bump patch version, prep v1.26.1

all associated changes and fixes

CHANGELOG.md

@@ -8,9 +8,289 @@ 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]
 
-# [v1.16.0] 18.11.2022
+# [v1.26.1] 2023-02-08
+
+- Initialize parameter helper in ACS controller.
+
+# [v1.26.0] 2023-02-08
+
+eive-tmtc v2.12.1
+
+## Changed
+
+### ACS
+
+- Readded calibration matrices for MGM calibration.
+- Added calculation of satellite velocity vector from GPS position data
+- Added detumble mode using GYR values
+- Added inertial pointing mode
+- Added nadir pointing mode
+- Added ground station target mode
+- Added antistiction for RWs
+- Added `sunTargetSafe` differentiation for LEOP
+- Added check for existance of `SD_0_SKEWED_PTG_FILE` and `SD_1_SKEWED_PTG_FILE` to determine
+  which `sunTargetSafe` to use
+- Added `gpsVelocity` and `gpsPosition` to `gpsProcessed`
+- Removed deprecated `OutputValues`
+- Added `HasParametersIF` to `AcsParameters`
+- Added `ReceivesParameterMessagesIF` and `ParameterHelper` to `AcsController`
+- Updated `AcsParameters` with actual values and changed structure
+- Sun vector model and magnetic field vector model calculations are always executed now
+- `domainId` is now used as identifier for parameter structs
+- Changed onboard GYR value handling from deg/s to rad/s
+
+## Fixed
+
+- Single sourcing the version information into `CMakeLists.txt`. The `git describe` functionality
+  is only used to retrieve the git SHA hash now. Also removed `OBSWVersion.h` accordingly.
+- Build system: Fixed small bug, where the version itself was
+  stored as the git SHA hash in `commonConfig.h`. This will be
+  an empty string now for regular versions.
+- Bump FSFW for important fix in PUS mode service.
+
+### ACS
+
+- Bugfixes in 'SensorProcessing' where previously MGM values would be calibrated before being
+  transformed in body RF. However, the calibration values are in the body RF. Also fixed the
+  validity flag of 'mgmVecTotDerivative'.
+- Fixed calculation of model sun vector
+- Fixed calculation of model magnetic field vector
+- Fixed MEKF algorithm
+- Fixed several variable initializations
+- Fixed several variable types
+- Fixed use of `sunMagAngleMin` for safe mode
+- Fixed MEKF not using correct `sampleTime`
+- Fixed assignment of `SUS0` and `SUS6` calibration matrices due to wiring being mixed up
+- Various smaller bugfixes
+
+# [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
+
+- Update ACS scheduling to represent the actual ACS design. There is one ACS PST now for all
+  timing sensitive ACS operations. In the debug builds, the new ACS polling sequence table
+  will have a period of 0.6 seconds, but will remain 0.4 seconds for the release build.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
+- `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
@@ -27,7 +307,7 @@ list yields a list of all related PRs for each release.
 - Add remaining missing TMP1075 device handlers.
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/318
 
-# [v1.15.0] 27.10.2022
+# [v1.15.0] 2022-10-27
 
 - Consistent device file naming
 - Remove rad sensor from EM build, lead to weird bugs on EM which

CMakeLists.txt

@@ -9,9 +9,9 @@
 # ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
-set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 1)
-set(OBSW_VERSION_MINOR_IF_GIT_FAILS 16)
-set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
+set(OBSW_VERSION_MAJOR 1)
+set(OBSW_VERSION_MINOR 26)
+set(OBSW_VERSION_REVISION 1)
 
 # set(CMAKE_VERBOSE TRUE)
 
@@ -135,7 +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}
@@ -150,7 +150,7 @@ set(OBSW_ADD_SCEX_DEVICE
     ${INIT_VAL}
     CACHE STRING "Add Solar Cell Experiment module")
 set(OBSW_SYRLINKS_SIMULATED
-    ${OBSW_Q7S_EM}
+    0
     CACHE STRING "Syrlinks is simulated")
 
 # ##############################################################################
@@ -168,10 +168,13 @@ if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
     set(GIT_INFO
         ${GIT_INFO}
         CACHE STRING "Version information retrieved with git describe")
-    list(GET GIT_INFO 1 OBSW_VERSION_MAJOR)
-    list(GET GIT_INFO 2 OBSW_VERSION_MINOR)
-    list(GET GIT_INFO 3 OBSW_VERSION_REVISION)
+    # CMakeLists.txt is now single source of information. list(GET GIT_INFO 1
+    # OBSW_VERSION_MAJOR) list(GET GIT_INFO 2 OBSW_VERSION_MINOR) list(GET
+    # GIT_INFO 3 OBSW_VERSION_REVISION)
+    list(LENGTH GIT_INFO LIST_LEN)
+    if(LIST_LEN GREATER 4)
       list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
+    endif()
     if(NOT OBSW_VERSION_MAJOR)
       set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
     endif()
@@ -296,7 +299,13 @@ if(TGT_BSP)
 else()
   # Required by FSFW library
   set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
+  if(UNIX)
+    set(EIVE_ADD_LINUX_FILES ON)
   endif()
+endif()
+
+include(BuildType)
+set_build_type()
 
 # Configuration files
 configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
@@ -399,15 +408,14 @@ endif()
 add_subdirectory(thirdparty)
 
 if(EIVE_ADD_LINUX_FILES)
+  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(UNIX)
-  add_subdirectory(${LIB_GOMSPACE_PATH})
-endif()
-
 add_subdirectory(${COMMON_PATH})
 add_subdirectory(${DUMMY_PATH})
 
@@ -486,7 +494,8 @@ 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 ${LIB_EIVE_MISSION}
@@ -496,10 +505,6 @@ if(TGT_BSP MATCHES "arm/egse")
   target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_ARCSEC})
 endif()
 
-if(UNIX)
-  target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_GOMSPACE_CLIENTS})
-endif()
-
 if(EIVE_ADD_ETL_LIB)
   target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_ETL_TARGET})
 endif()
@@ -560,6 +565,3 @@ add_custom_command(
   POST_BUILD
   COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
   COMMENT ${POST_BUILD_COMMENT})
-
-include(BuildType)
-set_build_type()

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
@@ -290,7 +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
 
@@ -319,14 +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
@@ -334,6 +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.
@@ -1055,6 +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
 

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)

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"]

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_ */

bsp_hosted/OBSWConfig.h.in

@@ -7,7 +7,6 @@
 #define FSFWCONFIG_OBSWCONFIG_H_
 
 #include "commonConfig.h"
-#include "OBSWVersion.h"
     
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
@@ -24,6 +23,7 @@
 #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 +100,10 @@
 /*******************************************************************/
 /** 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@

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/TmFunnelHandler.h>
 #include <objects/systemObjectList.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
@@ -47,12 +51,25 @@
 #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::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
-  PusServiceBase::PACKET_DESTINATION = objects::TM_FUNNEL;
+  PusServiceBase::PACKET_DESTINATION = objects::PUS_TM_FUNNEL;
 
   CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
-  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+  CommandingServiceBase::defaultPacketDestination = objects::PUS_TM_FUNNEL;
 
   VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
 }
@@ -63,10 +80,36 @@ void ObjectFactory::produce(void* args) {
   CfdpTmFunnel* cfdpFunnel;
   ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel);
 
+  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
+
   dummy::DummyCfg cfg;
-  dummy::createDummies(cfg);
-  new TemperatureSensorsDummy();
-  new SusDummy();
+  dummy::createDummies(cfg, *dummySwitcher);
   new ThermalController(objects::THERMAL_CONTROLLER);
   new TestTask(objects::TEST_TASK);
 }

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";
   }

bsp_hosted/fsfwconfig/events/translateEvents.h

@@ -1,7 +1,7 @@
 #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);
 

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -1,23 +1,105 @@
 /**
  * @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:

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);

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";
@@ -35,7 +35,7 @@ int main(void) {
             << " BSP HOSTED"
             << " --" << std::endl;
 
-  initmission::initMission();
+  scheduling::initMission();
 
   for (;;) {
     // suspend main thread by sleeping it.

bsp_hosted/scheduling.cpp

@@ -1,6 +1,5 @@
-#include "InitMission.h"
+#include "linux/scheduling.h"
 
-#include <OBSWConfig.h>
 #include <bsp_hosted/fsfwconfig/pollingsequence/DummyPst.h>
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/objectmanager/ObjectManagerIF.h>
@@ -13,7 +12,9 @@
 
 #include <iostream>
 
+#include "OBSWConfig.h"
 #include "ObjectFactory.h"
+#include "scheduling.h"
 
 #ifdef LINUX
 ServiceInterfaceStream sif::debug("DEBUG");
@@ -29,7 +30,7 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
 
 ObjectManagerIF* objectManager = nullptr;
 
-void initmission::initMission() {
+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);
@@ -40,7 +41,7 @@ void initmission::initMission() {
   initTasks();
 }
 
-void initmission::initTasks() {
+void scheduling::initTasks() {
   TaskFactory* factory = TaskFactory::instance();
   if (factory == nullptr) {
     /* Should never happen ! */
@@ -53,31 +54,38 @@ void initmission::initTasks() {
 #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);
+  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);
+  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);
+  result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
   if (result != returnvalue::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);
+  result = tmtcDistributor->addComponent(objects::UDP_TMTC_SERVER);
   if (result != returnvalue::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);
+  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;
   }
@@ -94,69 +102,60 @@ void initmission::initTasks() {
       "EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
   result = eventHandling->addComponent(objects::EVENT_MANAGER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("EVENT_MNGR", objects::EVENT_MANAGER);
+    scheduling::printAddObjectError("EVENT_MNGR", objects::EVENT_MANAGER);
   }
   result = eventHandling->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
+    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) {
-    initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+    scheduling::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
   }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
+    scheduling::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
   }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
+    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) {
-    initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
+    scheduling::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
+    scheduling::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
+    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) {
-    initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
+    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::RTD_0_IC3_PLOC_HEATSPREADER);
-  if (result != returnvalue::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 != returnvalue::OK) {
-    initmission::printAddObjectError("SUS_0_dummy", objects::SUS_0_N_LOC_XFYFZM_PT_XF);
-  }
-
   result = thermalTask->addComponent(objects::CORE_CONTROLLER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
+    scheduling::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
   }
 
   result = thermalTask->addComponent(objects::THERMAL_CONTROLLER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
+    scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
   }
 
   FixedTimeslotTaskIF* pstTask = factory->createFixedTimeslotTask(
@@ -166,17 +165,60 @@ void initmission::initTasks() {
     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) {
-    initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
+    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();
-  tmtcBridgeTask->startTask();
-  tmtcPollingTask->startTask();
+  tmtcDistributor->startTask();
+  udpPollingTask->startTask();
+  tcpPollingTask->startTask();
 
   pusVerification->startTask();
   eventHandling->startTask();
@@ -186,6 +228,13 @@ void initmission::initTasks() {
 
   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();

bsp_hosted/scheduling.h

@@ -0,0 +1,6 @@
+#pragma once
+
+namespace scheduling {
+void initMission();
+void initTasks();
+};  // namespace scheduling

bsp_q7s/OBSWConfig.h.in

@@ -8,7 +8,8 @@
 
 #include "commonConfig.h"
 #include "q7sConfig.h"
-#include "OBSWVersion.h"
+
+#cmakedefine RELEASE_BUILD
 
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
@@ -23,7 +24,7 @@
 #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_CTRL                           @OBSW_ADD_ACS_CTRL@
+#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@
@@ -119,6 +120,14 @@
 /*******************************************************************/
 /** 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@

bsp_q7s/boardconfig/busConf.h

@@ -8,12 +8,14 @@ static constexpr uint32_t SPI_MAIN_BUS_LOCK_TIMEOUT = 50;
 
 static constexpr char SPI_RW_DEV[] = "/dev/spi_rw";
 
-static constexpr char I2C_PL_EIVE[] = "/dev/i2c_eive";
-static constexpr char I2C_PS_EIVE[] = "/dev/i2c-2";
+//! 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_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";

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)

bsp_q7s/core/CoreController.cpp

@@ -5,14 +5,15 @@
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/tasks/TaskFactory.h>
 
-#include "OBSWVersion.h"
+#include "commonConfig.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/timemanager/Stopwatch.h"
 #include "fsfw/version.h"
 #include "watchdog/definitions.h"
-#if OBSW_USE_TMTC_TCP_BRIDGE == 0
+#if OBSW_ADD_TMTC_UDP_SERVER == 1
 #include "fsfw/osal/common/UdpTmTcBridge.h"
-#else
+#endif
+#if OBSW_ADD_TMTC_TCP_SERVER == 1
 #include "fsfw/osal/common/TcpTmTcServer.h"
 #endif
 #include <fcntl.h>
@@ -178,6 +179,26 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
 ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                             const uint8_t *data, size_t size) {
   switch (actionId) {
+    case (ANNOUNCE_VERSION): {
+      uint32_t p1 = (common::OBSW_VERSION_MAJOR << 24) | (common::OBSW_VERSION_MINOR << 16) |
+                    (common::OBSW_VERSION_REVISION << 8);
+      uint32_t p2 = 0;
+      if (strcmp("", common::OBSW_VERSION_CST_GIT_SHA1) != 0) {
+        p1 |= 1;
+        auto shaAsStr = std::string(common::OBSW_VERSION_CST_GIT_SHA1);
+        size_t posDash = shaAsStr.find("-");
+        auto gitHash = shaAsStr.substr(posDash + 2, 4);
+        // Only copy first 4 letters of git hash
+        memcpy(&p2, gitHash.c_str(), 4);
+      }
+
+      triggerEvent(VERSION_INFO, p1, p2);
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
+    case (ANNOUNCE_CURRENT_IMAGE): {
+      triggerEvent(CURRENT_IMAGE_INFO, CURRENT_CHIP, CURRENT_COPY);
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
     case (LIST_DIRECTORY_INTO_FILE): {
       return actionListDirectoryIntoFile(actionId, commandedBy, data, size);
     }
@@ -672,9 +693,9 @@ ReturnValue_t CoreController::initVersionFile() {
     sif::warning << "CoreController::versionFileInit: Retrieving uname line failed" << std::endl;
   }
 
-  std::string fullObswVersionString = "OBSW: v" + std::to_string(SW_VERSION) + "." +
-                                      std::to_string(SW_SUBVERSION) + "." +
-                                      std::to_string(SW_REVISION);
+  std::string fullObswVersionString = "OBSW: v" + std::to_string(common::OBSW_VERSION_MAJOR) + "." +
+                                      std::to_string(common::OBSW_VERSION_MINOR) + "." +
+                                      std::to_string(common::OBSW_VERSION_REVISION);
   char versionString[16] = {};
   fsfw::FSFW_VERSION.getVersion(versionString, sizeof(versionString));
   std::string fullFsfwVersionString = "FSFW: v" + std::string(versionString);
@@ -1322,7 +1343,7 @@ void CoreController::performRebootFileHandling(bool recreateFile) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "CoreController::performRebootFileHandling: Recreating reboot file" << std::endl;
 #endif
-    rebootFile.enabled = true;
+    rebootFile.enabled = false;
     rebootFile.img00Cnt = 0;
     rebootFile.img01Cnt = 0;
     rebootFile.img10Cnt = 0;

bsp_q7s/core/CoreController.h

@@ -74,6 +74,8 @@ class CoreController : public ExtendedControllerBase {
   static constexpr dur_millis_t DEFAULT_SD_CARD_CHECK_TIMEOUT = 60000;
 
   static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
+  static constexpr ActionId_t ANNOUNCE_VERSION = 1;
+  static constexpr ActionId_t ANNOUNCE_CURRENT_IMAGE = 2;
   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;
@@ -109,6 +111,12 @@ class CoreController : public ExtendedControllerBase {
   //! [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);
+  //! [EXPORT] : [COMMENT]
+  //! P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash
+  //! P2: First four letters of Git SHA is the last byte of P1 is set.
+  static constexpr Event VERSION_INFO = event::makeEvent(SUBSYSTEM_ID, 5, severity::INFO);
+  //! [EXPORT] : [COMMENT] P1: Current Chip, P2: Current Copy
+  static constexpr Event CURRENT_IMAGE_INFO = event::makeEvent(SUBSYSTEM_ID, 6, severity::INFO);
 
   CoreController(object_id_t objectId);
   virtual ~CoreController();

bsp_q7s/core/ObjectFactory.cpp

@@ -23,7 +23,7 @@
 #include "linux/boardtest/UartTestClass.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "linux/csp/CspComIF.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"
@@ -48,12 +48,16 @@
 #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>
 
@@ -80,14 +84,12 @@
 #include "mission/devices/HeaterHandler.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"
@@ -123,11 +125,12 @@ void Factory::setStaticFrameworkObjectIds() {
 void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
 
 void ObjectFactory::createTmpComponents() {
-  std::array<std::pair<object_id_t, address_t>, 5> tmpDevIds = {{
+  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},
-      {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
+      // damaged
+      // {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
       {objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
   }};
   std::vector<I2cCookie*> tmpDevCookies;
@@ -137,6 +140,7 @@ void ObjectFactory::createTmpComponents() {
         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.
@@ -204,7 +208,8 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
 #endif
 }
 
-ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
+ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF,
+                                                      Stack5VHandler& stackHandler) {
   using namespace gpio;
   if (gpioComIF == nullptr) {
     return returnvalue::FAILED;
@@ -225,12 +230,8 @@ ReturnValue_t 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
@@ -473,7 +474,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
   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(
@@ -580,15 +581,17 @@ void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitc
 
 void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
   auto* syrlinksUartCookie =
-      new SerialCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
+      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,
+      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
@@ -600,7 +603,6 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
   auto* camSwitcher =
       new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, pcdu::PDU2_CH8_PAYLOAD_CAMERA);
   camSwitcher->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
-  // camSwitcher->
 #if OBSW_ADD_PLOC_MPSOC == 1
   consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
   auto gpioConfigMPSoC = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_MPSOC_UART,
@@ -629,10 +631,10 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
       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);
-  auto* supvHandler = 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);
@@ -791,15 +793,22 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF,
       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);
+  vc = new VirtualChannel(ccsds::VC0, config::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
   (*ipCoreHandler)->addVirtualChannel(ccsds::VC0, vc);
-  vc = new VirtualChannel(ccsds::VC1, common::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
+  vc = new VirtualChannel(ccsds::VC1, config::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
   (*ipCoreHandler)->addVirtualChannel(ccsds::VC1, vc);
-  vc = new VirtualChannel(ccsds::VC2, common::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
+  vc = new VirtualChannel(ccsds::VC2, config::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
   (*ipCoreHandler)->addVirtualChannel(ccsds::VC2, vc);
-  vc = new VirtualChannel(ccsds::VC3, common::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
+  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;
@@ -834,7 +843,8 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF,
 }
 
 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;
@@ -880,10 +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);

bsp_q7s/core/ObjectFactory.h

@@ -2,6 +2,7 @@
 #define BSP_Q7S_OBJECTFACTORY_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>
@@ -27,9 +28,9 @@ void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, SerialComIF** uar
                                    SpiComIF** spiRwComIF);
 void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
-                            PowerSwitchIF* pwrSwitcher);
+                            PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
 void createTmpComponents();
-ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
+ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
                               PowerSwitchIF* pwrSwitcher);
 void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable);

bsp_q7s/core/scheduling.cpp

@@ -1,7 +1,8 @@
-#include "bsp_q7s/core/InitMission.h"
+#include "scheduling.h"
 
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
-#include <linux/InitMission.h>
+#include <fsfw/subsystem/Subsystem.h>
+#include <linux/scheduling.h>
 
 #include <iostream>
 #include <vector>
@@ -35,13 +36,13 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
 
 ObjectManagerIF* objectManager = nullptr;
 
-void initmission::initMission() {
+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 << "initmission::initMission: Object Construction failed with an "
+    sif::error << "scheduling::initMission: Object Construction failed with an "
                   "invalid argument: "
                << e.what();
     std::exit(1);
@@ -54,7 +55,7 @@ void initmission::initMission() {
   initTasks();
 }
 
-void initmission::initTasks() {
+void scheduling::initTasks() {
   TaskFactory* factory = TaskFactory::instance();
   ReturnValue_t result = returnvalue::OK;
   if (factory == nullptr) {
@@ -74,7 +75,7 @@ void initmission::initTasks() {
       "SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
   result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
+    scheduling::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
   }
 #endif
 
@@ -82,54 +83,77 @@ void initmission::initTasks() {
       "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
   result = sysTask->addComponent(objects::CORE_CONTROLLER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
+    scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
   }
   result = sysTask->addComponent(objects::PL_SUBSYSTEM);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
+    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_BRIDGE == 1
-  result = tmTcDistributor->addComponent(objects::TMTC_BRIDGE);
+#if OBSW_ADD_TCPIP_SERVERS == 1
+#if OBSW_ADD_TMTC_UDP_SERVER == 1
+  result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
+    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) {
-    initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
+    scheduling::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
   }
   result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
+    scheduling::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
   }
   result = tmTcDistributor->addComponent(objects::CFDP_DISTRIBUTOR);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("CFDP_DISTRIBUTOR", objects::CFDP_DISTRIBUTOR);
+    scheduling::printAddObjectError("CFDP_DISTRIBUTOR", objects::CFDP_DISTRIBUTOR);
   }
   result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
+    scheduling::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
   }
 
-#if OBSW_ADD_TCPIP_BRIDGE == 1
-  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
-      "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
+#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) {
-    initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
+    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(
+      "COM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, 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
-  PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
-      "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
+  result = comTask->addComponent(objects::CCSDS_HANDLER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
+    scheduling::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
   }
 
   // Runs in IRQ mode, frequency does not really matter
@@ -137,7 +161,7 @@ void initmission::initTasks() {
       "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
   result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
+    scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
   }
 #endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
 
@@ -146,50 +170,43 @@ void initmission::initTasks() {
       "CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
   result = cfdpTask->addComponent(objects::CFDP_HANDLER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
+    scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
   }
 #endif
 
-  PeriodicTaskIF* acsCtrlTask = factory->createPeriodicTask(
-      "ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
 #if OBSW_ADD_GPS_CTRL == 1
-  result = acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
+  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) {
-    initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
+    scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
 #endif /* OBSW_ADD_GPS_CTRL */
 
-#if OBSW_ADD_ACS_CTRL == 1
-  acsCtrlTask->addComponent(objects::ACS_CONTROLLER);
-  if (result != returnvalue::OK) {
-    initmission::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
-  }
-#endif
-
   PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
-      "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+      "SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
   static_cast<void>(acsSysTask);
 #if OBSW_ADD_ACS_BOARD == 1
   result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
+    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) {
-    initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
+    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) {
-    initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
+    scheduling::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
   }
 #endif
   result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
+    scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
   }
 
 #if OBSW_ADD_RTD_DEVICES == 1
@@ -197,7 +214,7 @@ void initmission::initTasks() {
       "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
   result = tcsPollingTask->addComponent(objects::SPI_RTD_COM_IF);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
+    scheduling::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
   }
 
   PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
@@ -232,22 +249,26 @@ void initmission::initTasks() {
 
   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) {
-    initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
+    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) {
-    initmission::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
+    scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
   }
 #endif
 #if OBSW_ADD_HEATERS == 1
   result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
+    scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
   }
 #endif
 
@@ -256,7 +277,7 @@ void initmission::initTasks() {
       "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = strHelperTask->addComponent(objects::STR_HELPER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
+    scheduling::printAddObjectError("STR_HELPER", objects::STR_HELPER);
   }
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
@@ -265,7 +286,7 @@ void initmission::initTasks() {
       "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
+    scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
   }
 #endif /* OBSW_ADD_PLOC_MPSOC */
 
@@ -274,7 +295,7 @@ void initmission::initTasks() {
       "PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
   result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
+    scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
   }
 #endif /* OBSW_ADD_PLOC_SUPERVISOR */
 
@@ -300,7 +321,7 @@ void initmission::initTasks() {
       "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
+    scheduling::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
   }
 #endif
   std::vector<PeriodicTaskIF*> testTasks;
@@ -320,12 +341,17 @@ void initmission::initTasks() {
   sif::info << "Starting tasks.." << std::endl;
   tmTcDistributor->startTask();
 
-#if OBSW_ADD_TCPIP_BRIDGE == 1
-  tmtcPollingTask->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
-  ccsdsHandlerTask->startTask();
   pdecHandlerTask->startTask();
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
 
@@ -353,7 +379,9 @@ void initmission::initTasks() {
   strHelperTask->startTask();
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
-  acsCtrlTask->startTask();
+#if OBSW_ADD_GPS_CTRL == 1
+  gpsTask->startTask();
+#endif
   acsSysTask->startTask();
 #if OBSW_ADD_RTD_DEVICES == 1
   tcsPollingTask->startTask();
@@ -365,6 +393,7 @@ void initmission::initTasks() {
 #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");
@@ -373,63 +402,53 @@ void initmission::initTasks() {
   sif::info << "Tasks started.." << std::endl;
 }
 
-void initmission::createPstTasks(TaskFactory& factory,
-                                 TaskDeadlineMissedFunction missedDeadlineFunc,
+void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                                 std::vector<PeriodicTaskIF*>& taskVec) {
   ReturnValue_t result = returnvalue::OK;
+
+#ifdef RELEASE_BUILD
+  static constexpr float acsPstPeriod = 0.4;
+#else
+  static constexpr float acsPstPeriod = 0.6;
+#endif
+  FixedTimeslotTaskIF* acsPst = factory.createFixedTimeslotTask(
+      "ACS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
+  result = pst::pstAcs(acsPst);
+  if (result != returnvalue::OK) {
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "scheduling::initTasks: ACS PST is empty" << std::endl;
+    } else {
+      sif::error << "scheduling::initTasks: Creating ACS PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(acsPst);
+  }
+
   /* 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);
+      "MAIN_SPI", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+  result = pst::pstSpiAndSyrlinks(spiPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
+      sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
     } else {
-      sif::error << "InitMission::initTasks: Creating SPI PST failed!" << std::endl;
+      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 << "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 != returnvalue::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);
-  }
-
 #if OBSW_ADD_I2C_TEST_CODE == 0
   FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-      "I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+      "I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstI2c(i2cPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "InitMission::initTasks: I2C PST is empty" << std::endl;
+      sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl;
     } else {
-      sif::error << "InitMission::initTasks: Creating I2C PST failed!" << std::endl;
+      sif::error << "scheduling::initTasks: Creating I2C PST failed!" << std::endl;
     }
   } else {
     taskVec.push_back(i2cPst);
@@ -438,19 +457,18 @@ void initmission::createPstTasks(TaskFactory& factory,
 
 #if OBSW_ADD_GOMSPACE_PCDU == 1
   FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
-      "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
+      "GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
   result = pst::pstGompaceCan(gomSpacePstTask);
   if (result != returnvalue::OK) {
     if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
+      sif::error << "scheduling::initTasks: GomSpace PST initialization failed!" << std::endl;
     }
   }
   taskVec.push_back(gomSpacePstTask);
 #endif
 }
 
-void initmission::createPusTasks(TaskFactory& factory,
-                                 TaskDeadlineMissedFunction missedDeadlineFunc,
+void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                                 std::vector<PeriodicTaskIF*>& taskVec) {
   ReturnValue_t result = returnvalue::OK;
   /* PUS Services */
@@ -458,7 +476,7 @@ void initmission::createPusTasks(TaskFactory& factory,
       "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
   result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
+    scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
   }
   taskVec.push_back(pusVerification);
 
@@ -466,11 +484,11 @@ void initmission::createPusTasks(TaskFactory& factory,
       "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
   result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
+    scheduling::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
   }
   result = pusEvents->addComponent(objects::EVENT_MANAGER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
+    scheduling::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
   }
   taskVec.push_back(pusEvents);
 
@@ -478,11 +496,11 @@ void initmission::createPusTasks(TaskFactory& factory,
       "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+    scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
   }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
+    scheduling::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
   }
 
   taskVec.push_back(pusHighPrio);
@@ -492,32 +510,32 @@ void initmission::createPusTasks(TaskFactory& factory,
 
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
+    scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
+    scheduling::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_11_TC_SCHEDULER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
+    scheduling::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
+    scheduling::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
+    scheduling::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_201_HEALTH);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
+    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) {
-    initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
+    scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
   }
   taskVec.push_back(pusMedPrio);
 
@@ -525,12 +543,12 @@ void initmission::createPusTasks(TaskFactory& factory,
       "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
   result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
+    scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
   }
   taskVec.push_back(pusLowPrio);
 }
 
-void initmission::createTestTasks(TaskFactory& factory,
+void scheduling::createTestTasks(TaskFactory& factory,
                                  TaskDeadlineMissedFunction missedDeadlineFunc,
                                  std::vector<PeriodicTaskIF*>& taskVec) {
 #if OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
@@ -542,25 +560,25 @@ void initmission::createTestTasks(TaskFactory& factory,
 
   result = testTask->addComponent(objects::TEST_TASK);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
+    scheduling::printAddObjectError("TEST_TASK", objects::TEST_TASK);
   }
 
 #if OBSW_ADD_SPI_TEST_CODE == 1
   result = testTask->addComponent(objects::SPI_TEST);
   if (result != returnvalue::OK) {
-    initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
+    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) {
-    initmission::printAddObjectError("I2C_TEST", objects::I2C_TEST);
+    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) {
-    initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
+    scheduling::printAddObjectError("UART_TEST", objects::UART_TEST);
   }
 #endif
 

bsp_q7s/core/scheduling.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_ */

bsp_q7s/em/emObjectFactory.cpp

@@ -1,6 +1,7 @@
 #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"
@@ -13,6 +14,7 @@
 #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();
@@ -38,13 +40,21 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_SYRLINKS == 1
   dummyCfg.addSyrlinksDummies = false;
 #endif
-  dummy::createDummies(dummyCfg);
+#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);
 
-  PowerSwitchIF* pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
-  static_cast<void>(pwrSwitcher);
-
   // Regular FM code, does not work for EM if the hardware is not connected
   // createPcduComponents(gpioComIF, &pwrSwitcher);
   // createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
@@ -95,8 +105,9 @@ void ObjectFactory::produce(void* args) {
   createTestComponents(gpioComIF);
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 #if OBSW_ADD_SCEX_DEVICE == 1
-  createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), true,
-                       std::nullopt);
+  createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
+                       pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
 #endif
   createAcsController(true);
+  satsystem::com::init();
 }

bsp_q7s/fmObjectFactory.cpp

@@ -33,8 +33,14 @@ void ObjectFactory::produce(void* args) {
 
   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);
@@ -44,7 +50,7 @@ void ObjectFactory::produce(void* args) {
   createTmpComponents();
 #endif
   createSolarArrayDeploymentComponents(*pwrSwitcher, *gpioComIF);
-  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
+  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
 #if OBSW_ADD_SYRLINKS == 1
   createSyrlinksComponents(pwrSwitcher);
 #endif /* OBSW_ADD_SYRLINKS == 1 */

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. */

clone-submodules-no-privlibs.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+git submodule update --init fsfw thirdparty/rapidcsv thirdparty/lwgps thirdparty/json

cmake/BuildType.cmake

@@ -21,10 +21,13 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
 	)
 endif()
 
+set(RELEASE_BUILD 1 PARENT_SCOPE)
+
 if(${CMAKE_BUILD_TYPE} MATCHES "Debug")
 	message(STATUS 
 		"Building Debug application with flags: ${CMAKE_C_FLAGS_DEBUG}"
 	)
+	set(RELEASE_BUILD 0 PARENT_SCOPE)
 elseif(${CMAKE_BUILD_TYPE} MATCHES "RelWithDebInfo")
 	message(STATUS 
 		"Building Release (Debug) application with "

cmake/EiveHelpers.cmake

@@ -4,7 +4,7 @@
 # 2. Major version
 # 3. Minor version
 # 4. Revision
-# 5. git SHA hash and commits since tag
+# 5. (Optional) git SHA hash and commits since tag when applicable
 function(determine_version_with_git)
     include(GetGitRevisionDescription)
     git_describe(VERSION ${ARGN})
@@ -22,7 +22,9 @@ function(determine_version_with_git)
     list(APPEND GIT_INFO ${_VERSION_MAJOR})
     list(APPEND GIT_INFO ${_VERSION_MINOR})
     list(APPEND GIT_INFO ${_VERSION_PATCH})
+    if(NOT VERSION_SHA1 STREQUAL VERSION)
         list(APPEND GIT_INFO ${VERSION_SHA1})
+    endif()
     set(GIT_INFO ${GIT_INFO} PARENT_SCOPE)
     message(STATUS "eive | Set git version info into GIT_INFO from the git tag ${VERSION}")
 endfunction()

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 = ""
 
@@ -95,7 +109,9 @@ def main():
 
     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:
@@ -109,13 +125,15 @@ 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} " \
+    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. --")
 
@@ -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()
 

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}

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}

common/config/OBSWVersion.h

@@ -1,10 +0,0 @@
-#ifndef COMMON_CONFIG_OBSWVERSION_H_
-#define COMMON_CONFIG_OBSWVERSION_H_
-
-const char* const SW_NAME = "eive";
-
-#define SW_VERSION 1
-#define SW_SUBVERSION 12
-#define SW_REVISION 1
-
-#endif /* COMMON_CONFIG_OBSWVERSION_H_ */

common/config/commonConfig.h.in

@@ -17,13 +17,7 @@ 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
-
-// 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_TCPIP_SERVERS              1
 
 #define OBSW_ADD_CFDP_COMPONENTS            1
 
@@ -42,14 +36,6 @@ extern const fsfw::Version OBSW_VERSION;
 
 extern const uint16_t PUS_PACKET_ID;
 extern const uint16_t CFDP_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;
-
 }
 
 #endif /* COMMON_CONFIG_COMMONCONFIG_H_ */

common/config/devConf.h

@@ -1,6 +1,8 @@
 #ifndef COMMON_CONFIG_DEVCONF_H_
 #define COMMON_CONFIG_DEVCONF_H_
 
+#include <fsfw_hal/linux/serial/SerialCookie.h>
+
 #include <cstdint>
 
 #include "fsfw/timemanager/clockDefinitions.h"
@@ -55,10 +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_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

common/config/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,

common/config/eive/definitions.h

@@ -39,10 +39,22 @@ static constexpr uint32_t SA_DEPL_INIT_BUFFER_SECS = 120;
 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 SA_DEPL_CHANNEL_ALTERNATION_INTERVAL_SECS = 5;
+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_ */

common/config/eive/eventSubsystemIds.h

@@ -35,6 +35,7 @@ enum : uint8_t {
   SYRLINKS = 137,
   SCEX_HANDLER = 138,
   CONFIGHANDLER = 139,
+  CORE = 140,
   COMMON_SUBSYSTEM_ID_END
 
 };

common/config/eive/objects.h

@@ -8,14 +8,20 @@ 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,
@@ -44,7 +50,8 @@ enum commonObjects : uint32_t {
   TMP1075_HANDLER_PLPCDU_0 = 0x44420006,
   TMP1075_HANDLER_PLPCDU_1 = 0x44420007,
   TMP1075_HANDLER_IF_BOARD = 0x44420008,
-  TMP1075_HANDLER_OBC_IF_BOARD = 0x44420009,
+  // Does not exist anymore
+  // TMP1075_HANDLER_OBC_IF_BOARD = 0x44420009,
   PCDU_HANDLER = 0x442000A1,
   P60DOCK_HANDLER = 0x44250000,
   PDU1_HANDLER = 0x44250001,
@@ -111,7 +118,9 @@ 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,
@@ -132,9 +141,12 @@ enum commonObjects : uint32_t {
   TCS_BOARD_ASS = 0x73000003,
   RW_ASS = 0x73000004,
   CAM_SWITCHER = 0x73000006,
+  EIVE_SYSTEM = 0x73010000,
   ACS_SUBSYSTEM = 0x73010001,
   PL_SUBSYSTEM = 0x73010002,
-  EIVE_SYSTEM = 0x73010000,
+  TCS_SUBSYSTEM = 0x73010003,
+  COM_SUBSYSTEM = 0x73010004,
+
   TM_FUNNEL = 0x73000100,
   PUS_TM_FUNNEL = 0x73000101,
   CFDP_TM_FUNNEL = 0x73000102,

common/config/eive/resultClassIds.h

@@ -35,6 +35,11 @@ enum commonClassIds : uint8_t {
   SA_DEPL_HANDLER,          // SADPL
   MPSOC_RETURN_VALUES_IF,   // MPSOCRTVIF
   SUPV_RETURN_VALUES_IF,    // SPVRTVIF
+  ACS_KALMAN,               // ACSKAL
+  ACS_SAFE,                 // ACSSAF
+  ACS_PTG,                  // ACSPTG
+  ACS_DETUMBLE,             // ACSDTB
+  ACS_MEKF,                 // ACSMEK
   COMMON_CLASS_ID_END       // [EXPORT] : [END]
 };
 

dummies/CMakeLists.txt

@@ -13,6 +13,7 @@ target_sources(
          PduDummy.cpp
          P60DockDummy.cpp
          SaDeploymentDummy.cpp
+         GpsDummy.cpp
          GyroAdisDummy.cpp
          GyroL3GD20Dummy.cpp
          MgmLIS3MDLDummy.cpp

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;
+}

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_ */

dummies/GyroAdisDummy.cpp

@@ -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 returnvalue::OK;
 }

dummies/GyroL3GD20Dummy.cpp

@@ -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 returnvalue::OK;
 }

dummies/ImtqDummy.cpp

@@ -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}));
+  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;
 }

dummies/MgmLIS3MDLDummy.cpp

@@ -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}));
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTHS,
+                           new PoolEntry<float>({1.02, 0.56, -0.78}, true));
   return returnvalue::OK;
 }

dummies/MgmRm3100Dummy.cpp

@@ -36,5 +36,7 @@ uint32_t MgmRm3100Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
 
 ReturnValue_t MgmRm3100Dummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                       LocalDataPoolManager& poolManager) {
-  return OK;
+  localDataPoolMap.emplace(RM3100::FIELD_STRENGTHS,
+                           new PoolEntry<float>({0.87, -0.95, 0.11}, true));
+  return returnvalue::OK;
 }

dummies/StarTrackerDummy.cpp

@@ -41,5 +41,29 @@ uint32_t StarTrackerDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo)
 ReturnValue_t StarTrackerDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                         LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(startracker::MCU_TEMPERATURE, new PoolEntry<float>({0}));
+
+  localDataPoolMap.emplace(startracker::TICKS_SOLUTION_SET, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(startracker::TIME_SOLUTION_SET, new PoolEntry<uint64_t>({0}));
+  localDataPoolMap.emplace(startracker::CALI_QW, new PoolEntry<float>({1.0}, true));
+  localDataPoolMap.emplace(startracker::CALI_QX, new PoolEntry<float>({0.0}, true));
+  localDataPoolMap.emplace(startracker::CALI_QY, new PoolEntry<float>({0.0}, true));
+  localDataPoolMap.emplace(startracker::CALI_QZ, new PoolEntry<float>({0.0}, true));
+  localDataPoolMap.emplace(startracker::TRACK_CONFIDENCE, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(startracker::TRACK_QW, new PoolEntry<float>({1.0}));
+  localDataPoolMap.emplace(startracker::TRACK_QX, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(startracker::TRACK_QY, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(startracker::TRACK_QZ, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(startracker::TRACK_REMOVED, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(startracker::STARS_CENTROIDED, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(startracker::STARS_MATCHED_DATABASE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(startracker::LISA_QW, new PoolEntry<float>({1.0}));
+  localDataPoolMap.emplace(startracker::LISA_QX, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(startracker::LISA_QY, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(startracker::LISA_QZ, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(startracker::LISA_PERC_CLOSE, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(startracker::LISA_NR_CLOSE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(startracker::TRUST_WORTHY, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(startracker::STABLE_COUNT, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(startracker::SOLUTION_STRATEGY, new PoolEntry<uint8_t>({0}));
   return returnvalue::OK;
 }

dummies/SusDummy.cpp

@@ -1,79 +1,43 @@
 #include "SusDummy.h"
 
-#include <objects/systemObjectList.h>
+SusDummy::SusDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie), susSet(this) {}
 
-#include <cmath>
-#include <cstdlib>
+SusDummy::~SusDummy() {}
 
-SusDummy::SusDummy() : ExtendedControllerBase(objects::SUS_0_N_LOC_XFYFZM_PT_XF), susSet(this) {
-  ObjectManager::instance()->insert(objects::SUS_6_R_LOC_XFYBZM_PT_XF, this);
-  ObjectManager::instance()->insert(objects::SUS_1_N_LOC_XBYFZM_PT_XB, this);
-  ObjectManager::instance()->insert(objects::SUS_7_R_LOC_XBYBZM_PT_XB, this);
-  ObjectManager::instance()->insert(objects::SUS_2_N_LOC_XFYBZB_PT_YB, this);
-  ObjectManager::instance()->insert(objects::SUS_8_R_LOC_XBYBZB_PT_YB, this);
-  ObjectManager::instance()->insert(objects::SUS_3_N_LOC_XFYBZF_PT_YF, this);
-  ObjectManager::instance()->insert(objects::SUS_9_R_LOC_XBYBZB_PT_YF, this);
-  ObjectManager::instance()->insert(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, this);
-  ObjectManager::instance()->insert(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, this);
-  ObjectManager::instance()->insert(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, this);
-  ObjectManager::instance()->insert(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, this);
-}
-
-ReturnValue_t SusDummy::initialize() {
-  static bool done = false;
-  if (not done) {
-    done = true;
-    ReturnValue_t result = ExtendedControllerBase::initialize();
-    if (result != returnvalue::OK) {
-      return result;
-    }
+void SusDummy::doStartUp() {}
+
+void SusDummy::doShutDown() {}
+
+ReturnValue_t SusDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
+
+ReturnValue_t SusDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
 }
 
+ReturnValue_t SusDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                const uint8_t *commandData, size_t commandDataLen) {
   return returnvalue::OK;
 }
 
-ReturnValue_t SusDummy::handleCommandMessage(CommandMessage* message) {
-  return returnvalue::FAILED;
+ReturnValue_t SusDummy::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                                     size_t *foundLen) {
+  return returnvalue::OK;
 }
 
-void SusDummy::performControlOperation() {
-  iteration++;
-  value = sin(iteration / 80. * M_PI + 10) * 10 - 10;
+ReturnValue_t SusDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  return returnvalue::OK;
+}
 
-  susSet.read();
-  susSet.temperatureCelcius = value;
-  if ((iteration % 100) < 20) {
-    susSet.setValidity(false, true);
-  } else {
-    susSet.setValidity(true, true);
-  }
-  susSet.commit();
-}
+void SusDummy::fillCommandAndReplyMap() {}
+
+uint32_t SusDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
 
 ReturnValue_t SusDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                 LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(SUS::SusPoolIds::TEMPERATURE_C, new PoolEntry<float>({0}, 1, true));
-  localDataPoolMap.emplace(SUS::SusPoolIds::CHANNEL_VEC, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(SUS::SusPoolIds::CHANNEL_VEC,
+                           new PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0}, true));
 
   return returnvalue::OK;
 }
-
-LocalPoolDataSetBase* SusDummy::getDataSetHandle(sid_t sid) {
-  switch (sid.ownerSetId) {
-    case SUS::SUS_DATA_SET_ID:
-      return &susSet;
-    default:
-      return nullptr;
-  }
-}
-
-ReturnValue_t SusDummy::checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t* msToReachTheMode) {
-  if (submode != SUBMODE_NONE) {
-    return INVALID_SUBMODE;
-  }
-  if ((mode != MODE_OFF) && (mode != MODE_ON) && (mode != MODE_NORMAL)) {
-    return INVALID_MODE;
-  }
-  return returnvalue::OK;
-}

dummies/SusDummy.h

@@ -1,27 +1,36 @@
-#pragma once
+#ifndef DUMMIES_SUSDUMMY_H_
+#define DUMMIES_SUSDUMMY_H_
 
-#include <fsfw/controller/ExtendedControllerBase.h>
-#include <mission/devices/devicedefinitions/SusDefinitions.h>
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
 
-class SusDummy : public ExtendedControllerBase {
+#include "mission/devices/devicedefinitions/SusDefinitions.h"
+
+class SusDummy : public DeviceHandlerBase {
  public:
-  SusDummy();
+  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
+  static const DeviceCommandId_t PERIODIC_REPLY = 2;
 
-  ReturnValue_t initialize() override;
+  static const uint8_t SIMPLE_COMMAND_DATA = 1;
+  static const uint8_t PERIODIC_REPLY_DATA = 2;
+
+  SusDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  virtual ~SusDummy();
 
  protected:
-  virtual ReturnValue_t handleCommandMessage(CommandMessage* message) override;
-  virtual void performControlOperation() override;
-  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-                                                LocalDataPoolManager& poolManager) override;
-  virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
-
-  // Mode abstract functions
-  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t* msToReachTheMode) override;
-
- private:
-  int iteration = 0;
-  float value = 0;
   SUS::SusDataset susSet;
+  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_SUSDUMMY_H_ */

dummies/TemperatureSensorsDummy.cpp

@@ -25,6 +25,10 @@ TemperatureSensorsDummy::TemperatureSensorsDummy()
   ObjectManager::instance()->insert(objects::RTD_15_IC18_IMTQ, this);
   ObjectManager::instance()->insert(objects::TMP1075_HANDLER_TCS_0, this);
   ObjectManager::instance()->insert(objects::TMP1075_HANDLER_TCS_1, this);
+
+  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_PLPCDU_0, this);
+  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_PLPCDU_1, this);
+  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_IF_BOARD, this);
 }
 
 ReturnValue_t TemperatureSensorsDummy::initialize() {

dummies/helpers.cpp

@@ -5,6 +5,7 @@
 #include <dummies/ComCookieDummy.h>
 #include <dummies/ComIFDummy.h>
 #include <dummies/CoreControllerDummy.h>
+#include <dummies/GpsDummy.h>
 #include <dummies/GyroAdisDummy.h>
 #include <dummies/GyroL3GD20Dummy.h>
 #include <dummies/ImtqDummy.h>
@@ -19,10 +20,11 @@
 #include <dummies/SusDummy.h>
 #include <dummies/SyrlinksDummy.h>
 #include <dummies/TemperatureSensorsDummy.h>
+#include <mission/system/objects/CamSwitcher.h>
 
 using namespace dummy;
 
-void dummy::createDummies(DummyCfg cfg) {
+void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
   new ComIFDummy(objects::DUMMY_COM_IF);
   ComCookieDummy* comCookieDummy = new ComCookieDummy();
   new BpxDummy(objects::BPX_BATT_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
@@ -39,7 +41,7 @@ void dummy::createDummies(DummyCfg cfg) {
   new SaDeplDummy(objects::SOLAR_ARRAY_DEPL_HANDLER);
   new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
   if (cfg.addSyrlinksDummies) {
-    new SyrlinksDummy(objects::SYRLINKS_HK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    new SyrlinksDummy(objects::SYRLINKS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
   }
   new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
   if (cfg.addPowerDummies) {
@@ -58,14 +60,27 @@ void dummy::createDummies(DummyCfg cfg) {
     new MgmLIS3MDLDummy(objects::MGM_2_LIS3_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     new MgmRm3100Dummy(objects::MGM_1_RM3100_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     new MgmRm3100Dummy(objects::MGM_3_RM3100_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    new GpsDummy(objects::GPS_CONTROLLER, objects::DUMMY_COM_IF, comCookieDummy);
   }
 
   if (cfg.addSusDummies) {
-    new SusDummy();
+    new SusDummy(objects::SUS_0_N_LOC_XFYFZM_PT_XF, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_1_N_LOC_XBYFZM_PT_XB, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_2_N_LOC_XFYBZB_PT_YB, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_3_N_LOC_XFYBZF_PT_YF, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_6_R_LOC_XFYBZM_PT_XF, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_7_R_LOC_XBYBZM_PT_XB, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_8_R_LOC_XBYBZB_PT_YB, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_9_R_LOC_XBYBZB_PT_YF, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, objects::DUMMY_COM_IF, comCookieDummy);
   }
 
   if (cfg.addTempSensorDummies) {
     new TemperatureSensorsDummy();
   }
+  new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, power::NO_SWITCH);
   new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
 }

dummies/helpers.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <fsfw/power/PowerSwitchIF.h>
+
 namespace dummy {
 
 struct DummyCfg {
@@ -12,6 +14,6 @@ struct DummyCfg {
   bool addRtdComIFDummy = true;
 };
 
-void createDummies(DummyCfg cfg);
+void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch);
 
 }  // namespace dummy

generators/bsp_q7s_events.csv

@@ -76,13 +76,16 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 7903;0x1edf;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 7905;0x1ee1;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 8900;0x22c4;CLOCK_SET;INFO;;fsfw/src/fsfw/pus/Service9TimeManagement.h
-8901;0x22c5;CLOCK_SET_FAILURE;LOW;;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8901;0x22c5;CLOCK_DUMP;INFO;;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8902;0x22c6;CLOCK_SET_FAILURE;LOW;;fsfw/src/fsfw/pus/Service9TimeManagement.h
 9100;0x238c;TC_DELETION_FAILED;MEDIUM;Deletion of a TC from the map failed. P1: First 32 bit of request ID, P2. Last 32 bit of Request ID;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 9700;0x25e4;TEST;INFO;;fsfw/src/fsfw/pus/Service17Test.h
 10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;;fsfw/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
 10800;0x2a30;STORE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
 10801;0x2a31;MSG_QUEUE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
 10802;0x2a32;SERIALIZATION_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
+11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/acsDefs.h
+11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;;mission/acsDefs.h
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
@@ -123,10 +126,13 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11901;0x2e7d;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
 11902;0x2e7e;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
 12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/devices/ploc/PlocSupervisorHandler.h
-12002;0x2ee2;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux/devices/ploc/PlocSupervisorHandler.h
-12003;0x2ee3;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report P1: ID of command for which the execution failed P2: Status code sent by the supervisor handler;linux/devices/ploc/PlocSupervisorHandler.h
-12004;0x2ee4;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux/devices/ploc/PlocSupervisorHandler.h
-12005;0x2ee5;SUPV_MPSOC_SHUWDOWN_BUILD_FAILED;LOW;Failed to build the command to shutdown the MPSoC;linux/devices/ploc/PlocSupervisorHandler.h
+12002;0x2ee2;SUPV_UNKNOWN_TM;LOW;Unhandled event. P1: APID, P2: Service ID;linux/devices/ploc/PlocSupervisorHandler.h
+12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;;linux/devices/ploc/PlocSupervisorHandler.h
+12004;0x2ee4;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux/devices/ploc/PlocSupervisorHandler.h
+12005;0x2ee5;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report P1: ID of command for which the execution failed P2: Status code sent by the supervisor handler;linux/devices/ploc/PlocSupervisorHandler.h
+12006;0x2ee6;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux/devices/ploc/PlocSupervisorHandler.h
+12007;0x2ee7;SUPV_HELPER_EXECUTING;LOW;Supervisor helper currently executing a command;linux/devices/ploc/PlocSupervisorHandler.h
+12008;0x2ee8;SUPV_MPSOC_SHUTDOWN_BUILD_FAILED;LOW;Failed to build the command to shutdown the MPSoC;linux/devices/ploc/PlocSupervisorHandler.h
 12100;0x2f44;SANITIZATION_FAILED;LOW;;bsp_q7s/fs/SdCardManager.h
 12101;0x2f45;MOUNTED_SD_CARD;INFO;;bsp_q7s/fs/SdCardManager.h
 12300;0x300c;SEND_MRAM_DUMP_FAILED;LOW;Failed to send mram dump command to supervisor handler P1: Return value of commandAction function P2: Start address of MRAM to dump with this command;linux/devices/ploc/PlocMemoryDumper.h
@@ -192,39 +198,40 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/objects/SusAssembly.h
 13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;;mission/system/objects/TcsBoardAssembly.h
 13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission/devices/devicedefinitions/GPSDefinitions.h
+13101;0x332d;CANT_GET_FIX;LOW;Could not get fix in maximum allowed time. P1: Maximum allowed time to get a fix after the GPS was switched on.;mission/devices/devicedefinitions/GPSDefinitions.h
 13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/devices/P60DockHandler.h
 13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission/devices/P60DockHandler.h
 13202;0x3392;BATT_MODE_CHANGED;MEDIUM;Battery mode has changed. P1: Old mode. P2: New mode;mission/devices/P60DockHandler.h
-13600;0x3520;SUPV_UPDATE_FAILED;LOW;update failed;linux/devices/ploc/PlocSupvHelper.h
-13601;0x3521;SUPV_UPDATE_SUCCESSFUL;LOW;update successful;linux/devices/ploc/PlocSupvHelper.h
-13602;0x3522;SUPV_CONTINUE_UPDATE_FAILED;LOW;Continue update command failed;linux/devices/ploc/PlocSupvHelper.h
-13603;0x3523;SUPV_CONTINUE_UPDATE_SUCCESSFUL;LOW;Continue update command successful;linux/devices/ploc/PlocSupvHelper.h
-13604;0x3524;TERMINATED_UPDATE_PROCEDURE;LOW;Terminated update procedure by command;linux/devices/ploc/PlocSupvHelper.h
-13605;0x3525;SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL;LOW;Requesting event buffer was successful;linux/devices/ploc/PlocSupvHelper.h
-13606;0x3526;SUPV_EVENT_BUFFER_REQUEST_FAILED;LOW;Requesting event buffer failed;linux/devices/ploc/PlocSupvHelper.h
-13607;0x3527;SUPV_EVENT_BUFFER_REQUEST_TERMINATED;LOW;Terminated event buffer request by command P1: Number of packets read before process was terminated;linux/devices/ploc/PlocSupvHelper.h
-13608;0x3528;SUPV_MEM_CHECK_OK;INFO;;linux/devices/ploc/PlocSupvHelper.h
-13609;0x3529;SUPV_MEM_CHECK_FAIL;INFO;;linux/devices/ploc/PlocSupvHelper.h
-13616;0x3530;SUPV_SENDING_COMMAND_FAILED;LOW;;linux/devices/ploc/PlocSupvHelper.h
-13617;0x3531;SUPV_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
-13618;0x3532;SUPV_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
-13619;0x3533;SUPV_MISSING_ACK;LOW;Did not receive acknowledgement report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocSupvHelper.h
-13620;0x3534;SUPV_MISSING_EXE;LOW;Supervisor did not receive execution report P1: Number of bytes missing P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
-13621;0x3535;SUPV_ACK_FAILURE_REPORT;LOW;Supervisor received acknowledgment failure report P1: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
-13622;0x3536;SUPV_EXE_FAILURE_REPORT;LOW;Execution report failure P1:;linux/devices/ploc/PlocSupvHelper.h
-13623;0x3537;SUPV_ACK_INVALID_APID;LOW;Supervisor expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
-13624;0x3538;SUPV_EXE_INVALID_APID;LOW;Supervisor helper expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
-13625;0x3539;ACK_RECEPTION_FAILURE;LOW;Failed to receive acknowledgment report P1: Return value P2: Apid of command for which the reception of the acknowledgment report failed;linux/devices/ploc/PlocSupvHelper.h
-13626;0x353a;EXE_RECEPTION_FAILURE;LOW;Failed to receive execution report P1: Return value P2: Apid of command for which the reception of the execution report failed;linux/devices/ploc/PlocSupvHelper.h
-13627;0x353b;WRITE_MEMORY_FAILED;LOW;Update procedure failed when sending packet. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvHelper.h
-13628;0x353c;SUPV_REPLY_SIZE_MISSMATCH;LOW;;linux/devices/ploc/PlocSupvHelper.h
-13629;0x353d;SUPV_REPLY_CRC_MISSMATCH;LOW;;linux/devices/ploc/PlocSupvHelper.h
-13630;0x353e;SUPV_UPDATE_PROGRESS;INFO;Will be triggered every 5 percent of the update progress. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvHelper.h
-13700;0x3584;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
-13701;0x3585;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
-13702;0x3586;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
-13703;0x3587;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h
-13704;0x3588;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
+13600;0x3520;SUPV_UPDATE_FAILED;LOW;update failed;linux/devices/ploc/PlocSupvUartMan.h
+13601;0x3521;SUPV_UPDATE_SUCCESSFUL;LOW;update successful;linux/devices/ploc/PlocSupvUartMan.h
+13602;0x3522;SUPV_CONTINUE_UPDATE_FAILED;LOW;Continue update command failed;linux/devices/ploc/PlocSupvUartMan.h
+13603;0x3523;SUPV_CONTINUE_UPDATE_SUCCESSFUL;LOW;Continue update command successful;linux/devices/ploc/PlocSupvUartMan.h
+13604;0x3524;TERMINATED_UPDATE_PROCEDURE;LOW;Terminated update procedure by command;linux/devices/ploc/PlocSupvUartMan.h
+13605;0x3525;SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL;LOW;Requesting event buffer was successful;linux/devices/ploc/PlocSupvUartMan.h
+13606;0x3526;SUPV_EVENT_BUFFER_REQUEST_FAILED;LOW;Requesting event buffer failed;linux/devices/ploc/PlocSupvUartMan.h
+13607;0x3527;SUPV_EVENT_BUFFER_REQUEST_TERMINATED;LOW;Terminated event buffer request by command P1: Number of packets read before process was terminated;linux/devices/ploc/PlocSupvUartMan.h
+13608;0x3528;SUPV_MEM_CHECK_OK;INFO;;linux/devices/ploc/PlocSupvUartMan.h
+13609;0x3529;SUPV_MEM_CHECK_FAIL;INFO;;linux/devices/ploc/PlocSupvUartMan.h
+13616;0x3530;SUPV_SENDING_COMMAND_FAILED;LOW;;linux/devices/ploc/PlocSupvUartMan.h
+13617;0x3531;SUPV_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
+13618;0x3532;SUPV_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
+13619;0x3533;SUPV_MISSING_ACK;LOW;Did not receive acknowledgement report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocSupvUartMan.h
+13620;0x3534;SUPV_MISSING_EXE;LOW;Supervisor did not receive execution report P1: Number of bytes missing P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
+13621;0x3535;SUPV_ACK_FAILURE_REPORT;LOW;Supervisor received acknowledgment failure report P1: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
+13622;0x3536;SUPV_EXE_FAILURE_REPORT;LOW;Execution report failure P1:;linux/devices/ploc/PlocSupvUartMan.h
+13623;0x3537;SUPV_ACK_INVALID_APID;LOW;Supervisor expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
+13624;0x3538;SUPV_EXE_INVALID_APID;LOW;Supervisor helper expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
+13625;0x3539;ACK_RECEPTION_FAILURE;LOW;Failed to receive acknowledgment report P1: Return value P2: Apid of command for which the reception of the acknowledgment report failed;linux/devices/ploc/PlocSupvUartMan.h
+13626;0x353a;EXE_RECEPTION_FAILURE;LOW;Failed to receive execution report P1: Return value P2: Apid of command for which the reception of the execution report failed;linux/devices/ploc/PlocSupvUartMan.h
+13627;0x353b;WRITE_MEMORY_FAILED;LOW;Update procedure failed when sending packet. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h
+13628;0x353c;SUPV_REPLY_SIZE_MISSMATCH;LOW;;linux/devices/ploc/PlocSupvUartMan.h
+13629;0x353d;SUPV_REPLY_CRC_MISSMATCH;LOW;;linux/devices/ploc/PlocSupvUartMan.h
+13630;0x353e;SUPV_UPDATE_PROGRESS;INFO;Will be triggered every 5 percent of the update progress. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h
+13631;0x353f;HDLC_FRAME_REMOVAL_ERROR;INFO;;linux/devices/ploc/PlocSupvUartMan.h
+13632;0x3540;HDLC_CRC_ERROR;INFO;;linux/devices/ploc/PlocSupvUartMan.h
+13700;0x3584;FDIR_REACTION_IGNORED;MEDIUM;;mission/devices/devicedefinitions/SyrlinksDefinitions.h
+13701;0x3585;TX_ON;INFO;Transmitter is on now. P1: Submode, P2: Current default datarate.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
+13702;0x3586;TX_OFF;INFO;Transmitter is off now.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
 13800;0x35e8;MISSING_PACKET;LOW;;mission/devices/devicedefinitions/ScexDefinitions.h
 13801;0x35e9;EXPERIMENT_TIMEDOUT;LOW;;mission/devices/devicedefinitions/ScexDefinitions.h
 13802;0x35ea;MULTI_PACKET_COMMAND_DONE;INFO;;mission/devices/devicedefinitions/ScexDefinitions.h
@@ -233,3 +240,10 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13903;0x364f;INSERT_CONFIGFILEVALUE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
 13904;0x3650;WRITE_CONFIGFILE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
 13905;0x3651;READ_CONFIGFILE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
+14000;0x36b0;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
+14001;0x36b1;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
+14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
+14003;0x36b3;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h
+14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
+14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;bsp_q7s/core/CoreController.h
+14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h

generators/bsp_q7s_objects.csv

@@ -72,7 +72,7 @@
 0x44420029;RTD_13_IC16_PLPCDU_HEATSPREADER
 0x44420030;RTD_14_IC17_TCS_BOARD
 0x44420031;RTD_15_IC18_IMTQ
-0x445300A3;SYRLINKS_HK_HANDLER
+0x445300A3;SYRLINKS_HANDLER
 0x49000000;ARDUINO_COM_IF
 0x49010005;GPIO_IF
 0x49010006;SCEX_UART_READER
@@ -84,8 +84,10 @@
 0x49050001;CSP_COM_IF
 0x50000100;CCSDS_PACKET_DISTRIBUTOR
 0x50000200;PUS_PACKET_DISTRIBUTOR
-0x50000300;TMTC_BRIDGE
-0x50000400;TMTC_POLLING_TASK
+0x50000300;TCP_TMTC_SERVER
+0x50000301;UDP_TMTC_SERVER
+0x50000400;TCP_TMTC_POLLING_TASK
+0x50000401;UDP_TMTC_POLLING_TASK
 0x50000500;FILE_SYSTEM_HANDLER
 0x50000550;SDC_MANAGER
 0x50000600;PTME
@@ -144,5 +146,7 @@
 0x73010000;EIVE_SYSTEM
 0x73010001;ACS_SUBSYSTEM
 0x73010002;PL_SUBSYSTEM
+0x73010003;TCS_SUBSYSTEM
+0x73010004;COM_SUBSYSTEM
 0x73500000;CCSDS_IP_CORE_BRIDGE
 0xFFFFFFFF;NO_OBJECT

generators/bsp_q7s_returnvalues.csv

@@ -2,6 +2,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0000;OK;System-wide code for ok.;0;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
 0x0001;Failed;Unspecified system-wide code for failed.;1;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
 0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NVMParameterBase.h
+0x6300;NVMB_Busy;;0;NVM_PARAM_BASE;mission/system/objects/Stack5VHandler.h
 0x58a0;SUSS_ErrorUnlockMutex;;160;SUS_HANDLER;mission/devices/SusHandler.h
 0x58a1;SUSS_ErrorLockMutex;;161;SUS_HANDLER;mission/devices/SusHandler.h
 0x66a0;SADPL_CommandNotSupported;;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
@@ -29,27 +30,33 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x52a2;RWHA_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;RW_HANDLER;mission/devices/RwHandler.h
 0x52a3;RWHA_ExecutionFailed;Command execution failed;163;RW_HANDLER;mission/devices/RwHandler.h
 0x52a4;RWHA_CrcError;Reaction wheel reply has invalid crc;164;RW_HANDLER;mission/devices/RwHandler.h
+0x50a0;SYRLINKS_CrcFailure;;160;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a1;SYRLINKS_UartFraminOrParityErrorAck;;161;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a2;SYRLINKS_BadCharacterAck;;162;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a3;SYRLINKS_BadParameterValueAck;;163;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a4;SYRLINKS_BadEndOfFrameAck;;164;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a5;SYRLINKS_UnknownCommandIdAck;;165;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a6;SYRLINKS_BadCrcAck;;166;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a7;SYRLINKS_ReplyWrongSize;;167;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a8;SYRLINKS_MissingStartFrameCharacter;;168;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
 0x5d00;GOMS_PacketTooLong;;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d01;GOMS_InvalidTableId;;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d02;GOMS_InvalidAddress;;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d03;GOMS_InvalidParamSize;;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d04;GOMS_InvalidPayloadSize;;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d05;GOMS_UnknownReplyId;;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x50a0;SYRLINKS_CrcFailure;;160;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
-0x50a1;SYRLINKS_UartFraminOrParityErrorAck;;161;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
-0x50a2;SYRLINKS_BadCharacterAck;;162;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
-0x50a3;SYRLINKS_BadParameterValueAck;;163;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
-0x50a4;SYRLINKS_BadEndOfFrameAck;;164;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
-0x50a5;SYRLINKS_UnknownCommandIdAck;;165;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
-0x50a6;SYRLINKS_BadCrcAck;;166;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
-0x50a7;SYRLINKS_ReplyWrongSize;;167;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
-0x50a8;SYRLINKS_MissingStartFrameCharacter;;168;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
 0x4fa1;HEATER_CommandNotSupported;;161;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa2;HEATER_InitFailed;;162;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa3;HEATER_InvalidSwitchNr;;163;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa4;HEATER_MainSwitchSetTimeout;;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa5;HEATER_CommandAlreadyWaiting;;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
+0x6a01;ACSSAF_SafectrlMekfInputInvalid;;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
+0x6b01;ACSPTG_PtgctrlMekfInputInvalid;;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
+0x6c01;ACSDTB_DetumbleNoSensordata;;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
+0x6901;ACSKAL_KalmanNoGyrMeas;;1;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6902;ACSKAL_KalmanNoModel;;2;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6903;ACSKAL_KalmanInversionFailed;;3;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x4500;HSPI_OpeningFileFailed;;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
 0x4501;HSPI_FullDuplexTransferFailed;;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
 0x4502;HSPI_HalfDuplexTransferFailed;;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
@@ -369,6 +376,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4202;PUS11_InvalidTimeWindow;;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4203;PUS11_TimeshiftingNotPossible;;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4204;PUS11_InvalidRelativeTime;;4;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
+0x4205;PUS11_ContainedTcTooSmall;;5;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
+0x4206;PUS11_ContainedTcCrcMissmatch;;6;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x3401;DC_NoReplyReceived;;1;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
 0x3402;DC_ProtocolError;;2;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
 0x3403;DC_Nullpointer;;3;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
@@ -462,16 +471,16 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x1d03;ATC_IllegalApplicationData;;3;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
 0x1d04;ATC_SendTmFailed;;4;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
 0x1d05;ATC_Timeout;;5;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x6b00;SCBU_KeyNotFound;;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h
+0x7000;SCBU_KeyNotFound;;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h
 0x64a0;FSHLP_SdNotMounted;SD card specified with path string not mounted;160;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
 0x64a1;FSHLP_FileNotExists;Specified file does not exist on filesystem;161;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
-0x6a00;SDMA_OpOngoing;;0;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a01;SDMA_AlreadyOn;;1;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a02;SDMA_AlreadyMounted;;2;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a03;SDMA_AlreadyOff;;3;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a0a;SDMA_StatusFileNexists;;10;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a0b;SDMA_StatusFileFormatInvalid;;11;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a0c;SDMA_MountError;;12;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a0d;SDMA_UnmountError;;13;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a0e;SDMA_SystemCallError;;14;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a0f;SDMA_PopenCallError;;15;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f00;SDMA_OpOngoing;;0;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f01;SDMA_AlreadyOn;;1;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f02;SDMA_AlreadyMounted;;2;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f03;SDMA_AlreadyOff;;3;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f0a;SDMA_StatusFileNexists;;10;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f0b;SDMA_StatusFileFormatInvalid;;11;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f0c;SDMA_MountError;;12;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f0d;SDMA_UnmountError;;13;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f0e;SDMA_SystemCallError;;14;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f0f;SDMA_PopenCallError;;15;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h

generators/events/event_parser.py

@@ -29,6 +29,7 @@ GENERATE_CSV = True
 COPY_CPP_FILE = True
 COPY_CPP_H_FILE = True
 MOVE_CSV_FILE = True
+PRINT_EVENTS = False
 
 PARSE_HOST_BSP = True
 
@@ -46,7 +47,7 @@ BSP_DIR_NAME = BSP_SELECT.value
 
 # Store this file in the root of the generators folder
 CSV_FILENAME = Path(f"{ROOT_DIR}/{BSP_SELECT.value}_events.csv")
-CSV_COPY_DEST = Path(f"{OBSW_ROOT_DIR}/tmtc/config/events.csv")
+CSV_COPY_DEST = Path(f"{OBSW_ROOT_DIR}/tmtc/eive_tmtc/config/events.csv")
 
 if BSP_SELECT == BspType.BSP_Q7S or BSP_SELECT == BspType.BSP_LINUX_BOARD:
     FSFW_CONFIG_ROOT = Path(f"{OBSW_ROOT_DIR}/linux/fsfwconfig")
@@ -80,13 +81,13 @@ LOGGER = get_console_logger()
 
 
 def parse_events(
-    generate_csv: bool = True, generate_cpp: bool = True, print_events: bool = True
+    generate_csv: bool = True, generate_cpp: bool = True
 ):
     LOGGER.info("EventParser: Parsing events: ")
     # Small delay for clean printout
     time.sleep(0.01)
     event_list = generate_event_list()
-    if print_events:
+    if PRINT_EVENTS:
         PrettyPrinter.pprint(event_list)
         # Delay for clean printout
         time.sleep(0.1)

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 234 translations.
+ * @brief    Auto-generated event translation file. Contains 248 translations.
  * @details
- * Generated on: 2022-11-14 17:10:10
+ * Generated on: 2023-02-08 14:09:40
  */
 #include "translateEvents.h"
 
@@ -82,6 +82,7 @@ const char *BIT_LOCK_STRING = "BIT_LOCK";
 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_DUMP_STRING = "CLOCK_DUMP";
 const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
 const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
 const char *TEST_STRING = "TEST";
@@ -89,6 +90,8 @@ 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 *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
+const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 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";
@@ -129,10 +132,13 @@ 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_MPSOC_SHUWDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUWDOWN_BUILD_FAILED";
+const char *SUPV_HELPER_EXECUTING_STRING = "SUPV_HELPER_EXECUTING";
+const char *SUPV_MPSOC_SHUTDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUTDOWN_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";
@@ -194,6 +200,7 @@ 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 *CANT_GET_FIX_STRING = "CANT_GET_FIX";
 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";
@@ -222,11 +229,10 @@ 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 *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 *HDLC_FRAME_REMOVAL_ERROR_STRING = "HDLC_FRAME_REMOVAL_ERROR";
+const char *HDLC_CRC_ERROR_STRING = "HDLC_CRC_ERROR";
+const char *TX_ON_STRING = "TX_ON";
+const char *TX_OFF_STRING = "TX_OFF";
 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";
@@ -235,6 +241,13 @@ 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 *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 *VERSION_INFO_STRING = "VERSION_INFO";
+const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -393,6 +406,8 @@ const char *translateEvents(Event event) {
     case (8900):
       return CLOCK_SET_STRING;
     case (8901):
+      return CLOCK_DUMP_STRING;
+    case (8902):
       return CLOCK_SET_FAILURE_STRING;
     case (9100):
       return TC_DELETION_FAILED_STRING;
@@ -406,6 +421,10 @@ const char *translateEvents(Event event) {
       return MSG_QUEUE_ERROR_STRING;
     case (10802):
       return SERIALIZATION_ERROR_STRING;
+    case (11200):
+      return SAFE_RATE_VIOLATION_STRING;
+    case (11201):
+      return SAFE_RATE_RECOVERY_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -487,13 +506,19 @@ const char *translateEvents(Event event) {
     case (12001):
       return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
     case (12002):
-      return SUPV_ACK_FAILURE_STRING;
+      return SUPV_UNKNOWN_TM_STRING;
     case (12003):
-      return SUPV_EXE_FAILURE_STRING;
+      return SUPV_UNINIMPLEMENTED_TM_STRING;
     case (12004):
-      return SUPV_CRC_FAILURE_EVENT_STRING;
+      return SUPV_ACK_FAILURE_STRING;
     case (12005):
-      return SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING;
+      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_SHUTDOWN_BUILD_FAILED_STRING;
     case (12100):
       return SANITIZATION_FAILED_STRING;
     case (12101):
@@ -616,6 +641,8 @@ const char *translateEvents(Event event) {
       return CHILDREN_LOST_MODE_STRING;
     case (13100):
       return GPS_FIX_CHANGE_STRING;
+    case (13101):
+      return CANT_GET_FIX_STRING;
     case (13200):
       return P60_BOOT_COUNT_STRING;
     case (13201):
@@ -672,16 +699,14 @@ const char *translateEvents(Event event) {
       return SUPV_REPLY_CRC_MISSMATCH_STRING;
     case (13630):
       return SUPV_UPDATE_PROGRESS_STRING;
-    case (13700):
-      return ALLOC_FAILURE_STRING;
+    case (13631):
+      return HDLC_FRAME_REMOVAL_ERROR_STRING;
+    case (13632):
+      return HDLC_CRC_ERROR_STRING;
     case (13701):
-      return REBOOT_SW_STRING;
+      return TX_ON_STRING;
     case (13702):
-      return REBOOT_MECHANISM_TRIGGERED_STRING;
-    case (13703):
-      return REBOOT_HW_STRING;
-    case (13704):
-      return NO_SD_CARD_ACTIVE_STRING;
+      return TX_OFF_STRING;
     case (13800):
       return MISSING_PACKET_STRING;
     case (13801):
@@ -698,6 +723,20 @@ const char *translateEvents(Event event) {
       return WRITE_CONFIGFILE_FAILED_STRING;
     case (13905):
       return READ_CONFIGFILE_FAILED_STRING;
+    case (14000):
+      return ALLOC_FAILURE_STRING;
+    case (14001):
+      return REBOOT_SW_STRING;
+    case (14002):
+      return REBOOT_MECHANISM_TRIGGERED_STRING;
+    case (14003):
+      return REBOOT_HW_STRING;
+    case (14004):
+      return NO_SD_CARD_ACTIVE_STRING;
+    case (14005):
+      return VERSION_INFO_STRING;
+    case (14006):
+      return CURRENT_IMAGE_INFO_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

generators/objects/objects.py

@@ -43,7 +43,7 @@ CPP_COPY_DESTINATION = f"{FSFW_CONFIG_ROOT}/objects/"
 CPP_FILENAME = f"{os.path.dirname(os.path.realpath(__file__))}//translateObjects.cpp"
 CPP_H_FILENAME = f"{os.path.dirname(os.path.realpath(__file__))}//translateObjects.h"
 CSV_OBJECT_FILENAME = f"{ROOT_DIR}/{BSP_SELECT.value}_objects.csv"
-CSV_COPY_DEST = f"{OBSW_ROOT_DIR}/tmtc/config/objects.csv"
+CSV_COPY_DEST = f"{OBSW_ROOT_DIR}/tmtc/eive_tmtc/config/objects.csv"
 FILE_SEPARATOR = ";"
 
 

generators/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 148 translations.
- * Generated on: 2022-11-14 17:10:10
+ * Contains 152 translations.
+ * Generated on: 2023-02-08 14:09:40
  */
 #include "translateObjects.h"
 
@@ -80,7 +80,7 @@ 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 *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
@@ -92,8 +92,10 @@ 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 *TCP_TMTC_SERVER_STRING = "TCP_TMTC_SERVER";
+const char *UDP_TMTC_SERVER_STRING = "UDP_TMTC_SERVER";
+const char *TCP_TMTC_POLLING_TASK_STRING = "TCP_TMTC_POLLING_TASK";
+const char *UDP_TMTC_POLLING_TASK_STRING = "UDP_TMTC_POLLING_TASK";
 const char *FILE_SYSTEM_HANDLER_STRING = "FILE_SYSTEM_HANDLER";
 const char *SDC_MANAGER_STRING = "SDC_MANAGER";
 const char *PTME_STRING = "PTME";
@@ -152,6 +154,8 @@ 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 *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
+const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
@@ -306,7 +310,7 @@ const char *translateObject(object_id_t object) {
     case 0x44420031:
       return RTD_15_IC18_IMTQ_STRING;
     case 0x445300A3:
-      return SYRLINKS_HK_HANDLER_STRING;
+      return SYRLINKS_HANDLER_STRING;
     case 0x49000000:
       return ARDUINO_COM_IF_STRING;
     case 0x49010005:
@@ -330,9 +334,13 @@ const char *translateObject(object_id_t object) {
     case 0x50000200:
       return PUS_PACKET_DISTRIBUTOR_STRING;
     case 0x50000300:
-      return TMTC_BRIDGE_STRING;
+      return TCP_TMTC_SERVER_STRING;
+    case 0x50000301:
+      return UDP_TMTC_SERVER_STRING;
     case 0x50000400:
-      return TMTC_POLLING_TASK_STRING;
+      return TCP_TMTC_POLLING_TASK_STRING;
+    case 0x50000401:
+      return UDP_TMTC_POLLING_TASK_STRING;
     case 0x50000500:
       return FILE_SYSTEM_HANDLER_STRING;
     case 0x50000550:
@@ -449,6 +457,10 @@ const char *translateObject(object_id_t object) {
       return ACS_SUBSYSTEM_STRING;
     case 0x73010002:
       return PL_SUBSYSTEM_STRING;
+    case 0x73010003:
+      return TCS_SUBSYSTEM_STRING;
+    case 0x73010004:
+      return COM_SUBSYSTEM_STRING;
     case 0x73500000:
       return CCSDS_IP_CORE_BRIDGE_STRING;
     case 0xFFFFFFFF:

generators/returnvalues/returnvalues_parser.py

@@ -22,7 +22,7 @@ LOGGER = get_console_logger()
 EXPORT_TO_FILE = True
 COPY_CSV_FILE = True
 EXPORT_TO_SQL = True
-PRINT_TABLES = True
+PRINT_TABLES = False
 
 
 FILE_SEPARATOR = ";"
@@ -31,7 +31,7 @@ MAX_STRING_LENGTH = 32
 BSP_SELECT = BspType.BSP_Q7S
 BSP_DIR_NAME = BSP_SELECT.value
 CSV_RETVAL_FILENAME = Path(f"{ROOT_DIR}/{BSP_SELECT.value}_returnvalues.csv")
-CSV_COPY_DEST = Path(f"{OBSW_ROOT_DIR}/tmtc/config/returnvalues.csv")
+CSV_COPY_DEST = Path(f"{OBSW_ROOT_DIR}/tmtc/eive_tmtc/config/returnvalues.csv")
 ADD_LINUX_FOLDER = False
 
 if BSP_SELECT == BspType.BSP_Q7S or BSP_SELECT == BspType.BSP_LINUX_BOARD:

linux/CMakeLists.txt

@@ -1,4 +1,3 @@
-add_subdirectory(csp)
 add_subdirectory(utility)
 add_subdirectory(callbacks)
 add_subdirectory(boardtest)
@@ -9,4 +8,9 @@ if(EIVE_ADD_LINUX_FSFWCONFIG)
   add_subdirectory(fsfwconfig)
 endif()
 
-target_sources(${OBSW_NAME} PUBLIC ObjectFactory.cpp InitMission.cpp)
+# Dependency on proprietary library
+if(TGT_BSP MATCHES "arm/q7s")
+  add_subdirectory(csp)
+endif()
+
+target_sources(${OBSW_NAME} PUBLIC ObjectFactory.cpp scheduling.cpp)

linux/ObjectFactory.cpp

@@ -28,9 +28,11 @@
 #include "mission/system/objects/TcsBoardAssembly.h"
 #include "mission/system/tree/acsModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
+#include "mission/system/tree/tcsModeTree.h"
 
 void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
-                                              PowerSwitchIF* pwrSwitcher, std::string spiDev) {
+                                              PowerSwitchIF* pwrSwitcher, std::string spiDev,
+                                              bool swap0And6) {
   using namespace gpio;
   GpioCookie* gpioCookieSus = new GpioCookie();
   GpioCallback* susgpio = nullptr;
@@ -292,7 +294,7 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
   TcsBoardHelper helper(rtdInfos);
   TcsBoardAssembly* tcsBoardAss = new TcsBoardAssembly(
       objects::TCS_BOARD_ASS, pwrSwitcher, pcdu::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
-  static_cast<void>(tcsBoardAss);
+  tcsBoardAss->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
   // Create special low level reader communication interface
   new Max31865RtdReader(objects::SPI_RTD_COM_IF, comIF, gpioComIF);
   for (uint8_t idx = 0; idx < NUM_RTDS; idx++) {
@@ -341,7 +343,8 @@ void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwr
 }
 
 void ObjectFactory::createThermalController() {
-  new ThermalController(objects::THERMAL_CONTROLLER);
+  auto* tcsCtrl = new ThermalController(objects::THERMAL_CONTROLLER);
+  tcsCtrl->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
 }
 
 AcsController* ObjectFactory::createAcsController(bool connectSubsystem) {
@@ -360,6 +363,6 @@ void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
 
 void ObjectFactory::addTmtcIpCoresToFunnels(CcsdsIpCoreHandler& ipCoreHandler,
                                             PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel) {
-  cfdpFunnel.addDestination(ipCoreHandler, config::LIVE_TM);
-  pusFunnel.addDestination(ipCoreHandler, config::LIVE_TM);
+  cfdpFunnel.addDestination("PTME IP Core", ipCoreHandler, config::LIVE_TM);
+  pusFunnel.addDestination("PTME IP Core", ipCoreHandler, config::LIVE_TM);
 }

linux/ObjectFactory.h

@@ -19,7 +19,7 @@ class AcsController;
 namespace ObjectFactory {
 
 void createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF, PowerSwitchIF* pwrSwitcher,
-                               std::string spiDev);
+                               std::string spiDev, bool swap0And6);
 void createRtdComponents(std::string spiDev, GpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher,
                          SpiComIF* comIF);
 

linux/devices/CMakeLists.txt

@@ -1,5 +1,5 @@
 if(EIVE_BUILD_GPSD_GPS_HANDLER)
-  target_sources(${OBSW_NAME} PRIVATE GPSHyperionLinuxController.cpp)
+  target_sources(${OBSW_NAME} PRIVATE GpsHyperionLinuxController.cpp)
 endif()
 
 target_sources(
@@ -7,4 +7,8 @@ target_sources(
                        ScexDleParser.cpp ScexHelper.cpp)
 
 add_subdirectory(ploc)
+
+# Dependency on proprietary library
+if(TGT_BSP MATCHES "arm/q7s")
   add_subdirectory(startracker)
+endif()

linux/devices/GpsHyperionLinuxController.cpp

@@ -1,5 +1,6 @@
-#include "GPSHyperionLinuxController.h"
+#include "GpsHyperionLinuxController.h"
 
+#include <fsfw/tasks/TaskFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
 
 #include "OBSWConfig.h"
@@ -16,30 +17,23 @@
 #include <cmath>
 #include <ctime>
 
-GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
+GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                                                        bool debugHyperionGps)
     : ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(debugHyperionGps) {
   timeUpdateCd.resetTimer();
 }
 
-GPSHyperionLinuxController::~GPSHyperionLinuxController() {
+GpsHyperionLinuxController::~GpsHyperionLinuxController() {
   gps_stream(&gps, WATCH_DISABLE, nullptr);
   gps_close(&gps);
 }
 
-void GPSHyperionLinuxController::performControlOperation() {
-#ifdef FSFW_OSAL_LINUX
-  readGpsDataFromGpsd();
-#endif
-}
+LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }
 
-LocalPoolDataSetBase *GPSHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }
-
-ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
+ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
                                                            uint32_t *msToReachTheMode) {
   if (not modeCommanded) {
     if (mode == MODE_ON or mode == MODE_OFF) {
-      gpsNotOpenSwitch = true;
       // 5h time to reach fix
       *msToReachTheMode = MAX_SECONDS_TO_REACH_FIX;
       maxTimeToReachFix.resetTimer();
@@ -48,10 +42,18 @@ ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
       return HasModesIF::INVALID_MODE;
     }
   }
+  if (mode == MODE_OFF) {
+    PoolReadGuard pg(&gpsSet);
+    gpsSet.setValidity(false, true);
+    // There can't be a fix with a device that is off.
+    triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, 0);
+    oneShotSwitches.reset();
+    modeCommanded = false;
+  }
   return returnvalue::OK;
 }
 
-ReturnValue_t GPSHyperionLinuxController::executeAction(ActionId_t actionId,
+ReturnValue_t GpsHyperionLinuxController::executeAction(ActionId_t actionId,
                                                         MessageQueueId_t commandedBy,
                                                         const uint8_t *data, size_t size) {
   switch (actionId) {
@@ -69,7 +71,7 @@ ReturnValue_t GPSHyperionLinuxController::executeAction(ActionId_t actionId,
   return returnvalue::OK;
 }
 
-ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(
+ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(
     localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
   localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}));
@@ -89,92 +91,109 @@ ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(
   return returnvalue::OK;
 }
 
-void GPSHyperionLinuxController::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
+void GpsHyperionLinuxController::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
                                                             void *args) {
   this->resetCallback = resetCallback;
   resetCallbackArgs = args;
 }
 
-ReturnValue_t GPSHyperionLinuxController::initialize() {
+ReturnValue_t GpsHyperionLinuxController::performOperation(uint8_t opCode) {
+  handleQueue();
+  poolManager.performHkOperation();
+  while (true) {
+    bool callAgainImmediately = readGpsDataFromGpsd();
+    if (not callAgainImmediately) {
+      handleQueue();
+      poolManager.performHkOperation();
+      TaskFactory::delayTask(250);
+    }
+  }
+  // Should never be reached.
+  return returnvalue::OK;
+}
+
+ReturnValue_t GpsHyperionLinuxController::initialize() {
   ReturnValue_t result = ExtendedControllerBase::initialize();
   if (result != returnvalue::OK) {
     return result;
   }
   auto openError = [&](const char *type, int error) {
-    if (gpsNotOpenSwitch) {
   // Opening failed
 #if FSFW_VERBOSE_LEVEL >= 1
     sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM " << type
                  << " failed | Error " << error << " | " << gps_errstr(error) << std::endl;
 #endif
-      gpsNotOpenSwitch = false;
-    }
   };
   if (readMode == ReadModes::SOCKET) {
     int retval = gps_open("localhost", DEFAULT_GPSD_PORT, &gps);
     if (retval != 0) {
       openError("Socket", retval);
+      return ObjectManager::CHILD_INIT_FAILED;
     }
+    gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
   } else if (readMode == ReadModes::SHM) {
     int retval = gps_open(GPSD_SHARED_MEMORY, "", &gps);
     if (retval != 0) {
       openError("SHM", retval);
+      return ObjectManager::CHILD_INIT_FAILED;
     }
   }
   return result;
 }
 
-ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *message) {
+ReturnValue_t GpsHyperionLinuxController::handleCommandMessage(CommandMessage *message) {
   return ExtendedControllerBase::handleCommandMessage(message);
 }
 
-#ifdef FSFW_OSAL_LINUX
+void GpsHyperionLinuxController::performControlOperation() {}
 
-void GPSHyperionLinuxController::readGpsDataFromGpsd() {
-  auto readError = [&](int error) {
-    if (gpsReadFailedSwitch) {
-      gpsReadFailedSwitch = false;
+bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
+  auto readError = [&]() {
+    if (oneShotSwitches.gpsReadFailedSwitch) {
+      oneShotSwitches.gpsReadFailedSwitch = false;
       sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed | "
                       "Error "
-                   << error << " | " << gps_errstr(error) << std::endl;
+                   << errno << " | " << gps_errstr(errno) << std::endl;
     }
   };
-  currentClientBuf = gps_data(&gps);
+  // GPS is off, no point in reading data from GPSD.
+  if (mode == MODE_OFF) {
+    return false;
+  }
   if (readMode == ReadModes::SOCKET) {
-    gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
-    // Exit if no data is seen in 2 seconds (should not happen)
-    if (not gps_waiting(&gps, 2000000)) {
-      return;
-    }
-    int result = gps_read(&gps);
-    if (result == -1) {
-      readError(result);
-      return;
+    // Poll the GPS.
+    if (gps_waiting(&gps, 0)) {
+      if (-1 == gps_read(&gps)) {
+        readError();
+        return false;
       }
+      oneShotSwitches.gpsReadFailedSwitch = true;
       if (MODE_SET != (MODE_SET & gps.set)) {
-      if (noModeSetCntr >= 0) {
-        noModeSetCntr++;
-      }
-      if (noModeSetCntr == 10) {
-        // TODO: Trigger event here
-        sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be "
-                        "read for 10 consecutive reads"
-                     << std::endl;
-        noModeSetCntr = -1;
+        if (mode != MODE_OFF and maxTimeToReachFix.hasTimedOut() and
+            oneShotSwitches.cantGetFixSwitch) {
+          sif::warning
+              << "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be set in allowed "
+              << maxTimeToReachFix.timeout / 1000 << " seconds" << std::endl;
+          triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.timeout);
+          oneShotSwitches.cantGetFixSwitch = false;
+          // did not event get mode, nothing to see.
+          return false;
         }
       }
       noModeSetCntr = 0;
+    } else {
+      return false;
+    }
   } else if (readMode == ReadModes::SHM) {
-    int result = gps_read(&gps);
-    if (result == -1) {
-      readError(result);
-      return;
+    sif::error << "GpsHyperionLinuxController::readGpsDataFromGpsdPermanentLoop: "
+                  "SHM read not implemented"
+               << std::endl;
   }
-  }
-  handleGpsRead();
+  handleGpsReadData();
+  return true;
 }
 
-ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
+ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   PoolReadGuard pg(&gpsSet);
   if (pg.getReadResult() != returnvalue::OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
@@ -184,51 +203,58 @@ ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
   }
 
   bool validFix = false;
-  static_cast<void>(validFix);
   // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
-  int newFixMode = gps.fix.mode;
-  if (newFixMode == 2 or newFixMode == 3) {
+  if (gps.fix.mode == 2 or gps.fix.mode == 3) {
     validFix = true;
   }
-  if (gpsSet.fixMode.value != newFixMode) {
-    triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFixMode);
+  if (gpsSet.fixMode.value != gps.fix.mode) {
+    triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, gps.fix.mode);
   }
-  gpsSet.fixMode.value = newFixMode;
+  gpsSet.fixMode.value = gps.fix.mode;
   if (gps.fix.mode == 0 or gps.fix.mode == 1) {
     if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
-      // We are supposed to be on and functioning, but not fix was found
+      // We are supposed to be on and functioning, but no fix was found
       if (mode == MODE_ON or mode == MODE_NORMAL) {
         mode = MODE_OFF;
       }
       modeCommanded = false;
     }
     gpsSet.setValidity(false, true);
-  } else if (gps.satellites_used > 0) {
+  } else if (gps.satellites_used > 0 && validFix && mode != MODE_OFF) {
     gpsSet.setValidity(true, true);
   }
 
   gpsSet.satInUse.value = gps.satellites_used;
   gpsSet.satInView.value = gps.satellites_visible;
 
+  bool latValid = false;
   if (std::isfinite(gps.fix.latitude)) {
     // Negative latitude -> South direction
     gpsSet.latitude.value = gps.fix.latitude;
-  } else {
-    gpsSet.latitude.setValid(false);
+    if (gps.fix.mode >= 2) {
+      latValid = true;
     }
+  }
+  gpsSet.latitude.setValid(latValid);
 
+  bool longValid = false;
   if (std::isfinite(gps.fix.longitude)) {
     // Negative longitude -> West direction
     gpsSet.longitude.value = gps.fix.longitude;
-  } else {
-    gpsSet.longitude.setValid(false);
+    if (gps.fix.mode >= 2) {
+      longValid = true;
     }
+  }
+  gpsSet.latitude.setValid(longValid);
 
+  bool altitudeValid = false;
   if (std::isfinite(gps.fix.altitude)) {
     gpsSet.altitude.value = gps.fix.altitude;
-  } else {
-    gpsSet.altitude.setValid(false);
+    if (gps.fix.mode == 3) {
+      altitudeValid = true;
     }
+  }
+  gpsSet.altitude.setValid(altitudeValid);
 
   if (std::isfinite(gps.fix.speed)) {
     gpsSet.speed.value = gps.fix.speed;
@@ -236,47 +262,22 @@ ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
     gpsSet.speed.setValid(false);
   }
 
-#if LIBGPS_VERSION_MINOR <= 17
-  gpsSet.unixSeconds.value = gps.fix.time;
-#else
-  gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
-#endif
+  if (TIME_SET == (TIME_SET & gps.set)) {
     timeval time = {};
-  time.tv_sec = gpsSet.unixSeconds.value;
 #if LIBGPS_VERSION_MINOR <= 17
-  double fractionalPart = gps.fix.time - std::floor(gps.fix.time);
+    gpsSet.unixSeconds.value = std::floor(gps.fix.time);
+    double fractionalPart = gps.fix.time - gpsSet.unixSeconds.value;
     time.tv_usec = fractionalPart * 1000.0 * 1000.0;
 #else
+    gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
     time.tv_usec = gps.fix.time.tv_nsec / 1000;
 #endif
-  std::time_t t = std::time(nullptr);
-  if (time.tv_sec == t) {
-    timeIsConstantCounter++;
-  } else {
-    timeIsConstantCounter = 0;
-  }
-  if (timeInit and validFix) {
-    if (not utility::timeSanityCheck()) {
-#if OBSW_VERBOSE_LEVEL >= 1
-      time_t timeRaw = time.tv_sec;
-      std::tm *timeTm = std::gmtime(&timeRaw);
-      sif::info << "Setting invalid system time from GPS data directly: "
-                << std::put_time(timeTm, "%c %Z") << std::endl;
-#endif
-      // For some reason, the clock needs to be somewhat correct for NTP to work. Really dumb..
-      Clock::setClock(&time);
-    }
-    timeInit = false;
-  }
-  // If the received time does not change anymore for whatever reason, do not set it here
-  // to avoid stale times. Also, don't do it too often often to avoid jumping times
-  if (timeIsConstantCounter < 20 and timeUpdateCd.hasTimedOut()) {
-    // Update the system time here for now. NTP seems to be unable to do so for whatever reason.
-    // Further tests have shown that the time seems to be set by NTPD after some time..
-    // Clock::setClock(&time);
-    timeUpdateCd.resetTimer();
-  }
-
+    time.tv_sec = gpsSet.unixSeconds.value;
+    // If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC
+    // and no time file available) we set it with the roughly valid time from the GPS.
+    // NTP might only work if the time difference between sys time and current time is not too
+    // large.
+    overwriteTimeIfNotSane(time, validFix);
     Clock::TimeOfDay_t timeOfDay = {};
     Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
     gpsSet.year = timeOfDay.year;
@@ -285,10 +286,20 @@ ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
     gpsSet.hours = timeOfDay.hour;
     gpsSet.minutes = timeOfDay.minute;
     gpsSet.seconds = timeOfDay.second;
+  } else {
+    gpsSet.unixSeconds.setValid(false);
+    gpsSet.year.setValid(false);
+    gpsSet.month.setValid(false);
+    gpsSet.day.setValid(false);
+    gpsSet.hours.setValid(false);
+    gpsSet.minutes.setValid(false);
+    gpsSet.seconds.setValid(false);
+  }
+
   if (debugHyperionGps) {
     sif::info << "-- Hyperion GPS Data --" << std::endl;
 #if LIBGPS_VERSION_MINOR <= 17
-    time_t timeRaw = gps.fix.time;
+    time_t timeRaw = gpsSet.unixSeconds.value;
 #else
     time_t timeRaw = gps.fix.time.tv_sec;
 #endif
@@ -312,4 +323,18 @@ ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
   return returnvalue::OK;
 }
 
+void GpsHyperionLinuxController::overwriteTimeIfNotSane(timeval time, bool validFix) {
+  if (not timeInit and validFix) {
+    if (not utility::timeSanityCheck()) {
+#if OBSW_VERBOSE_LEVEL >= 1
+      time_t timeRaw = time.tv_sec;
+      std::tm *timeTm = std::gmtime(&timeRaw);
+      sif::info << "Overwriting invalid system time from GPS data directly: "
+                << std::put_time(timeTm, "%c %Z") << std::endl;
 #endif
+      // For some reason, the clock needs to be somewhat correct for NTP to work. Really dumb..
+      Clock::setClock(&time);
+    }
+    timeInit = true;
+  }
+}

linux/devices/GpsHyperionLinuxController.h

@@ -20,18 +20,19 @@
  * This device handler can only be used on Linux system where the gpsd daemon with shared memory
  * export is running.
  */
-class GPSHyperionLinuxController : public ExtendedControllerBase {
+class GpsHyperionLinuxController : public ExtendedControllerBase {
  public:
   static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 60 * 5;
 
   enum ReadModes { SHM = 0, SOCKET = 1 };
 
-  GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
+  GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                              bool debugHyperionGps = false);
-  virtual ~GPSHyperionLinuxController();
+  virtual ~GpsHyperionLinuxController();
 
   using gpioResetFunction_t = ReturnValue_t (*)(const uint8_t* actionData, size_t len, void* args);
 
+  ReturnValue_t performOperation(uint8_t opCode) override;
   void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
   void performControlOperation() override;
@@ -49,7 +50,7 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
 
-  ReturnValue_t handleGpsRead();
+  ReturnValue_t handleGpsReadData();
 
  private:
   GpsPrimaryDataset gpsSet;
@@ -57,16 +58,30 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   const char* currentClientBuf = nullptr;
   ReadModes readMode = ReadModes::SOCKET;
   Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
-  bool modeCommanded = true;
-  bool timeInit = true;
-  bool gpsNotOpenSwitch = true;
+  bool modeCommanded = false;
+  bool timeInit = false;
+
+  struct OneShotSwitches {
+    void reset() {
+      gpsReadFailedSwitch = true;
+      cantGetFixSwitch = true;
+    }
     bool gpsReadFailedSwitch = true;
+    bool cantGetFixSwitch = true;
+
+  } oneShotSwitches;
+
   bool debugHyperionGps = false;
   int32_t noModeSetCntr = 0;
-  uint32_t timeIsConstantCounter = 0;
   Countdown timeUpdateCd = Countdown(60);
 
-  void readGpsDataFromGpsd();
+  // Returns true if the function should be called again or false if other
+  // controller handling can be done.
+  bool readGpsDataFromGpsd();
+  // If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC)
+  // we set it with the roughly valid time from the GPS. For some reason, NTP might only work
+  // if the time difference between sys time and current time is not too large
+  void overwriteTimeIfNotSane(timeval time, bool validFix);
 };
 
 #endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */

linux/devices/Max31865RtdLowlevelHandler.cpp

@@ -143,7 +143,7 @@ ReturnValue_t Max31865RtdReader::periodicReadHandling() {
   auto result = returnvalue::OK;
   MutexGuard mg(readerMutex);
   if (mg.getLockResult() != returnvalue::OK) {
-    sif::warning << "Max31865RtdReader::periodicReadReqHandling: Mutex lock failed" << std::endl;
+    sif::warning << "Max31865RtdReader::periodicReadHandling: Mutex lock failed" << std::endl;
     return returnvalue::FAILED;
   }
   // Now read the RTD values
@@ -154,6 +154,10 @@ ReturnValue_t Max31865RtdReader::periodicReadHandling() {
     if (rtdIsActive(rtd->idx)) {
       uint16_t rtdVal = 0;
       bool faultBitSet = false;
+      result = writeCfgReg(rtd->spiCookie, BASE_CFG);
+      if (result != returnvalue::OK) {
+        handleSpiError(rtd, result, "writeCfgReg");
+      }
       result = readRtdVal(rtd->spiCookie, rtdVal, faultBitSet);
       if (result != returnvalue::OK) {
         handleSpiError(rtd, result, "readRtdVal");
@@ -282,7 +286,13 @@ ReturnValue_t Max31865RtdReader::sendMessage(CookieIF* cookie, const uint8_t* se
       }
       break;
     }
-    case (EiveMax31855::RtdCommands::CFG):
+    case (EiveMax31855::RtdCommands::CFG): {
+      ReturnValue_t result = writeCfgReg(rtdCookie->spiCookie, BASE_CFG);
+      if (result != returnvalue::OK) {
+        handleSpiError(rtdCookie, result, "writeCfgReg");
+      }
+      break;
+    }
     default: {
       // TODO: Only implement if needed
       break;

linux/devices/ScexUartReader.cpp

@@ -98,18 +98,11 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
   }
   // Setting up UART parameters
   tty.c_cflag &= ~PARENB;  // Clear parity bit
-  if (uartCookie->getStopBits() == StopBits::TWO_STOP_BITS) {
-    // Use two stop bits
-    tty.c_cflag |= CSTOPB;
-  } else {
-    // Clear stop field, only one stop bit used in communication
-    tty.c_cflag &= ~CSTOPB;
-  }
-
-  tty.c_cflag &= ~CSIZE;          // Clear all the size bits
-  tty.c_cflag |= CS8;             // 8 bits per byte
+  uart::setStopbits(tty, uartCookie->getStopBits());
+  uart::setBitsPerWord(tty, BitsPerWord::BITS_8);
   tty.c_cflag &= ~CRTSCTS;  // Disable RTS/CTS hardware flow control
-  tty.c_cflag |= CREAD | CLOCAL;  // Turn on READ & ignore ctrl lines (CLOCAL = 1)
+  uart::enableRead(tty);
+  uart::ignoreCtrlLines(tty);
 
   // Use non-canonical mode and clear echo flag
   tty.c_lflag &= ~(ICANON | ECHO);

linux/devices/devicedefinitions/MPSoCReturnValuesIF.h

@@ -1,6 +1,7 @@
 #ifndef MPSOC_RETURN_VALUES_IF_H_
 #define MPSOC_RETURN_VALUES_IF_H_
 
+#include "eive/resultClassIds.h"
 #include "fsfw/returnvalues/returnvalue.h"
 
 class MPSoCReturnValuesIF {

linux/devices/devicedefinitions/PlocMPSoCDefinitions.h

@@ -152,8 +152,8 @@ class TcBase : public ploc::SpTcBase, public MPSoCReturnValuesIF {
    *        sent and received packets.
    */
   TcBase(ploc::SpTcParams params, uint16_t apid, uint16_t sequenceCount)
-      : ploc::SpTcBase(params, apid, sequenceCount) {
-    spParams.setDataFieldLen(INIT_LENGTH);
+      : ploc::SpTcBase(params, apid, 0, sequenceCount) {
+    spParams.setFullPayloadLen(INIT_LENGTH);
   }
 
   ReturnValue_t buildPacket() { return buildPacket(nullptr, 0); }
@@ -181,7 +181,7 @@ class TcBase : public ploc::SpTcBase, public MPSoCReturnValuesIF {
     if (res != returnvalue::OK) {
       return res;
     }
-    return calcCrc();
+    return calcAndSetCrc();
   }
 
  protected:
@@ -206,7 +206,7 @@ class TcMemRead : public TcBase {
    */
   TcMemRead(ploc::SpTcParams params, uint16_t sequenceCount)
       : TcBase(params, apid::TC_MEM_READ, sequenceCount) {
-    spParams.setPayloadLen(COMMAND_LENGTH);
+    spParams.setFullPayloadLen(COMMAND_LENGTH + CRC_SIZE);
   }
 
   uint16_t getMemLen() const { return memLen; }
@@ -267,7 +267,7 @@ class TcMemWrite : public TcBase {
     }
     uint16_t memLen =
         *(commandData + MEM_ADDRESS_SIZE) << 8 | *(commandData + MEM_ADDRESS_SIZE + 1);
-    spParams.setPayloadLen(MIN_FIXED_PAYLOAD_LENGTH + memLen * 4);
+    spParams.setFullPayloadLen(MIN_FIXED_PAYLOAD_LENGTH + memLen * 4 + CRC_SIZE);
     result = checkPayloadLen();
     if (result != returnvalue::OK) {
       return result;
@@ -313,7 +313,7 @@ class FlashFopen : public ploc::SpTcBase {
   ReturnValue_t createPacket(std::string filename, char accessMode_) {
     accessMode = accessMode_;
     size_t nameSize = filename.size();
-    spParams.setPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + sizeof(accessMode));
+    spParams.setFullPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + sizeof(accessMode) + CRC_SIZE);
     ReturnValue_t result = checkPayloadLen();
     if (result != returnvalue::OK) {
       return result;
@@ -322,7 +322,7 @@ class FlashFopen : public ploc::SpTcBase {
     *(spParams.buf + nameSize) = NULL_TERMINATOR;
     std::memcpy(payloadStart + nameSize + sizeof(NULL_TERMINATOR), &accessMode, sizeof(accessMode));
     updateSpFields();
-    return calcCrc();
+    return calcAndSetCrc();
   }
 
  private:
@@ -339,14 +339,14 @@ class FlashFclose : public ploc::SpTcBase {
 
   ReturnValue_t createPacket(std::string filename) {
     size_t nameSize = filename.size();
-    spParams.setPayloadLen(nameSize + sizeof(NULL_TERMINATOR));
+    spParams.setFullPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE);
     ReturnValue_t result = checkPayloadLen();
     if (result != returnvalue::OK) {
       return result;
     }
     std::memcpy(payloadStart, filename.c_str(), nameSize);
     *(payloadStart + nameSize) = NULL_TERMINATOR;
-    return calcCrc();
+    return calcAndSetCrc();
   }
 };
 
@@ -365,7 +365,7 @@ class TcFlashWrite : public ploc::SpTcBase {
       sif::debug << "FlashWrite::createPacket: Command data too big" << std::endl;
       return returnvalue::FAILED;
     }
-    spParams.setPayloadLen(static_cast<uint16_t>(writeLen) + 4);
+    spParams.setFullPayloadLen(static_cast<uint16_t>(writeLen) + 4 + CRC_SIZE);
     result = checkPayloadLen();
     if (result != returnvalue::OK) {
       return result;
@@ -382,7 +382,7 @@ class TcFlashWrite : public ploc::SpTcBase {
     if (res != returnvalue::OK) {
       return res;
     }
-    return calcCrc();
+    return calcAndSetCrc();
   }
 
  private:
@@ -399,7 +399,7 @@ class TcFlashDelete : public ploc::SpTcBase {
 
   ReturnValue_t buildPacket(std::string filename) {
     size_t nameSize = filename.size();
-    spParams.setPayloadLen(nameSize + sizeof(NULL_TERMINATOR));
+    spParams.setFullPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE);
     auto res = checkPayloadLen();
     if (res != returnvalue::OK) {
       return res;
@@ -412,7 +412,7 @@ class TcFlashDelete : public ploc::SpTcBase {
     if (res != returnvalue::OK) {
       return res;
     }
-    return calcCrc();
+    return calcAndSetCrc();
   }
 };
 
@@ -439,7 +439,7 @@ class TcReplayStart : public TcBase {
  protected:
   ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
     ReturnValue_t result = returnvalue::OK;
-    spParams.setPayloadLen(commandDataLen);
+    spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
     result = lengthCheck(commandDataLen);
     if (result != returnvalue::OK) {
       return result;
@@ -500,7 +500,7 @@ class TcDownlinkPwrOn : public TcBase {
     if (result != returnvalue::OK) {
       return result;
     }
-    spParams.setPayloadLen(commandDataLen + sizeof(MAX_AMPLITUDE));
+    spParams.setFullPayloadLen(commandDataLen + sizeof(MAX_AMPLITUDE) + CRC_SIZE);
     result = checkPayloadLen();
     if (result != returnvalue::OK) {
       return result;
@@ -571,7 +571,7 @@ class TcReplayWriteSeq : public TcBase {
  protected:
   ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
     ReturnValue_t result = returnvalue::OK;
-    spParams.setPayloadLen(commandDataLen + sizeof(NULL_TERMINATOR));
+    spParams.setFullPayloadLen(commandDataLen + sizeof(NULL_TERMINATOR) + CRC_SIZE);
     result = lengthCheck(commandDataLen);
     if (result != returnvalue::OK) {
       return result;
@@ -657,7 +657,8 @@ class TcCamcmdSend : public TcBase {
       return INVALID_LENGTH;
     }
     uint16_t dataLen = static_cast<uint16_t>(commandDataLen + sizeof(CARRIAGE_RETURN));
-    spParams.setPayloadLen(sizeof(dataLen) + commandDataLen + sizeof(CARRIAGE_RETURN));
+    spParams.setFullPayloadLen(sizeof(dataLen) + commandDataLen + sizeof(CARRIAGE_RETURN) +
+                               CRC_SIZE);
     auto res = checkPayloadLen();
     if (res != returnvalue::OK) {
       return res;

linux/devices/devicedefinitions/SupvReturnValuesIF.h

@@ -1,61 +0,0 @@
-#ifndef SUPV_RETURN_VALUES_IF_H_
-#define SUPV_RETURN_VALUES_IF_H_
-
-#include "fsfw/returnvalues/returnvalue.h"
-
-class SupvReturnValuesIF {
- public:
-  static const uint8_t INTERFACE_ID = CLASS_ID::SUPV_RETURN_VALUES_IF;
-
-  //! [EXPORT] : [COMMENT] Space Packet received from PLOC supervisor has invalid CRC
-  static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
-  //! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC supervisor
-  static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
-  //! [EXPORT] : [COMMENT] Received execution failure reply from PLOC supervisor
-  static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
-  //! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC supervisor
-  static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
-  //! [EXPORT] : [COMMENT] Failed to read current system time
-  static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4);
-  //! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0
-  //! for PS, 1 for PL and 2 for INT
-  static const ReturnValue_t INVALID_WATCHDOG = MAKE_RETURN_CODE(0xA5);
-  //! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid
-  //! timeouts must be in the range between 1000 and 360000 ms.
-  static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA6);
-  //! [EXPORT] : [COMMENT] Received latchup config command with invalid latchup ID
-  static const ReturnValue_t INVALID_LATCHUP_ID = MAKE_RETURN_CODE(0xA7);
-  //! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be
-  //! larger than 21.
-  static const ReturnValue_t SWEEP_PERIOD_TOO_SMALL = MAKE_RETURN_CODE(0xA8);
-  //! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1
-  //! and 2.
-  static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xA9);
-  //! [EXPORT] : [COMMENT] Returned when scanning for MRAM dump packets failed.
-  static const ReturnValue_t MRAM_PACKET_PARSING_FAILURE = MAKE_RETURN_CODE(0xAA);
-  //! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM  wipe
-  //! commands are invalid (e.g. start address bigger than stop address)
-  static const ReturnValue_t INVALID_MRAM_ADDRESSES = MAKE_RETURN_CODE(0xAB);
-  //! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with
-  //! other apid.
-  static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAC);
-  //! [EXPORT] : [COMMENT] Path to PLOC directory on SD card does not exist
-  static const ReturnValue_t PATH_DOES_NOT_EXIST = MAKE_RETURN_CODE(0xAD);
-  //! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have
-  //! been created with the reception of the first dump packet.
-  static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAE);
-  //! [EXPORT] : [COMMENT] Received action command has invalid length
-  static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xAF);
-  //! [EXPORT] : [COMMENT] Filename too long
-  static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xB0);
-  //! [EXPORT] : [COMMENT] Received update status report with invalid packet length field
-  static const ReturnValue_t UPDATE_STATUS_REPORT_INVALID_LENGTH = MAKE_RETURN_CODE(0xB1);
-  //! [EXPORT] : [COMMENT] Update status report does not contain expected CRC. There might be a bit
-  //! flip in the update memory region.
-  static const ReturnValue_t UPDATE_CRC_FAILURE = MAKE_RETURN_CODE(0xB2);
-  //! [EXPORT] : [COMMENT] Supervisor helper task ist currently executing a command (wait until
-  //! helper tas has finished or interrupt by sending the terminate command)
-  static const ReturnValue_t SUPV_HELPER_EXECUTING = MAKE_RETURN_CODE(0xB3);
-};
-
-#endif /* SUPV_RETURN_VALUES_IF_H_ */

linux/devices/ploc/CMakeLists.txt

@@ -1,4 +1,4 @@
 target_sources(
   ${OBSW_NAME}
   PRIVATE PlocSupervisorHandler.cpp PlocMemoryDumper.cpp PlocMPSoCHandler.cpp
-          PlocMPSoCHelper.cpp PlocSupvHelper.cpp)
+          PlocMPSoCHelper.cpp PlocSupvUartMan.cpp)

linux/devices/ploc/PlocMPSoCHandler.cpp

@@ -184,12 +184,14 @@ void PlocMPSoCHandler::doShutDown() {
       powerState = PowerState::SHUTDOWN;
       break;
     case PowerState::OFF:
+      sequenceCount = 0;
       setMode(_MODE_POWER_DOWN);
       break;
     default:
       break;
   }
 #else
+  sequenceCount = 0;
   uartIsolatorSwitch.pullLow();
   setMode(_MODE_POWER_DOWN);
   powerState = PowerState::OFF;
@@ -340,12 +342,13 @@ ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remain
     }
   }
 
-  sequenceCount++;
   uint16_t recvSeqCnt = (*(start + 2) << 8 | *(start + 3)) & PACKET_SEQUENCE_COUNT_MASK;
   if (recvSeqCnt != sequenceCount) {
     triggerEvent(MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH, sequenceCount, recvSeqCnt);
     sequenceCount = recvSeqCnt;
   }
+  // This sequence count ping pong does not make any sense but it is how the MPSoC expects it.
+  sequenceCount++;
   return result;
 }
 
@@ -403,11 +406,9 @@ void PlocMPSoCHandler::handleEvent(EventMessage* eventMessage) {
 ReturnValue_t PlocMPSoCHandler::prepareTcMemWrite(const uint8_t* commandData,
                                                   size_t commandDataLen) {
   ReturnValue_t result = returnvalue::OK;
-  sequenceCount++;
   mpsoc::TcMemWrite tcMemWrite(spParams, sequenceCount);
   result = tcMemWrite.buildPacket(commandData, commandDataLen);
   if (result != returnvalue::OK) {
-    sequenceCount--;
     return result;
   }
   finishTcPrep(tcMemWrite.getFullPacketLen());
@@ -417,11 +418,9 @@ ReturnValue_t PlocMPSoCHandler::prepareTcMemWrite(const uint8_t* commandData,
 ReturnValue_t PlocMPSoCHandler::prepareTcMemRead(const uint8_t* commandData,
                                                  size_t commandDataLen) {
   ReturnValue_t result = returnvalue::OK;
-  sequenceCount++;
   mpsoc::TcMemRead tcMemRead(spParams, sequenceCount);
   result = tcMemRead.buildPacket(commandData, commandDataLen);
   if (result != returnvalue::OK) {
-    sequenceCount--;
     return result;
   }
   finishTcPrep(tcMemRead.getFullPacketLen());
@@ -435,12 +434,10 @@ ReturnValue_t PlocMPSoCHandler::prepareTcFlashDelete(const uint8_t* commandData,
     return MPSoCReturnValuesIF::NAME_TOO_LONG;
   }
   ReturnValue_t result = returnvalue::OK;
-  sequenceCount++;
   mpsoc::TcFlashDelete tcFlashDelete(spParams, sequenceCount);
   result = tcFlashDelete.buildPacket(
       std::string(reinterpret_cast<const char*>(commandData), commandDataLen));
   if (result != returnvalue::OK) {
-    sequenceCount--;
     return result;
   }
   finishTcPrep(tcFlashDelete.getFullPacketLen());
@@ -450,11 +447,9 @@ ReturnValue_t PlocMPSoCHandler::prepareTcFlashDelete(const uint8_t* commandData,
 ReturnValue_t PlocMPSoCHandler::prepareTcReplayStart(const uint8_t* commandData,
                                                      size_t commandDataLen) {
   ReturnValue_t result = returnvalue::OK;
-  sequenceCount++;
   mpsoc::TcReplayStart tcReplayStart(spParams, sequenceCount);
   result = tcReplayStart.buildPacket(commandData, commandDataLen);
   if (result != returnvalue::OK) {
-    sequenceCount--;
     return result;
   }
   finishTcPrep(tcReplayStart.getFullPacketLen());
@@ -463,11 +458,9 @@ ReturnValue_t PlocMPSoCHandler::prepareTcReplayStart(const uint8_t* commandData,
 
 ReturnValue_t PlocMPSoCHandler::prepareTcReplayStop() {
   ReturnValue_t result = returnvalue::OK;
-  sequenceCount++;
   mpsoc::TcReplayStop tcReplayStop(spParams, sequenceCount);
   result = tcReplayStop.buildPacket();
   if (result != returnvalue::OK) {
-    sequenceCount--;
     return result;
   }
   finishTcPrep(tcReplayStop.getFullPacketLen());
@@ -477,11 +470,9 @@ ReturnValue_t PlocMPSoCHandler::prepareTcReplayStop() {
 ReturnValue_t PlocMPSoCHandler::prepareTcDownlinkPwrOn(const uint8_t* commandData,
                                                        size_t commandDataLen) {
   ReturnValue_t result = returnvalue::OK;
-  sequenceCount++;
   mpsoc::TcDownlinkPwrOn tcDownlinkPwrOn(spParams, sequenceCount);
   result = tcDownlinkPwrOn.buildPacket(commandData, commandDataLen);
   if (result != returnvalue::OK) {
-    sequenceCount--;
     return result;
   }
   finishTcPrep(tcDownlinkPwrOn.getFullPacketLen());
@@ -490,11 +481,9 @@ ReturnValue_t PlocMPSoCHandler::prepareTcDownlinkPwrOn(const uint8_t* commandDat
 
 ReturnValue_t PlocMPSoCHandler::prepareTcDownlinkPwrOff() {
   ReturnValue_t result = returnvalue::OK;
-  sequenceCount++;
   mpsoc::TcDownlinkPwrOff tcDownlinkPwrOff(spParams, sequenceCount);
   result = tcDownlinkPwrOff.buildPacket();
   if (result != returnvalue::OK) {
-    sequenceCount--;
     return result;
   }
   finishTcPrep(tcDownlinkPwrOff.getFullPacketLen());
@@ -504,11 +493,9 @@ ReturnValue_t PlocMPSoCHandler::prepareTcDownlinkPwrOff() {
 ReturnValue_t PlocMPSoCHandler::prepareTcReplayWriteSequence(const uint8_t* commandData,
                                                              size_t commandDataLen) {
   ReturnValue_t result = returnvalue::OK;
-  sequenceCount++;
   mpsoc::TcReplayWriteSeq tcReplayWriteSeq(spParams, sequenceCount);
   result = tcReplayWriteSeq.buildPacket(commandData, commandDataLen);
   if (result != returnvalue::OK) {
-    sequenceCount--;
     return result;
   }
   finishTcPrep(tcReplayWriteSeq.getFullPacketLen());
@@ -517,11 +504,9 @@ ReturnValue_t PlocMPSoCHandler::prepareTcReplayWriteSequence(const uint8_t* comm
 
 ReturnValue_t PlocMPSoCHandler::prepareTcModeReplay() {
   ReturnValue_t result = returnvalue::OK;
-  sequenceCount++;
   mpsoc::TcModeReplay tcModeReplay(spParams, sequenceCount);
   result = tcModeReplay.buildPacket();
   if (result != returnvalue::OK) {
-    sequenceCount--;
     return result;
   }
   finishTcPrep(tcModeReplay.getFullPacketLen());
@@ -530,11 +515,9 @@ ReturnValue_t PlocMPSoCHandler::prepareTcModeReplay() {
 
 ReturnValue_t PlocMPSoCHandler::prepareTcModeIdle() {
   ReturnValue_t result = returnvalue::OK;
-  sequenceCount++;
   mpsoc::TcModeIdle tcModeIdle(spParams, sequenceCount);
   result = tcModeIdle.buildPacket();
   if (result != returnvalue::OK) {
-    sequenceCount--;
     return result;
   }
   finishTcPrep(tcModeIdle.getFullPacketLen());
@@ -544,11 +527,9 @@ ReturnValue_t PlocMPSoCHandler::prepareTcModeIdle() {
 ReturnValue_t PlocMPSoCHandler::prepareTcCamCmdSend(const uint8_t* commandData,
                                                     size_t commandDataLen) {
   ReturnValue_t result = returnvalue::OK;
-  sequenceCount++;
   mpsoc::TcCamcmdSend tcCamCmdSend(spParams, sequenceCount);
   result = tcCamCmdSend.buildPacket(commandData, commandDataLen);
   if (result != returnvalue::OK) {
-    sequenceCount--;
     return result;
   }
   finishTcPrep(tcCamCmdSend.getFullPacketLen());
@@ -560,6 +541,7 @@ void PlocMPSoCHandler::finishTcPrep(size_t packetLen) {
   nextReplyId = mpsoc::ACK_REPORT;
   rawPacket = commandBuffer;
   rawPacketLen = packetLen;
+  sequenceCount++;
 }
 
 ReturnValue_t PlocMPSoCHandler::verifyPacket(const uint8_t* start, size_t foundLen) {

linux/devices/ploc/PlocMPSoCHandler.h

@@ -107,10 +107,7 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
   MessageQueueIF* eventQueue = nullptr;
   MessageQueueIF* commandActionHelperQueue = nullptr;
 
-  // Initiate the sequence count with the maximum value. It is incremented before
-  // a packet is sent, so the first value will be 0 accordingly using
-  // the wrap around of the counter.
-  SourceSequenceCounter sequenceCount = SourceSequenceCounter(ccsds::LIMIT_SEQUENCE_COUNT - 1);
+  SourceSequenceCounter sequenceCount = SourceSequenceCounter(0);
 
   uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
   SpacePacketCreator creator;

linux/devices/ploc/PlocMemoryDumper.h

@@ -5,7 +5,12 @@
 #include <linux/devices/devicedefinitions/PlocSupervisorDefinitions.h>
 
 #include "OBSWConfig.h"
+
+#ifdef XIPHOS_Q7S
 #include "bsp_q7s/fs/SdCardManager.h"
+#endif
+
+#include "eive/eventSubsystemIds.h"
 #include "fsfw/action/ActionHelper.h"
 #include "fsfw/action/CommandActionHelper.h"
 #include "fsfw/action/CommandsActionsIF.h"
@@ -13,7 +18,7 @@
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
-#include "linux/fsfwconfig/objects/systemObjectList.h"
+#include "objects/systemObjectList.h"
 
 /**
  * @brief   Because the buffer of the linux tty driver is limited to 2 x 65535 bytes, this class is

linux/devices/ploc/PlocSupervisorHandler.h

@@ -1,9 +1,9 @@
 #ifndef MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
 #define MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
 
+#include <linux/devices/ploc/PlocSupvUartMan.h>
+
 #include "OBSWConfig.h"
-#include "PlocSupvHelper.h"
-#include "bsp_q7s/fs/SdCardManager.h"
 #include "devices/powerSwitcherList.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/timemanager/Countdown.h"
@@ -11,7 +11,12 @@
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "fsfw_hal/linux/serial/SerialComIF.h"
 #include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
-#include "linux/devices/devicedefinitions/SupvReturnValuesIF.h"
+
+#ifdef XIPHOS_Q7S
+#include "bsp_q7s/fs/SdCardManager.h"
+#endif
+
+using supv::ExecutionReport;
 
 /**
  * @brief	This is the device handler for the supervisor of the PLOC which is programmed by
@@ -27,9 +32,8 @@
  */
 class PlocSupervisorHandler : public DeviceHandlerBase {
  public:
-  PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
-                        Gpio uartIsolatorSwitch, power::Switch_t powerSwitch,
-                        PlocSupvHelper* supvHelper);
+  PlocSupervisorHandler(object_id_t objectId, CookieIF* comCookie, Gpio uartIsolatorSwitch,
+                        power::Switch_t powerSwitch, PlocSupvUartManager& supvHelper);
   virtual ~PlocSupervisorHandler();
 
   virtual ReturnValue_t initialize() override;
@@ -48,7 +52,6 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
                              size_t* foundLen) override;
   ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
-  void setNormalDatapoolEntriesInvalid() override;
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
@@ -56,7 +59,7 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
                                       uint8_t expectedReplies = 1, bool useAlternateId = false,
                                       DeviceCommandId_t alternateReplyID = 0) override;
   size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
-  ReturnValue_t doSendReadHook() override;
+  // ReturnValue_t doSendReadHook() override;
   void doOffActivity() override;
 
  private:
@@ -64,18 +67,21 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
 
   //! [EXPORT] : [COMMENT] PLOC supervisor crc failure in telemetry packet
   static const Event SUPV_MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
+  //! [EXPORT] : [COMMENT] Unhandled event. P1: APID, P2: Service ID
+  static constexpr Event SUPV_UNKNOWN_TM = MAKE_EVENT(2, severity::LOW);
+  static constexpr Event SUPV_UNINIMPLEMENTED_TM = MAKE_EVENT(3, severity::LOW);
   //! [EXPORT] : [COMMENT] PLOC supervisor received acknowledgment failure report
-  static const Event SUPV_ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
+  static const Event SUPV_ACK_FAILURE = MAKE_EVENT(4, severity::LOW);
   //! [EXPORT] : [COMMENT] PLOC received execution failure report
   //! P1: ID of command for which the execution failed
   //! P2: Status code sent by the supervisor handler
-  static const Event SUPV_EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
+  static const Event SUPV_EXE_FAILURE = MAKE_EVENT(5, severity::LOW);
   //! [EXPORT] : [COMMENT] PLOC supervisor reply has invalid crc
-  static const Event SUPV_CRC_FAILURE_EVENT = MAKE_EVENT(4, severity::LOW);
+  static const Event SUPV_CRC_FAILURE_EVENT = MAKE_EVENT(6, severity::LOW);
   //! [EXPORT] : [COMMENT] Supervisor helper currently executing a command
-  static const Event SUPV_HELPER_EXECUTING = MAKE_EVENT(5, severity::LOW);
+  static const Event SUPV_HELPER_EXECUTING = MAKE_EVENT(7, severity::LOW);
   //! [EXPORT] : [COMMENT] Failed to build the command to shutdown the MPSoC
-  static const Event SUPV_MPSOC_SHUWDOWN_BUILD_FAILED = MAKE_EVENT(5, severity::LOW);
+  static const Event SUPV_MPSOC_SHUTDOWN_BUILD_FAILED = MAKE_EVENT(8, severity::LOW);
 
   static const uint16_t APID_MASK = 0x7FF;
   static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
@@ -91,17 +97,17 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   static const uint32_t COPY_ADC_TO_MRAM_TIMEOUT = 70000;
   // 60 s
   static const uint32_t MRAM_DUMP_TIMEOUT = 60000;
-  // 2 s
-  static const uint32_t BOOT_TIMEOUT = 2000;
+  // 4 s
+  static const uint32_t BOOT_TIMEOUT = 4000;
   enum class StartupState : uint8_t { OFF, BOOTING, SET_TIME, SET_TIME_EXECUTING, ON };
 
-  bool setTimeDuringStartup = true;
+  static constexpr bool SET_TIME_DURING_BOOT = true;
 
   StartupState startupState = StartupState::OFF;
 
   uint8_t commandBuffer[supv::MAX_COMMAND_SIZE];
   SpacePacketCreator creator;
-  ploc::SpTcParams spParams = ploc::SpTcParams(creator);
+  supv::TcParams spParams = supv::TcParams(creator);
 
   /**
    * This variable is used to store the id of the next reply to receive. This is necessary
@@ -113,6 +119,7 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   SerialComIF* uartComIf = nullptr;
   LinuxLibgpioIF* gpioComIF = nullptr;
   Gpio uartIsolatorSwitch;
+  bool shutdownCmdSent = false;
 
   supv::HkSet hkset;
   supv::BootStatusReport bootStatusReport;
@@ -121,8 +128,9 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   supv::AdcReport adcReport;
 
   const power::Switch_t powerSwitch = power::NO_SWITCH;
+  supv::TmBase tmReader;
 
-  PlocSupvHelper* supvHelper = nullptr;
+  PlocSupvUartManager& uartManager;
   MessageQueueIF* eventQueue = nullptr;
 
   /** Number of expected replies following the MRAM dump command */
@@ -130,23 +138,18 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   uint32_t receivedMramDumpPackets = 0;
   /** Set to true as soon as a complete space packet is present in the spacePacketBuffer */
   bool packetInBuffer = false;
-  /** Points to the next free position in the space packet buffer */
-  uint16_t bufferTop = 0;
 
   /** This buffer is used to concatenate space packets received in two different read steps */
   uint8_t spacePacketBuffer[supv::MAX_PACKET_SIZE];
 
-#ifndef TE0720_1CFA
+#ifdef XIPHOS_Q7S
   SdCardManager* sdcMan = nullptr;
-#endif /* BOARD_TE0720 == 0 */
+#endif
 
   // Path to supervisor specific files on SD card
   std::string supervisorFilePath = "ploc/supervisor";
   std::string activeMramFile;
 
-  // Supervisor helper class currently executing a command
-  bool plocSupvHelperExecuting = false;
-
   Countdown executionReportTimeout = Countdown(EXECUTION_DEFAULT_TIMEOUT, false);
   Countdown acknowledgementReportTimeout = Countdown(ACKNOWLEDGE_DEFAULT_TIMEOUT, false);
   // Vorago nees some time to boot properly
@@ -210,7 +213,8 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   ReturnValue_t handleBootStatusReport(const uint8_t* data);
 
   ReturnValue_t handleLatchupStatusReport(const uint8_t* data);
-  ReturnValue_t handleLoggingReport(const uint8_t* data);
+  void handleBadApidServiceCombination(Event result, unsigned int apid, unsigned int serviceId);
+  // ReturnValue_t handleLoggingReport(const uint8_t* data);
   ReturnValue_t handleAdcReport(const uint8_t* data);
 
   /**
@@ -229,13 +233,13 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
    * @param dataSize  Size of telemetry in bytes.
    * @param replyId   Id of the reply. This will be added to the ActionMessage.
    */
-  void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
+  void handleDeviceTm(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
 
   /**
    * @brief   This function prepares a space packet which does not transport any data in the
    *          packet data field apart from the crc.
    */
-  ReturnValue_t prepareEmptyCmd(uint16_t apid);
+  ReturnValue_t prepareEmptyCmd(uint16_t apid, uint8_t serviceId);
 
   /**
    * @brief   This function initializes the space packet to select the boot image of the MPSoC.
@@ -258,6 +262,8 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
 
   ReturnValue_t prepareRestartTriesCmd(const uint8_t* commandData);
 
+  ReturnValue_t prepareFactoryResetCmd(const uint8_t* commandData, size_t len);
+
   /**
    * @brief   This function fills the command buffer with the packet to enable or disable the
    *          watchdogs on the PLOC.
@@ -278,11 +284,11 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   ReturnValue_t prepareSetAdcThresholdCmd(const uint8_t* commandData);
   ReturnValue_t prepareRunAutoEmTest(const uint8_t* commandData);
   ReturnValue_t prepareWipeMramCmd(const uint8_t* commandData);
-  ReturnValue_t prepareDumpMramCmd(const uint8_t* commandData);
+  // ReturnValue_t prepareDumpMramCmd(const uint8_t* commandData);
   ReturnValue_t prepareSetGpioCmd(const uint8_t* commandData);
   ReturnValue_t prepareReadGpioCmd(const uint8_t* commandData);
-  ReturnValue_t prepareLoggingRequest(const uint8_t* commandData, size_t commandDataLen);
-  ReturnValue_t prepareEnableNvmsCommand(const uint8_t* commandData);
+  // ReturnValue_t prepareLoggingRequest(const uint8_t* commandData, size_t commandDataLen);
+  //  ReturnValue_t prepareEnableNvmsCommand(const uint8_t* commandData);
 
   /**
    * @brief   Copies the content of a space packet to the command buffer.
@@ -317,7 +323,7 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
    * @brief   Function is called in scanForReply and fills the spacePacketBuffer with the read
    *          data until a full packet has been received.
    */
-  ReturnValue_t parseMramPackets(const uint8_t* packet, size_t remainingSize, size_t* foundlen);
+  // ReturnValue_t parseMramPackets(const uint8_t* packet, size_t remainingSize, size_t* foundlen);
 
   /**
    * @brief   This function generates the Service 8 packets for the MRAM dump data.
@@ -335,7 +341,7 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
    * @brief   Function checks if the packet written to the space packet buffer is really a
    *          MRAM dump packet.
    */
-  ReturnValue_t checkMramPacketApid();
+  // ReturnValue_t checkMramPacketApid();
 
   /**
    * @brief   Writes the data of the MRAM dump to a file. The file will be created when receiving
@@ -373,8 +379,8 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
                                   supv::UpdateParams& params);
   ReturnValue_t eventSubscription();
 
-  ReturnValue_t handleExecutionSuccessReport(const uint8_t* data);
-  void handleExecutionFailureReport(uint16_t statusCode);
+  ReturnValue_t handleExecutionSuccessReport(ExecutionReport& report);
+  void handleExecutionFailureReport(ExecutionReport& report);
 
   void printAckFailureInfo(uint16_t statusCode, DeviceCommandId_t commandId);
 };

linux/devices/ploc/PlocSupvHelper.cpp

@@ -1,803 +0,0 @@
-#include "PlocSupvHelper.h"
-
-#include <etl/crc16_ccitt.h>
-#include <fsfw/filesystem/HasFileSystemIF.h>
-
-#include <cmath>
-#include <filesystem>
-#include <fstream>
-
-#include "OBSWConfig.h"
-#ifdef XIPHOS_Q7S
-#include "bsp_q7s/fs/FilesystemHelper.h"
-#include "bsp_q7s/fs/SdCardManager.h"
-#endif
-
-#include "fsfw/tasks/TaskFactory.h"
-#include "fsfw/timemanager/Countdown.h"
-#include "mission/utility/Filenaming.h"
-#include "mission/utility/ProgressPrinter.h"
-#include "mission/utility/Timestamp.h"
-
-PlocSupvHelper::PlocSupvHelper(object_id_t objectId) : SystemObject(objectId) {
-  spParams.maxSize = sizeof(commandBuffer);
-  resetSpParams();
-}
-
-PlocSupvHelper::~PlocSupvHelper() {}
-
-ReturnValue_t PlocSupvHelper::initialize() {
-#ifdef XIPHOS_Q7S
-  sdcMan = SdCardManager::instance();
-  if (sdcMan == nullptr) {
-    sif::warning << "PlocSupvHelper::initialize: Invalid SD Card Manager" << std::endl;
-    return returnvalue::FAILED;
-  }
-#endif
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocSupvHelper::performOperation(uint8_t operationCode) {
-  ReturnValue_t result = returnvalue::OK;
-  semaphore.acquire();
-  while (true) {
-    switch (internalState) {
-      case InternalState::IDLE: {
-        semaphore.acquire();
-        break;
-      }
-      case InternalState::UPDATE: {
-        result = executeUpdate();
-        if (result == returnvalue::OK) {
-          triggerEvent(SUPV_UPDATE_SUCCESSFUL, result);
-        } else if (result == PROCESS_TERMINATED) {
-          // Event already triggered
-        } else {
-          triggerEvent(SUPV_UPDATE_FAILED, result);
-        }
-        internalState = InternalState::IDLE;
-        break;
-      }
-      case InternalState::CHECK_MEMORY: {
-        executeFullCheckMemoryCommand();
-        internalState = InternalState::IDLE;
-        break;
-      }
-      case InternalState::CONTINUE_UPDATE: {
-        result = continueUpdate();
-        if (result == returnvalue::OK) {
-          triggerEvent(SUPV_CONTINUE_UPDATE_SUCCESSFUL, result);
-        } else if (result == PROCESS_TERMINATED) {
-          // Event already triggered
-        } else {
-          triggerEvent(SUPV_CONTINUE_UPDATE_FAILED, result);
-        }
-        internalState = InternalState::IDLE;
-        break;
-      }
-      case InternalState::REQUEST_EVENT_BUFFER: {
-        result = performEventBufferRequest();
-        if (result == returnvalue::OK) {
-          triggerEvent(SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL, result);
-        } else if (result == PROCESS_TERMINATED) {
-          // Event already triggered
-          break;
-        } else {
-          triggerEvent(SUPV_EVENT_BUFFER_REQUEST_FAILED, result);
-        }
-        internalState = InternalState::IDLE;
-        break;
-      }
-      default:
-        sif::debug << "PlocSupvHelper::performOperation: Invalid state" << std::endl;
-        break;
-    }
-  }
-}
-
-ReturnValue_t PlocSupvHelper::setComIF(SerialComIF* uartComIF_) {
-  if (uartComIF_ == nullptr) {
-    sif::warning << "PlocSupvHelper::initialize: Provided invalid uart com if" << std::endl;
-    return returnvalue::FAILED;
-  }
-  uartComIF = uartComIF_;
-  return returnvalue::OK;
-}
-
-void PlocSupvHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
-
-ReturnValue_t PlocSupvHelper::startUpdate(std::string file, uint8_t memoryId,
-                                          uint32_t startAddress) {
-  supv::UpdateParams params;
-  params.file = file;
-  params.memId = memoryId;
-  params.startAddr = startAddress;
-  params.bytesWritten = 0;
-  params.seqCount = 1;
-  params.deleteMemory = true;
-  return performUpdate(params);
-}
-
-ReturnValue_t PlocSupvHelper::performUpdate(const supv::UpdateParams& params) {
-  ReturnValue_t result = returnvalue::OK;
-#ifdef XIPHOS_Q7S
-  result = FilesystemHelper::checkPath(params.file);
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocSupvHelper::startUpdate: File " << params.file << " does not exist"
-                 << std::endl;
-    return result;
-  }
-  result = FilesystemHelper::fileExists(params.file);
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocSupvHelper::startUpdate: The file " << params.file << " does not exist"
-                 << std::endl;
-    return result;
-  }
-#endif
-#ifdef TE0720_1CFA
-  if (not std::filesystem::exists(file)) {
-    sif::warning << "PlocSupvHelper::startUpdate: The file " << file << " does not exist"
-                 << std::endl;
-    return returnvalue::FAILED;
-  }
-#endif
-  update.file = params.file;
-  update.fullFileSize = getFileSize(update.file);
-  if (params.bytesWritten > update.fullFileSize) {
-    sif::warning << "Invalid start bytes counter " << params.bytesWritten
-                 << ", smaller than full file length" << update.fullFileSize << std::endl;
-    return returnvalue::FAILED;
-  }
-  update.length = update.fullFileSize - params.bytesWritten;
-  update.memoryId = params.memId;
-  update.startAddress = params.startAddr;
-  update.progressPercent = 0;
-  update.bytesWritten = params.bytesWritten;
-  update.crcShouldBeChecked = true;
-  update.packetNum = 1;
-  update.deleteMemory = params.deleteMemory;
-  update.sequenceCount = params.seqCount;
-  internalState = InternalState::UPDATE;
-  uartComIF->flushUartTxAndRxBuf(comCookie);
-  semaphore.release();
-  return result;
-}
-
-ReturnValue_t PlocSupvHelper::performMemCheck(std::string file, uint8_t memoryId,
-                                              uint32_t startAddress) {
-  update.file = file;
-  update.fullFileSize = getFileSize(file);
-  return performMemCheck(memoryId, startAddress, getFileSize(update.file), true);
-}
-
-ReturnValue_t PlocSupvHelper::performMemCheck(uint8_t memoryId, uint32_t startAddress,
-                                              size_t sizeToCheck, bool checkCrc) {
-  update.memoryId = memoryId;
-  update.startAddress = startAddress;
-  update.length = sizeToCheck;
-  update.crcShouldBeChecked = checkCrc;
-  internalState = InternalState::CHECK_MEMORY;
-  uartComIF->flushUartTxAndRxBuf(comCookie);
-  semaphore.release();
-  return returnvalue::OK;
-}
-
-void PlocSupvHelper::initiateUpdateContinuation() {
-  internalState = InternalState::CONTINUE_UPDATE;
-  semaphore.release();
-}
-
-ReturnValue_t PlocSupvHelper::startEventbBufferRequest(std::string path) {
-#ifdef XIPHOS_Q7S
-  ReturnValue_t result = FilesystemHelper::checkPath(path);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-#endif
-  if (not std::filesystem::exists(path)) {
-    return PATH_NOT_EXISTS;
-  }
-  eventBufferReq.path = path;
-  internalState = InternalState::REQUEST_EVENT_BUFFER;
-  uartComIF->flushUartTxAndRxBuf(comCookie);
-  semaphore.release();
-  return returnvalue::OK;
-}
-
-void PlocSupvHelper::stopProcess() { terminate = true; }
-
-void PlocSupvHelper::executeFullCheckMemoryCommand() {
-  ReturnValue_t result;
-  if (update.crcShouldBeChecked) {
-    sif::info << "PLOC SUPV Mem Check: Calculating Image CRC" << std::endl;
-    result = calcImageCrc();
-    if (result != returnvalue::OK) {
-      triggerEvent(SUPV_MEM_CHECK_FAIL, result);
-      return;
-    }
-  }
-  sif::info << "PLOC SUPV Mem Check: Selecting Memory" << std::endl;
-  result = selectMemory();
-  if (result != returnvalue::OK) {
-    triggerEvent(SUPV_MEM_CHECK_FAIL, result);
-    return;
-  }
-  sif::info << "PLOC SUPV Mem Check: Preparing Update" << std::endl;
-  result = prepareUpdate();
-  if (result != returnvalue::OK) {
-    triggerEvent(SUPV_MEM_CHECK_FAIL, result);
-    return;
-  }
-  sif::info << "PLOC SUPV Mem Check: Memory Check" << std::endl;
-  result = handleCheckMemoryCommand();
-  if (result == returnvalue::OK) {
-    triggerEvent(SUPV_MEM_CHECK_OK, result);
-  } else {
-    triggerEvent(SUPV_MEM_CHECK_FAIL, result);
-  }
-}
-
-ReturnValue_t PlocSupvHelper::executeUpdate() {
-  ReturnValue_t result = returnvalue::OK;
-  sif::info << "PLOC SUPV Update MPSoC: Calculating Image CRC" << std::endl;
-  result = calcImageCrc();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  sif::info << "PLOC SUPV Update MPSoC: Selecting Memory" << std::endl;
-  result = selectMemory();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  sif::info << "PLOC SUPV Update MPSoC: Preparing Update" << std::endl;
-  result = prepareUpdate();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  if (update.deleteMemory) {
-    sif::info << "PLOC SUPV Update MPSoC: Erasing Memory" << std::endl;
-    result = eraseMemory();
-    if (result != returnvalue::OK) {
-      return result;
-    }
-  }
-  return updateOperation();
-}
-
-ReturnValue_t PlocSupvHelper::continueUpdate() {
-  ReturnValue_t result = prepareUpdate();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return updateOperation();
-}
-
-ReturnValue_t PlocSupvHelper::updateOperation() {
-  sif::info << "PlocSupvHelper::performUpdate: Writing Update Packets" << std::endl;
-  auto result = writeUpdatePackets();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  sif::info << "PlocSupvHelper::performUpdate: Memory Check" << std::endl;
-  return handleCheckMemoryCommand();
-}
-
-ReturnValue_t PlocSupvHelper::writeUpdatePackets() {
-  ReturnValue_t result = returnvalue::OK;
-#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
-  ProgressPrinter progressPrinter("Supervisor update", update.fullFileSize,
-                                  ProgressPrinter::HALF_PERCENT);
-#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
-  uint8_t tempData[supv::WriteMemory::CHUNK_MAX + 1]{};
-  std::ifstream file(update.file, std::ifstream::binary);
-  uint16_t dataLength = 0;
-  ccsds::SequenceFlags seqFlags;
-  while (update.bytesWritten < update.fullFileSize) {
-    if (terminate) {
-      terminate = false;
-      triggerEvent(TERMINATED_UPDATE_PROCEDURE);
-      return PROCESS_TERMINATED;
-    }
-    size_t remainingSize = update.fullFileSize - update.bytesWritten;
-    bool lastSegment = false;
-    if (remainingSize > supv::WriteMemory::CHUNK_MAX) {
-      dataLength = supv::WriteMemory::CHUNK_MAX;
-    } else {
-      lastSegment = true;
-      dataLength = static_cast<uint16_t>(remainingSize);
-    }
-    if (file.is_open()) {
-      file.seekg(update.bytesWritten, std::ios::beg);
-      file.read(reinterpret_cast<char*>(tempData), dataLength);
-      if (!file) {
-        sif::warning << "PlocSupvHelper::performUpdate: Read only " << file.gcount() << " of "
-                     << dataLength << " bytes" << std::endl;
-        sif::info << "PlocSupvHelper::performUpdate: Failed when trying to read byte "
-                  << update.bytesWritten << std::endl;
-      }
-    } else {
-      return FILE_CLOSED_ACCIDENTALLY;
-    }
-    if (update.bytesWritten == 0) {
-      seqFlags = ccsds::SequenceFlags::FIRST_SEGMENT;
-    } else if (lastSegment) {
-      seqFlags = ccsds::SequenceFlags::LAST_SEGMENT;
-    } else {
-      seqFlags = ccsds::SequenceFlags::CONTINUATION;
-    }
-    resetSpParams();
-    float progress = static_cast<float>(update.bytesWritten) / update.fullFileSize;
-    uint8_t progPercent = std::floor(progress * 100);
-    if (progPercent > update.progressPercent) {
-      update.progressPercent = progPercent;
-      if (progPercent % 5 == 0) {
-        // Useful to allow restarting the update
-        triggerEvent(SUPV_UPDATE_PROGRESS, buildProgParams1(progPercent, update.sequenceCount),
-                     update.bytesWritten);
-      }
-    }
-    supv::WriteMemory packet(spParams);
-    result = packet.buildPacket(seqFlags, update.sequenceCount, update.memoryId,
-                                update.startAddress + update.bytesWritten, dataLength, tempData);
-    if (result != returnvalue::OK) {
-      triggerEvent(WRITE_MEMORY_FAILED, buildProgParams1(progPercent, update.sequenceCount),
-                   update.bytesWritten);
-      return result;
-    }
-    result = handlePacketTransmission(packet);
-    if (result != returnvalue::OK) {
-      triggerEvent(WRITE_MEMORY_FAILED, buildProgParams1(progPercent, update.sequenceCount),
-                   update.bytesWritten);
-      return result;
-    }
-    update.sequenceCount++;
-    update.packetNum += 1;
-    update.bytesWritten += dataLength;
-
-#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
-    progressPrinter.print(update.bytesWritten);
-#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
-  }
-  return result;
-}
-
-uint32_t PlocSupvHelper::buildProgParams1(uint8_t percent, uint16_t seqCount) {
-  return (static_cast<uint32_t>(percent) << 24) | static_cast<uint32_t>(seqCount);
-}
-
-ReturnValue_t PlocSupvHelper::performEventBufferRequest() {
-  using namespace supv;
-  ReturnValue_t result = returnvalue::OK;
-  resetSpParams();
-  RequestLoggingData packet(spParams);
-  result = packet.buildPacket(RequestLoggingData::Sa::REQUEST_EVENT_BUFFERS);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = sendCommand(packet);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handleAck();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result =
-      handleTmReception(ccsds::HEADER_LEN, tmBuf.data(), supv::recv_timeout::UPDATE_STATUS_REPORT);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  ploc::SpTmReader spReader(tmBuf.data(), tmBuf.size());
-  bool exeAlreadyReceived = false;
-  if (spReader.getApid() == supv::APID_EXE_FAILURE) {
-    exeAlreadyReceived = true;
-    result = handleRemainingExeReport(spReader);
-  } else if (spReader.getApid() == supv::APID_MRAM_DUMP_TM) {
-    result = handleEventBufferReception(spReader);
-  }
-
-  if (not exeAlreadyReceived) {
-    result = handleExe();
-    if (result != returnvalue::OK) {
-      return result;
-    }
-  }
-  return result;
-}
-
-ReturnValue_t PlocSupvHelper::handleRemainingExeReport(ploc::SpTmReader& reader) {
-  size_t remBytes = reader.getPacketDataLen() + 1;
-  ReturnValue_t result = handleTmReception(remBytes, tmBuf.data() + ccsds::HEADER_LEN);
-  if (result != returnvalue::OK) {
-    sif::warning << "Reading exe failure report failed" << std::endl;
-  }
-  result = exeReportHandling();
-  if (result != returnvalue::OK) {
-    sif::warning << "Handling exe report failed" << std::endl;
-  }
-  return result;
-}
-
-ReturnValue_t PlocSupvHelper::selectMemory() {
-  ReturnValue_t result = returnvalue::OK;
-  resetSpParams();
-  supv::MPSoCBootSelect packet(spParams);
-  result = packet.buildPacket(update.memoryId);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handlePacketTransmission(packet);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocSupvHelper::prepareUpdate() {
-  ReturnValue_t result = returnvalue::OK;
-  resetSpParams();
-  supv::ApidOnlyPacket packet(spParams, supv::APID_PREPARE_UPDATE);
-  result = packet.buildPacket();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handlePacketTransmission(packet, PREPARE_UPDATE_EXECUTION_REPORT);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocSupvHelper::eraseMemory() {
-  ReturnValue_t result = returnvalue::OK;
-  resetSpParams();
-  supv::EraseMemory eraseMemory(spParams);
-  result = eraseMemory.buildPacket(update.memoryId, update.startAddress + update.bytesWritten,
-                                   update.length);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handlePacketTransmission(eraseMemory, supv::recv_timeout::ERASE_MEMORY);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocSupvHelper::handlePacketTransmission(ploc::SpTcBase& packet,
-                                                       uint32_t timeoutExecutionReport) {
-  ReturnValue_t result = returnvalue::OK;
-  result = sendCommand(packet);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handleAck();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handleExe(timeoutExecutionReport);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocSupvHelper::sendCommand(ploc::SpTcBase& packet) {
-  ReturnValue_t result = returnvalue::OK;
-  rememberApid = packet.getApid();
-  result = uartComIF->sendMessage(comCookie, packet.getFullPacket(), packet.getFullPacketLen());
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocSupvHelper::sendCommand: Failed to send command" << std::endl;
-    triggerEvent(SUPV_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
-    return result;
-  }
-  return result;
-}
-
-ReturnValue_t PlocSupvHelper::handleAck() {
-  ReturnValue_t result = returnvalue::OK;
-
-  result = handleTmReception(supv::SIZE_ACK_REPORT);
-  if (result != returnvalue::OK) {
-    triggerEvent(ACK_RECEPTION_FAILURE, result, static_cast<uint32_t>(rememberApid));
-    sif::warning << "PlocSupvHelper::handleAck: Error in reception of acknowledgment report"
-                 << std::endl;
-    return result;
-  }
-  supv::AcknowledgmentReport ackReport(tmBuf.data(), tmBuf.size());
-  result = checkReceivedTm(ackReport);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = ackReport.checkApid();
-  if (result != returnvalue::OK) {
-    if (result == SupvReturnValuesIF::RECEIVED_ACK_FAILURE) {
-      triggerEvent(SUPV_ACK_FAILURE_REPORT, static_cast<uint32_t>(ackReport.getRefApid()));
-    } else if (result == SupvReturnValuesIF::INVALID_APID) {
-      triggerEvent(SUPV_ACK_INVALID_APID, static_cast<uint32_t>(rememberApid));
-    }
-    return result;
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocSupvHelper::handleExe(uint32_t timeout) {
-  ReturnValue_t result = returnvalue::OK;
-
-  result = handleTmReception(supv::SIZE_EXE_REPORT, tmBuf.data(), timeout);
-  if (result != returnvalue::OK) {
-    triggerEvent(EXE_RECEPTION_FAILURE, result, static_cast<uint32_t>(rememberApid));
-    sif::warning << "PlocSupvHelper::handleExe: Error in reception of execution report"
-                 << std::endl;
-    return result;
-  }
-
-  return exeReportHandling();
-}
-
-ReturnValue_t PlocSupvHelper::exeReportHandling() {
-  supv::ExecutionReport exeReport(tmBuf.data(), tmBuf.size());
-
-  ReturnValue_t result = checkReceivedTm(exeReport);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = exeReport.checkApid();
-  if (result != returnvalue::OK) {
-    if (result == SupvReturnValuesIF::RECEIVED_EXE_FAILURE) {
-      triggerEvent(SUPV_EXE_FAILURE_REPORT, static_cast<uint32_t>(exeReport.getRefApid()));
-    } else if (result == SupvReturnValuesIF::INVALID_APID) {
-      triggerEvent(SUPV_EXE_INVALID_APID, static_cast<uint32_t>(rememberApid));
-    }
-    return result;
-  }
-  return result;
-}
-
-ReturnValue_t PlocSupvHelper::handleTmReception(size_t remainingBytes, uint8_t* readBuf,
-                                                uint32_t timeout) {
-  ReturnValue_t result = returnvalue::OK;
-  size_t readBytes = 0;
-  size_t currentBytes = 0;
-  Countdown countdown(timeout);
-  if (readBuf == nullptr) {
-    readBuf = tmBuf.data();
-  }
-  while (!countdown.hasTimedOut()) {
-    result = receive(readBuf + readBytes, &currentBytes, remainingBytes);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    readBytes += currentBytes;
-    remainingBytes = remainingBytes - currentBytes;
-    if (remainingBytes == 0) {
-      break;
-    }
-  }
-  if (remainingBytes != 0) {
-    sif::warning << "PlocSupvHelper::handleTmReception: Failed to read " << std::dec
-                 << remainingBytes << " remaining bytes" << std::endl;
-    return returnvalue::FAILED;
-  }
-  return result;
-}
-
-ReturnValue_t PlocSupvHelper::checkReceivedTm(ploc::SpTmReader& reader) {
-  ReturnValue_t result = reader.checkSize();
-  if (result != returnvalue::OK) {
-    triggerEvent(SUPV_REPLY_SIZE_MISSMATCH, rememberApid);
-    return result;
-  }
-  result = reader.checkCrc();
-  if (result != returnvalue::OK) {
-    triggerEvent(SUPV_REPLY_CRC_MISSMATCH, rememberApid);
-    return result;
-  }
-  return result;
-}
-
-ReturnValue_t PlocSupvHelper::receive(uint8_t* data, size_t* readBytes, size_t requestBytes) {
-  ReturnValue_t result = returnvalue::OK;
-  uint8_t* buffer = nullptr;
-  result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocSupvHelper::receive: Failed to request reply" << std::endl;
-    triggerEvent(SUPV_HELPER_REQUESTING_REPLY_FAILED, result,
-                 static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
-    return returnvalue::FAILED;
-  }
-  result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocSupvHelper::receive: Failed to read received message" << std::endl;
-    triggerEvent(SUPV_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
-    return returnvalue::FAILED;
-  }
-  if (*readBytes > 0) {
-    std::memcpy(data, buffer, *readBytes);
-  } else {
-    TaskFactory::delayTask(40);
-  }
-  return result;
-}
-
-ReturnValue_t PlocSupvHelper::calcImageCrc() {
-  ReturnValue_t result = returnvalue::OK;
-  if (update.fullFileSize == 0) {
-    return returnvalue::FAILED;
-  }
-#ifdef XIPHOS_Q7S
-  result = FilesystemHelper::checkPath(update.file);
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocSupvHelper::calcImageCrc: File " << update.file << " does not exist"
-                 << std::endl;
-    return result;
-  }
-#endif
-
-  auto crc16Calcer = etl::crc16_ccitt();
-  std::ifstream file(update.file, std::ifstream::binary);
-  std::array<uint8_t, 1025> crcBuf{};
-#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
-  ProgressPrinter progress("Supervisor update crc calculation", update.fullFileSize,
-                           ProgressPrinter::ONE_PERCENT);
-#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
-  uint32_t byteCount = 0;
-  size_t bytesToRead = 1024;
-  while (byteCount < update.fullFileSize) {
-    size_t remLen = update.fullFileSize - byteCount;
-    if (remLen < 1024) {
-      bytesToRead = remLen;
-    } else {
-      bytesToRead = 1024;
-    }
-    file.seekg(byteCount, file.beg);
-    file.read(reinterpret_cast<char*>(crcBuf.data()), bytesToRead);
-    crc16Calcer.add(crcBuf.begin(), crcBuf.begin() + bytesToRead);
-
-#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
-    progress.print(byteCount);
-#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
-    byteCount += bytesToRead;
-  }
-#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
-  progress.print(byteCount);
-#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
-  update.crc = crc16Calcer.value();
-  return result;
-}
-
-ReturnValue_t PlocSupvHelper::handleCheckMemoryCommand() {
-  ReturnValue_t result = returnvalue::OK;
-  resetSpParams();
-  // Will hold status report for later processing
-  std::array<uint8_t, 32> statusReportBuf{};
-  supv::UpdateStatusReport updateStatusReport(tmBuf.data(), tmBuf.size());
-  // Verification of update write procedure
-  supv::CheckMemory packet(spParams);
-  result = packet.buildPacket(update.memoryId, update.startAddress, update.fullFileSize);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = sendCommand(packet);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handleAck();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-
-  bool exeAlreadyHandled = false;
-  uint32_t timeout = std::max(CRC_EXECUTION_TIMEOUT, supv::recv_timeout::UPDATE_STATUS_REPORT);
-  result = handleTmReception(ccsds::HEADER_LEN, tmBuf.data(), timeout);
-  ploc::SpTmReader spReader(tmBuf.data(), tmBuf.size());
-  if (spReader.getApid() == supv::APID_EXE_FAILURE) {
-    exeAlreadyHandled = true;
-    result = handleRemainingExeReport(spReader);
-  } else if (spReader.getApid() == supv::APID_UPDATE_STATUS_REPORT) {
-    size_t remBytes = spReader.getPacketDataLen() + 1;
-    result = handleTmReception(remBytes, tmBuf.data() + ccsds::HEADER_LEN,
-                               supv::recv_timeout::UPDATE_STATUS_REPORT);
-    if (result != returnvalue::OK) {
-      sif::warning
-          << "PlocSupvHelper::handleCheckMemoryCommand: Failed to receive update status report"
-          << std::endl;
-      return result;
-    }
-    result = updateStatusReport.checkCrc();
-    if (result != returnvalue::OK) {
-      sif::warning << "PlocSupvHelper::handleCheckMemoryCommand: CRC check failed" << std::endl;
-      return result;
-    }
-    // Copy into other buffer because data will be overwritten when reading execution report
-    std::memcpy(statusReportBuf.data(), tmBuf.data(), updateStatusReport.getNominalSize());
-  }
-
-  if (not exeAlreadyHandled) {
-    result = handleExe(CRC_EXECUTION_TIMEOUT);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-  }
-
-  // Now process the status report
-  updateStatusReport.setData(statusReportBuf.data(), statusReportBuf.size());
-  result = updateStatusReport.parseDataField();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  if (update.crcShouldBeChecked) {
-    result = updateStatusReport.verifycrc(update.crc);
-    if (result != returnvalue::OK) {
-      sif::warning << "PlocSupvHelper::handleCheckMemoryCommand: CRC failure. Expected CRC 0x"
-                   << std::setfill('0') << std::hex << std::setw(4)
-                   << static_cast<uint16_t>(update.crc) << " but received CRC 0x" << std::setw(4)
-                   << updateStatusReport.getCrc() << std::dec << std::endl;
-      return result;
-    }
-  }
-  return result;
-}
-
-uint32_t PlocSupvHelper::getFileSize(std::string filename) {
-  std::ifstream file(filename, std::ifstream::binary);
-  file.seekg(0, file.end);
-  uint32_t size = file.tellg();
-  file.close();
-  return size;
-}
-
-ReturnValue_t PlocSupvHelper::handleEventBufferReception(ploc::SpTmReader& reader) {
-  ReturnValue_t result = returnvalue::OK;
-#ifdef XIPHOS_Q7S
-  if (not sdcMan->getActiveSdCard()) {
-    return HasFileSystemIF::FILESYSTEM_INACTIVE;
-  }
-#endif
-  std::string filename = Filenaming::generateAbsoluteFilename(
-      eventBufferReq.path, eventBufferReq.filename, timestamping);
-  std::ofstream file(filename, std::ios_base::app | std::ios_base::out);
-  uint32_t packetsRead = 0;
-  size_t requestLen = 0;
-  bool firstPacket = true;
-  for (packetsRead = 0; packetsRead < NUM_EVENT_BUFFER_PACKETS; packetsRead++) {
-    if (terminate) {
-      triggerEvent(SUPV_EVENT_BUFFER_REQUEST_TERMINATED, packetsRead - 1);
-      file.close();
-      return PROCESS_TERMINATED;
-    }
-    if (packetsRead == NUM_EVENT_BUFFER_PACKETS - 1) {
-      requestLen = SIZE_EVENT_BUFFER_LAST_PACKET;
-    } else {
-      requestLen = SIZE_EVENT_BUFFER_FULL_PACKET;
-    }
-    if (firstPacket) {
-      firstPacket = false;
-      requestLen -= 6;
-    }
-    result = handleTmReception(requestLen);
-    if (result != returnvalue::OK) {
-      sif::debug << "PlocSupvHelper::handleEventBufferReception: Failed while trying to read packet"
-                 << " " << packetsRead + 1 << std::endl;
-      file.close();
-      return result;
-    }
-    ReturnValue_t result = reader.checkCrc();
-    if (result != returnvalue::OK) {
-      triggerEvent(SUPV_REPLY_CRC_MISSMATCH, rememberApid);
-      return result;
-    }
-    uint16_t apid = reader.getApid();
-    if (apid != supv::APID_MRAM_DUMP_TM) {
-      sif::warning << "PlocSupvHelper::handleEventBufferReception: Did not expect space packet "
-                   << "with APID 0x" << std::hex << apid << std::endl;
-      file.close();
-      return EVENT_BUFFER_REPLY_INVALID_APID;
-    }
-    file.write(reinterpret_cast<const char*>(reader.getPacketData()),
-               reader.getPayloadDataLength());
-  }
-  return result;
-}
-
-void PlocSupvHelper::resetSpParams() { spParams.buf = commandBuffer; }

linux/devices/ploc/PlocSupvUartMan.h

@@ -1,9 +1,13 @@
 #ifndef BSP_Q7S_DEVICES_PLOCSUPVHELPER_H_
 #define BSP_Q7S_DEVICES_PLOCSUPVHELPER_H_
 
+#include <fsfw/container/SimpleRingBuffer.h>
+#include <termios.h>
+
 #include <string>
 
 #include "OBSWConfig.h"
+#include "fsfw/container/FIFO.h"
 #include "fsfw/devicehandlers/CookieIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/osal/linux/BinarySemaphore.h"
@@ -11,6 +15,7 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw_hal/linux/serial/SerialComIF.h"
 #include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
+#include "tas/crc.h"
 
 #ifdef XIPHOS_Q7S
 #include "bsp_q7s/fs/SdCardManager.h"
@@ -21,8 +26,21 @@
  *          the supervisor and the OBC.
  * @author  J. Meier
  */
-class PlocSupvHelper : public SystemObject, public ExecutableObjectIF {
+class PlocSupvUartManager : public DeviceCommunicationIF,
+                            public SystemObject,
+                            public ExecutableObjectIF {
  public:
+  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPV_HELPER;
+
+  //! [EXPORT] : [COMMENT] File accidentally close
+  static const ReturnValue_t FILE_CLOSED_ACCIDENTALLY = MAKE_RETURN_CODE(0xA0);
+  //! [EXPORT] : [COMMENT] Process has been terminated by command
+  static const ReturnValue_t PROCESS_TERMINATED = MAKE_RETURN_CODE(0xA1);
+  //! [EXPORT] : [COMMENT] Received command with invalid pathname
+  static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(0xA2);
+  //! [EXPORT] : [COMMENT] Expected event buffer TM but received space packet with other APID
+  static const ReturnValue_t EVENT_BUFFER_REPLY_INVALID_APID = MAKE_RETURN_CODE(0xA3);
+
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPV_HELPER;
 
   //! [EXPORT] : [COMMENT] update failed
@@ -97,16 +115,15 @@ class PlocSupvHelper : public SystemObject, public ExecutableObjectIF {
   //! [EXPORT] : [COMMENT] Will be triggered every 5 percent of the update progress.
   //! P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written
   static constexpr Event SUPV_UPDATE_PROGRESS = MAKE_EVENT(30, severity::INFO);
+  static constexpr Event HDLC_FRAME_REMOVAL_ERROR = MAKE_EVENT(31, severity::INFO);
+  static constexpr Event HDLC_CRC_ERROR = MAKE_EVENT(32, severity::INFO);
 
-  PlocSupvHelper(object_id_t objectId);
-  virtual ~PlocSupvHelper();
+  PlocSupvUartManager(object_id_t objectId);
+  virtual ~PlocSupvUartManager();
 
   ReturnValue_t initialize() override;
   ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
-  ReturnValue_t setComIF(SerialComIF* uartComfIF_);
-  void setComCookie(CookieIF* comCookie_);
-
   /**
    * @brief   Starts update procedure
    *
@@ -119,38 +136,42 @@ class PlocSupvHelper : public SystemObject, public ExecutableObjectIF {
   ReturnValue_t performUpdate(const supv::UpdateParams& params);
   ReturnValue_t startUpdate(std::string file, uint8_t memoryId, uint32_t startAddress);
 
-  ReturnValue_t performMemCheck(uint8_t memoryId, uint32_t startAddress, size_t sizeToCheck,
-                                bool checkCrc);
+  ReturnValue_t performMemCheck(std::string file, uint8_t memoryId, uint32_t startAddress,
+                                size_t sizeToCheck, bool checkCrc);
   ReturnValue_t performMemCheck(std::string file, uint8_t memoryId, uint32_t startAddress);
 
   /**
    * @brief This initiate the continuation of a failed update.
    */
-  void initiateUpdateContinuation();
+  ReturnValue_t initiateUpdateContinuation();
 
   /**
    * @brief Calling this function will initiate the procedure to request the event buffer
    */
-  ReturnValue_t startEventbBufferRequest(std::string path);
+  // ReturnValue_t startEventBufferRequest(std::string path);
 
   /**
-   * @brief   Can be used to interrupt a running data transfer.
+   * @brief   Can be used to stop the UART reception and put the task to sleep
    */
-  void stopProcess();
+  void stop();
+
+  /**
+   * @brief Can be used to start the UART reception
+   */
+  void start();
+  bool longerRequestActive() const;
 
   static uint32_t buildProgParams1(uint8_t percent, uint16_t seqCount);
+  static uint32_t buildApidServiceParam1(uint8_t apid, uint8_t serviceId);
 
  private:
-  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPV_HELPER;
-
-  //! [EXPORT] : [COMMENT] File accidentally close
-  static const ReturnValue_t FILE_CLOSED_ACCIDENTALLY = MAKE_RETURN_CODE(0xA0);
-  //! [EXPORT] : [COMMENT] Process has been terminated by command
-  static const ReturnValue_t PROCESS_TERMINATED = MAKE_RETURN_CODE(0xA1);
-  //! [EXPORT] : [COMMENT] Received command with invalid pathname
-  static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(0xA2);
-  //! [EXPORT] : [COMMENT] Expected event buffer TM but received space packet with other APID
-  static const ReturnValue_t EVENT_BUFFER_REPLY_INVALID_APID = MAKE_RETURN_CODE(0xA3);
+  static constexpr ReturnValue_t REQUEST_DONE = returnvalue::makeCode(1, 0);
+  static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(1, 1);
+  static constexpr ReturnValue_t DECODE_BUF_TOO_SMALL = returnvalue::makeCode(1, 2);
+  static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS_CONSECUTIVE_START =
+      returnvalue::makeCode(1, 3);
+  static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS_CONSECUTIVE_END = returnvalue::makeCode(1, 4);
+  static constexpr ReturnValue_t HDLC_ERROR = returnvalue::makeCode(1, 5);
 
   static const uint16_t CRC16_INIT = 0xFFFF;
   // Event buffer reply will carry 24 space packets with 1016 bytes and one space packet with
@@ -158,19 +179,22 @@ class PlocSupvHelper : public SystemObject, public ExecutableObjectIF {
   static const uint8_t NUM_EVENT_BUFFER_PACKETS = 25;
   static const size_t SIZE_EVENT_BUFFER_FULL_PACKET = 1024;
   static const size_t SIZE_EVENT_BUFFER_LAST_PACKET = 200;
-  static const uint32_t CRC_EXECUTION_TIMEOUT = 60000;
   static const uint32_t PREPARE_UPDATE_EXECUTION_REPORT = 2000;
 
+  static constexpr uint8_t MAX_STORED_DECODED_PACKETS = 4;
+  static constexpr uint8_t HDLC_START_MARKER = 0x7E;
+  static constexpr uint8_t HDLC_END_MARKER = 0x7C;
+
   struct Update {
     uint8_t memoryId;
     uint32_t startAddress;
     // Absolute name of file containing update data
     std::string file;
     // Length of full file
-    size_t fullFileSize;
+    size_t fullFileSize = 0;
     // Size of update
-    uint32_t length;
-    uint32_t crc;
+    uint32_t length = 0;
+    uint32_t crc = 0;
     bool crcShouldBeChecked = true;
     size_t bytesWritten;
     uint32_t packetNum;
@@ -181,6 +205,13 @@ class PlocSupvHelper : public SystemObject, public ExecutableObjectIF {
 
   struct Update update;
 
+  SemaphoreIF* semaphore;
+  MutexIF* lock;
+  MutexIF* ipcLock;
+  supv::TmBase tmReader;
+  int serialPort = 0;
+  struct termios tty = {};
+
   struct EventBufferRequest {
     std::string path = "";
     // Default name of file where event buffer data will be written to. Timestamp will be added to
@@ -190,54 +221,65 @@ class PlocSupvHelper : public SystemObject, public ExecutableObjectIF {
 
   EventBufferRequest eventBufferReq;
 
-  enum class InternalState { IDLE, UPDATE, CONTINUE_UPDATE, REQUEST_EVENT_BUFFER, CHECK_MEMORY };
+  enum class InternalState { SLEEPING, DEFAULT, DEDICATED_REQUEST, GO_TO_SLEEP };
 
-  InternalState internalState = InternalState::IDLE;
+  enum class Request {
+    DEFAULT,
+    UPDATE,
+    CONTINUE_UPDATE,
+    REQUEST_EVENT_BUFFER,
+    CHECK_MEMORY,
+  };
+  InternalState state = InternalState::SLEEPING;
+  Request request = Request::DEFAULT;
 
-  BinarySemaphore semaphore;
 #ifdef XIPHOS_Q7S
   SdCardManager* sdcMan = nullptr;
 #endif
-  uint8_t commandBuffer[supv::MAX_COMMAND_SIZE]{};
+  SimpleRingBuffer recRingBuf;
+  std::array<uint8_t, 1200> cmdBuf = {};
+  std::array<uint8_t, 2048> encodedSendBuf = {};
+  std::array<uint8_t, 2048> recBuf = {};
+  std::array<uint8_t, 2048> encodedBuf = {};
+  std::array<uint8_t, 1200> decodedBuf = {};
+  std::array<uint8_t, 1200> ipcBuffer = {};
+  SimpleRingBuffer decodedRingBuf;
+  FIFO<size_t, MAX_STORED_DECODED_PACKETS> decodedQueue;
+  SimpleRingBuffer ipcRingBuf;
+  FIFO<size_t, MAX_STORED_DECODED_PACKETS> ipcQueue;
+
   SpacePacketCreator creator;
-  ploc::SpTcParams spParams = ploc::SpTcParams(creator);
+  supv::TcParams spParams = supv::TcParams(creator);
 
   std::array<uint8_t, supv::MAX_COMMAND_SIZE> tmBuf{};
 
-  bool terminate = false;
-
-  /**
-   * Communication interface responsible for data transactions between OBC and Supervisor.
-   */
-  SerialComIF* uartComIF = nullptr;
-  // Communication cookie. Must be set by the supervisor Handler
-  CookieIF* comCookie = nullptr;
-
+  bool printTc = false;
+  bool debugMode = false;
   bool timestamping = true;
 
   // Remembers APID to know at which command a procedure failed
   uint16_t rememberApid = 0;
 
+  ReturnValue_t handleRunningLongerRequest();
+  ReturnValue_t handleUartReception();
+  void addHdlcFraming(const uint8_t* src, size_t slen, uint8_t* dst, size_t* dlen, size_t maxDest);
+  int removeHdlcFramingWithCrcCheck(const uint8_t* src, size_t slen, uint8_t* dst, size_t* dlen);
+
+  ReturnValue_t encodeAndSendPacket(const uint8_t* sendData, size_t sendLen);
   void executeFullCheckMemoryCommand();
 
+  ReturnValue_t tryHdlcParsing();
+  ReturnValue_t parseRecRingBufForHdlc(size_t& readSize, size_t& decodedLen);
   ReturnValue_t executeUpdate();
   ReturnValue_t continueUpdate();
   ReturnValue_t updateOperation();
   ReturnValue_t writeUpdatePackets();
-  ReturnValue_t performEventBufferRequest();
-  ReturnValue_t handlePacketTransmission(ploc::SpTcBase& packet,
-                                         uint32_t timeoutExecutionReport = 60000);
-  ReturnValue_t sendCommand(ploc::SpTcBase& packet);
-  /**
-   * @brief Function which reads form the communication interface
-   *
-   * @param data            Pointer to buffer where read data will be written to
-   * @param raedBytes       Actual number of bytes read
-   * @param requestBytes    Number of bytes to read
-   */
-  ReturnValue_t receive(uint8_t* data, size_t* readBytes, size_t requestBytes);
-  ReturnValue_t handleAck();
-  ReturnValue_t handleExe(uint32_t timeout = 1000);
+  // ReturnValue_t performEventBufferRequest();
+  ReturnValue_t handlePacketTransmissionNoReply(supv::TcBase& packet,
+                                                uint32_t timeoutExecutionReport);
+  int handleAckReception(supv::TcBase& tc, size_t packetLen);
+  int handleExeAckReception(supv::TcBase& tc, size_t packetLen);
+
   /**
    * @brief Handles reading of TM packets from the communication interface
    *
@@ -250,7 +292,7 @@ class PlocSupvHelper : public SystemObject, public ExecutableObjectIF {
    */
   ReturnValue_t handleTmReception(size_t remainingBytes, uint8_t* readBuf = nullptr,
                                   uint32_t timeout = 70000);
-  ReturnValue_t checkReceivedTm(ploc::SpTmReader& reader);
+  ReturnValue_t checkReceivedTm();
 
   ReturnValue_t selectMemory();
   ReturnValue_t prepareUpdate();
@@ -258,7 +300,7 @@ class PlocSupvHelper : public SystemObject, public ExecutableObjectIF {
   // Calculates CRC over image. Will be used for verification after update writing has
   // finished.
   ReturnValue_t calcImageCrc();
-  ReturnValue_t handleCheckMemoryCommand();
+  ReturnValue_t handleCheckMemoryCommand(uint8_t failStep);
   ReturnValue_t exeReportHandling();
   /**
    * @brief Return size of file with name filename
@@ -269,9 +311,64 @@ class PlocSupvHelper : public SystemObject, public ExecutableObjectIF {
    */
   uint32_t getFileSize(std::string filename);
   ReturnValue_t handleEventBufferReception(ploc::SpTmReader& reader);
-  ReturnValue_t handleRemainingExeReport(ploc::SpTmReader& reader);
 
   void resetSpParams();
+  void pushIpcData(const uint8_t* data, size_t len);
+
+  /**
+   * @brief Device specific initialization, using the cookie.
+   * @details
+   * The cookie is already prepared in the factory. If the communication
+   * interface needs to be set up in some way and requires cookie information,
+   * this can be performed in this function, which is called on device handler
+   * initialization.
+   * @param cookie
+   * @return
+   *  - @c returnvalue::OK if initialization was successfull
+   *  - Everything else triggers failure event with returnvalue as parameter 1
+   */
+  ReturnValue_t initializeInterface(CookieIF* cookie) override;
+
+  /**
+   * Called by DHB in the SEND_WRITE doSendWrite().
+   * This function is used to send data to the physical device
+   * by implementing and calling related drivers or wrapper functions.
+   * @param cookie
+   * @param data
+   * @param len If this is 0, nothing shall be sent.
+   * @return
+   *  - @c returnvalue::OK for successfull send
+   *  - Everything else triggers failure event with returnvalue as parameter 1
+   */
+  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
+  /**
+   * Called by DHB in the GET_WRITE doGetWrite().
+   * Get send confirmation that the data in sendMessage() was sent successfully.
+   * @param cookie
+   * @return
+   *  - @c returnvalue::OK if data was sent successfully but a reply is expected
+   *  - NO_REPLY_EXPECTED if data was sent successfully and no reply is expected
+   *  - Everything else to indicate failure
+   */
+  ReturnValue_t getSendSuccess(CookieIF* cookie) override;
+  /**
+   * Called by DHB in the SEND_WRITE doSendRead().
+   * It is assumed that it is always possible to request a reply
+   * from a device. If a requestLen of 0 is supplied, no reply was enabled
+   * and communication specific action should be taken (e.g. read nothing
+   * or read everything).
+   *
+   * @param cookie
+   * @param requestLen Size of data to read
+   * @return - @c returnvalue::OK to confirm the request for data has been sent.
+   *         - Everything else triggers failure event with
+   *           returnvalue as parameter 1
+   */
+  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
+
+  void performUartShutdown();
+  void updateVtime(uint8_t vtime);
 };
 
 #endif /* BSP_Q7S_DEVICES_PLOCSUPVHELPER_H_ */

linux/devices/startracker/ArcsecDatalinkLayer.h

@@ -1,6 +1,7 @@
 #ifndef BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
 #define BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
 
+#include "eive/resultClassIds.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 

linux/devices/startracker/ArcsecJsonParamBase.h

@@ -5,6 +5,7 @@
 #include <fstream>
 #include <nlohmann/json.hpp>
 
+#include "eive/resultClassIds.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 

linux/devices/startracker/StarTrackerHandler.cpp

@@ -1209,6 +1209,21 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
   localDataPoolMap.emplace(startracker::DEBUG_CAMERA_TEST, new PoolEntry<uint32_t>({0}));
 
   localDataPoolMap.emplace(startracker::CHKSUM, new PoolEntry<uint32_t>({0}));
+
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(temperatureSet.getSid(), false, 10.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(powerSet.getSid(), false, 10.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(interfaceSet.getSid(), false, 10.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(solutionSet.getSid(), false, 5.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(cameraSet.getSid(), false, 10.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(histogramSet.getSid(), false, 10.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(lisaSet.getSid(), false, 10.0));
   return returnvalue::OK;
 }
 
@@ -1591,7 +1606,7 @@ void StarTrackerHandler::preparePowerRequest() {
 
 void StarTrackerHandler::prepareSwitchToBootloaderCmd() {
   uint32_t length = 0;
-  struct RebootActionRequest rebootReq;
+  struct RebootActionRequest rebootReq {};
   arc_pack_reboot_action_req(&rebootReq, commandBuffer, &length);
   dataLinkLayer.encodeFrame(commandBuffer, length);
   rawPacket = dataLinkLayer.getEncodedFrame();

linux/fsfwconfig/devices/addresses.cpp

@@ -1 +0,0 @@
-#include "addresses.h"

linux/fsfwconfig/events/subsystemIdRanges.h

@@ -13,7 +13,6 @@
 namespace SUBSYSTEM_ID {
 enum : uint8_t {
   SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END,
-  CORE = 137,
 };
 }
 

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 234 translations.
+ * @brief    Auto-generated event translation file. Contains 248 translations.
  * @details
- * Generated on: 2022-11-14 17:10:10
+ * Generated on: 2023-02-08 14:09:40
  */
 #include "translateEvents.h"
 
@@ -82,6 +82,7 @@ const char *BIT_LOCK_STRING = "BIT_LOCK";
 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_DUMP_STRING = "CLOCK_DUMP";
 const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
 const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
 const char *TEST_STRING = "TEST";
@@ -89,6 +90,8 @@ 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 *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
+const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 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";
@@ -129,10 +132,13 @@ 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_MPSOC_SHUWDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUWDOWN_BUILD_FAILED";
+const char *SUPV_HELPER_EXECUTING_STRING = "SUPV_HELPER_EXECUTING";
+const char *SUPV_MPSOC_SHUTDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUTDOWN_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";
@@ -194,6 +200,7 @@ 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 *CANT_GET_FIX_STRING = "CANT_GET_FIX";
 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";
@@ -222,11 +229,10 @@ 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 *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 *HDLC_FRAME_REMOVAL_ERROR_STRING = "HDLC_FRAME_REMOVAL_ERROR";
+const char *HDLC_CRC_ERROR_STRING = "HDLC_CRC_ERROR";
+const char *TX_ON_STRING = "TX_ON";
+const char *TX_OFF_STRING = "TX_OFF";
 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";
@@ -235,6 +241,13 @@ 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 *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 *VERSION_INFO_STRING = "VERSION_INFO";
+const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -393,6 +406,8 @@ const char *translateEvents(Event event) {
     case (8900):
       return CLOCK_SET_STRING;
     case (8901):
+      return CLOCK_DUMP_STRING;
+    case (8902):
       return CLOCK_SET_FAILURE_STRING;
     case (9100):
       return TC_DELETION_FAILED_STRING;
@@ -406,6 +421,10 @@ const char *translateEvents(Event event) {
       return MSG_QUEUE_ERROR_STRING;
     case (10802):
       return SERIALIZATION_ERROR_STRING;
+    case (11200):
+      return SAFE_RATE_VIOLATION_STRING;
+    case (11201):
+      return SAFE_RATE_RECOVERY_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -487,13 +506,19 @@ const char *translateEvents(Event event) {
     case (12001):
       return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
     case (12002):
-      return SUPV_ACK_FAILURE_STRING;
+      return SUPV_UNKNOWN_TM_STRING;
     case (12003):
-      return SUPV_EXE_FAILURE_STRING;
+      return SUPV_UNINIMPLEMENTED_TM_STRING;
     case (12004):
-      return SUPV_CRC_FAILURE_EVENT_STRING;
+      return SUPV_ACK_FAILURE_STRING;
     case (12005):
-      return SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING;
+      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_SHUTDOWN_BUILD_FAILED_STRING;
     case (12100):
       return SANITIZATION_FAILED_STRING;
     case (12101):
@@ -616,6 +641,8 @@ const char *translateEvents(Event event) {
       return CHILDREN_LOST_MODE_STRING;
     case (13100):
       return GPS_FIX_CHANGE_STRING;
+    case (13101):
+      return CANT_GET_FIX_STRING;
     case (13200):
       return P60_BOOT_COUNT_STRING;
     case (13201):
@@ -672,16 +699,14 @@ const char *translateEvents(Event event) {
       return SUPV_REPLY_CRC_MISSMATCH_STRING;
     case (13630):
       return SUPV_UPDATE_PROGRESS_STRING;
-    case (13700):
-      return ALLOC_FAILURE_STRING;
+    case (13631):
+      return HDLC_FRAME_REMOVAL_ERROR_STRING;
+    case (13632):
+      return HDLC_CRC_ERROR_STRING;
     case (13701):
-      return REBOOT_SW_STRING;
+      return TX_ON_STRING;
     case (13702):
-      return REBOOT_MECHANISM_TRIGGERED_STRING;
-    case (13703):
-      return REBOOT_HW_STRING;
-    case (13704):
-      return NO_SD_CARD_ACTIVE_STRING;
+      return TX_OFF_STRING;
     case (13800):
       return MISSING_PACKET_STRING;
     case (13801):
@@ -698,6 +723,20 @@ const char *translateEvents(Event event) {
       return WRITE_CONFIGFILE_FAILED_STRING;
     case (13905):
       return READ_CONFIGFILE_FAILED_STRING;
+    case (14000):
+      return ALLOC_FAILURE_STRING;
+    case (14001):
+      return REBOOT_SW_STRING;
+    case (14002):
+      return REBOOT_MECHANISM_TRIGGERED_STRING;
+    case (14003):
+      return REBOOT_HW_STRING;
+    case (14004):
+      return NO_SD_CARD_ACTIVE_STRING;
+    case (14005):
+      return VERSION_INFO_STRING;
+    case (14006):
+      return CURRENT_IMAGE_INFO_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

linux/fsfwconfig/objects/systemObjectList.h

@@ -39,16 +39,12 @@ enum sourceObjects : uint32_t {
   FW_ADDRESS_END = TIME_STAMPER,
   PUS_SERVICE_6 = 0x51000500,
 
-  CCSDS_IP_CORE_BRIDGE = 0x73500000,
-
   /* 0x49 ('I') for Communication Interfaces **/
   ARDUINO_COM_IF = 0x49000000,
   CSP_COM_IF = 0x49050001,
   I2C_COM_IF = 0x49040002,
-  UART_COM_IF = 0x49030003,
   SPI_MAIN_COM_IF = 0x49020004,
   GPIO_IF = 0x49010005,
-  SCEX_UART_READER = 0x49010006,
 
   /* Custom device handler */
   SPI_RW_COM_IF = 0x49020005,

linux/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 148 translations.
- * Generated on: 2022-11-14 17:10:10
+ * Contains 152 translations.
+ * Generated on: 2023-02-08 14:09:40
  */
 #include "translateObjects.h"
 
@@ -80,7 +80,7 @@ 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 *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
@@ -92,8 +92,10 @@ 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 *TCP_TMTC_SERVER_STRING = "TCP_TMTC_SERVER";
+const char *UDP_TMTC_SERVER_STRING = "UDP_TMTC_SERVER";
+const char *TCP_TMTC_POLLING_TASK_STRING = "TCP_TMTC_POLLING_TASK";
+const char *UDP_TMTC_POLLING_TASK_STRING = "UDP_TMTC_POLLING_TASK";
 const char *FILE_SYSTEM_HANDLER_STRING = "FILE_SYSTEM_HANDLER";
 const char *SDC_MANAGER_STRING = "SDC_MANAGER";
 const char *PTME_STRING = "PTME";
@@ -152,6 +154,8 @@ 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 *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
+const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
@@ -306,7 +310,7 @@ const char *translateObject(object_id_t object) {
     case 0x44420031:
       return RTD_15_IC18_IMTQ_STRING;
     case 0x445300A3:
-      return SYRLINKS_HK_HANDLER_STRING;
+      return SYRLINKS_HANDLER_STRING;
     case 0x49000000:
       return ARDUINO_COM_IF_STRING;
     case 0x49010005:
@@ -330,9 +334,13 @@ const char *translateObject(object_id_t object) {
     case 0x50000200:
       return PUS_PACKET_DISTRIBUTOR_STRING;
     case 0x50000300:
-      return TMTC_BRIDGE_STRING;
+      return TCP_TMTC_SERVER_STRING;
+    case 0x50000301:
+      return UDP_TMTC_SERVER_STRING;
     case 0x50000400:
-      return TMTC_POLLING_TASK_STRING;
+      return TCP_TMTC_POLLING_TASK_STRING;
+    case 0x50000401:
+      return UDP_TMTC_POLLING_TASK_STRING;
     case 0x50000500:
       return FILE_SYSTEM_HANDLER_STRING;
     case 0x50000550:
@@ -449,6 +457,10 @@ const char *translateObject(object_id_t object) {
       return ACS_SUBSYSTEM_STRING;
     case 0x73010002:
       return PL_SUBSYSTEM_STRING;
+    case 0x73010003:
+      return TCS_SUBSYSTEM_STRING;
+    case 0x73010004:
+      return COM_SUBSYSTEM_STRING;
     case 0x73500000:
       return CCSDS_IP_CORE_BRIDGE_STRING;
     case 0xFFFFFFFF:

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -15,38 +15,17 @@
 #define RPI_TEST_GPS_HANDLER 0
 #endif
 
-ReturnValue_t pst::pstSpiRw(FixedTimeslotTaskIF *thisSequence) {
+ReturnValue_t pst::pstSpiAndSyrlinks(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
-  static_cast<void>(length);
-  thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
 
-  thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+#if OBSW_ADD_SYRLINKS == 1
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
+#endif
 
-  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_WRITE);
-
-  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::SEND_READ);
-
-  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
-  return thisSequence->checkSequence();
-}
-
-ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
-  uint32_t length = thisSequence->getPeriodMs();
   static_cast<void>(length);
 #if OBSW_ADD_PL_PCDU == 1
   thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -56,271 +35,6 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
 #endif
 
-#if OBSW_ADD_SUN_SENSORS == 1
-
-  bool addSus0 = true;
-  bool addSus1 = true;
-  bool addSus2 = true;
-  bool addSus3 = true;
-  bool addSus4 = true;
-  bool addSus5 = true;
-  bool addSus6 = true;
-  bool addSus7 = true;
-  bool addSus8 = true;
-  bool addSus9 = true;
-  bool addSus10 = true;
-  bool addSus11 = true;
-
-  if (addSus0) {
-    /* Write setup */
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus1) {
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus2) {
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus3) {
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus4) {
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus5) {
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus6) {
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus7) {
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus8) {
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus9) {
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus10) {
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus11) {
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-#endif /* OBSW_ADD_SUN_SENSORS == 1 */
-
 #if OBSW_ADD_RAD_SENSORS == 1
   /* Radiation sensor */
   thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -330,74 +44,6 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif
 
-#if OBSW_ADD_ACS_BOARD == 1
-  bool enableAside = true;
-  bool enableBside = true;
-  if (enableAside) {
-    // A side
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-  }
-
-  if (enableBside) {
-    // B side
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.25,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-  }
-#endif /* OBSW_ADD_ACS_BOARD == 1 */
-
   return thisSequence->checkSequence();
 }
 
@@ -407,23 +53,6 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
   // Length of a communication cycle
   uint32_t length = thisSequence->getPeriodMs();
   static_cast<void>(length);
-#if OBSW_ADD_MGT == 1
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_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);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_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);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
-#endif
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
   thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2,
                         DeviceHandlerIF::PERFORM_OPERATION);
@@ -455,6 +84,8 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
                         DeviceHandlerIF::SEND_READ);
   thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4, DeviceHandlerIF::GET_READ);
+  // damaged
+  /*
   thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
                         DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
@@ -464,6 +95,7 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
                         DeviceHandlerIF::SEND_READ);
   thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4, DeviceHandlerIF::GET_READ);
+  */
   thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4,
                         DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4,
@@ -478,30 +110,6 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
   return thisSequence->checkSequence();
 }
 
-ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
-  // Length of a communication cycle
-  uint32_t length = thisSequence->getPeriodMs();
-  static_cast<void>(length);
-
-#if OBSW_ADD_SYRLINKS == 1
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif
-
-#if OBSW_ADD_STAR_TRACKER == 1
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif
-  return thisSequence->checkSequence();
-}
-
 ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
   // PCDU handlers receives two messages and both must be handled
@@ -574,3 +182,422 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF *thisSequence) {
   }
   return returnvalue::OK;
 }
+
+ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
+  /* Length of a communication cycle */
+  uint32_t length = thisSequence->getPeriodMs();
+#if OBSW_ADD_ACS_BOARD == 1
+  bool enableAside = true;
+  bool enableBside = true;
+  if (enableAside) {
+    // A side
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+  }
+
+  if (enableBside) {
+    // B side
+    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+  }
+#endif /* OBSW_ADD_ACS_BOARD == 1 */
+  // SUS: 16 ms
+#if OBSW_ADD_SUN_SENSORS == 1
+
+  bool addSus0 = true;
+  bool addSus1 = true;
+  bool addSus2 = true;
+  bool addSus3 = true;
+  bool addSus4 = true;
+  bool addSus5 = true;
+  bool addSus6 = true;
+  bool addSus7 = true;
+  bool addSus8 = true;
+  bool addSus9 = true;
+  bool addSus10 = true;
+  bool addSus11 = true;
+
+  if (addSus0) {
+    /* Write setup */
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+  if (addSus1) {
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+  if (addSus2) {
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+  if (addSus3) {
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+  if (addSus4) {
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+  if (addSus5) {
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+
+  if (addSus6) {
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+
+  if (addSus7) {
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+
+  if (addSus8) {
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+
+  if (addSus9) {
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+
+  if (addSus10) {
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+
+  if (addSus11) {
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
+                          DeviceHandlerIF::GET_READ);
+  }
+#endif /* OBSW_ADD_SUN_SENSORS == 1 */
+
+#if OBSW_ADD_STAR_TRACKER == 1
+  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
+#endif
+
+#if OBSW_ADD_MGT == 1
+  // This is the MTM measurement cycle
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+#endif
+
+  thisSequence->addSlot(objects::ACS_CONTROLLER, length * 0.1, 0);
+
+#if OBSW_ADD_MGT == 1
+  // This is the torquing cycle.
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::GET_READ);
+#endif
+
+#if OBSW_ADD_RW == 1
+  thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
+
+  thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
+
+  thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::GET_WRITE);
+
+  thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::SEND_READ);
+
+  thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::GET_READ);
+#endif
+  return returnvalue::OK;
+}

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h

@@ -39,11 +39,9 @@ namespace pst {
  */
 ReturnValue_t pstGompaceCan(FixedTimeslotTaskIF* thisSequence);
 
-ReturnValue_t pstUart(FixedTimeslotTaskIF* thisSequence);
+ReturnValue_t pstSpiAndSyrlinks(FixedTimeslotTaskIF* thisSequence);
 
-ReturnValue_t pstSpi(FixedTimeslotTaskIF* thisSequence);
-
-ReturnValue_t pstSpiRw(FixedTimeslotTaskIF* thisSequence);
+ReturnValue_t pstAcs(FixedTimeslotTaskIF* thisSequence);
 
 ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);
 

linux/ipcore/PdecConfig.cpp

@@ -9,8 +9,12 @@ PdecConfig::~PdecConfig() {}
 void PdecConfig::initialize() {
   uint32_t word = 0;
   word |= (VERSION_ID << 30);
+
+  // Setting the bypass flag and the control command flag should not have any
+  // implication on the operation of the PDEC IP Core
   word |= (BYPASS_FLAG << 29);
   word |= (CONTROL_COMMAND_FLAG << 28);
+
   word |= (RESERVED_FIELD_A << 26);
   word |= (SPACECRAFT_ID << 16);
   word |= (VIRTUAL_CHANNEL << 10);

linux/ipcore/PdecConfig.h

@@ -34,7 +34,7 @@ class PdecConfig {
 
   static const uint8_t VIRTUAL_CHANNEL = 0;
   static const uint8_t RESERVED_FIELD_A = 0;
-  static const uint16_t SPACECRAFT_ID = 0x274;
+  static const uint16_t SPACECRAFT_ID = 0x3DC;
   static const uint16_t DUMMY_BITS = 0;
   // Parameters to control the FARM for AD frames
   // Set here for future use

linux/ipcore/PdecHandler.cpp

@@ -188,6 +188,7 @@ ReturnValue_t PdecHandler::irqOperation() {
             if ((pisr & NEW_FAR_MASK) == NEW_FAR_MASK) {
               // Read FAR here
               CURRENT_FAR = readFar();
+              checkFrameAna(CURRENT_FAR);
             }
             if (lockCheckCd.hasTimedOut()) {
               checkLocks();

linux/ipcore/PdecHandler.h

@@ -5,6 +5,7 @@
 
 #include "OBSWConfig.h"
 #include "PdecConfig.h"
+#include "eive/definitions.h"
 #include "fsfw/action/ActionHelper.h"
 #include "fsfw/action/HasActionsIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
@@ -120,7 +121,7 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
   //! Invalid BC control command
   static const ReturnValue_t INVALID_BC_CC = MAKE_RETURN_CODE(0xAE);
 
-  static const uint32_t QUEUE_SIZE = common::CCSDS_HANDLER_QUEUE_SIZE;
+  static const uint32_t QUEUE_SIZE = config::CCSDS_HANDLER_QUEUE_SIZE;
 
   // Action IDs
   static const ActionId_t PRINT_CLCW = 0;

linux/ipcore/Ptme.cpp

@@ -4,6 +4,7 @@
 #include <unistd.h>
 
 #include "PtmeConfig.h"
+#include "eive/definitions.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 Ptme::Ptme(object_id_t objectId) : SystemObject(objectId) {}
@@ -32,7 +33,7 @@ ReturnValue_t Ptme::writeToVc(uint8_t vcId, const uint8_t* data, size_t size) {
 }
 
 void Ptme::addVcInterface(VcId_t vcId, VcInterfaceIF* vc) {
-  if (vcId > common::NUMBER_OF_VIRTUAL_CHANNELS) {
+  if (vcId > config::NUMBER_OF_VIRTUAL_CHANNELS) {
     sif::warning << "Ptme::addVcInterface: Invalid virtual channel ID" << std::endl;
     return;
   }