prep v1.25.0

update subsystem mode IDs
Merge pull request 'bugfix for GPS handler' (#368 ) from gps_bugfix into develop
2023-02-06 20:19:08 +01:00 · 2023-02-06 20:15:45 +01:00 · 2023-02-06 18:25:52 +01:00 · 2023-02-06 18:23:04 +01:00 · 2023-02-06 18:12:41 +01:00 · 2023-02-06 15:33:37 +01:00
559 changed files with 27402 additions and 26013 deletions
--- a/.gitmodules
+++ b/.gitmodules
@ -22,3 +22,6 @@
 [submodule "thirdparty/rapidcsv"]
 	path = thirdparty/rapidcsv
 	url = https://github.com/d99kris/rapidcsv.git
+[submodule "thirdparty/gomspace-sw"]
+	path = thirdparty/gomspace-sw
+	url = https://egit.irs.uni-stuttgart.de/eive/gomspace-sw.git
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -8,11 +8,294 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/).
 The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
 list yields a list of all related PRs for each release.

+Starting at v2.0.0, the following changes will consitute of a breaking
+change warranting a new major release:
+
+- The TMTC interface changes in any shape of form.
+- The behavour of the OBSW changes in a major shape or form relevant
+  for operations
+
 # [unreleased]

-# [v1.13.0]
+# [v1.25.0] 2023-02-06
+
+eive-tmtc version: v2.12.0
+
+## Changed
+
+- Updated Subsystem mode IDs to avoid clashes with regular device handler modes.
+
+## Fixed
+
+- `GpsHyperionLinuxController`: Fix `gpsd` polling by continuously calling `gps_read` in one cycle
+  until it does not have any data left anymore. Also, the data is now polled in a permanent loop,
+  where controller handling is done on 0.2 second timeouts.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/368
+
+# [v1.24.0] 2023-02-03
+
+- eive-tmtc v2.10.0
+- `AcsSubsystem`: OFF, SAFE and DETUMBLE mode were tested. Auto-transitions SAFE <-> DETUMBLE tested
+  as well. Other modes still need to be tested.
+
+## Fixed
+
+- `AcsController`: Parameter fix in `DetumbleParameter`.
+- Set GPS set entries to invalid on MODE_OFF command.
+- Bump FSFW for bugfix in `setNormalDatapoolEntriesInvalid` where the validity was not set to false
+  properly
+- Fixed usage of uint instead of int for commanding MTQ. Also fixed the range in which the ACS Ctrl
+  commands the MTQ to match the actual commanding range.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/363
+- Regression: Revert swap of SUS0 and SUS6. Those devices are on separate power lines. In a
+  future fix, the calibration matrices of SUS0 and SUS6 will be swapped.
+
+## Changed
+
+- `ACS::SensorValues` is now an ACS controller member to reduce the risk of stack overflow.
+- ACS Subsystem Sequence Mode IDs updated.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
+  TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/130
+- Update and tweak ACS subsystem to represent the actual ACS design
+- Event handling in the ACS subsystem for events triggered by the ACS controller.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
+
+# [v1.23.1] 2023-02-02
+
+TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3
+
+## Fixed
+
+- Bugfix in FSFW where the sequence flags of the PUS packets were set to continuation segment (0b00)
+  instead of unsegmented (0b11).
+- Bugfix in FSFW where the MGM RM3100 value Z axis data was parse incorrectly.
+  PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/123
+
+# [v1.23.0] 2023-02-01
+
+TMTC version: v2.9.0
+
+## Changed
+
+- Bumped FSFW to include improvements and bugfix for Health Service. The health service now
+  supports the announce all health info command.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
+
+## Fixed
+
+- Bumped FSFW to include fixes in the time service.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
+- The CCSDS handler starts the transmitter timer each time it is commanded to MODE_ON and times
+  out the timer when the handler is commanded to MODE_OFF
+- If the timer is timed out the CCSDS handler will disable the TX clock which will cause the
+  syrlinks to got to standby mode
+- PDEC handler now parses the FAR register also in interrupt mode
+
+
+# [v1.22.1] 2023-01-30
+
+## Changed
+
+- Updated FSFW to include addition where the `SO_REUSEADDR` option is set
+  on the TCP server, which should improve its ergonomics.
+
+# [v1.22.0] 2023-01-28
+
+TMTC version: v2.6.1
+
+## Added
+
+- First COM subsystem implementation. It mirrors the Syrlinks mode/submodes but also takes
+  care of commanding the CCSDS handler. It expects the Syrlinks submodes as mode commands.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/358
+- The CCSDS handler has has a new submode (3) to configure the default datarate.
+- Default datarate parameter commanding moved to COM subsystem.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/358
+
+# [v1.21.0] 2023-01-26
+
+TMTC version: v2.5.0
+Syrlinks PR: PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/353
+
+## Fixed
+
+- The `OBSW_SYRLINKS_SIMULATED` flag is set to 0 for for both EM and FM.
+- MGM4 handling in ACS sensor processing: Bugfix in `mulScalar` operation
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/354
+- Subsystem ID clash: CORE subsystem ID was the same as Syrlinks subsystem ID.
+
+## Changed
+
+- Startracker temperature set and PCDU switcher set are diagnostic now
+- `SyrlinksHkHandler` renamed to `SyrlinksHandler` to better reflect that it does more than
+  just HK and is also responsible for setting the TX mode of the device.
+- `SyrlinksHandler`: Go to startup immediately because the Syrlinks device should always be on
+  by default.
+- `SyrlinksHandler`: Go to normal mode at startup.
+
+## Added
+
+- The Syrlinks handler has submodes for the TX mode now: RX Only (0), RX and TX default
+  datarate (1), RX and TX Low Rate (2), RX and TX High Rate (3) and TX Carrier Wave (4).
+  The submodes apply for both ON and NORMAL mode. The default datarate can be updated using
+  a parameter command (domain ID 0 and unique ID 0) with value 0 for low rate and 1 for high rate.
+- The Syrlinks handler always sets TX to standby when switching off
+- The Syrlinks handler triggers a new TX_ON event when the transmitter was switched on successfully
+  and a TX_OFF event when it was switched off successfully.
+- Startracker temperature set and PCDU switcher set are diagnostic now
+- The CCSDS handler can accept mode commands now. It accepts ON and OFF commands. Furthermore
+  it has a submode for low datarate (1) and high datarate (2) for the ON command.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/352
+
+# [v1.20.0] 2023-01-24
+
+## Added
+
+- The Q7S SW now checks for a file named `boot_delay_secs.txt` in the home directory.
+  If it exists and the file is empty, it will delay for 6 seconds before continuing
+  with the regular boot. It can also try to read delay seconds from the file.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/340.
+- Basic TCS Subsystem component.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/319
+- Expose base set of STR periodic housekeeping packets
+
+## Changed
+
+- Moved some PDEC/PTME configuration to `common/config/eive/definitions.h`
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/319
+- The ACS Controller Gyro Sets (raw and processed) and the MEKF dataset are diagnostics now.
+- Bumped FSFW for Service 11 improvement which includes size and CRC check for contained TC
+- Syrlinks module now always included for both EM and FM
+- SA Deployment: Allow specifying the switch interval and the initial channel. This allows testing
+  the new deployment procedure where each channel is burned for half of the whole burn duration.
+  It also allows burning only one channel for the whole burn duration. The autonomous mechanism
+  was adapted to burn each channel for half of the burn time by default.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/347
+  TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/127
+- `Max31865RtdLowlevelHandler.cpp`: For each RTD device, the config is now re-written before
+  every read. This seems to fix some issue with invalid temperature sensor readings.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/345
+
+## Fixed
+
+- `GyroADIS1650XHandler`: Updated handler to determine correct dynamic range from `RANG_MDL`
+  register readout. This is because ADIS16505-3BMLZ devices are used on the ACS board and the
+  previous range setting was wrong. Also fixed a small error properly set internal state
+  on shut-down.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/342
+- Syrlinks Handler: Read RX frequency shift as 24 bit signed number now. Also include
+  validity handling for datasets.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/350
+- `GyroADIS1650XHandler`: Changed calculation of angular rate to be sensitivity based instead of 
+  max. range based, as previous fix still left an margin of error between ADIS16505 sensors 
+  and L3GD20 sensors.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/346
+
+# [v1.19.0] 2023-01-10
+
+## Changed
+
+- 5V stack is now off by default
+
+## Fixed
+
+- PLOC SUPV: Minor adaptions and important bugfix for UART manager
+- Allow cloning and building the hosted OBSW version without proprietary libraries,
+  which also avoids the need to have a Gitea account.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/337
+
+## Added
+
+- First version of ACS controller
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/329
+- Allow commanding the 5V stack internally in software
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/334
+- Add automatic 5V stack commanding for all connected devices
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/335
+
+# [v1.18.0] 2022-12-01
+
+## Changed
+
+- PLOC Supervisor: Changes baudrate to 921600
+- Renamed `/dev/ul-plsv` to `/dev/ploc_supv`, is not a UART lite anymore
+- Renamed `/dev/i2c_eive` to `/dev/i2c_pl` and `/dev/i2c-2` to `/dev/i2c_ps`.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/328
+
+# [v1.17.0] 2022-11-28
+
+## Added
+
+- PLOC Supervisor Update: Update SW to use newest PLOC SUPV version by TAS
+  PR 1: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/316
+  PR 2: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/324
+  PR 3: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/326
+
+# [v1.16.0] 2022-11-18
+
+- It is now possible to compile Linux components for the hosted build conditionally
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/322
+- ACS Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/231
+- Payload Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/231
+- Add IRQ mode for PDEC handler. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/310
+- Extended TM funnels to allow multiple TM recipients.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/312
+- DHB: Transitions to normal mode now possible directly, which simplifies subsystem implementations
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/313
+- MAX3185 Low Level Handler and Device Handler: Simplifications and bugfixes to allow switching
+  off without triggering unrequested replies
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/313
+- Add remaining missing TMP1075 device handlers.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/318
+
+# [v1.15.0] 2022-10-27
+
+- Consistent device file naming
+- Remove rad sensor from EM build, lead to weird bugs on EM which
+  prevented `xsc_boot_copy` from working properly
+- CFDP closure handling is now working
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/307
+- Safety mechanism for SD card handling on graceful reboots
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/308
+- Solar Array Deployment handler update
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/305
+- IMTQ updates as preparation for ACS controller expansion
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/306
+- P60 Module: Reduce number of set IDs, use same set IDs for core, auxiliary
+  and config HK set across the three PCDU modules
+
+# [v1.14.1] 11.10.2022
+
+- Various bugfixes and regression fixes
+- General file handling at program initialization now works properly again
+- Scratch buffer preferred SD card handling works again
+- Use scoped locks in TCS controller to avoid deadlocks
+
+# [v1.14.0] 10.10.2022
+
+- Provide full SW update capability for the OBSW.
+  This includes very basic CFDP integration, a software update
+  procedure specified in detail in the README and some high level
+  commands to make this easier for operators.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/302
+- Update for FSFW: `HasReturnvaluesIF` class replaced by namespace `returnvalue`
+- Add some GomSpace clients as a submodule dependency. Use this dependency to deserialize the
+  GomSpace TM tables
+- Add API to retrieve GomSpace device parameter tables
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/287
+- Add API to save and load GomSpace config tables
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/293
+- Increase number of allowed consescutive action commands from 3 to 16
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/294
+- Fix for EM SW: Always create ACS Task
+- Added Scex device handler and Scex uart reader
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/303
+- ACS Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/228
+
+# [v1.13.0] 24.08.2022

 - Added first version of ACS Controller with gathers MGM data in a set
+- Some tweaks for IMTQ handler

 # [v1.12.1] 05.07.2022

--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -9,8 +9,8 @@
 # ##############################################################################
 cmake_minimum_required(VERSION 3.13)

-set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 0)
-set(OBSW_VERSION_MINOR_IF_GIT_FAILS 0)
+set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 1)
+set(OBSW_VERSION_MINOR_IF_GIT_FAILS 25)
 set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)

 # set(CMAKE_VERBOSE TRUE)
@ -95,9 +95,36 @@ set(OBSW_ADD_SUS_BOARD_ASS
 set(OBSW_ADD_ACS_BOARD
    ${INIT_VAL}
    CACHE STRING "Add ACS board module")
-set(OBSW_ADD_ACS_HANDLERS
+set(OBSW_ADD_GPS_CTRL
    ${INIT_VAL}
-    CACHE STRING "Add ACS handlers")
+    CACHE STRING "Add GPS controllers")
+set(OBSW_ADD_CCSDS_IP_CORES
+    1
+    CACHE STRING "Add CCSDS IP cores")
+set(OBSW_TM_TO_PTME
+    1
+    CACHE STRING "Send telemetry to PTME IP core")
+set(OBSW_TC_FROM_PDEC
+    1
+    CACHE STRING "Poll telecommand from PDEC IP core")
+set(OBSW_ADD_TCS_CTRL
+    ${INIT_VAL}
+    CACHE STRING "Add TCS controllers")
+set(OBSW_ADD_HEATERS
+    ${INIT_VAL}
+    CACHE STRING "Add TCS heaters")
+set(OBSW_ADD_PLOC_SUPERVISOR
+    ${INIT_VAL}
+    CACHE STRING "Add PLOC supervisor handler")
+set(OBSW_ADD_SA_DEPL
+    ${INIT_VAL}
+    CACHE STRING "Add SA deployment handler")
+set(OBSW_ADD_PLOC_MPSOC
+    ${INIT_VAL}
+    CACHE STRING "Add MPSoC handler")
+set(OBSW_ADD_ACS_CTRL
+    ${INIT_VAL}
+    CACHE STRING "Add ACS controller")
 set(OBSW_ADD_RTD_DEVICES
    ${INIT_VAL}
    CACHE STRING "Add RTD devices")
@ -108,7 +135,7 @@ set(OBSW_ADD_PL_PCDU
    ${INIT_VAL}
    CACHE STRING "Add Payload PCDU modukle")
 set(OBSW_ADD_SYRLINKS
-    ${INIT_VAL}
+    1
    CACHE STRING "Add Syrlinks module")
 set(OBSW_ADD_TMP_DEVICES
    ${INIT_VAL}
@ -119,6 +146,12 @@ set(OBSW_ADD_GOMSPACE_PCDU
 set(OBSW_ADD_RW
    ${INIT_VAL}
    CACHE STRING "Add RW modules")
+set(OBSW_ADD_SCEX_DEVICE
+    ${INIT_VAL}
+    CACHE STRING "Add Solar Cell Experiment module")
+set(OBSW_SYRLINKS_SIMULATED
+    0
+    CACHE STRING "Syrlinks is simulated")

 # ##############################################################################
 # Pre-Sources preparation
@ -170,6 +203,9 @@ set(LIB_ETL_TARGET etl::etl)
 set(LIB_CSP_NAME libcsp)
 set(LIB_LWGPS_NAME lwgps)
 set(LIB_ARCSEC wire)
+set(LIB_GOMSPACE_CLIENTS gs_clients)
+set(LIB_GOMSPACE_CSP gs_csp)
+
 set(THIRD_PARTY_FOLDER thirdparty)
 set(LIB_CXX_FS -lstdc++fs)
 set(LIB_CATCH2 Catch2)
@ -182,6 +218,7 @@ set(FSFW_PATH fsfw)
 set(TEST_PATH test)
 set(UNITTEST_PATH unittest)
 set(LINUX_PATH linux)
+set(LIB_GOMSPACE_PATH ${THIRD_PARTY_FOLDER}/gomspace-sw)
 set(COMMON_PATH common)
 set(DUMMY_PATH dummies)
 set(WATCHDOG_PATH watchdog)
@ -189,7 +226,6 @@ set(COMMON_CONFIG_PATH ${COMMON_PATH}/config)
 set(UNITTEST_CFG_PATH ${UNITTEST_PATH}/testcfg)

 set(LIB_EIVE_MISSION_PATH mission)
-set(LIB_CSP_PATH ${THIRD_PARTY_FOLDER}/libcsp)
 set(LIB_ETL_PATH ${THIRD_PARTY_FOLDER}/etl)
 set(LIB_CATCH2_PATH ${THIRD_PARTY_FOLDER}/Catch2)
 set(LIB_LWGPS_PATH ${THIRD_PARTY_FOLDER}/lwgps)
@ -197,7 +233,7 @@ set(LIB_ARCSEC_PATH ${THIRD_PARTY_FOLDER}/arcsec_star_tracker)
 set(LIB_JSON_PATH ${THIRD_PARTY_FOLDER}/json)

 set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
-set(EIVE_ADD_LINUX_FILES False)
+set(EIVE_ADD_LINUX_FILES OFF)

 # Analyse different OS and architecture/target options, determine BSP_PATH,
 # display information about compiler etc.
@ -217,11 +253,15 @@ if(TGT_BSP)
    set(FSFW_CONFIG_PATH "linux/fsfwconfig")
    if(NOT BUILD_Q7S_SIMPLE_MODE)
      set(EIVE_ADD_LINUX_FILES TRUE)
-      set(ADD_CSP_LIB TRUE)
+      set(EIVE_ADD_LINUX_FSFWCONFIG TRUE)
+      set(ADD_GOMSPACE_CSP TRUE)
+      set(ADD_GOMSPACE_CLIENTS TRUE)
      set(FSFW_HAL_ADD_LINUX ON)
      set(FSFW_HAL_LINUX_ADD_LIBGPIOD ON)
      set(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS ON)
    endif()
+  elseif(UNIX)
+    set(EIVE_ADD_LINUX_FILES ON)
  endif()

  if(TGT_BSP MATCHES "arm/raspberrypi")
@ -256,6 +296,9 @@ if(TGT_BSP)
 else()
  # Required by FSFW library
  set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
+  if(UNIX)
+    set(EIVE_ADD_LINUX_FILES ON)
+  endif()
 endif()

 # Configuration files
@ -280,31 +323,6 @@ set(FSFW_ADDITIONAL_INC_PATHS "${COMMON_PATH}/config"

 # global compiler options need to be set before adding executables
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-  add_compile_options(
-    "-Wall"
-    "-Wextra"
-    "-Wimplicit-fallthrough=1"
-    "-Wno-unused-parameter"
-    "-Wno-psabi"
-    "-Wduplicated-cond" # check for duplicate conditions
-    "-Wduplicated-branches" # check for duplicate branches
-    "-Wlogical-op" # Search for bitwise operations instead of logical
-    "-Wnull-dereference" # Search for NULL dereference
-    "-Wundef" # Warn if undefind marcos are used
-    "-Wformat=2" # Format string problem detection
-    "-Wformat-overflow=2" # Formatting issues in printf
-    "-Wformat-truncation=2" # Formatting issues in printf
-    "-Wformat-security" # Search for dangerous printf operations
-    "-Wstrict-overflow=3" # Warn if integer overflows might happen
-    "-Warray-bounds=2" # Some array bounds violations will be found
-    "-Wshift-overflow=2" # Search for bit left shift overflows (<c++14)
-    "-Wcast-qual" # Warn if the constness is cast away
-    "-Wstringop-overflow=4"
-    # -Wstack-protector # Emits a few false positives for low level access
-    # -Wconversion # Creates many false positives -Warith-conversion # Use with
-    # Wconversion to find more implicit conversions -fanalyzer # Should be used
-    # to look through problems
-  )
  # Remove unused sections.
  add_compile_options("-ffunction-sections" "-fdata-sections")

@ -322,6 +340,37 @@ add_library(${LIB_DUMMIES})
 add_executable(${OBSW_NAME})
 set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME})

+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+  set(WARNING_FLAGS
+      "-Wall"
+      "-Wextra"
+      "-Wimplicit-fallthrough=1"
+      "-Wno-unused-parameter"
+      "-Wno-psabi"
+      "-Wduplicated-cond" # check for duplicate conditions
+      "-Wduplicated-branches" # check for duplicate branches
+      "-Wlogical-op" # Search for bitwise operations instead of logical
+      "-Wnull-dereference" # Search for NULL dereference
+      "-Wundef" # Warn if undefind marcos are used
+      "-Wformat=2" # Format string problem detection
+      "-Wformat-overflow=2" # Formatting issues in printf
+      "-Wformat-truncation=2" # Formatting issues in printf
+      "-Wformat-security" # Search for dangerous printf operations
+      "-Wstrict-overflow=3" # Warn if integer overflows might happen
+      "-Warray-bounds=2" # Some array bounds violations will be found
+      "-Wshift-overflow=2" # Search for bit left shift overflows (<c++14)
+      "-Wcast-qual" # Warn if the constness is cast away
+      "-Wstringop-overflow=4"
+      # -Wstack-protector # Emits a few false positives for low level access
+      # -Wconversion # Creates many false positives -Warith-conversion # Use
+      # with Wconversion to find more implicit conversions -fanalyzer # Should
+      # be used to look through problems
+  )
+  target_compile_options(${OBSW_NAME} PRIVATE ${WARNING_FLAGS})
+  target_compile_options(${LIB_EIVE_MISSION} PRIVATE ${WARNING_FLAGS})
+  target_compile_options(${LIB_DUMMIES} PRIVATE ${WARNING_FLAGS})
+endif()
+
 set_target_properties(${OBSW_NAME} PROPERTIES OUTPUT_NAME ${OBSW_BIN_NAME})

 # Watchdog
@ -350,16 +399,16 @@ if(EIVE_ADD_JSON_LIB)
  add_subdirectory(${LIB_JSON_PATH})
 endif()

-add_subdirectory(thirdparty/rapidcsv)
+add_subdirectory(thirdparty)

 if(EIVE_ADD_LINUX_FILES)
-  add_subdirectory(${LIB_ARCSEC_PATH})
+  if(TGT_BSP MATCHES "arm/q7s")
+    add_subdirectory(${LIB_GOMSPACE_PATH})
+    add_subdirectory(${LIB_ARCSEC_PATH})
+  endif()
  add_subdirectory(${LINUX_PATH})
 endif()
 add_subdirectory(${BSP_PATH})
-if(ADD_CSP_LIB)
-  add_subdirectory(${LIB_CSP_PATH})
-endif()

 add_subdirectory(${COMMON_PATH})
 add_subdirectory(${DUMMY_PATH})
@ -372,21 +421,19 @@ add_subdirectory(${TEST_PATH})
 add_subdirectory(${UNITTEST_PATH})

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

 # Use same Catch2 version as framework
 if(NOT (TGT_BSP MATCHES "arm/te0720-1cfa")
@ -441,7 +488,8 @@ target_link_libraries(${LIB_DUMMIES} PUBLIC ${LIB_FSFW_NAME} ${LIB_JSON_NAME})
 target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_EIVE_MISSION} ${LIB_DUMMIES})

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

 target_link_libraries(${UNITTEST_NAME} PRIVATE Catch2 ${LIB_EIVE_MISSION}
@ -451,10 +499,6 @@ if(TGT_BSP MATCHES "arm/egse")
  target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_ARCSEC})
 endif()

-if(ADD_CSP_LIB)
-  target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_CSP_NAME})
-endif()
-
 if(EIVE_ADD_ETL_LIB)
  target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_ETL_TARGET})
 endif()
--- a/README.md
+++ b/README.md
@ -95,9 +95,7 @@ When using Windows, run theses steps in MSYS2.
 2. Update all the submodules

   ```sh
-   git submodule init
-   git submodule sync
-   git submodule update
+   git submodule update --init
   ```

 3. Ensure that the cross-compiler is working with `arm-linux-gnueabihf-gcc --version` and that
@ -152,6 +150,78 @@ When using Windows, run theses steps in MSYS2.
   cmake --build . -j
   ```

+## Preparing and executing an OBSW update
+
+A OBSW update consists of a `xz` compressed file `eive-sw-update.tar.xz`
+which contains the following two files:
+
+1. Stripped OBSW binary `eive-obsw-stripped`
+2. OBSW version text file with the name `obsw_version.txt`
+
+These files can be created manually:
+
+1. Build the release image inside `cmake-build-release-q7s`
+2. Switch into the build directory
+3. Run the following command to create the version file
+
+   ```sh
+   git describe --tags --always --exclude docker_* > obsw_version.txt
+   ```
+
+   You can also use the `create-version-file.sh` helper shell script
+   located in the `scripts` folder to do this.
+
+4. Set the Q7S user as the file owner for both files
+
+   ```sh
+   sudo chown root:root eive-obsw-stripped
+   sudo chown root:root obsw_version.txt
+   ```
+
+5. Run the following command to create the compressed archive
+
+   ```sh
+   tar -cJvf eive-sw-update.tar.xz eive-obsw-stripped obsw_version.txt
+   ```
+
+You can also use the helper script `create-sw-update.sh` inside the build folder
+after sourcing the `q7s-env.sh` helper script to perform all steps including
+a rebuild.
+
+After creating these files, they need to be transferred onto the Q7S
+to either the `/mnt/sd0/bin` or `/mnt/sd1/bin` folder if the OBSW update
+is performed from the SD card. It can also be transferred to the `/tmp` folder
+to perform the update from a temporary directory, which does not rely on any
+of the SD cards being on and mounted. However, all files in the temporary
+directory will be deleted if the Linux OS is rebooted for any reason.
+
+After both files are in place (this is checked by the OBSW), the example command
+sequence is used by the OBSW to write the OBSW update to the QSPI chip 0 and
+slot 0 using SD card 0:
+
+```sh
+tar -xJvf eive-update.tar.xz
+xsc_mount_copy 0 0
+cp eive-obsw-stripped /tmp/mntupdate-xdi-qspi0-nom-rootfs/usr/bin/eive-obsw
+cp obsw_update.txt /tmp/mntupdate-xdi-qspi0-nom-rootfs/usr/share/obsw_update.txt
+writeprotect 0 0 1
+```
+
+Some context information about the used commands:
+
+1. It mounts the target chip and copy combination into the `/tmp` folder
+   using the `xsc_mount_copy <chip> <copy>` utility. This also unlocks the
+   writeprotection for the chip. The mount point name inside `/tmp` depends
+   on which chip and copy is used
+
+   - Chip 0 Copy 0: `/tmp/mntupdate-xdi-qspi0-nom-rootfs`
+   - Chip 0 Copy 1: `/tmp/mntupdate-xdi-qspi0-gold-rootfs`
+   - Slot 1 Copy 0: `/tmp/mntupdate-xdi-qspi1-nom-rootfs`
+   - Slot 1 Copy 1: `/tmp/mntupdate-xdi-qspi1-gold-rootfs`
+
+2. Writing the file with a regular `cp <source> <target>` command
+3. Enabling the writeprotection using the `writeprotect <chip> <copy> 1` utility.
+
 ## Build for the Q7S target root filesystem with `yocto`

 The EIVE root filesystem will contain the EIVE OBSW and the Watchdog component.
@ -218,7 +288,7 @@ helper scripts as well.
 4. Run build command by double clicking the created target or by right clicking
   the project folder and selecting Build Project.

-# <a id="host-commands"></a> Useful and Common Commands (Host)
+# <a id="host-commands"></a> Useful and Common Commands

 ## Build generation

@ -247,14 +317,11 @@ cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Release ..
 cmake --build . -j
 ```

-### Q7S Watchdog
-
-The watchdog will be built along side the primary OBSW binary.
-
-### Hosted
+### Hosted OBSW

 You can also use the FSFW OSAL `host` to build on Windows or for generic OSes.
-Note: Currently this is not supported.
+You can use the `clone-submodules-no-privlibs.sh` script to only clone the required (non-private)
+submodules required to build the hosted OBSW.

 ```sh
 mkdir cmake-build-debug && cd cmake-build-debug
@ -262,6 +329,21 @@ cmake -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 cmake --build . -j
 ```

+You can also use the `linux` OSAL:
+
+```sh
+mkdir cmake-build-debug && cd cmake-build-debug
+cmake -DFSFW_OSAL=linux -DCMAKE_BUILD_TYPE=Debug ..
+cmake --build . -j
+```
+
+Please note that some additional Linux setup might be necessary.
+You can find more information in the [Linux section of the FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-linux-mcu/src/branch/mueller/master/doc/README-linux.md#raising-message-queue-size-limit)
+
+### Q7S Watchdog
+
+The watchdog will be built along side the primary OBSW binary.
+
 ### Unittests

 To build the unittests, the corresponding target must be specified in the build command.
@ -983,6 +1065,29 @@ Get fill count:
 xsc_scratch read | wc -c
 ```

+## Custom device names in Linux with the `udev` module
+
+You can assign custom device names using the Linux `udev` system.
+This works by specifying a rules file inside the `/etc/udev/rules.d` folder
+which creates a SYMLINK if certain device properties are true.
+
+Each rule is a new line inside a rules file.
+For example, the rule
+
+```txt
+SUBSYSTEM=="tty", ATTRS{interface}=="Dual RS232-HS", ATTRS{bInterfaceNumber}=="01", SYMLINK+="ploc_supv
+```
+
+Will create a symlink `/dev/ploc_supv` if a connected USB device has the
+same `interface` and `bInterfaceNumber` properties as shown above.
+
+You can list the properties for a given connected device using `udevadm`.
+For example, you can do this for a connected example device `/dev/ttyUSB0`
+by using
+
+```txt
+udevadm info -a /dev/ttyUSB0
+```

 ## Using `system` when debugging

@ -1036,11 +1141,19 @@ cat /proc/tty/driver

 ## I2C

-Getting information about I2C device
-````
+Getting information about some I2C device
+
+```sh
 ls /sys/class/i2c-dev/i2c-0/device/device/driver
-````
-This shows the memory mapping of /dev/i2c-0
+```
+This shows the memory mapping of `/dev/i2c-0`.
+
+You can use the `i2cdetect` utility to scan for I2C devices.
+For example, to do this for bus 0 (`/dev/i2c-0`), you can use
+
+```sh
+i2cdetect -r -y 0
+```

 ## CAN

--- a/bsp_egse/InitMission.cpp
+++ b/bsp_egse/InitMission.cpp
@ -2,7 +2,7 @@

 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/objectmanager/ObjectManagerIF.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/returnvalues/returnvalue.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 #include <fsfw/tasks/PeriodicTaskIF.h>
@ -40,7 +40,7 @@ void initmission::initMission() {

 void initmission::initTasks() {
  TaskFactory* factory = TaskFactory::instance();
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  if (factory == nullptr) {
    /* Should never happen ! */
    return;
@ -55,28 +55,28 @@ void initmission::initTasks() {
  PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
      "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "Object add component failed" << std::endl;
  }
  result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "Object add component failed" << std::endl;
  }
  result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "Object add component failed" << std::endl;
  }

  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
      "TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "Add component TMTC Bridge failed" << std::endl;
  }
  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
      "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "Add component TMTC Polling failed" << std::endl;
  }

@ -88,7 +88,7 @@ void initmission::initTasks() {
  FixedTimeslotTaskIF* pst = factory->createFixedTimeslotTask(
      "STAR_TRACKER_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
  result = pst::pstUart(pst);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
  }
  pstTasks.push_back(pst);
@ -96,7 +96,7 @@ void initmission::initTasks() {
  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = strHelperTask->addComponent(objects::STR_HELPER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
  }
  pstTasks.push_back(strHelperTask);
@ -125,11 +125,11 @@ void initmission::initTasks() {
 void initmission::createPusTasks(TaskFactory& factory,
                                 TaskDeadlineMissedFunction missedDeadlineFunc,
                                 std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "Object add component failed" << std::endl;
  }
  taskVec.push_back(pusVerification);
@ -137,11 +137,11 @@ void initmission::createPusTasks(TaskFactory& factory,
  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
  }
  result = pusEvents->addComponent(objects::EVENT_MANAGER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
  }
  taskVec.push_back(pusEvents);
@ -149,11 +149,11 @@ void initmission::createPusTasks(TaskFactory& factory,
  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
  }
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
  }
  taskVec.push_back(pusHighPrio);
@ -161,19 +161,19 @@ void initmission::createPusTasks(TaskFactory& factory,
  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
  }
  taskVec.push_back(pusMedPrio);
@ -181,11 +181,11 @@ void initmission::createPusTasks(TaskFactory& factory,
  PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
  result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
  }
  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
  }
  taskVec.push_back(pusLowPrio);
--- a/bsp_egse/ObjectFactory.cpp
+++ b/bsp_egse/ObjectFactory.cpp
@ -1,8 +1,8 @@
 #include "ObjectFactory.h"

 #include <devConf.h>
-#include <fsfw_hal/linux/uart/UartComIF.h>
-#include <fsfw_hal/linux/uart/UartCookie.h>
+#include <fsfw_hal/linux/serial/SerialComIF.h>
+#include <fsfw_hal/linux/serial/SerialCookie.h>

 #include "OBSWConfig.h"
 #include "busConf.h"
@ -39,7 +39,7 @@ void ObjectFactory::produce(void* args) {
  UartCookie* starTrackerCookie =
      new UartCookie(objects::STAR_TRACKER, egse::STAR_TRACKER_UART, UartModes::NON_CANONICAL,
                     uart::STAR_TRACKER_BAUD, startracker::MAX_FRAME_SIZE * 2 + 2);
-  new UartComIF(objects::UART_COM_IF);
+  newSerialComIF(objects::UART_COM_IF);
  starTrackerCookie->setNoFixedSizeReply();
  StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
  StarTrackerHandler* starTrackerHandler = new StarTrackerHandler(
--- a/bsp_hosted/CMakeLists.txt
+++ b/bsp_hosted/CMakeLists.txt
@ -1,4 +1,4 @@
-target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp ObjectFactory.cpp)
+target_sources(${OBSW_NAME} PUBLIC scheduling.cpp main.cpp ObjectFactory.cpp)

 add_subdirectory(fsfwconfig)
 add_subdirectory(boardconfig)
--- a/bsp_hosted/Dockerfile
+++ b/bsp_hosted/Dockerfile
@ -14,7 +14,7 @@ RUN set -ex; \
    rm -rf build-hosted; \
    mkdir build-hosted; \
    cd build-hosted; \
-    cmake -DCMAKE_BUILD_TYPE=Release -DOS_FSFW=linux ..;
+    cmake -DCMAKE_BUILD_TYPE=Release -DOSAL_FSFW=host ..;

 ENTRYPOINT ["cmake", "--build", "build-hosted"]
 CMD ["-j"]
--- a/bsp_hosted/InitMission.cpp
+++ b/bsp_hosted/InitMission.cpp
@ -1,195 +0,0 @@
-#include "InitMission.h"
-
-#include <OBSWConfig.h>
-#include <bsp_hosted/fsfwconfig/pollingsequence/DummyPst.h>
-#include <fsfw/objectmanager/ObjectManager.h>
-#include <fsfw/objectmanager/ObjectManagerIF.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
-#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
-#include <fsfw/tasks/FixedTimeslotTaskIF.h>
-#include <fsfw/tasks/PeriodicTaskIF.h>
-#include <fsfw/tasks/TaskFactory.h>
-#include <mission/utility/InitMission.h>
-
-#include <iostream>
-
-#include "ObjectFactory.h"
-
-#ifdef LINUX
-ServiceInterfaceStream sif::debug("DEBUG");
-ServiceInterfaceStream sif::info("INFO");
-ServiceInterfaceStream sif::warning("WARNING");
-ServiceInterfaceStream sif::error("ERROR", false, false, true);
-#else
-ServiceInterfaceStream sif::debug("DEBUG", true);
-ServiceInterfaceStream sif::info("INFO", true);
-ServiceInterfaceStream sif::warning("WARNING", true);
-ServiceInterfaceStream sif::error("ERROR", true, false, true);
-#endif
-
-ObjectManagerIF* objectManager = nullptr;
-
-void initmission::initMission() {
-  sif::info << "Building global objects.." << std::endl;
-  /* Instantiate global object manager and also create all objects */
-  ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
-  sif::info << "Initializing all objects.." << std::endl;
-  ObjectManager::instance()->initialize();
-
-  /* This function creates and starts all tasks */
-  initTasks();
-}
-
-void initmission::initTasks() {
-  TaskFactory* factory = TaskFactory::instance();
-  if (factory == nullptr) {
-    /* Should never happen ! */
-    return;
-  }
-#if OBSW_PRINT_MISSED_DEADLINES == 1
-  void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
-#else
-  void (*missedDeadlineFunc)(void) = nullptr;
-#endif
-
-  /* TMTC Distribution */
-  PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
-      "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  ReturnValue_t result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Object add component failed" << std::endl;
-  }
-  result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Object add component failed" << std::endl;
-  }
-  result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Object add component failed" << std::endl;
-  }
-
-  /* UDP bridge */
-  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
-      "TMTC_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Add component UDP Unix Bridge failed" << std::endl;
-  }
-  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
-      "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Add component UDP Polling failed" << std::endl;
-  }
-
-  /* PUS Services */
-  PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
-      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Object add component failed" << std::endl;
-  }
-
-  PeriodicTaskIF* eventHandling = factory->createPeriodicTask(
-      "EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = eventHandling->addComponent(objects::EVENT_MANAGER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("EVENT_MNGR", objects::EVENT_MANAGER);
-  }
-  result = eventHandling->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
-  }
-
-  PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
-      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  }
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
-  }
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
-  }
-
-  PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
-      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
-  }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
-  }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
-  }
-
-  PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
-      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
-  result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
-  }
-
-  PeriodicTaskIF* thermalTask = factory->createPeriodicTask(
-      "THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
-  result = thermalTask->addComponent(objects::RTD_0_IC3_PLOC_HEATSPREADER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("RTD_0_dummy", objects::RTD_0_IC3_PLOC_HEATSPREADER);
-  }
-  result = thermalTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("SUS_0_dummy", objects::SUS_0_N_LOC_XFYFZM_PT_XF);
-  }
-
-  result = thermalTask->addComponent(objects::CORE_CONTROLLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
-  }
-
-  result = thermalTask->addComponent(objects::THERMAL_CONTROLLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
-  }
-
-  FixedTimeslotTaskIF* pstTask = factory->createFixedTimeslotTask(
-      "DUMMY_PST", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
-  result = dummy_pst::pst(pstTask);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Failed to add dummy pst to fixed timeslot task" << std::endl;
-  }
-
-#if OBSW_ADD_TEST_CODE == 1
-  result = testTask->addComponent(objects::TEST_TASK);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
-  }
-#endif /* OBSW_ADD_TEST_CODE == 1 */
-
-  sif::info << "Starting tasks.." << std::endl;
-  tmTcDistributor->startTask();
-  tmtcBridgeTask->startTask();
-  tmtcPollingTask->startTask();
-
-  pusVerification->startTask();
-  eventHandling->startTask();
-  pusHighPrio->startTask();
-  pusMedPrio->startTask();
-  pusLowPrio->startTask();
-
-  pstTask->startTask();
-  thermalTask->startTask();
-
-#if OBSW_ADD_TEST_CODE == 1
-  testTask->startTask();
-#endif /* OBSW_ADD_TEST_CODE == 1 */
-
-  sif::info << "Tasks started.." << std::endl;
-}
--- a/bsp_hosted/InitMission.h
+++ b/bsp_hosted/InitMission.h
@ -1,9 +0,0 @@
-#ifndef BSP_LINUX_INITMISSION_H_
-#define BSP_LINUX_INITMISSION_H_
-
-namespace initmission {
-void initMission();
-void initTasks();
-};  // namespace initmission
-
-#endif /* BSP_LINUX_INITMISSION_H_ */
--- a/bsp_hosted/OBSWConfig.h.in
+++ b/bsp_hosted/OBSWConfig.h.in
@ -24,6 +24,7 @@
 #define OBSW_ADD_GPS_0                              0
 #define OBSW_ADD_GPS_1                              0
 #define OBSW_ADD_RW                                 0
+#define OBSW_DEBUG_TMP1075                          0
 #define OBSW_ADD_BPX_BATTERY_HANDLER                0
 #define OBSW_ADD_RTD_DEVICES                        0
 #define OBSW_ADD_PL_PCDU                            0
@ -100,6 +101,10 @@
 /*******************************************************************/
 /** CMake Defines                                                  */
 /*******************************************************************/
+
+#define OBSW_ADD_TMTC_UDP_SERVER            1
+#define OBSW_ADD_TMTC_TCP_SERVER            1
+
 #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER

 #cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
--- a/bsp_hosted/ObjectFactory.cpp
+++ b/bsp_hosted/ObjectFactory.cpp
@ -1,21 +1,25 @@
 #include "ObjectFactory.h"

+#include <fsfw/power/DummyPowerSwitcher.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
 #include <mission/controller/ThermalController.h>
 #include <mission/core/GenericFactory.h>
-#include <mission/tmtc/TmFunnel.h>
+#include <mission/tmtc/TmFunnelHandler.h>
 #include <objects/systemObjectList.h>
-#include <tmtc/apid.h>
-#include <tmtc/pusIds.h>

 #include "OBSWConfig.h"
+#include "devConf.h"
+#include "eive/definitions.h"
+#include "fsfw/platform.h"
 #include "fsfw_tests/integration/task/TestTask.h"
+#include "tmtc/pusIds.h"

-#if OBSW_USE_TMTC_TCP_BRIDGE == 0
+#if OBSW_ADD_TMTC_UDP_SERVER == 1
 #include "fsfw/osal/common/UdpTcPollingTask.h"
 #include "fsfw/osal/common/UdpTmTcBridge.h"
-#else
+#endif
+#if OBSW_ADD_TMTC_TCP_SERVER == 1
 #include "fsfw/osal/common/TcpTmTcBridge.h"
 #include "fsfw/osal/common/TcpTmTcServer.h"
 #endif
@ -44,50 +48,68 @@
 #include <dummies/SyrlinksDummy.h>
 #include <dummies/TemperatureSensorsDummy.h>

+#include "dummies/helpers.h"
+#include "mission/utility/GlobalConfigHandler.h"
+
+#ifdef PLATFORM_UNIX
+#include <fsfw_hal/linux/serial/SerialComIF.h>
+#include <fsfw_hal/linux/serial/SerialCookie.h>
+
+#include "devices/gpioIds.h"
+#include "fsfw_hal/linux/gpio/Gpio.h"
+#include "linux/devices/ploc/PlocMPSoCHandler.h"
+#include "linux/devices/ploc/PlocMPSoCHelper.h"
+#include "linux/devices/ploc/PlocSupervisorHandler.h"
+#include "linux/devices/ploc/PlocSupvUartMan.h"
+#include "test/gpio/DummyGpioIF.h"
+#endif
+
 void Factory::setStaticFrameworkObjectIds() {
-  PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
-  PusServiceBase::packetDestination = objects::TM_FUNNEL;
+  PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
+  PusServiceBase::PACKET_DESTINATION = objects::PUS_TM_FUNNEL;

  CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
-  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+  CommandingServiceBase::defaultPacketDestination = objects::PUS_TM_FUNNEL;

-  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
-  // No storage object for now.
-  TmFunnel::storageDestination = objects::NO_OBJECT;
-
-  VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
-  TmPacketBase::timeStamperId = objects::TIME_STAMPER;
+  VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
 }

 void ObjectFactory::produce(void* args) {
  Factory::setStaticFrameworkObjectIds();
-  ObjectFactory::produceGenericObjects();
+  PusTmFunnel* pusFunnel;
+  CfdpTmFunnel* cfdpFunnel;
+  ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel);

-  new ComIFDummy(objects::DUMMY_COM_IF);
-  ComCookieDummy* comCookieDummy = new ComCookieDummy();
-  new BpxDummy(objects::BPX_BATT_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-  new CoreControllerDummy(objects::CORE_CONTROLLER);
-  new RwDummy(objects::RW1, objects::DUMMY_COM_IF, comCookieDummy);
-  new RwDummy(objects::RW2, objects::DUMMY_COM_IF, comCookieDummy);
-  new RwDummy(objects::RW3, objects::DUMMY_COM_IF, comCookieDummy);
-  new RwDummy(objects::RW4, objects::DUMMY_COM_IF, comCookieDummy);
-  new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
-  new SyrlinksDummy(objects::SYRLINKS_HK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-  new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-  new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-  new PduDummy(objects::PDU1_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-  new PduDummy(objects::PDU2_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-  new P60DockDummy(objects::P60DOCK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-  new GyroAdisDummy(objects::GYRO_0_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-  new GyroL3GD20Dummy(objects::GYRO_1_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-  new GyroAdisDummy(objects::GYRO_2_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-  new GyroL3GD20Dummy(objects::GYRO_3_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-  new MgmLIS3MDLDummy(objects::MGM_0_LIS3_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-  new MgmLIS3MDLDummy(objects::MGM_2_LIS3_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-  new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-  new TemperatureSensorsDummy();
-  new SusDummy();
-  new ThermalController(objects::THERMAL_CONTROLLER, objects::NO_OBJECT);
+  DummyGpioIF* dummyGpioIF = new DummyGpioIF();
+  auto* dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
+  static_cast<void>(dummyGpioIF);
+#ifdef PLATFORM_UNIX
+  new SerialComIF(objects::UART_COM_IF);
+#if OBSW_ADD_PLOC_MPSOC == 1
+  std::string mpscoDev = "";
+  auto mpsocCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, mpscoDev, uart::PLOC_MPSOC_BAUD,
+                                    mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+  mpsocCookie->setNoFixedSizeReply();
+  auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
+  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 */
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  std::string plocSupvString = "/dev/ploc_supv";
+  auto supervisorCookie =
+      new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, plocSupvString, uart::PLOC_SUPV_BAUD,
+                       supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
+  supervisorCookie->setNoFixedSizeReply();
+  auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
+  new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
+                            Gpio(gpioIds::ENABLE_SUPV_UART, dummyGpioIF), pcdu::PDU1_CH6_PLOC_12V,
+                            *supvHelper);
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
+#endif

-  // new TestTask(objects::TEST_TASK);
+  dummy::DummyCfg cfg;
+  dummy::createDummies(cfg, *dummySwitcher);
+  new ThermalController(objects::THERMAL_CONTROLLER);
+  new TestTask(objects::TEST_TASK);
 }
--- a/bsp_hosted/comIF/ArduinoComIF.cpp
+++ b/bsp_hosted/comIF/ArduinoComIF.cpp
@ -129,9 +129,7 @@ ArduinoComIF::~ArduinoComIF() {
  CloseHandle(hCom);
 #endif
 }
-ReturnValue_t ArduinoComIF::initializeInterface(CookieIF *cookie) {
-  return HasReturnvaluesIF::RETURN_OK;
-}
+ReturnValue_t ArduinoComIF::initializeInterface(CookieIF *cookie) { return returnvalue::OK; }

 ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data, size_t len) {
  ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie *>(cookie);
@ -142,10 +140,10 @@ ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data, s
  return sendMessage(arduinoCookie->command, arduinoCookie->address, data, len);
 }

-ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) { return RETURN_OK; }
+ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; }

 ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
@ -158,7 +156,7 @@ ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buff

  *buffer = arduinoCookie->replyBuffer.data();
  *size = arduinoCookie->receivedDataLen;
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const uint8_t *data,
@ -178,14 +176,14 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const

  ReturnValue_t result =
      DleEncoder::encode(&command, 1, currentPosition, remainingLen, &encodedLen, false);
-  if (result != RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
  currentPosition += encodedLen;
  remainingLen -= encodedLen;  // DleEncoder will never return encodedLen > remainingLen

  result = DleEncoder::encode(&address, 1, currentPosition, remainingLen, &encodedLen, false);
-  if (result != RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
  currentPosition += encodedLen;
@ -199,7 +197,7 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const

  result =
      DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
-  if (result != RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
  currentPosition += encodedLen;
@ -207,7 +205,7 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const

  // encoding the actual data
  result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen, &encodedLen, false);
-  if (result != RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
  currentPosition += encodedLen;
@ -224,7 +222,7 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const

  result =
      DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
-  if (result != RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
  currentPosition += encodedLen;
@ -241,16 +239,16 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const
  ssize_t writtenlen = ::write(serialPort, sendBuffer, encodedLen);
  if (writtenlen < 0) {
    // we could try to find out what happened...
-    return RETURN_FAILED;
+    return returnvalue::FAILED;
  }
  if (writtenlen != encodedLen) {
    // the OS failed us, we do not try to block until everything is written, as
    // we can not block the whole system here
-    return RETURN_FAILED;
+    return returnvalue::FAILED;
  }
-  return RETURN_OK;
+  return returnvalue::OK;
 #elif WIN32
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 #endif
 }

@ -297,7 +295,7 @@ void ArduinoComIF::handleSerialPortRx() {
                                            packet, sizeof(packet), &packetLen);

  size_t toDelete = firstSTXinRawData;
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
    handlePacket(packet, packetLen);

    // after handling the packet, we can delete it from the raw stream,
--- a/bsp_hosted/comIF/ArduinoComIF.h
+++ b/bsp_hosted/comIF/ArduinoComIF.h
@ -5,7 +5,7 @@
 #include <fsfw/container/SimpleRingBuffer.h>
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
 #include <fsfw/objectmanager/SystemObject.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/returnvalues/returnvalue.h>

 #include <cstdint>
 #include <map>
--- a/bsp_hosted/fsfwconfig/OBSWConfig.h.in
+++ b/bsp_hosted/fsfwconfig/OBSWConfig.h.in
@ -16,7 +16,7 @@
 debugging. */
 #define OBSW_VEBOSE_LEVEL                           1

-#define OBSW_USE_CCSDS_IP_CORE                      0
+#define OBSW_ADD_CCSDS_IP_CORES                     0
 // Set to 1 if all telemetry should be sent to the PTME IP Core
 #define OBSW_TM_TO_PTME                             0
 // Set to 1 if telecommands are received via the PDEC IP Core
--- a/bsp_hosted/fsfwconfig/events/subsystemIdRanges.h
+++ b/bsp_hosted/fsfwconfig/events/subsystemIdRanges.h
@ -1,10 +1,10 @@
 #ifndef CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
 #define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_

-#include <common/config/commonSubsystemIds.h>
-
 #include <cstdint>

+#include "eive/eventSubsystemIds.h"
+
 /**
 * These IDs are part of the ID for an event thrown by a subsystem.
 * Numbers 0-80 are reserved for FSFW Subsystem IDs (framework/events/)
--- a/bsp_hosted/fsfwconfig/events/translateEvents.cpp
+++ b/bsp_hosted/fsfwconfig/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 83 translations.
+ * @brief    Auto-generated event translation file. Contains 239 translations.
 * @details
- * Generated on: 2021-05-17 19:49:55
+ * Generated on: 2022-11-16 15:25:08
 */
 #include "translateEvents.h"

@ -34,6 +34,7 @@ const char *DEVICE_UNREQUESTED_REPLY_STRING = "DEVICE_UNREQUESTED_REPLY";
 const char *INVALID_DEVICE_COMMAND_STRING = "INVALID_DEVICE_COMMAND";
 const char *MONITORING_LIMIT_EXCEEDED_STRING = "MONITORING_LIMIT_EXCEEDED";
 const char *MONITORING_AMBIGUOUS_STRING = "MONITORING_AMBIGUOUS";
+const char *DEVICE_WANTS_HARD_REBOOT_STRING = "DEVICE_WANTS_HARD_REBOOT";
 const char *FUSE_CURRENT_HIGH_STRING = "FUSE_CURRENT_HIGH";
 const char *FUSE_WENT_OFF_STRING = "FUSE_WENT_OFF";
 const char *POWER_ABOVE_HIGH_LIMIT_STRING = "POWER_ABOVE_HIGH_LIMIT";
@ -59,7 +60,6 @@ const char *MONITOR_CHANGED_STATE_STRING = "MONITOR_CHANGED_STATE";
 const char *VALUE_BELOW_LOW_LIMIT_STRING = "VALUE_BELOW_LOW_LIMIT";
 const char *VALUE_ABOVE_HIGH_LIMIT_STRING = "VALUE_ABOVE_HIGH_LIMIT";
 const char *VALUE_OUT_OF_RANGE_STRING = "VALUE_OUT_OF_RANGE";
-const char *SWITCHING_TM_FAILED_STRING = "SWITCHING_TM_FAILED";
 const char *CHANGING_MODE_STRING = "CHANGING_MODE";
 const char *MODE_INFO_STRING = "MODE_INFO";
 const char *FALLBACK_FAILED_STRING = "FALLBACK_FAILED";
@ -75,6 +75,7 @@ const char *OVERWRITING_HEALTH_STRING = "OVERWRITING_HEALTH";
 const char *TRYING_RECOVERY_STRING = "TRYING_RECOVERY";
 const char *RECOVERY_STEP_STRING = "RECOVERY_STEP";
 const char *RECOVERY_DONE_STRING = "RECOVERY_DONE";
+const char *HANDLE_PACKET_FAILED_STRING = "HANDLE_PACKET_FAILED";
 const char *RF_AVAILABLE_STRING = "RF_AVAILABLE";
 const char *RF_LOST_STRING = "RF_LOST";
 const char *BIT_LOCK_STRING = "BIT_LOCK";
@ -82,15 +83,166 @@ const char *BIT_LOCK_LOST_STRING = "BIT_LOCK_LOST";
 const char *FRAME_PROCESSING_FAILED_STRING = "FRAME_PROCESSING_FAILED";
 const char *CLOCK_SET_STRING = "CLOCK_SET";
 const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
+const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
 const char *TEST_STRING = "TEST";
 const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
+const char *STORE_ERROR_STRING = "STORE_ERROR";
+const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
+const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
+const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
+const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
+const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
+const char *FDIR_REACTION_IGNORED_STRING = "FDIR_REACTION_IGNORED";
+const char *GPIO_PULL_HIGH_FAILED_STRING = "GPIO_PULL_HIGH_FAILED";
+const char *GPIO_PULL_LOW_FAILED_STRING = "GPIO_PULL_LOW_FAILED";
+const char *HEATER_WENT_ON_STRING = "HEATER_WENT_ON";
+const char *HEATER_WENT_OFF_STRING = "HEATER_WENT_OFF";
+const char *SWITCH_ALREADY_ON_STRING = "SWITCH_ALREADY_ON";
+const char *SWITCH_ALREADY_OFF_STRING = "SWITCH_ALREADY_OFF";
+const char *MAIN_SWITCH_TIMEOUT_STRING = "MAIN_SWITCH_TIMEOUT";
+const char *FAULTY_HEATER_WAS_ON_STRING = "FAULTY_HEATER_WAS_ON";
+const char *BURN_PHASE_START_STRING = "BURN_PHASE_START";
+const char *BURN_PHASE_DONE_STRING = "BURN_PHASE_DONE";
+const char *MAIN_SWITCH_ON_TIMEOUT_STRING = "MAIN_SWITCH_ON_TIMEOUT";
+const char *MAIN_SWITCH_OFF_TIMEOUT_STRING = "MAIN_SWITCH_OFF_TIMEOUT";
+const char *DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING = "DEPL_SA1_GPIO_SWTICH_ON_FAILED";
+const char *DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING = "DEPL_SA2_GPIO_SWTICH_ON_FAILED";
+const char *DEPL_SA1_GPIO_SWTICH_OFF_FAILED_STRING = "DEPL_SA1_GPIO_SWTICH_OFF_FAILED";
+const char *DEPL_SA2_GPIO_SWTICH_OFF_FAILED_STRING = "DEPL_SA2_GPIO_SWTICH_OFF_FAILED";
+const char *AUTONOMOUS_DEPLOYMENT_COMPLETED_STRING = "AUTONOMOUS_DEPLOYMENT_COMPLETED";
 const char *MEMORY_READ_RPT_CRC_FAILURE_STRING = "MEMORY_READ_RPT_CRC_FAILURE";
 const char *ACK_FAILURE_STRING = "ACK_FAILURE";
 const char *EXE_FAILURE_STRING = "EXE_FAILURE";
-const char *CRC_FAILURE_EVENT_STRING = "CRC_FAILURE_EVENT";
+const char *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE";
+const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH";
+const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
+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";
+const char *SELF_TEST_PWM_FAILURE_STRING = "SELF_TEST_PWM_FAILURE";
+const char *SELF_TEST_TC_FAILURE_STRING = "SELF_TEST_TC_FAILURE";
+const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE";
+const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE";
+const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
+const char *ERROR_STATE_STRING = "ERROR_STATE";
+const char *RESET_OCCURED_STRING = "RESET_OCCURED";
+const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
+const char *BOOTING_BOOTLOADER_FAILED_STRING = "BOOTING_BOOTLOADER_FAILED";
+const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
+const char *SUPV_UNKNOWN_TM_STRING = "SUPV_UNKNOWN_TM";
+const char *SUPV_UNINIMPLEMENTED_TM_STRING = "SUPV_UNINIMPLEMENTED_TM";
+const char *SUPV_ACK_FAILURE_STRING = "SUPV_ACK_FAILURE";
+const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
+const char *SUPV_CRC_FAILURE_EVENT_STRING = "SUPV_CRC_FAILURE_EVENT";
+const char *SUPV_HELPER_EXECUTING_STRING = "SUPV_HELPER_EXECUTING";
+const char *SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUWDOWN_BUILD_FAILED";
+const char *SANITIZATION_FAILED_STRING = "SANITIZATION_FAILED";
+const char *MOUNTED_SD_CARD_STRING = "MOUNTED_SD_CARD";
+const char *SEND_MRAM_DUMP_FAILED_STRING = "SEND_MRAM_DUMP_FAILED";
+const char *MRAM_DUMP_FAILED_STRING = "MRAM_DUMP_FAILED";
+const char *MRAM_DUMP_FINISHED_STRING = "MRAM_DUMP_FINISHED";
+const char *INVALID_TC_FRAME_STRING = "INVALID_TC_FRAME";
+const char *INVALID_FAR_STRING = "INVALID_FAR";
+const char *CARRIER_LOCK_STRING = "CARRIER_LOCK";
+const char *BIT_LOCK_PDEC_STRING = "BIT_LOCK_PDEC";
+const char *LOST_CARRIER_LOCK_PDEC_STRING = "LOST_CARRIER_LOCK_PDEC";
+const char *LOST_BIT_LOCK_PDEC_STRING = "LOST_BIT_LOCK_PDEC";
+const char *POLL_ERROR_PDEC_STRING = "POLL_ERROR_PDEC";
+const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
+const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
+const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
+const char *IMAGE_DOWNLOAD_SUCCESSFUL_STRING = "IMAGE_DOWNLOAD_SUCCESSFUL";
+const char *FLASH_WRITE_SUCCESSFUL_STRING = "FLASH_WRITE_SUCCESSFUL";
+const char *FLASH_READ_SUCCESSFUL_STRING = "FLASH_READ_SUCCESSFUL";
+const char *FLASH_READ_FAILED_STRING = "FLASH_READ_FAILED";
+const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL";
+const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED";
+const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
+const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
+const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
+const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR";
+const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
+const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
+const char *STR_HELPER_SENDING_PACKET_FAILED_STRING = "STR_HELPER_SENDING_PACKET_FAILED";
+const char *STR_HELPER_REQUESTING_MSG_FAILED_STRING = "STR_HELPER_REQUESTING_MSG_FAILED";
+const char *MPSOC_FLASH_WRITE_FAILED_STRING = "MPSOC_FLASH_WRITE_FAILED";
+const char *MPSOC_FLASH_WRITE_SUCCESSFUL_STRING = "MPSOC_FLASH_WRITE_SUCCESSFUL";
+const char *MPSOC_SENDING_COMMAND_FAILED_STRING = "MPSOC_SENDING_COMMAND_FAILED";
+const char *MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING = "MPSOC_HELPER_REQUESTING_REPLY_FAILED";
+const char *MPSOC_HELPER_READING_REPLY_FAILED_STRING = "MPSOC_HELPER_READING_REPLY_FAILED";
+const char *MPSOC_MISSING_ACK_STRING = "MPSOC_MISSING_ACK";
+const char *MPSOC_MISSING_EXE_STRING = "MPSOC_MISSING_EXE";
+const char *MPSOC_ACK_FAILURE_REPORT_STRING = "MPSOC_ACK_FAILURE_REPORT";
+const char *MPSOC_EXE_FAILURE_REPORT_STRING = "MPSOC_EXE_FAILURE_REPORT";
+const char *MPSOC_ACK_INVALID_APID_STRING = "MPSOC_ACK_INVALID_APID";
+const char *MPSOC_EXE_INVALID_APID_STRING = "MPSOC_EXE_INVALID_APID";
+const char *MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HELPER_SEQ_CNT_MISMATCH";
+const char *MPSOC_TM_SIZE_ERROR_STRING = "MPSOC_TM_SIZE_ERROR";
+const char *MPSOC_TM_CRC_MISSMATCH_STRING = "MPSOC_TM_CRC_MISSMATCH";
+const char *TRANSITION_BACK_TO_OFF_STRING = "TRANSITION_BACK_TO_OFF";
+const char *NEG_V_OUT_OF_BOUNDS_STRING = "NEG_V_OUT_OF_BOUNDS";
+const char *U_DRO_OUT_OF_BOUNDS_STRING = "U_DRO_OUT_OF_BOUNDS";
+const char *I_DRO_OUT_OF_BOUNDS_STRING = "I_DRO_OUT_OF_BOUNDS";
+const char *U_X8_OUT_OF_BOUNDS_STRING = "U_X8_OUT_OF_BOUNDS";
+const char *I_X8_OUT_OF_BOUNDS_STRING = "I_X8_OUT_OF_BOUNDS";
+const char *U_TX_OUT_OF_BOUNDS_STRING = "U_TX_OUT_OF_BOUNDS";
+const char *I_TX_OUT_OF_BOUNDS_STRING = "I_TX_OUT_OF_BOUNDS";
+const char *U_MPA_OUT_OF_BOUNDS_STRING = "U_MPA_OUT_OF_BOUNDS";
+const char *I_MPA_OUT_OF_BOUNDS_STRING = "I_MPA_OUT_OF_BOUNDS";
+const char *U_HPA_OUT_OF_BOUNDS_STRING = "U_HPA_OUT_OF_BOUNDS";
+const char *I_HPA_OUT_OF_BOUNDS_STRING = "I_HPA_OUT_OF_BOUNDS";
+const char *TRANSITION_OTHER_SIDE_FAILED_STRING = "TRANSITION_OTHER_SIDE_FAILED";
+const char *NOT_ENOUGH_DEVICES_DUAL_MODE_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE";
+const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
+const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
+const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
+const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
+const char *P60_BOOT_COUNT_STRING = "P60_BOOT_COUNT";
+const char *BATT_MODE_STRING = "BATT_MODE";
+const char *BATT_MODE_CHANGED_STRING = "BATT_MODE_CHANGED";
+const char *SUPV_UPDATE_FAILED_STRING = "SUPV_UPDATE_FAILED";
+const char *SUPV_UPDATE_SUCCESSFUL_STRING = "SUPV_UPDATE_SUCCESSFUL";
+const char *SUPV_CONTINUE_UPDATE_FAILED_STRING = "SUPV_CONTINUE_UPDATE_FAILED";
+const char *SUPV_CONTINUE_UPDATE_SUCCESSFUL_STRING = "SUPV_CONTINUE_UPDATE_SUCCESSFUL";
+const char *TERMINATED_UPDATE_PROCEDURE_STRING = "TERMINATED_UPDATE_PROCEDURE";
+const char *SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL_STRING = "SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL";
+const char *SUPV_EVENT_BUFFER_REQUEST_FAILED_STRING = "SUPV_EVENT_BUFFER_REQUEST_FAILED";
+const char *SUPV_EVENT_BUFFER_REQUEST_TERMINATED_STRING = "SUPV_EVENT_BUFFER_REQUEST_TERMINATED";
+const char *SUPV_MEM_CHECK_OK_STRING = "SUPV_MEM_CHECK_OK";
+const char *SUPV_MEM_CHECK_FAIL_STRING = "SUPV_MEM_CHECK_FAIL";
+const char *SUPV_SENDING_COMMAND_FAILED_STRING = "SUPV_SENDING_COMMAND_FAILED";
+const char *SUPV_HELPER_REQUESTING_REPLY_FAILED_STRING = "SUPV_HELPER_REQUESTING_REPLY_FAILED";
+const char *SUPV_HELPER_READING_REPLY_FAILED_STRING = "SUPV_HELPER_READING_REPLY_FAILED";
+const char *SUPV_MISSING_ACK_STRING = "SUPV_MISSING_ACK";
+const char *SUPV_MISSING_EXE_STRING = "SUPV_MISSING_EXE";
+const char *SUPV_ACK_FAILURE_REPORT_STRING = "SUPV_ACK_FAILURE_REPORT";
+const char *SUPV_EXE_FAILURE_REPORT_STRING = "SUPV_EXE_FAILURE_REPORT";
+const char *SUPV_ACK_INVALID_APID_STRING = "SUPV_ACK_INVALID_APID";
+const char *SUPV_EXE_INVALID_APID_STRING = "SUPV_EXE_INVALID_APID";
+const char *ACK_RECEPTION_FAILURE_STRING = "ACK_RECEPTION_FAILURE";
+const char *EXE_RECEPTION_FAILURE_STRING = "EXE_RECEPTION_FAILURE";
+const char *WRITE_MEMORY_FAILED_STRING = "WRITE_MEMORY_FAILED";
+const char *SUPV_REPLY_SIZE_MISSMATCH_STRING = "SUPV_REPLY_SIZE_MISSMATCH";
+const char *SUPV_REPLY_CRC_MISSMATCH_STRING = "SUPV_REPLY_CRC_MISSMATCH";
+const char *SUPV_UPDATE_PROGRESS_STRING = "SUPV_UPDATE_PROGRESS";
+const char *HDLC_FRAME_REMOVAL_ERROR_STRING = "HDLC_FRAME_REMOVAL_ERROR";
+const char *HDLC_CRC_ERROR_STRING = "HDLC_CRC_ERROR";
+const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
+const char *REBOOT_SW_STRING = "REBOOT_SW";
+const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
+const char *REBOOT_HW_STRING = "REBOOT_HW";
+const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
+const char *MISSING_PACKET_STRING = "MISSING_PACKET";
+const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
+const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
+const char *SET_CONFIGFILEVALUE_FAILED_STRING = "SET_CONFIGFILEVALUE_FAILED";
+const char *GET_CONFIGFILEVALUE_FAILED_STRING = "GET_CONFIGFILEVALUE_FAILED";
+const char *INSERT_CONFIGFILEVALUE_FAILED_STRING = "INSERT_CONFIGFILEVALUE_FAILED";
+const char *WRITE_CONFIGFILE_FAILED_STRING = "WRITE_CONFIGFILE_FAILED";
+const char *READ_CONFIGFILE_FAILED_STRING = "READ_CONFIGFILE_FAILED";

 const char *translateEvents(Event event) {
-  switch ((event & 0xffff)) {
+  switch ((event & 0xFFFF)) {
    case (2200):
      return STORE_SEND_WRITE_FAILED_STRING;
    case (2201):
@ -149,6 +301,8 @@ const char *translateEvents(Event event) {
      return MONITORING_LIMIT_EXCEEDED_STRING;
    case (2810):
      return MONITORING_AMBIGUOUS_STRING;
+    case (2811):
+      return DEVICE_WANTS_HARD_REBOOT_STRING;
    case (4201):
      return FUSE_CURRENT_HIGH_STRING;
    case (4202):
@ -199,8 +353,6 @@ const char *translateEvents(Event event) {
      return VALUE_ABOVE_HIGH_LIMIT_STRING;
    case (7204):
      return VALUE_OUT_OF_RANGE_STRING;
-    case (7301):
-      return SWITCHING_TM_FAILED_STRING;
    case (7400):
      return CHANGING_MODE_STRING;
    case (7401):
@ -231,6 +383,8 @@ const char *translateEvents(Event event) {
      return RECOVERY_STEP_STRING;
    case (7512):
      return RECOVERY_DONE_STRING;
+    case (7600):
+      return HANDLE_PACKET_FAILED_STRING;
    case (7900):
      return RF_AVAILABLE_STRING;
    case (7901):
@ -245,18 +399,320 @@ const char *translateEvents(Event event) {
      return CLOCK_SET_STRING;
    case (8901):
      return CLOCK_SET_FAILURE_STRING;
+    case (9100):
+      return TC_DELETION_FAILED_STRING;
    case (9700):
      return TEST_STRING;
    case (10600):
      return CHANGE_OF_SETUP_PARAMETER_STRING;
-    case (11101):
+    case (10800):
+      return STORE_ERROR_STRING;
+    case (10801):
+      return MSG_QUEUE_ERROR_STRING;
+    case (10802):
+      return SERIALIZATION_ERROR_STRING;
+    case (11300):
+      return SWITCH_CMD_SENT_STRING;
+    case (11301):
+      return SWITCH_HAS_CHANGED_STRING;
+    case (11302):
+      return SWITCHING_Q7S_DENIED_STRING;
+    case (11303):
+      return FDIR_REACTION_IGNORED_STRING;
+    case (11400):
+      return GPIO_PULL_HIGH_FAILED_STRING;
+    case (11401):
+      return GPIO_PULL_LOW_FAILED_STRING;
+    case (11402):
+      return HEATER_WENT_ON_STRING;
+    case (11403):
+      return HEATER_WENT_OFF_STRING;
+    case (11404):
+      return SWITCH_ALREADY_ON_STRING;
+    case (11405):
+      return SWITCH_ALREADY_OFF_STRING;
+    case (11406):
+      return MAIN_SWITCH_TIMEOUT_STRING;
+    case (11407):
+      return FAULTY_HEATER_WAS_ON_STRING;
+    case (11500):
+      return BURN_PHASE_START_STRING;
+    case (11501):
+      return BURN_PHASE_DONE_STRING;
+    case (11502):
+      return MAIN_SWITCH_ON_TIMEOUT_STRING;
+    case (11503):
+      return MAIN_SWITCH_OFF_TIMEOUT_STRING;
+    case (11504):
+      return DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING;
+    case (11505):
+      return DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING;
+    case (11506):
+      return DEPL_SA1_GPIO_SWTICH_OFF_FAILED_STRING;
+    case (11507):
+      return DEPL_SA2_GPIO_SWTICH_OFF_FAILED_STRING;
+    case (11508):
+      return AUTONOMOUS_DEPLOYMENT_COMPLETED_STRING;
+    case (11601):
      return MEMORY_READ_RPT_CRC_FAILURE_STRING;
-    case (11102):
+    case (11602):
      return ACK_FAILURE_STRING;
-    case (11103):
+    case (11603):
      return EXE_FAILURE_STRING;
-    case (11104):
-      return CRC_FAILURE_EVENT_STRING;
+    case (11604):
+      return MPSOC_HANDLER_CRC_FAILURE_STRING;
+    case (11605):
+      return MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING;
+    case (11606):
+      return MPSOC_SHUTDOWN_FAILED_STRING;
+    case (11701):
+      return SELF_TEST_I2C_FAILURE_STRING;
+    case (11702):
+      return SELF_TEST_SPI_FAILURE_STRING;
+    case (11703):
+      return SELF_TEST_ADC_FAILURE_STRING;
+    case (11704):
+      return SELF_TEST_PWM_FAILURE_STRING;
+    case (11705):
+      return SELF_TEST_TC_FAILURE_STRING;
+    case (11706):
+      return SELF_TEST_MTM_RANGE_FAILURE_STRING;
+    case (11707):
+      return SELF_TEST_COIL_CURRENT_FAILURE_STRING;
+    case (11708):
+      return INVALID_ERROR_BYTE_STRING;
+    case (11801):
+      return ERROR_STATE_STRING;
+    case (11802):
+      return RESET_OCCURED_STRING;
+    case (11901):
+      return BOOTING_FIRMWARE_FAILED_STRING;
+    case (11902):
+      return BOOTING_BOOTLOADER_FAILED_STRING;
+    case (12001):
+      return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
+    case (12002):
+      return SUPV_UNKNOWN_TM_STRING;
+    case (12003):
+      return SUPV_UNINIMPLEMENTED_TM_STRING;
+    case (12004):
+      return SUPV_ACK_FAILURE_STRING;
+    case (12005):
+      return SUPV_EXE_FAILURE_STRING;
+    case (12006):
+      return SUPV_CRC_FAILURE_EVENT_STRING;
+    case (12007):
+      return SUPV_HELPER_EXECUTING_STRING;
+    case (12008):
+      return SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING;
+    case (12100):
+      return SANITIZATION_FAILED_STRING;
+    case (12101):
+      return MOUNTED_SD_CARD_STRING;
+    case (12300):
+      return SEND_MRAM_DUMP_FAILED_STRING;
+    case (12301):
+      return MRAM_DUMP_FAILED_STRING;
+    case (12302):
+      return MRAM_DUMP_FINISHED_STRING;
+    case (12401):
+      return INVALID_TC_FRAME_STRING;
+    case (12402):
+      return INVALID_FAR_STRING;
+    case (12403):
+      return CARRIER_LOCK_STRING;
+    case (12404):
+      return BIT_LOCK_PDEC_STRING;
+    case (12405):
+      return LOST_CARRIER_LOCK_PDEC_STRING;
+    case (12406):
+      return LOST_BIT_LOCK_PDEC_STRING;
+    case (12407):
+      return POLL_ERROR_PDEC_STRING;
+    case (12500):
+      return IMAGE_UPLOAD_FAILED_STRING;
+    case (12501):
+      return IMAGE_DOWNLOAD_FAILED_STRING;
+    case (12502):
+      return IMAGE_UPLOAD_SUCCESSFUL_STRING;
+    case (12503):
+      return IMAGE_DOWNLOAD_SUCCESSFUL_STRING;
+    case (12504):
+      return FLASH_WRITE_SUCCESSFUL_STRING;
+    case (12505):
+      return FLASH_READ_SUCCESSFUL_STRING;
+    case (12506):
+      return FLASH_READ_FAILED_STRING;
+    case (12507):
+      return FIRMWARE_UPDATE_SUCCESSFUL_STRING;
+    case (12508):
+      return FIRMWARE_UPDATE_FAILED_STRING;
+    case (12509):
+      return STR_HELPER_READING_REPLY_FAILED_STRING;
+    case (12510):
+      return STR_HELPER_COM_ERROR_STRING;
+    case (12511):
+      return STR_HELPER_NO_REPLY_STRING;
+    case (12512):
+      return STR_HELPER_DEC_ERROR_STRING;
+    case (12513):
+      return POSITION_MISMATCH_STRING;
+    case (12514):
+      return STR_HELPER_FILE_NOT_EXISTS_STRING;
+    case (12515):
+      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+    case (12516):
+      return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
+    case (12600):
+      return MPSOC_FLASH_WRITE_FAILED_STRING;
+    case (12601):
+      return MPSOC_FLASH_WRITE_SUCCESSFUL_STRING;
+    case (12602):
+      return MPSOC_SENDING_COMMAND_FAILED_STRING;
+    case (12603):
+      return MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING;
+    case (12604):
+      return MPSOC_HELPER_READING_REPLY_FAILED_STRING;
+    case (12605):
+      return MPSOC_MISSING_ACK_STRING;
+    case (12606):
+      return MPSOC_MISSING_EXE_STRING;
+    case (12607):
+      return MPSOC_ACK_FAILURE_REPORT_STRING;
+    case (12608):
+      return MPSOC_EXE_FAILURE_REPORT_STRING;
+    case (12609):
+      return MPSOC_ACK_INVALID_APID_STRING;
+    case (12610):
+      return MPSOC_EXE_INVALID_APID_STRING;
+    case (12611):
+      return MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING;
+    case (12612):
+      return MPSOC_TM_SIZE_ERROR_STRING;
+    case (12613):
+      return MPSOC_TM_CRC_MISSMATCH_STRING;
+    case (12700):
+      return TRANSITION_BACK_TO_OFF_STRING;
+    case (12701):
+      return NEG_V_OUT_OF_BOUNDS_STRING;
+    case (12702):
+      return U_DRO_OUT_OF_BOUNDS_STRING;
+    case (12703):
+      return I_DRO_OUT_OF_BOUNDS_STRING;
+    case (12704):
+      return U_X8_OUT_OF_BOUNDS_STRING;
+    case (12705):
+      return I_X8_OUT_OF_BOUNDS_STRING;
+    case (12706):
+      return U_TX_OUT_OF_BOUNDS_STRING;
+    case (12707):
+      return I_TX_OUT_OF_BOUNDS_STRING;
+    case (12708):
+      return U_MPA_OUT_OF_BOUNDS_STRING;
+    case (12709):
+      return I_MPA_OUT_OF_BOUNDS_STRING;
+    case (12710):
+      return U_HPA_OUT_OF_BOUNDS_STRING;
+    case (12711):
+      return I_HPA_OUT_OF_BOUNDS_STRING;
+    case (12800):
+      return TRANSITION_OTHER_SIDE_FAILED_STRING;
+    case (12801):
+      return NOT_ENOUGH_DEVICES_DUAL_MODE_STRING;
+    case (12802):
+      return POWER_STATE_MACHINE_TIMEOUT_STRING;
+    case (12803):
+      return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
+    case (13000):
+      return CHILDREN_LOST_MODE_STRING;
+    case (13100):
+      return GPS_FIX_CHANGE_STRING;
+    case (13200):
+      return P60_BOOT_COUNT_STRING;
+    case (13201):
+      return BATT_MODE_STRING;
+    case (13202):
+      return BATT_MODE_CHANGED_STRING;
+    case (13600):
+      return SUPV_UPDATE_FAILED_STRING;
+    case (13601):
+      return SUPV_UPDATE_SUCCESSFUL_STRING;
+    case (13602):
+      return SUPV_CONTINUE_UPDATE_FAILED_STRING;
+    case (13603):
+      return SUPV_CONTINUE_UPDATE_SUCCESSFUL_STRING;
+    case (13604):
+      return TERMINATED_UPDATE_PROCEDURE_STRING;
+    case (13605):
+      return SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL_STRING;
+    case (13606):
+      return SUPV_EVENT_BUFFER_REQUEST_FAILED_STRING;
+    case (13607):
+      return SUPV_EVENT_BUFFER_REQUEST_TERMINATED_STRING;
+    case (13608):
+      return SUPV_MEM_CHECK_OK_STRING;
+    case (13609):
+      return SUPV_MEM_CHECK_FAIL_STRING;
+    case (13616):
+      return SUPV_SENDING_COMMAND_FAILED_STRING;
+    case (13617):
+      return SUPV_HELPER_REQUESTING_REPLY_FAILED_STRING;
+    case (13618):
+      return SUPV_HELPER_READING_REPLY_FAILED_STRING;
+    case (13619):
+      return SUPV_MISSING_ACK_STRING;
+    case (13620):
+      return SUPV_MISSING_EXE_STRING;
+    case (13621):
+      return SUPV_ACK_FAILURE_REPORT_STRING;
+    case (13622):
+      return SUPV_EXE_FAILURE_REPORT_STRING;
+    case (13623):
+      return SUPV_ACK_INVALID_APID_STRING;
+    case (13624):
+      return SUPV_EXE_INVALID_APID_STRING;
+    case (13625):
+      return ACK_RECEPTION_FAILURE_STRING;
+    case (13626):
+      return EXE_RECEPTION_FAILURE_STRING;
+    case (13627):
+      return WRITE_MEMORY_FAILED_STRING;
+    case (13628):
+      return SUPV_REPLY_SIZE_MISSMATCH_STRING;
+    case (13629):
+      return SUPV_REPLY_CRC_MISSMATCH_STRING;
+    case (13630):
+      return SUPV_UPDATE_PROGRESS_STRING;
+    case (13631):
+      return HDLC_FRAME_REMOVAL_ERROR_STRING;
+    case (13632):
+      return HDLC_CRC_ERROR_STRING;
+    case (13700):
+      return ALLOC_FAILURE_STRING;
+    case (13701):
+      return REBOOT_SW_STRING;
+    case (13702):
+      return REBOOT_MECHANISM_TRIGGERED_STRING;
+    case (13703):
+      return REBOOT_HW_STRING;
+    case (13704):
+      return NO_SD_CARD_ACTIVE_STRING;
+    case (13800):
+      return MISSING_PACKET_STRING;
+    case (13801):
+      return EXPERIMENT_TIMEDOUT_STRING;
+    case (13802):
+      return MULTI_PACKET_COMMAND_DONE_STRING;
+    case (13901):
+      return SET_CONFIGFILEVALUE_FAILED_STRING;
+    case (13902):
+      return GET_CONFIGFILEVALUE_FAILED_STRING;
+    case (13903):
+      return INSERT_CONFIGFILEVALUE_FAILED_STRING;
+    case (13904):
+      return WRITE_CONFIGFILE_FAILED_STRING;
+    case (13905):
+      return READ_CONFIGFILE_FAILED_STRING;
    default:
      return "UNKNOWN_EVENT";
  }
--- a/bsp_hosted/fsfwconfig/events/translateEvents.h
+++ b/bsp_hosted/fsfwconfig/events/translateEvents.h
@ -1,8 +1,8 @@
 #ifndef FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_
 #define FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_

-#include <fsfw/events/Event.h>
+#include "fsfw/events/Event.h"

-const char* translateEvents(Event event);
+const char *translateEvents(Event event);

 #endif /* FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_ */
--- a/bsp_hosted/fsfwconfig/objects/systemObjectList.h
+++ b/bsp_hosted/fsfwconfig/objects/systemObjectList.h
@ -1,10 +1,10 @@
 #ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
 #define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_

-#include <commonObjects.h>
-
 #include <cstdint>

+#include "eive/objects.h"
+
 // The objects will be instantiated in the ID order
 namespace objects {
 enum sourceObjects : uint32_t {
@ -16,8 +16,6 @@ enum sourceObjects : uint32_t {
  PUS_SERVICE_23 = 0x51002300,
  PUS_SERVICE_201 = 0x51020100,

-  TM_FUNNEL = 0x52000002,
-
  /* Test Task */

  TEST_TASK = 0x42694269,
--- a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
+++ b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
@ -1,23 +1,105 @@
 /**
- * @brief	Auto-generated object translation file.
+ * @brief  Auto-generated object translation file.
 * @details
- * Contains 31 translations.
- * Generated on: 2021-05-17 19:12:49
+ * Contains 148 translations.
+ * Generated on: 2022-11-15 17:44:20
 */
 #include "translateObjects.h"

-#include "systemObjectList.h"
-
-const char *TEST_TASK_STRING = "TEST_TASK";
-const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
+const char *P60DOCK_TEST_TASK_STRING = "P60DOCK_TEST_TASK";
+const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
+const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
+const char *GLOBAL_JSON_CFG_STRING = "GLOBAL_JSON_CFG";
+const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
+const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
+const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER";
+const char *SUS_0_N_LOC_XFYFZM_PT_XF_STRING = "SUS_0_N_LOC_XFYFZM_PT_XF";
+const char *SUS_1_N_LOC_XBYFZM_PT_XB_STRING = "SUS_1_N_LOC_XBYFZM_PT_XB";
+const char *SUS_2_N_LOC_XFYBZB_PT_YB_STRING = "SUS_2_N_LOC_XFYBZB_PT_YB";
+const char *SUS_3_N_LOC_XFYBZF_PT_YF_STRING = "SUS_3_N_LOC_XFYBZF_PT_YF";
+const char *SUS_4_N_LOC_XMYFZF_PT_ZF_STRING = "SUS_4_N_LOC_XMYFZF_PT_ZF";
+const char *SUS_5_N_LOC_XFYMZB_PT_ZB_STRING = "SUS_5_N_LOC_XFYMZB_PT_ZB";
+const char *SUS_6_R_LOC_XFYBZM_PT_XF_STRING = "SUS_6_R_LOC_XFYBZM_PT_XF";
+const char *SUS_7_R_LOC_XBYBZM_PT_XB_STRING = "SUS_7_R_LOC_XBYBZM_PT_XB";
+const char *SUS_8_R_LOC_XBYBZB_PT_YB_STRING = "SUS_8_R_LOC_XBYBZB_PT_YB";
+const char *SUS_9_R_LOC_XBYBZB_PT_YF_STRING = "SUS_9_R_LOC_XBYBZB_PT_YF";
+const char *SUS_10_N_LOC_XMYBZF_PT_ZF_STRING = "SUS_10_N_LOC_XMYBZF_PT_ZF";
+const char *SUS_11_R_LOC_XBYMZB_PT_ZB_STRING = "SUS_11_R_LOC_XBYMZB_PT_ZB";
+const char *RW1_STRING = "RW1";
+const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER";
+const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER";
+const char *RW2_STRING = "RW2";
+const char *MGM_2_LIS3_HANDLER_STRING = "MGM_2_LIS3_HANDLER";
+const char *GYRO_2_ADIS_HANDLER_STRING = "GYRO_2_ADIS_HANDLER";
+const char *RW3_STRING = "RW3";
+const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER";
+const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER";
+const char *RW4_STRING = "RW4";
+const char *STAR_TRACKER_STRING = "STAR_TRACKER";
+const char *GPS_CONTROLLER_STRING = "GPS_CONTROLLER";
+const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
+const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
+const char *P60DOCK_HANDLER_STRING = "P60DOCK_HANDLER";
+const char *PDU1_HANDLER_STRING = "PDU1_HANDLER";
+const char *PDU2_HANDLER_STRING = "PDU2_HANDLER";
+const char *ACU_HANDLER_STRING = "ACU_HANDLER";
+const char *BPX_BATT_HANDLER_STRING = "BPX_BATT_HANDLER";
+const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER";
+const char *RAD_SENSOR_STRING = "RAD_SENSOR";
+const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
+const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
+const char *STR_HELPER_STRING = "STR_HELPER";
+const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
+const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
+const char *PTME_CONFIG_STRING = "PTME_CONFIG";
+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 *SCEX_STRING = "SCEX";
+const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
+const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
+const char *TMP1075_HANDLER_TCS_0_STRING = "TMP1075_HANDLER_TCS_0";
+const char *TMP1075_HANDLER_TCS_1_STRING = "TMP1075_HANDLER_TCS_1";
+const char *TMP1075_HANDLER_PLPCDU_0_STRING = "TMP1075_HANDLER_PLPCDU_0";
+const char *TMP1075_HANDLER_PLPCDU_1_STRING = "TMP1075_HANDLER_PLPCDU_1";
+const char *TMP1075_HANDLER_IF_BOARD_STRING = "TMP1075_HANDLER_IF_BOARD";
+const char *TMP1075_HANDLER_OBC_IF_BOARD_STRING = "TMP1075_HANDLER_OBC_IF_BOARD";
+const char *RTD_0_IC3_PLOC_HEATSPREADER_STRING = "RTD_0_IC3_PLOC_HEATSPREADER";
+const char *RTD_1_IC4_PLOC_MISSIONBOARD_STRING = "RTD_1_IC4_PLOC_MISSIONBOARD";
+const char *RTD_2_IC5_4K_CAMERA_STRING = "RTD_2_IC5_4K_CAMERA";
+const char *RTD_3_IC6_DAC_HEATSPREADER_STRING = "RTD_3_IC6_DAC_HEATSPREADER";
+const char *RTD_4_IC7_STARTRACKER_STRING = "RTD_4_IC7_STARTRACKER";
+const char *RTD_5_IC8_RW1_MX_MY_STRING = "RTD_5_IC8_RW1_MX_MY";
+const char *RTD_6_IC9_DRO_STRING = "RTD_6_IC9_DRO";
+const char *RTD_7_IC10_SCEX_STRING = "RTD_7_IC10_SCEX";
+const char *RTD_8_IC11_X8_STRING = "RTD_8_IC11_X8";
+const char *RTD_9_IC12_HPA_STRING = "RTD_9_IC12_HPA";
+const char *RTD_10_IC13_PL_TX_STRING = "RTD_10_IC13_PL_TX";
+const char *RTD_11_IC14_MPA_STRING = "RTD_11_IC14_MPA";
+const char *RTD_12_IC15_ACU_STRING = "RTD_12_IC15_ACU";
+const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPREADER";
+const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
+const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
+const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
-const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3";
-const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5";
+const char *GPIO_IF_STRING = "GPIO_IF";
+const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
+const char *SPI_MAIN_COM_IF_STRING = "SPI_MAIN_COM_IF";
+const char *SPI_RW_COM_IF_STRING = "SPI_RW_COM_IF";
+const char *SPI_RTD_COM_IF_STRING = "SPI_RTD_COM_IF";
+const char *UART_COM_IF_STRING = "UART_COM_IF";
+const char *I2C_COM_IF_STRING = "I2C_COM_IF";
+const char *CSP_COM_IF_STRING = "CSP_COM_IF";
+const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR";
+const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR";
+const char *TMTC_BRIDGE_STRING = "TMTC_BRIDGE";
+const char *TMTC_POLLING_TASK_STRING = "TMTC_POLLING_TASK";
+const char *FILE_SYSTEM_HANDLER_STRING = "FILE_SYSTEM_HANDLER";
+const char *SDC_MANAGER_STRING = "SDC_MANAGER";
+const char *PTME_STRING = "PTME";
+const char *PDEC_HANDLER_STRING = "PDEC_HANDLER";
+const char *CCSDS_HANDLER_STRING = "CCSDS_HANDLER";
 const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
-const char *PUS_SERVICE_8_STRING = "PUS_SERVICE_8";
-const char *PUS_SERVICE_23_STRING = "PUS_SERVICE_23";
-const char *PUS_SERVICE_201_STRING = "PUS_SERVICE_201";
-const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *FSFW_OBJECTS_START_STRING = "FSFW_OBJECTS_START";
 const char *PUS_SERVICE_1_VERIFICATION_STRING = "PUS_SERVICE_1_VERIFICATION";
 const char *PUS_SERVICE_2_DEVICE_ACCESS_STRING = "PUS_SERVICE_2_DEVICE_ACCESS";
@ -25,9 +107,12 @@ const char *PUS_SERVICE_3_HOUSEKEEPING_STRING = "PUS_SERVICE_3_HOUSEKEEPING";
 const char *PUS_SERVICE_5_EVENT_REPORTING_STRING = "PUS_SERVICE_5_EVENT_REPORTING";
 const char *PUS_SERVICE_8_FUNCTION_MGMT_STRING = "PUS_SERVICE_8_FUNCTION_MGMT";
 const char *PUS_SERVICE_9_TIME_MGMT_STRING = "PUS_SERVICE_9_TIME_MGMT";
+const char *PUS_SERVICE_11_TC_SCHEDULER_STRING = "PUS_SERVICE_11_TC_SCHEDULER";
 const char *PUS_SERVICE_17_TEST_STRING = "PUS_SERVICE_17_TEST";
 const char *PUS_SERVICE_20_PARAMETERS_STRING = "PUS_SERVICE_20_PARAMETERS";
 const char *PUS_SERVICE_200_MODE_MGMT_STRING = "PUS_SERVICE_200_MODE_MGMT";
+const char *PUS_SERVICE_201_HEALTH_STRING = "PUS_SERVICE_201_HEALTH";
+const char *CFDP_PACKET_DISTRIBUTOR_STRING = "CFDP_PACKET_DISTRIBUTOR";
 const char *HEALTH_TABLE_STRING = "HEALTH_TABLE";
 const char *MODE_STORE_STRING = "MODE_STORE";
 const char *EVENT_MANAGER_STRING = "EVENT_MANAGER";
@ -36,33 +121,230 @@ const char *TC_STORE_STRING = "TC_STORE";
 const char *TM_STORE_STRING = "TM_STORE";
 const char *IPC_STORE_STRING = "IPC_STORE";
 const char *TIME_STAMPER_STRING = "TIME_STAMPER";
+const char *VERIFICATION_REPORTER_STRING = "VERIFICATION_REPORTER";
 const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END";
+const char *SPI_TEST_STRING = "SPI_TEST";
+const char *UART_TEST_STRING = "UART_TEST";
+const char *I2C_TEST_STRING = "I2C_TEST";
+const char *DUMMY_COM_IF_STRING = "DUMMY_COM_IF";
+const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
 const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
-const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
+const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
+const char *TEST_TASK_STRING = "TEST_TASK";
+const char *HEATER_0_PLOC_PROC_BRD_STRING = "HEATER_0_PLOC_PROC_BRD";
+const char *HEATER_1_PCDU_BRD_STRING = "HEATER_1_PCDU_BRD";
+const char *HEATER_2_ACS_BRD_STRING = "HEATER_2_ACS_BRD";
+const char *HEATER_3_OBC_BRD_STRING = "HEATER_3_OBC_BRD";
+const char *HEATER_4_CAMERA_STRING = "HEATER_4_CAMERA";
+const char *HEATER_5_STR_STRING = "HEATER_5_STR";
+const char *HEATER_6_DRO_STRING = "HEATER_6_DRO";
+const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
+const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
+const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
+const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
+const char *RW_ASS_STRING = "RW_ASS";
+const char *CAM_SWITCHER_STRING = "CAM_SWITCHER";
+const char *TM_FUNNEL_STRING = "TM_FUNNEL";
+const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
+const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
+const char *CFDP_HANDLER_STRING = "CFDP_HANDLER";
+const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
+const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
+const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
+const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
+const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";

 const char *translateObject(object_id_t object) {
  switch ((object & 0xFFFFFFFF)) {
-    case 0x42694269:
-      return TEST_TASK_STRING;
-    case 0x4400AFFE:
-      return DUMMY_HANDLER_STRING;
-    case 0x49000001:
+    case 0x00005060:
+      return P60DOCK_TEST_TASK_STRING;
+    case 0x43000002:
+      return ACS_CONTROLLER_STRING;
+    case 0x43000003:
+      return CORE_CONTROLLER_STRING;
+    case 0x43000006:
+      return GLOBAL_JSON_CFG_STRING;
+    case 0x43400001:
+      return THERMAL_CONTROLLER_STRING;
+    case 0x44120006:
+      return MGM_0_LIS3_HANDLER_STRING;
+    case 0x44120010:
+      return GYRO_0_ADIS_HANDLER_STRING;
+    case 0x44120032:
+      return SUS_0_N_LOC_XFYFZM_PT_XF_STRING;
+    case 0x44120033:
+      return SUS_1_N_LOC_XBYFZM_PT_XB_STRING;
+    case 0x44120034:
+      return SUS_2_N_LOC_XFYBZB_PT_YB_STRING;
+    case 0x44120035:
+      return SUS_3_N_LOC_XFYBZF_PT_YF_STRING;
+    case 0x44120036:
+      return SUS_4_N_LOC_XMYFZF_PT_ZF_STRING;
+    case 0x44120037:
+      return SUS_5_N_LOC_XFYMZB_PT_ZB_STRING;
+    case 0x44120038:
+      return SUS_6_R_LOC_XFYBZM_PT_XF_STRING;
+    case 0x44120039:
+      return SUS_7_R_LOC_XBYBZM_PT_XB_STRING;
+    case 0x44120040:
+      return SUS_8_R_LOC_XBYBZB_PT_YB_STRING;
+    case 0x44120041:
+      return SUS_9_R_LOC_XBYBZB_PT_YF_STRING;
+    case 0x44120042:
+      return SUS_10_N_LOC_XMYBZF_PT_ZF_STRING;
+    case 0x44120043:
+      return SUS_11_R_LOC_XBYMZB_PT_ZB_STRING;
+    case 0x44120047:
+      return RW1_STRING;
+    case 0x44120107:
+      return MGM_1_RM3100_HANDLER_STRING;
+    case 0x44120111:
+      return GYRO_1_L3G_HANDLER_STRING;
+    case 0x44120148:
+      return RW2_STRING;
+    case 0x44120208:
+      return MGM_2_LIS3_HANDLER_STRING;
+    case 0x44120212:
+      return GYRO_2_ADIS_HANDLER_STRING;
+    case 0x44120249:
+      return RW3_STRING;
+    case 0x44120309:
+      return MGM_3_RM3100_HANDLER_STRING;
+    case 0x44120313:
+      return GYRO_3_L3G_HANDLER_STRING;
+    case 0x44120350:
+      return RW4_STRING;
+    case 0x44130001:
+      return STAR_TRACKER_STRING;
+    case 0x44130045:
+      return GPS_CONTROLLER_STRING;
+    case 0x44140014:
+      return IMTQ_HANDLER_STRING;
+    case 0x442000A1:
+      return PCDU_HANDLER_STRING;
+    case 0x44250000:
+      return P60DOCK_HANDLER_STRING;
+    case 0x44250001:
+      return PDU1_HANDLER_STRING;
+    case 0x44250002:
+      return PDU2_HANDLER_STRING;
+    case 0x44250003:
+      return ACU_HANDLER_STRING;
+    case 0x44260000:
+      return BPX_BATT_HANDLER_STRING;
+    case 0x44300000:
+      return PLPCDU_HANDLER_STRING;
+    case 0x443200A5:
+      return RAD_SENSOR_STRING;
+    case 0x44330000:
+      return PLOC_UPDATER_STRING;
+    case 0x44330001:
+      return PLOC_MEMORY_DUMPER_STRING;
+    case 0x44330002:
+      return STR_HELPER_STRING;
+    case 0x44330003:
+      return PLOC_MPSOC_HELPER_STRING;
+    case 0x44330004:
+      return AXI_PTME_CONFIG_STRING;
+    case 0x44330005:
+      return PTME_CONFIG_STRING;
+    case 0x44330015:
+      return PLOC_MPSOC_HANDLER_STRING;
+    case 0x44330016:
+      return PLOC_SUPERVISOR_HANDLER_STRING;
+    case 0x44330017:
+      return PLOC_SUPERVISOR_HELPER_STRING;
+    case 0x44330032:
+      return SCEX_STRING;
+    case 0x444100A2:
+      return SOLAR_ARRAY_DEPL_HANDLER_STRING;
+    case 0x444100A4:
+      return HEATER_HANDLER_STRING;
+    case 0x44420004:
+      return TMP1075_HANDLER_TCS_0_STRING;
+    case 0x44420005:
+      return TMP1075_HANDLER_TCS_1_STRING;
+    case 0x44420006:
+      return TMP1075_HANDLER_PLPCDU_0_STRING;
+    case 0x44420007:
+      return TMP1075_HANDLER_PLPCDU_1_STRING;
+    case 0x44420008:
+      return TMP1075_HANDLER_IF_BOARD_STRING;
+    case 0x44420009:
+      return TMP1075_HANDLER_OBC_IF_BOARD_STRING;
+    case 0x44420016:
+      return RTD_0_IC3_PLOC_HEATSPREADER_STRING;
+    case 0x44420017:
+      return RTD_1_IC4_PLOC_MISSIONBOARD_STRING;
+    case 0x44420018:
+      return RTD_2_IC5_4K_CAMERA_STRING;
+    case 0x44420019:
+      return RTD_3_IC6_DAC_HEATSPREADER_STRING;
+    case 0x44420020:
+      return RTD_4_IC7_STARTRACKER_STRING;
+    case 0x44420021:
+      return RTD_5_IC8_RW1_MX_MY_STRING;
+    case 0x44420022:
+      return RTD_6_IC9_DRO_STRING;
+    case 0x44420023:
+      return RTD_7_IC10_SCEX_STRING;
+    case 0x44420024:
+      return RTD_8_IC11_X8_STRING;
+    case 0x44420025:
+      return RTD_9_IC12_HPA_STRING;
+    case 0x44420026:
+      return RTD_10_IC13_PL_TX_STRING;
+    case 0x44420027:
+      return RTD_11_IC14_MPA_STRING;
+    case 0x44420028:
+      return RTD_12_IC15_ACU_STRING;
+    case 0x44420029:
+      return RTD_13_IC16_PLPCDU_HEATSPREADER_STRING;
+    case 0x44420030:
+      return RTD_14_IC17_TCS_BOARD_STRING;
+    case 0x44420031:
+      return RTD_15_IC18_IMTQ_STRING;
+    case 0x445300A3:
+      return SYRLINKS_HK_HANDLER_STRING;
+    case 0x49000000:
      return ARDUINO_COM_IF_STRING;
-    case 0x51000300:
-      return PUS_SERVICE_3_STRING;
-    case 0x51000400:
-      return PUS_SERVICE_5_STRING;
+    case 0x49010005:
+      return GPIO_IF_STRING;
+    case 0x49010006:
+      return SCEX_UART_READER_STRING;
+    case 0x49020004:
+      return SPI_MAIN_COM_IF_STRING;
+    case 0x49020005:
+      return SPI_RW_COM_IF_STRING;
+    case 0x49020006:
+      return SPI_RTD_COM_IF_STRING;
+    case 0x49030003:
+      return UART_COM_IF_STRING;
+    case 0x49040002:
+      return I2C_COM_IF_STRING;
+    case 0x49050001:
+      return CSP_COM_IF_STRING;
+    case 0x50000100:
+      return CCSDS_PACKET_DISTRIBUTOR_STRING;
+    case 0x50000200:
+      return PUS_PACKET_DISTRIBUTOR_STRING;
+    case 0x50000300:
+      return TMTC_BRIDGE_STRING;
+    case 0x50000400:
+      return TMTC_POLLING_TASK_STRING;
+    case 0x50000500:
+      return FILE_SYSTEM_HANDLER_STRING;
+    case 0x50000550:
+      return SDC_MANAGER_STRING;
+    case 0x50000600:
+      return PTME_STRING;
+    case 0x50000700:
+      return PDEC_HANDLER_STRING;
+    case 0x50000800:
+      return CCSDS_HANDLER_STRING;
    case 0x51000500:
      return PUS_SERVICE_6_STRING;
-    case 0x51000800:
-      return PUS_SERVICE_8_STRING;
-    case 0x51002300:
-      return PUS_SERVICE_23_STRING;
-    case 0x51020100:
-      return PUS_SERVICE_201_STRING;
-    case 0x52000002:
-      return TM_FUNNEL_STRING;
    case 0x53000000:
      return FSFW_OBJECTS_START_STRING;
    case 0x53000001:
@ -77,12 +359,18 @@ const char *translateObject(object_id_t object) {
      return PUS_SERVICE_8_FUNCTION_MGMT_STRING;
    case 0x53000009:
      return PUS_SERVICE_9_TIME_MGMT_STRING;
+    case 0x53000011:
+      return PUS_SERVICE_11_TC_SCHEDULER_STRING;
    case 0x53000017:
      return PUS_SERVICE_17_TEST_STRING;
    case 0x53000020:
      return PUS_SERVICE_20_PARAMETERS_STRING;
    case 0x53000200:
      return PUS_SERVICE_200_MODE_MGMT_STRING;
+    case 0x53000201:
+      return PUS_SERVICE_201_HEALTH_STRING;
+    case 0x53001000:
+      return CFDP_PACKET_DISTRIBUTOR_STRING;
    case 0x53010000:
      return HEALTH_TABLE_STRING;
    case 0x53010100:
@ -99,12 +387,70 @@ const char *translateObject(object_id_t object) {
      return IPC_STORE_STRING;
    case 0x53500010:
      return TIME_STAMPER_STRING;
+    case 0x53500020:
+      return VERIFICATION_REPORTER_STRING;
    case 0x53ffffff:
      return FSFW_OBJECTS_END_STRING;
-    case 0xCAFECAFE:
+    case 0x54000010:
+      return SPI_TEST_STRING;
+    case 0x54000020:
+      return UART_TEST_STRING;
+    case 0x54000030:
+      return I2C_TEST_STRING;
+    case 0x54000040:
+      return DUMMY_COM_IF_STRING;
+    case 0x5400AFFE:
+      return DUMMY_HANDLER_STRING;
+    case 0x5400CAFE:
      return DUMMY_INTERFACE_STRING;
-    case objects::THERMAL_CONTROLLER:
-      return THERMAL_CONTROLLER_STRING;
+    case 0x54123456:
+      return LIBGPIOD_TEST_STRING;
+    case 0x54694269:
+      return TEST_TASK_STRING;
+    case 0x60000000:
+      return HEATER_0_PLOC_PROC_BRD_STRING;
+    case 0x60000001:
+      return HEATER_1_PCDU_BRD_STRING;
+    case 0x60000002:
+      return HEATER_2_ACS_BRD_STRING;
+    case 0x60000003:
+      return HEATER_3_OBC_BRD_STRING;
+    case 0x60000004:
+      return HEATER_4_CAMERA_STRING;
+    case 0x60000005:
+      return HEATER_5_STR_STRING;
+    case 0x60000006:
+      return HEATER_6_DRO_STRING;
+    case 0x60000007:
+      return HEATER_7_HPA_STRING;
+    case 0x73000001:
+      return ACS_BOARD_ASS_STRING;
+    case 0x73000002:
+      return SUS_BOARD_ASS_STRING;
+    case 0x73000003:
+      return TCS_BOARD_ASS_STRING;
+    case 0x73000004:
+      return RW_ASS_STRING;
+    case 0x73000006:
+      return CAM_SWITCHER_STRING;
+    case 0x73000100:
+      return TM_FUNNEL_STRING;
+    case 0x73000101:
+      return PUS_TM_FUNNEL_STRING;
+    case 0x73000102:
+      return CFDP_TM_FUNNEL_STRING;
+    case 0x73000205:
+      return CFDP_HANDLER_STRING;
+    case 0x73000206:
+      return CFDP_DISTRIBUTOR_STRING;
+    case 0x73010000:
+      return EIVE_SYSTEM_STRING;
+    case 0x73010001:
+      return ACS_SUBSYSTEM_STRING;
+    case 0x73010002:
+      return PL_SUBSYSTEM_STRING;
+    case 0x73500000:
+      return CCSDS_IP_CORE_BRIDGE_STRING;
    case 0xFFFFFFFF:
      return NO_OBJECT_STRING;
    default:
--- a/bsp_hosted/fsfwconfig/objects/translateObjects.h
+++ b/bsp_hosted/fsfwconfig/objects/translateObjects.h
@ -3,6 +3,6 @@

 #include <fsfw/objectmanager/SystemObjectIF.h>

-const char* translateObject(object_id_t object);
+const char *translateObject(object_id_t object);

 #endif /* FSFWCONFIG_OBJECTS_TRANSLATEOBJECTS_H_ */
--- a/bsp_hosted/fsfwconfig/pollingsequence/DummyPst.cpp
+++ b/bsp_hosted/fsfwconfig/pollingsequence/DummyPst.cpp
@ -44,12 +44,11 @@ ReturnValue_t dummy_pst::pst(FixedTimeslotTaskIF *thisSequence) {
  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);

-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_READ);

  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
@ -129,12 +128,12 @@ ReturnValue_t dummy_pst::pst(FixedTimeslotTaskIF *thisSequence) {
  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);

-  if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
-    return HasReturnvaluesIF::RETURN_OK;
+  if (thisSequence->checkSequence() == returnvalue::OK) {
+    return returnvalue::OK;
  } else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!" << std::endl;
 #endif
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }
 }
--- a/bsp_hosted/fsfwconfig/pollingsequence/DummyPst.h
+++ b/bsp_hosted/fsfwconfig/pollingsequence/DummyPst.h
@ -1,7 +1,7 @@
 #ifndef POLLINGSEQUENCEFACTORY_H_
 #define POLLINGSEQUENCEFACTORY_H_

-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/returnvalues/returnvalue.h>

 class FixedTimeslotTaskIF;

--- a/bsp_hosted/fsfwconfig/returnvalues/classIds.h
+++ b/bsp_hosted/fsfwconfig/returnvalues/classIds.h
@ -3,7 +3,7 @@

 #include <fsfw/returnvalues/FwClassIds.h>

-#include "commonClassIds.h"
+#include "eive/resultClassIds.h"

 /**
 * Source IDs starts at 73 for now
--- a/bsp_hosted/main.cpp
+++ b/bsp_hosted/main.cpp
@ -2,7 +2,6 @@

 #include <iostream>

-#include "InitMission.h"
 #include "commonConfig.h"
 #include "fsfw/FSFWVersion.h"
 #include "fsfw/controller/ControllerBase.h"
@ -11,6 +10,7 @@
 #include "fsfw/modes/ModeMessage.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/tasks/TaskFactory.h"
+#include "scheduling.h"

 #ifdef WIN32
 static const char* COMPILE_PRINTOUT = "Windows";
@ -31,8 +31,11 @@ int main(void) {
            << "v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
            << std::endl;
  std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
+  std::cout << "-- "
+            << " BSP HOSTED"
+            << " --" << std::endl;

-  initmission::initMission();
+  scheduling::initMission();

  for (;;) {
    // suspend main thread by sleeping it.
--- a/bsp_hosted/scheduling.cpp
+++ b/bsp_hosted/scheduling.cpp
@ -0,0 +1,244 @@
+#include "linux/scheduling.h"
+
+#include <bsp_hosted/fsfwconfig/pollingsequence/DummyPst.h>
+#include <fsfw/objectmanager/ObjectManager.h>
+#include <fsfw/objectmanager/ObjectManagerIF.h>
+#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <fsfw/tasks/FixedTimeslotTaskIF.h>
+#include <fsfw/tasks/PeriodicTaskIF.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <mission/utility/InitMission.h>
+
+#include <iostream>
+
+#include "OBSWConfig.h"
+#include "ObjectFactory.h"
+#include "scheduling.h"
+
+#ifdef LINUX
+ServiceInterfaceStream sif::debug("DEBUG");
+ServiceInterfaceStream sif::info("INFO");
+ServiceInterfaceStream sif::warning("WARNING");
+ServiceInterfaceStream sif::error("ERROR", false, false, true);
+#else
+ServiceInterfaceStream sif::debug("DEBUG", true);
+ServiceInterfaceStream sif::info("INFO", true);
+ServiceInterfaceStream sif::warning("WARNING", true);
+ServiceInterfaceStream sif::error("ERROR", true, false, true);
+#endif
+
+ObjectManagerIF* objectManager = nullptr;
+
+void scheduling::initMission() {
+  sif::info << "Building global objects.." << std::endl;
+  /* Instantiate global object manager and also create all objects */
+  ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
+  sif::info << "Initializing all objects.." << std::endl;
+  ObjectManager::instance()->initialize();
+
+  /* This function creates and starts all tasks */
+  initTasks();
+}
+
+void scheduling::initTasks() {
+  TaskFactory* factory = TaskFactory::instance();
+  if (factory == nullptr) {
+    /* Should never happen ! */
+    return;
+  }
+#if OBSW_PRINT_MISSED_DEADLINES == 1
+  void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
+#else
+  void (*missedDeadlineFunc)(void) = nullptr;
+#endif
+
+  /* TMTC Distribution */
+  PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
+      "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  ReturnValue_t result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
+  if (result != returnvalue::OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+  result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
+  if (result != returnvalue::OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+  result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
+  if (result != returnvalue::OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+  result = tmtcDistributor->addComponent(objects::UDP_TMTC_SERVER);
+  if (result != returnvalue::OK) {
+    sif::error << "Add component UDP Unix Bridge failed" << std::endl;
+  }
+  result = tmtcDistributor->addComponent(objects::TCP_TMTC_SERVER);
+  if (result != returnvalue::OK) {
+    sif::error << "Add component UDP Unix Bridge failed" << std::endl;
+  }
+
+  PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
+      "UDP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
+  if (result != returnvalue::OK) {
+    sif::error << "Add component UDP Polling failed" << std::endl;
+  }
+  PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
+      "TCP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
+  if (result != returnvalue::OK) {
+    sif::error << "Add component UDP Polling failed" << std::endl;
+  }
+
+  /* PUS Services */
+  PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
+      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
+  if (result != returnvalue::OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+
+  PeriodicTaskIF* eventHandling = factory->createPeriodicTask(
+      "EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = eventHandling->addComponent(objects::EVENT_MANAGER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("EVENT_MNGR", objects::EVENT_MANAGER);
+  }
+  result = eventHandling->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
+  }
+
+  PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
+      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  }
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
+  }
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
+  }
+
+  PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
+      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
+  }
+
+  PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
+      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
+  result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
+  }
+
+  PeriodicTaskIF* thermalTask = factory->createPeriodicTask(
+      "THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = thermalTask->addComponent(objects::CORE_CONTROLLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
+  }
+
+  result = thermalTask->addComponent(objects::THERMAL_CONTROLLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
+  }
+
+  FixedTimeslotTaskIF* pstTask = factory->createFixedTimeslotTask(
+      "DUMMY_PST", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+  result = dummy_pst::pst(pstTask);
+  if (result != returnvalue::OK) {
+    sif::error << "Failed to add dummy pst to fixed timeslot task" << std::endl;
+  }
+
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
+      "PLOC_SUPV_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
+  }
+#endif /* OBSW_ADD_PLOC_SUPERVISOR */
+
+  PeriodicTaskIF* plTask = factory->createPeriodicTask(
+      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  scheduling::addMpsocSupvHandlers(plTask);
+#if OBSW_ADD_TEST_CODE == 1
+  result = testTask->addComponent(objects::TEST_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("TEST_TASK", objects::TEST_TASK);
+  }
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+
+  PeriodicTaskIF* dummyTask = factory->createPeriodicTask(
+      "DUMMY_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  dummyTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
+  dummyTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
+  dummyTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
+  dummyTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
+  dummyTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
+  dummyTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
+  dummyTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
+  dummyTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
+  dummyTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
+  dummyTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
+  dummyTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
+  dummyTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
+  dummyTask->addComponent(objects::RTD_0_IC3_PLOC_HEATSPREADER);
+  dummyTask->addComponent(objects::RTD_1_IC4_PLOC_MISSIONBOARD);
+  dummyTask->addComponent(objects::RTD_2_IC5_4K_CAMERA);
+  dummyTask->addComponent(objects::RTD_3_IC6_DAC_HEATSPREADER);
+  dummyTask->addComponent(objects::RTD_4_IC7_STARTRACKER);
+  dummyTask->addComponent(objects::RTD_5_IC8_RW1_MX_MY);
+  dummyTask->addComponent(objects::RTD_6_IC9_DRO);
+  dummyTask->addComponent(objects::RTD_7_IC10_SCEX);
+  dummyTask->addComponent(objects::RTD_8_IC11_X8);
+  dummyTask->addComponent(objects::RTD_9_IC12_HPA);
+  dummyTask->addComponent(objects::RTD_10_IC13_PL_TX);
+  dummyTask->addComponent(objects::RTD_11_IC14_MPA);
+  dummyTask->addComponent(objects::RTD_12_IC15_ACU);
+  dummyTask->addComponent(objects::RTD_13_IC16_PLPCDU_HEATSPREADER);
+  dummyTask->addComponent(objects::RTD_14_IC17_TCS_BOARD);
+  dummyTask->addComponent(objects::RTD_15_IC18_IMTQ);
+
+  sif::info << "Starting tasks.." << std::endl;
+  tmtcDistributor->startTask();
+  udpPollingTask->startTask();
+  tcpPollingTask->startTask();
+
+  pusVerification->startTask();
+  eventHandling->startTask();
+  pusHighPrio->startTask();
+  pusMedPrio->startTask();
+  pusLowPrio->startTask();
+
+  pstTask->startTask();
+  thermalTask->startTask();
+  dummyTask->startTask();
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  supvHelperTask->startTask();
+#endif
+#if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
+  plTask->startTask();
+#endif
+
+#if OBSW_ADD_TEST_CODE == 1
+  testTask->startTask();
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+
+  sif::info << "Tasks started.." << std::endl;
+}
--- a/bsp_hosted/scheduling.h
+++ b/bsp_hosted/scheduling.h
@ -0,0 +1,6 @@
+#pragma once
+
+namespace scheduling {
+void initMission();
+void initTasks();
+};  // namespace scheduling
--- a/bsp_linux_board/CMakeLists.txt
+++ b/bsp_linux_board/CMakeLists.txt
@ -1,5 +1,6 @@
 target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp gpioInit.cpp
-                                   ObjectFactory.cpp)
+                                   ObjectFactory.cpp RPiSdCardManager.cpp)

 add_subdirectory(boardconfig)
 add_subdirectory(boardtest)
+add_subdirectory(fsfwconfig)
--- a/bsp_linux_board/InitMission.cpp
+++ b/bsp_linux_board/InitMission.cpp
@ -1,12 +1,14 @@
 #include "InitMission.h"

+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/objectmanager/ObjectManagerIF.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/returnvalues/returnvalue.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 #include <fsfw/tasks/PeriodicTaskIF.h>
 #include <fsfw/tasks/TaskFactory.h>
+#include <linux/InitMission.h>
 #include <mission/utility/InitMission.h>

 #include <iostream>
@ -36,7 +38,7 @@ void initmission::initMission() {

 void initmission::initTasks() {
  TaskFactory* factory = TaskFactory::instance();
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  if (factory == nullptr) {
    /* Should never happen ! */
    return;
@ -51,15 +53,15 @@ void initmission::initTasks() {
  PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
      "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "Object add component failed" << std::endl;
  }
  result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "Object add component failed" << std::endl;
  }
  result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "Object add component failed" << std::endl;
  }

@ -67,16 +69,22 @@ void initmission::initTasks() {
  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
      "TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "Add component TMTC Bridge failed" << std::endl;
  }
  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
      "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "Add component TMTC Polling failed" << std::endl;
  }

+#if OBSW_ADD_SCEX_DEVICE == 1
+  PeriodicTaskIF* scexDevHandler;
+  PeriodicTaskIF* scexReaderTask;
+  scheduling::schedulingScex(*factory, scexDevHandler, scexReaderTask);
+#endif
+
  /* PUS Services */
  std::vector<PeriodicTaskIF*> pusTasks;
  createPusTasks(*factory, missedDeadlineFunc, pusTasks);
@ -109,6 +117,10 @@ void initmission::initTasks() {
 #endif /* OBSW_ADD_TEST_CODE == 1 */
  taskStarter(pstTasks, "PST Tasks");

+#if OBSW_ADD_SCEX_DEVICE == 1
+  scexDevHandler->startTask();
+  scexReaderTask->startTask();
+#endif
 #if OBSW_ADD_TEST_PST == 1
  if (startTestPst) {
    pstTestTask->startTask();
@ -120,11 +132,11 @@ void initmission::initTasks() {
 void initmission::createPusTasks(TaskFactory& factory,
                                 TaskDeadlineMissedFunction missedDeadlineFunc,
                                 std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "Object add component failed" << std::endl;
  }
  taskVec.push_back(pusVerification);
@ -132,11 +144,11 @@ void initmission::createPusTasks(TaskFactory& factory,
  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
  }
  result = pusEvents->addComponent(objects::EVENT_MANAGER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
  }
  taskVec.push_back(pusEvents);
@ -144,11 +156,11 @@ void initmission::createPusTasks(TaskFactory& factory,
  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
  }
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
  }
  taskVec.push_back(pusHighPrio);
@ -156,19 +168,19 @@ void initmission::createPusTasks(TaskFactory& factory,
  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
  }
  taskVec.push_back(pusMedPrio);
@ -176,11 +188,11 @@ void initmission::createPusTasks(TaskFactory& factory,
  PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
  result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
  }
  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
  }
  taskVec.push_back(pusLowPrio);
@ -189,45 +201,55 @@ void initmission::createPusTasks(TaskFactory& factory,
 void initmission::createPstTasks(TaskFactory& factory,
                                 TaskDeadlineMissedFunction missedDeadlineFunc,
                                 std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
 #if OBSW_ADD_SPI_TEST_CODE == 0
  FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
      "SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
  result = pst::pstSpi(spiPst);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
+  if (result != returnvalue::OK) {
+    if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::error << "InitMission::createPstTasks: Creating PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(spiPst);
  }
-  taskVec.push_back(spiPst);
 #endif
 }

 void initmission::createTestTasks(TaskFactory& factory,
                                  TaskDeadlineMissedFunction missedDeadlineFunc,
                                  std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  PeriodicTaskIF* testTask = factory.createPeriodicTask(
      "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = testTask->addComponent(objects::TEST_TASK);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
  }
 #if OBSW_ADD_SPI_TEST_CODE == 1
  result = testTask->addComponent(objects::SPI_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
  }
 #endif /* RPI_ADD_SPI_TEST == 1 */
 #if RPI_ADD_GPIO_TEST == 1
  result = testTask->addComponent(objects::LIBGPIOD_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
  }
 #endif /* RPI_ADD_GPIO_TEST == 1 */
 #if OBSW_ADD_UART_TEST_CODE == 1
  result = testTask->addComponent(objects::UART_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
  }
+  PeriodicTaskIF* scexReaderTask = factory.createPeriodicTask(
+      "SCEX_UART_READER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = scexReaderTask->addComponent(objects::SCEX_UART_READER);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("SCEX_UART_READER", objects::SCEX_UART_READER);
+  }
+  taskVec.push_back(scexReaderTask);
 #endif /* RPI_ADD_GPIO_TEST == 1 */
  taskVec.push_back(testTask);

@ -237,7 +259,7 @@ void initmission::createTestTasks(TaskFactory& factory,
  FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask(
      "TEST_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
  result = pst::pstTest(pstTestTask);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
    startTestPst = false;
  }
--- a/bsp_linux_board/OBSWConfig.h.in
+++ b/bsp_linux_board/OBSWConfig.h.in
@ -28,6 +28,7 @@
 #define OBSW_ADD_RTD_DEVICES                        0
 #define OBSW_ADD_PL_PCDU                            0
 #define OBSW_ADD_TMP_DEVICES                        0
+#define OBSW_ADD_SCEX_DEVICE                        1
 #define OBSW_ADD_RAD_SENSORS                        0
 #define OBSW_ADD_SYRLINKS                           0
 #define OBSW_STAR_TRACKER_GROUND_CONFIG             1
@ -102,6 +103,12 @@
 /*******************************************************************/
 #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER

+#define OBSW_ADD_CCSDS_IP_CORES                     0
+// Set to 1 if all telemetry should be sent to the PTME IP Core
+#define OBSW_TM_TO_PTME                             0
+// Set to 1 if telecommands are received via the PDEC IP Core
+#define OBSW_TC_FROM_PDEC                           0
+
 #cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
 #cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@

--- a/bsp_linux_board/ObjectFactory.cpp
+++ b/bsp_linux_board/ObjectFactory.cpp
@ -1,5 +1,8 @@
 #include "ObjectFactory.h"

+#include <bsp_linux_board/RPiSdCardManager.h>
+#include <linux/devices/ScexUartReader.h>
+
 #include "OBSWConfig.h"
 #include "devConf.h"
 #include "devices/addresses.h"
@ -18,9 +21,8 @@
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/GPSHyperionHandler.h"
 #include "mission/devices/GyroADIS1650XHandler.h"
-#include "mission/utility/TmFunnel.h"
+#include "mission/tmtc/TmFunnel.h"
 #include "objects/systemObjectList.h"
-#include "tmtc/apid.h"
 #include "tmtc/pusIds.h"

 /* UDP server includes */
@ -32,8 +34,8 @@
 #include "fsfw/osal/common/UdpTmTcBridge.h"
 #endif

-#include <fsfw_hal/linux/uart/UartComIF.h>
-#include <fsfw_hal/linux/uart/UartCookie.h>
+#include <fsfw_hal/linux/serial/SerialComIF.h>
+#include <fsfw_hal/linux/serial/SerialCookie.h>

 #include "fsfw_hal/common/gpio/GpioCookie.h"
 #include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
@ -45,8 +47,8 @@
 #include "fsfw_hal/linux/spi/SpiCookie.h"

 void Factory::setStaticFrameworkObjectIds() {
-  PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
-  PusServiceBase::packetDestination = objects::TM_FUNNEL;
+  PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
+  PusServiceBase::PACKET_DESTINATION = objects::TM_FUNNEL;

  CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
@ -54,9 +56,6 @@ void Factory::setStaticFrameworkObjectIds() {
  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
  // No storage object for now.
  TmFunnel::storageDestination = objects::NO_OBJECT;
-
-  VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
-  TmPacketBase::timeStamperId = objects::TIME_STAMPER;
 }

 void ObjectFactory::produce(void* args) {
@ -76,12 +75,17 @@ void ObjectFactory::produce(void* args) {
  createRpiAcsBoard(gpioIF, spiDev);
 #endif

-#if OBSW_ADD_SUN_SENSORS == 1 || defined(OBSW_ADD_RTD_DEVICES)
+#if OBSW_ADD_SUN_SENSORS == 1 || OBSW_ADD_RTD_DEVICES == 1
 #ifdef RASPBERRY_PI
  rpi::gpio::initSpiCsDecoder(gpioIF);
 #endif
 #endif

+#if OBSW_ADD_SCEX_DEVICE == 1
+  auto* sdcMan = new RPiSdCardManager("/tmp");
+  createScexComponents(uart::DEV, pwrSwitcher, *sdcMan, true, std::nullopt);
+#endif
+
 #if OBSW_ADD_SUN_SENSORS == 1
  createSunSensorComponents(gpioIF, spiComIF, pwrSwitcher, spi::DEV);
 #endif
@ -198,7 +202,7 @@ void ObjectFactory::createTestTasks() {
 #if OBSW_ADD_UART_TEST_CODE == 1
  new UartTestClass(objects::UART_TEST);
 #else
-  new UartComIF(objects::UART_COM_IF);
+  newSerialComIF(objects::UART_COM_IF);
 #endif

 #if RPI_LOOPBACK_TEST_GPIO == 1
--- a/bsp_linux_board/RPiSdCardManager.cpp
+++ b/bsp_linux_board/RPiSdCardManager.cpp
@ -0,0 +1,13 @@
+#include "RPiSdCardManager.h"
+
+RPiSdCardManager::RPiSdCardManager(std::string prefix) : prefix(std::move(prefix)) {}
+
+const std::string& RPiSdCardManager::getCurrentMountPrefix() const { return prefix; }
+
+bool RPiSdCardManager::isSdCardUsable(sd::SdCard sdCard) { return true; }
+
+std::optional<sd::SdCard> RPiSdCardManager::getPreferredSdCard() const { return std::nullopt; }
+
+void RPiSdCardManager::setActiveSdCard(sd::SdCard sdCard) {}
+
+std::optional<sd::SdCard> RPiSdCardManager::getActiveSdCard() const { return std::nullopt; }
--- a/bsp_linux_board/RPiSdCardManager.h
+++ b/bsp_linux_board/RPiSdCardManager.h
@ -0,0 +1,18 @@
+#ifndef BSP_LINUX_BOARD_RPISDCARDMANAGER_H_
+#define BSP_LINUX_BOARD_RPISDCARDMANAGER_H_
+#include <mission/memory/SdCardMountedIF.h>
+
+class RPiSdCardManager : public SdCardMountedIF {
+ public:
+  RPiSdCardManager(std::string prefix);
+  const std::string& getCurrentMountPrefix() const override;
+  bool isSdCardUsable(sd::SdCard sdCard) override;
+  std::optional<sd::SdCard> getPreferredSdCard() const override;
+  void setActiveSdCard(sd::SdCard sdCard) override;
+  std::optional<sd::SdCard> getActiveSdCard() const override;
+
+ private:
+  std::string prefix;
+};
+
+#endif /* BSP_LINUX_BOARD_RPISDCARDMANAGER_H_ */
--- a/bsp_linux_board/definitions.h
+++ b/bsp_linux_board/definitions.h
@ -13,6 +13,12 @@ static constexpr char DEV[] = "/dev/spidev0.1";

 }

+namespace uart {
+
+static constexpr char DEV[] = "/dev/serial0";
+
+}
+
 /* Adapt these values accordingly */
 namespace gpio {
 static constexpr uint8_t MGM_0_BCM_PIN = 17;
--- a/bsp_linux_board/gpioInit.cpp
+++ b/bsp_linux_board/gpioInit.cpp
@ -40,14 +40,14 @@ void rpi::gpio::initSpiCsDecoder(GpioIF* gpioComIF) {
  for (const auto& info : muxInfo) {
    result = createRpiGpioConfig(spiMuxGpios, info.gpioId, info.bcmNum, info.consumer,
                                 Direction::OUT, Levels::LOW);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != returnvalue::OK) {
      sif::error << "Creating Raspberry Pi SPI Mux GPIO failed with code " << result << std::endl;
      return;
    }
  }

  result = gpioComIF->addGpios(spiMuxGpios);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
    return;
  }
--- a/bsp_q7s/CMakeLists.txt
+++ b/bsp_q7s/CMakeLists.txt
@ -24,3 +24,4 @@ endif()
 add_subdirectory(memory)
 add_subdirectory(callbacks)
 add_subdirectory(xadc)
+add_subdirectory(fs)
--- a/bsp_q7s/OBSWConfig.h.in
+++ b/bsp_q7s/OBSWConfig.h.in
@ -14,31 +14,38 @@
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/

-#define OBSW_USE_CCSDS_IP_CORE                      1
-// Set to 1 if all telemetry should be sent to the PTME IP Core
-#define OBSW_TM_TO_PTME                             0
-// Set to 1 if telecommands are received via the PDEC IP Core
-#define OBSW_TC_FROM_PDEC                           0
-
-#define OBSW_ENABLE_TIMERS                          1
 #define OBSW_ADD_GOMSPACE_PCDU                      @OBSW_ADD_GOMSPACE_PCDU@
 #define OBSW_ADD_MGT                                @OBSW_ADD_MGT@
 #define OBSW_ADD_BPX_BATTERY_HANDLER                @OBSW_ADD_BPX_BATTERY_HANDLER@
 #define OBSW_ADD_STAR_TRACKER                       @OBSW_ADD_STAR_TRACKER@
-#define OBSW_ADD_PLOC_SUPERVISOR                    1
-#define OBSW_ADD_PLOC_MPSOC                         1
+#define OBSW_ADD_PLOC_SUPERVISOR                    @OBSW_ADD_PLOC_SUPERVISOR@
+#define OBSW_ADD_PLOC_MPSOC                         @OBSW_ADD_PLOC_MPSOC@
 #define OBSW_ADD_SUN_SENSORS                        @OBSW_ADD_SUN_SENSORS@
 #define OBSW_ADD_SUS_BOARD_ASS                      @OBSW_ADD_SUS_BOARD_ASS@
 #define OBSW_ADD_ACS_BOARD                          @OBSW_ADD_ACS_BOARD@
-#define OBSW_ADD_ACS_HANDLERS                       @OBSW_ADD_ACS_HANDLERS@
+#define OBSW_ADD_ACS_CTRL                           1
+#define OBSW_ADD_GPS_CTRL                           @OBSW_ADD_GPS_CTRL@
+#define OBSW_ADD_TCS_CTRL                           @OBSW_ADD_TCS_CTRL@
 #define OBSW_ADD_RW                                 @OBSW_ADD_RW@
 #define OBSW_ADD_RTD_DEVICES                        @OBSW_ADD_RTD_DEVICES@
+#define OBSW_ADD_SA_DEPL                            @OBSW_ADD_SA_DEPL@
+#define OBSW_ADD_SCEX_DEVICE                        @OBSW_ADD_SCEX_DEVICE@
+#define OBSW_ADD_HEATERS                            @OBSW_ADD_HEATERS@
 #define OBSW_ADD_TMP_DEVICES                        @OBSW_ADD_TMP_DEVICES@
 #define OBSW_ADD_RAD_SENSORS                        @OBSW_ADD_RAD_SENSORS@
 #define OBSW_ADD_PL_PCDU                            @OBSW_ADD_PL_PCDU@
 #define OBSW_ADD_SYRLINKS                           @OBSW_ADD_SYRLINKS@
+#define OBSW_ADD_CCSDS_IP_CORES                     @OBSW_ADD_CCSDS_IP_CORES@
+// Set to 1 if all telemetry should be sent to the PTME IP Core
+#define OBSW_TM_TO_PTME                             @OBSW_TM_TO_PTME@
+// Set to 1 if telecommands are received via the PDEC IP Core
+#define OBSW_TC_FROM_PDEC                           @OBSW_TC_FROM_PDEC@
 #define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
-#define OBSW_MPSOC_JTAG_BOOT                        0
+
+// Configuration parameter which causes the core controller to try to keep at least one SD card
+// working
+#define OBSW_SD_CARD_MUST_BE_ON                     1
+#define OBSW_ENABLE_TIMERS                          1

 // This is a really tricky switch.. It initializes the PCDU switches to their default states
 // at powerup. I think it would be better
@ -53,11 +60,12 @@
 /*******************************************************************/

 // Can be used to switch device to NORMAL mode immediately
-#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
+#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    0
 #define OBSW_PRINT_MISSED_DEADLINES                 1

+#define OBSW_MPSOC_JTAG_BOOT                        0
 #define OBSW_STAR_TRACKER_GROUND_CONFIG             1
-#define OBSW_SYRLINKS_SIMULATED                     1
+#define OBSW_SYRLINKS_SIMULATED                     @OBSW_SYRLINKS_SIMULATED@
 #define OBSW_ADD_TEST_CODE                          0
 #define OBSW_ADD_TEST_TASK                          0
 #define OBSW_ADD_TEST_PST                           0
@ -96,6 +104,7 @@
 #define OBSW_PRINT_CORE_HK                          0
 #define OBSW_DEBUG_PDU1                             0
 #define OBSW_DEBUG_PDU2                             0
+#define OBSW_DEBUG_TMP1075                          0
 #define OBSW_DEBUG_GPS                              0
 #define OBSW_DEBUG_ACU                              0
 #define OBSW_DEBUG_SYRLINKS                         0
@ -110,12 +119,19 @@
 /*******************************************************************/
 /** CMake Defines                                                  */
 /*******************************************************************/
+
+// Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally
+// because UDP packets are not allowed in the VPN
+// This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
+// CCSDS IP Cores. 
+#define OBSW_ADD_TMTC_TCP_SERVER            1
+#define OBSW_ADD_TMTC_UDP_SERVER            1
+
 #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER

 #cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
 #cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@

-
 #ifdef __cplusplus

 #include "objects/systemObjectList.h"
--- a/bsp_q7s/boardconfig/busConf.h
+++ b/bsp_q7s/boardconfig/busConf.h
@ -3,23 +3,28 @@

 namespace q7s {

-static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi-main";
+static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi_main";
 static constexpr uint32_t SPI_MAIN_BUS_LOCK_TIMEOUT = 50;

-static constexpr char SPI_RW_DEV[] = "/dev/spi-rw";
+static constexpr char SPI_RW_DEV[] = "/dev/spi_rw";

-static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-eive";
+//! I2C bus using an I2C IP core in the programmable logic (PL)
+static constexpr char I2C_PL_EIVE[] = "/dev/i2c_pl";
+//! I2C bus using the I2C peripheral of the ARM processing system (PS)
+static constexpr char I2C_PS_EIVE[] = "/dev/i2c_ps";

 static constexpr char UART_GNSS_DEV[] = "/dev/gps0";
-static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul-plmpsoc";
-static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ul-plsv";
-static constexpr char UART_SYRLINKS_DEV[] = "/dev/ul-syrlinks";
-static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ul-str";
+static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul_plmpsoc";
+static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ploc_supv";
+static constexpr char UART_SYRLINKS_DEV[] = "/dev/ul_syrlinks";
+static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ul_str";
+static constexpr char UART_SCEX_DEV[] = "/dev/scex";

-static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0";
-static constexpr char UIO_PTME[] = "/dev/uio1";
-static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
-static constexpr char UIO_PDEC_RAM[] = "/dev/uio3";
+static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio_pdec_regs";
+static constexpr char UIO_PTME[] = "/dev/uio_ptme";
+static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio_pdec_cfg_mem";
+static constexpr char UIO_PDEC_RAM[] = "/dev/uio_pdec_ram";
+static constexpr char UIO_PDEC_IRQ[] = "/dev/uio_pdec_irq";
 static constexpr int MAP_ID_PTME_CONFIG = 3;

 namespace uiomapids {
--- a/bsp_q7s/boardconfig/q7sConfig.h.in
+++ b/bsp_q7s/boardconfig/q7sConfig.h.in
@ -16,16 +16,6 @@
 /** Other flags                                                    */
 /*******************************************************************/

-#define Q7S_SD_NONE                                 0
-#define Q7S_SD_COLD_REDUNDANT                       1
-#define Q7S_SD_HOT_REDUNDANT                        2
-// The OBSW will perform different actions to set up the SD cards depending on the flag set here
-// Set to Q7S_SD_NONE: Don't do anything
-// Set to Q7S_COLD_REDUNDANT: On startup, get the prefered SD card, turn it on and mount it, and 
-//     turn off the second SD card if it is on
-// Set to Q7S_HOT_REDUNDANT: On startup, turn on both SD cards and mount them  
-#define Q7S_SD_CARD_CONFIG                          Q7S_SD_COLD_REDUNDANT
-
 // Probably better if this is disabled for mission code. Convenient for development
 #define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG           1

--- a/bsp_q7s/boardtest/Q7STestTask.cpp
+++ b/bsp_q7s/boardtest/Q7STestTask.cpp
@ -1,11 +1,14 @@
 #include "Q7STestTask.h"

 #include <bsp_q7s/core/CoreController.h>
-#include <bsp_q7s/memory/FileSystemHandler.h>
 #include <bsp_q7s/xadc/Xadc.h>
+#include <fsfw/globalfunctions/arrayprinter.h>
 #include <fsfw/objectmanager/ObjectManager.h>
+#include <fsfw_hal/host/HostFilesystem.h>
 #include <gps.h>
 #include <libgpsmm.h>
+#include <param/param_string.h>
+#include <param/rparam_client.h>

 #include <cstdio>
 #include <ctime>
@ -14,12 +17,17 @@
 #include <iostream>
 #include <nlohmann/json.hpp>

-#include "bsp_q7s/memory/SdCardManager.h"
+#include "OBSWConfig.h"
+#include "bsp_q7s/fs/SdCardManager.h"
+#include "bsp_q7s/fs/helpers.h"
 #include "bsp_q7s/memory/scratchApi.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/timemanager/Stopwatch.h"
+#include "p60pdu.h"
 #include "test/DummyParameter.h"

+using namespace returnvalue;
+
 Q7STestTask::Q7STestTask(object_id_t objectId) : TestTask(objectId) {
  doTestSdCard = false;
  doTestScratchApi = false;
@ -35,13 +43,42 @@ ReturnValue_t Q7STestTask::performOneShotAction() {
  if (doTestScratchApi) {
    testScratchApi();
  }
+  if (DO_TEST_GOMSPACE_API) {
+    uint8_t p60pdu_node = 3;
+    uint8_t hk_mem[P60PDU_HK_SIZE];
+    param_index_t p60pdu_hk{};
+    p60pdu_hk.physaddr = hk_mem;
+    if (!p60pdu_get_hk(&p60pdu_hk, p60pdu_node, 1000)) {
+      printf("Error getting p60pdu hk\n");
+    } else {
+      param_list(&p60pdu_hk, 1);
+    }
+  }
+
+  if (DO_TEST_GOMSPACE_GET_CONFIG) {
+    uint8_t p60pdu_node = 3;
+    param_index_t requestStruct{};
+    requestStruct.table = p60pdu_config;
+    requestStruct.mem_id = P60PDU_PARAM;
+    uint8_t hk_mem[P60PDU_PARAM_SIZE];
+    requestStruct.count = p60pdu_config_count;
+    requestStruct.size = P60PDU_PARAM_SIZE;
+    requestStruct.physaddr = hk_mem;
+    int result = rparam_get_full_table(&requestStruct, p60pdu_node, P60_PORT_RPARAM,
+                                       requestStruct.mem_id, 1000);
+    param_list(&requestStruct, 1);
+    return (result == 0);
+  }
+
  // testJsonLibDirect();
  // testDummyParams();
  if (doTestProtHandler) {
    testProtHandler();
  }
-  FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE;
-  testFileSystemHandlerDirect(opCode);
+  if (DO_TEST_FS_HANDLER) {
+    FsOpCodes opCode = FsOpCodes::CREATE_EMPTY_FILE_IN_TMP;
+    testFileSystemHandlerDirect(opCode);
+  }
  return TestTask::performOneShotAction();
 }

@ -95,23 +132,23 @@ void Q7STestTask::fileTests() {

 void Q7STestTask::testScratchApi() {
  ReturnValue_t result = scratch::writeNumber("TEST", 1);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::debug << "Q7STestTask::scratchApiTest: Writing number failed" << std::endl;
  }
  int number = 0;
  result = scratch::readNumber("TEST", number);
  sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST\": " << number << std::endl;
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
  }

  result = scratch::writeString("TEST2", "halloWelt");
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::debug << "Q7STestTask::scratchApiTest: Writing string failed" << std::endl;
  }
  std::string string;
  result = scratch::readString("TEST2", string);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
  }
  sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST2\": " << string << std::endl;
@ -143,7 +180,7 @@ void Q7STestTask::testDummyParams() {
  }

  ReturnValue_t result = param.readJsonFile();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
  }

  param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
@ -154,13 +191,13 @@ void Q7STestTask::testDummyParams() {

  int test = 0;
  result = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1, test);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
                 << " does not exist" << std::endl;
  }
  std::string test2;
  result = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2, test2);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
                 << " does not exist" << std::endl;
  }
@ -179,18 +216,18 @@ ReturnValue_t Q7STestTask::initialize() {

 void Q7STestTask::testProtHandler() {
  bool opPerformed = false;
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  // If any chips are unlocked, lock them here
  result = coreController->setBootCopyProtection(xsc::Chip::ALL_CHIP, xsc::Copy::ALL_COPY, true,
                                                 opPerformed, true);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
  }

  // unlock own copy
  result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, false,
                                                 opPerformed, true);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
  }
  if (not opPerformed) {
@ -204,7 +241,7 @@ void Q7STestTask::testProtHandler() {
  // lock own copy
  result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
                                                 opPerformed, true);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
  }
  if (not opPerformed) {
@ -218,7 +255,7 @@ void Q7STestTask::testProtHandler() {
  // unlock specific copy
  result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, false,
                                                 opPerformed, true);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
  }
  if (not opPerformed) {
@ -232,7 +269,7 @@ void Q7STestTask::testProtHandler() {
  // lock specific copy
  result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, true,
                                                 opPerformed, true);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
  }
  if (not opPerformed) {
@ -335,150 +372,28 @@ void Q7STestTask::testGpsDaemonSocket() {
 }

 void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
-  auto fsHandler = ObjectManager::instance()->get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
-  if (fsHandler == nullptr) {
-    sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.."
-                 << std::endl;
-  }
-  FileSystemHandler::FsCommandCfg cfg = {};
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-
-  // Lambda for common code
-  auto createNonEmptyTmpDir = [&]() {
-    if (not std::filesystem::exists("/tmp/test")) {
-      result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
-      }
+  HostFilesystem hostFs;
+  auto* sdcMan = SdCardManager::instance();
+  std::string mountPrefix = sdcMan->getCurrentMountPrefix();
+  sif::info << "Current mount prefix: " << mountPrefix << std::endl;
+  auto prefixedPath = fshelpers::getPrefixedPath(*sdcMan, "conf/test.txt");
+  sif::info << "Prefixed path: " << prefixedPath << std::endl;
+  if (opCode == FsOpCodes::CREATE_EMPTY_FILE_IN_TMP) {
+    FilesystemParams params("/tmp/hello.txt");
+    auto res = hostFs.createFile(params);
+    if (res != OK) {
+      sif::warning << "Creating empty file in /tmp failed" << std::endl;
    }
-    // Creating sample files
-    sif::info << "Creating sample files in directory" << std::endl;
-    result = fsHandler->createFile("/tmp/test", "test1.txt", nullptr, 0, &cfg);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-      return result;
-    }
-    result = fsHandler->createFile("/tmp/test", "test2.txt", nullptr, 0, &cfg);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-      return result;
-    }
-    return result;
-  };
-
-  switch (opCode) {
-    case (FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): {
-      // No mount prefix, cause file is created in tmp
-      cfg.useMountPrefix = false;
-      sif::info << "Creating empty file in /tmp folder" << std::endl;
-      // Do not delete file, user can check existence in shell
-      fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
-      break;
-    }
-    case (FsOpCodes::REMOVE_TMP_FILE): {
-      sif::info << "Deleting /tmp/test.txt sample file" << std::endl;
-      // No mount prefix, cause file is created in tmp
-      cfg.useMountPrefix = false;
-      if (not std::filesystem::exists("/tmp/test.txt")) {
-        // Creating sample file
-        sif::info << "Creating sample file /tmp/test.txt to delete" << std::endl;
-        fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
-      }
-      result = fsHandler->removeFile("/tmp", "test.txt", &cfg);
-      if (result == HasReturnvaluesIF::RETURN_OK) {
-        sif::info << "File removed successfully" << std::endl;
-      } else {
-        sif::warning << "File removal failed!" << std::endl;
-      }
-      break;
-    }
-    case (FsOpCodes::CREATE_DIR_IN_TMP): {
-      // No mount prefix, cause file is created in tmp
-      cfg.useMountPrefix = false;
-      sif::info << "Creating empty file in /tmp folder" << std::endl;
-      // Do not delete file, user can check existence in shell
-      ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg);
-      if (result == HasReturnvaluesIF::RETURN_OK) {
-        sif::info << "Directory created successfully" << std::endl;
-      } else {
-        sif::warning << "Directory creation failed!" << std::endl;
-      }
-      break;
-    }
-    case (FsOpCodes::REMOVE_EMPTY_DIR_IN_TMP): {
-      // No mount prefix, cause file is created in tmp
-      cfg.useMountPrefix = false;
-      if (not std::filesystem::exists("/tmp/test")) {
-        result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
-      } else {
-        // Delete any leftover files to regular dir removal works
-        std::remove("/tmp/test/*");
-      }
-      result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
-      if (result == HasReturnvaluesIF::RETURN_OK) {
-        sif::info << "Directory removed successfully" << std::endl;
-      } else {
-        sif::warning << "Directory removal failed!" << std::endl;
-      }
-      break;
-    }
-    case (FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): {
-      result = createNonEmptyTmpDir();
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-        return;
-      }
-      result = fsHandler->removeDirectory("/tmp/", "test", true, &cfg);
-      if (result == HasReturnvaluesIF::RETURN_OK) {
-        sif::info << "Directory removed recursively successfully" << std::endl;
-      } else {
-        sif::warning << "Recursive directory removal failed!" << std::endl;
-      }
-      break;
-    }
-    case (FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): {
-      result = createNonEmptyTmpDir();
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-        return;
-      }
-      result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-        sif::info << "Directory removal attempt failed as expected" << std::endl;
-      } else {
-        sif::warning << "Directory removal worked when it should not have!" << std::endl;
-      }
-      break;
-    }
-    case (FsOpCodes::RENAME_FILE): {
-      // No mount prefix, cause file is created in tmp
-      cfg.useMountPrefix = false;
-      if (std::filesystem::exists("/tmp/test.txt")) {
-        fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
-      }
-      sif::info << "Creating empty file /tmp/test.txt and rename to /tmp/test2.txt" << std::endl;
-      // Do not delete file, user can check existence in shell
-      fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
-      fsHandler->renameFile("/tmp/", "test.txt", "test2.txt", &cfg);
-      break;
-    }
-    case (FsOpCodes::APPEND_TO_FILE): {
-      // No mount prefix, cause file is created in tmp
-      cfg.useMountPrefix = false;
-      if (std::filesystem::exists("/tmp/test.txt")) {
-        fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
-      }
-      if (std::filesystem::exists("/tmp/test.txt")) {
-        fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
-      }
-      sif::info << "Creating empty file /tmp/test.txt and adding content" << std::endl;
-      std::string content = "Hello World\n";
-      // Do not delete file, user can check existence in shell
-      fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
-      fsHandler->appendToFile("/tmp/", "test.txt", reinterpret_cast<const uint8_t*>(content.data()),
-                              content.size(), 0, &cfg);
+    bool fileExists = std::filesystem::exists("/tmp/hello.txt");
+    if (not fileExists) {
+      sif::warning << "File was not created!" << std::endl;
    }
+    hostFs.removeFile("/tmp/hello.txt");
  }
 }

 void Q7STestTask::xadcTest() {
-  ReturnValue_t result = RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  float temperature = 0;
  float vccPint = 0;
  float vccPaux = 0;
@ -490,39 +405,39 @@ void Q7STestTask::xadcTest() {
  float vrefn = 0;
  Xadc xadc;
  result = xadc.getTemperature(temperature);
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
    sif::info << "Q7STestTask::xadcTest: Chip Temperature: " << temperature << " °C" << std::endl;
  }
  result = xadc.getVccPint(vccPint);
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
    sif::info << "Q7STestTask::xadcTest: VCC PS internal: " << vccPint << " mV" << std::endl;
  }
  result = xadc.getVccPaux(vccPaux);
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
    sif::info << "Q7STestTask::xadcTest: VCC PS auxilliary: " << vccPaux << " mV" << std::endl;
  }
  result = xadc.getVccInt(vccInt);
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
    sif::info << "Q7STestTask::xadcTest: VCC PL internal: " << vccInt << " mV" << std::endl;
  }
  result = xadc.getVccAux(vccAux);
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
    sif::info << "Q7STestTask::xadcTest: VCC PL auxilliary: " << vccAux << " mV" << std::endl;
  }
  result = xadc.getVccBram(vccBram);
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
    sif::info << "Q7STestTask::xadcTest: VCC BRAM: " << vccBram << " mV" << std::endl;
  }
  result = xadc.getVccOddr(vccOddr);
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
    sif::info << "Q7STestTask::xadcTest: VCC PS I/O DDR : " << vccOddr << " mV" << std::endl;
  }
  result = xadc.getVrefp(vrefp);
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
    sif::info << "Q7STestTask::xadcTest: Vrefp : " << vrefp << " mV" << std::endl;
  }
  result = xadc.getVrefn(vrefn);
-  if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == returnvalue::OK) {
    sif::info << "Q7STestTask::xadcTest: Vrefn : " << vrefn << " mV" << std::endl;
  }
 }
--- a/bsp_q7s/boardtest/Q7STestTask.h
+++ b/bsp_q7s/boardtest/Q7STestTask.h
@ -16,6 +16,9 @@ class Q7STestTask : public TestTask {
 private:
  bool doTestSdCard = false;
  bool doTestScratchApi = false;
+  static constexpr bool DO_TEST_GOMSPACE_API = false;
+  static constexpr bool DO_TEST_GOMSPACE_GET_CONFIG = false;
+  static constexpr bool DO_TEST_FS_HANDLER = false;
  bool doTestGpsShm = false;
  bool doTestGpsSocket = false;
  bool doTestProtHandler = false;
--- a/bsp_q7s/callbacks/gnssCallback.cpp
+++ b/bsp_q7s/callbacks/gnssCallback.cpp
@ -11,10 +11,10 @@ ReturnValue_t gps::triggerGpioResetPin(const uint8_t* actionData, size_t len, vo
  }
  ResetArgs* resetArgs = reinterpret_cast<ResetArgs*>(args);
  if (args == nullptr) {
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }
  if (resetArgs->gpioComIF == nullptr) {
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }
  gpioId_t gpioId;
  if (actionData[0] == 0) {
@ -25,5 +25,5 @@ ReturnValue_t gps::triggerGpioResetPin(const uint8_t* actionData, size_t len, vo
  resetArgs->gpioComIF->pullLow(gpioId);
  TaskFactory::delayTask(resetArgs->waitPeriodMs);
  resetArgs->gpioComIF->pullHigh(gpioId);
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
--- a/bsp_q7s/callbacks/gnssCallback.h
+++ b/bsp_q7s/callbacks/gnssCallback.h
@ -1,7 +1,7 @@
 #ifndef BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
 #define BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_

-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"

 struct ResetArgs {
--- a/bsp_q7s/callbacks/q7sGpioCallbacks.cpp
+++ b/bsp_q7s/callbacks/q7sGpioCallbacks.cpp
@ -47,7 +47,7 @@ void q7s::gpioCallbacks::initSpiCsDecoder(GpioIF* gpioComIF) {
  spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);

  result = gpioComIF->addGpios(spiMuxGpios);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "initSpiCsDecoder: Failed to add SPI MUX bit GPIOs" << std::endl;
    return;
  }
--- a/bsp_q7s/callbacks/rwSpiCallback.cpp
+++ b/bsp_q7s/callbacks/rwSpiCallback.cpp
@ -29,32 +29,32 @@ void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
 ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
                          size_t sendLen, void* args) {
  // Stopwatch watch;
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;

  RwHandler* handler = reinterpret_cast<RwHandler*>(args);
  if (handler == nullptr) {
    sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid" << std::endl;
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }

  uint8_t writeBuffer[2] = {};
  uint8_t writeSize = 0;

  gpioId_t gpioId = cookie->getChipSelectPin();
-  GpioIF* gpioIF = comIf->getGpioInterface();
+  GpioIF& gpioIF = comIf->getGpioInterface();
  MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
  uint32_t timeoutMs = 0;
  MutexIF* mutex = comIf->getCsMutex();
  cookie->getMutexParams(timeoutType, timeoutMs);
-  if (mutex == nullptr or gpioIF == nullptr) {
+  if (mutex == nullptr) {
    sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }

  int fileDescriptor = 0;
  const std::string& dev = comIf->getSpiDev();
-  result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  result = openSpi(dev, O_RDWR, &gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
+  if (result != returnvalue::OK) {
    return result;
  }

@ -75,7 +75,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen

  if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
    sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
    return RwHandler::SPI_WRITE_FAILURE;
  }

@ -100,7 +100,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
    }
    if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
      sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
      return RwHandler::SPI_WRITE_FAILURE;
    }
    idx++;
@ -112,14 +112,14 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen

  if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
    sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
    return RwHandler::SPI_WRITE_FAILURE;
  }

  uint8_t* rxBuf = nullptr;
  result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
+  if (result != returnvalue::OK) {
+    closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
    return result;
  }

@ -127,10 +127,10 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen

  // There must be a delay of at least 20 ms after sending the command.
  // Delay for 70 ms here and release the SPI bus for that duration.
-  closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
+  closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
  usleep(RwDefinitions::SPI_REPLY_DELAY);
-  result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  result = openSpi(dev, O_RDWR, &gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
+  if (result != returnvalue::OK) {
    return result;
  }

@ -142,13 +142,13 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
  for (int idx = 0; idx < 10; idx++) {
    if (read(fileDescriptor, &byteRead, 1) != 1) {
      sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
      return RwHandler::SPI_READ_FAILURE;
    }
    if (idx == 0) {
      if (byteRead != FLAG_BYTE) {
        sif::error << "Invalid data, expected start marker" << std::endl;
-        closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
+        closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
        return RwHandler::NO_START_MARKER;
      }
    }
@ -159,7 +159,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen

    if (idx == 9) {
      sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
-      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
      return RwHandler::NO_REPLY;
    }
  }
@ -199,7 +199,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
        continue;
      } else {
        sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
-        closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
+        closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
        result = RwHandler::INVALID_SUBSTITUTE;
        break;
      }
@ -228,12 +228,12 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
        break;
      }
    }
-    result = HasReturnvaluesIF::RETURN_OK;
+    result = returnvalue::OK;
  }

  cookie->setTransferSize(decodedFrameLen);

-  closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
+  closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);

  return result;
 }
@ -244,7 +244,7 @@ ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpi
                      MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs,
                      int& fd) {
  ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
    return result;
  }
@ -258,21 +258,21 @@ ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpi
  // Pull SPI CS low. For now, no support for active high given
  if (gpioId != gpio::NO_GPIO) {
    result = gpioIF->pullLow(gpioId);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != returnvalue::OK) {
      sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
      return result;
    }
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
 void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
  close(fd);
  if (gpioId != gpio::NO_GPIO) {
-    if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
+    if (gpioIF->pullHigh(gpioId) != returnvalue::OK) {
      sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
    }
  }
-  if (mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
+  if (mutex->unlockMutex() != returnvalue::OK) {
    sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;
    ;
  }
--- a/bsp_q7s/callbacks/rwSpiCallback.h
+++ b/bsp_q7s/callbacks/rwSpiCallback.h
@ -1,7 +1,7 @@
 #ifndef BSP_Q7S_RW_SPI_CALLBACK_H_
 #define BSP_Q7S_RW_SPI_CALLBACK_H_

-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw_hal/common/gpio/GpioCookie.h"
 #include "fsfw_hal/linux/spi/SpiComIF.h"

--- a/bsp_q7s/core/CMakeLists.txt
+++ b/bsp_q7s/core/CMakeLists.txt
@ -1,4 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE CoreController.cpp InitMission.cpp
+target_sources(${OBSW_NAME} PRIVATE CoreController.cpp scheduling.cpp
                                    ObjectFactory.cpp)

-target_sources(${SIMPLE_OBSW_NAME} PRIVATE InitMission.cpp)
+target_sources(${SIMPLE_OBSW_NAME} PRIVATE scheduling.cpp)
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
--- a/bsp_q7s/core/CoreController.h
+++ b/bsp_q7s/core/CoreController.h
@ -7,7 +7,8 @@
 #include <cstddef>

 #include "CoreDefinitions.h"
-#include "bsp_q7s/memory/SdCardManager.h"
+#include "OBSWConfig.h"
+#include "bsp_q7s/fs/SdCardManager.h"
 #include "events/subsystemIdRanges.h"
 #include "fsfw/controller/ExtendedControllerBase.h"
 #include "mission/devices/devicedefinitions/GPSDefinitions.h"
@ -51,22 +52,41 @@ class CoreController : public ExtendedControllerBase {
  static constexpr char CHIP_PROT_SCRIPT[] = "get-chip-prot-status.sh";
  static constexpr char CHIP_STATE_FILE[] = "/tmp/chip_prot_status.txt";
  static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt";
+
  static constexpr char CONF_FOLDER[] = "conf";
+
  static constexpr char VERSION_FILE_NAME[] = "version.txt";
  static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
  static constexpr char TIME_FILE_NAME[] = "time.txt";
+
  const std::string VERSION_FILE =
      "/" + std::string(CONF_FOLDER) + "/" + std::string(VERSION_FILE_NAME);
  const std::string REBOOT_FILE =
      "/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
  const std::string TIME_FILE = "/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);

+  static constexpr char CHIP_0_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-nom-rootfs";
+  static constexpr char CHIP_0_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-gold-rootfs";
+  static constexpr char CHIP_1_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-nom-rootfs";
+  static constexpr char CHIP_1_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-gold-rootfs";
+
+  static constexpr dur_millis_t INIT_SD_CARD_CHECK_TIMEOUT = 5000;
+  static constexpr dur_millis_t DEFAULT_SD_CARD_CHECK_TIMEOUT = 60000;
+
  static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
  static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
  static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
  static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
  static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;

+  static constexpr ActionId_t OBSW_UPDATE_FROM_SD_0 = 10;
+  static constexpr ActionId_t OBSW_UPDATE_FROM_SD_1 = 11;
+  static constexpr ActionId_t OBSW_UPDATE_FROM_TMP = 12;
+
+  static constexpr ActionId_t SWITCH_TO_SD_0 = 16;
+  static constexpr ActionId_t SWITCH_TO_SD_1 = 17;
+  static constexpr ActionId_t SWITCH_TO_BOTH_SD_CARDS = 18;
+
  //! Reboot using the xsc_boot_copy command
  static constexpr ActionId_t XSC_REBOOT_OBC = 32;
  static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
@ -86,6 +106,9 @@ class CoreController : public ExtendedControllerBase {
      event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
  //! Trying to find a way how to determine that the reboot came from ProASIC3 or PCDU..
  static constexpr Event REBOOT_HW = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT] No SD card was active. Core controller will attempt to re-initialize
+  //! a SD card.
+  static constexpr Event NO_SD_CARD_ACTIVE = event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);

  CoreController(object_id_t objectId);
  virtual ~CoreController();
@ -107,6 +130,7 @@ class CoreController : public ExtendedControllerBase {
  static ReturnValue_t generateChipStateFile();
  static ReturnValue_t incrementAllocationFailureCount();
  static void getCurrentBootCopy(xsc::Chip& chip, xsc::Copy& copy);
+  static const char* getXscMountDir(xsc::Chip chip, xsc::Copy copy);

  ReturnValue_t updateProtInfo(bool regenerateChipStateFile = true);

@ -151,39 +175,46 @@ class CoreController : public ExtendedControllerBase {
    SKIP_CYCLE_BEFORE_INFO_UPDATE,
    UPDATE_INFO,
    // SD initialization done
-    IDLE,
-    // Used if SD switches or mount commands are issued via telecommand
-    SET_STATE_FROM_COMMAND,
+    IDLE
  };
+
+  enum class SwUpdateSources { SD_0, SD_1, TMP_DIR };
+
  static constexpr bool BLOCKING_SD_INIT = false;

  SdCardManager* sdcMan = nullptr;
  MessageQueueIF* eventQueue = nullptr;

-  struct SdInfo {
-    sd::SdCard pref = sd::SdCard::NONE;
+  SdStates sdFsmState = SdStates::START;
+  enum SdCfgMode { PASSIVE, COLD_REDUNDANT, HOT_REDUNDANT };
+
+  struct SdFsmParams {
+    SdCfgMode cfgMode = SdCfgMode::COLD_REDUNDANT;
+    sd::SdCard active = sd::SdCard::NONE;
    sd::SdCard other = sd::SdCard::NONE;
-    sd::SdState prefState = sd::SdState::OFF;
+    sd::SdState activeState = sd::SdState::OFF;
    sd::SdState otherState = sd::SdState::OFF;
-    std::string prefChar = "0";
+    std::string activeChar = "0";
    std::string otherChar = "1";
    std::pair<bool, bool> mountSwitch = {true, true};
-    SdStates state = SdStates::START;
    // Used to track whether a command was executed
    bool commandExecuted = true;
    bool initFinished = false;
    SdCardManager::SdStatePair currentState;
    uint16_t cycleCount = 0;
-    // These two flags are related to external commanding
-    bool commandIssued = false;
-    bool commandFinished = false;
-    sd::SdState currentlyCommandedState = sd::SdState::OFF;
-    sd::SdCard commandedCard = sd::SdCard::NONE;
-    sd::SdState commandedState = sd::SdState::OFF;
  } sdInfo;
+
+  struct SdCommanding {
+    bool cmdPending = false;
+    MessageQueueId_t commander = MessageQueueIF::NO_QUEUE;
+    DeviceCommandId_t actionId;
+  } sdCommandingInfo;
+
  RebootFile rebootFile = {};
  std::string currMntPrefix;
-  bool performOneShotSdCardOpsSwitch = true;
+  bool performOneShotSdCardOpsSwitch = false;
+  uint8_t shortSdCardCdCounter = 0;
+  Countdown sdCardCheckCd = Countdown(INIT_SD_CARD_CHECK_TIMEOUT);

  /**
   * Index 0: Chip 0 Copy 0
@ -195,11 +226,19 @@ class CoreController : public ExtendedControllerBase {
  PeriodicOperationDivider opDivider5;
  PeriodicOperationDivider opDivider10;

+  PoolEntry<float> tempPoolEntry = PoolEntry<float>(0.0);
+  PoolEntry<float> psVoltageEntry = PoolEntry<float>(0.0);
+  PoolEntry<float> plVoltageEntry = PoolEntry<float>(0.0);
+
  core::HkSet hkSet;

+#if OBSW_SD_CARD_MUST_BE_ON == 1
+  bool remountAttemptFlag = true;
+#endif
+
  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                        LocalDataPoolManager& poolManager) override;
-  Countdown sdCardCheckCd = Countdown(120000);
+
  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
  void performMountedSdCardOperations();
@ -208,15 +247,18 @@ class CoreController : public ExtendedControllerBase {
  ReturnValue_t initClockFromTimeFile();
  ReturnValue_t performSdCardCheck();
  ReturnValue_t timeFileHandler();
-  ReturnValue_t initBootCopy();
+  ReturnValue_t initBootCopyFile();
  ReturnValue_t initWatchdogFifo();
  ReturnValue_t initSdCardBlocking();
+  bool startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mode, MessageQueueId_t commander,
+                           DeviceCommandId_t actionId);
  void initPrint();

  ReturnValue_t sdStateMachine();
  void updateSdInfoOther();
  ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
                            bool printOutput = true);
+  ReturnValue_t executeSwUpdate(SwUpdateSources sourceDir, const uint8_t* data, size_t size);
  ReturnValue_t sdColdRedundantBlockingInit();

  void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@ -1,536 +0,0 @@
-#include "bsp_q7s/core/InitMission.h"
-
-#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
-
-#include <iostream>
-#include <vector>
-
-#include "OBSWConfig.h"
-#include "bsp_q7s/core/ObjectFactory.h"
-#include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/objectmanager/ObjectManagerIF.h"
-#include "fsfw/platform.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
-#include "fsfw/tasks/FixedTimeslotTaskIF.h"
-#include "fsfw/tasks/PeriodicTaskIF.h"
-#include "fsfw/tasks/TaskFactory.h"
-#include "mission/devices/devicedefinitions/Max31865Definitions.h"
-#include "mission/utility/InitMission.h"
-#include "pollingsequence/pollingSequenceFactory.h"
-
-/* This is configured for linux without CR */
-#ifdef PLATFORM_UNIX
-ServiceInterfaceStream sif::debug("DEBUG");
-ServiceInterfaceStream sif::info("INFO");
-ServiceInterfaceStream sif::warning("WARNING");
-ServiceInterfaceStream sif::error("ERROR");
-#else
-ServiceInterfaceStream sif::debug("DEBUG", true);
-ServiceInterfaceStream sif::info("INFO", true);
-ServiceInterfaceStream sif::warning("WARNING", true);
-ServiceInterfaceStream sif::error("ERROR", true, false, true);
-#endif
-
-ObjectManagerIF* objectManager = nullptr;
-
-void initmission::initMission() {
-  sif::info << "Building global objects.." << std::endl;
-  try {
-    /* Instantiate global object manager and also create all objects */
-    ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
-  } catch (const std::invalid_argument& e) {
-    sif::error << "initmission::initMission: Object Construction failed with an "
-                  "invalid argument: "
-               << e.what();
-    std::exit(1);
-  }
-
-  sif::info << "Initializing all objects.." << std::endl;
-  ObjectManager::instance()->initialize();
-
-  /* This function creates and starts all tasks */
-  initTasks();
-}
-
-void initmission::initTasks() {
-  TaskFactory* factory = TaskFactory::instance();
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-  if (factory == nullptr) {
-    /* Should never happen ! */
-    return;
-  }
-#if OBSW_PRINT_MISSED_DEADLINES == 1
-  void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
-#else
-  void (*missedDeadlineFunc)(void) = nullptr;
-#endif
-
-  PeriodicTaskIF* coreController = factory->createPeriodicTask(
-      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
-  result = coreController->addComponent(objects::CORE_CONTROLLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
-  }
-
-  /* TMTC Distribution */
-  PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
-      "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
-  }
-  result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
-  }
-  result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
-  }
-
-#if OBSW_ADD_TCPIP_BRIDGE == 1
-  // TMTC bridge
-  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
-      "TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
-  }
-  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
-      "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
-  }
-#endif
-
-#if OBSW_USE_CCSDS_IP_CORE == 1
-  PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
-      "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
-  }
-
-  // Minimal distance between two received TCs amounts to 0.6 seconds
-  // If a command has not been read before the next one arrives, the old command will be
-  // overwritten by the PDEC.
-  PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
-      "PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
-  result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
-  }
-#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
-
-#if OBSW_ADD_ACS_HANDLERS == 1
-  PeriodicTaskIF* acsTask = factory->createPeriodicTask(
-      "ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
-  result = acsTask->addComponent(objects::GPS_CONTROLLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
-  }
-#endif /* OBSW_ADD_ACS_HANDLERS */
-
-  acsTask->addComponent(objects::ACS_CONTROLLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
-  }
-
-  PeriodicTaskIF* sysTask = factory->createPeriodicTask(
-      "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
-  static_cast<void>(sysTask);
-#if OBSW_ADD_ACS_HANDLERS == 1
-  result = sysTask->addComponent(objects::ACS_BOARD_ASS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
-  }
-#endif /* OBSW_ADD_ACS_HANDLERS */
-#if OBSW_ADD_RW == 1
-  result = sysTask->addComponent(objects::RW_ASS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
-  }
-#endif
-#if OBSW_ADD_SUS_BOARD_ASS == 1
-  result = sysTask->addComponent(objects::SUS_BOARD_ASS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
-  }
-#endif
-
-#if OBSW_ADD_RTD_DEVICES == 1
-  PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
-      "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
-  result = tcsPollingTask->addComponent(objects::SPI_RTD_COM_IF);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
-  }
-  PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
-      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
-  std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
-      objects::RTD_0_IC3_PLOC_HEATSPREADER,
-      objects::RTD_1_IC4_PLOC_MISSIONBOARD,
-      objects::RTD_2_IC5_4K_CAMERA,
-      objects::RTD_3_IC6_DAC_HEATSPREADER,
-      objects::RTD_4_IC7_STARTRACKER,
-      objects::RTD_5_IC8_RW1_MX_MY,
-      objects::RTD_6_IC9_DRO,
-      objects::RTD_7_IC10_SCEX,
-      objects::RTD_8_IC11_X8,
-      objects::RTD_9_IC12_HPA,
-      objects::RTD_10_IC13_PL_TX,
-      objects::RTD_11_IC14_MPA,
-      objects::RTD_12_IC15_ACU,
-      objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
-      objects::RTD_14_IC17_TCS_BOARD,
-      objects::RTD_15_IC18_IMTQ,
-  };
-  tcsTask->addComponent(objects::TCS_BOARD_ASS);
-  tcsTask->addComponent(objects::THERMAL_CONTROLLER);
-  for (const auto& rtd : rtdIds) {
-    tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
-    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_WRITE);
-    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_WRITE);
-    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
-    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
-  }
-#endif /* OBSW_ADD_RTD_DEVICES */
-
-  // FS task, task interval does not matter because it runs in permanent loop, priority low
-  // because it is a non-essential background task
-  PeriodicTaskIF* fsTask = factory->createPeriodicTask(
-      "FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
-  result = fsTask->addComponent(objects::FILE_SYSTEM_HANDLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
-  }
-
-#if OBSW_ADD_STAR_TRACKER == 1
-  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
-      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = strHelperTask->addComponent(objects::STR_HELPER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
-  }
-#endif /* OBSW_ADD_STAR_TRACKER == 1 */
-
-#if OBSW_ADD_PLOC_MPSOC == 1
-  PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
-      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
-  }
-#endif /* OBSW_ADD_PLOC_MPSOC */
-
-#if OBSW_ADD_PLOC_SUPERVISOR == 1
-  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
-      "PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
-  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
-  }
-#endif /* OBSW_ADD_PLOC_SUPERVISOR */
-
-#if OBSW_TEST_CCSDS_BRIDGE == 1
-  PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
-      "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
-  }
-#endif
-
-  std::vector<PeriodicTaskIF*> pusTasks;
-  createPusTasks(*factory, missedDeadlineFunc, pusTasks);
-  std::vector<PeriodicTaskIF*> pstTasks;
-  createPstTasks(*factory, missedDeadlineFunc, pstTasks);
-
-#if OBSW_ADD_TEST_CODE == 1
-  std::vector<PeriodicTaskIF*> testTasks;
-  createTestTasks(*factory, missedDeadlineFunc, testTasks);
-#endif
-
-  auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
-    for (const auto& task : taskVector) {
-      if (task != nullptr) {
-        task->startTask();
-      } else {
-        sif::error << "Task in vector " << name << " is invalid!" << std::endl;
-      }
-    }
-  };
-
-  sif::info << "Starting tasks.." << std::endl;
-  tmTcDistributor->startTask();
-
-#if OBSW_ADD_TCPIP_BRIDGE == 1
-  tmtcBridgeTask->startTask();
-  tmtcPollingTask->startTask();
-#endif
-
-#if OBSW_USE_CCSDS_IP_CORE == 1
-  ccsdsHandlerTask->startTask();
-  pdecHandlerTask->startTask();
-#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
-
-  coreController->startTask();
-
-  taskStarter(pstTasks, "PST task vector");
-  taskStarter(pusTasks, "PUS task vector");
-#if OBSW_ADD_TEST_CODE == 1
-  taskStarter(testTasks, "Test task vector");
-#endif
-
-#if OBSW_TEST_CCSDS_BRIDGE == 1
-  ptmeTestTask->startTask();
-#endif
-
-  fsTask->startTask();
-#if OBSW_ADD_STAR_TRACKER == 1
-  strHelperTask->startTask();
-#endif /* OBSW_ADD_STAR_TRACKER == 1 */
-
-#if OBSW_ADD_ACS_HANDLERS == 1
-  acsTask->startTask();
-#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
-  sysTask->startTask();
-#if OBSW_ADD_RTD_DEVICES == 1
-  tcsPollingTask->startTask();
-  tcsTask->startTask();
-#endif /* OBSW_ADD_RTD_DEVICES == 1 */
-#if OBSW_ADD_PLOC_SUPERVISOR == 1
-  supvHelperTask->startTask();
-#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
-  sif::info << "Tasks started.." << std::endl;
-}
-
-void initmission::createPstTasks(TaskFactory& factory,
-                                 TaskDeadlineMissedFunction missedDeadlineFunc,
-                                 std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-  /* Polling Sequence Table Default */
-#if OBSW_ADD_SPI_TEST_CODE == 0
-  FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
-      "MAIN_SPI", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
-  result = pst::pstSpi(spiPst);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
-    } else {
-      sif::error << "InitMission::initTasks: Creating SPI PST failed!" << std::endl;
-    }
-  } else {
-    taskVec.push_back(spiPst);
-  }
-#endif
-
-#if OBSW_ADD_RW == 1
-  FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
-      "RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
-  result = pst::pstSpiRw(rwPstTask);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
-    } else {
-      sif::error << "InitMission::initTasks: Creating SPI PST failed!" << std::endl;
-    }
-  } else {
-    taskVec.push_back(rwPstTask);
-  }
-#endif
-
-  FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
-      "UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
-  result = pst::pstUart(uartPst);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "InitMission::initTasks: UART PST is empty" << std::endl;
-    } else {
-      sif::error << "InitMission::initTasks: Creating UART PST failed!" << std::endl;
-    }
-  } else {
-    taskVec.push_back(uartPst);
-  }
-
-  FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
-      "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.2, missedDeadlineFunc);
-  result = pst::pstGpio(gpioPst);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "InitMission::initTasks: GPIO PST is empty" << std::endl;
-    } else {
-      sif::error << "InitMission::initTasks: Creating GPIO PST failed!" << std::endl;
-    }
-  } else {
-    taskVec.push_back(gpioPst);
-  }
-#if OBSW_ADD_I2C_TEST_CODE == 0
-  FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-      "I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
-  result = pst::pstI2c(i2cPst);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "InitMission::initTasks: I2C PST is empty" << std::endl;
-    } else {
-      sif::error << "InitMission::initTasks: Creating I2C PST failed!" << std::endl;
-    }
-  } else {
-    taskVec.push_back(i2cPst);
-  }
-#endif
-
-#if OBSW_ADD_GOMSPACE_PCDU == 1
-  FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
-      "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
-  result = pst::pstGompaceCan(gomSpacePstTask);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
-    }
-  }
-  taskVec.push_back(gomSpacePstTask);
-#endif
-}
-
-void initmission::createPusTasks(TaskFactory& factory,
-                                 TaskDeadlineMissedFunction missedDeadlineFunc,
-                                 std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-  /* PUS Services */
-  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
-      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
-  }
-  taskVec.push_back(pusVerification);
-
-  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
-      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
-  }
-  result = pusEvents->addComponent(objects::EVENT_MANAGER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
-  }
-  taskVec.push_back(pusEvents);
-
-  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
-      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  }
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
-  }
-  taskVec.push_back(pusHighPrio);
-
-  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
-      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
-
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
-  }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
-  }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_11_TC_SCHEDULER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
-  }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
-  }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
-  }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_201_HEALTH);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
-  }
-  taskVec.push_back(pusMedPrio);
-
-  PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
-      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
-  result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
-  }
-  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
-  }
-  taskVec.push_back(pusLowPrio);
-}
-
-void initmission::createTestTasks(TaskFactory& factory,
-                                  TaskDeadlineMissedFunction missedDeadlineFunc,
-                                  std::vector<PeriodicTaskIF*>& taskVec) {
-#if OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-  static_cast<void>(result);  // supress warning in case it is not used
-
-  PeriodicTaskIF* testTask = factory.createPeriodicTask(
-      "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
-
-  result = testTask->addComponent(objects::TEST_TASK);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
-  }
-
-#if OBSW_ADD_SPI_TEST_CODE == 1
-  result = testTask->addComponent(objects::SPI_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
-  }
-#endif
-#if OBSW_ADD_I2C_TEST_CODE == 1
-  result = testTask->addComponent(objects::I2C_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("I2C_TEST", objects::I2C_TEST);
-  }
-#endif
-#if OBSW_ADD_UART_TEST_CODE == 1
-  result = testTask->addComponent(objects::UART_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
-  }
-#endif
-
-  taskVec.push_back(testTask);
-
-#endif  // OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
-}
-
-/**
-                   ▄              ▄
-                  ▌▒█           ▄▀▒▌
-                  ▌▒▒█        ▄▀▒▒▒▐
-                 ▐▄▀▒▒▀▀▀▀▄▄▄▀▒▒▒▒▒▐
-               ▄▄▀▒░▒▒▒▒▒▒▒▒▒█▒▒▄█▒▐
-             ▄▀▒▒▒░░░▒▒▒░░░▒▒▒▀██▀▒▌
-            ▐▒▒▒▄▄▒▒▒▒░░░▒▒▒▒▒▒▒▀▄▒▒▌
-            ▌░░▌█▀▒▒▒▒▒▄▀█▄▒▒▒▒▒▒▒█▒▐
-           ▐░░░▒▒▒▒▒▒▒▒▌██▀▒▒░░░▒▒▒▀▄▌
-           ▌░▒▄██▄▒▒▒▒▒▒▒▒▒░░░░░░▒▒▒▒▌
-          ▌▒▀▐▄█▄█▌▄░▀▒▒░░░░░░░░░░▒▒▒▐
-          ▐▒▒▐▀▐▀▒░▄▄▒▄▒▒▒▒▒▒░▒░▒░▒▒▒▒▌
-          ▐▒▒▒▀▀▄▄▒▒▒▄▒▒▒▒▒▒▒▒░▒░▒░▒▒▐
-           ▌▒▒▒▒▒▒▀▀▀▒▒▒▒▒▒░▒░▒░▒░▒▒▒▌
-           ▐▒▒▒▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▒▄▒▒▐
-            ▀▄▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▄▒▒▒▒▌
-              ▀▄▒▒▒▒▒▒▒▒▒▒▄▄▄▀▒▒▒▒▄▀
-                ▀▄▄▄▄▄▄▀▀▀▒▒▒▒▒▄▄▀
-                   ▒▒▒▒▒▒▒▒▒▒▀▀
- **/
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@ -1,18 +1,21 @@
 #include "ObjectFactory.h"

+#include <fsfw/subsystem/Subsystem.h>
+#include <mission/system/objects/CamSwitcher.h>
+
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
 #include "bsp_q7s/callbacks/gnssCallback.h"
 #include "bsp_q7s/callbacks/pcduSwitchCb.h"
 #include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
 #include "bsp_q7s/callbacks/rwSpiCallback.h"
-#include "bsp_q7s/memory/FileSystemHandler.h"
 #include "busConf.h"
 #include "ccsdsConfig.h"
 #include "devConf.h"
 #include "devices/addresses.h"
 #include "devices/gpioIds.h"
 #include "devices/powerSwitcherList.h"
+#include "eive/definitions.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "linux/ObjectFactory.h"
 #include "linux/boardtest/I2cTestClass.h"
@ -20,8 +23,8 @@
 #include "linux/boardtest/UartTestClass.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "linux/csp/CspComIF.h"
-#include "linux/csp/CspCookie.h"
-#include "linux/devices/GPSHyperionLinuxController.h"
+#include "linux/devices/GpsHyperionLinuxController.h"
+#include "linux/devices/ScexUartReader.h"
 #include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 #include "linux/devices/ploc/PlocMPSoCHandler.h"
@ -30,22 +33,32 @@
 #include "linux/devices/ploc/PlocSupervisorHandler.h"
 #include "linux/devices/startracker/StarTrackerHandler.h"
 #include "linux/devices/startracker/StrHelper.h"
-#include "linux/obc/AxiPtmeConfig.h"
-#include "linux/obc/PapbVcInterface.h"
-#include "linux/obc/PdecHandler.h"
-#include "linux/obc/Ptme.h"
-#include "linux/obc/PtmeConfig.h"
-#include "mission/system/RwAssembly.h"
+#include "linux/ipcore/AxiPtmeConfig.h"
+#include "linux/ipcore/PapbVcInterface.h"
+#include "linux/ipcore/PdecHandler.h"
+#include "linux/ipcore/Ptme.h"
+#include "linux/ipcore/PtmeConfig.h"
+#include "mission/csp/CspCookie.h"
 #include "mission/system/fdir/AcsBoardFdir.h"
 #include "mission/system/fdir/GomspacePowerFdir.h"
 #include "mission/system/fdir/RtdFdir.h"
 #include "mission/system/fdir/SusFdir.h"
 #include "mission/system/fdir/SyrlinksFdir.h"
-#include "tmtc/apid.h"
+#include "mission/system/objects/AcsSubsystem.h"
+#include "mission/system/objects/RwAssembly.h"
+#include "mission/system/objects/TcsBoardAssembly.h"
+#include "mission/system/tree/acsModeTree.h"
+#include "mission/system/tree/comModeTree.h"
+#include "mission/system/tree/payloadModeTree.h"
+#include "mission/system/tree/tcsModeTree.h"
 #include "tmtc/pusIds.h"
 #if OBSW_TEST_LIBGPIOD == 1
 #include "linux/boardtest/LibgpiodTest.h"
 #endif
+#include <mission/devices/ImtqHandler.h>
+#include <mission/devices/PcduHandler.h>
+#include <mission/devices/SyrlinksHandler.h>
+
 #include <sstream>

 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
@ -60,26 +73,23 @@
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "fsfw_hal/linux/i2c/I2cComIF.h"
 #include "fsfw_hal/linux/i2c/I2cCookie.h"
+#include "fsfw_hal/linux/serial/SerialComIF.h"
+#include "fsfw_hal/linux/serial/SerialCookie.h"
 #include "fsfw_hal/linux/spi/SpiComIF.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
-#include "fsfw_hal/linux/uart/UartComIF.h"
-#include "fsfw_hal/linux/uart/UartCookie.h"
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/ACUHandler.h"
 #include "mission/devices/BpxBatteryHandler.h"
 #include "mission/devices/GyroADIS1650XHandler.h"
 #include "mission/devices/HeaterHandler.h"
-#include "mission/devices/IMTQHandler.h"
 #include "mission/devices/Max31865PT1000Handler.h"
 #include "mission/devices/P60DockHandler.h"
-#include "mission/devices/PCDUHandler.h"
 #include "mission/devices/PDU1Handler.h"
 #include "mission/devices/PDU2Handler.h"
 #include "mission/devices/PayloadPcduHandler.h"
 #include "mission/devices/RadiationSensorHandler.h"
 #include "mission/devices/RwHandler.h"
 #include "mission/devices/SolarArrayDeploymentHandler.h"
-#include "mission/devices/SyrlinksHkHandler.h"
 #include "mission/devices/Tmp1075Handler.h"
 #include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
@ -87,19 +97,19 @@
 #include "mission/devices/devicedefinitions/RwDefinitions.h"
 #include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
 #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
-#include "mission/system/AcsBoardAssembly.h"
-#include "mission/tmtc/CCSDSHandler.h"
-#include "mission/tmtc/TmFunnel.h"
+#include "mission/system/objects/AcsBoardAssembly.h"
+#include "mission/tmtc/CcsdsIpCoreHandler.h"
+#include "mission/tmtc/TmFunnelHandler.h"
 #include "mission/tmtc/VirtualChannel.h"

 ResetArgs RESET_ARGS_GNSS;

 void Factory::setStaticFrameworkObjectIds() {
-  PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
-  PusServiceBase::packetDestination = objects::TM_FUNNEL;
+  PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
+  PusServiceBase::PACKET_DESTINATION = objects::PUS_TM_FUNNEL;

  CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
-  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+  CommandingServiceBase::defaultPacketDestination = objects::PUS_TM_FUNNEL;

 #if OBSW_Q7S_EM == 1
  DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
@ -107,40 +117,40 @@ void Factory::setStaticFrameworkObjectIds() {
  DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
 #endif /* OBSW_Q7S_EM == 1 */

-#if OBSW_TM_TO_PTME == 1
-  TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
-#else
-  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
-#endif /* OBSW_TM_TO_PTME == 1 */
-  // No storage object for now.
-  TmFunnel::storageDestination = objects::NO_OBJECT;
-
  LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;

-  VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
-  TmPacketBase::timeStamperId = objects::TIME_STAMPER;
+  VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
 }

 void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }

 void ObjectFactory::createTmpComponents() {
-  I2cCookie* i2cCookieTmp1075tcs1 =
-      new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
-  I2cCookie* i2cCookieTmp1075tcs2 =
-      new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
+  std::vector<std::pair<object_id_t, address_t>> tmpDevIds = {{
+      {objects::TMP1075_HANDLER_TCS_0, addresses::TMP1075_TCS_0},
+      {objects::TMP1075_HANDLER_TCS_1, addresses::TMP1075_TCS_1},
+      {objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
+      // damaged
+      // {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
+      {objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
+  }};
+  std::vector<I2cCookie*> tmpDevCookies;

-  /* Temperature sensors */
-  Tmp1075Handler* tmp1075Handler_1 =
-      new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
-  (void)tmp1075Handler_1;
-  Tmp1075Handler* tmp1075Handler_2 =
-      new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
-  (void)tmp1075Handler_2;
+  for (size_t idx = 0; idx < tmpDevIds.size(); idx++) {
+    tmpDevCookies.push_back(
+        new I2cCookie(tmpDevIds[idx].second, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_PS_EIVE));
+    auto* tmpDevHandler =
+        new Tmp1075Handler(tmpDevIds[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
+    tmpDevHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
+    // TODO: Remove this after TCS subsystem was added
+    // These devices are connected to the 3V3 stack and should be powered permanently. Therefore,
+    // we set them to normal mode immediately here.
+    tmpDevHandler->setModeNormal();
+  }
 }

-void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
-                                                  SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
-                                                  SpiComIF** spiRWComIF) {
+void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
+                                                  SerialComIF** uartComIF, SpiComIF** spiMainComIF,
+                                                  I2cComIF** i2cComIF, SpiComIF** spiRWComIF) {
  if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr or
      spiRWComIF == nullptr) {
    sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
@ -151,18 +161,16 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
  /* Communication interfaces */
  new CspComIF(objects::CSP_COM_IF);
  *i2cComIF = new I2cComIF(objects::I2C_COM_IF);
-  *uartComIF = new UartComIF(objects::UART_COM_IF);
-  *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, *gpioComIF);
-  *spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, *gpioComIF);
-  /* Adding gpios for chip select decoding to the gpioComIf */
-  q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF);
+  *uartComIF = new SerialComIF(objects::UART_COM_IF);
+  *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
+  *spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
 }

 void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
-  CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
-  CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
-  CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
-  CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
+  CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_SIZE, addresses::P60DOCK, 500);
+  CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU1, 500);
+  CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU2, 500);
+  CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500);

  auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
  P60DockHandler* p60dockhandler =
@ -200,8 +208,12 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
 #endif
 }

-void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
+ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF,
+                                                      Stack5VHandler& stackHandler) {
  using namespace gpio;
+  if (gpioComIF == nullptr) {
+    return returnvalue::FAILED;
+  }
  GpioCookie* gpioCookieRadSensor = new GpioCookie;
  std::stringstream consumer;
  consumer << "0x" << std::hex << objects::RAD_SENSOR;
@ -218,21 +230,19 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
                    spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
  spiCookieRadSensor->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RAD_SENSOR_CS_TIMEOUT);
  auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,
-                                              spiCookieRadSensor, gpioComIF);
+                                              spiCookieRadSensor, gpioComIF, stackHandler);
  static_cast<void>(radSensor);
-  // The radiation sensor ADC is powered by the 5V stack connector which should always be on
-  radSensor->setStartUpImmediately();
-  // It's a simple sensor, so just to to normal mode immediately
-  radSensor->setToGoToNormalModeImmediately();
 #if OBSW_DEBUG_RAD_SENSOR == 1
  radSensor->enablePeriodicDataPrint(true);
 #endif
+  return returnvalue::OK;
 }

-void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
+void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
                                             PowerSwitchIF* pwrSwitcher) {
  using namespace gpio;
  GpioCookie* gpioCookieAcsBoard = new GpioCookie();
+  std::vector<std::reference_wrapper<DeviceHandlerBase>> assemblyChildren;

  std::stringstream consumer;
  GpiodRegularByLineName* gpio = nullptr;
@ -332,16 +342,16 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
  AcsBoardFdir* fdir = nullptr;
  static_cast<void>(fdir);

-#if OBSW_ADD_ACS_HANDLERS == 1
+#if OBSW_ADD_ACS_BOARD == 1
  std::string spiDev = q7s::SPI_DEFAULT_DEV;
  SpiCookie* spiCookie =
      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
                    spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-  auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
-                                              spiCookie, spi::LIS3_TRANSITION_DELAY);
+  auto mgmLis3Handler0 = new MgmLIS3MDLHandler(
+      objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
  fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
-  mgmLis3Handler->setCustomFdir(fdir);
-  static_cast<void>(mgmLis3Handler);
+  mgmLis3Handler0->setCustomFdir(fdir);
+  assemblyChildren.push_back(*mgmLis3Handler0);
 #if OBSW_TEST_ACS == 1
  mgmLis3Handler->setStartUpImmediately();
  mgmLis3Handler->setToGoToNormalMode(true);
@ -352,13 +362,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
  spiCookie =
      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
                    spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
-  auto mgmRm3100Handler =
+  auto mgmRm3100Handler1 =
      new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
                           spi::RM3100_TRANSITION_DELAY);
  fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
-  mgmRm3100Handler->setCustomFdir(fdir);
-  mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
-  static_cast<void>(mgmRm3100Handler);
+  mgmRm3100Handler1->setCustomFdir(fdir);
+  assemblyChildren.push_back(*mgmRm3100Handler1);
 #if OBSW_TEST_ACS == 1
  mgmRm3100Handler->setStartUpImmediately();
  mgmRm3100Handler->setToGoToNormalMode(true);
@ -369,12 +378,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
  spiCookie =
      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
                    spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-  mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
-                                         spiCookie, spi::LIS3_TRANSITION_DELAY);
+  auto* mgmLis3Handler2 = new MgmLIS3MDLHandler(
+      objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
  fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
-  mgmLis3Handler->setCustomFdir(fdir);
-  mgmLis3Handler->setParent(objects::ACS_BOARD_ASS);
-  static_cast<void>(mgmLis3Handler);
+  mgmLis3Handler2->setCustomFdir(fdir);
+  assemblyChildren.push_back(*mgmLis3Handler2);
 #if OBSW_TEST_ACS == 1
  mgmLis3Handler->setStartUpImmediately();
  mgmLis3Handler->setToGoToNormalMode(true);
@ -385,11 +393,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
  spiCookie =
      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
                    spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
-  mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF,
-                                          spiCookie, spi::RM3100_TRANSITION_DELAY);
+  auto* mgmRm3100Handler3 =
+      new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+                           spi::RM3100_TRANSITION_DELAY);
  fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
-  mgmRm3100Handler->setCustomFdir(fdir);
-  mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
+  mgmRm3100Handler3->setCustomFdir(fdir);
+  assemblyChildren.push_back(*mgmRm3100Handler3);
 #if OBSW_TEST_ACS == 1
  mgmRm3100Handler->setStartUpImmediately();
  mgmRm3100Handler->setToGoToNormalMode(true);
@ -407,8 +416,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
                               ADIS1650X::Type::ADIS16505);
  fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
  adisHandler->setCustomFdir(fdir);
-  adisHandler->setParent(objects::ACS_BOARD_ASS);
-  static_cast<void>(adisHandler);
+  assemblyChildren.push_back(*adisHandler);
 #if OBSW_TEST_ACS == 1
  adisHandler->setStartUpImmediately();
  adisHandler->setToGoToNormalModeImmediately();
@ -419,12 +427,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
  // Gyro 1 Side A
  spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
                            spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  auto gyroL3gHandler = new GyroHandlerL3GD20H(
+  auto gyroL3gHandler1 = new GyroHandlerL3GD20H(
      objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
  fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
-  gyroL3gHandler->setCustomFdir(fdir);
-  gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
-  static_cast<void>(gyroL3gHandler);
+  gyroL3gHandler1->setCustomFdir(fdir);
+  assemblyChildren.push_back(*gyroL3gHandler1);
 #if OBSW_TEST_ACS == 1
  gyroL3gHandler->setStartUpImmediately();
  gyroL3gHandler->setToGoToNormalMode(true);
@ -440,7 +447,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
                                         spiCookie, ADIS1650X::Type::ADIS16505);
  fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
  adisHandler->setCustomFdir(fdir);
-  adisHandler->setParent(objects::ACS_BOARD_ASS);
+  assemblyChildren.push_back(*adisHandler);
 #if OBSW_TEST_ACS == 1
  adisHandler->setStartUpImmediately();
  adisHandler->setToGoToNormalModeImmediately();
@ -448,11 +455,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
  // Gyro 3 Side B
  spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
                            spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF,
-                                          spiCookie, spi::L3G_TRANSITION_DELAY);
+  auto gyroL3gHandler3 = new GyroHandlerL3GD20H(
+      objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
  fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
-  gyroL3gHandler->setCustomFdir(fdir);
-  gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
+  gyroL3gHandler3->setCustomFdir(fdir);
+  assemblyChildren.push_back(*gyroL3gHandler3);
 #if OBSW_TEST_ACS == 1
  gyroL3gHandler->setStartUpImmediately();
  gyroL3gHandler->setToGoToNormalMode(true);
@ -467,16 +474,25 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
  RESET_ARGS_GNSS.gpioComIF = gpioComIF;
  RESET_ARGS_GNSS.waitPeriodMs = 100;
  auto gpsCtrl =
-      new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
+      new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
  gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);

  AcsBoardHelper acsBoardHelper = AcsBoardHelper(
      objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
      objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
      objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
-  auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
-                                     acsBoardHelper, gpioComIF);
+  auto acsAss =
+      new AcsBoardAssembly(objects::ACS_BOARD_ASS, pwrSwitcher, acsBoardHelper, gpioComIF);
  static_cast<void>(acsAss);
+  for (auto& assChild : assemblyChildren) {
+    ReturnValue_t result = assChild.get().connectModeTreeParent(*acsAss);
+    if (result != returnvalue::OK) {
+      sif::error << "Connecting assembly for ACS board component " << assChild.get().getObjectId()
+                 << " failed" << std::endl;
+    }
+  }
+  gpsCtrl->connectModeTreeParent(*acsAss);
+  acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }

@ -539,7 +555,8 @@ void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwi
                    pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
 }

-void ObjectFactory::createSolarArrayDeploymentComponents() {
+void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher,
+                                                         GpioIF& gpioIF) {
  using namespace gpio;
  GpioCookie* solarArrayDeplCookie = new GpioCookie;
  GpiodRegularByLineName* gpio = nullptr;
@ -552,33 +569,40 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
  gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), Direction::OUT,
                                    Levels::LOW);
  solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio);
+  ReturnValue_t result = gpioIF.addGpios(solarArrayDeplCookie);
+  if (result != returnvalue::OK) {
+    sif::error << "Adding Solar Array Deployment GPIO cookie failed" << std::endl;
+  }

-  // TODO: Find out burn time. For now set to 1000 ms.
-  new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
-                                  solarArrayDeplCookie, objects::PCDU_HANDLER,
+  new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, gpioIF, pwrSwitcher,
                                  pcdu::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
-                                  gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
+                                  gpioIds::DEPLSA1, gpioIds::DEPLSA2, *SdCardManager::instance());
 }

 void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
-  UartCookie* syrlinksUartCookie =
-      new UartCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
-                     syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+  auto* syrlinksUartCookie =
+      new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
+                       syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
  syrlinksUartCookie->setParityEven();

-  auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HK_HANDLER);
+  auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
  auto syrlinksHandler =
-      new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
-                            pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
+      new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
+                          pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
  syrlinksHandler->setPowerSwitcher(pwrSwitcher);
+  syrlinksHandler->setStartUpImmediately();
+  syrlinksHandler->connectModeTreeParent(satsystem::com::SUBSYSTEM);
 #if OBSW_DEBUG_SYRLINKS == 1
  syrlinksHandler->setDebugMode(true);
 #endif
 }

-void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
+void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitch) {
  using namespace gpio;
  std::stringstream consumer;
+  auto* camSwitcher =
+      new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, pcdu::PDU2_CH8_PAYLOAD_CAMERA);
+  camSwitcher->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
 #if OBSW_ADD_PLOC_MPSOC == 1
  consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
  auto gpioConfigMPSoC = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_MPSOC_UART,
@ -587,13 +611,14 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
  mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
  gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC");
  auto mpsocCookie =
-      new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
-                     mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+      new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
+                       mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
  mpsocCookie->setNoFixedSizeReply();
  auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
-  new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
-                       plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
-                       objects::PLOC_SUPERVISOR_HANDLER);
+  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::pl::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
  consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER;
@ -603,13 +628,14 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
  supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
  gpioComIF->addGpios(supvGpioCookie);
  auto supervisorCookie =
-      new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV,
-                     uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
+      new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV,
+                       uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
  supervisorCookie->setNoFixedSizeReply();
-  auto supvHelper = new PlocSupvHelper(objects::PLOC_SUPERVISOR_HELPER);
-  new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
-                            supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
-                            pcdu::PDU1_CH6_PLOC_12V, supvHelper);
+  auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
+  auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
+                                                Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
+                                                pcdu::PDU1_CH6_PLOC_12V, *supvHelper);
+  supvHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
  static_cast<void>(consumer);
 }
@ -686,13 +712,21 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
  }

  RwHelper rwHelper(rwIds);
-  auto* rwAss = new RwAssembly(objects::RW_ASS, objects::NO_OBJECT, pwrSwitcher,
-                               pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
-  static_cast<void>(rwAss);
+  auto* rwAss =
+      new RwAssembly(objects::RW_ASS, pwrSwitcher, pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
+  for (uint8_t idx = 0; idx < rws.size(); idx++) {
+    ReturnValue_t result = rws[idx]->connectModeTreeParent(*rwAss);
+    if (result != returnvalue::OK) {
+      sif::error << "Connecting RW " << static_cast<int>(idx) << " to RW assembly failed"
+                 << std::endl;
+    }
+  }
+  rwAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 #endif /* OBSW_ADD_RW == 1 */
 }

-void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
+ReturnValue_t ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF,
+                                                   CcsdsIpCoreHandler** ipCoreHandler) {
  using namespace gpio;
  // GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
  GpioCookie* gpioCookiePtmeIp = new GpioCookie;
@ -755,18 +789,26 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
 #else
  static const uint32_t TRANSMITTER_TIMEOUT = 900000;  // 15 minutes
 #endif
-  CCSDSHandler* ccsdsHandler = new CCSDSHandler(
+  *ipCoreHandler = new CcsdsIpCoreHandler(
      objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
      gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA, TRANSMITTER_TIMEOUT);
  VirtualChannel* vc = nullptr;
-  vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
-  ccsdsHandler->addVirtualChannel(ccsds::VC0, vc);
-  vc = new VirtualChannel(ccsds::VC1, common::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
-  ccsdsHandler->addVirtualChannel(ccsds::VC1, vc);
-  vc = new VirtualChannel(ccsds::VC2, common::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
-  ccsdsHandler->addVirtualChannel(ccsds::VC2, vc);
-  vc = new VirtualChannel(ccsds::VC3, common::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
-  ccsdsHandler->addVirtualChannel(ccsds::VC3, vc);
+  vc = new VirtualChannel(ccsds::VC0, config::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
+  (*ipCoreHandler)->addVirtualChannel(ccsds::VC0, vc);
+  vc = new VirtualChannel(ccsds::VC1, config::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
+  (*ipCoreHandler)->addVirtualChannel(ccsds::VC1, vc);
+  vc = new VirtualChannel(ccsds::VC2, config::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
+  (*ipCoreHandler)->addVirtualChannel(ccsds::VC2, vc);
+  vc = new VirtualChannel(ccsds::VC3, config::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
+  (*ipCoreHandler)->addVirtualChannel(ccsds::VC3, vc);
+
+  ReturnValue_t result = (*ipCoreHandler)->connectModeTreeParent(satsystem::com::SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    sif::error
+        << "ObjectFactory::createCcsdsComponents: Connecting COM subsystem to CCSDS handler failed"
+        << std::endl;
+  }
+
  GpioCookie* gpioCookiePdec = new GpioCookie;
  consumer.str("");
  consumer << "0x" << std::hex << objects::PDEC_HANDLER;
@ -775,8 +817,13 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
                                    Levels::LOW);
  gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
  gpioChecker(gpioComIF->addGpios(gpioCookiePdec), "PDEC");
+  struct UioNames uioNames {};
+  uioNames.configMemory = q7s::UIO_PDEC_CONFIG_MEMORY;
+  uioNames.ramMemory = q7s::UIO_PDEC_RAM;
+  uioNames.registers = q7s::UIO_PDEC_REGISTERS;
+  uioNames.irq = q7s::UIO_PDEC_IRQ;
  new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
-                  q7s::UIO_PDEC_CONFIG_MEMORY, q7s::UIO_PDEC_RAM, q7s::UIO_PDEC_REGISTERS);
+                  uioNames);
  GpioCookie* gpioRS485Chip = new GpioCookie;
  gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
                                    Direction::OUT, Levels::LOW);
@ -792,10 +839,12 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
                                    Direction::OUT, Levels::LOW);
  gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
  gpioChecker(gpioComIF->addGpios(gpioRS485Chip), "RS485 Transceiver");
+  return returnvalue::OK;
 }

 void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
-                                           PowerSwitchIF* pwrSwitcher) {
+                                           PowerSwitchIF* pwrSwitcher,
+                                           Stack5VHandler& stackHandler) {
  using namespace gpio;
  // Create all GPIO components first
  GpioCookie* plPcduGpios = new GpioCookie;
@ -841,10 +890,9 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
      new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS, plpcdu::MAX_ADC_REPLY_SIZE,
                    spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
  // Create device handler components
-  auto plPcduHandler = new PayloadPcduHandler(
-      objects::PLPCDU_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, gpioComIF,
-      SdCardManager::instance(), pwrSwitcher, pcdu::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
-      pcdu::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8, false);
+  auto plPcduHandler =
+      new PayloadPcduHandler(objects::PLPCDU_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+                             gpioComIF, SdCardManager::instance(), stackHandler, false);
  spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
 //  plPcduHandler->enablePeriodicPrintout(true, 5);
 //  static_cast<void>(plPcduHandler);
@ -855,6 +903,7 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
  plPcduHandler->setToGoToNormalModeImmediately(true);
  plPcduHandler->enablePeriodicPrintout(true, 10);
 #endif
+  plPcduHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
 }

 void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
@ -863,31 +912,33 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
  new SpiTestClass(objects::SPI_TEST, gpioComIF);
 #endif
 #if OBSW_ADD_I2C_TEST_CODE == 1
-  new I2cTestClass(objects::I2C_TEST, q7s::I2C_DEFAULT_DEV);
+  new I2cTestClass(objects::I2C_TEST, q7s::I2C_PL_EIVE);
 #endif
 #if OBSW_ADD_UART_TEST_CODE == 1
+  // auto* reader= new ScexUartReader(objects::SCEX_UART_READER);
  new UartTestClass(objects::UART_TEST);
 #endif
 }

 void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
-  UartCookie* starTrackerCookie =
-      new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
-                     startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
+  auto* starTrackerCookie =
+      new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
+                       startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
  starTrackerCookie->setNoFixedSizeReply();
  StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
  auto starTracker =
      new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
                             strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
  starTracker->setPowerSwitcher(pwrSwitcher);
+  starTracker->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 }

 void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
-  I2cCookie* imtqI2cCookie =
-      new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
-  auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
+  I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
+  auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
                                     pcdu::Switches::PDU1_CH3_MGT_5V);
  imtqHandler->setPowerSwitcher(pwrSwitcher);
+  imtqHandler->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
  static_cast<void>(imtqHandler);
 #if OBSW_TEST_IMTQ == 1
  imtqHandler->setStartUpImmediately();
@ -899,7 +950,7 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
 }

 void ObjectFactory::createBpxBatteryComponent() {
-  I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV);
+  I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_PL_EIVE);
  BpxBatteryHandler* bpxHandler =
      new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
  bpxHandler->setStartUpImmediately();
@ -909,17 +960,14 @@ void ObjectFactory::createBpxBatteryComponent() {
 #endif
 }

-void ObjectFactory::createMiscComponents() {
-  new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
-  new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
-}
+void ObjectFactory::createMiscComponents() { new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER); }

 void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
  CommandMessage msg;
  ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
                              duallane::A_SIDE);
  ReturnValue_t result = MessageQueueSenderIF::sendMessage(acsAss->getCommandQueue(), &msg);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::warning << "Sending mode command failed" << std::endl;
  }
 }
--- a/bsp_q7s/core/ObjectFactory.h
+++ b/bsp_q7s/core/ObjectFactory.h
@ -1,12 +1,16 @@
 #ifndef BSP_Q7S_OBJECTFACTORY_H_
 #define BSP_Q7S_OBJECTFACTORY_H_

-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/returnvalues/returnvalue.h>
+#include <mission/system/objects/Stack5VHandler.h>
+#include <mission/tmtc/CcsdsIpCoreHandler.h>
+#include <mission/tmtc/CfdpTmFunnel.h>
+#include <mission/tmtc/PusTmFunnel.h>

 #include <string>

 class LinuxLibgpioIF;
-class UartComIF;
+class SerialComIF;
 class SpiComIF;
 class I2cComIF;
 class PowerSwitchIF;
@ -19,25 +23,25 @@ namespace ObjectFactory {
 void setStatics();
 void produce(void* args);

-void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
+void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, SerialComIF** uartComIF,
                                   SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
                                   SpiComIF** spiRwComIF);
 void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
-                            PowerSwitchIF* pwrSwitcher);
+                            PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
 void createTmpComponents();
-void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
-void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
+ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
+void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
                              PowerSwitchIF* pwrSwitcher);
 void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable);
 void createImtqComponents(PowerSwitchIF* pwrSwitcher);
 void createBpxBatteryComponent();
 void createStrComponents(PowerSwitchIF* pwrSwitcher);
-void createSolarArrayDeploymentComponents();
+void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gpioIF);
 void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
-void createPayloadComponents(LinuxLibgpioIF* gpioComIF);
+void createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitcher);
 void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
-void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);
+ReturnValue_t createCcsdsComponents(LinuxLibgpioIF* gpioComIF, CcsdsIpCoreHandler** ipCoreHandler);
 void createMiscComponents();

 void createTestComponents(LinuxLibgpioIF* gpioComIF);
--- a/bsp_q7s/core/scheduling.cpp
+++ b/bsp_q7s/core/scheduling.cpp
@ -0,0 +1,654 @@
+#include "scheduling.h"
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/subsystem/Subsystem.h>
+#include <linux/scheduling.h>
+
+#include <iostream>
+#include <vector>
+
+#include "OBSWConfig.h"
+#include "bsp_q7s/core/ObjectFactory.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
+#include "fsfw/platform.h"
+#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/tasks/FixedTimeslotTaskIF.h"
+#include "fsfw/tasks/PeriodicTaskIF.h"
+#include "fsfw/tasks/TaskFactory.h"
+#include "mission/devices/devicedefinitions/Max31865Definitions.h"
+#include "mission/utility/InitMission.h"
+#include "pollingsequence/pollingSequenceFactory.h"
+
+/* This is configured for linux without CR */
+#ifdef PLATFORM_UNIX
+ServiceInterfaceStream sif::debug("DEBUG");
+ServiceInterfaceStream sif::info("INFO");
+ServiceInterfaceStream sif::warning("WARNING");
+ServiceInterfaceStream sif::error("ERROR");
+#else
+ServiceInterfaceStream sif::debug("DEBUG", true);
+ServiceInterfaceStream sif::info("INFO", true);
+ServiceInterfaceStream sif::warning("WARNING", true);
+ServiceInterfaceStream sif::error("ERROR", true, false, true);
+#endif
+
+ObjectManagerIF* objectManager = nullptr;
+
+void scheduling::initMission() {
+  sif::info << "Building global objects.." << std::endl;
+  try {
+    /* Instantiate global object manager and also create all objects */
+    ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
+  } catch (const std::invalid_argument& e) {
+    sif::error << "scheduling::initMission: Object Construction failed with an "
+                  "invalid argument: "
+               << e.what();
+    std::exit(1);
+  }
+
+  sif::info << "Initializing all objects.." << std::endl;
+  ObjectManager::instance()->initialize();
+
+  /* This function creates and starts all tasks */
+  initTasks();
+}
+
+void scheduling::initTasks() {
+  TaskFactory* factory = TaskFactory::instance();
+  ReturnValue_t result = returnvalue::OK;
+  if (factory == nullptr) {
+    /* Should never happen ! */
+    return;
+  }
+#if OBSW_PRINT_MISSED_DEADLINES == 1
+  void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
+#else
+  void (*missedDeadlineFunc)(void) = nullptr;
+#endif
+
+#if OBSW_ADD_SA_DEPL == 1
+  // Could add this to the core controller but the core controller does so many thing that I would
+  // prefer to have the solar array deployment in a seprate task.
+  PeriodicTaskIF* solarArrayDeplTask = factory->createPeriodicTask(
+      "SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
+  }
+#endif
+
+  PeriodicTaskIF* sysTask = factory->createPeriodicTask(
+      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  result = sysTask->addComponent(objects::CORE_CONTROLLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
+  }
+  result = sysTask->addComponent(objects::PL_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
+  }
+
+  /* TMTC Distribution */
+  PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
+      "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+#if OBSW_ADD_TCPIP_SERVERS == 1
+#if OBSW_ADD_TMTC_UDP_SERVER == 1
+  result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("UDP_TMTC_SERVER", objects::UDP_TMTC_SERVER);
+  }
+#endif
+#if OBSW_ADD_TMTC_TCP_SERVER == 1
+  result = tmTcDistributor->addComponent(objects::TCP_TMTC_SERVER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("TCP_TMTC_SERVER", objects::TCP_TMTC_SERVER);
+  }
+#endif
+#endif
+  result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
+  }
+  result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
+  }
+  result = tmTcDistributor->addComponent(objects::CFDP_DISTRIBUTOR);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("CFDP_DISTRIBUTOR", objects::CFDP_DISTRIBUTOR);
+  }
+  result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
+  }
+
+#if OBSW_ADD_TCPIP_SERVERS == 1
+#if OBSW_ADD_TMTC_UDP_SERVER == 1
+  PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
+      "UDP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("UDP_POLLING", objects::UDP_TMTC_POLLING_TASK);
+  }
+#endif
+#if OBSW_ADD_TMTC_TCP_SERVER == 1
+  PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
+      "TCP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK);
+  }
+#endif
+#endif
+
+  PeriodicTaskIF* comTask = factory->createPeriodicTask(
+      "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = comTask->addComponent(objects::COM_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("COM subsystem", objects::COM_SUBSYSTEM);
+  }
+#if OBSW_ADD_CCSDS_IP_CORES == 1
+  result = comTask->addComponent(objects::CCSDS_HANDLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
+  }
+
+  // Runs in IRQ mode, frequency does not really matter
+  PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
+      "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
+  }
+#endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
+
+#if OBSW_ADD_CFDP_COMPONENTS == 1
+  PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
+      "CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  result = cfdpTask->addComponent(objects::CFDP_HANDLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
+  }
+#endif
+
+#if OBSW_ADD_GPS_CTRL == 1
+  PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
+      "GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  result = gpsTask->addComponent(objects::GPS_CONTROLLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
+  }
+#endif /* OBSW_ADD_GPS_CTRL */
+
+  PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
+      "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  static_cast<void>(acsSysTask);
+  // To be removed soon because it will be part of the ACS PST.
+#if OBSW_ADD_ACS_CTRL == 1
+  acsSysTask->addComponent(objects::ACS_CONTROLLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
+  }
+#endif
+#if OBSW_ADD_ACS_BOARD == 1
+  result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
+  }
+#endif /* OBSW_ADD_ACS_HANDLERS */
+#if OBSW_ADD_RW == 1
+  result = acsSysTask->addComponent(objects::RW_ASS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("RW_ASS", objects::RW_ASS);
+  }
+#endif
+#if OBSW_ADD_SUS_BOARD_ASS == 1
+  result = acsSysTask->addComponent(objects::SUS_BOARD_ASS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
+  }
+#endif
+  result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
+  }
+
+#if OBSW_Q7S_EM == 1
+  acsSysTask->addComponent(objects::MGM_0_LIS3_HANDLER);
+  acsSysTask->addComponent(objects::MGM_1_RM3100_HANDLER);
+  acsSysTask->addComponent(objects::MGM_2_LIS3_HANDLER);
+  acsSysTask->addComponent(objects::MGM_3_RM3100_HANDLER);
+  acsSysTask->addComponent(objects::IMTQ_HANDLER);
+  acsSysTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
+  acsSysTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
+  acsSysTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
+  acsSysTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
+  acsSysTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
+  acsSysTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
+  acsSysTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
+  acsSysTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
+  acsSysTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
+  acsSysTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
+  acsSysTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
+  acsSysTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
+  acsSysTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
+  acsSysTask->addComponent(objects::GYRO_1_L3G_HANDLER);
+  acsSysTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
+  acsSysTask->addComponent(objects::GYRO_3_L3G_HANDLER);
+  acsSysTask->addComponent(objects::GPS_CONTROLLER);
+  acsSysTask->addComponent(objects::STAR_TRACKER);
+  acsSysTask->addComponent(objects::RW1);
+  acsSysTask->addComponent(objects::RW2);
+  acsSysTask->addComponent(objects::RW3);
+  acsSysTask->addComponent(objects::RW4);
+#endif
+#if OBSW_ADD_RTD_DEVICES == 1
+  PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
+      "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
+  result = tcsPollingTask->addComponent(objects::SPI_RTD_COM_IF);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
+  }
+
+  PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
+      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
+      objects::RTD_0_IC3_PLOC_HEATSPREADER,
+      objects::RTD_1_IC4_PLOC_MISSIONBOARD,
+      objects::RTD_2_IC5_4K_CAMERA,
+      objects::RTD_3_IC6_DAC_HEATSPREADER,
+      objects::RTD_4_IC7_STARTRACKER,
+      objects::RTD_5_IC8_RW1_MX_MY,
+      objects::RTD_6_IC9_DRO,
+      objects::RTD_7_IC10_SCEX,
+      objects::RTD_8_IC11_X8,
+      objects::RTD_9_IC12_HPA,
+      objects::RTD_10_IC13_PL_TX,
+      objects::RTD_11_IC14_MPA,
+      objects::RTD_12_IC15_ACU,
+      objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
+      objects::RTD_14_IC17_TCS_BOARD,
+      objects::RTD_15_IC18_IMTQ,
+  };
+
+  for (const auto& rtd : rtdIds) {
+    tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_WRITE);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_WRITE);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
+  }
+#endif
+
+  PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
+      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
+  result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("TCS_SUBSYSTEM", objects::TCS_SUBSYSTEM);
+  }
+#if OBSW_ADD_RTD_DEVICES == 1
+  result = tcsSystemTask->addComponent(objects::TCS_BOARD_ASS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
+  }
+#endif /* OBSW_ADD_RTD_DEVICES */
+#if OBSW_ADD_TCS_CTRL == 1
+  result = tcsSystemTask->addComponent(objects::THERMAL_CONTROLLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
+  }
+#endif
+#if OBSW_ADD_HEATERS == 1
+  result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
+  }
+#endif
+
+#if OBSW_ADD_STAR_TRACKER == 1
+  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
+      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = strHelperTask->addComponent(objects::STR_HELPER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("STR_HELPER", objects::STR_HELPER);
+  }
+#endif /* OBSW_ADD_STAR_TRACKER == 1 */
+
+#if OBSW_ADD_PLOC_MPSOC == 1
+  PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
+      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
+  }
+#endif /* OBSW_ADD_PLOC_MPSOC */
+
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
+      "PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
+  }
+#endif /* OBSW_ADD_PLOC_SUPERVISOR */
+
+  PeriodicTaskIF* plTask = factory->createPeriodicTask(
+      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  scheduling::addMpsocSupvHandlers(plTask);
+  plTask->addComponent(objects::CAM_SWITCHER);
+
+#if OBSW_ADD_SCEX_DEVICE == 1
+  PeriodicTaskIF* scexDevHandler;
+  PeriodicTaskIF* scexReaderTask;
+  scheduling::schedulingScex(*factory, scexDevHandler, scexReaderTask);
+#endif
+
+  std::vector<PeriodicTaskIF*> pusTasks;
+  createPusTasks(*factory, missedDeadlineFunc, pusTasks);
+  std::vector<PeriodicTaskIF*> pstTasks;
+  createPstTasks(*factory, missedDeadlineFunc, pstTasks);
+
+#if OBSW_ADD_TEST_CODE == 1
+#if OBSW_TEST_CCSDS_BRIDGE == 1
+  PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
+      "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
+  }
+#endif
+  std::vector<PeriodicTaskIF*> testTasks;
+  createTestTasks(*factory, missedDeadlineFunc, testTasks);
+#endif
+
+  auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
+    for (const auto& task : taskVector) {
+      if (task != nullptr) {
+        task->startTask();
+      } else {
+        sif::error << "Task in vector " << name << " is invalid!" << std::endl;
+      }
+    }
+  };
+
+  sif::info << "Starting tasks.." << std::endl;
+  tmTcDistributor->startTask();
+
+#if OBSW_ADD_TCPIP_SERVERS == 1
+#if OBSW_ADD_TMTC_UDP_SERVER == 1
+  udpPollingTask->startTask();
+#endif
+#if OBSW_ADD_TMTC_TCP_SERVER == 1
+  tcpPollingTask->startTask();
+#endif
+#endif
+
+  comTask->startTask();
+#if OBSW_ADD_CCSDS_IP_CORES == 1
+  pdecHandlerTask->startTask();
+#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
+
+  sysTask->startTask();
+#if OBSW_ADD_SA_DEPL == 1
+  solarArrayDeplTask->startTask();
+#endif
+
+  taskStarter(pstTasks, "PST task vector");
+  taskStarter(pusTasks, "PUS task vector");
+#if OBSW_ADD_SCEX_DEVICE == 1
+  scexDevHandler->startTask();
+  scexReaderTask->startTask();
+#endif
+
+#if OBSW_TEST_CCSDS_BRIDGE == 1
+  ptmeTestTask->startTask();
+#endif
+
+#if OBSW_ADD_CFDP_COMPONENTS == 1
+  cfdpTask->startTask();
+#endif
+
+#if OBSW_ADD_STAR_TRACKER == 1
+  strHelperTask->startTask();
+#endif /* OBSW_ADD_STAR_TRACKER == 1 */
+
+#if OBSW_ADD_GPS_CTRL == 1
+  gpsTask->startTask();
+#endif
+  acsSysTask->startTask();
+#if OBSW_ADD_RTD_DEVICES == 1
+  tcsPollingTask->startTask();
+  tcsTask->startTask();
+#endif /* OBSW_ADD_RTD_DEVICES == 1 */
+  if (not tcsSystemTask->isEmpty()) {
+    tcsSystemTask->startTask();
+  }
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  supvHelperTask->startTask();
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
+  plTask->startTask();
+
+#if OBSW_ADD_TEST_CODE == 1
+  taskStarter(testTasks, "Test task vector");
+#endif
+
+  sif::info << "Tasks started.." << std::endl;
+}
+
+void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
+                                std::vector<PeriodicTaskIF*>& taskVec) {
+  ReturnValue_t result = returnvalue::OK;
+  /* Polling Sequence Table Default */
+#if OBSW_ADD_SPI_TEST_CODE == 0
+  FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
+      "MAIN_SPI", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+  result = pst::pstSpi(spiPst);
+  if (result != returnvalue::OK) {
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
+    } else {
+      sif::error << "scheduling::initTasks: Creating SPI PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(spiPst);
+  }
+#endif
+
+#if OBSW_ADD_RW == 1
+  FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
+      "RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
+  result = pst::pstSpiRw(rwPstTask);
+  if (result != returnvalue::OK) {
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
+    } else {
+      sif::error << "scheduling::initTasks: Creating SPI PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(rwPstTask);
+  }
+#endif
+
+  FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
+      "UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+  result = pst::pstUart(uartPst);
+  if (result != returnvalue::OK) {
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "scheduling::initTasks: UART PST is empty" << std::endl;
+    } else {
+      sif::error << "scheduling::initTasks: Creating UART PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(uartPst);
+  }
+
+#if OBSW_ADD_I2C_TEST_CODE == 0
+  FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
+      "I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+  result = pst::pstI2c(i2cPst);
+  if (result != returnvalue::OK) {
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl;
+    } else {
+      sif::error << "scheduling::initTasks: Creating I2C PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(i2cPst);
+  }
+#endif
+
+#if OBSW_ADD_GOMSPACE_PCDU == 1
+  FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
+      "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
+  result = pst::pstGompaceCan(gomSpacePstTask);
+  if (result != returnvalue::OK) {
+    if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::error << "scheduling::initTasks: GomSpace PST initialization failed!" << std::endl;
+    }
+  }
+  taskVec.push_back(gomSpacePstTask);
+#endif
+}
+
+void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
+                                std::vector<PeriodicTaskIF*>& taskVec) {
+  ReturnValue_t result = returnvalue::OK;
+  /* PUS Services */
+  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
+      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
+  }
+  taskVec.push_back(pusVerification);
+
+  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
+      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
+  }
+  result = pusEvents->addComponent(objects::EVENT_MANAGER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
+  }
+  taskVec.push_back(pusEvents);
+
+  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
+      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  }
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
+  }
+
+  taskVec.push_back(pusHighPrio);
+
+  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
+      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_11_TC_SCHEDULER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_201_HEALTH);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
+  }
+  // Used for connection tests, therefore use higher priority
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_17_TEST);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
+  }
+  taskVec.push_back(pusMedPrio);
+
+  PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
+      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
+  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
+  }
+  taskVec.push_back(pusLowPrio);
+}
+
+void scheduling::createTestTasks(TaskFactory& factory,
+                                 TaskDeadlineMissedFunction missedDeadlineFunc,
+                                 std::vector<PeriodicTaskIF*>& taskVec) {
+#if OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
+  ReturnValue_t result = returnvalue::OK;
+  static_cast<void>(result);  // supress warning in case it is not used
+
+  PeriodicTaskIF* testTask = factory.createPeriodicTask(
+      "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
+
+  result = testTask->addComponent(objects::TEST_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("TEST_TASK", objects::TEST_TASK);
+  }
+
+#if OBSW_ADD_SPI_TEST_CODE == 1
+  result = testTask->addComponent(objects::SPI_TEST);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("SPI_TEST", objects::SPI_TEST);
+  }
+#endif
+#if OBSW_ADD_I2C_TEST_CODE == 1
+  result = testTask->addComponent(objects::I2C_TEST);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("I2C_TEST", objects::I2C_TEST);
+  }
+#endif
+#if OBSW_ADD_UART_TEST_CODE == 1
+  result = testTask->addComponent(objects::UART_TEST);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("UART_TEST", objects::UART_TEST);
+  }
+#endif
+
+  taskVec.push_back(testTask);
+
+#endif  // OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
+}
+
+/**
+                   ▄              ▄
+                  ▌▒█           ▄▀▒▌
+                  ▌▒▒█        ▄▀▒▒▒▐
+                 ▐▄▀▒▒▀▀▀▀▄▄▄▀▒▒▒▒▒▐
+               ▄▄▀▒░▒▒▒▒▒▒▒▒▒█▒▒▄█▒▐
+             ▄▀▒▒▒░░░▒▒▒░░░▒▒▒▀██▀▒▌
+            ▐▒▒▒▄▄▒▒▒▒░░░▒▒▒▒▒▒▒▀▄▒▒▌
+            ▌░░▌█▀▒▒▒▒▒▄▀█▄▒▒▒▒▒▒▒█▒▐
+           ▐░░░▒▒▒▒▒▒▒▒▌██▀▒▒░░░▒▒▒▀▄▌
+           ▌░▒▄██▄▒▒▒▒▒▒▒▒▒░░░░░░▒▒▒▒▌
+          ▌▒▀▐▄█▄█▌▄░▀▒▒░░░░░░░░░░▒▒▒▐
+          ▐▒▒▐▀▐▀▒░▄▄▒▄▒▒▒▒▒▒░▒░▒░▒▒▒▒▌
+          ▐▒▒▒▀▀▄▄▒▒▒▄▒▒▒▒▒▒▒▒░▒░▒░▒▒▐
+           ▌▒▒▒▒▒▒▀▀▀▒▒▒▒▒▒░▒░▒░▒░▒▒▒▌
+           ▐▒▒▒▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▒▄▒▒▐
+            ▀▄▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▄▒▒▒▒▌
+              ▀▄▒▒▒▒▒▒▒▒▒▒▄▄▄▀▒▒▒▒▄▀
+                ▀▄▄▄▄▄▄▀▀▀▒▒▒▒▒▄▄▀
+                   ▒▒▒▒▒▒▒▒▒▒▀▀
+ **/
--- a/bsp_q7s/core/InitMission.h
+++ b/bsp_q7s/core/InitMission.h
@ -8,7 +8,7 @@
 class PeriodicTaskIF;
 class TaskFactory;

-namespace initmission {
+namespace scheduling {
 void initMission();
 void initTasks();

@ -18,6 +18,6 @@ void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadl
                    std::vector<PeriodicTaskIF*>& taskVec);
 void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                     std::vector<PeriodicTaskIF*>& taskVec);
-};  // namespace initmission
+};  // namespace scheduling

 #endif /* BSP_Q7S_INITMISSION_H_ */
--- a/bsp_q7s/em/emObjectFactory.cpp
+++ b/bsp_q7s/em/emObjectFactory.cpp
@ -1,56 +1,90 @@
+#include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
 #include <fsfw/health/HealthTableIF.h>
+#include <fsfw/power/DummyPowerSwitcher.h>
+#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>

 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
 #include "bsp_q7s/core/ObjectFactory.h"
 #include "busConf.h"
-#include "commonObjects.h"
 #include "devConf.h"
+#include "dummies/helpers.h"
+#include "eive/objects.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "mission/core/GenericFactory.h"
+#include "mission/system/tree/comModeTree.h"

 void ObjectFactory::produce(void* args) {
  ObjectFactory::setStatics();
  HealthTableIF* healthTable = nullptr;
-  ObjectFactory::produceGenericObjects(&healthTable);
+  PusTmFunnel* pusFunnel = nullptr;
+  CfdpTmFunnel* cfdpFunnel = nullptr;
+  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel);

  LinuxLibgpioIF* gpioComIF = nullptr;
-  UartComIF* uartComIF = nullptr;
+  SerialComIF* uartComIF = nullptr;
  SpiComIF* spiMainComIF = nullptr;
  I2cComIF* i2cComIF = nullptr;
-  PowerSwitchIF* pwrSwitcher = nullptr;
  SpiComIF* spiRwComIF = nullptr;
  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
-  createTmpComponents();
+  /* Adding gpios for chip select decoding to the gpioComIf */
+  q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
+  gpioCallbacks::disableAllDecoder(gpioComIF);
+
+  // Hardware is usually not connected to EM, so we need to create dummies which replace lower
+  // level components.
+  dummy::DummyCfg dummyCfg;
+  dummyCfg.addCoreCtrlCfg = false;
+#if OBSW_ADD_SYRLINKS == 1
+  dummyCfg.addSyrlinksDummies = false;
+#endif
+#if OBSW_ADD_GOMSPACE_PCDU == 1
+  dummyCfg.addPowerDummies = false;
+#endif
+
+  PowerSwitchIF* pwrSwitcher = nullptr;
+#if OBSW_ADD_GOMSPACE_PCDU == 0
+  pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
+#else
+  createPcduComponents(gpioComIF, &pwrSwitcher);
+#endif
+
+  dummy::createDummies(dummyCfg, *pwrSwitcher);
+
  new CoreController(objects::CORE_CONTROLLER);

-  gpioCallbacks::disableAllDecoder(gpioComIF);
-  createPcduComponents(gpioComIF, &pwrSwitcher);
-  createRadSensorComponent(gpioComIF);
-  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
+  // Regular FM code, does not work for EM if the hardware is not connected
+  // createPcduComponents(gpioComIF, &pwrSwitcher);
+  // createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
+  // createSyrlinksComponents(pwrSwitcher);
+  // createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
+  // createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
+  // createTmpComponents();
+  // createSolarArrayDeploymentComponents();
+  // createPayloadComponents(gpioComIF);
+  // createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
+
+  // TODO: Careful! Switching this on somehow messes with the communication with the ProASIC
+  //       and will cause xsc_boot_copy commands to always boot to 0 0
+  // createRadSensorComponent(gpioComIF);

 #if OBSW_ADD_ACS_BOARD == 1
  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
 #endif
-  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
-  createSolarArrayDeploymentComponents();
-  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
-#if OBSW_ADD_SYRLINKS == 1
-#if OBSW_Q7S_EM == 1
-  createSyrlinksComponents(nullptr);
-#else
-  createSyrlinksComponents(pwrSwitcher);
-#endif /* OBSW_Q7S_EM == 1 */
-#endif /* OBSW_ADD_SYRLINKS == 1 */
-  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
-  createPayloadComponents(gpioComIF);

 #if OBSW_ADD_MGT == 1
  createImtqComponents(pwrSwitcher);
 #endif
+
+#if OBSW_ADD_SYRLINKS == 1
+  createSyrlinksComponents(pwrSwitcher);
+#endif /* OBSW_ADD_SYRLINKS == 1 */
+
+#if OBSW_ADD_RW == 1
  createReactionWheelComponents(gpioComIF, pwrSwitcher);
+#endif

 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
  createBpxBatteryComponent();
@ -59,13 +93,21 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_STAR_TRACKER == 1
  createStrComponents(pwrSwitcher);
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
-#if OBSW_USE_CCSDS_IP_CORE == 1
-  createCcsdsComponents(gpioComIF);
-#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
+#if OBSW_ADD_CCSDS_IP_CORES == 1
+  CcsdsIpCoreHandler* ipCoreHandler = nullptr;
+  createCcsdsComponents(gpioComIF, &ipCoreHandler);
+#if OBSW_TM_TO_PTME == 1
+  ObjectFactory::addTmtcIpCoresToFunnels(*ipCoreHandler, *pusFunnel, *cfdpFunnel);
+#endif
+#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
  /* Test Task */
 #if OBSW_ADD_TEST_CODE == 1
  createTestComponents(gpioComIF);
 #endif /* OBSW_ADD_TEST_CODE == 1 */
-
-  createMiscComponents();
+#if OBSW_ADD_SCEX_DEVICE == 1
+  createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
+                       pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
+#endif
+  createAcsController(true);
+  satsystem::com::init();
 }
--- a/bsp_q7s/fmObjectFactory.cpp
+++ b/bsp_q7s/fmObjectFactory.cpp
@ -1,45 +1,61 @@
+#include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
+#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
 #include "bsp_q7s/core/ObjectFactory.h"
 #include "busConf.h"
-#include "commonObjects.h"
 #include "devConf.h"
+#include "eive/objects.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "mission/core/GenericFactory.h"
+#include "mission/system/tree/system.h"

 void ObjectFactory::produce(void* args) {
  ObjectFactory::setStatics();
  HealthTableIF* healthTable = nullptr;
-  ObjectFactory::produceGenericObjects(&healthTable);
+  PusTmFunnel* pusFunnel = nullptr;
+  CfdpTmFunnel* cfdpFunnel = nullptr;
+  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel);

  LinuxLibgpioIF* gpioComIF = nullptr;
-  UartComIF* uartComIF = nullptr;
+  SerialComIF* uartComIF = nullptr;
  SpiComIF* spiMainComIF = nullptr;
  I2cComIF* i2cComIF = nullptr;
  PowerSwitchIF* pwrSwitcher = nullptr;
  SpiComIF* spiRwComIF = nullptr;
  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
-  createTmpComponents();
-  new CoreController(objects::CORE_CONTROLLER);
-
+  /* Adding gpios for chip select decoding to the gpioComIf */
+  q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
  gpioCallbacks::disableAllDecoder(gpioComIF);
+
+  new CoreController(objects::CORE_CONTROLLER);
  createPcduComponents(gpioComIF, &pwrSwitcher);
-  createRadSensorComponent(gpioComIF);
-  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
+  auto* stackHandler = new Stack5VHandler(*pwrSwitcher);
+
+#if OBSW_ADD_RAD_SENSORS == 1
+  createRadSensorComponent(gpioComIF, *stackHandler);
+#endif
+#if OBSW_ADD_SUN_SENSORS == 1
+  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV, true);
+#endif

 #if OBSW_ADD_ACS_BOARD == 1
  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
 #endif
  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
-  createSolarArrayDeploymentComponents();
-  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
+#if OBSW_ADD_TMP_DEVICES == 1
+  createTmpComponents();
+#endif
+  createSolarArrayDeploymentComponents(*pwrSwitcher, *gpioComIF);
+  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
 #if OBSW_ADD_SYRLINKS == 1
  createSyrlinksComponents(pwrSwitcher);
 #endif /* OBSW_ADD_SYRLINKS == 1 */
  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
-  createPayloadComponents(gpioComIF);
+  createPayloadComponents(gpioComIF, *pwrSwitcher);

 #if OBSW_ADD_MGT == 1
  createImtqComponents(pwrSwitcher);
@ -53,9 +69,18 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_STAR_TRACKER == 1
  createStrComponents(pwrSwitcher);
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
-#if OBSW_USE_CCSDS_IP_CORE == 1
-  createCcsdsComponents(gpioComIF);
-#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
+#if OBSW_ADD_CCSDS_IP_CORES == 1
+  CcsdsIpCoreHandler* ipCoreHandler = nullptr;
+  createCcsdsComponents(gpioComIF, &ipCoreHandler);
+#if OBSW_TM_TO_PTME == 1
+  addTmtcIpCoresToFunnels(*ipCoreHandler, *pusFunnel, *cfdpFunnel);
+#endif
+#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
+
+#if OBSW_ADD_SCEX_DEVICE == 1
+  createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
+                       pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
+#endif
  /* Test Task */
 #if OBSW_ADD_TEST_CODE == 1
  createTestComponents(gpioComIF);
@ -63,5 +88,6 @@ void ObjectFactory::produce(void* args) {

  createMiscComponents();
  createThermalController();
-  createAcsController();
+  createAcsController(true);
+  satsystem::init();
 }
--- a/bsp_q7s/fs/CMakeLists.txt
+++ b/bsp_q7s/fs/CMakeLists.txt
@ -0,0 +1,2 @@
+target_sources(${OBSW_NAME} PRIVATE helpers.cpp SdCardManager.cpp
+                                    FilesystemHelper.cpp)
--- a/bsp_q7s/memory/FilesystemHelper.cpp
+++ b/bsp_q7s/memory/FilesystemHelper.cpp
@ -3,8 +3,9 @@
 #include <filesystem>
 #include <fstream>

-#include "bsp_q7s/memory/SdCardManager.h"
-#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include "SdCardManager.h"
+#include "eive/definitions.h"
+#include "fsfw/serviceinterface.h"

 FilesystemHelper::FilesystemHelper() {}

@ -12,27 +13,26 @@ ReturnValue_t FilesystemHelper::checkPath(std::string path) {
  SdCardManager* sdcMan = SdCardManager::instance();
  if (sdcMan == nullptr) {
    sif::warning << "FilesystemHelper::checkPath: Invalid SD card manager" << std::endl;
-    return RETURN_FAILED;
+    return returnvalue::FAILED;
  }
-  if (path.substr(0, sizeof(SdCardManager::SD_0_MOUNT_POINT)) ==
-      std::string(SdCardManager::SD_0_MOUNT_POINT)) {
-    if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
+  if (path.substr(0, sizeof(config::SD_0_MOUNT_POINT)) == std::string(config::SD_0_MOUNT_POINT)) {
+    if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
      sif::warning << "FilesystemHelper::checkPath: SD card 0 not mounted" << std::endl;
      return SD_NOT_MOUNTED;
    }
-  } else if (path.substr(0, sizeof(SdCardManager::SD_1_MOUNT_POINT)) ==
-             std::string(SdCardManager::SD_1_MOUNT_POINT)) {
-    if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
+  } else if (path.substr(0, sizeof(config::SD_1_MOUNT_POINT)) ==
+             std::string(config::SD_1_MOUNT_POINT)) {
+    if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
      sif::warning << "FilesystemHelper::checkPath: SD card 1 not mounted" << std::endl;
      return SD_NOT_MOUNTED;
    }
  }
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t FilesystemHelper::fileExists(std::string file) {
  if (not std::filesystem::exists(file)) {
    return FILE_NOT_EXISTS;
  }
-  return RETURN_OK;
+  return returnvalue::OK;
 }
--- a/bsp_q7s/memory/FilesystemHelper.h
+++ b/bsp_q7s/memory/FilesystemHelper.h
@ -3,15 +3,15 @@

 #include <string>

-#include "commonClassIds.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "eive/resultClassIds.h"
+#include "fsfw/returnvalues/returnvalue.h"

 /**
 * @brief   This class implements often used functions related to the file system management.
 *
 * @author  J. Meier
 */
-class FilesystemHelper : public HasReturnvaluesIF {
+class FilesystemHelper {
 public:
  static const uint8_t INTERFACE_ID = CLASS_ID::FILE_SYSTEM_HELPER;

@ -26,7 +26,7 @@ class FilesystemHelper : public HasReturnvaluesIF {
   *
   * @param path  Path to check
   *
-   * @return  RETURN_OK if path points to SD card and the appropriate SD card is mounted or if
+   * @return  returnvalue::OK if path points to SD card and the appropriate SD card is mounted or if
   *          path does not point to SD card.
   *          Return error code if path points to SD card and the corresponding SD card is not
   *          mounted.
@ -38,7 +38,7 @@ class FilesystemHelper : public HasReturnvaluesIF {
   *
   * @param file   File to check
   *
-   * @return  RETURN_OK if file exists, otherwise return error code.
+   * @return  returnvalue::OK if file exists, otherwise return error code.
   */
  static ReturnValue_t fileExists(std::string file);

--- a/bsp_q7s/memory/SdCardManager.cpp
+++ b/bsp_q7s/memory/SdCardManager.cpp
@ -10,28 +10,28 @@
 #include <memory>

 #include "OBSWConfig.h"
-#include "common/config/commonObjects.h"
+#include "bsp_q7s/memory/scratchApi.h"
+#include "eive/definitions.h"
+#include "eive/objects.h"
 #include "fsfw/ipc/MutexFactory.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "linux/utility/utility.h"
-#include "scratchApi.h"

 SdCardManager* SdCardManager::INSTANCE = nullptr;

 SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) {
  mutex = MutexFactory::instance()->createMutex();
  ReturnValue_t result = mutex->lockMutex();
-  if (result != RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "SdCardManager::SdCardManager: Mutex lock failed" << std::endl;
  }
  uint8_t prefSdRaw = 0;
  result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw);
-  result = mutex->unlockMutex();
-  if (result != RETURN_OK) {
+  if (mutex->unlockMutex() != returnvalue::OK) {
    sif::error << "SdCardManager::SdCardManager: Mutex unlock failed" << std::endl;
  }

-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    if (result == scratch::KEY_NOT_FOUND) {
      sif::warning << "CoreController::sdCardInit: "
                      "Preferred SD card not set. Setting to 0"
@ -65,7 +65,7 @@ SdCardManager* SdCardManager::instance() {

 ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard,
                                            SdStatePair* statusPair) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  if (doMountSdCard) {
    if (not blocking) {
      sif::warning << "SdCardManager::switchOnSdCard: Two-step command but manager is"
@ -80,7 +80,7 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
    sdStatusPtr = std::make_unique<SdStatePair>();
    statusPair = sdStatusPtr.get();
    result = getSdCardsStatus(*statusPair);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != returnvalue::OK) {
      return result;
    }
  }
@ -89,7 +89,7 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
  if (sdCard == sd::SdCard::BOTH) {
    sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
                 << std::endl;
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }

  sd::SdState currentState;
@ -113,10 +113,10 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
  } else if (currentState == sd::SdState::OFF) {
    result = setSdCardState(sdCard, true);
  } else {
-    result = HasReturnvaluesIF::RETURN_FAILED;
+    result = returnvalue::FAILED;
  }

-  if (result != HasReturnvaluesIF::RETURN_OK or not doMountSdCard) {
+  if (result != returnvalue::OK or not doMountSdCard) {
    return result;
  }

@ -127,7 +127,7 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd
                                             SdStatePair* statusPair) {
  std::pair<sd::SdState, sd::SdState> active;
  ReturnValue_t result = getSdCardsStatus(active);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
  if (doUnmountSdCard) {
@ -142,7 +142,7 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd
  if (sdCard == sd::SdCard::BOTH) {
    sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
                 << std::endl;
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }
  if (sdCard == sd::SdCard::SLOT_0) {
    if (active.first == sd::SdState::OFF) {
@ -156,7 +156,7 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd

  if (doUnmountSdCard) {
    result = unmountSdCard(sdCard);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != returnvalue::OK) {
      return result;
    }
  }
@ -187,7 +187,7 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
  command << "q7hw sd set " << sdstring << " " << statestring;
  cmdExecutor.load(command.str(), blocking, printCmdOutput);
  ReturnValue_t result = cmdExecutor.execute();
-  if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
+  if (blocking and result != returnvalue::OK) {
    utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::setSdCardState");
  }
  return result;
@ -212,7 +212,10 @@ ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& active) {
  while (std::getline(sdStatus, line)) {
    processSdStatusLine(active, line, idx, currentSd);
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  if (active.first != sd::SdState::MOUNTED && active.second != sd::SdState::MOUNTED) {
+    sdCardActive = false;
+  }
+  return returnvalue::OK;
 }

 ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
@ -223,16 +226,16 @@ ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
  if (sdCard == sd::SdCard::BOTH) {
    sif::warning << "SdCardManager::mountSdCard: API does not allow sd::SdStatus::BOTH"
                 << std::endl;
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }
  string mountDev;
  string mountPoint;
  if (sdCard == sd::SdCard::SLOT_0) {
    mountDev = SD_0_DEV_NAME;
-    mountPoint = SD_0_MOUNT_POINT;
+    mountPoint = config::SD_0_MOUNT_POINT;
  } else if (sdCard == sd::SdCard::SLOT_1) {
    mountDev = SD_1_DEV_NAME;
-    mountPoint = SD_1_MOUNT_POINT;
+    mountPoint = config::SD_1_MOUNT_POINT;
  }
  if (not filesystem::exists(mountDev)) {
    sif::warning << "SdCardManager::mountSdCard: Device file does not exists. Make sure to"
@ -247,7 +250,7 @@ ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
  string sdMountCommand = "mount " + mountDev + " " + mountPoint;
  cmdExecutor.load(sdMountCommand, blocking, printCmdOutput);
  ReturnValue_t result = cmdExecutor.execute();
-  if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
+  if (blocking and result != returnvalue::OK) {
    utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
  }
  return result;
@ -261,13 +264,13 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
  if (sdCard == sd::SdCard::BOTH) {
    sif::warning << "SdCardManager::unmountSdCard: API does not allow sd::SdStatus::BOTH"
                 << std::endl;
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }
  string mountPoint;
  if (sdCard == sd::SdCard::SLOT_0) {
-    mountPoint = SD_0_MOUNT_POINT;
+    mountPoint = config::SD_0_MOUNT_POINT;
  } else if (sdCard == sd::SdCard::SLOT_1) {
-    mountPoint = SD_1_MOUNT_POINT;
+    mountPoint = config::SD_1_MOUNT_POINT;
  }
  if (not filesystem::exists(mountPoint)) {
    sif::error << "SdCardManager::unmountSdCard: Default mount point " << mountPoint
@ -285,7 +288,7 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
  }
  cmdExecutor.load(sdUnmountCommand, blocking, printCmdOutput);
  ReturnValue_t result = cmdExecutor.execute();
-  if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
+  if (blocking and result != returnvalue::OK) {
    utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::unmountSdCard");
  }
  return result;
@ -293,18 +296,13 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {

 ReturnValue_t SdCardManager::sanitizeState(SdStatePair* statusPair, sd::SdCard prefSdCard) {
  std::unique_ptr<SdStatePair> sdStatusPtr;
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  // Enforce blocking operation for now. Be careful to reset it when returning prematurely!
  bool resetNonBlockingState = false;
  if (not this->blocking) {
    blocking = true;
    resetNonBlockingState = true;
  }
-  if (prefSdCard == sd::SdCard::NONE) {
-    result = getPreferredSdCard();
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-    }
-  }
  if (statusPair == nullptr) {
    sdStatusPtr = std::make_unique<SdStatePair>();
    statusPair = sdStatusPtr.get();
@ -379,10 +377,10 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& act
  idx++;
 }

-sd::SdCard SdCardManager::getPreferredSdCard() const {
+std::optional<sd::SdCard> SdCardManager::getPreferredSdCard() const {
  MutexGuard mg(mutex);
  auto res = mg.getLockResult();
-  if (res != RETURN_OK) {
+  if (res != returnvalue::OK) {
    sif::error << "SdCardManager::getPreferredSdCard: Lock error" << std::endl;
  }
  return sdInfo.pref;
@ -391,7 +389,7 @@ sd::SdCard SdCardManager::getPreferredSdCard() const {
 ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
  MutexGuard mg(mutex);
  if (sdCard == sd::SdCard::BOTH) {
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }
  sdInfo.pref = sdCard;
  return scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sdCard));
@ -406,19 +404,15 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
  std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
  cmdExecutor.load(updateCmd, blocking, printCmdOutput);
  ReturnValue_t result = cmdExecutor.execute();
-  if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
+  if (blocking and result != returnvalue::OK) {
    utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
  }
  return result;
 }

-std::string SdCardManager::getCurrentMountPrefix() const {
+const std::string& SdCardManager::getCurrentMountPrefix() const {
  MutexGuard mg(mutex);
-  if (sdInfo.active == sd::SdCard::SLOT_0) {
-    return SD_0_MOUNT_POINT;
-  } else {
-    return SD_1_MOUNT_POINT;
-  }
+  return currentPrefix;
 }

 SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {
@ -448,10 +442,10 @@ SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {
      case (CommandExecutor::EXECUTION_FINISHED): {
        return OpStatus::SUCCESS;
      }
-      case (HasReturnvaluesIF::RETURN_OK): {
+      case (returnvalue::OK): {
        return OpStatus::ONGOING;
      }
-      case (HasReturnvaluesIF::RETURN_FAILED): {
+      case (returnvalue::FAILED): {
        return OpStatus::FAIL;
      }
      default: {
@ -465,28 +459,45 @@ void SdCardManager::setBlocking(bool blocking) { this->blocking = blocking; }

 void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = print; }

-bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
+bool SdCardManager::isSdCardUsable(std::optional<sd::SdCard> sdCard) {
+  {
+    MutexGuard mg(mutex);
+    if (markedUnusable) {
+      return false;
+    }
+  }
+
  SdCardManager::SdStatePair active;
  ReturnValue_t result = this->getSdCardsStatus(active);

-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::debug << "SdCardManager::isSdCardMounted: Failed to get SD card active state";
    return false;
  }
+  if (not sdCard) {
+    if (active.first == sd::MOUNTED or active.second == sd::MOUNTED) {
+      return true;
+    }
+    return false;
+  }
  if (sdCard == sd::SLOT_0) {
    if (active.first == sd::MOUNTED) {
      return true;
    } else {
      return false;
    }
-  } else if (sdCard == sd::SLOT_1) {
+  }
+  if (sdCard == sd::SLOT_1) {
    if (active.second == sd::MOUNTED) {
      return true;
    } else {
      return false;
    }
-  } else {
-    sif::debug << "SdCardManager::isSdCardMounted: Unknown SD card specified" << std::endl;
+  }
+  if (sdCard == sd::BOTH) {
+    if (active.first == sd::MOUNTED && active.second == sd::MOUNTED) {
+      return true;
+    }
  }
  return false;
 }
@ -494,20 +505,22 @@ bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
 ReturnValue_t SdCardManager::isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly) {
  std::ostringstream command;
  if (sdcard == sd::SdCard::SLOT_0) {
-    command << "grep -q '" << SD_0_MOUNT_POINT << " vfat ro,' /proc/mounts";
+    command << "grep -q '" << config::SD_0_MOUNT_POINT << " vfat ro,' /proc/mounts";
+  } else if (sdcard == sd::SdCard::SLOT_1) {
+    command << "grep -q '" << config::SD_1_MOUNT_POINT << " vfat ro,' /proc/mounts";
  } else {
-    command << "grep -q '" << SD_1_MOUNT_POINT << " vfat ro,' /proc/mounts";
+    return returnvalue::FAILED;
  }
  ReturnValue_t result = cmdExecutor.load(command.str(), true, false);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
  result = cmdExecutor.execute();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    int exitStatus = cmdExecutor.getLastError();
    if (exitStatus == 1) {
      readOnly = false;
-      return RETURN_OK;
+      return returnvalue::OK;
    }
    return result;
  }
@ -517,18 +530,18 @@ ReturnValue_t SdCardManager::isSdCardMountedReadOnly(sd::SdCard sdcard, bool& re
    readOnly = false;
  }
  readOnly = true;
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t SdCardManager::remountReadWrite(sd::SdCard sdcard) {
  std::ostringstream command;
  if (sdcard == sd::SdCard::SLOT_0) {
-    command << "mount -o remount,rw " << SD_0_DEV_NAME << " " << SD_0_MOUNT_POINT;
+    command << "mount -o remount,rw " << SD_0_DEV_NAME << " " << config::SD_0_MOUNT_POINT;
  } else {
-    command << "mount -o remount,rw " << SD_1_DEV_NAME << " " << SD_1_MOUNT_POINT;
+    command << "mount -o remount,rw " << SD_1_DEV_NAME << " " << config::SD_1_MOUNT_POINT;
  }
  ReturnValue_t result = cmdExecutor.load(command.str(), true, false);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
  return cmdExecutor.execute();
@ -542,16 +555,35 @@ ReturnValue_t SdCardManager::performFsck(sd::SdCard sdcard, bool printOutput, in
    command << "fsck -y " << SD_1_DEV_NAME;
  }
  ReturnValue_t result = cmdExecutor.load(command.str(), true, printOutput);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
  result = cmdExecutor.execute();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    linuxError = cmdExecutor.getLastError();
  }
  return result;
 }

-void SdCardManager::setActiveSdCard(sd::SdCard sdCard) { sdInfo.active = sdCard; }
+void SdCardManager::setActiveSdCard(sd::SdCard sdCard) {
+  MutexGuard mg(mutex);
+  sdInfo.active = sdCard;
+  if (sdInfo.active == sd::SdCard::SLOT_0) {
+    currentPrefix = config::SD_0_MOUNT_POINT;
+  } else {
+    currentPrefix = config::SD_1_MOUNT_POINT;
+  }
+}

-sd::SdCard SdCardManager::getActiveSdCard() const { return sdInfo.active; }
+std::optional<sd::SdCard> SdCardManager::getActiveSdCard() const {
+  MutexGuard mg(mutex);
+  if (markedUnusable) {
+    return std::nullopt;
+  }
+  return sdInfo.active;
+}
+
+void SdCardManager::markUnusable() {
+  MutexGuard mg(mutex);
+  markedUnusable = true;
+}
--- a/bsp_q7s/memory/SdCardManager.h
+++ b/bsp_q7s/memory/SdCardManager.h
@ -12,7 +12,7 @@

 #include "events/subsystemIdRanges.h"
 #include "fsfw/events/Event.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw_hal/linux/CommandExecutor.h"
 #include "mission/memory/SdCardMountedIF.h"
 #include "mission/memory/definitions.h"
@ -24,7 +24,7 @@ class MutexIF;
 * @brief   Manages handling of SD cards like switching them on or off or getting the current
 *          state
 */
-class SdCardManager : public SystemObject, public HasReturnvaluesIF, public SdCardMountedIF {
+class SdCardManager : public SystemObject, public SdCardMountedIF {
  friend class SdCardAccess;

 public:
@ -44,22 +44,17 @@ class SdCardManager : public SystemObject, public HasReturnvaluesIF, public SdCa

  static constexpr uint8_t INTERFACE_ID = CLASS_ID::SD_CARD_MANAGER;

-  static constexpr ReturnValue_t OP_ONGOING = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
-  static constexpr ReturnValue_t ALREADY_ON = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
-  static constexpr ReturnValue_t ALREADY_MOUNTED =
-      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 2);
-  static constexpr ReturnValue_t ALREADY_OFF = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 3);
-  static constexpr ReturnValue_t STATUS_FILE_NEXISTS =
-      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 10);
+  static constexpr ReturnValue_t OP_ONGOING = returnvalue::makeCode(INTERFACE_ID, 0);
+  static constexpr ReturnValue_t ALREADY_ON = returnvalue::makeCode(INTERFACE_ID, 1);
+  static constexpr ReturnValue_t ALREADY_MOUNTED = returnvalue::makeCode(INTERFACE_ID, 2);
+  static constexpr ReturnValue_t ALREADY_OFF = returnvalue::makeCode(INTERFACE_ID, 3);
+  static constexpr ReturnValue_t STATUS_FILE_NEXISTS = returnvalue::makeCode(INTERFACE_ID, 10);
  static constexpr ReturnValue_t STATUS_FILE_FORMAT_INVALID =
-      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 11);
-  static constexpr ReturnValue_t MOUNT_ERROR = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 12);
-  static constexpr ReturnValue_t UNMOUNT_ERROR =
-      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 13);
-  static constexpr ReturnValue_t SYSTEM_CALL_ERROR =
-      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 14);
-  static constexpr ReturnValue_t POPEN_CALL_ERROR =
-      HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 15);
+      returnvalue::makeCode(INTERFACE_ID, 11);
+  static constexpr ReturnValue_t MOUNT_ERROR = returnvalue::makeCode(INTERFACE_ID, 12);
+  static constexpr ReturnValue_t UNMOUNT_ERROR = returnvalue::makeCode(INTERFACE_ID, 13);
+  static constexpr ReturnValue_t SYSTEM_CALL_ERROR = returnvalue::makeCode(INTERFACE_ID, 14);
+  static constexpr ReturnValue_t POPEN_CALL_ERROR = returnvalue::makeCode(INTERFACE_ID, 15);

  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FILE_SYSTEM;

@ -69,8 +64,7 @@ class SdCardManager : public SystemObject, public HasReturnvaluesIF, public SdCa
  // C++17 does not support constexpr std::string yet
  static constexpr char SD_0_DEV_NAME[] = "/dev/mmcblk0p1";
  static constexpr char SD_1_DEV_NAME[] = "/dev/mmcblk1p1";
-  static constexpr char SD_0_MOUNT_POINT[] = "/mnt/sd0";
-  static constexpr char SD_1_MOUNT_POINT[] = "/mnt/sd1";
+
  static constexpr char SD_STATE_FILE[] = "/tmp/sd_status.txt";

  virtual ~SdCardManager();
@ -97,7 +91,7 @@ class SdCardManager : public SystemObject, public HasReturnvaluesIF, public SdCa
   * @param sdCard
   * @return
   */
-  sd::SdCard getPreferredSdCard() const override;
+  std::optional<sd::SdCard> getPreferredSdCard() const override;

  /**
   * Switch on the specified SD card.
@ -105,7 +99,7 @@ class SdCardManager : public SystemObject, public HasReturnvaluesIF, public SdCa
   * @param doMountSdCard     Mount the SD card after switching it on, which is necessary
   *                          to use it
   * @param statusPair        If the status pair is already available, it can be passed here
-   * @return - RETURN_OK on success, ALREADY_ON if it is already on,
+   * @return - returnvalue::OK on success, ALREADY_ON if it is already on,
   *           SYSTEM_CALL_ERROR on system error
   */
  ReturnValue_t switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard = true,
@ -117,7 +111,7 @@ class SdCardManager : public SystemObject, public HasReturnvaluesIF, public SdCa
   * @param doUnmountSdCard   Unmount the SD card before switching the card off, which makes
   *                          the operation safer
   * @param statusPair        If the status pair is already available, it can be passed here
-   * @return - RETURN_OK on success, ALREADY_ON if it is already on,
+   * @return - returnvalue::OK on success, ALREADY_ON if it is already on,
   *           SYSTEM_CALL_ERROR on system error
   */
  ReturnValue_t switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard = true,
@ -127,9 +121,9 @@ class SdCardManager : public SystemObject, public HasReturnvaluesIF, public SdCa
   * Update the state file or creates one if it does not exist. You need to call this
   * function before calling #sdCardActive
   * @return
-   *  - RETURN_OK if the state file was updated successfully
+   *  - returnvalue::OK if the state file was updated successfully
   *  - CommandExecutor::COMMAND_PENDING: Non-blocking command is pending
-   *  - RETURN_FAILED: blocking command failed
+   *  - returnvalue::FAILED: blocking command failed
   */
  ReturnValue_t updateSdCardStateFile();

@ -139,7 +133,7 @@ class SdCardManager : public SystemObject, public HasReturnvaluesIF, public SdCa
   * the status of the SD cards and set the field of the provided boolean pair.
   * @param active Pair of booleans, where the first entry is the state of the first SD card
   * and the second one the state of the second SD card
-   * @return - RETURN_OK if the state was read successfully
+   * @return - returnvalue::OK if the state was read successfully
   *         - STATUS_FILE_FORMAT_INVALID if there was an issue with the state file. The user
   *           should call #updateSdCardStateFile again in that case
   *         - STATUS_FILE_NEXISTS if the status file does not exist
@ -164,7 +158,7 @@ class SdCardManager : public SystemObject, public HasReturnvaluesIF, public SdCa
   * mounted
   * @return
   */
-  sd::SdCard getActiveSdCard() const override;
+  std::optional<sd::SdCard> getActiveSdCard() const override;

  /**
   * Unmount the specified SD card. This is recommended before switching it off. The SD card
@ -193,7 +187,7 @@ class SdCardManager : public SystemObject, public HasReturnvaluesIF, public SdCa
   * @param prefSdCardPtr
   * @return
   */
-  std::string getCurrentMountPrefix() const override;
+  const std::string& getCurrentMountPrefix() const override;

  OpStatus checkCurrentOp(Operations& currentOp);

@ -212,7 +206,7 @@ class SdCardManager : public SystemObject, public HasReturnvaluesIF, public SdCa
   *
   * @return  true if mounted, otherwise false
   */
-  bool isSdCardMounted(sd::SdCard sdCard) override;
+  bool isSdCardUsable(std::optional<sd::SdCard> sdCard) override;

  ReturnValue_t isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly);

@ -220,11 +214,15 @@ class SdCardManager : public SystemObject, public HasReturnvaluesIF, public SdCa

  ReturnValue_t performFsck(sd::SdCard sdcard, bool printOutput, int& linuxError);

+  void markUnusable();
+
 private:
  CommandExecutor cmdExecutor;
  Operations currentOp = Operations::IDLE;
  bool blocking = false;
+  bool sdCardActive = true;
  bool printCmdOutput = true;
+  bool markedUnusable = false;
  MutexIF* mutex = nullptr;

  SdCardManager();
--- a/bsp_q7s/fs/helpers.cpp
+++ b/bsp_q7s/fs/helpers.cpp
@ -0,0 +1,8 @@
+#include "helpers.h"
+
+std::filesystem::path fshelpers::getPrefixedPath(SdCardManager &man,
+                                                 std::filesystem::path pathWihtoutPrefix) {
+  auto prefix = man.getCurrentMountPrefix();
+  auto resPath = prefix / pathWihtoutPrefix;
+  return resPath;
+}
--- a/bsp_q7s/fs/helpers.h
+++ b/bsp_q7s/fs/helpers.h
@ -0,0 +1,14 @@
+#ifndef BSP_Q7S_MEMORY_HELPERS_H_
+#define BSP_Q7S_MEMORY_HELPERS_H_
+
+#include <filesystem>
+
+#include "SdCardManager.h"
+
+namespace fshelpers {
+
+std::filesystem::path getPrefixedPath(SdCardManager& man, std::filesystem::path pathWihtoutPrefix);
+
+}
+
+#endif /* BSP_Q7S_MEMORY_HELPERS_H_ */
--- a/bsp_q7s/memory/CMakeLists.txt
+++ b/bsp_q7s/memory/CMakeLists.txt
@ -1,2 +1 @@
-target_sources(${OBSW_NAME} PRIVATE FileSystemHandler.cpp SdCardManager.cpp
-                                    scratchApi.cpp FilesystemHelper.cpp)
+target_sources(${OBSW_NAME} PRIVATE scratchApi.cpp)
--- a/bsp_q7s/memory/FileSystemHandler.cpp
+++ b/bsp_q7s/memory/FileSystemHandler.cpp
@ -1,238 +0,0 @@
-#include "FileSystemHandler.h"
-
-#include <cstring>
-#include <filesystem>
-#include <fstream>
-
-#include "bsp_q7s/core/CoreController.h"
-#include "fsfw/ipc/QueueFactory.h"
-#include "fsfw/memory/GenericFileSystemMessage.h"
-#include "fsfw/tasks/TaskFactory.h"
-
-FileSystemHandler::FileSystemHandler(object_id_t fileSystemHandler)
-    : SystemObject(fileSystemHandler) {
-  auto mqArgs = MqArgs(this->getObjectId());
-  mq = QueueFactory::instance()->createMessageQueue(FS_MAX_QUEUE_SIZE,
-                                                    MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
-}
-
-FileSystemHandler::~FileSystemHandler() { QueueFactory::instance()->deleteMessageQueue(mq); }
-
-ReturnValue_t FileSystemHandler::performOperation(uint8_t unsignedChar) {
-  while (true) {
-    try {
-      fileSystemHandlerLoop();
-    } catch (std::bad_alloc& e) {
-      // Restart OBSW, hints at a memory leak
-      sif::error << "Allocation error in FileSystemHandler::performOperation" << e.what()
-                 << std::endl;
-      // Set up an error file or a special flag in the scratch buffer for these cases
-      triggerEvent(CoreController::ALLOC_FAILURE, 0, 0);
-      CoreController::incrementAllocationFailureCount();
-    }
-  }
-}
-
-void FileSystemHandler::fileSystemHandlerLoop() {
-  CommandMessage filemsg;
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-  while (true) {
-    if (opCounter % 5 == 0) {
-      if (coreCtrl->sdInitFinished()) {
-        fileSystemCheckup();
-      }
-    }
-    result = mq->receiveMessage(&filemsg);
-    if (result == MessageQueueIF::EMPTY) {
-      break;
-    } else if (result != HasReturnvaluesIF::RETURN_FAILED) {
-      sif::warning << "FileSystemHandler::performOperation: Message reception failed!" << std::endl;
-      break;
-    }
-    Command_t command = filemsg.getCommand();
-    switch (command) {
-      case (GenericFileSystemMessage::CMD_CREATE_DIRECTORY): {
-        break;
-      }
-      case (GenericFileSystemMessage::CMD_CREATE_FILE): {
-        break;
-      }
-    }
-    opCounter++;
-  }
-
-  // This task will have a low priority and will run permanently in the background
-  // so we will just run in a permanent loop here and check file system
-  // messages permanently
-  opCounter++;
-  TaskFactory::instance()->delayTask(1000);
-}
-
-void FileSystemHandler::fileSystemCheckup() {
-  SdCardManager::SdStatePair statusPair;
-  sdcMan->getSdCardsStatus(statusPair);
-  sd::SdCard preferredSdCard = sdcMan->getPreferredSdCard();
-  if ((preferredSdCard == sd::SdCard::SLOT_0) and (statusPair.first == sd::SdState::MOUNTED)) {
-    currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
-  } else if ((preferredSdCard == sd::SdCard::SLOT_1) and
-             (statusPair.second == sd::SdState::MOUNTED)) {
-    currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
-  } else {
-    std::string sdString;
-    if (preferredSdCard == sd::SdCard::SLOT_0) {
-      sdString = "0";
-    } else {
-      sdString = "1";
-    }
-    sif::warning << "FileSystemHandler::performOperation: "
-                    "Inconsistent state detected"
-                 << std::endl;
-    sif::warning << "Preferred SD card is " << sdString
-                 << " but does not appear to be mounted. Attempting fix.." << std::endl;
-    // This function will appear to fix the inconsistent state
-    ReturnValue_t result = sdcMan->sanitizeState(&statusPair, preferredSdCard);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-      // Oh no.
-      triggerEvent(SdCardManager::SANITIZATION_FAILED, 0, 0);
-      sif::error << "FileSystemHandler::fileSystemCheckup: Sanitization failed" << std::endl;
-    }
-  }
-}
-
-MessageQueueId_t FileSystemHandler::getCommandQueue() const { return mq->getId(); }
-
-ReturnValue_t FileSystemHandler::initialize() {
-  coreCtrl = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER);
-  if (coreCtrl == nullptr) {
-    sif::error << "FileSystemHandler::initialize: Could not retrieve core controller handle"
-               << std::endl;
-  }
-  sdcMan = SdCardManager::instance();
-  sd::SdCard preferredSdCard = sdcMan->getPreferredSdCard();
-  if (preferredSdCard == sd::SdCard::SLOT_0) {
-    currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
-  } else if (preferredSdCard == sd::SdCard::SLOT_1) {
-    currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t FileSystemHandler::appendToFile(const char* repositoryPath, const char* filename,
-                                              const uint8_t* data, size_t size,
-                                              uint16_t packetNumber, FileSystemArgsIF* args) {
-  auto path = getInitPath(args) / repositoryPath / filename;
-  if (not std::filesystem::exists(path)) {
-    return FILE_DOES_NOT_EXIST;
-  }
-  std::ofstream file(path, std::ios_base::app | std::ios_base::out);
-  file.write(reinterpret_cast<const char*>(data), size);
-  if (not file.good()) {
-    return GENERIC_FILE_ERROR;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t FileSystemHandler::createFile(const char* repositoryPath, const char* filename,
-                                            const uint8_t* data, size_t size,
-                                            FileSystemArgsIF* args) {
-  auto path = getInitPath(args) / filename;
-  if (std::filesystem::exists(path)) {
-    return FILE_ALREADY_EXISTS;
-  }
-  std::ofstream file(path);
-  file.write(reinterpret_cast<const char*>(data), size);
-  if (not file.good()) {
-    return GENERIC_FILE_ERROR;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t FileSystemHandler::removeFile(const char* repositoryPath, const char* filename,
-                                            FileSystemArgsIF* args) {
-  auto path = getInitPath(args) / repositoryPath / filename;
-  if (not std::filesystem::exists(path)) {
-    return FILE_DOES_NOT_EXIST;
-  }
-  int result = std::remove(path.c_str());
-  if (result != 0) {
-    sif::warning << "FileSystemHandler::deleteFile: Failed with code " << result << std::endl;
-    return GENERIC_FILE_ERROR;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t FileSystemHandler::createDirectory(const char* repositoryPath, const char* dirname,
-                                                 bool createParentDirs, FileSystemArgsIF* args) {
-  auto path = getInitPath(args) / repositoryPath / dirname;
-  if (std::filesystem::exists(path)) {
-    return DIRECTORY_ALREADY_EXISTS;
-  }
-  if (std::filesystem::create_directory(path)) {
-    return HasReturnvaluesIF::RETURN_OK;
-  }
-  sif::warning << "Creating directory " << path << " failed" << std::endl;
-  return GENERIC_FILE_ERROR;
-}
-
-ReturnValue_t FileSystemHandler::removeDirectory(const char* repositoryPath, const char* dirname,
-                                                 bool deleteRecurively, FileSystemArgsIF* args) {
-  auto path = getInitPath(args) / repositoryPath / dirname;
-  if (not std::filesystem::exists(path)) {
-    return DIRECTORY_DOES_NOT_EXIST;
-  }
-  std::error_code err;
-  if (not deleteRecurively) {
-    if (std::filesystem::remove(path, err)) {
-      return HasReturnvaluesIF::RETURN_OK;
-    } else {
-      // Check error code. Most probably denied permissions because folder is not empty
-      sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
-                      "code "
-                   << err.value() << ": " << strerror(err.value()) << std::endl;
-      if (err.value() == ENOTEMPTY) {
-        return DIRECTORY_NOT_EMPTY;
-      } else {
-        return GENERIC_FILE_ERROR;
-      }
-    }
-  } else {
-    if (std::filesystem::remove_all(path, err)) {
-      return HasReturnvaluesIF::RETURN_OK;
-    } else {
-      sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
-                      "code "
-                   << err.value() << ": " << strerror(err.value()) << std::endl;
-      // Check error code
-      if (err.value() == ENOTEMPTY) {
-        return DIRECTORY_NOT_EMPTY;
-      } else {
-        return GENERIC_FILE_ERROR;
-      }
-    }
-  }
-
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t FileSystemHandler::renameFile(const char* repositoryPath, const char* oldFilename,
-                                            const char* newFilename, FileSystemArgsIF* args) {
-  auto basepath = getInitPath(args) / repositoryPath;
-  std::filesystem::rename(basepath / oldFilename, basepath / newFilename);
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-void FileSystemHandler::parseCfg(FsCommandCfg* cfg, bool& useMountPrefix) {
-  if (cfg != nullptr) {
-    useMountPrefix = cfg->useMountPrefix;
-  }
-}
-
-std::filesystem::path FileSystemHandler::getInitPath(FileSystemArgsIF* args) {
-  bool useMountPrefix = true;
-  parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
-  std::string path;
-  if (useMountPrefix) {
-    path = currentMountPrefix;
-  }
-  return std::filesystem::path(path);
-}
--- a/bsp_q7s/memory/FileSystemHandler.h
+++ b/bsp_q7s/memory/FileSystemHandler.h
@ -1,68 +0,0 @@
-#ifndef BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
-#define BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
-
-#include <filesystem>
-#include <string>
-
-#include "OBSWConfig.h"
-#include "SdCardManager.h"
-#include "eive/definitions.h"
-#include "fsfw/ipc/MessageQueueIF.h"
-#include "fsfw/memory/HasFileSystemIF.h"
-#include "fsfw/objectmanager/SystemObject.h"
-#include "fsfw/tasks/ExecutableObjectIF.h"
-
-class CoreController;
-
-class FileSystemHandler : public SystemObject, public ExecutableObjectIF, public HasFileSystemIF {
- public:
-  struct FsCommandCfg : public FileSystemArgsIF {
-    // Can be used to automatically use mount prefix of active SD card.
-    // Otherwise, the operator has to specify the full path to the mounted SD card as well.
-    bool useMountPrefix = false;
-  };
-
-  FileSystemHandler(object_id_t fileSystemHandler);
-  virtual ~FileSystemHandler();
-
-  ReturnValue_t performOperation(uint8_t) override;
-
-  ReturnValue_t initialize() override;
-
-  /**
-   * Function to get the MessageQueueId_t of the implementing object
-   * @return MessageQueueId_t of the object
-   */
-  MessageQueueId_t getCommandQueue() const override;
-  ReturnValue_t appendToFile(const char* repositoryPath, const char* filename, const uint8_t* data,
-                             size_t size, uint16_t packetNumber,
-                             FileSystemArgsIF* args = nullptr) override;
-  ReturnValue_t createFile(const char* repositoryPath, const char* filename,
-                           const uint8_t* data = nullptr, size_t size = 0,
-                           FileSystemArgsIF* args = nullptr) override;
-  ReturnValue_t removeFile(const char* repositoryPath, const char* filename,
-                           FileSystemArgsIF* args = nullptr) override;
-  ReturnValue_t createDirectory(const char* repositoryPath, const char* dirname,
-                                bool createParentDirs, FileSystemArgsIF* args = nullptr) override;
-  ReturnValue_t removeDirectory(const char* repositoryPath, const char* dirname,
-                                bool deleteRecurively = false,
-                                FileSystemArgsIF* args = nullptr) override;
-  ReturnValue_t renameFile(const char* repositoryPath, const char* oldFilename,
-                           const char* newFilename, FileSystemArgsIF* args = nullptr) override;
-
- private:
-  CoreController* coreCtrl = nullptr;
-  MessageQueueIF* mq = nullptr;
-  std::string currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
-  static constexpr uint32_t FS_MAX_QUEUE_SIZE = config::OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE;
-
-  SdCardManager* sdcMan = nullptr;
-  uint8_t opCounter = 0;
-
-  void fileSystemHandlerLoop();
-  void fileSystemCheckup();
-  std::filesystem::path getInitPath(FileSystemArgsIF* args);
-  void parseCfg(FsCommandCfg* cfg, bool& useMountPrefix);
-};
-
-#endif /* BSP_Q7S_MEMORY_FILESYSTEMMANAGER_H_ */
--- a/bsp_q7s/memory/scratchApi.cpp
+++ b/bsp_q7s/memory/scratchApi.cpp
@ -1,28 +1,28 @@
 #include "scratchApi.h"

 ReturnValue_t scratch::writeString(std::string name, std::string string) {
-  std::ostringstream oss;
-  oss << "xsc_scratch write " << name << " \"" << string << "\"";
+  std::ostringstream oss("xsc_scratch write ", std::ostringstream::ate);
+  oss << name << " \"" << string << "\"";
  int result = std::system(oss.str().c_str());
  if (result != 0) {
    utility::handleSystemError(result, "scratch::writeString");
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t scratch::readString(std::string key, std::string &string) {
  std::ifstream file;
  std::string filename;
  ReturnValue_t result = readToFile(key, file, filename);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }

  std::string line;
  if (not std::getline(file, line)) {
    std::remove(filename.c_str());
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }

  size_t pos = line.find("=");
@ -35,16 +35,16 @@ ReturnValue_t scratch::readString(std::string key, std::string &string) {
    return KEY_NOT_FOUND;
  }
  string = line.substr(pos + 1);
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t scratch::clearValue(std::string key) {
-  std::ostringstream oss;
-  oss << "xsc_scratch clear " << key;
+  std::ostringstream oss("xsc_scratch clear ", std::ostringstream::ate);
+  oss << key;
  int result = std::system(oss.str().c_str());
  if (result != 0) {
    utility::handleSystemError(result, "scratch::clearValue");
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
--- a/bsp_q7s/memory/scratchApi.h
+++ b/bsp_q7s/memory/scratchApi.h
@ -7,7 +7,7 @@
 #include <sstream>
 #include <type_traits>

-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "linux/utility/utility.h"
 #include "returnvalues/classIds.h"
@ -21,7 +21,7 @@ static constexpr char PREFERED_SDC_KEY[] = "PREFSD";
 static constexpr char ALLOC_FAILURE_COUNT[] = "ALLOCERR";

 static constexpr uint8_t INTERFACE_ID = CLASS_ID::SCRATCH_BUFFER;
-static constexpr ReturnValue_t KEY_NOT_FOUND = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
+static constexpr ReturnValue_t KEY_NOT_FOUND = returnvalue::makeCode(INTERFACE_ID, 0);

 ReturnValue_t clearValue(std::string key);

@ -83,25 +83,25 @@ ReturnValue_t readToFile(std::string name, std::ifstream& file, std::string& fil
    } else {
      utility::handleSystemError(result, "scratch::readToFile");
      std::remove(filename.c_str());
-      return HasReturnvaluesIF::RETURN_FAILED;
+      return returnvalue::FAILED;
    }
  }
  file.open(filename);
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 }  // End of anonymous namespace

 template <typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
 inline ReturnValue_t writeNumber(std::string key, T num) noexcept {
-  std::ostringstream oss;
-  oss << "xsc_scratch write " << key << " " << std::to_string(num);
+  std::ostringstream oss("xsc_scratch write ", std::ostringstream::ate);
+  oss << key << " " << std::to_string(num);
  int result = std::system(oss.str().c_str());
  if (result != 0) {
    utility::handleSystemError(result, "scratch::writeNumber");
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 template <typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
@ -110,7 +110,7 @@ inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
  ifstream file;
  std::string filename;
  ReturnValue_t result = readToFile(key, file, filename);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    std::remove(filename.c_str());
    return result;
  }
@ -118,7 +118,7 @@ inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
  string line;
  if (not std::getline(file, line)) {
    std::remove(filename.c_str());
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }

  size_t pos = line.find("=");
@ -138,7 +138,7 @@ inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
  }

  std::remove(filename.c_str());
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 }  // namespace scratch
--- a/bsp_q7s/obsw.cpp
+++ b/bsp_q7s/obsw.cpp
@ -1,11 +1,16 @@
 #include "obsw.h"

+#include <pwd.h>
+#include <sys/types.h>
+#include <unistd.h>
+
 #include <filesystem>
+#include <fstream>
 #include <iostream>

 #include "OBSWConfig.h"
 #include "commonConfig.h"
-#include "core/InitMission.h"
+#include "core/scheduling.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/version.h"
 #include "q7sConfig.h"
@ -36,7 +41,36 @@ int obsw::obsw() {
    return OBSW_ALREADY_RUNNING;
  }
 #endif
-  initmission::initMission();
+
+  const char* homedir = nullptr;
+  homedir = getenv("HOME");
+  if (homedir == nullptr) {
+    homedir = getpwuid(getuid())->pw_dir;
+  }
+  std::filesystem::path bootDelayFile = std::filesystem::path(homedir) / "boot_delay_secs.txt";
+  // Init delay handling.
+  if (std::filesystem::exists(bootDelayFile)) {
+    std::ifstream ifile(bootDelayFile);
+    std::string lineStr;
+    unsigned int bootDelaySecs = 0;
+    unsigned int line = 0;
+    // Try to reas delay seconds from file.
+    while (std::getline(ifile, lineStr)) {
+      std::istringstream iss(lineStr);
+      if (!(iss >> bootDelaySecs)) {
+        break;
+      }
+      line++;
+    }
+    if (line == 0) {
+      // If the file is empty, assume default of 6 seconds
+      bootDelaySecs = 6;
+    }
+    std::cout << "Delaying OBSW start for " << bootDelaySecs << " seconds" << std::endl;
+    TaskFactory::delayTask(bootDelaySecs * 1000);
+  }
+
+  scheduling::initMission();

  for (;;) {
    /* Suspend main thread by sleeping it. */
--- a/bsp_q7s/xadc/Xadc.cpp
+++ b/bsp_q7s/xadc/Xadc.cpp
@ -12,20 +12,20 @@ Xadc::Xadc() {}
 Xadc::~Xadc() {}

 ReturnValue_t Xadc::getTemperature(float& temperature) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  int raw = 0;
  int offset = 0;
  float scale = 0;
  result = readValFromFile<int>(xadc::file::tempRaw.c_str(), raw);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
  result = readValFromFile<int>(xadc::file::tempOffset.c_str(), offset);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
  result = readValFromFile<float>(xadc::file::tempScale.c_str(), scale);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
  temperature = (raw + offset) * scale / 1000;
@ -35,84 +35,84 @@ ReturnValue_t Xadc::getTemperature(float& temperature) {
 ReturnValue_t Xadc::getVccPint(float& vccPint) {
  ReturnValue_t result =
      readVoltageFromSysfs(xadc::file::vccpintRaw, xadc::file::vccpintScale, vccPint);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t Xadc::getVccPaux(float& vccPaux) {
  ReturnValue_t result =
      readVoltageFromSysfs(xadc::file::vccpauxRaw, xadc::file::vccpauxScale, vccPaux);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t Xadc::getVccInt(float& vccInt) {
  ReturnValue_t result =
      readVoltageFromSysfs(xadc::file::vccintRaw, xadc::file::vccintScale, vccInt);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t Xadc::getVccAux(float& vccAux) {
  ReturnValue_t result =
      readVoltageFromSysfs(xadc::file::vccauxRaw, xadc::file::vccauxScale, vccAux);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t Xadc::getVccBram(float& vccBram) {
  ReturnValue_t result =
      readVoltageFromSysfs(xadc::file::vccbramRaw, xadc::file::vccbramScale, vccBram);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t Xadc::getVccOddr(float& vccOddr) {
  ReturnValue_t result =
      readVoltageFromSysfs(xadc::file::vccoddrRaw, xadc::file::vccoddrScale, vccOddr);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t Xadc::getVrefp(float& vrefp) {
  ReturnValue_t result = readVoltageFromSysfs(xadc::file::vrefpRaw, xadc::file::vrefpScale, vrefp);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t Xadc::getVrefn(float& vrefn) {
  ReturnValue_t result = readVoltageFromSysfs(xadc::file::vrefnRaw, xadc::file::vrefnScale, vrefn);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t Xadc::readVoltageFromSysfs(std::string rawFile, std::string scaleFile,
                                         float& voltage) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  float raw = 0;
  float scale = 0;
  result = readValFromFile(rawFile.c_str(), raw);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
  result = readValFromFile(scaleFile.c_str(), scale);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
  voltage = calculateVoltage(raw, scale);
@ -127,7 +127,7 @@ ReturnValue_t Xadc::readValFromFile(const char* filename, T& val) {
  fp = fopen(filename, "r");
  if (fp == nullptr) {
    sif::warning << "Xadc::readValFromFile: Failed to open file " << filename << std::endl;
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }
  char valstring[MAX_STR_LENGTH] = "";
  char* returnVal = fgets(valstring, MAX_STR_LENGTH, fp);
@ -135,10 +135,10 @@ ReturnValue_t Xadc::readValFromFile(const char* filename, T& val) {
    sif::warning << "Xadc::readValFromFile: Failed to read string from file " << filename
                 << std::endl;
    fclose(fp);
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }
  std::istringstream valSstream(valstring);
  valSstream >> val;
  fclose(fp);
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
--- a/bsp_q7s/xadc/Xadc.h
+++ b/bsp_q7s/xadc/Xadc.h
@ -3,7 +3,7 @@

 #include <string>

-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/returnvalue.h"

 namespace xadc {
 using namespace std;
--- a/bsp_te0720_1cfa/InitMission.cpp
+++ b/bsp_te0720_1cfa/InitMission.cpp
@ -2,7 +2,7 @@

 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/objectmanager/ObjectManagerIF.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/returnvalues/returnvalue.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 #include <fsfw/tasks/PeriodicTaskIF.h>
@ -36,7 +36,7 @@ void initmission::initMission() {

 void initmission::initTasks() {
  TaskFactory* factory = TaskFactory::instance();
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  if (factory == nullptr) {
    /* Should never happen ! */
    return;
@ -51,28 +51,28 @@ void initmission::initTasks() {
  PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
      "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "Object add component failed" << std::endl;
  }
  result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "Object add component failed" << std::endl;
  }
  result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "Object add component failed" << std::endl;
  }

  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
      "TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "Add component TMTC Bridge failed" << std::endl;
  }
  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
      "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "Add component TMTC Polling failed" << std::endl;
  }

@ -84,7 +84,7 @@ void initmission::initTasks() {
  FixedTimeslotTaskIF* pst = factory->createFixedTimeslotTask(
      "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
  result = pst::pstUart(pst);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
  }
  pstTasks.push_back(pst);
@ -93,7 +93,7 @@ void initmission::initTasks() {
  PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
  }
 #endif /* OBSW_ADD_PLOC_MPSOC == 1*/
@ -102,16 +102,16 @@ void initmission::initTasks() {
  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
      "PLOC_SUPV_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
  }
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */

-#if OBSW_USE_CCSDS_IP_CORE == 1
+#if OBSW_ADD_CCSDS_IP_CORES == 1
  PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
      "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
  }

@ -121,10 +121,10 @@ void initmission::initTasks() {
  PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
      "PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
  }
-#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
+#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */

  auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
    for (const auto& task : taskVector) {
@ -140,10 +140,10 @@ void initmission::initTasks() {
  tmtcDistributor->startTask();
  tmtcBridgeTask->startTask();
  tmtcPollingTask->startTask();
-#if OBSW_USE_CCSDS_IP_CORE == 1
+#if OBSW_ADD_CCSDS_IP_CORE == 1
  pdecHandlerTask->startTask();
  ccsdsHandlerTask->startTask();
-#endif /* #if OBSW_USE_CCSDS_IP_CORE == 1 */
+#endif /* #if OBSW_ADD_CCSDS_IP_CORE == 1 */
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
  supvHelperTask->startTask();
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
@ -160,11 +160,11 @@ void initmission::initTasks() {
 void initmission::createPusTasks(TaskFactory& factory,
                                 TaskDeadlineMissedFunction missedDeadlineFunc,
                                 std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::error << "Object add component failed" << std::endl;
  }
  taskVec.push_back(pusVerification);
@ -172,11 +172,11 @@ void initmission::createPusTasks(TaskFactory& factory,
  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
  }
  result = pusEvents->addComponent(objects::EVENT_MANAGER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
  }
  taskVec.push_back(pusEvents);
@ -184,11 +184,11 @@ void initmission::createPusTasks(TaskFactory& factory,
  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
  }
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
  }
  taskVec.push_back(pusHighPrio);
@ -196,19 +196,19 @@ void initmission::createPusTasks(TaskFactory& factory,
  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
  }
  taskVec.push_back(pusMedPrio);
@ -216,11 +216,11 @@ void initmission::createPusTasks(TaskFactory& factory,
  PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
  result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
  }
  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
  }
  taskVec.push_back(pusLowPrio);
--- a/bsp_te0720_1cfa/OBSWConfig.h.in
+++ b/bsp_te0720_1cfa/OBSWConfig.h.in
@ -13,7 +13,7 @@
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/

-#define OBSW_USE_CCSDS_IP_CORE                      0
+#define OBSW_ADD_CCSDS_IP_CORE                      0
 // Set to 1 if all telemetry should be sent to the PTME IP Core
 #define OBSW_TM_TO_PTME                             0
 // Set to 1 if telecommands are received via the PDEC IP Core
--- a/bsp_te0720_1cfa/ObjectFactory.cpp
+++ b/bsp_te0720_1cfa/ObjectFactory.cpp
@ -12,8 +12,8 @@
 #include "fsfw/tmtcservices/PusServiceBase.h"
 #include "fsfw_hal/linux/i2c/I2cComIF.h"
 #include "fsfw_hal/linux/i2c/I2cCookie.h"
-#include "fsfw_hal/linux/uart/UartComIF.h"
-#include "fsfw_hal/linux/uart/UartCookie.h"
+#include "fsfw_hal/linux/serial/SerialComIF.h"
+#include "fsfw_hal/linux/serial/SerialCookie.h"
 #include "fsfw_hal/common/gpio/GpioCookie.h"
 #include "linux/ObjectFactory.h"
 #include "linux/devices/ploc/PlocMPSoCHandler.h"
@ -59,7 +59,7 @@ void ObjectFactory::produce(void* args) {
  ObjectFactory::produceGenericObjects();

  LinuxLibgpioIF* gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);;
-  new UartComIF(objects::UART_COM_IF);
+  newSerialComIF(objects::UART_COM_IF);

 #if OBSW_ADD_PLOC_MPSOC == 1
  UartCookie* mpsocUartCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, te0720_1cfa::MPSOC_UART,
--- a/clone-submodules-no-privlibs.sh
+++ b/clone-submodules-no-privlibs.sh
@ -0,0 +1,3 @@
+#!/bin/bash
+
+git submodule update --init fsfw thirdparty/rapidcsv thirdparty/lwgps thirdparty/json
--- a/cmake/scripts/cmake-build-cfg.py
+++ b/cmake/scripts/cmake-build-cfg.py
@ -22,24 +22,38 @@ def main():
    parser = argparse.ArgumentParser(
        description="Processing arguments for CMake build configuration."
    )
-    parser.add_argument("-o", "--osal", type=str, choices=["freertos", "linux", "rtems", "host"],
-                        help="FSFW OSAL. Valid arguments: host, linux, rtems, freertos")
    parser.add_argument(
-        "-b", "--buildtype", type=str, choices=["debug", "release", "size", "reldeb"],
+        "-o",
+        "--osal",
+        type=str,
+        choices=["freertos", "linux", "rtems", "host"],
+        help="FSFW OSAL. Valid arguments: host, linux, rtems, freertos",
+    )
+    parser.add_argument(
+        "-b",
+        "--buildtype",
+        type=str,
+        choices=["debug", "release", "size", "reldeb"],
        help="CMake build type. Valid arguments: debug, release, size, reldeb (Release with Debug "
-             "Information)", default="debug"
+        "Information)",
+        default="debug",
    )
    parser.add_argument("-l", "--builddir", type=str, help="Specify build directory.")
    parser.add_argument(
-        "-g", "--generator", type=str, help="CMake Generator", choices=['make', 'ninja']
+        "-g", "--generator", type=str, help="CMake Generator", choices=["make", "ninja"]
    )
    parser.add_argument(
-        "-d", "--defines",
+        "-d",
+        "--defines",
        help="Additional custom defines passed to CMake (supply without -D prefix!)",
-        nargs="*", type=str
+        nargs="*",
+        type=str,
    )
    parser.add_argument(
-        "-t", "--target-bsp", type=str, help="Target BSP, combination of architecture and machine"
+        "-t",
+        "--target-bsp",
+        type=str,
+        help="Target BSP, combination of architecture and machine",
    )

    args = parser.parse_args()
@ -59,13 +73,13 @@ def main():
    if args.generator is None:
        generator_cmake_arg = ""
    else:
-        if args.generator == 'make':
-            if os.name == 'nt':
+        if args.generator == "make":
+            if os.name == "nt":
                generator_cmake_arg = '-G "MinGW Makefiles"'
            else:
                generator_cmake_arg = '-G "Unix Makefiles"'
-        elif args.generator == 'ninja':
-            generator_cmake_arg = '-G Ninja'
+        elif args.generator == "ninja":
+            generator_cmake_arg = "-G Ninja"
        else:
            generator_cmake_arg = args.generator

@ -79,7 +93,7 @@ def main():
        cmake_build_type = "RelWithDebInfo"

    if args.target_bsp is not None:
-        cmake_target_cfg_cmd = f"-DTGT_BSP=\"{args.target_bsp}\""
+        cmake_target_cfg_cmd = f'-DTGT_BSP="{args.target_bsp}"'
    else:
        cmake_target_cfg_cmd = ""

@ -92,10 +106,12 @@ def main():
    build_folder = cmake_build_type
    if args.builddir is not None:
        build_folder = args.builddir
-    
+
    build_path = source_location + os.path.sep + build_folder
    if os.path.isdir(build_path):
-        remove_old_dir = input(f"{build_folder} folder already exists. Remove old directory? [y/n]: ")
+        remove_old_dir = input(
+            f"{build_folder} folder already exists. Remove old directory? [y/n]: "
+        )
        if str(remove_old_dir).lower() in ["yes", "y", 1]:
            remove_old_dir = True
        else:
@ -109,17 +125,19 @@ def main():
    print(f"Navigating into build directory: {build_path}")
    os.chdir(build_folder)

-    cmake_command = f"cmake {generator_cmake_arg} -DFSFW_OSAL=\"{osal}\" " \
-                    f"-DCMAKE_BUILD_TYPE=\"{cmake_build_type}\" {cmake_target_cfg_cmd} " \
-                    f"{define_string} {source_location}"
+    cmake_command = (
+        f'cmake {generator_cmake_arg} -DFSFW_OSAL="{osal}" '
+        f'-DCMAKE_BUILD_TYPE="{cmake_build_type}" {cmake_target_cfg_cmd} '
+        f"{define_string} {source_location}"
+    )
    # Remove redundant spaces
-    cmake_command = ' '.join(cmake_command.split())
+    cmake_command = " ".join(cmake_command.split())
    print("Running CMake command: ")
-    print(f"\" {cmake_command} \"")
+    print(f'" {cmake_command} "')
    os.system(cmake_command)
    print("-- CMake configuration done. --")
-    
-    
+
+
 def rm_build_dir(path: str):
    # On windows the permissions of the build directory may have been set to read-only. If this
    # is the case the permissions are changed before trying to delete the directory.
@ -134,7 +152,9 @@ def determine_source_location() -> str:
        index += 1
        os.chdir("..")
        if index >= 5:
-            print("Error: Could not find source directory (determined by looking for fsfw folder!)")
+            print(
+                "Error: Could not find source directory (determined by looking for fsfw folder!)"
+            )
            sys.exit(1)
    return os.getcwd()

--- a/cmake/scripts/host/host-make-debug.sh
+++ b/cmake/scripts/host/host-make-debug.sh
@ -1,12 +1,14 @@
 #!/bin/bash
 cfg_script_name="cmake-build-cfg.py"
 init_dir=$(pwd)
+root_dir=""
 if [ -z "${EIVE_OBSW_ROOT}" ]; then
    counter=0
    while [ ${counter} -lt 5 ]
    do
        cd ..
        if [ -f ${cfg_script_name} ];then
+            root_dir=$(realpath "../..")
            break
        fi
        counter=$((counter=counter + 1))
@ -18,6 +20,7 @@ if [ -z "${EIVE_OBSW_ROOT}" ]; then
    fi
 else
    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+    root_dir=${EIVE_OBSW_ROOT}
 fi

 build_generator="make"
@ -34,4 +37,5 @@ echo "Running command (without the leading +):"
 set -x # Print command 
 ${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
 # Use this if commands are added which should not be printed
-# set +x
+set +x
+cd ${root_dir}/${builddir}
--- a/cmake/scripts/host/host-make-release.sh
+++ b/cmake/scripts/host/host-make-release.sh
@ -7,6 +7,7 @@ if [ -z "${EIVE_OBSW_ROOT}" ]; then
    do
        cd ..
        if [ -f ${cfg_script_name} ];then
+            root_dir=$(realpath "../..")
            break
        fi
        counter=$((counter=counter + 1))
@ -20,7 +21,7 @@ else
    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
 fi

-build_generator="Unix Makefiles"
+build_generator="make"
 os_fsfw="host"
 builddir="cmake-build-release"
 if [ "${OS}" = "Windows_NT" ]; then
@ -34,4 +35,5 @@ echo "Running command (without the leading +):"
 set -x # Print command 
 ${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -l "${builddir}"
 # Use this if commands are added which should not be printed
-# set +x
+set +x
+cd ${root_dir}/${builddir}
--- a/common/config/commonConfig.cpp
+++ b/common/config/commonConfig.cpp
@ -1,8 +1,11 @@
 #include "commonConfig.h"

-#include "fsfw/tmtcpacket/SpacePacket.h"
-#include "tmtc/apid.h"
+#include "eive/definitions.h"
+#include "fsfw/tmtcpacket/ccsds/defs.h"

 const fsfw::Version common::OBSW_VERSION{OBSW_VERSION_MAJOR, OBSW_VERSION_MINOR,
                                         OBSW_VERSION_REVISION, OBSW_VERSION_CST_GIT_SHA1};
-const uint16_t common::PUS_PACKET_ID = spacepacket::getTcSpacePacketIdFromApid(apid::EIVE_OBSW);
+const uint16_t common::PUS_PACKET_ID =
+    ccsds::getTcSpacePacketIdFromApid(config::EIVE_PUS_APID, true);
+const uint16_t common::CFDP_PACKET_ID =
+    ccsds::getTcSpacePacketIdFromApid(config::EIVE_CFDP_APID, false);
--- a/common/config/commonConfig.h.in
+++ b/common/config/commonConfig.h.in
@ -17,13 +17,9 @@ debugging. */
 #define OBSW_ADD_LWGPS_TEST                 0   

 // Disable this for mission code. It allows exchanging TMTC packets via the Ethernet port
-#define OBSW_ADD_TCPIP_BRIDGE               1
+#define OBSW_ADD_TCPIP_SERVERS              1

-// Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally
-// because UDP packets are not allowed in the VPN
-// This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
-// CCSDS IP Cores. 
-#define OBSW_USE_TMTC_TCP_BRIDGE            1
+#define OBSW_ADD_CFDP_COMPONENTS            1

 namespace common {

@ -39,14 +35,7 @@ static constexpr uint32_t OBSW_MAX_SCHEDULED_TCS = @OBSW_MAX_SCHEDULED_TCS@;
 extern const fsfw::Version OBSW_VERSION;

 extern const uint16_t PUS_PACKET_ID;
-
-static constexpr uint32_t CCSDS_HANDLER_QUEUE_SIZE = 50;
-static constexpr uint8_t NUMBER_OF_VIRTUAL_CHANNELS = 4;
-static constexpr uint8_t VC0_QUEUE_SIZE = 50;
-static constexpr uint8_t VC1_QUEUE_SIZE = 50;
-static constexpr uint8_t VC2_QUEUE_SIZE = 50;
-static constexpr uint8_t VC3_QUEUE_SIZE = 50;
-
+extern const uint16_t CFDP_PACKET_ID;
 }

 #endif /* COMMON_CONFIG_COMMONCONFIG_H_ */
--- a/common/config/devConf.h
+++ b/common/config/devConf.h
@ -1,11 +1,13 @@
 #ifndef COMMON_CONFIG_DEVCONF_H_
 #define COMMON_CONFIG_DEVCONF_H_

+#include <fsfw_hal/linux/serial/SerialCookie.h>
+
 #include <cstdint>

 #include "fsfw/timemanager/clockDefinitions.h"
+#include "fsfw_hal/linux/serial/SerialCookie.h"
 #include "fsfw_hal/linux/spi/spiDefinitions.h"
-#include "fsfw_hal/linux/uart/UartCookie.h"

 /**
 * SPI configuration will be contained here to let the device handlers remain independent
@ -55,9 +57,10 @@ namespace uart {

 static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024;
 static constexpr UartBaudRate SYRLINKS_BAUD = UartBaudRate::RATE_38400;
+static constexpr UartBaudRate SCEX_BAUD = UartBaudRate::RATE_115200;
 static constexpr UartBaudRate GNSS_BAUD = UartBaudRate::RATE_9600;
 static constexpr UartBaudRate PLOC_MPSOC_BAUD = UartBaudRate::RATE_115200;
-static constexpr UartBaudRate PLOC_SUPV_BAUD = UartBaudRate::RATE_115200;
+static constexpr UartBaudRate PLOC_SUPV_BAUD = UartBaudRate::RATE_921600;
 static constexpr UartBaudRate STAR_TRACKER_BAUD = UartBaudRate::RATE_921600;

 }  // namespace uart
--- a/linux/fsfwconfig/devices/addresses.h
+++ b/linux/fsfwconfig/devices/addresses.h
@ -9,7 +9,7 @@

 namespace addresses {
 /* Logical addresses have uint32_t datatype */
-enum logicalAddresses : address_t {
+enum LogicAddress : address_t {
  PCDU,

  MGM_0_LIS3 = objects::MGM_0_LIS3_HANDLER,
@ -43,11 +43,14 @@ enum logicalAddresses : address_t {
  DUMMY_GPS1 = 131,
 };

-enum i2cAddresses : address_t {
+enum I2cAddress : address_t {
  BPX_BATTERY = 0x07,
  IMTQ = 0x10,
-  TMP1075_TCS_1 = 0x48,
-  TMP1075_TCS_2 = 0x49,
+  TMP1075_TCS_0 = 0x48,
+  TMP1075_TCS_1 = 0x49,
+  TMP1075_PLPCDU_0 = 0x4A,
+  TMP1075_PLPCDU_1 = 0x4B,
+  TMP1075_IF_BOARD = 0x4C,
 };

 enum spiAddresses : address_t {
--- a/common/config/eive/definitions.h
+++ b/common/config/eive/definitions.h
@ -5,6 +5,21 @@

 namespace config {

+static constexpr char SD_0_MOUNT_POINT[] = "/mnt/sd0";
+static constexpr char SD_1_MOUNT_POINT[] = "/mnt/sd1";
+
+static constexpr char OBSW_UPDATE_ARCHIVE_FILE_NAME[] = "eive-sw-update.tar.xz";
+static constexpr char STRIPPED_OBSW_BINARY_FILE_NAME[] = "eive-obsw-stripped";
+static constexpr char OBSW_VERSION_FILE_NAME[] = "obsw_version.txt";
+
+static constexpr char OBSW_PATH[] = "/usr/bin/eive-obsw";
+static constexpr char OBSW_VERSION_FILE_PATH[] = "/usr/share/eive-obsw/obsw_version.txt";
+
+static constexpr uint16_t EIVE_PUS_APID = 0x65;
+static constexpr uint16_t EIVE_CFDP_APID = 0x66;
+static constexpr uint16_t EIVE_LOCAL_CFDP_ENTITY_ID = EIVE_CFDP_APID;
+static constexpr uint16_t EIVE_GROUND_CFDP_ENTITY_ID = 1;
+
 static constexpr uint32_t PL_PCDU_TRANSITION_TIMEOUT_MS = 20 * 60 * 1000;
 static constexpr uint32_t LONGEST_MODE_TIMEOUT_SECONDS = PL_PCDU_TRANSITION_TIMEOUT_MS / 1000;

@ -19,6 +34,27 @@ static constexpr uint8_t LIVE_TM = 0;
 static constexpr uint32_t MAX_PATH_SIZE = 100;
 static constexpr uint32_t MAX_FILENAME_SIZE = 50;

+static constexpr uint32_t SA_DEPL_INIT_BUFFER_SECS = 120;
+// Burn time for autonomous deployment
+static constexpr uint32_t SA_DEPL_BURN_TIME_SECS = 180;
+static constexpr uint32_t SA_DEPL_WAIT_TIME_SECS = 45 * 60;
+// HW constraints (current limit) mean that the GPIO channels need to be switched on in alternation
+static constexpr uint32_t LEGACY_SA_DEPL_CHANNEL_ALTERNATION_INTERVAL_SECS = 5;
+// Maximum allowed burn time allowed by the software.
+static constexpr uint32_t SA_DEPL_MAX_BURN_TIME = 180;
+
+static constexpr uint32_t CCSDS_HANDLER_QUEUE_SIZE = 50;
+static constexpr uint8_t NUMBER_OF_VIRTUAL_CHANNELS = 4;
+static constexpr uint8_t VC0_QUEUE_SIZE = 80;
+static constexpr uint8_t VC1_QUEUE_SIZE = 80;
+static constexpr uint8_t VC2_QUEUE_SIZE = 50;
+static constexpr uint8_t VC3_QUEUE_SIZE = 50;
+
+static constexpr uint32_t MAX_PUS_FUNNEL_QUEUE_DEPTH = 100;
+
+static constexpr uint32_t MAX_STORED_CMDS_UDP = 120;
+static constexpr uint32_t MAX_STORED_CMDS_TCP = 120;
+
 }  // namespace config

 #endif /* COMMON_CONFIG_DEFINITIONS_H_ */
--- a/common/config/eive/eventSubsystemIds.h
+++ b/common/config/eive/eventSubsystemIds.h
@ -4,6 +4,7 @@
 #include <fsfw/events/fwSubsystemIdRanges.h>

 namespace SUBSYSTEM_ID {
+
 enum : uint8_t {
  COMMON_SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
  ACS_SUBSYSTEM = 112,
@ -32,7 +33,11 @@ enum : uint8_t {
  ACU_HANDLER = 135,
  PLOC_SUPV_HELPER = 136,
  SYRLINKS = 137,
+  SCEX_HANDLER = 138,
+  CONFIGHANDLER = 139,
+  CORE = 140,
  COMMON_SUBSYSTEM_ID_END
+
 };
 }

--- a/common/config/commonObjects.h
+++ b/common/config/commonObjects.h
@ -8,18 +8,25 @@ enum commonObjects : uint32_t {
  /* First Byte 0x50-0x52 reserved for PUS Services **/
  CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
  PUS_PACKET_DISTRIBUTOR = 0x50000200,
-  TMTC_BRIDGE = 0x50000300,
-  TMTC_POLLING_TASK = 0x50000400,
+  TCP_TMTC_SERVER = 0x50000300,
+  UDP_TMTC_SERVER = 0x50000301,
+  TCP_TMTC_POLLING_TASK = 0x50000400,
+  UDP_TMTC_POLLING_TASK = 0x50000401,
  FILE_SYSTEM_HANDLER = 0x50000500,
  SDC_MANAGER = 0x50000550,
  PTME = 0x50000600,
  PDEC_HANDLER = 0x50000700,
  CCSDS_HANDLER = 0x50000800,

+  /* 0x49 ('I') for Communication Interfaces **/
+  UART_COM_IF = 0x49030003,
+  SCEX_UART_READER = 0x49010006,
+
  /* 0x43 ('C') for Controllers */
  THERMAL_CONTROLLER = 0x43400001,
  ACS_CONTROLLER = 0x43000002,
  CORE_CONTROLLER = 0x43000003,
+  GLOBAL_JSON_CFG = 0x43000006,

  /* 0x44 ('D') for device handlers */
  MGM_0_LIS3_HANDLER = 0x44120006,
@ -38,8 +45,13 @@ enum commonObjects : uint32_t {
  GPS_CONTROLLER = 0x44130045,

  IMTQ_HANDLER = 0x44140014,
-  TMP1075_HANDLER_1 = 0x44420004,
-  TMP1075_HANDLER_2 = 0x44420005,
+  TMP1075_HANDLER_TCS_0 = 0x44420004,
+  TMP1075_HANDLER_TCS_1 = 0x44420005,
+  TMP1075_HANDLER_PLPCDU_0 = 0x44420006,
+  TMP1075_HANDLER_PLPCDU_1 = 0x44420007,
+  TMP1075_HANDLER_IF_BOARD = 0x44420008,
+  // Does not exist anymore
+  // TMP1075_HANDLER_OBC_IF_BOARD = 0x44420009,
  PCDU_HANDLER = 0x442000A1,
  P60DOCK_HANDLER = 0x44250000,
  PDU1_HANDLER = 0x44250001,
@ -57,6 +69,7 @@ enum commonObjects : uint32_t {
  PLOC_MPSOC_HANDLER = 0x44330015,
  PLOC_SUPERVISOR_HANDLER = 0x44330016,
  PLOC_SUPERVISOR_HELPER = 0x44330017,
+  SCEX = 0x44330032,
  SOLAR_ARRAY_DEPL_HANDLER = 0x444100A2,
  HEATER_HANDLER = 0x444100A4,

@ -105,7 +118,12 @@ enum commonObjects : uint32_t {
  SUS_5_N_LOC_XFYMZB_PT_ZB = 0x44120037,
  SUS_11_R_LOC_XBYMZB_PT_ZB = 0x44120043,

-  SYRLINKS_HK_HANDLER = 0x445300A3,
+  SYRLINKS_HANDLER = 0x445300A3,
+  // might be obsolete, was not used in Q7S FM SW
+  // CCSDS_IP_CORE_BRIDGE = 0x73500000,
+
+  /* 0x49 ('I') for Communication Interfaces */
+  SPI_RTD_COM_IF = 0x49020006,

  // 0x60 for other stuff
  HEATER_0_PLOC_PROC_BRD = 0x60000000,
@ -121,7 +139,19 @@ enum commonObjects : uint32_t {
  ACS_BOARD_ASS = 0x73000001,
  SUS_BOARD_ASS = 0x73000002,
  TCS_BOARD_ASS = 0x73000003,
-  RW_ASS = 0x73000004
+  RW_ASS = 0x73000004,
+  CAM_SWITCHER = 0x73000006,
+  EIVE_SYSTEM = 0x73010000,
+  ACS_SUBSYSTEM = 0x73010001,
+  PL_SUBSYSTEM = 0x73010002,
+  TCS_SUBSYSTEM = 0x73010003,
+  COM_SUBSYSTEM = 0x73010004,
+
+  TM_FUNNEL = 0x73000100,
+  PUS_TM_FUNNEL = 0x73000101,
+  CFDP_TM_FUNNEL = 0x73000102,
+  CFDP_HANDLER = 0x73000205,
+  CFDP_DISTRIBUTOR = 0x73000206,
 };
 }

--- a/common/config/eive/resultClassIds.h
+++ b/common/config/eive/resultClassIds.h
--- a/common/config/tmtc/apid.h
+++ b/common/config/tmtc/apid.h
@ -1,18 +0,0 @@
-#ifndef FSFWCONFIG_TMTC_APID_H_
-#define FSFWCONFIG_TMTC_APID_H_
-
-#include <cstdint>
-
-/**
- * Application Process Definition: entity, uniquely identified by an
- * application process ID (APID), capable of generating telemetry source
- * packets and receiving telecommand packets
- *
- * EIVE APID: 0x65 / 101 / e
- * APID is a 11 bit number
- */
-namespace apid {
-static const uint16_t EIVE_OBSW = 0x65;
-}
-
-#endif /* FSFWCONFIG_TMTC_APID_H_ */
--- a/dummies/AcuDummy.cpp
+++ b/dummies/AcuDummy.cpp
@ -19,16 +19,16 @@ ReturnValue_t AcuDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {

 ReturnValue_t AcuDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                const uint8_t *commandData, size_t commandDataLen) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t AcuDummy::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
                                     size_t *foundLen) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t AcuDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 void AcuDummy::fillCommandAndReplyMap() {}
@ -37,6 +37,6 @@ uint32_t AcuDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return

 ReturnValue_t AcuDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(P60System::pool::ACU_TEMPERATURES, new PoolEntry<float>(3));
-  return HasReturnvaluesIF::RETURN_OK;
+  localDataPoolMap.emplace(ACU::pool::ACU_TEMPERATURES, new PoolEntry<float>(3));
+  return returnvalue::OK;
 }
--- a/dummies/BpxDummy.cpp
+++ b/dummies/BpxDummy.cpp
@ -19,16 +19,16 @@ ReturnValue_t BpxDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {

 ReturnValue_t BpxDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                const uint8_t *commandData, size_t commandDataLen) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t BpxDummy::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
                                     size_t *foundLen) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t BpxDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 void BpxDummy::fillCommandAndReplyMap() {}
@ -51,5 +51,5 @@ ReturnValue_t BpxDummy::initializeLocalDataPool(localpool::DataPool &localDataPo
  localDataPoolMap.emplace(BpxBattery::BATTERY_HEATER_MODE, &battheatMode);
  localDataPoolMap.emplace(BpxBattery::BATTHEAT_LOW_LIMIT, &battheatLow);
  localDataPoolMap.emplace(BpxBattery::BATTHEAT_HIGH_LIMIT, &battheatHigh);
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
--- a/dummies/CMakeLists.txt
+++ b/dummies/CMakeLists.txt
@ -12,8 +12,12 @@ target_sources(
         AcuDummy.cpp
         PduDummy.cpp
         P60DockDummy.cpp
+         SaDeploymentDummy.cpp
+         GpsDummy.cpp
         GyroAdisDummy.cpp
         GyroL3GD20Dummy.cpp
         MgmLIS3MDLDummy.cpp
         PlPcduDummy.cpp
-         CoreControllerDummy.cpp)
+         CoreControllerDummy.cpp
+         helpers.cpp
+         MgmRm3100Dummy.cpp)
--- a/dummies/ComIFDummy.cpp
+++ b/dummies/ComIFDummy.cpp
@ -4,18 +4,18 @@ ComIFDummy::ComIFDummy(object_id_t objectId) : SystemObject(objectId) {}

 ComIFDummy::~ComIFDummy() {}

-ReturnValue_t ComIFDummy::initializeInterface(CookieIF *cookie) { return RETURN_OK; }
+ReturnValue_t ComIFDummy::initializeInterface(CookieIF *cookie) { return returnvalue::OK; }

 ReturnValue_t ComIFDummy::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

-ReturnValue_t ComIFDummy::getSendSuccess(CookieIF *cookie) { return RETURN_OK; }
+ReturnValue_t ComIFDummy::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; }

 ReturnValue_t ComIFDummy::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t ComIFDummy::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }
--- a/dummies/CoreControllerDummy.cpp
+++ b/dummies/CoreControllerDummy.cpp
@ -6,24 +6,23 @@
 #include <cmath>
 #include <cstdlib>

-CoreControllerDummy::CoreControllerDummy(object_id_t objectId)
-    : ExtendedControllerBase(objectId, objects::NO_OBJECT) {}
+CoreControllerDummy::CoreControllerDummy(object_id_t objectId) : ExtendedControllerBase(objectId) {}

 ReturnValue_t CoreControllerDummy::initialize() {
  static bool done = false;
  if (not done) {
    done = true;
    ReturnValue_t result = ExtendedControllerBase::initialize();
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != returnvalue::OK) {
      return result;
    }
  }

-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t CoreControllerDummy::handleCommandMessage(CommandMessage* message) {
-  return RETURN_FAILED;
+  return returnvalue::FAILED;
 }

 void CoreControllerDummy::performControlOperation() { return; }
@ -33,7 +32,7 @@ ReturnValue_t CoreControllerDummy::initializeLocalDataPool(localpool::DataPool&
  localDataPoolMap.emplace(core::TEMPERATURE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(core::PS_VOLTAGE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(core::PL_VOLTAGE, new PoolEntry<float>({0}));
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 LocalPoolDataSetBase* CoreControllerDummy::getDataSetHandle(sid_t sid) {
@ -51,5 +50,5 @@ ReturnValue_t CoreControllerDummy::checkModeCommand(Mode_t mode, Submode_t submo
  if ((mode != MODE_OFF) && (mode != MODE_ON) && (mode != MODE_NORMAL)) {
    return INVALID_MODE;
  }
-  return RETURN_OK;
+  return returnvalue::OK;
 }
--- a/dummies/GpsDummy.cpp
+++ b/dummies/GpsDummy.cpp
@ -0,0 +1,56 @@
+#include "GpsDummy.h"
+
+#include <mission/devices/devicedefinitions/GPSDefinitions.h>
+
+GpsDummy::GpsDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie) {}
+
+GpsDummy::~GpsDummy() {}
+
+void GpsDummy::doStartUp() {}
+
+void GpsDummy::doShutDown() {}
+
+ReturnValue_t GpsDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
+
+ReturnValue_t GpsDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t GpsDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                const uint8_t *commandData, size_t commandDataLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t GpsDummy::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                                     size_t *foundLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t GpsDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  return returnvalue::OK;
+}
+
+void GpsDummy::fillCommandAndReplyMap() {}
+
+uint32_t GpsDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+
+ReturnValue_t GpsDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                LocalDataPoolManager &poolManager) {
+  localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0}, 1));
+  localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}, 1));
+  localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
+  localDataPoolMap.emplace(GpsHyperion::SPEED, new PoolEntry<double>({7684.2}));
+  localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>({0}));
+
+  return returnvalue::OK;
+}
--- a/dummies/GpsDummy.h
+++ b/dummies/GpsDummy.h
@ -0,0 +1,33 @@
+#ifndef DUMMIES_GPSDUMMY_H_
+#define DUMMIES_GPSDUMMY_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+class GpsDummy : public DeviceHandlerBase {
+ public:
+  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
+  static const DeviceCommandId_t PERIODIC_REPLY = 2;
+
+  static const uint8_t SIMPLE_COMMAND_DATA = 1;
+  static const uint8_t PERIODIC_REPLY_DATA = 2;
+
+  GpsDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  virtual ~GpsDummy();
+
+ protected:
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
+};
+
+#endif /* DUMMIES_GPSDUMMY_H_ */
--- a/dummies/GyroAdisDummy.cpp
+++ b/dummies/GyroAdisDummy.cpp
@ -3,7 +3,7 @@
 #include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"

 GyroAdisDummy::GyroAdisDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
-    : DeviceHandlerBase(objectId, comif, comCookie) {}
+    : DeviceHandlerBase(objectId, comif, comCookie), dataset(this) {}

 GyroAdisDummy::~GyroAdisDummy() {}

@ -22,16 +22,16 @@ ReturnValue_t GyroAdisDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id)
 ReturnValue_t GyroAdisDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                     const uint8_t *commandData,
                                                     size_t commandDataLen) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t GyroAdisDummy::scanForReply(const uint8_t *start, size_t len,
                                          DeviceCommandId_t *foundId, size_t *foundLen) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t GyroAdisDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 void GyroAdisDummy::fillCommandAndReplyMap() {}
@ -40,6 +40,13 @@ uint32_t GyroAdisDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { r

 ReturnValue_t GyroAdisDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                     LocalDataPoolManager &poolManager) {
+  localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_X, new PoolEntry<double>({-0.5}, true));
+  localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_Y, new PoolEntry<double>({0.2}, true));
+  localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_Z, new PoolEntry<double>({-1.2}, true));
+  localDataPoolMap.emplace(ADIS1650X::ACCELERATION_X, new PoolEntry<double>({0.0}));
+  localDataPoolMap.emplace(ADIS1650X::ACCELERATION_Y, new PoolEntry<double>({0.0}));
+  localDataPoolMap.emplace(ADIS1650X::ACCELERATION_Z, new PoolEntry<double>({0.0}));
  localDataPoolMap.emplace(ADIS1650X::TEMPERATURE, new PoolEntry<float>({0.0}));
-  return HasReturnvaluesIF::RETURN_OK;
+
+  return returnvalue::OK;
 }
--- a/dummies/GyroAdisDummy.h
+++ b/dummies/GyroAdisDummy.h
@ -3,6 +3,8 @@

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>

+#include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
+
 class GyroAdisDummy : public DeviceHandlerBase {
 public:
  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
@ -15,6 +17,7 @@ class GyroAdisDummy : public DeviceHandlerBase {
  virtual ~GyroAdisDummy();

 protected:
+  AdisGyroPrimaryDataset dataset;
  void doStartUp() override;
  void doShutDown() override;
  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
--- a/dummies/GyroL3GD20Dummy.cpp
+++ b/dummies/GyroL3GD20Dummy.cpp
@ -22,16 +22,16 @@ ReturnValue_t GyroL3GD20Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *i
 ReturnValue_t GyroL3GD20Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                       const uint8_t *commandData,
                                                       size_t commandDataLen) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t GyroL3GD20Dummy::scanForReply(const uint8_t *start, size_t len,
                                            DeviceCommandId_t *foundId, size_t *foundLen) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t GyroL3GD20Dummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 void GyroL3GD20Dummy::fillCommandAndReplyMap() {}
@ -40,9 +40,9 @@ uint32_t GyroL3GD20Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {

 ReturnValue_t GyroL3GD20Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                       LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({1.2}, true));
+  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({-0.1}, true));
+  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.7}, true));
  localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }
--- a/dummies/ImtqDummy.cpp
+++ b/dummies/ImtqDummy.cpp
@ -1,6 +1,6 @@
 #include "ImtqDummy.h"

-#include <mission/devices/devicedefinitions/IMTQHandlerDefinitions.h>
+#include <mission/devices/devicedefinitions/imtqHandlerDefinitions.h>

 ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
    : DeviceHandlerBase(objectId, comif, comCookie) {}
@ -20,16 +20,16 @@ ReturnValue_t ImtqDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
 ReturnValue_t ImtqDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                 const uint8_t *commandData,
                                                 size_t commandDataLen) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t ImtqDummy::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
                                      size_t *foundLen) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t ImtqDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 void ImtqDummy::fillCommandAndReplyMap() {}
@ -39,5 +39,9 @@ uint32_t ImtqDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { retur
 ReturnValue_t ImtqDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                 LocalDataPoolManager &poolManager) {
  localDataPoolMap.emplace(IMTQ::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
-  return HasReturnvaluesIF::RETURN_OK;
+  localDataPoolMap.emplace(IMTQ::MGM_CAL_NT, new PoolEntry<float>({0.0, 0.0, 0.0}));
+  localDataPoolMap.emplace(IMTQ::ACTUATION_CAL_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(IMTQ::MTM_RAW, new PoolEntry<float>({0.12, 0.76, -0.45}, true));
+  localDataPoolMap.emplace(IMTQ::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
+  return returnvalue::OK;
 }
--- a/dummies/MgmLIS3MDLDummy.cpp
+++ b/dummies/MgmLIS3MDLDummy.cpp
@ -3,7 +3,7 @@
 #include "fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h"

 MgmLIS3MDLDummy::MgmLIS3MDLDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
-    : DeviceHandlerBase(objectId, comif, comCookie) {}
+    : DeviceHandlerBase(objectId, comif, comCookie), dataset(this) {}

 MgmLIS3MDLDummy::~MgmLIS3MDLDummy() {}

@ -22,16 +22,16 @@ ReturnValue_t MgmLIS3MDLDummy::buildTransitionDeviceCommand(DeviceCommandId_t *i
 ReturnValue_t MgmLIS3MDLDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                       const uint8_t *commandData,
                                                       size_t commandDataLen) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t MgmLIS3MDLDummy::scanForReply(const uint8_t *start, size_t len,
                                            DeviceCommandId_t *foundId, size_t *foundLen) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t MgmLIS3MDLDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 void MgmLIS3MDLDummy::fillCommandAndReplyMap() {}
@ -41,5 +41,7 @@ uint32_t MgmLIS3MDLDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
 ReturnValue_t MgmLIS3MDLDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                       LocalDataPoolManager &poolManager) {
  localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
-  return HasReturnvaluesIF::RETURN_OK;
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTHS,
+                           new PoolEntry<float>({1.02, 0.56, -0.78}, true));
+  return returnvalue::OK;
 }
--- a/dummies/MgmLIS3MDLDummy.h
+++ b/dummies/MgmLIS3MDLDummy.h
@ -3,6 +3,8 @@

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>

+#include "fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h"
+
 class MgmLIS3MDLDummy : public DeviceHandlerBase {
 public:
  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
@ -15,6 +17,7 @@ class MgmLIS3MDLDummy : public DeviceHandlerBase {
  virtual ~MgmLIS3MDLDummy();

 protected:
+  MGMLIS3MDL::MgmPrimaryDataset dataset;
  void doStartUp() override;
  void doShutDown() override;
  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
--- a/Show More
+++ b/Show More