORT, mpsoc::CRC_FAILURE);
+    sendFailureReport(mpsoc::ACK_REPORT, MPSoCReturnValuesIF::CRC_FAILURE);
     disableAllReplies();
     return IGNORE_REPLY_DATA;
   }
@@ -773,7 +771,7 @@ ReturnValue_t PlocMpsocHandler::handleExecutionReport(const uint8_t* data) {
   ReturnValue_t result = returnvalue::OK;
 
   result = verifyPacket(data, mpsoc::SIZE_EXE_REPORT);
-  if (result == mpsoc::CRC_FAILURE) {
+  if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
     sif::warning << "PlocMPSoCHandler::handleExecutionReport: CRC failure" << std::endl;
     nextReplyId = mpsoc::NONE;
     return result;
@@ -794,9 +792,9 @@ ReturnValue_t PlocMpsocHandler::handleExecutionReport(const uint8_t* data) {
       uint16_t status = mpsoc::getStatusFromRawData(data);
       sif::warning << "MPSoC EXE Failure: " << mpsoc::getStatusString(status) << std::endl;
       triggerEvent(EXE_FAILURE, commandId, status);
-      sendFailureReport(mpsoc::EXE_REPORT, mpsoc::RECEIVED_EXE_FAILURE);
+      sendFailureReport(mpsoc::EXE_REPORT, MPSoCReturnValuesIF::RECEIVED_EXE_FAILURE);
       result = IGNORE_REPLY_DATA;
-      cmdDoneHandler(false, mpsoc::RECEIVED_EXE_FAILURE);
+      cmdDoneHandler(false, MPSoCReturnValuesIF::RECEIVED_EXE_FAILURE);
       break;
     }
     default: {
@@ -812,7 +810,7 @@ ReturnValue_t PlocMpsocHandler::handleExecutionReport(const uint8_t* data) {
 ReturnValue_t PlocMpsocHandler::handleMemoryReadReport(const uint8_t* data) {
   ReturnValue_t result = returnvalue::OK;
   result = verifyPacket(data, tmMemReadReport.rememberRequestedSize);
-  if (result == mpsoc::CRC_FAILURE) {
+  if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
     sif::warning << "PlocMPSoCHandler::handleMemoryReadReport: Memory read report has invalid crc"
                  << std::endl;
   }
@@ -1006,7 +1004,7 @@ ReturnValue_t PlocMpsocHandler::handleGetHkReport(const uint8_t* data) {
 
 ReturnValue_t PlocMpsocHandler::handleCamCmdRpt(const uint8_t* data) {
   ReturnValue_t result = verifyPacket(data, foundPacketLen);
-  if (result == mpsoc::CRC_FAILURE) {
+  if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
     sif::warning << "PlocMPSoCHandler::handleCamCmdRpt: CRC failure" << std::endl;
   }
   SpacePacketReader packetReader(data, foundPacketLen);

linux/payload/PlocMpsocHandler.h

@@ -1,19 +1,23 @@
 #ifndef BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
 #define BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
 
-#include <linux/payload/PlocMpsocSpecialComHelperLegacy.h>
+#include <linux/payload/PlocMpsocSpecialComHelper.h>
+#include <linux/payload/mpsocRetvals.h>
 #include <linux/payload/plocMpsocHelpers.h>
 #include <linux/payload/plocSupvDefs.h>
 #include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
 
+#include <string>
+
 #include "fsfw/action/CommandActionHelper.h"
 #include "fsfw/action/CommandsActionsIF.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/tmtcservices/SourceSequenceCounter.h"
 #include "fsfw_hal/linux/gpio/Gpio.h"
 #include "fsfw_hal/linux/serial/SerialComIF.h"
 
-static constexpr bool DEBUG_MPSOC_COMMUNICATION = true;
+static constexpr bool DEBUG_MPSOC_COMMUNICATION = false;
 
 /**
  * @brief	This is the device handler for the MPSoC of the payload computer.
@@ -44,7 +48,7 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
    * @param supervisorHandler   Object ID of the supervisor handler
    */
   PlocMpsocHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
-                   PlocMpsocSpecialComHelperLegacy* plocMPSoCHelper, Gpio uartIsolatorSwitch,
+                   PlocMpsocSpecialComHelper* plocMPSoCHelper, Gpio uartIsolatorSwitch,
                    object_id_t supervisorHandler);
   virtual ~PlocMpsocHandler();
   virtual ReturnValue_t initialize() override;
@@ -167,7 +171,7 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
 
   SerialComIF* uartComIf = nullptr;
 
-  PlocMpsocSpecialComHelperLegacy* specialComHelper = nullptr;
+  PlocMpsocSpecialComHelper* specialComHelper = nullptr;
   Gpio uartIsolatorSwitch;
   object_id_t supervisorHandler = 0;
   CommandActionHelper commandActionHelper;
@@ -182,7 +186,7 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
   };
 
   TmMemReadReport tmMemReadReport;
-  Countdown cmdCountdown = Countdown(15000);
+  Countdown cmdCountdown = Countdown(10000);
 
   struct TelemetryBuffer {
     uint16_t length = 0;

linux/payload/PlocMpsocSpecialComHelper.cpp

@@ -6,21 +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,
-                                                     MpsocCommunication& comInterface)
-    : SystemObject(objectId), comInterface(comInterface) {
+PlocMpsocSpecialComHelper::PlocMpsocSpecialComHelper(object_id_t objectId)
+    : SystemObject(objectId) {
   spParams.buf = commandBuffer;
   spParams.maxSize = sizeof(commandBuffer);
 }
@@ -53,9 +48,9 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
       case InternalState::FLASH_WRITE: {
         result = performFlashWrite();
         if (result == returnvalue::OK) {
-          triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, txSequenceCount.get());
+          triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, sequenceCount->get());
         } else {
-          triggerEvent(MPSOC_FLASH_WRITE_FAILED, txSequenceCount.get());
+          triggerEvent(MPSOC_FLASH_WRITE_FAILED, sequenceCount->get());
         }
         internalState = InternalState::IDLE;
         break;
@@ -63,10 +58,9 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
       case InternalState::FLASH_READ: {
         result = performFlashRead();
         if (result == returnvalue::OK) {
-          triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, txSequenceCount.get());
+          triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, sequenceCount->get());
         } else {
-          sif::printWarning("PLOC MPSoC Helper: Flash read failed with code %04x\n", result);
-          triggerEvent(MPSOC_FLASH_READ_FAILED, txSequenceCount.get(), result);
+          triggerEvent(MPSOC_FLASH_READ_FAILED, sequenceCount->get());
         }
         internalState = InternalState::IDLE;
         break;
@@ -78,12 +72,19 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
   }
 }
 
-void PlocMpsocSpecialComHelper::setCommandSequenceCount(uint16_t sequenceCount_) {
-  txSequenceCount.set(sequenceCount_);
+ReturnValue_t PlocMpsocSpecialComHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
+  uartComIF = dynamic_cast<SerialComIF*>(communicationInterface_);
+  if (uartComIF == nullptr) {
+    sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
+    return returnvalue::FAILED;
+  }
+  return returnvalue::OK;
 }
 
-uint16_t PlocMpsocSpecialComHelper::getCommandSequenceCount() const {
-  return txSequenceCount.get();
+void PlocMpsocSpecialComHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
+
+void PlocMpsocSpecialComHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
+  sequenceCount = sequenceCount_;
 }
 
 ReturnValue_t PlocMpsocSpecialComHelper::startFlashWrite(std::string obcFile,
@@ -116,8 +117,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::startFlashRead(std::string obcFile, std
 void PlocMpsocSpecialComHelper::resetHelper() {
   spParams.buf = commandBuffer;
   terminate = false;
-  auto& helper = comInterface.getComHelper();
-  helper.flushUartRxBuffer();
+  uartComIF->flushUartRxBuffer(comCookie);
 }
 
 void PlocMpsocSpecialComHelper::stopProcess() { terminate = true; }
@@ -155,7 +155,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
     file.read(reinterpret_cast<char*>(fileBuf.data()), dataLength);
     bytesRead += dataLength;
     remainingSize -= dataLength;
-    mpsoc::TcFlashWrite tc(spParams, txSequenceCount);
+    mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
     result = tc.setPayload(fileBuf.data(), dataLength);
     if (result != returnvalue::OK) {
       return result;
@@ -164,7 +164,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
     if (result != returnvalue::OK) {
       return result;
     }
-    txSequenceCount.increment();
+    (*sequenceCount)++;
     result = handlePacketTransmissionNoReply(tc);
     if (result != returnvalue::OK) {
       return result;
@@ -179,12 +179,8 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
 
 ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
   std::error_code e;
-  if (std::filesystem::exists(flashReadAndWrite.obcFile)) {
-    // 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()) {
+  std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::trunc | std::ios::binary);
+  if (ofile.bad()) {
     return returnvalue::FAILED;
   }
   ReturnValue_t result = flashfopen(mpsoc::FileAccessModes::READ);
@@ -207,7 +203,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
       std::filesystem::remove(flashReadAndWrite.obcFile, e);
       return FILE_READ_ERROR;
     }
-    mpsoc::TcFlashRead flashReadRequest(spParams, txSequenceCount);
+    mpsoc::TcFlashRead flashReadRequest(spParams, *sequenceCount);
     result = flashReadRequest.setPayload(nextReadSize);
     if (result != returnvalue::OK) {
       std::filesystem::remove(flashReadAndWrite.obcFile, e);
@@ -218,7 +214,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
       std::filesystem::remove(flashReadAndWrite.obcFile, e);
       return result;
     }
-    txSequenceCount.increment();
+    (*sequenceCount)++;
     result = handlePacketTransmissionFlashRead(flashReadRequest, ofile, nextReadSize);
     if (result != returnvalue::OK) {
       std::filesystem::remove(flashReadAndWrite.obcFile, e);
@@ -235,7 +231,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
 
 ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
   spParams.buf = commandBuffer;
-  mpsoc::TcFlashFopen flashFopen(spParams, txSequenceCount);
+  mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
   ReturnValue_t result = flashFopen.setPayload(flashReadAndWrite.mpsocFile, mode);
   if (result != returnvalue::OK) {
     return result;
@@ -244,7 +240,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
   if (result != returnvalue::OK) {
     return result;
   }
-  txSequenceCount.increment();
+  (*sequenceCount)++;
   result = handlePacketTransmissionNoReply(flashFopen);
   if (result != returnvalue::OK) {
     return result;
@@ -254,12 +250,12 @@ ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
 
 ReturnValue_t PlocMpsocSpecialComHelper::flashfclose() {
   spParams.buf = commandBuffer;
-  mpsoc::TcFlashFclose flashFclose(spParams, txSequenceCount);
+  mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
   ReturnValue_t result = flashFclose.finishPacket();
   if (result != returnvalue::OK) {
     return result;
   }
-  txSequenceCount.increment();
+  (*sequenceCount)++;
   result = handlePacketTransmissionNoReply(flashFclose);
   if (result != returnvalue::OK) {
     return result;
@@ -282,7 +278,6 @@ 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.
@@ -293,7 +288,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc
     }
     return handleExe();
   } else if (spReader.getApid() == mpsoc::apid::EXE_FAILURE) {
-    handleExeFailure(spReader);
+    handleExeFailure();
   } else {
     triggerEvent(MPSOC_EXE_INVALID_APID, spReader.getApid(), static_cast<uint32_t>(internalState));
     sif::warning << "PLOC MPSoC: Expected execution report "
@@ -316,8 +311,8 @@ 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);
+  ReturnValue_t result = returnvalue::OK;
+  result = uartComIF->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
   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));
@@ -336,8 +331,6 @@ 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);
@@ -346,7 +339,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleAck() {
   return returnvalue::OK;
 }
 
-void PlocMpsocSpecialComHelper::handleAckApidFailure(const SpacePacketReader& reader) {
+void PlocMpsocSpecialComHelper::handleAckApidFailure(const ploc::SpTmReader& reader) {
   uint16_t apid = reader.getApid();
   if (apid == mpsoc::apid::ACK_FAILURE) {
     uint16_t status = mpsoc::getStatusFromRawData(reader.getFullData());
@@ -370,10 +363,9 @@ 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(spReader);
+    handleExeFailure();
     return returnvalue::FAILED;
   } else if (apid != mpsoc::apid::EXE_SUCCESS) {
     triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
@@ -383,7 +375,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleExe() {
   return returnvalue::OK;
 }
 
-void PlocMpsocSpecialComHelper::handleExeFailure(const SpacePacketReader& spReader) {
+void PlocMpsocSpecialComHelper::handleExeFailure() {
   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));
@@ -392,32 +384,46 @@ void PlocMpsocSpecialComHelper::handleExeFailure(const SpacePacketReader& spRead
 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 = tryReceiveNextReply();
-    if (result == MpsocCommunication::PACKET_RECEIVED) {
-      // Need to convert this, we are faking a synchronous API here.
-      result = returnvalue::OK;
-      break;
-    }
+    result = receive(tmBuf.data() + readBytes, 6, &currentBytes);
     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;
 }
 
@@ -427,7 +433,6 @@ 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);
@@ -493,25 +498,47 @@ 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;
   }
-  rxSequenceCount = spReader.getSequenceCount();
-  mpsoc::printRxPacket(spReader);
+  result = spReader.checkCrc();
+  if (result != returnvalue::OK) {
+    sif::warning << "PLOC MPSoC: CRC check failed" << std::endl;
+    triggerEvent(MPSOC_TM_CRC_MISSMATCH, *sequenceCount);
+    return result;
+  }
+  uint16_t recvSeqCnt = spReader.getSequenceCount();
+  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::tryReceiveNextReply() {
+ReturnValue_t PlocMpsocSpecialComHelper::receive(uint8_t* data, size_t requestBytes,
+                                                 size_t* readBytes) {
   ReturnValue_t result = returnvalue::OK;
-  result = comInterface.readSerialInterface();
+  uint8_t* buffer = nullptr;
+  result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
   if (result != returnvalue::OK) {
+    sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
     triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
                  static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
     return returnvalue::FAILED;
   }
-  return comInterface.parseAndRetrieveNextPacket();
+  result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
+  if (result != returnvalue::OK) {
+    sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
+    triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
+    return returnvalue::FAILED;
+  }
+  if (*readBytes > 0) {
+    std::memcpy(data, buffer, *readBytes);
+  }
+  return result;
 }

linux/payload/PlocMpsocSpecialComHelper.h

@@ -6,13 +6,14 @@
 
 #include <string>
 
+#include "OBSWConfig.h"
+#include "fsfw/devicehandlers/CookieIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
 #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"
+#include "fsfw_hal/linux/serial/SerialComIF.h"
 #ifdef XIPHOS_Q7S
 #include "bsp_q7s/fs/SdCardManager.h"
 #endif
@@ -82,12 +83,15 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
     FLASH_READ_READLEN_ERROR = 2
   };
 
-  PlocMpsocSpecialComHelper(object_id_t objectId, MpsocCommunication& comInterface);
+  PlocMpsocSpecialComHelper(object_id_t objectId);
   virtual ~PlocMpsocSpecialComHelper();
 
   ReturnValue_t initialize() override;
   ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
+  ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
+  void setComCookie(CookieIF* comCookie_);
+
   /**
    * @brief   Starts flash write sequence
    *
@@ -114,8 +118,7 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
   /**
    * @brief   Sets the sequence count object responsible for the sequence count handling
    */
-  void setCommandSequenceCount(uint16_t sequenceCount_);
-  uint16_t getCommandSequenceCount() const;
+  void setSequenceCount(SourceSequenceCounter* sequenceCount_);
 
  private:
   static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HELPER;
@@ -166,14 +169,12 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
    * Communication interface of MPSoC responsible for low level access. Must be set by the
    * MPSoC Handler.
    */
-  // SerialComIF* uartComIF = nullptr;
+  SerialComIF* uartComIF = nullptr;
   // Communication cookie. Must be set by the MPSoC Handler
-  // CookieIF* comCookie = nullptr;
-  MpsocCommunication& comInterface;
+  CookieIF* comCookie = nullptr;
   // Sequence count, must be set by Ploc MPSoC Handler
-  // ploc::SpTmReader spReader;
-  uint16_t rxSequenceCount = 0;
-  SourceSequenceCounter txSequenceCount = 0;
+  SourceSequenceCounter* sequenceCount = nullptr;
+  ploc::SpTmReader spReader;
 
   void resetHelper();
   ReturnValue_t performFlashWrite();
@@ -185,13 +186,13 @@ 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 tryReceiveNextReply();
+  ReturnValue_t receive(uint8_t* data, size_t requestBytes, size_t* readBytes);
   ReturnValue_t handleAck();
   ReturnValue_t handleExe();
   ReturnValue_t startFlashReadOrWriteBase(std::string obcFile, std::string mpsocFile);
   ReturnValue_t fileCheck(std::string obcFile);
-  void handleAckApidFailure(const SpacePacketReader& reader);
-  void handleExeFailure(const SpacePacketReader& reader);
+  void handleAckApidFailure(const ploc::SpTmReader& reader);
+  void handleExeFailure();
   ReturnValue_t handleTmReception();
   ReturnValue_t checkReceivedTm();
 };

linux/payload/PlocSupvUartMan.cpp

@@ -11,8 +11,6 @@
 #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"
@@ -23,13 +21,9 @@
 
 #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;
@@ -283,6 +277,23 @@ 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) {
@@ -426,8 +437,6 @@ 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);
@@ -438,8 +447,10 @@ ReturnValue_t PlocSupvUartManager::writeUpdatePackets() {
                    update.bytesWritten);
       return result;
     }
-    result = writeMemoryHandlingWithRetryLogic(packet, progPercent);
+    result = handlePacketTransmissionNoReply(packet, 5000);
     if (result != returnvalue::OK) {
+      triggerEvent(WRITE_MEMORY_FAILED, buildProgParams1(progPercent, update.sequenceCount),
+                   update.bytesWritten);
       return result;
     }
 
@@ -450,25 +461,7 @@ ReturnValue_t PlocSupvUartManager::writeUpdatePackets() {
 #if OBSW_DEBUG_PLOC_SUPERVISOR == 1
     progressPrinter.print(update.bytesWritten);
 #endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 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();
+    // TaskFactory::delayTask(1);
   }
   return result;
 }
@@ -577,16 +570,7 @@ ReturnValue_t PlocSupvUartManager::handlePacketTransmissionNoReply(
   bool ackReceived = false;
   bool packetWasHandled = false;
   while (true) {
-    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;
-      }
-    }
+    handleUartReception();
     if (not decodedQueue.empty()) {
       size_t packetLen = 0;
       decodedQueue.retrieve(&packetLen);
@@ -629,7 +613,7 @@ ReturnValue_t PlocSupvUartManager::handlePacketTransmissionNoReply(
       return result::NO_REPLY_TIMEOUT;
     }
   }
-  return result;
+  return returnvalue::OK;
 }
 
 int PlocSupvUartManager::handleAckReception(supv::TcBase& tc, size_t packetLen) {

linux/payload/PlocSupvUartMan.h

@@ -118,7 +118,6 @@ 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();
   /**
@@ -200,8 +199,6 @@ 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
@@ -372,8 +369,6 @@ 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/ScexDleParser.cpp

@@ -2,6 +2,6 @@
 
 ScexDleParser::ScexDleParser(SimpleRingBuffer &decodeRingBuf, DleEncoder &decoder,
                              BufPair encodedBuf, BufPair decodedBuf)
-    : DleParser(decodeRingBuf, decoder, encodedBuf, decodedBuf) {};
+    : DleParser(decodeRingBuf, decoder, encodedBuf, decodedBuf){};
 
-ScexDleParser::~ScexDleParser() {};
+ScexDleParser::~ScexDleParser(){};

linux/payload/SerialCommunicationHelper.cpp

@@ -1,126 +0,0 @@
-#include "SerialCommunicationHelper.h"
-
-#include <errno.h>
-#include <fcntl.h>
-#include <termios.h>
-#include <unistd.h>
-
-#include <cstring>
-
-#include "fsfw/returnvalues/returnvalue.h"
-#include "fsfw_hal/linux/serial/helper.h"
-
-SerialCommunicationHelper::SerialCommunicationHelper(SerialConfig cfg) : cfg(cfg) {}
-
-ReturnValue_t SerialCommunicationHelper::initialize() {
-  fd = configureUartPort();
-  if (fd < 0) {
-    return returnvalue::FAILED;
-  }
-  return returnvalue::OK;
-}
-
-int SerialCommunicationHelper::rawFd() const { return fd; }
-
-ReturnValue_t SerialCommunicationHelper::send(const uint8_t* data, size_t dataLen) {
-  if (write(fd, data, dataLen) != static_cast<int>(dataLen)) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
-               << ": Error description: " << strerror(errno) << std::endl;
-#endif
-    return returnvalue::FAILED;
-  }
-  return returnvalue::OK;
-}
-
-int SerialCommunicationHelper::configureUartPort() {
-  struct termios options = {};
-
-  int flags = O_RDWR;
-  if (cfg.getUartMode() == UartModes::CANONICAL) {
-    // In non-canonical mode, don't specify O_NONBLOCK because these properties will be
-    // controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
-    flags |= O_NONBLOCK;
-  }
-  int fd = open(cfg.getDeviceFile().c_str(), flags);
-
-  if (fd < 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UartComIF::configureUartPort: Failed to open uart "
-                 << cfg.getDeviceFile().c_str()
-
-                 << "with error code " << errno << strerror(errno) << std::endl;
-#endif
-    return fd;
-  }
-
-  /* Read in existing settings */
-  if (tcgetattr(fd, &options) != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UartComIF::configureUartPort: Error " << errno
-                 << "from tcgetattr: " << strerror(errno) << std::endl;
-#endif
-    return fd;
-  }
-
-  serial::setParity(options, cfg.getParity());
-  serial::setStopbits(options, cfg.getStopBits());
-  serial::setBitsPerWord(options, cfg.getBitsPerWord());
-  setFixedOptions(&options);
-  serial::setMode(options, cfg.getUartMode());
-  tcflush(fd, TCIFLUSH);
-
-  /* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
-  options.c_cc[VTIME] = 0;
-  options.c_cc[VMIN] = 0;
-
-  serial::setBaudrate(options, cfg.getBaudrate());
-
-  /* Save option settings */
-  if (tcsetattr(fd, TCSANOW, &options) != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno
-                 << ": " << strerror(errno);
-#endif
-    return fd;
-  }
-  return fd;
-}
-
-void SerialCommunicationHelper::setFixedOptions(struct termios* options) {
-  /* Disable RTS/CTS hardware flow control */
-  options->c_cflag &= ~CRTSCTS;
-  /* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
-  options->c_cflag |= CREAD | CLOCAL;
-  /* Disable echo */
-  options->c_lflag &= ~ECHO;
-  /* Disable erasure */
-  options->c_lflag &= ~ECHOE;
-  /* Disable new-line echo */
-  options->c_lflag &= ~ECHONL;
-  /* Disable interpretation of INTR, QUIT and SUSP */
-  options->c_lflag &= ~ISIG;
-  /* Turn off s/w flow ctrl */
-  options->c_iflag &= ~(IXON | IXOFF | IXANY);
-  /* Disable any special handling of received bytes */
-  options->c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL);
-  /* Prevent special interpretation of output bytes (e.g. newline chars) */
-  options->c_oflag &= ~OPOST;
-  /* Prevent conversion of newline to carriage return/line feed */
-  options->c_oflag &= ~ONLCR;
-}
-
-ReturnValue_t SerialCommunicationHelper::flushUartRxBuffer() {
-  serial::flushRxBuf(fd);
-  return returnvalue::OK;
-}
-
-ReturnValue_t SerialCommunicationHelper::flushUartTxBuffer() {
-  serial::flushTxBuf(fd);
-  return returnvalue::OK;
-}
-
-ReturnValue_t SerialCommunicationHelper::flushUartTxAndRxBuf() {
-  serial::flushTxRxBuf(fd);
-  return returnvalue::OK;
-}

linux/payload/SerialCommunicationHelper.h

@@ -1,69 +0,0 @@
-#pragma once
-
-#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
-#include <fsfw/objectmanager/SystemObject.h>
-#include <fsfw_hal/linux/serial/SerialCookie.h>
-#include <fsfw_hal/linux/serial/helper.h>
-
-#include "SerialConfig.h"
-#include "fsfw/returnvalues/returnvalue.h"
-
-/**
- * @brief 	This is the communication interface to access serial ports on linux based operating
- *          systems.
- *
- * @details The implementation follows the instructions from https://blog.mbedded.ninja/programming/
- *          operating-systems/linux/linux-serial-ports-using-c-cpp/#disabling-canonical-mode
- *
- * @author 	J. Meier
- */
-class SerialCommunicationHelper {
- public:
-  SerialCommunicationHelper(SerialConfig serialCfg);
-
-  ReturnValue_t send(const uint8_t* data, size_t dataLen);
-
-  int rawFd() const;
-
-  ReturnValue_t initialize();
-
-  /**
-   * @brief   This function discards all data received but not read in the UART buffer.
-   */
-  ReturnValue_t flushUartRxBuffer();
-
-  /**
-   * @brief   This function discards all data in the transmit buffer of the UART driver.
-   */
-  ReturnValue_t flushUartTxBuffer();
-
-  /**
-   * @brief   This function discards both data in the transmit and receive buffer of the UART.
-   */
-  ReturnValue_t flushUartTxAndRxBuf();
-
- private:
-  SerialConfig cfg;
-  int fd = 0;
-
-  /**
-   * @brief	This function opens and configures a uart device by using the information stored
-   *          in the uart cookie.
-   * @param uartCookie    Pointer to uart cookie with information about the uart. Contains the
-   *                      uart device file, baudrate, parity, stopbits etc.
-   * @return  The file descriptor of the configured uart.
-   */
-  int configureUartPort();
-
-  void setStopBitOptions(struct termios* options);
-
-  /**
-   * @brief   This function sets options which are not configurable by the uartCookie.
-   */
-  void setFixedOptions(struct termios* options);
-
-  /**
-   * @brief   With this function the datasize settings are added to the termios options struct.
-   */
-  void setDatasizeOptions(struct termios* options);
-};

linux/payload/SerialConfig.h

@@ -1,70 +0,0 @@
-#pragma once
-
-#include <fsfw/devicehandlers/CookieIF.h>
-#include <fsfw/objectmanager/SystemObjectIF.h>
-#include <fsfw_hal/linux/serial/helper.h>
-
-#include <string>
-
-/**
- * @brief   Cookie for the UartComIF. There are many options available to configure the UART driver.
- *          The constructor only requests for common options like the baudrate. Other options can
- *          be set by member functions.
- *
- * @author 	J. Meier
- */
-class SerialConfig : public CookieIF {
- public:
-  /**
-   * @brief	Constructor for the uart cookie.
-   * @param deviceFile    The device file specifying the uart to use, e.g. "/dev/ttyPS1"
-   * @param uartMode      Specify the UART mode. The canonical mode should be used if the
-   *                      messages are separated by a delimited character like '\n'. See the
-   *                      termios documentation for more information
-   * @param baudrate      The baudrate to use for input and output.
-   * @param maxReplyLen   The maximum size an object using this cookie expects
-   * @details
-   * Default configuration: No parity
-   *                        8 databits (number of bits transfered with one uart frame)
-   *                        One stop bit
-   */
-  SerialConfig(std::string deviceFile, UartBaudRate baudrate, size_t maxReplyLen,
-               UartModes uartMode = UartModes::NON_CANONICAL)
-      : deviceFile(deviceFile), baudrate(baudrate), maxReplyLen(maxReplyLen), uartMode(uartMode) {}
-
-  virtual ~SerialConfig() = default;
-
-  UartBaudRate getBaudrate() const { return baudrate; }
-  size_t getMaxReplyLen() const { return maxReplyLen; }
-  std::string getDeviceFile() const { return deviceFile; }
-  Parity getParity() const { return parity; }
-  BitsPerWord getBitsPerWord() const { return bitsPerWord; }
-  StopBits getStopBits() const { return stopBits; }
-  UartModes getUartMode() const { return uartMode; }
-
-  /**
-   * Functions two enable parity checking.
-   */
-  void setParityOdd() { parity = Parity::ODD; }
-  void setParityEven() { parity = Parity::EVEN; }
-
-  /**
-   * Function two set number of bits per UART frame.
-   */
-  void setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
-
-  /**
-   * Function to specify the number of stopbits.
-   */
-  void setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
-  void setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
-
- private:
-  std::string deviceFile;
-  UartBaudRate baudrate;
-  size_t maxReplyLen = 0;
-  const UartModes uartMode;
-  Parity parity = Parity::NONE;
-  BitsPerWord bitsPerWord = BitsPerWord::BITS_8;
-  StopBits stopBits = StopBits::ONE_STOP_BIT;
-};

linux/payload/mpsocRetvals.h

@@ -0,0 +1,33 @@
+#ifndef MPSOC_RETURN_VALUES_IF_H_
+#define MPSOC_RETURN_VALUES_IF_H_
+
+#include "eive/resultClassIds.h"
+#include "fsfw/returnvalues/returnvalue.h"
+
+class MPSoCReturnValuesIF {
+ public:
+  static const uint8_t INTERFACE_ID = CLASS_ID::MPSOC_RETURN_VALUES_IF;
+
+  //! [EXPORT] : [COMMENT] Space Packet received from PLOC has invalid CRC
+  static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
+  //! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC
+  static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
+  //! [EXPORT] : [COMMENT] Received execution failure reply from PLOC
+  static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
+  //! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC
+  static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
+  //! [EXPORT] : [COMMENT] Received command with invalid length
+  static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xA4);
+  //! [EXPORT] : [COMMENT] Filename of file in OBC filesystem is too long
+  static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA5);
+  //! [EXPORT] : [COMMENT] MPSoC helper is currently executing a command
+  static const ReturnValue_t MPSOC_HELPER_EXECUTING = MAKE_RETURN_CODE(0xA6);
+  //! [EXPORT] : [COMMENT] Filename of MPSoC file is to long (max. 256 bytes)
+  static const ReturnValue_t MPSOC_FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA7);
+  //! [EXPORT] : [COMMENT] Command has invalid parameter
+  static const ReturnValue_t INVALID_PARAMETER = MAKE_RETURN_CODE(0xA8);
+  //! [EXPORT] : [COMMENT] Received command has file string with invalid length
+  static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA9);
+};
+
+#endif /* MPSOC_RETURN_VALUES_IF_H_ */

linux/payload/plocMpsocHelpers.cpp

@@ -1,94 +1,87 @@
 #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);
 }
 std::string mpsoc::getStatusString(uint16_t status) {
   switch (status) {
-    case (mpsoc::statusCode::UNKNOWN_APID): {
+    case (mpsoc::status_code::UNKNOWN_APID): {
       return "Unknown APID";
       break;
     }
-    case (mpsoc::statusCode::INCORRECT_LENGTH): {
+    case (mpsoc::status_code::INCORRECT_LENGTH): {
       return "Incorrect length";
       break;
     }
-    case (mpsoc::statusCode::FLASH_DRIVE_ERROR): {
-      return "flash drive error";
-      break;
-    }
-    case (mpsoc::statusCode::INCORRECT_CRC): {
+    case (mpsoc::status_code::INCORRECT_CRC): {
       return "Incorrect crc";
       break;
     }
-    case (mpsoc::statusCode::INCORRECT_PKT_SEQ_CNT): {
+    case (mpsoc::status_code::INCORRECT_PKT_SEQ_CNT): {
       return "Incorrect packet sequence count";
       break;
     }
-    case (mpsoc::statusCode::TC_NOT_ALLOWED_IN_MODE): {
+    case (mpsoc::status_code::TC_NOT_ALLOWED_IN_MODE): {
       return "TC not allowed in this mode";
       break;
     }
-    case (mpsoc::statusCode::TC_EXEUTION_DISABLED): {
+    case (mpsoc::status_code::TC_EXEUTION_DISABLED): {
       return "TC execution disabled";
       break;
     }
-    case (mpsoc::statusCode::FLASH_MOUNT_FAILED): {
+    case (mpsoc::status_code::FLASH_MOUNT_FAILED): {
       return "Flash mount failed";
       break;
     }
-    case (mpsoc::statusCode::FLASH_FILE_ALREADY_OPEN): {
+    case (mpsoc::status_code::FLASH_FILE_ALREADY_OPEN): {
       return "Flash file already open";
       break;
     }
-    case (mpsoc::statusCode::FLASH_FILE_ALREADY_CLOSED): {
+    case (mpsoc::status_code::FLASH_FILE_ALREADY_CLOSED): {
       return "Flash file already closed";
       break;
     }
-    case (mpsoc::statusCode::FLASH_FILE_OPEN_FAILED): {
+    case (mpsoc::status_code::FLASH_FILE_OPEN_FAILED): {
       return "Flash file open failed";
       break;
     }
-    case (mpsoc::statusCode::FLASH_FILE_NOT_OPEN): {
+    case (mpsoc::status_code::FLASH_FILE_NOT_OPEN): {
       return "Flash file not open";
       break;
     }
-    case (mpsoc::statusCode::FLASH_UNMOUNT_FAILED): {
+    case (mpsoc::status_code::FLASH_UNMOUNT_FAILED): {
       return "Flash unmount failed";
       break;
     }
-    case (mpsoc::statusCode::HEAP_ALLOCATION_FAILED): {
+    case (mpsoc::status_code::HEAP_ALLOCATION_FAILED): {
       return "Heap allocation failed";
       break;
     }
-    case (mpsoc::statusCode::INVALID_PARAMETER): {
+    case (mpsoc::status_code::INVALID_PARAMETER): {
       return "Invalid parameter";
       break;
     }
-    case (mpsoc::statusCode::NOT_INITIALIZED): {
+    case (mpsoc::status_code::NOT_INITIALIZED): {
       return "Not initialized";
       break;
     }
-    case (mpsoc::statusCode::REBOOT_IMMINENT): {
+    case (mpsoc::status_code::REBOOT_IMMINENT): {
       return "Reboot imminent";
       break;
     }
-    case (mpsoc::statusCode::CORRUPT_DATA): {
+    case (mpsoc::status_code::CORRUPT_DATA): {
       return "Corrupt data";
       break;
     }
-    case (mpsoc::statusCode::FLASH_CORRECTABLE_MISMATCH): {
+    case (mpsoc::status_code::FLASH_CORRECTABLE_MISMATCH): {
       return "Flash correctable mismatch";
       break;
     }
-    case (mpsoc::statusCode::FLASH_UNCORRECTABLE_MISMATCH): {
+    case (mpsoc::status_code::FLASH_UNCORRECTABLE_MISMATCH): {
       return "Flash uncorrectable mismatch";
       break;
     }
-    case (mpsoc::statusCode::DEFAULT_ERROR_CODE): {
+    case (mpsoc::status_code::DEFAULT_ERROR_CODE): {
       return "Default error code";
       break;
     }
@@ -100,19 +93,3 @@ 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

@@ -3,122 +3,16 @@
 
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <linux/payload/mpsocRetvals.h>
 #include <mission/payload/plocSpBase.h>
 
-#include "eive/eventSubsystemIds.h"
-#include "eive/resultClassIds.h"
-#include "fsfw/action/HasActionsIF.h"
-#include "fsfw/events/Event.h"
+#include "eive/definitions.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 = 1 };
-
-static const uint8_t INTERFACE_ID = CLASS_ID::MPSOC_RETURN_VALUES_IF;
-
-//! [EXPORT] : [COMMENT] Space Packet received from PLOC has invalid CRC
-static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
-//! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC
-static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
-//! [EXPORT] : [COMMENT] Received execution failure reply from PLOC
-static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
-//! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC
-static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
-//! [EXPORT] : [COMMENT] Received command with invalid length
-static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xA4);
-//! [EXPORT] : [COMMENT] Filename of file in OBC filesystem is too long
-static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA5);
-//! [EXPORT] : [COMMENT] MPSoC helper is currently executing a command
-static const ReturnValue_t MPSOC_HELPER_EXECUTING = MAKE_RETURN_CODE(0xA6);
-//! [EXPORT] : [COMMENT] Filename of MPSoC file is to long (max. 256 bytes)
-static const ReturnValue_t MPSOC_FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA7);
-//! [EXPORT] : [COMMENT] Command has invalid parameter
-static const ReturnValue_t INVALID_PARAMETER = MAKE_RETURN_CODE(0xA8);
-//! [EXPORT] : [COMMENT] Received command has file string with invalid length
-static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA9);
-//! [EXPORT] : [COMMENT] Command has timed out.
-static const ReturnValue_t COMMAND_TIMEOUT = MAKE_RETURN_CODE(0x10);
-
-static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
-
-//! [EXPORT] : [COMMENT] PLOC crc failure in telemetry packet
-static const Event MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
-//! [EXPORT] : [COMMENT] PLOC receive acknowledgment failure report
-//! P1: Command Id which leads the acknowledgment failure report
-//! P2: The status field inserted by the MPSoC into the data field
-static const Event ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
-//! [EXPORT] : [COMMENT] PLOC receive execution failure report
-//! P1: Command Id which leads the execution failure report
-//! P2: The status field inserted by the MPSoC into the data field
-static const Event EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
-//! [EXPORT] : [COMMENT] PLOC reply has invalid crc
-static const Event MPSOC_HANDLER_CRC_FAILURE = MAKE_EVENT(4, severity::LOW);
-//! [EXPORT] : [COMMENT] Packet sequence count in received space packet does not match expected
-//! count P1: Expected sequence count P2: Received sequence count
-static const Event MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH = MAKE_EVENT(5, severity::LOW);
-//! [EXPORT] : [COMMENT] Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and
-//! thus also to shutdown the supervisor.
-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 };
 
 enum FileAccessModes : uint8_t {
@@ -136,8 +30,6 @@ enum FileAccessModes : uint8_t {
 };
 
 static constexpr uint32_t HK_SET_ID = 0;
-static constexpr uint32_t DEADBEEF_ADDR = 0x40000004;
-static constexpr uint32_t DEADBEEF_VALUE = 0xdeadbeef;
 
 namespace poolid {
 enum {
@@ -200,8 +92,7 @@ static const DeviceCommandId_t TM_CAM_CMD_RPT = 19;
 static const DeviceCommandId_t SET_UART_TX_TRISTATE = 20;
 static const DeviceCommandId_t RELEASE_UART_TX = 21;
 static const DeviceCommandId_t TC_CAM_TAKE_PIC = 22;
-// Stream file down using E-Band component directly.
-static const DeviceCommandId_t TC_SIMPLEX_STREAM_FILE = 23;
+static const DeviceCommandId_t TC_SIMPLEX_SEND_FILE = 23;
 static const DeviceCommandId_t TC_DOWNLINK_DATA_MODULATE = 24;
 static const DeviceCommandId_t TC_MODE_SNAPSHOT = 25;
 static const DeviceCommandId_t TC_GET_HK_REPORT = 26;
@@ -209,31 +100,16 @@ static const DeviceCommandId_t TM_GET_HK_REPORT = 27;
 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_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;
 
-// Will reset the sequence count of the OBSW. Not required anymore after MPSoC update.
-static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT_LEGACY = 50;
+// Will reset the sequence count of the OBSW
+static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 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 };
-
-// Setting the internal mode value to the actual telecommand ID
-/*
-enum InternalMode {
-  OFF = HasModesIF::MODE_OFF,
-  IDLE = ,
-  REPLAY = TC_MODE_REPLAY,
-  SNAPSHOT = TC_MODE_SNAPSHOT
-};
-*/
-
 /**
  * SpacePacket apids of PLOC telecommands and telemetry.
  */
@@ -258,8 +134,6 @@ static const uint16_t TC_MODE_SNAPSHOT = 0x120;
 static const uint16_t TC_DOWNLINK_DATA_MODULATE = 0x121;
 static constexpr uint16_t TC_HK_GET_REPORT = 0x123;
 static const uint16_t TC_DOWNLINK_PWR_OFF = 0x124;
-static constexpr uint16_t TC_ENABLE_TC_EXECUTION = 0x129;
-static constexpr uint16_t TC_FLASH_MKFS = 0x12A;
 static const uint16_t TC_CAM_CMD_SEND = 0x12C;
 static constexpr uint16_t TC_FLASH_COPY_FILE = 0x12E;
 static const uint16_t TC_SIMPLEX_SEND_FILE = 0x130;
@@ -284,15 +158,15 @@ 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 FILENAME_FIELD_SIZE = 256;
-// Subtract size of NULL terminator.
-static const size_t MAX_FILENAME_SIZE = FILENAME_FIELD_SIZE - 1;
+static const size_t MAX_FILENAME_SIZE = 256;
 
 /**
  * PLOC space packet length for fixed size packets. This is the size of the whole packet data
@@ -327,9 +201,8 @@ static const uint16_t TC_DOWNLINK_PWR_ON_EXECUTION_DELAY = 8;
 static const uint16_t TC_CAM_TAKE_PIC_EXECUTION_DELAY = 20;
 static const uint16_t TC_SIMPLEX_SEND_FILE_DELAY = 80;
 
-namespace statusCode {
+namespace status_code {
 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;
@@ -354,12 +227,49 @@ static const uint16_t RESERVED_1 = 0x5F1;
 static const uint16_t RESERVED_2 = 0x5F2;
 static const uint16_t RESERVED_3 = 0x5F3;
 static const uint16_t RESERVED_4 = 0x5F4;
-}  // namespace statusCode
+}  // namespace status_code
+
+/**
+ * @brief   Abstract base class for TC space packet of MPSoC.
+ */
+class TcBase : public ploc::SpTcBase, public MPSoCReturnValuesIF {
+ 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 mpsoc::TcBase {
+class TcMemRead : public TcBase {
  public:
   /**
    * @brief   Constructor
@@ -409,7 +319,7 @@ class TcMemRead : public mpsoc::TcBase {
  * @brief   This class helps to generate the space packet to write data to a memory address within
  *          the PLOC.
  */
-class TcMemWrite : public mpsoc::TcBase {
+class TcMemWrite : public TcBase {
  public:
   /**
    * @brief   Constructor
@@ -459,21 +369,24 @@ class TcMemWrite : public mpsoc::TcBase {
 /**
  * @brief   Class to help creation of flash fopen command.
  */
-class TcFlashFopen : public mpsoc::TcBase {
+class FlashFopen : public TcBase {
  public:
-  TcFlashFopen(ploc::SpTcParams params, uint16_t sequenceCount)
+  FlashFopen(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::memset(payloadStart, 0, FILENAME_FIELD_SIZE);
-    std::memcpy(payloadStart, filename.c_str(), filename.size());
-    payloadStart[FILENAME_FIELD_SIZE] = accessMode;
-    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + 1 + CRC_SIZE);
+    std::memcpy(payloadStart, filename.c_str(), nameSize);
+    // payloadStart[nameSize] = NULL_TERMINATOR;
+    std::memset(payloadStart + nameSize, 0, 256 - nameSize);
+    // payloadStart[255] = NULL_TERMINATOR;
+    payloadStart[256] = accessMode;
     return returnvalue::OK;
   }
 
@@ -484,46 +397,14 @@ class TcFlashFopen : public mpsoc::TcBase {
 /**
  * @brief   Class to help creation of flash fclose command.
  */
-class TcFlashFclose : public TcBase {
+class FlashFclose : public TcBase {
  public:
-  TcFlashFclose(ploc::SpTcParams params, uint16_t sequenceCount)
+  FlashFclose(ploc::SpTcParams params, uint16_t sequenceCount)
       : TcBase(params, apid::TC_FLASHFCLOSE, sequenceCount) {
     spParams.setFullPayloadLen(CRC_SIZE);
   }
 };
 
-class TcEnableTcExec : public TcBase {
- public:
-  TcEnableTcExec(ploc::SpTcParams params, uint16_t sequenceCount)
-      : TcBase(params, apid::TC_ENABLE_TC_EXECUTION, sequenceCount) {
-    spParams.setFullPayloadLen(CRC_SIZE);
-  }
-
-  ReturnValue_t setPayload(const uint8_t* cmdData, size_t cmdDataLen) {
-    if (cmdDataLen != 2) {
-      return HasActionsIF::INVALID_PARAMETERS;
-    }
-    std::memcpy(payloadStart, cmdData, 2);
-    spParams.setFullPayloadLen(2 + CRC_SIZE);
-    return returnvalue::OK;
-  }
-};
-
-class TcFlashMkfs : public TcBase {
- public:
-  TcFlashMkfs(ploc::SpTcParams params, uint16_t sequenceCount, FlashId flashId)
-      : TcBase(params, apid::TC_FLASH_MKFS, sequenceCount) {
-    const char* flashIdStr = "0:\\";
-    if (flashId == FlashId::FLASH_1) {
-      flashIdStr = "1:\\";
-    }
-    std::memcpy(payloadStart, flashIdStr, 3);
-    // Null terminator
-    payloadStart[3] = 0;
-    spParams.setFullPayloadLen(4 + CRC_SIZE);
-  }
-};
-
 /**
  * @brief   Class to build flash write space packet.
  */
@@ -583,6 +464,15 @@ 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;
   }
@@ -600,14 +490,20 @@ class TcFlashDelete : public TcBase {
 
   ReturnValue_t setPayload(std::string filename) {
     size_t nameSize = filename.size();
-    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
+    spParams.setFullPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + 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();
   }
 };
 
@@ -759,9 +655,8 @@ 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 +697,7 @@ class TcReplayWriteSeq : public TcBase {
   static const size_t USE_DECODING_LENGTH = 1;
 
   ReturnValue_t lengthCheck(size_t commandDataLen) {
-    if (commandDataLen > USE_DECODING_LENGTH + FILENAME_FIELD_SIZE or
+    if (commandDataLen > USE_DECODING_LENGTH + MAX_FILENAME_SIZE or
         checkPayloadLen() != returnvalue::OK) {
       sif::warning << "TcReplayWriteSeq: Command has invalid length " << commandDataLen
                    << std::endl;
@@ -815,24 +710,24 @@ class TcReplayWriteSeq : public TcBase {
 /**
  * @brief   Helps to extract the fields of the flash write command from the PUS packet.
  */
-class FlashBasePusCmd {
+class FlashBasePusCmd : public MPSoCReturnValuesIF {
  public:
   FlashBasePusCmd() = default;
   virtual ~FlashBasePusCmd() = default;
 
   virtual ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) {
-    if (commandDataLen > FILENAME_FIELD_SIZE) {
+    if (commandDataLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE + MAX_FILENAME_SIZE)) {
       return INVALID_LENGTH;
     }
     size_t fileLen = strnlen(reinterpret_cast<const char*>(commandData), commandDataLen);
-    if (fileLen > MAX_FILENAME_SIZE) {
+    if (fileLen > (config::MAX_PATH_SIZE + config::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 > FILENAME_FIELD_SIZE) {
+    if (fileLen > MAX_FILENAME_SIZE) {
       return MPSOC_FILENAME_TOO_LONG;
     }
     mpsocFile = std::string(
@@ -843,11 +738,11 @@ 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;
 
@@ -858,7 +753,7 @@ class FlashBasePusCmd {
 
 class FlashReadPusCmd : public FlashBasePusCmd {
  public:
-  FlashReadPusCmd() {};
+  FlashReadPusCmd(){};
 
   ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) override {
     ReturnValue_t result = FlashBasePusCmd::extractFields(commandData, commandDataLen);
@@ -914,152 +809,32 @@ class TcCamTakePic : public TcBase {
       : TcBase(params, apid::TC_CAM_TAKE_PIC, sequenceCount) {}
 
   ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
-    const uint8_t** dataPtr = &commandData;
-    if (commandDataLen > FULL_PAYLOAD_SIZE) {
-      return INVALID_LENGTH;
-    }
-    size_t deserLen = commandDataLen;
-    size_t serLen = 0;
-    fileName = std::string(reinterpret_cast<const char*>(commandData));
-    if (fileName.size() > MAX_FILENAME_SIZE) {
-      return FILENAME_TOO_LONG;
-    }
-    deserLen -= fileName.length() + 1;
-    *dataPtr += fileName.length() + 1;
-    uint8_t** payloadPtr = &payloadStart;
-    memset(payloadStart, 0, FILENAME_FIELD_SIZE);
-    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;
-    }
-    result = SerializeAdapter::serialize(&encoderSettingY, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
-                                         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 PARAMETER_SIZE = 28;
-  static constexpr size_t FULL_PAYLOAD_SIZE = FILENAME_FIELD_SIZE + PARAMETER_SIZE;
-};
-
-/**
- * @brief   Class to build simplex send file command
- */
-class TcSimplexStreamFile : public TcBase {
- public:
-  TcSimplexStreamFile(ploc::SpTcParams params, uint16_t sequenceCount)
-      : TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}
-
-  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
-    if (commandDataLen > MAX_FILENAME_SIZE) {
+    if (commandDataLen > MAX_DATA_LENGTH) {
       return INVALID_LENGTH;
     }
     std::string fileName(reinterpret_cast<const char*>(commandData));
-    if (fileName.size() > MAX_FILENAME_SIZE) {
+    if (fileName.size() + sizeof(NULL_TERMINATOR) > 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_FIELD_SIZE + CRC_SIZE);
-    ;
+    if (commandDataLen - (fileName.size() + sizeof(NULL_TERMINATOR)) != PARAMETER_SIZE) {
+      return INVALID_LENGTH;
+    }
+    spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
+    std::memcpy(payloadStart, commandData, commandDataLen);
     return returnvalue::OK;
   }
 
  private:
+  static const size_t MAX_DATA_LENGTH = 286;
+  static const size_t PARAMETER_SIZE = 28;
 };
 
 /**
  * @brief   Class to build simplex send file command
  */
-class TcSplitFile : public TcBase {
+class TcSimplexSendFile : public TcBase {
  public:
-  TcSplitFile(ploc::SpTcParams params, uint16_t sequenceCount)
+  TcSimplexSendFile(ploc::SpTcParams params, uint16_t sequenceCount)
       : TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}
 
   ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
@@ -1081,24 +856,29 @@ class TcSplitFile : public TcBase {
       return INVALID_PARAMETER;
     }
     std::string fileName(reinterpret_cast<const char*>(*dataPtr));
-    if (fileName.size() > MAX_FILENAME_SIZE) {
+    if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
       return FILENAME_TOO_LONG;
     }
-    char divStr[16]{};
-    sprintf(divStr, "DIV%03u", chunkParameter);
-    std::memcpy(payloadStart, divStr, DIV_STR_LEN);
-    payloadStart[DIV_STR_LEN] = 0;
-    std::memset(payloadStart + DIV_STR_LEN + 1, 0, FILENAME_FIELD_SIZE - DIV_STR_LEN - 1);
-    std::memcpy(payloadStart + DIV_STR_LEN + 1, fileName.data(), fileName.length());
-    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
+    size_t currentCopyIdx = 0;
+    size_t payloadLen = fileName.length() + sizeof(NULL_TERMINATOR) + CRC_SIZE;
+    if (chunkParameter > 1) {
+      char divStr[16]{};
+      sprintf(divStr, "DIV%03u", chunkParameter);
+      std::memcpy(payloadStart, divStr, DIV_STR_LEN);
+      payloadLen += DIV_STR_LEN;
+      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

@@ -159,7 +159,6 @@ 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 {
@@ -1146,14 +1145,14 @@ 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 currentAddr, uint16_t length, uint8_t* updateData) {
+                            uint32_t startAddress, 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, currentAddr, length, updateData);
+    auto res = initPacket(memoryId, startAddress, length, updateData);
     if (res != returnvalue::OK) {
       return res;
     }
@@ -1171,7 +1170,7 @@ class WriteMemory : public TcBase {
   static const uint16_t META_DATA_LENGTH = 8;
   uint8_t n = 1;
 
-  ReturnValue_t initPacket(uint8_t memoryId, uint32_t currentAddr, uint16_t updateDataLen,
+  ReturnValue_t initPacket(uint8_t memoryId, uint32_t startAddr, uint16_t updateDataLen,
                            uint8_t* updateData) {
     uint8_t* data = payloadStart;
     if (updateDataLen % 2 != 0) {
@@ -1189,7 +1188,7 @@ class WriteMemory : public TcBase {
                                 SerializeIF::Endianness::BIG);
     SerializeAdapter::serialize(&n, &data, &serializedSize, spParams.maxSize,
                                 SerializeIF::Endianness::BIG);
-    SerializeAdapter::serialize(&currentAddr, &data, &serializedSize, spParams.maxSize,
+    SerializeAdapter::serialize(&startAddr, &data, &serializedSize, spParams.maxSize,
                                 SerializeIF::Endianness::BIG);
     SerializeAdapter::serialize(&updateDataLen, &data, &serializedSize, spParams.maxSize,
                                 SerializeIF::Endianness::BIG);

linux/power/CspComIF.h

@@ -53,7 +53,7 @@ class CspComIF : public DeviceCommunicationIF, public SystemObject {
 
   typedef uint8_t node_t;
   struct ReplyInfo {
-    ReplyInfo(size_t maxLen) : replyBuf(maxLen) {};
+    ReplyInfo(size_t maxLen) : replyBuf(maxLen){};
     std::vector<uint8_t> replyBuf;
     size_t replyLen = 0;
   };

linux/tcs/Max31865RtdPolling.h

@@ -12,7 +12,7 @@
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 
 struct Max31865ReaderCookie : public CookieIF {
-  Max31865ReaderCookie() {};
+  Max31865ReaderCookie(){};
   Max31865ReaderCookie(object_id_t handlerId_, uint8_t idx_, const std::string& locString_,
                        SpiCookie* spiCookie_)
       : idx(idx_), handlerId(handlerId_), locString(locString_), spiCookie(spiCookie_) {}

mission/acs/ImtqHandler.cpp

@@ -795,9 +795,9 @@ ReturnValue_t ImtqHandler::initializeLocalDataPool(localpool::DataPool& localDat
   localDataPoolMap.emplace(imtq::FINA_NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
 
   poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 60.0));
+      subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 30.0));
   poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 60.0));
+      subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 30.0));
   poolManager.subscribeForDiagPeriodicPacket(
       subdp::DiagnosticsHkPeriodicParams(rawMtmNoTorque.getSid(), false, 10.0));
   poolManager.subscribeForDiagPeriodicPacket(

mission/acs/RwHandler.cpp

@@ -340,7 +340,7 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
   localDataPoolMap.emplace(rws::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(rws::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
   poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 30.0));
+      subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 12.0));
   poolManager.subscribeForRegularPeriodicPacket(
       subdp::RegularHkPeriodicParams(tmDataset.getSid(), false, 30.0));
   poolManager.subscribeForRegularPeriodicPacket(

mission/acs/str/StarTrackerHandler.cpp

@@ -1662,7 +1662,7 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
   poolManager.subscribeForRegularPeriodicPacket(
       subdp::RegularHkPeriodicParams(interfaceSet.getSid(), false, 10.0));
   poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(solutionSet.getSid(), false, 30.0));
+      subdp::DiagnosticsHkPeriodicParams(solutionSet.getSid(), false, 12.0));
   poolManager.subscribeForRegularPeriodicPacket(
       subdp::RegularHkPeriodicParams(cameraSet.getSid(), false, 10.0));
   poolManager.subscribeForRegularPeriodicPacket(
@@ -2099,7 +2099,7 @@ void StarTrackerHandler::preparePowerRequest() {
 
 void StarTrackerHandler::prepareSwitchToBootloaderCmd() {
   uint32_t length = 0;
-  struct RebootActionRequest rebootReq{};
+  struct RebootActionRequest rebootReq {};
   prv_arc_pack_reboot_action_req(&rebootReq, commandBuffer, &length);
   rawPacket = commandBuffer;
   rawPacketLen = length;

mission/controller/AcsController.cpp

@@ -232,8 +232,7 @@ void AcsController::performSafe() {
   acs::ControlModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
       mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
       gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
-      fusedRotRateSourcesData.rotRateTotalSusMgm.isValid(),
-      acsParameters.safeModeControllerParameters.useMekf,
+      fusedRotRateData.rotRateTotal.isValid(), acsParameters.safeModeControllerParameters.useMekf,
       acsParameters.safeModeControllerParameters.useGyr,
       acsParameters.safeModeControllerParameters.dampingDuringEclipse);
   switch (safeCtrlStrat) {
@@ -252,10 +251,9 @@ void AcsController::performSafe() {
       safeCtrlFailureCounter = 0;
       break;
     case (acs::ControlModeStrategy::SAFECTRL_SUSMGM):
-      safeCtrl.safeSusMgm(mgmDataProcessed.mgmVecTot.value,
-                          fusedRotRateSourcesData.rotRateTotalSusMgm.value,
-                          fusedRotRateSourcesData.rotRateParallelSusMgm.value,
-                          fusedRotRateSourcesData.rotRateOrthogonalSusMgm.value,
+      safeCtrl.safeSusMgm(mgmDataProcessed.mgmVecTot.value, fusedRotRateData.rotRateTotal.value,
+                          fusedRotRateData.rotRateParallel.value,
+                          fusedRotRateData.rotRateOrthogonal.value,
                           susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
       safeCtrlFailureFlag = false;
       safeCtrlFailureCounter = 0;
@@ -269,8 +267,8 @@ void AcsController::performSafe() {
       break;
     case (acs::ControlModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM):
       safeCtrl.safeRateDampingSusMgm(mgmDataProcessed.mgmVecTot.value,
-                                     fusedRotRateSourcesData.rotRateTotalSusMgm.value, sunTargetDir,
-                                     magMomMtq, errAng);
+                                     fusedRotRateData.rotRateTotal.value, sunTargetDir, magMomMtq,
+                                     errAng);
       safeCtrlFailureFlag = false;
       safeCtrlFailureCounter = 0;
       break;
@@ -357,7 +355,7 @@ void AcsController::performPointingCtrl() {
   }
   acs::ControlModeStrategy ptgCtrlStrat = ptgCtrl.pointingCtrlStrategy(
       mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag, strValid,
-      attitudeEstimationData.quatQuest.isValid(), fusedRotRateData.rotRateTotalSource.isValid(),
+      attitudeEstimationData.quatQuest.isValid(), fusedRotRateData.rotRateTotal.isValid(),
       fusedRotRateData.rotRateSource.value, useMekf);
 
   if (ptgCtrlStrat == acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL or
@@ -389,11 +387,11 @@ void AcsController::performPointingCtrl() {
       quatBI[1] = sensorValues.strSet.caliQy.value;
       quatBI[2] = sensorValues.strSet.caliQz.value;
       quatBI[3] = sensorValues.strSet.caliQw.value;
-      std::memcpy(rotRateB, fusedRotRateData.rotRateTotalSource.value, sizeof(rotRateB));
+      std::memcpy(rotRateB, fusedRotRateData.rotRateTotal.value, sizeof(rotRateB));
       break;
     case acs::ControlModeStrategy::PTGCTRL_QUEST:
       std::memcpy(quatBI, attitudeEstimationData.quatQuest.value, sizeof(quatBI));
-      std::memcpy(rotRateB, fusedRotRateData.rotRateTotalSource.value, sizeof(rotRateB));
+      std::memcpy(rotRateB, fusedRotRateData.rotRateTotal.value, sizeof(rotRateB));
       break;
     default:
       sif::error << "AcsController: Invalid pointing mode strategy for performPointingCtrl"
@@ -557,8 +555,8 @@ void AcsController::performPointingCtrl() {
 void AcsController::handleDetumbling() {
   switch (detumbleState) {
     case DetumbleState::NO_DETUMBLE:
-      if (fusedRotRateData.rotRateTotalSusMgm.isValid() and
-          VectorOperations<double>::norm(fusedRotRateData.rotRateTotalSusMgm.value, 3) >
+      if (fusedRotRateData.rotRateTotal.isValid() and
+          VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
               acsParameters.detumbleParameter.omegaDetumbleStart) {
         detumbleCounter++;
       } else if (detumbleCounter > 0) {
@@ -601,8 +599,8 @@ void AcsController::handleDetumbling() {
       detumbleState = DetumbleState::NO_DETUMBLE;
       break;
     case DetumbleState::IN_DETUMBLE:
-      if (fusedRotRateData.rotRateTotalSusMgm.isValid() and
-          VectorOperations<double>::norm(fusedRotRateData.rotRateTotalSusMgm.value, 3) <
+      if (fusedRotRateData.rotRateTotal.isValid() and
+          VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
               acsParameters.detumbleParameter.omegaDetumbleEnd) {
         detumbleCounter++;
       } else if (detumbleCounter > 0) {
@@ -749,7 +747,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3VecRaw);
   localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmVecRaw);
   localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_ACT_STATUS, &imtqCalActStatus);
-  poolManager.subscribeForRegularPeriodicPacket({mgmDataRaw.getSid(), false, 60.0});
+  poolManager.subscribeForRegularPeriodicPacket({mgmDataRaw.getSid(), false, 10.0});
   // MGM Processed
   localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_VEC, &mgm0VecProc);
   localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_VEC, &mgm1VecProc);
@@ -759,7 +757,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT, &mgmVecTot);
   localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT_DERIVATIVE, &mgmVecTotDer);
   localDataPoolMap.emplace(acsctrl::PoolIds::MAG_IGRF_MODEL, &magIgrf);
-  poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), enableHkSets, 60.0});
+  poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), enableHkSets, 10.0});
   // SUS Raw
   localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, &sus0ValRaw);
   localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_N_LOC_XBYFZM_PT_XB, &sus1ValRaw);
@@ -773,7 +771,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   localDataPoolMap.emplace(acsctrl::PoolIds::SUS_9_R_LOC_XBYBZB_PT_YF, &sus9ValRaw);
   localDataPoolMap.emplace(acsctrl::PoolIds::SUS_10_N_LOC_XMYBZF_PT_ZF, &sus10ValRaw);
   localDataPoolMap.emplace(acsctrl::PoolIds::SUS_11_R_LOC_XBYMZB_PT_ZB, &sus11ValRaw);
-  poolManager.subscribeForRegularPeriodicPacket({susDataRaw.getSid(), false, 60.0});
+  poolManager.subscribeForRegularPeriodicPacket({susDataRaw.getSid(), false, 10.0});
   // SUS Processed
   localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_VEC, &sus0VecProc);
   localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_VEC, &sus1VecProc);
@@ -790,20 +788,20 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT, &susVecTot);
   localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT_DERIVATIVE, &susVecTotDer);
   localDataPoolMap.emplace(acsctrl::PoolIds::SUN_IJK_MODEL, &sunIjk);
-  poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), enableHkSets, 60.0});
+  poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), enableHkSets, 10.0});
   // GYR Raw
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_ADIS, &gyr0VecRaw);
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_L3, &gyr1VecRaw);
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_ADIS, &gyr2VecRaw);
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_L3, &gyr3VecRaw);
-  poolManager.subscribeForDiagPeriodicPacket({gyrDataRaw.getSid(), false, 60.0});
+  poolManager.subscribeForDiagPeriodicPacket({gyrDataRaw.getSid(), false, 10.0});
   // GYR Processed
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_VEC, &gyr0VecProc);
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_VEC, &gyr1VecProc);
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_VEC, &gyr2VecProc);
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_VEC, &gyr3VecProc);
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_VEC_TOT, &gyrVecTot);
-  poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), enableHkSets, 60.0});
+  poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), enableHkSets, 10.0});
   // GPS Processed
   localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
   localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
@@ -811,37 +809,38 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   localDataPoolMap.emplace(acsctrl::PoolIds::GPS_POSITION, &gpsPosition);
   localDataPoolMap.emplace(acsctrl::PoolIds::GPS_VELOCITY, &gpsVelocity);
   localDataPoolMap.emplace(acsctrl::PoolIds::SOURCE, &gpsSource);
-  poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 60.0});
+  poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 30.0});
   // Attitude Estimation
   localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
   localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf);
   localDataPoolMap.emplace(acsctrl::PoolIds::MEKF_STATUS, &mekfStatus);
   localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_QUEST, &quatQuest);
-  poolManager.subscribeForDiagPeriodicPacket({attitudeEstimationData.getSid(), enableHkSets, 30.0});
+  poolManager.subscribeForDiagPeriodicPacket({attitudeEstimationData.getSid(), enableHkSets, 10.0});
   // Ctrl Values
   localDataPoolMap.emplace(acsctrl::PoolIds::SAFE_STRAT, &safeStrat);
   localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
   localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat);
   localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_ANG, &errAng);
   localDataPoolMap.emplace(acsctrl::PoolIds::TGT_ROT_RATE, &tgtRotRate);
-  poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), enableHkSets, 30.0});
+  poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), enableHkSets, 10.0});
   // Actuator CMD
   localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_TORQUE, &rwTargetTorque);
   localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_SPEED, &rwTargetSpeed);
   localDataPoolMap.emplace(acsctrl::PoolIds::MTQ_TARGET_DIPOLE, &mtqTargetDipole);
-  poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 30.0});
+  poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 10.0});
   // Fused Rot Rate
-  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOT_SUSMGM, &rotRateTotSusMgm);
-  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOT_SOURCE, &rotRateTotSource);
+  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL, &rotRateOrthogonal);
+  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL, &rotRateParallel);
+  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL, &rotRateTotal);
   localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_SOURCE, &rotRateSource);
-  poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 30.0});
+  poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 10.0});
   // Fused Rot Rate Sources
   localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL_SUSMGM, &rotRateOrthogonalSusMgm);
   localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL_SUSMGM, &rotRateParallelSusMgm);
   localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_SUSMGM, &rotRateTotalSusMgm);
   localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_QUEST, &rotRateTotalQuest);
   localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_STR, &rotRateTotalStr);
-  poolManager.subscribeForRegularPeriodicPacket({fusedRotRateSourcesData.getSid(), false, 60.0});
+  poolManager.subscribeForRegularPeriodicPacket({fusedRotRateSourcesData.getSid(), false, 10.0});
   return returnvalue::OK;
 }
 
@@ -927,17 +926,6 @@ void AcsController::modeChanged(Mode_t mode, Submode_t submode) {
   if (detumbleState == DetumbleState::IN_DETUMBLE and submode != acs::SafeSubmode::DETUMBLE) {
     detumbleState = DetumbleState::NO_DETUMBLE;
   }
-  if (mode > acs::AcsMode::PTG_IDLE) {
-    poolManager.changeCollectionInterval(ctrlValData.getSid(), 10);
-    poolManager.changeCollectionInterval(actuatorCmdData.getSid(), 10);
-    poolManager.changeCollectionInterval(fusedRotRateData.getSid(), 10);
-    poolManager.changeCollectionInterval(attitudeEstimationData.getSid(), 10);
-  } else {
-    poolManager.changeCollectionInterval(ctrlValData.getSid(), 30);
-    poolManager.changeCollectionInterval(actuatorCmdData.getSid(), 30);
-    poolManager.changeCollectionInterval(fusedRotRateData.getSid(), 30);
-    poolManager.changeCollectionInterval(attitudeEstimationData.getSid(), 30);
-  }
   return ExtendedControllerBase::modeChanged(mode, submode);
 }
 

mission/controller/AcsController.h

@@ -271,8 +271,9 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
 
   // Fused Rot Rate
   acsctrl::FusedRotRateData fusedRotRateData;
-  PoolEntry<double> rotRateTotSusMgm = PoolEntry<double>(3);
-  PoolEntry<double> rotRateTotSource = PoolEntry<double>(3);
+  PoolEntry<double> rotRateOrthogonal = PoolEntry<double>(3);
+  PoolEntry<double> rotRateParallel = PoolEntry<double>(3);
+  PoolEntry<double> rotRateTotal = PoolEntry<double>(3);
   PoolEntry<uint8_t> rotRateSource = PoolEntry<uint8_t>();
 
   // Fused Rot Rate Sources

mission/controller/acs/AcsParameters.cpp

@@ -38,9 +38,6 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x5:
           parameterWrapper->set(onBoardParams.questFilterWeight);
           break;
-        case 0x6:
-          parameterWrapper->set(onBoardParams.questAngleLimit);
-          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }

mission/controller/acs/AcsParameters.h

@@ -26,7 +26,6 @@ class AcsParameters : public HasParametersIF {
     uint8_t fusedRateFromStr = true;
     uint8_t fusedRateFromQuest = true;
     double questFilterWeight = 0.9;
-    double questAngleLimit = 5 * DEG2RAD;
   } onBoardParams;
 
   struct InertiaEIVE {
@@ -942,7 +941,7 @@ class AcsParameters : public HasParametersIF {
   } sunModelParameters;
 
   struct KalmanFilterParameters {
-    double sensorNoiseStr = 0.0028 * DEG2RAD;
+    double sensorNoiseStr = 0.1 * DEG2RAD;
     double sensorNoiseSus = 8. * DEG2RAD;
     double sensorNoiseMgm = 4. * DEG2RAD;
     double sensorNoiseGyr = 0.1 * DEG2RAD;
@@ -950,7 +949,7 @@ class AcsParameters : public HasParametersIF {
     double sensorNoiseGyrArw = 3. * 0.0043 / sqrt(10) * DEG2RAD;  // Angular Random Walk
     double sensorNoiseGyrBs = 3. / 3600. * DEG2RAD;               // Bias Stability
 
-    uint8_t allowStr = true;
+    uint8_t allowStr = false;
   } kalmanFilterParameters;
 
   struct MagnetorquerParameter {

mission/controller/acs/AttitudeEstimation.cpp

@@ -29,20 +29,6 @@ void AttitudeEstimation::quest(acsctrl::SusDataProcessed *susData,
   VectorOperations<double>::normalize(mgmData->mgmVecTot.value, normMgmB, 3);
   VectorOperations<double>::normalize(mgmData->magIgrfModel.value, normMgmI, 3);
 
-  if ((std::acos(VectorOperations<double>::dot(normSusB, normMgmB)) <
-       acsParameters->onBoardParams.questAngleLimit) or
-      (std::acos(VectorOperations<double>::dot(normSusI, normMgmI)) <
-       acsParameters->onBoardParams.questAngleLimit)) {
-    {
-      PoolReadGuard pg{attitudeEstimationData};
-      if (pg.getReadResult() == returnvalue::OK) {
-        std::memcpy(attitudeEstimationData->quatQuest.value, ZERO_VEC4, 4 * sizeof(double));
-        attitudeEstimationData->quatQuest.setValid(false);
-      }
-    }
-    return;
-  }
-
   // Create Helper Vectors
   double normHelperB[3] = {0, 0, 0}, normHelperI[3] = {0, 0, 0}, helperCross[3] = {0, 0, 0},
          helperSum[3] = {0, 0, 0};

mission/controller/acs/FusedRotationEstimation.cpp

@@ -19,9 +19,13 @@ void FusedRotationEstimation::estimateFusedRotationRate(
                                            acsParameters->onBoardParams.fusedRateFromStr)) {
     PoolReadGuard pg(fusedRotRateData);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(fusedRotRateData->rotRateTotalSource.value,
+      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateData->rotRateOrthogonal.setValid(false);
+      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateData->rotRateParallel.setValid(false);
+      std::memcpy(fusedRotRateData->rotRateTotal.value,
                   fusedRotRateSourcesData->rotRateTotalStr.value, 3 * sizeof(double));
-      fusedRotRateData->rotRateTotalSource.setValid(true);
+      fusedRotRateData->rotRateTotal.setValid(true);
       fusedRotRateData->rotRateSource.value = acs::rotrate::Source::STR;
       fusedRotRateData->rotRateSource.setValid(true);
     }
@@ -30,38 +34,41 @@ void FusedRotationEstimation::estimateFusedRotationRate(
               acsParameters->onBoardParams.fusedRateFromQuest)) {
     PoolReadGuard pg(fusedRotRateData);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(fusedRotRateData->rotRateTotalSource.value,
+      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateData->rotRateOrthogonal.setValid(false);
+      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateData->rotRateParallel.setValid(false);
+      std::memcpy(fusedRotRateData->rotRateTotal.value,
                   fusedRotRateSourcesData->rotRateTotalQuest.value, 3 * sizeof(double));
-      fusedRotRateData->rotRateTotalSource.setValid(true);
+      fusedRotRateData->rotRateTotal.setValid(true);
       fusedRotRateData->rotRateSource.value = acs::rotrate::Source::QUEST;
       fusedRotRateData->rotRateSource.setValid(true);
     }
   } else if (fusedRotRateSourcesData->rotRateTotalSusMgm.isValid()) {
-    std::memcpy(fusedRotRateData->rotRateTotalSource.value,
+    std::memcpy(fusedRotRateData->rotRateOrthogonal.value,
+                fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, 3 * sizeof(double));
+    fusedRotRateData->rotRateOrthogonal.setValid(
+        fusedRotRateSourcesData->rotRateOrthogonalSusMgm.isValid());
+    std::memcpy(fusedRotRateData->rotRateParallel.value,
+                fusedRotRateSourcesData->rotRateParallelSusMgm.value, 3 * sizeof(double));
+    fusedRotRateData->rotRateParallel.setValid(
+        fusedRotRateSourcesData->rotRateParallelSusMgm.isValid());
+    std::memcpy(fusedRotRateData->rotRateTotal.value,
                 fusedRotRateSourcesData->rotRateTotalSusMgm.value, 3 * sizeof(double));
-    fusedRotRateData->rotRateTotalSource.setValid(true);
+    fusedRotRateData->rotRateTotal.setValid(true);
     fusedRotRateData->rotRateSource.value = acs::rotrate::Source::SUSMGM;
     fusedRotRateData->rotRateSource.setValid(true);
   } else {
     PoolReadGuard pg(fusedRotRateData);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(fusedRotRateData->rotRateTotalSource.value, ZERO_VEC3, 3 * sizeof(double));
-      fusedRotRateData->rotRateTotalSource.setValid(false);
+      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
+      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
+      std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateData->setValidity(false, true);
       fusedRotRateData->rotRateSource.value = acs::rotrate::Source::NONE;
       fusedRotRateData->rotRateSource.setValid(true);
     }
   }
-  if (fusedRotRateSourcesData->rotRateTotalSusMgm.isValid()) {
-    std::memcpy(fusedRotRateData->rotRateTotalSusMgm.value,
-                fusedRotRateSourcesData->rotRateTotalSusMgm.value, 3 * sizeof(double));
-    fusedRotRateData->rotRateTotalSusMgm.setValid(true);
-  } else {
-    PoolReadGuard pg(fusedRotRateData);
-    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(fusedRotRateData->rotRateTotalSusMgm.value, ZERO_VEC3, 3 * sizeof(double));
-      fusedRotRateData->rotRateTotalSusMgm.setValid(false);
-    }
-  }
 }
 
 void FusedRotationEstimation::estimateFusedRotationRateStr(

mission/controller/acs/Guidance.cpp

@@ -232,7 +232,6 @@ 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));
   }
@@ -304,9 +303,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
   // First calculate error quaternion between current and target orientation without reference
   // quaternion
   double errorQuatWoRef[4] = {0, 0, 0, 0};
-  QuaternionOperations::multiply(currentQuat, targetQuat, errorQuatWoRef);
+  QuaternionOperations::multiply(targetQuat, currentQuat, errorQuatWoRef);
   // Then add rotation from reference quaternion
-  QuaternionOperations::multiply(refQuat, errorQuatWoRef, errorQuat);
+  QuaternionOperations::multiply(errorQuatWoRef, refQuat, errorQuat);
   // Keep scalar part of quaternion positive
   if (errorQuat[3] < 0) {
     VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);
@@ -316,9 +315,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
 
   // Calculate error satellite rotational rate
   // Convert target rotational rate into body RF
-  double targetSatRotRateB[3] = {0, 0, 0};
-  QuaternionOperations::multiplyVector(currentQuat, targetSatRotRate, targetSatRotRateB);
-  VectorOperations<double>::copy(targetSatRotRateB, targetSatRotRate, 3);
+  double errorQuatInv[4] = {0, 0, 0, 0}, targetSatRotRateB[3] = {0, 0, 0};
+  QuaternionOperations::inverse(errorQuat, errorQuatInv);
+  QuaternionOperations::multiplyVector(errorQuatInv, targetSatRotRate, targetSatRotRateB);
   // 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

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

mission/controller/controllerdefinitions/AcsCtrlDefinitions.h

@@ -129,8 +129,9 @@ enum PoolIds : lp_id_t {
   RW_TARGET_SPEED,
   MTQ_TARGET_DIPOLE,
   // Fused Rotation Rate
-  ROT_RATE_TOT_SUSMGM,
-  ROT_RATE_TOT_SOURCE,
+  ROT_RATE_ORTHOGONAL,
+  ROT_RATE_PARALLEL,
+  ROT_RATE_TOTAL,
   ROT_RATE_SOURCE,
   // Fused Rotation Rate Sources
   ROT_RATE_ORTHOGONAL_SUSMGM,
@@ -150,7 +151,7 @@ static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 6;
 static constexpr uint8_t ATTITUDE_ESTIMATION_SET_ENTRIES = 4;
 static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 5;
 static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
-static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 3;
+static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 4;
 static constexpr uint8_t FUSED_ROT_RATE_SOURCES_SET_ENTRIES = 5;
 
 /**
@@ -317,10 +318,10 @@ class FusedRotRateData : public StaticLocalDataSet<FUSED_ROT_RATE_SET_ENTRIES> {
   FusedRotRateData(HasLocalDataPoolIF* hkOwner)
       : StaticLocalDataSet(hkOwner, FUSED_ROTATION_RATE_DATA) {}
 
-  lp_vec_t<double, 3> rotRateTotalSusMgm =
-      lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOT_SUSMGM, this);
-  lp_vec_t<double, 3> rotRateTotalSource =
-      lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOT_SOURCE, this);
+  lp_vec_t<double, 3> rotRateOrthogonal =
+      lp_vec_t<double, 3>(sid.objectId, ROT_RATE_ORTHOGONAL, this);
+  lp_vec_t<double, 3> rotRateParallel = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_PARALLEL, this);
+  lp_vec_t<double, 3> rotRateTotal = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOTAL, this);
   lp_var_t<uint8_t> rotRateSource = lp_var_t<uint8_t>(sid.objectId, ROT_RATE_SOURCE, this);
 
  private:

mission/memory/SdCardMountedIF.h

@@ -8,7 +8,7 @@
 
 class SdCardMountedIF {
  public:
-  virtual ~SdCardMountedIF() {};
+  virtual ~SdCardMountedIF(){};
   virtual const char* getCurrentMountPrefix() const = 0;
   virtual bool isSdCardUsable(std::optional<sd::SdCard> sdCard) = 0;
   virtual std::optional<sd::SdCard> getPreferredSdCard() const = 0;

mission/pollingSeqTables.cpp

@@ -10,7 +10,6 @@
 #include "OBSWConfig.h"
 #include "eive/definitions.h"
 #include "eive/objects.h"
-#include "linux/payload/FreshMpsocHandler.h"
 #include "linux/payload/FreshSupvHandler.h"
 
 #ifndef RPI_TEST_ADIS16507
@@ -618,21 +617,17 @@ ReturnValue_t pst::pstPayload(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
                         DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
 
   thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
                         FreshSupvHandler::OpCode::DEFAULT_OPERATION);
-  // Parse TM with a bit of delay. Two COM steps which might cover telemetry wehich takes a bit
-  // longer to send
+  // Two COM TM steps, which might cover telemetry which takes a bit longer to be sent.
   thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.1,
                         FreshSupvHandler::OpCode::PARSE_TM);
   thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.2,
                         FreshSupvHandler::OpCode::PARSE_TM);
-  // Parse TM with a bit of delay. Two COM steps which might cover telemetry wehich takes a bit
-  // longer to send
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2,
-                        FreshMpsocHandler::OpCode::PARSE_TM);
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.4,
-                        FreshMpsocHandler::OpCode::PARSE_TM);
 
   thisSequence->addSlot(objects::SCEX, length * 0.6, DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::SCEX, length * 0.6, DeviceHandlerIF::SEND_WRITE);

mission/power/BpxBatteryHandler.h

@@ -32,8 +32,8 @@ class BpxBatteryHandler : public DeviceHandlerBase {
 
   BpxBatteryHk hkSet;
   DeviceCommandId_t lastCmd = DeviceHandlerIF::NO_COMMAND_ID;
-  std::array<uint8_t, 8> cmdBuf = {};
   BpxBatteryCfg cfgSet;
+  std::array<uint8_t, 8> cmdBuf = {};
   PoolEntry<uint16_t> chargeCurrent = PoolEntry<uint16_t>({0});
   PoolEntry<uint16_t> dischargeCurrent = PoolEntry<uint16_t>({0});
   PoolEntry<uint16_t> heaterCurrent = PoolEntry<uint16_t>({0});

mission/power/bpxBattDefs.h

@@ -199,7 +199,6 @@ class BpxBatteryHk : public StaticLocalDataSet<bpxBat::HK_ENTRIES> {
 
  private:
   friend class BpxBatteryHandler;
-  friend class BatteryDummy;
   /**
    * Constructor for data creator
    * @param hkOwner
@@ -239,7 +238,6 @@ class BpxBatteryCfg : public StaticLocalDataSet<bpxBat::CFG_ENTRIES> {
 
  private:
   friend class BpxBatteryHandler;
-  friend class BatteryDummy;
   /**
    * Constructor for data creator
    * @param hkOwner

mission/system/CMakeLists.txt

@@ -3,9 +3,8 @@ add_subdirectory(acs)
 add_subdirectory(tcs)
 add_subdirectory(com)
 add_subdirectory(power)
-add_subdirectory(payload)
 
 target_sources(
   ${LIB_EIVE_MISSION}
   PRIVATE systemTree.cpp DualLanePowerStateMachine.cpp EiveSystem.cpp
-          treeUtil.cpp SharedPowerAssemblyBase.cpp)
+          treeUtil.cpp SharedPowerAssemblyBase.cpp payloadModeTree.cpp)

mission/system/acs/acsModeTree.cpp

@@ -105,7 +105,7 @@ Subsystem& satsystem::acs::init() {
   };
   // Build TARGET PT transition 0
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
   iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
   iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
@@ -114,7 +114,7 @@ Subsystem& satsystem::acs::init() {
         ctxc);
 
   // Build SUS board transition
-  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, SUS_BOARD_NML_TRANS.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, SUS_BOARD_NML_TRANS.second, true);
   check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)),
         ctxc);
 
@@ -200,14 +200,14 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::ACS_CONTROLLER, acs::AcsMode::SAFE, acs::SafeSubmode::DEFAULT,
       ACS_TABLE_SAFE_TGT.second, true);
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TGT.second, true);
   iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TGT.second, true);
   check(ss.addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);
 
   // Build SAFE transition 0
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
   iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
   iht(objects::STR_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
   iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
   check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
@@ -257,14 +257,14 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
   iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TGT.second, true);
   iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TGT.second, true);
   ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);
 
   // Build IDLE transition 0
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
   iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
   iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
   ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
@@ -307,7 +307,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
   // Build TARGET PT table
   iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET, 0, ACS_TABLE_PTG_TARGET_TGT.second);
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true);
   iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
   iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
@@ -356,7 +356,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
   // Build TARGET PT table
   iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_NADIR, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
   iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
@@ -409,7 +409,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
   // Build TARGET PT table
   iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET_GS, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
   iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
   iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
@@ -462,7 +462,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_INERTIAL, 0,
       ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second,
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second,
       true);
   iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second,
       true);

mission/system/payload/CMakeLists.txt

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

mission/system/systemTree.cpp

@@ -10,7 +10,7 @@
 #include "mission/com/defs.h"
 #include "mission/sysDefs.h"
 #include "mission/system/acs/acsModeTree.h"
-#include "mission/system/payload/payloadModeTree.h"
+#include "mission/system/payloadModeTree.h"
 #include "mission/system/power/epsModeTree.h"
 #include "mission/system/tcs/tcsModeTree.h"
 #include "treeUtil.h"

mission/tmtc/PersistentTmStore.cpp

@@ -59,7 +59,7 @@ ReturnValue_t PersistentTmStore::buildDumpSet(uint32_t fromUnixSeconds, uint32_t
       continue;
     }
     const path& file = fileOrDir.path();
-    struct tm fileTime{};
+    struct tm fileTime {};
     if (pathToTime(file, fileTime) != returnvalue::OK) {
       sif::error << "Time extraction for file " << file << "failed" << std::endl;
       continue;
@@ -294,7 +294,7 @@ void PersistentTmStore::deleteFromUpTo(uint32_t startUnixTime, uint32_t endUnixT
       continue;
     }
     // Convert file time to the UNIX epoch
-    struct tm fileTime{};
+    struct tm fileTime {};
     if (pathToTime(file.path(), fileTime) != returnvalue::OK) {
       sif::error << "Time extraction for " << file << " failed" << std::endl;
       continue;

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"
-unset EIVE_Q7S_EM
+# export EIVE_Q7S_EM=1
 
 if [[ -d "eive-obsw" ]]; then
 	echo "Detected EIVE OBSW root directory at $(pwd)/eive-obsw. Setting to EIVE_OBSW_ROOT"

scripts/auto-formatter.sh

@@ -29,7 +29,7 @@ else
   echo "No ${cmake_fmt} tool found, not formatting CMake files"
 fi
 
-cpp_format="clang-format-19"
+cpp_format="clang-format"
 file_selectors="( -iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp )"
 file_excludes="( -not -iname translateObjects.cpp -not -iname translateEvents.cpp )"
 if command -v ${cpp_format} &> /dev/null; then

scripts/q7s-cp.py

@@ -4,9 +4,6 @@ import os
 import sys
 
 
-DEFAULT_PORT = 1539
-
-
 def main():
     args = handle_args()
     cmd = build_cmd(args)
@@ -23,7 +20,7 @@ def prompt_ssh_key_removal():
     do_remove_key = input(
         "Do you want to remove problematic keys on localhost ([Y]/n)?: "
     )
-    if do_remove_key.lower() not in ["y", "yes", "1", ""]:
+    if not do_remove_key.lower() in ["y", "yes", "1", ""]:
         sys.exit(1)
     port = 0
     while True:
@@ -57,7 +54,7 @@ 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=DEFAULT_PORT)
+    parser.add_argument("-P", "--port", help="Target port", default=1535)
     parser.add_argument(
         "-i",
         "--invert",
@@ -84,8 +81,6 @@ def build_cmd(args):
     cmd = "scp "
     if args.recursive:
         cmd += "-r "
-    # Necessary to avoid some errors related to SFTP server of OBSW.
-    cmd += "-O "
     address = ""
     port_args = ""
     target = args.target
@@ -101,7 +96,7 @@ def build_cmd(args):
             target = args.target
     else:
         if target == "":
-            target = "/tmp"
+            target = f"/tmp"
         else:
             target = args.target
     # accepted_key_rsa_args = "-o HostKeyAlgorithms=+ssh-rsa -o PubkeyAcceptedKeyTypes=+ssh-rsa"

tmtc

@@ -1 +1 @@
-Subproject commit 82b388e23e8745c8671b8dfb1a55e443f59bf274
+Subproject commit 37eafb722b36ebabb50252121c80ef7712216486