Merge pull request 'v1.40.0' (#524) from prep_v1.40.0 into develop

Reviewed-on: #524

.gitignore

@@ -12,8 +12,13 @@
 #vscode
 /.vscode
 
+# IntelliJ
+/.idea/*
+
 # Python
 __pycache__
-.idea
+
+# CLion
+!/.idea/cmake.xml
 
 generators/*.db

.gitmodules

@@ -10,9 +10,6 @@
 [submodule "thirdparty/lwgps"]
 	path = thirdparty/lwgps
 	url = https://github.com/rmspacefish/lwgps.git
-[submodule "generators/fsfwgen"]
-	path = generators/deps/fsfwgen
-	url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-gen.git
 [submodule "thirdparty/arcsec_star_tracker"]
 	path = thirdparty/arcsec_star_tracker
 	url = https://egit.irs.uni-stuttgart.de/eive/arcsec_star_tracker.git

.idea/cmake.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CMakeSharedSettings">
+    <configurations>
+      <configuration PROFILE_NAME="Debug" ENABLED="true" CONFIG_NAME="Debug" NO_GENERATOR="true" />
+      <configuration PROFILE_NAME="Debug Q7S" ENABLED="true" CONFIG_NAME="Debug" TOOLCHAIN_NAME="Q7S" GENERATION_OPTIONS="-DTGT_BSP=&quot;arm/q7s&quot;" NO_GENERATOR="true">
+        <ADDITIONAL_GENERATION_ENVIRONMENT>
+          <envs>
+            <env name="ZYNQ_7020_ROOTFS" value="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi" />
+            <env name="CROSS_COMPILE" value="/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin/arm-linux-gnueabihf" />
+          </envs>
+        </ADDITIONAL_GENERATION_ENVIRONMENT>
+      </configuration>
+    </configurations>
+  </component>
+</project>

.run/Q7S FM.run.xml

@@ -0,0 +1,10 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Q7S FM" type="com.jetbrains.cidr.remote.gdbserver.type" factoryName="com.jetbrains.cidr.remote.gdbserver.factory" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="eive-obsw" TARGET_NAME="eive-obsw" CONFIG_NAME="Debug" version="1" RUN_TARGET_PROJECT_NAME="eive-obsw" RUN_TARGET_NAME="eive-obsw">
+    <custom-gdb-server version="1" gdb-connect="localhost:1234" executable="" warmup-ms="0" download-type="NONE" sshConfigName="Q7S FM" uploadFile="/tmp/eive-obsw" defaultGdbServerArgs=":1234 /tmp/eive-obsw">
+      <debugger kind="GDB" isBundled="true" />
+    </custom-gdb-server>
+    <method v="2">
+      <option name="CLION.COMPOUND.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>

CHANGELOG.md

@@ -8,7 +8,945 @@ 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.
 
-# [v1.18.0] 01.12.2022
+Starting at v2.0.0, this project will adhere to semantic versioning and the the following changes
+will consitute of a breaking change warranting a new major release:
+
+- The TMTC interface changes in any shape of form.
+- The behaviour of the OBSW changes in a major shape or form relevant for operations
+
+# [unreleased]
+
+# [v1.40.0] 2023-03-24
+
+- eive-tmtc: v2.19.4
+- q7s-packasge: v2.1.0
+- Bumped fsfwgen for bugfix: Event translation can deal with duplicate event names now.
+
+## Fixed
+
+- PAPB busy polling now implemented properly with an upper bound of how often the PAPB is allowed
+  to be busy before returning the BUSY returnvalue. Also propagate and check for that case properly.
+  Ideally, this will never be an issue and the PAPB VC interface should never block for a longer
+  period.
+- The `mekfInvalidCounter` now resets on setting the STR to faulty.
+- Improve the SD lock handling. The file handling does not need to be locked as it
+  is only handled by one thread.
+
+## Added
+
+- The event `MEKF_RECOVERY` will be triggered in case the `MEKF` does manage to recover itself.
+- The persistent TM stores now have low priorities and behave like background threads now. This
+  should prevent them from blocking or slowing down the system even during dumps
+  (at least in theory).
+- STR: Fix weird issues on datalink layer data reception which sometimes occur.
+- Syrlinks FDIR: Fully allow FDIR to do more recoveries. Assembly should take care of preventing
+  the switch to go off.
+- Allow dual lane assembly side switches.
+
+## Changed
+
+- Rework FSFW OSALs to properly support regular scheduling (NICE priorities) and real-time
+  scheduling.
+- STR: Move datalink layer to `StrComHandler` completely. DLL is now completely hidden from
+  device handler.
+- STR: Is now scheduled twice in ACS PST.
+- `StrHelper` renamed to `StrComHandler`, is now a `DeviceHandlerIF` directly and does not wrap
+  a separate UART COM interface anymore.
+- TCS: Local pool variables are members now.
+- Syrlinks: Create dedicated COM helper which uses a ring buffer to parse the Syrlinks datalinklayer
+  and should make communication more reliable even on high CPU loads.
+- Syrlinks: Two communication cycles per PST.
+- Fine-tuning of various task priorities.
+- The CSP router now is scheduled with the `SCHED_RR` policy and the same priority as the PCDU
+  handlers as well.
+- Change project structure to be more subsystem centric for ACS and COM.
+
+# [v1.39.1] 2023-03-22
+
+## Fixed
+
+- Bugfix for STR: Some action commands wrongfully declined.
+- STR: No normal command handling while a special request like an image upload is active.
+- RS485 data line was not enabled when the transmitter was switched on.
+
+# [v1.39.0] 2023-03-21
+
+Requires firmware update for new FPGA design where reset line is routed into the software.
+2 relevant PRs:
+ - https://egit.irs.uni-stuttgart.de/eive/q7s-vivado/pulls/53
+ - https://egit.irs.uni-stuttgart.de/eive/q7s-vivado/pulls/54
+
+eive-tmtc: v2.19.3
+
+## Added
+
+- Added NaN and Inf check for the `MEKF`. If these are detected, the `AcsController` will reset
+  the `MEKF` on its own once. This way, there will not be an event spam and operators will have
+  to look into the reason of wrong outputs. To restore the reset ability, an action command has
+  been added.
+- Contingency handling for non-working I2C bus bug. Reboot the system if the I2C is not working.
+
+## Fixed
+
+- Fixed transition for dual power lane assemblies: When going from dual side submode to single side
+  submode, perform logical commanding first, similarly to when going to OFF mode.
+- GPS time is only set to valid if at least one satellite is in view.
+
+## Changed
+
+- Bugfixes for STR mode transitions: Booting to mode ON with submode FIRMWARE now works properly.
+  Furthermore, the submode in the NORMAL mode now should be 0 instead of some ON mode submode.
+- Updated GYR bias values to newest measurements. This also corrects the ADIS values to always
+  consit of just one digit.
+- The CCSDS IP core handler now exposes a parameter to enable the priority select mode
+  for the PTME core. This mode prioritizes virtual channels with a lower index, so for example
+  the virtual channel (VC0) will have the highest priority, while VC3 will have the lowestg
+  priority. This mode will be enabled by default for now, but can be set via the parameter IF with
+  the unique parameter ID 0. The update of this mode requires a PTME reset. Therefore, it will only
+  be performed when the transmitter is off to avoid weird bugs.
+- Connect and handle reset line for the PTME core in the software now.
+- Safe mode controller failure event now only triggers once per minute.
+
+# [v1.38.0] 2023-03-17
+
+eive-tmtc: v2.19.2
+
+## Fixed
+
+- SA deployment file handling: Use exceptionless API.
+- Fix deadlock in SD card manager constructor: Double lock of preferred SD card lock.
+
+## Added
+
+- Failure of Safe Mode Ctrl will now trigger an event. As this can only be caused by sensors not
+  being in the correct mode, the assemblies should take care that this will never happen and no
+  additional FDIR is needed.
+
+## Changed
+
+- Telemetry relevant datasets for the RWs are now set invalid and partially reset on shotdown.
+- I2C PST now has a polling frequency of 0.4 seconds instead of 0.2 seconds.
+- GS PST now has a polling frequency of 0.5 seconds instead of 1 second.
+- Bump FSFW: merged upstream.
+- Move BPX battery scheduling to ACS PST to avoid clashes with IMTQ scheduling / polling
+
+# [v1.37.2] 2023-03-14
+
+- Changed `PoolManager` bugfix implementation in the FSFW.
+- Some tweaks for IPC and TM store configuration
+
+# [v1.37.1] 2023-03-14
+
+This version works on the EM as well.
+
+eive-tmtc: v2.19.1
+
+## Added
+
+- Added `EXECUTE_SHELL_CMD` action command for `CoreController` to execute arbitrary Linux commands.
+- Added some missing PLOC commands.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/462
+- Add `PcduHandlerDummy` component.
+- Added parameter for timeout until `MEKF_INVALID_MODE_VIOLATION` event is triggered.
+
+## Fixed
+
+- Pointing control of the `AcsController` was still expecting submodes instead of modes.
+- Limitation of RW speeds was done before converting them to the correct unit scale.
+- The Syrlinks task now has a proper name instead of `MAIN_SPI`.
+- Make whole EIVE system initial transition work for the EM. This was also made possible by
+  always scheduling most EIVE components instead of tying the scheduling to preprocessor defines.
+- Store more TCP und UDP packets.
+- Bump fsfw for small tweak in local datapool manager: Re-enable or re-disabling dataset
+  generation will not fail anymore.
+- Bump FSFW to simplify HK helpers: Was previously buggy and did not allow to use
+  minmum sampling frequency. Now both diagnostics and HK can use minimum
+  sampling frequency for requesting HK
+- Bump FSFW to allow the TC/TM/IPC pools to spill to higher pools/pool pages.
+
+## Changed
+
+- Set `OBSW_ADD_TCS_CTRL` to 1. Always add TCS controller now for both EM and FM.
+- generators module: Bump `fsfwgen` dependency to v0.3.1. The returnvalue CSV files are now sorted.
+- generators module: Always generate subsystem ID CSV files now.
+- The COM subsystem is now not commanded by the EIVE system anymore. Instead,
+  a separate RX_ONLY mode command will be sent at OBSW boot. After that,
+  commanding is done autonomously by the COM subsystem internally or by the operator. This prevents
+  the transmitter from going off during fallbacks to the SAFE mode, which might not always be
+  desired.
+- Initialize switch states to a special `SWITCH_STATE_UNKNOWN` (2) variable. Return
+  `PowerSwitchIF::SWITCH_UNKNOWN` in switch state getter if this is the state.
+- Wait 1 second before commanding SAFE mode. This ensures or at least increases the chance that
+  the switch states were initialized.
+- Dual Lane Assemblies: The returnvalues of the dual lane power state machine FSM are not ignored
+  anymore.
+
+# [v1.37.0] 2023-03-11
+
+eive-tmtc: v2.18.1
+
+## Added
+
+- `SensorProcessing` now includes an FDIR for GPS altitude. If the measured GPS altitude is out
+  of bounds of the range defined in the `AcsParameters`, the altitude defaults to an altitude
+  set in the `AcsParameters`.
+- `AcsController` will now never command a RW speed larger than the maximum allowed speed.
+
+## Fixed
+
+- `PAPB_EMPTY_SIGNAL_VC1` GPIO was not set up properly.
+- Fix for heater names: HPA heater (index 7) is now the Syrlinks heater.
+- `AcsParameters` setter were previously all for scalar parameters. Now vector and matrix
+  parameters use their respective setters.
+- Several `AcsController` components had their own implementation of `AcsParameters`. This resulted
+  in those parameters not being updated, while the actual ones were updated. All instances of
+  `AcsParameters` not belonging to `AcsController` are eiter removed or replaced by pointer
+  instances.
+- Instead of updating the `gsTargetModeControllerParameters`, the `targetModeControllerParameters`
+  were updated.
+- Instead of updating the `idleModeControllerParameters`, the `targetModeControllerParameters`
+  were updated.
+- Fixed Idle Mode Controller never calling `ptgLaw` and therefore never calculating control
+  values.
+- Fixed wrong check on wether file used for persistant boolean flag on successful still existed.
+- Scaling of MTQ Cmds now scales the current values to command with the current values and not
+  the values of the last step, which would result in undefined behaviour.
+- Solved naming collision between file used for solar array deployment and confirmation for
+  ACS for solar array deployment.
+- Fixed that scaling of RW torque would result in a zero vector unless the maximum value was exceeded.
+- Bias for the GYR data was substracted within the wrong rf (sensor rf vs body rf).
+
+## Changed
+
+- Refactored TM pipeline to optimize usage of the PTME and communication downlink bandwidth.
+  This was done by moving the dumping of TMs to the VCs into separate threads with permanent loops.
+  These threads are then able to process high TM loads on demand. The PUS TM funnel will route
+  PUS packets to the approrpiate persisten TM stores and then demultiplex the TM to all registered
+  TM destinations as before.
+- Service 5 now handles 40 events per cycle instead of 15
+- Remove periodic SD card check. The file system is not mounted read-only anymore when using an
+  ext4 filesystem
+- The `detumbleCounter` now does not get hard reset anymore, if the critical rate does not get
+  violated anymore. Instead it is incrementally reset.
+- The RW antistiction now only takes the RW speeds in account.
+- ACS CTRL transition to DETUBMLE is now done in CTRL internally. No
+  system level handling necessary anymore.
+- More fixes and improvements for SD card handling. Extend SD card setup in core controller to
+  create full initial state for SD card manager are core controller as early as possible, turn
+  execution of setup file update blocking. This might solve the issue with the SD card manager
+  sometimes blocking for a long time.
+- Request raw MTM measurement twice for IMTQ, might reduce number of times measurement could not
+  be retrieved.
+- Event manager and event service have larger queues now: 45 -> 120 for Service 5, 80 -> 120 for
+  event manager
+- ACS mode changes: The ACS CTRL submodes are now modes. DETUBMLE is now submode of SAFE mode.
+- EIVE system now tracks the mode of the ACS subsyste in SAFE mode.
+
+# [v1.36.0] 2023-03-08
+
+eive-tmtc: v2.17.2
+
+## Added
+
+- Star Tracker Assembly
+- New `REBOOT_COUNTER` and `INDIVIDUAL_BOOT_COUNTS` events. The first contains the total boot count
+  as a u64, the second one contains the individual boot counts as 4 u16. Add new core controller
+  action command `ANNOUNCE_BOOT_COUNTS` with action ID 3 which triggers both events. These events
+  will also be triggered on each reboot.
+
+## Changed
+
+- Persistent TM stores will now create new files on each reboot.
+- Fast ACS subsystem commanding: Command SUS board consecutively with other devices now
+- Star Tracker: Use ground confguration for EM and flight config for FM by default.
+
+## Fixed
+
+- Command TCS controller off first for TCS subsystem transition to off.
+- Health handling for TCS board assembly
+- Mode fallback from IDLE mode to SAFE mode due to ACS errors/events now works properly for
+  the ACS subsystem
+- Bugfix in IDLE transition for system.
+- `std::filesystem` API usages: Avoid exceptions by using variants which return an error code
+  instead of throwing exceptions.
+- GPS fix loss was not reported if mode is unset.
+- Star Tracker: OFF to NORMAL transition now posssible. Requires FSFW bump which sets
+  transition source modes properly for those transitions.
+  FSFW PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/131
+- Star Tracker JSON initialization is now done during object initization instead of redoing it
+  when building a command. This avoids missed deadlines issues in the ACS PST.
+- Allow arbitrary submodes for dual lane boards to avoid FDIR reactions of subsystem components.
+  Bump FSFW to allow this.
+- PUS 15 was not scheduled
+- Transmitter timeout set to 2 minutes instead of 15 minutes. This will prevent to discharge the
+  battery in case the syrlinks starts transmitting due to detection of unintentional bitlock. This
+  happened e.g. on ground when the uplink to the flying latop was established.
+- ACS system components are now always scheduled (EM specific)
+
+# [v1.35.1] 2023-03-04
+
+## Fixed
+
+- ACS Board Assembly FDIR: Prevent permanent SAFE mode fallbacks by introducing special health
+  handling.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/418/files
+- Watchdog fixes
+- IMTQ timing fixes
+
+## Added
+
+- Add IMTQ assembly
+
+# [v1.35.0] 2023-03-04
+
+eive-tmtc: v2.16.4
+
+## Added
+
+- Improved the OBSW watchdog by adding a watch functionality. The watch functionality is optional
+  and has to be enabled specifically by the application being watched by the watchdog when
+  starting the watchdog. If the watch functionality is enabled and the OBSW has not pinged
+  the watchdog via the FIFO for 2 minutes, the watchdog will restart the OBSW service via systemd.
+  The primary OBSW will only activate the watch functionality if it is the OBSW inside the
+  `/usr/bin` directory. This allows debugging the system by leaving flashed or manually copied
+  debugging images 2 minutes to start the watchdog without the watch functionality.
+
+## Fixed
+
+- Bumped FSFW: `Countdown` and `Stopwatch` use new monotonic clock API now.
+- IMTQ: Various fixes, most notably missing buffer time after starting MGM measurement
+  and corrections for actuator commanding.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/430
+
+# [v1.34.0] 2023-03-03
+
+eive-tmtc: v2.16.3
+
+This might include the fix for the race condition where CPU usage jumped to 200 %. The race
+condition was traced to the `Countdown` class, more specifically to the `getUptime` function where
+the `/proc/uptime` file is read.
+
+## Changed
+
+- The SD card prefix is now set earlier inside the `CoreController` constructor
+- The watchdog handling was moved outside the `CoreController` into the main loop.
+- Moved polling of all SPI parts to the same PST.
+- Allow quicker transition for the EIVE system component by allowing consecutive TCS and ACS
+  component commanding again.
+- Changed a lot of lock guards to use timeouts
+- Queue sizes of TCP/UDP servers increased from 20 to 50
+- Significantly simplified and improved lock guard handling in TCS and ACS board polling
+  tasks.
+
+## Fixed
+
+- IMTQ: Sets were filled with wrong data, e.g. Raw MTM was filled with calibrated MTM measurements.
+- Set RM3100 dataset to valid.
+- Fixed units in calculation of ACS control laws safe and detumble.
+- Bump FSFW for change in Countdown: Use system clock instead of reading uptime from file
+  to prevent possible race condition.
+- GPS: No fix considered a fault now after 30 minutes instead of 5 hours.
+- SUS Assembly FDIR: Prevent permanent SAFE mode fallbacks by introducing special health
+  handling.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/418/files
+
+## Added
+
+- Added Syrlinks Assembly object to allow recovery handling and to fix faulty FDIR behaviour.
+
+# [v1.33.0] 2023-03-01
+
+eive-tmtc: v2.16.2
+
+## Changed
+
+- Move ACS board polling to separate worker thread.
+- Move SUS board polling to separate worker thread.
+
+## Fixed
+
+- Linux GPS handler now checks the individual `*_SET` flags when analysing the `gpsd` struct.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/400
+
+# [v1.32.0] 2023-02-24
+
+eive-tmtc: v2.16.1
+
+## Fixed
+
+- ADIS1650X: Added missing MDL_RANG pool entry for configuration set
+- Bumped FSFW for bugfix in health service: No execution complete for targeted health announce
+  command.
+- Removed matrix determinant calculation as part of the `MEKF`, which would take about
+  300ms of runtime
+- Resetting the `MEKF` now also actually resets its stored state
+- Bumped FSFW for bugfix in destination handler: Better error handling and able to process
+  destination folder path.
+
+## Changed
+
+- Added basic persistent TM store for PUS telemetry and basic interface to dump and delete
+  telemetry. Implementation is based on a timed rotating files, with the addition that files
+  might be generated more often if the maximum file size of 8192 bytes is exceeded.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/320/files
+- Commented out commanding of actuators as part of the `AcsController`
+- Collection sets of the `AcsController` now get updated before running the actual ACS
+  algorithm
+- `GpsController` now always gets scheduled
+- The `CoreController` now initializes the initial clock from the time file as early as possible
+  (in the constructor) if possible, which should usually be the case.
+
+## Added
+
+- Added basic persistent TM store for PUS telemetry and basic interface to dump and delete
+  telemetry.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/320/files
+- `ExecutableComIfDummy` class to have a dummy for classes like the RTD polling class.
+- Added `AcsController` action command to confirm solar array deployment, which then deletes
+  two files
+- Added `AcsController` action command to reset `MEKF`
+- `GpsCtrlDummy` now initializes the `gpsSet`
+- `RwDummy` now initializes with a non faulty state
+
+
+# [v1.31.1] 2023-02-23
+
+## Fixed
+
+- ADIS1650X configuration set was empty because the local pool variables were not registered.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/402
+- ACS Controller: Correction for size of MEKF dataset and some optimization and fixes
+  for actuator control which lead to a crash.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/403
+
+# [v1.31.0] 2023-02-23
+
+eive-tmtc: v2.16.0
+
+## Fixed
+
+- Usage of floats as iterators and using them to calculate a uint8_t index in `SusConverter`
+- Removed unused variables in the `AcsController`
+- Remove shadowing variables inside ACS assembly classes.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/385
+
+## Changed
+
+COM PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/364
+
+* Moved transmitter timer and handling of carrier and bitlock event from CCSDS handler to COM
+  subsystem
+* Added parameter command to be able to change the transmitter timeout
+* Solves [#362](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/362)
+* Solves [#360](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/360)
+* Solves [#361](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/361)
+* Solves [#386](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/386)
+- All `targetQuat` functions in `Guidance` now return the target quaternion (target
+  in ECI frame), which is passed on to `CtrlValData`.
+- Moved polling sequence table definitions and source code to `mission/core` folder.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/395
+
+## Added
+
+- `MEKF` now returns an unique returnvalue depending on why the function terminates. These
+  returnvalues are used in the `AcsController` to determine on how to procede with its
+  perform functions. In case the `MEKF` did terminate before estimating the quaternion
+  and rotational rate, an info event will be triggered. Another info event can only be
+  triggered after the `MEKF` has run successfully again. If the `AcsController` tries to
+  perform any pointing mode and the `MEKF` fails, the `performPointingCtrl` function will
+  set the RWs to the last RW speeds and set a zero dipole vector. If the `MEKF` does not
+  recover within 5 cycles (2 mins) the `AcsController` triggers another event, resulting in
+  the `AcsSubsystem` being commanded to `SAFE`.
+- `MekfData` now includes `mekfStatus`
+- `CtrlValData` now includes `tgtRotRate`
+
+# [v1.30.0] 2023-02-22
+
+eive-tmtc: v2.14.0
+
+Event IDs for PDEC handler have changed in a breaking manner.
+
+## Added and Fixed
+
+- PDEC: Added basic FDIR to limit the number of allowed TC interrupts and to allow complete task
+  lockups in the case an IRQ is immediately re-raised by the PDEC module. This is done by only
+  allowing a certain number of handled IRQs (whether they yield a valid TC or not) during
+  time windows of one second. Right now, 800 IRQs/TCs are allowed per time window.
+  This time window is reset if a TC reception timeout after 500ms occurs. TBD whether the maximum
+  allowed number will be a configurable parameter. If the number of occured IRQs is exceeded,
+  an event is triggered and the task is delayed for 400 ms.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/393
+
+# [v1.29.1] 2023-02-21
+
+## Fixed
+
+- Limit number of handled messages for core TM handlers:
+  - https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/391
+  - https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/390
+  - https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/389
+- HeaterHandler better handling for faulty message reception
+  Issue: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/388
+- Disable stopwatch in MAX31865 polling task
+
+# [v1.29.0] 2023-02-21
+
+eive-tmtc: v2.13.0
+
+## Changed
+
+- Refactored IMTQ handlers to also perform low level I2C communication tasks in separate thread.
+  This avoids the various delays needed for I2C communication with that device inside the ACS PST.
+  (e.g. 1 ms delay between each transfer, or 10 ms integration delay for MGM measurements).
+
+## Added
+
+- Added new heater info set for the TCS controller. This set contains the heater switch states
+  and the current draw.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/351
+- The HeaterHandler now exposes a mode which reflects whether the heater power
+  is on or off. It also triggers mode events for its heater children objects
+  which show whether the specific heaters are on or off. The heater handler
+  will be part of the TCS tree.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/351
+
+# [v1.28.1] 2023-02-21
+
+## Fixed
+
+- Patch version which compiles for EM
+- CFDP Funnel bugfix: CCSDS wrapping was buggy and works properly now.
+- PDEC: Some adaptions to prevent task lockups on invalid FAR states.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/393
+- CMakeLists.txt fix which broke CI/CD builds when server could not retrieve full git SHA.
+- Possible regression in the MAX31865 polling task: Using a `ManualCsLockGuard` for reconfiguring
+  and then polling the sensor is problematic, invalid sensor values will be read.
+  CS probably needs to be de-asserted or some other HW/SPI specific issue. Letting the SPI ComIF
+  do the locking does the job.
+
+## Changed
+
+- Add `-Wshadow=local` shadowing warnings and fixed all of them
+- Updated generated CSV files: Support for skip directive and explicit
+  "No description" info string
+- The polling threads for actuator polling now have a slightly higher priority than the ACS PST
+  to ensure timing requirements are met.
+
+## Added
+
+- git post checkout hook which initializes and updates the submodules
+  automatically.
+
+# [v1.28.0] 2023-02-17
+
+eive-tmtc: v2.12.7
+
+## Added
+
+- In case the ACS Controller does recognize more than one RW to be invalid and therefore not
+  available, it does not perform pointing control but aborts shortly after `sensorProcessing`. If the
+  problem persits for 5 ACS cycles, the `MULTIPLE_RW_INVALID` event is triggered, which invokes the
+  transition of the `AcsSubsystem` to safe mode.
+
+## Changed
+
+- Igrf13 model vector now outputs as uT instead of nT
+- Changed timings for `AcsPst`, more time for sun sensors.
+- Added values for MGM sensor fusion
+- Refactored RW Software: Polling runs in separate thread, all RWs are now polled in under 60 ms.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/381
+- Bumped FSFW to allow initializing child modes in `SubsystemBase` derived objects.
+
+## Fixed
+
+- Fixed values for GYR sensor fusion
+- Fixed speed types for `rwHandlingParameter`
+- Pseudo inverse used for allocating torque to RWs and RW antistiction now actually consider the
+  state of the RWs
+
+# [v1.27.2] 2023-02-14
+
+Reaction Wheel handling was determined to be (quasi) broken and needs to be fixed in future release
+to be usable by ACS controller.
+
+eive-tmtc: v2.12.6
+
+## Added
+
+- Function for the ACS controller to command MTQ and RWs called by all subroutines
+- RwHandler now handles commanding of RW speeds via RwSpeedActuationSet
+- Tracing supports which allows checking whether threads are running as usual.
+
+## Changed
+
+- Remove 2 TCS threads.
+- Move low level polling into ACS PST, move high level device handlers into TCS system task.
+- ActCmds now returns command vectors as integers as required by the actuators
+  and scales them to the appropriate range
+- All RwHandler are now polled five times per ACS cycle
+- Remove 2 TCS threads. Move low level polling into ACS PST, move high level device handlers into
+  TCS system task.
+- Further reduce number of threads:
+  1. Remove PUS low priority task, move assigned threads to the generic system task
+  2. Group events and verification tasks into PUS high priority task
+  3. Group all other components into PUS medium priority task
+  4. Add SCEX device handler to PL task, remove dedicated thread
+
+## Removed
+
+- lwgps dependency not compiled anymore, is not used
+
+# [v1.27.1] 2023-02-13
+
+## Fixed
+
+- Fix for SPI ComIF: Set transfer size to 0 for failed transfers
+- Fix shadowing issue with locks in MAX31865 low level handler
+
+# [v1.27.0] 2023-02-13
+
+eive-tmtc: v2.12.5
+
+Added EIVE system top mode component. Currently, only SAFE and IDLE mode are
+implemented, and the system does not do more than commanding TCS and ACS
+into the correct modes. It does not have a lot of mode tracking capabilities
+yet because the ACS controller might alternate between SAFE and DETUMBLE.
+It takes around 5-10 seconds for the EIVE system to reach the SAFE mode.
+
+The new system is used at software boot to command the satellite into safe mode
+on each reboot. This behaviour can be disabled with the
+`OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP` flag.
+
+## Added
+
+- New EIVE system component like explained above.
+
+## Changed
+
+- The satellite now commands itself into SAFE mode on each reboot, which
+  triggers a lot of events on each SW reboot. The TCS subsystem will commanded
+  to NORMAL mode immediately while the ACS subsystem will be commanded to
+  SAFE mode. The payload subsystem will be commanded OFF.
+- `RELEASE_BUILD` flag moved to `commonConfig.h`
+- The ACS subsystem transitions are now staggered: The SUS board assembly
+  is commanded as a separate transition. This reduces the risk of long bus lockups.
+- No INFO mode event translations for release builds to reduce number of
+  printouts.
+- More granular locking inside the MAX31865 low level read handler.
+
+## Fixed
+
+- More DHB thermal module fixes.
+- ACS PST frequency extended to 0.8 seconds in debug builds to avoid SPI
+  bus lockups.
+- Local datapool fixes for the `PlocSupervisorHandler`
+
+# [v1.26.4] 2023-02-10
+
+eive-tmtc: v2.12.3
+
+## Fixed
+
+- `SdCardManager.cpp` `isSdCardUsable`: Use `ext4` instead of `vfat` to check read-only state.
+
+# [v1.26.3] 2023-02-09
+
+eive-tmtc: v2.12.2
+
+## Added
+
+- First version of a TCS controller heater control loop, but
+  the loop is disabled for now.
+
+## Changed
+
+- Reworked dummy handling for the TCS controller.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/325
+- Generator scripts now generate files for hosted and for Q7S build.
+
+## Fixed
+
+- GPS Controller: Set fix value to 0 when switching off to allow
+  `GPS_FIX_CHANGE` to work when switching the GPS back on.
+
+# [v1.26.2] 2023-02-08
+
+## Changed
+
+- ACS Controller scheduling is now configurable via the `eive/definitions.h` file. Also ensured
+  that scheduling is done in big blocks to reduce risk of missed deadlines.
+- Replaced chained locks for polling new sensor data to the `AcsController`.
+- Made TM store even larger.
+
+## Fixed
+
+- Bugfix for PDEC handler which causes the PIR register of the PDEC to never
+  be cleared on release builds. The dummy variable used to read the register
+  needs to be declared volatile to avoid compiler optimizations.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/374
+- Bumped FSFW for fix of possible memory leaks in TCP/IP TMTC bridge
+  inside the FSFW.
+
+## Added
+
+- Create TCS controller for EM build.
+
+# [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
 
@@ -17,7 +955,7 @@ list yields a list of all related PRs for each release.
 - 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] 28.11.2022
+# [v1.17.0] 2022-11-28
 
 ## Added
 
@@ -26,7 +964,7 @@ list yields a list of all related PRs for each release.
   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] 18.11.2022
+# [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
@@ -43,7 +981,7 @@ 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 18)
-set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
+set(OBSW_VERSION_MAJOR 1)
+set(OBSW_VERSION_MINOR 40)
+set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)
 
@@ -71,11 +71,13 @@ if(EIVE_Q7S_EM)
       1
       CACHE STRING "Q7S EM configuration")
   set(INIT_VAL 0)
+  set(OBSW_STAR_TRACKER_GROUND_CONFIG 1)
 else()
   set(OBSW_Q7S_EM
       0
       CACHE STRING "Q7S EM configuration")
   set(INIT_VAL 1)
+  set(OBSW_STAR_TRACKER_GROUND_CONFIG 0)
 endif()
 set(OBSW_ADD_MGT
     ${INIT_VAL}
@@ -108,7 +110,7 @@ set(OBSW_TC_FROM_PDEC
     1
     CACHE STRING "Poll telecommand from PDEC IP core")
 set(OBSW_ADD_TCS_CTRL
-    ${INIT_VAL}
+    1
     CACHE STRING "Add TCS controllers")
 set(OBSW_ADD_HEATERS
     ${INIT_VAL}
@@ -135,13 +137,13 @@ 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}
     CACHE STRING "Add TMP devices")
 set(OBSW_ADD_GOMSPACE_PCDU
-    1
+    ${INIT_VAL}
     CACHE STRING "Add GomSpace PCDU modules")
 set(OBSW_ADD_RW
     ${INIT_VAL}
@@ -150,7 +152,7 @@ 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")
 
 # ##############################################################################
@@ -168,29 +170,18 @@ 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)
-    list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
-    if(NOT OBSW_VERSION_MAJOR)
-      set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
-    endif()
-    if(NOT OBSW_VERSION_MINOR)
-      set(FSFW_SUBVERSION ${OBSW_VERSION_MINOR_IF_GIT_FAILS})
-    endif()
-    if(NOT OBSW_VERSION_REVISION)
-      set(FSFW_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
+    # 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()
     set(GIT_VER_HANDLING_OK TRUE)
   else()
     set(GIT_VER_HANDLING_OK FALSE)
   endif()
 endif()
-if(NOT GIT_VER_HANDLING_OK)
-  set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
-  set(OBSW_VERSION_MINOR ${OBSW_VERSION_MINOR_IF_GIT_FAILS})
-  set(OBSW_VERSION_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
-endif()
 
 # Set names and variables
 set(OBSW_NAME ${CMAKE_PROJECT_NAME})
@@ -234,6 +225,7 @@ set(LIB_JSON_PATH ${THIRD_PARTY_FOLDER}/json)
 
 set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
 set(EIVE_ADD_LINUX_FILES OFF)
+set(FSFW_ADD_TMSTORAGE ON)
 
 # Analyse different OS and architecture/target options, determine BSP_PATH,
 # display information about compiler etc.
@@ -301,6 +293,16 @@ else()
   endif()
 endif()
 
+include(BuildType)
+set_build_type()
+
+set(FSFW_DEBUG_INFO 0)
+set(Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 0)
+if(RELEASE_BUILD MATCHES 0)
+  set(FSFW_DEBUG_INFO 1)
+  set(Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1)
+endif()
+
 # Configuration files
 configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
 configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
@@ -347,6 +349,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
       "-Wimplicit-fallthrough=1"
       "-Wno-unused-parameter"
       "-Wno-psabi"
+      "-Wshadow=local"
       "-Wduplicated-cond" # check for duplicate conditions
       "-Wduplicated-branches" # check for duplicate branches
       "-Wlogical-op" # Search for bitwise operations instead of logical
@@ -402,19 +405,17 @@ endif()
 add_subdirectory(thirdparty)
 
 if(EIVE_ADD_LINUX_FILES)
-  add_subdirectory(${LIB_ARCSEC_PATH})
+  if(TGT_BSP MATCHES "arm/q7s")
+    add_subdirectory(${LIB_GOMSPACE_PATH})
+    add_subdirectory(${LIB_ARCSEC_PATH})
+  endif()
   add_subdirectory(${LINUX_PATH})
 endif()
 add_subdirectory(${BSP_PATH})
 
-if(UNIX)
-  add_subdirectory(${LIB_GOMSPACE_PATH})
-endif()
-
 add_subdirectory(${COMMON_PATH})
 add_subdirectory(${DUMMY_PATH})
 
-add_subdirectory(${LIB_LWGPS_PATH})
 add_subdirectory(${FSFW_PATH})
 add_subdirectory(${LIB_EIVE_MISSION_PATH})
 add_subdirectory(${TEST_PATH})
@@ -481,15 +482,16 @@ endif()
 # ##############################################################################
 
 # Add libraries
-target_link_libraries(${LIB_EIVE_MISSION}
-                      PUBLIC ${LIB_FSFW_NAME} ${LIB_LWGPS_NAME} ${LIB_OS_NAME})
+target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_FSFW_NAME}
+                                                 ${LIB_OS_NAME})
 
 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 ${LIB_EIVE_MISSION}
@@ -499,10 +501,6 @@ if(TGT_BSP MATCHES "arm/egse")
   target_link_libraries(${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()
@@ -563,6 +561,3 @@ add_custom_command(
   POST_BUILD
   COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
   COMMENT ${POST_BUILD_COMMENT})
-
-include(BuildType)
-set_build_type()

README.md

@@ -18,6 +18,7 @@
 11. [Q7S OBC](#q7s)
 12. [Static Code Analysis](#static-code-analysis)
 13. [Eclipse](#eclipse)
+14. [CLion](#clion)
 14. [Running the OBSW on a Raspberry Pi](#rpi)
 15. [Running OBSW on EGSE](#egse)
 16. [Manually preparing sysroots to compile gpsd](#gpsd)
@@ -95,9 +96,7 @@ 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 +289,7 @@ 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 +318,11 @@ 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 +330,21 @@ 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.
@@ -1219,6 +1230,22 @@ Finally, you can convert the generated `.xml` file to HTML with the following co
 cppcheck-htmlreport --file=report.xml --report-dir=cppcheck --source-dir=..
 ```
 
+# <a id="CLion"></a> CLion
+
+CLion is the recommended IDE for the development of the hosted version of EIVE.
+You can also set up CLion for cross-compilation of the primary OBSW.
+
+There is a shared `.idea/cmake.xml` file to get started with this.
+To make cross-compilation work, two special environment variables
+need to be set:
+
+- `ZYNQ_7020_ROOTFS` pointing to the root filesystem
+- `CROSS_COMPILE` pointing to the the full path of the cross-compiler
+  without the specific tool suffix. For example, if the the cross-compiler
+  tools are located at `/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin`,
+  this variable would be set
+  to `/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin/arm-linux-gnueabihf`
+
 # <a id="eclipse"></a> Eclipse
 
 When using Eclipse, there are two special build variables in the project properties

automation/Jenkinsfile

@@ -1,6 +1,7 @@
 pipeline {
     environment {
-        BUILDDIR_Q7 = 'build_q7'
+        BUILDDIR_Q7S = 'build_q7s_fm'
+        BUILDDIR_Q7S_EM = 'build_q7s_em'
         BUILDDIR_LINUX = 'build_linux'
     }
     agent {
@@ -12,15 +13,24 @@ pipeline {
     stages {
         stage('Clean') {
             steps {
-                sh 'rm -rf $BUILDDIR_Q7'
+                sh 'rm -rf $BUILDDIR_Q7S'
+                sh 'rm -rf $BUILDDIR_Q7S_EM'
                 sh 'rm -rf $BUILDDIR_LINUX'
             }
         }
         stage('Build Q7S') {
             steps {
-                dir(BUILDDIR_Q7) {
+                dir(BUILDDIR_Q7S) {
                     sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug ..'
-                    sh 'cmake --build . -j4'
+                    sh 'cmake --build . -j6'
+                }
+            }
+        }
+        stage('Build Q7S EM') {
+            steps {
+                dir(BUILDDIR_Q7S_EM) {
+                    sh 'cmake -DTGT_BSP="arm/q7s" -DEIVE_Q7S_EM=ON -DCMAKE_BUILD_TYPE=Debug ..'
+                    sh 'cmake --build . -j6'
                 }
             }
         }
@@ -28,7 +38,7 @@ pipeline {
             steps {
                 dir(BUILDDIR_LINUX) {
                     sh 'cmake ..'
-                    sh 'cmake --build . -j4'
+                    sh 'cmake --build . -j6'
                     sh './eive-unittest'
                 }
             }

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/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  */
@@ -102,11 +101,8 @@
 /** 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_USE_TMTC_TCP_BRIDGE            0
+#define OBSW_ADD_TMTC_UDP_SERVER            1
+#define OBSW_ADD_TMTC_TCP_SERVER            1
 
 #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
 

bsp_hosted/ObjectFactory.cpp

@@ -8,47 +8,28 @@
 #include <mission/tmtc/TmFunnelHandler.h>
 #include <objects/systemObjectList.h>
 
+#include "../mission/utility/DummySdCardManager.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
 
-#include <fsfw/tmtcpacket/pus/tm.h>
-
 #if OBSW_ADD_TEST_CODE == 1
 #include <test/testtasks/TestTask.h>
 #endif
 
 #include <dummies/AcuDummy.h>
-#include <dummies/BpxDummy.h>
-#include <dummies/ComCookieDummy.h>
-#include <dummies/ComIFDummy.h>
 #include <dummies/CoreControllerDummy.h>
-#include <dummies/GyroAdisDummy.h>
-#include <dummies/GyroL3GD20Dummy.h>
-#include <dummies/ImtqDummy.h>
-#include <dummies/MgmLIS3MDLDummy.h>
-#include <dummies/P60DockDummy.h>
-#include <dummies/PduDummy.h>
-#include <dummies/PlPcduDummy.h>
-#include <dummies/RwDummy.h>
-#include <dummies/StarTrackerDummy.h>
-#include <dummies/SusDummy.h>
-#include <dummies/SyrlinksDummy.h>
-#include <dummies/TemperatureSensorsDummy.h>
 
 #include "dummies/helpers.h"
-#include "mission/utility/GlobalConfigHandler.h"
 
 #ifdef PLATFORM_UNIX
 #include <fsfw_hal/linux/serial/SerialComIF.h>
@@ -77,11 +58,15 @@ void ObjectFactory::produce(void* args) {
   Factory::setStaticFrameworkObjectIds();
   PusTmFunnel* pusFunnel;
   CfdpTmFunnel* cfdpFunnel;
-  ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel);
+  StorageManagerIF* tmStore;
+  StorageManagerIF* ipcStore;
+  PersistentTmStores persistentStores;
+  auto sdcMan = new DummySdCardManager("/tmp");
+  ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel, *sdcMan, &ipcStore,
+                                       &tmStore, persistentStores);
 
-  DummyGpioIF* dummyGpioIF = new DummyGpioIF();
+  auto* 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
@@ -108,7 +93,15 @@ void ObjectFactory::produce(void* args) {
 #endif
 
   dummy::DummyCfg cfg;
-  dummy::createDummies(cfg, *dummySwitcher);
-  new ThermalController(objects::THERMAL_CONTROLLER);
+  dummy::createDummies(cfg, *dummySwitcher, dummyGpioIF);
+
+  HeaterHandler* heaterHandler = nullptr;
+  // new ThermalController(objects::THERMAL_CONTROLLER);
+  ObjectFactory::createGenericHeaterComponents(*dummyGpioIF, *dummySwitcher, heaterHandler);
+  if (heaterHandler == nullptr) {
+    sif::error << "HeaterHandler could not be created" << std::endl;
+  } else {
+    ObjectFactory::createThermalController(*heaterHandler);
+  }
   new TestTask(objects::TEST_TASK);
 }

bsp_hosted/fsfwconfig/FSFWConfig.h.in

@@ -50,6 +50,8 @@
 //! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
 #define FSFW_USE_REALTIME_FOR_LINUX 0
 
+#define FSFW_UDP_SEND_WIRETAPPING_ENABLED 0
+
 namespace fsfwconfig {
 
 //! Default timestamp size. The default timestamp will be an seven byte CDC short timestamp.

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 239 translations.
+ * @brief    Auto-generated event translation file. Contains 279 translations.
  * @details
- * Generated on: 2022-11-16 15:25:08
+ * Generated on: 2023-03-24 21:09:31
  */
 #include "translateEvents.h"
 
@@ -35,11 +35,11 @@ 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 *SWITCH_WENT_OFF_STRING = "SWITCH_WENT_OFF";
 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";
 const char *POWER_BELOW_LOW_LIMIT_STRING = "POWER_BELOW_LOW_LIMIT";
-const char *SWITCH_WENT_OFF_STRING = "SWITCH_WENT_OFF";
 const char *HEATER_ON_STRING = "HEATER_ON";
 const char *HEATER_OFF_STRING = "HEATER_OFF";
 const char *HEATER_TIMEOUT_STRING = "HEATER_TIMEOUT";
@@ -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 +90,15 @@ 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 *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
+const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
+const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
+const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
+const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
+const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
+const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
+const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
+const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 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";
@@ -126,8 +136,8 @@ const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAIL
 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 *BOOTING_FIRMWARE_FAILED_EVENT_STRING = "BOOTING_FIRMWARE_FAILED_EVENT";
+const char *BOOTING_BOOTLOADER_FAILED_EVENT_STRING = "BOOTING_BOOTLOADER_FAILED_EVENT";
 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";
@@ -135,7 +145,7 @@ 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 *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";
@@ -147,7 +157,11 @@ 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 *TOO_MANY_IRQS_STRING = "TOO_MANY_IRQS";
+const char *POLL_SYSCALL_ERROR_PDEC_STRING = "POLL_SYSCALL_ERROR_PDEC";
+const char *WRITE_SYSCALL_ERROR_PDEC_STRING = "WRITE_SYSCALL_ERROR_PDEC";
+const char *PDEC_RESET_FAILED_STRING = "PDEC_RESET_FAILED";
+const char *OPEN_IRQ_FILE_FAILED_STRING = "OPEN_IRQ_FILE_FAILED";
 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";
@@ -159,7 +173,7 @@ 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_COM_REPLY_TIMEOUT_STRING = "STR_COM_REPLY_TIMEOUT";
 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";
@@ -195,8 +209,14 @@ 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 *TRANSITION_OTHER_SIDE_FAILED_12900_STRING = "TRANSITION_OTHER_SIDE_FAILED_12900";
+const char *NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE_12901";
+const char *POWER_STATE_MACHINE_TIMEOUT_12902_STRING = "POWER_STATE_MACHINE_TIMEOUT_12902";
+const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING =
+    "SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903";
 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";
@@ -227,11 +247,8 @@ 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 *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";
@@ -240,6 +257,34 @@ 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 *REBOOT_COUNTER_STRING = "REBOOT_COUNTER";
+const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
+const char *I2C_UNAVAILABLE_REBOOT_STRING = "I2C_UNAVAILABLE_REBOOT";
+const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
+const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
+const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
+const char *PLOC_OVERHEATING_STRING = "PLOC_OVERHEATING";
+const char *OBC_OVERHEATING_STRING = "OBC_OVERHEATING";
+const char *HPA_OVERHEATING_STRING = "HPA_OVERHEATING";
+const char *PLPCDU_OVERHEATING_STRING = "PLPCDU_OVERHEATING";
+const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
+const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
+const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
+const char *FILE_TOO_LARGE_STRING = "FILE_TOO_LARGE";
+const char *BUSY_DUMPING_EVENT_STRING = "BUSY_DUMPING_EVENT";
+const char *DUMP_WAS_CANCELLED_STRING = "DUMP_WAS_CANCELLED";
+const char *DUMP_OK_STORE_DONE_STRING = "DUMP_OK_STORE_DONE";
+const char *DUMP_NOK_STORE_DONE_STRING = "DUMP_NOK_STORE_DONE";
+const char *DUMP_MISC_STORE_DONE_STRING = "DUMP_MISC_STORE_DONE";
+const char *DUMP_HK_STORE_DONE_STRING = "DUMP_HK_STORE_DONE";
+const char *DUMP_CFDP_STORE_DONE_STRING = "DUMP_CFDP_STORE_DONE";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -303,16 +348,16 @@ const char *translateEvents(Event event) {
       return MONITORING_AMBIGUOUS_STRING;
     case (2811):
       return DEVICE_WANTS_HARD_REBOOT_STRING;
-    case (4201):
-      return FUSE_CURRENT_HIGH_STRING;
-    case (4202):
-      return FUSE_WENT_OFF_STRING;
-    case (4204):
-      return POWER_ABOVE_HIGH_LIMIT_STRING;
-    case (4205):
-      return POWER_BELOW_LOW_LIMIT_STRING;
     case (4300):
       return SWITCH_WENT_OFF_STRING;
+    case (4301):
+      return FUSE_CURRENT_HIGH_STRING;
+    case (4302):
+      return FUSE_WENT_OFF_STRING;
+    case (4304):
+      return POWER_ABOVE_HIGH_LIMIT_STRING;
+    case (4305):
+      return POWER_BELOW_LOW_LIMIT_STRING;
     case (5000):
       return HEATER_ON_STRING;
     case (5001):
@@ -398,6 +443,8 @@ 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;
@@ -411,6 +458,24 @@ const char *translateEvents(Event event) {
       return MSG_QUEUE_ERROR_STRING;
     case (10802):
       return SERIALIZATION_ERROR_STRING;
+    case (10803):
+      return FILESTORE_ERROR_STRING;
+    case (10804):
+      return FILENAME_TOO_LARGE_ERROR_STRING;
+    case (11200):
+      return SAFE_RATE_VIOLATION_STRING;
+    case (11201):
+      return SAFE_RATE_RECOVERY_STRING;
+    case (11202):
+      return MULTIPLE_RW_INVALID_STRING;
+    case (11203):
+      return MEKF_INVALID_INFO_STRING;
+    case (11204):
+      return MEKF_RECOVERY_STRING;
+    case (11205):
+      return MEKF_INVALID_MODE_VIOLATION_STRING;
+    case (11206):
+      return SAFE_MODE_CONTROLLER_FAILURE_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -486,9 +551,9 @@ const char *translateEvents(Event event) {
     case (11802):
       return RESET_OCCURED_STRING;
     case (11901):
-      return BOOTING_FIRMWARE_FAILED_STRING;
+      return BOOTING_FIRMWARE_FAILED_EVENT_STRING;
     case (11902):
-      return BOOTING_BOOTLOADER_FAILED_STRING;
+      return BOOTING_BOOTLOADER_FAILED_EVENT_STRING;
     case (12001):
       return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
     case (12002):
@@ -504,7 +569,7 @@ const char *translateEvents(Event event) {
     case (12007):
       return SUPV_HELPER_EXECUTING_STRING;
     case (12008):
-      return SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING;
+      return SUPV_MPSOC_SHUTDOWN_BUILD_FAILED_STRING;
     case (12100):
       return SANITIZATION_FAILED_STRING;
     case (12101):
@@ -528,7 +593,15 @@ const char *translateEvents(Event event) {
     case (12406):
       return LOST_BIT_LOCK_PDEC_STRING;
     case (12407):
-      return POLL_ERROR_PDEC_STRING;
+      return TOO_MANY_IRQS_STRING;
+    case (12408):
+      return POLL_SYSCALL_ERROR_PDEC_STRING;
+    case (12409):
+      return WRITE_SYSCALL_ERROR_PDEC_STRING;
+    case (12410):
+      return PDEC_RESET_FAILED_STRING;
+    case (12411):
+      return OPEN_IRQ_FILE_FAILED_STRING;
     case (12500):
       return IMAGE_UPLOAD_FAILED_STRING;
     case (12501):
@@ -552,16 +625,16 @@ const char *translateEvents(Event event) {
     case (12510):
       return STR_HELPER_COM_ERROR_STRING;
     case (12511):
-      return STR_HELPER_NO_REPLY_STRING;
-    case (12512):
-      return STR_HELPER_DEC_ERROR_STRING;
+      return STR_COM_REPLY_TIMEOUT_STRING;
     case (12513):
-      return POSITION_MISMATCH_STRING;
+      return STR_HELPER_DEC_ERROR_STRING;
     case (12514):
-      return STR_HELPER_FILE_NOT_EXISTS_STRING;
+      return POSITION_MISMATCH_STRING;
     case (12515):
-      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+      return STR_HELPER_FILE_NOT_EXISTS_STRING;
     case (12516):
+      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+    case (12517):
       return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
     case (12600):
       return MPSOC_FLASH_WRITE_FAILED_STRING;
@@ -623,10 +696,20 @@ const char *translateEvents(Event event) {
       return POWER_STATE_MACHINE_TIMEOUT_STRING;
     case (12803):
       return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
+    case (12900):
+      return TRANSITION_OTHER_SIDE_FAILED_12900_STRING;
+    case (12901):
+      return NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING;
+    case (12902):
+      return POWER_STATE_MACHINE_TIMEOUT_12902_STRING;
+    case (12903):
+      return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING;
     case (13000):
       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):
@@ -687,16 +770,10 @@ const char *translateEvents(Event event) {
       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;
+      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):
@@ -713,6 +790,62 @@ 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;
+    case (14007):
+      return REBOOT_COUNTER_STRING;
+    case (14008):
+      return INDIVIDUAL_BOOT_COUNTS_STRING;
+    case (14010):
+      return I2C_UNAVAILABLE_REBOOT_STRING;
+    case (14100):
+      return NO_VALID_SENSOR_TEMPERATURE_STRING;
+    case (14101):
+      return NO_HEALTHY_HEATER_AVAILABLE_STRING;
+    case (14102):
+      return SYRLINKS_OVERHEATING_STRING;
+    case (14103):
+      return PLOC_OVERHEATING_STRING;
+    case (14104):
+      return OBC_OVERHEATING_STRING;
+    case (14105):
+      return HPA_OVERHEATING_STRING;
+    case (14106):
+      return PLPCDU_OVERHEATING_STRING;
+    case (14201):
+      return TX_TIMER_EXPIRED_STRING;
+    case (14202):
+      return BIT_LOCK_TX_ON_STRING;
+    case (14300):
+      return POSSIBLE_FILE_CORRUPTION_STRING;
+    case (14301):
+      return FILE_TOO_LARGE_STRING;
+    case (14302):
+      return BUSY_DUMPING_EVENT_STRING;
+    case (14303):
+      return DUMP_WAS_CANCELLED_STRING;
+    case (14305):
+      return DUMP_OK_STORE_DONE_STRING;
+    case (14306):
+      return DUMP_NOK_STORE_DONE_STRING;
+    case (14307):
+      return DUMP_MISC_STORE_DONE_STRING;
+    case (14308):
+      return DUMP_HK_STORE_DONE_STRING;
+    case (14309):
+      return DUMP_CFDP_STORE_DONE_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

bsp_hosted/fsfwconfig/objects/systemObjectList.h

@@ -24,7 +24,7 @@ enum sourceObjects : uint32_t {
   /* 0x49 ('I') for Communication Interfaces **/
   ARDUINO_COM_IF = 0x49000001,
 
-  DUMMY_COM_IF = 0x49000002
+  DUMMY_COM_IF = 0x49000002,
 };
 }
 

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -1,16 +1,17 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 148 translations.
- * Generated on: 2022-11-15 17:44:20
+ * Contains 169 translations.
+ * Generated on: 2023-03-24 21:09:31
  */
 #include "translateObjects.h"
 
-const char *P60DOCK_TEST_TASK_STRING = "P60DOCK_TEST_TASK";
+const char *TEST_TASK_STRING = "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 *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
 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";
@@ -37,6 +38,7 @@ 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_POLLING_STRING = "IMTQ_POLLING";
 const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
 const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
 const char *P60DOCK_HANDLER_STRING = "P60DOCK_HANDLER";
@@ -48,10 +50,14 @@ 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 *STR_COM_IF_STRING = "STR_COM_IF";
 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 *PTME_VC0_LIVE_TM_STRING = "PTME_VC0_LIVE_TM";
+const char *PTME_VC1_LOG_TM_STRING = "PTME_VC1_LOG_TM";
+const char *PTME_VC2_HK_TM_STRING = "PTME_VC2_HK_TM";
+const char *PTME_VC3_CFDP_TM_STRING = "PTME_VC3_CFDP_TM";
 const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
 const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
 const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
@@ -63,7 +69,6 @@ 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";
@@ -80,26 +85,33 @@ 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 *SYRLINKS_COM_HANDLER_STRING = "SYRLINKS_COM_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
-const char *GPIO_IF_STRING = "GPIO_IF";
+const char *DUMMY_COM_IF_STRING = "DUMMY_COM_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 *ACS_BOARD_POLLING_TASK_STRING = "ACS_BOARD_POLLING_TASK";
+const char *RW_POLLING_TASK_STRING = "RW_POLLING_TASK";
+const char *SPI_RTD_COM_IF_STRING = "SPI_RTD_COM_IF";
+const char *SUS_POLLING_TASK_STRING = "SUS_POLLING_TASK";
 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";
 const char *PDEC_HANDLER_STRING = "PDEC_HANDLER";
 const char *CCSDS_HANDLER_STRING = "CCSDS_HANDLER";
+const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3";
+const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5";
 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 *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";
@@ -108,6 +120,7 @@ const char *PUS_SERVICE_5_EVENT_REPORTING_STRING = "PUS_SERVICE_5_EVENT_REPORTIN
 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_15_TM_STORAGE_STRING = "PUS_SERVICE_15_TM_STORAGE";
 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";
@@ -123,14 +136,6 @@ 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 *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";
@@ -138,12 +143,15 @@ 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 *HEATER_7_SYRLINKS_STRING = "HEATER_7_SYRLINKS";
 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 *RW_ASSY_STRING = "RW_ASSY";
 const char *CAM_SWITCHER_STRING = "CAM_SWITCHER";
+const char *SYRLINKS_ASSY_STRING = "SYRLINKS_ASSY";
+const char *IMTQ_ASSY_STRING = "IMTQ_ASSY";
+const char *STR_ASSY_STRING = "STR_ASSY";
 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";
@@ -152,13 +160,26 @@ 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 *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
+const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
+const char *MISC_TM_STORE_STRING = "MISC_TM_STORE";
+const char *OK_TM_STORE_STRING = "OK_TM_STORE";
+const char *NOT_OK_TM_STORE_STRING = "NOT_OK_TM_STORE";
+const char *HK_TM_STORE_STRING = "HK_TM_STORE";
+const char *CFDP_TM_STORE_STRING = "CFDP_TM_STORE";
+const char *LIVE_TM_TASK_STRING = "LIVE_TM_TASK";
+const char *LOG_STORE_AND_TM_TASK_STRING = "LOG_STORE_AND_TM_TASK";
+const char *HK_STORE_AND_TM_TASK_STRING = "HK_STORE_AND_TM_TASK";
+const char *CFDP_STORE_AND_TM_TASK_STRING = "CFDP_STORE_AND_TM_TASK";
+const char *DOWNLINK_RAM_STORE_STRING = "DOWNLINK_RAM_STORE";
+const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER";
+const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
 const char *translateObject(object_id_t object) {
   switch ((object & 0xFFFFFFFF)) {
-    case 0x00005060:
-      return P60DOCK_TEST_TASK_STRING;
+    case 0x42694269:
+      return TEST_TASK_STRING;
     case 0x43000002:
       return ACS_CONTROLLER_STRING;
     case 0x43000003:
@@ -167,6 +188,8 @@ const char *translateObject(object_id_t object) {
       return GLOBAL_JSON_CFG_STRING;
     case 0x43400001:
       return THERMAL_CONTROLLER_STRING;
+    case 0x44000001:
+      return DUMMY_HANDLER_STRING;
     case 0x44120006:
       return MGM_0_LIS3_HANDLER_STRING;
     case 0x44120010:
@@ -219,6 +242,8 @@ const char *translateObject(object_id_t object) {
       return STAR_TRACKER_STRING;
     case 0x44130045:
       return GPS_CONTROLLER_STRING;
+    case 0x44140013:
+      return IMTQ_POLLING_STRING;
     case 0x44140014:
       return IMTQ_HANDLER_STRING;
     case 0x442000A1:
@@ -242,13 +267,21 @@ const char *translateObject(object_id_t object) {
     case 0x44330001:
       return PLOC_MEMORY_DUMPER_STRING;
     case 0x44330002:
-      return STR_HELPER_STRING;
+      return STR_COM_IF_STRING;
     case 0x44330003:
       return PLOC_MPSOC_HELPER_STRING;
     case 0x44330004:
       return AXI_PTME_CONFIG_STRING;
     case 0x44330005:
       return PTME_CONFIG_STRING;
+    case 0x44330006:
+      return PTME_VC0_LIVE_TM_STRING;
+    case 0x44330007:
+      return PTME_VC1_LOG_TM_STRING;
+    case 0x44330008:
+      return PTME_VC2_HK_TM_STRING;
+    case 0x44330009:
+      return PTME_VC3_CFDP_TM_STRING;
     case 0x44330015:
       return PLOC_MPSOC_HANDLER_STRING;
     case 0x44330016:
@@ -271,8 +304,6 @@ const char *translateObject(object_id_t object) {
       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:
@@ -306,33 +337,37 @@ const char *translateObject(object_id_t object) {
     case 0x44420031:
       return RTD_15_IC18_IMTQ_STRING;
     case 0x445300A3:
-      return SYRLINKS_HK_HANDLER_STRING;
-    case 0x49000000:
+      return SYRLINKS_HANDLER_STRING;
+    case 0x445300A4:
+      return SYRLINKS_COM_HANDLER_STRING;
+    case 0x49000001:
       return ARDUINO_COM_IF_STRING;
-    case 0x49010005:
-      return GPIO_IF_STRING;
+    case 0x49000002:
+      return DUMMY_COM_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 0x49060004:
+      return ACS_BOARD_POLLING_TASK_STRING;
+    case 0x49060005:
+      return RW_POLLING_TASK_STRING;
+    case 0x49060006:
+      return SPI_RTD_COM_IF_STRING;
+    case 0x49060007:
+      return SUS_POLLING_TASK_STRING;
     case 0x50000100:
       return CCSDS_PACKET_DISTRIBUTOR_STRING;
     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:
@@ -343,8 +378,18 @@ const char *translateObject(object_id_t object) {
       return PDEC_HANDLER_STRING;
     case 0x50000800:
       return CCSDS_HANDLER_STRING;
+    case 0x51000300:
+      return PUS_SERVICE_3_STRING;
+    case 0x51000400:
+      return PUS_SERVICE_5_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 0x53000000:
       return FSFW_OBJECTS_START_STRING;
     case 0x53000001:
@@ -361,6 +406,8 @@ const char *translateObject(object_id_t object) {
       return PUS_SERVICE_9_TIME_MGMT_STRING;
     case 0x53000011:
       return PUS_SERVICE_11_TC_SCHEDULER_STRING;
+    case 0x53000015:
+      return PUS_SERVICE_15_TM_STORAGE_STRING;
     case 0x53000017:
       return PUS_SERVICE_17_TEST_STRING;
     case 0x53000020:
@@ -391,22 +438,6 @@ const char *translateObject(object_id_t object) {
       return VERIFICATION_REPORTER_STRING;
     case 0x53ffffff:
       return FSFW_OBJECTS_END_STRING;
-    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 0x54123456:
-      return LIBGPIOD_TEST_STRING;
-    case 0x54694269:
-      return TEST_TASK_STRING;
     case 0x60000000:
       return HEATER_0_PLOC_PROC_BRD_STRING;
     case 0x60000001:
@@ -422,7 +453,7 @@ const char *translateObject(object_id_t object) {
     case 0x60000006:
       return HEATER_6_DRO_STRING;
     case 0x60000007:
-      return HEATER_7_HPA_STRING;
+      return HEATER_7_SYRLINKS_STRING;
     case 0x73000001:
       return ACS_BOARD_ASS_STRING;
     case 0x73000002:
@@ -430,9 +461,15 @@ const char *translateObject(object_id_t object) {
     case 0x73000003:
       return TCS_BOARD_ASS_STRING;
     case 0x73000004:
-      return RW_ASS_STRING;
+      return RW_ASSY_STRING;
     case 0x73000006:
       return CAM_SWITCHER_STRING;
+    case 0x73000007:
+      return SYRLINKS_ASSY_STRING;
+    case 0x73000008:
+      return IMTQ_ASSY_STRING;
+    case 0x73000009:
+      return STR_ASSY_STRING;
     case 0x73000100:
       return TM_FUNNEL_STRING;
     case 0x73000101:
@@ -449,8 +486,34 @@ const char *translateObject(object_id_t object) {
       return ACS_SUBSYSTEM_STRING;
     case 0x73010002:
       return PL_SUBSYSTEM_STRING;
-    case 0x73500000:
-      return CCSDS_IP_CORE_BRIDGE_STRING;
+    case 0x73010003:
+      return TCS_SUBSYSTEM_STRING;
+    case 0x73010004:
+      return COM_SUBSYSTEM_STRING;
+    case 0x73020001:
+      return MISC_TM_STORE_STRING;
+    case 0x73020002:
+      return OK_TM_STORE_STRING;
+    case 0x73020003:
+      return NOT_OK_TM_STORE_STRING;
+    case 0x73020004:
+      return HK_TM_STORE_STRING;
+    case 0x73030000:
+      return CFDP_TM_STORE_STRING;
+    case 0x73040000:
+      return LIVE_TM_TASK_STRING;
+    case 0x73040001:
+      return LOG_STORE_AND_TM_TASK_STRING;
+    case 0x73040002:
+      return HK_STORE_AND_TM_TASK_STRING;
+    case 0x73040003:
+      return CFDP_STORE_AND_TM_TASK_STRING;
+    case 0x73040004:
+      return DOWNLINK_RAM_STORE_STRING;
+    case 0x90000003:
+      return THERMAL_TEMP_INSERTER_STRING;
+    case 0xCAFECAFE:
+      return DUMMY_INTERFACE_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/fsfwconfig/returnvalues/classIds.h

@@ -13,6 +13,7 @@
 namespace CLASS_ID {
 enum {
   CLASS_ID_START = COMMON_CLASS_ID_END,
+  CLASS_ID_END  // [EXPORT] : [END]
 };
 }
 

bsp_hosted/scheduling.cpp

@@ -14,6 +14,7 @@
 
 #include "OBSWConfig.h"
 #include "ObjectFactory.h"
+#include "mission/core/scheduling.h"
 #include "scheduling.h"
 
 #ifdef LINUX
@@ -55,71 +56,82 @@ void scheduling::initTasks() {
 
   /* TMTC Distribution */
   PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
-      "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+      "DIST", 60, 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;
+    sif::error << "adding CCSDS distributor failed" << std::endl;
   }
   result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
   if (result != returnvalue::OK) {
-    sif::error << "Object add component failed" << std::endl;
+    sif::error << "adding PUS distributor failed" << std::endl;
   }
   result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
   if (result != returnvalue::OK) {
-    sif::error << "Object add component failed" << std::endl;
+    sif::error << "adding TM funnel failed" << std::endl;
   }
-  result = tmtcDistributor->addComponent(objects::TMTC_BRIDGE);
+  result = tmtcDistributor->addComponent(objects::CFDP_DISTRIBUTOR);
   if (result != returnvalue::OK) {
-    sif::error << "Add component UDP Unix Bridge failed" << std::endl;
+    sif::error << "adding CFDP distributor failed" << std::endl;
+  }
+  result = tmtcDistributor->addComponent(objects::UDP_TMTC_SERVER);
+  if (result != returnvalue::OK) {
+    sif::error << "adding UDP server failed" << std::endl;
+  }
+  result = tmtcDistributor->addComponent(objects::TCP_TMTC_SERVER);
+  if (result != returnvalue::OK) {
+    sif::error << "adding TCP server failed" << std::endl;
   }
 
-  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
-      "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
+  PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
+      "UDP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
+  if (result != returnvalue::OK) {
+    sif::error << "Add component UDP Polling failed" << std::endl;
+  }
+  PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
+      "TCP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
   if (result != returnvalue::OK) {
     sif::error << "Add component UDP Polling failed" << std::endl;
   }
 
-  /* PUS Services */
-  PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
-      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
+  PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
+      "PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
   if (result != returnvalue::OK) {
     sif::error << "Object add component failed" << std::endl;
   }
-
-  PeriodicTaskIF* eventHandling = factory->createPeriodicTask(
-      "EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = eventHandling->addComponent(objects::EVENT_MANAGER);
+  result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("EVENT_MNGR", objects::EVENT_MANAGER);
+    scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER);
   }
-  result = eventHandling->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
   }
-
-  PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
-      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
   }
+
+  PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
+      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
   }
-
-  PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
-      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
   }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_15_TM_STORAGE);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS15", objects::PUS_SERVICE_15_TM_STORAGE);
+  }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
@@ -128,25 +140,13 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
   }
-
-  PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
-      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
-  result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_17_TEST);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
   }
 
   PeriodicTaskIF* thermalTask = factory->createPeriodicTask(
       "THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
-  result = thermalTask->addComponent(objects::RTD_0_IC3_PLOC_HEATSPREADER);
-  if (result != returnvalue::OK) {
-    scheduling::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) {
-    scheduling::printAddObjectError("SUS_0_dummy", objects::SUS_0_N_LOC_XFYFZM_PT_XF);
-  }
-
   result = thermalTask->addComponent(objects::CORE_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
@@ -164,6 +164,15 @@ void scheduling::initTasks() {
     sif::error << "Failed to add dummy pst to fixed timeslot task" << std::endl;
   }
 
+#if OBSW_ADD_CFDP_COMPONENTS == 1
+  PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
+      "CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  result = cfdpTask->addComponent(objects::CFDP_HANDLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
+  }
+#endif
+
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
       "PLOC_SUPV_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
@@ -183,24 +192,43 @@ void scheduling::initTasks() {
   }
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 
+  PeriodicTaskIF* dummyTask = factory->createPeriodicTask(
+      "DUMMY_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  scheduling::scheduleTmpTempSensors(dummyTask);
+  scheduling::scheduleRtdSensors(dummyTask);
+  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);
+
   sif::info << "Starting tasks.." << std::endl;
   tmtcDistributor->startTask();
-  tmtcPollingTask->startTask();
+  udpPollingTask->startTask();
+  tcpPollingTask->startTask();
 
-  pusVerification->startTask();
-  eventHandling->startTask();
   pusHighPrio->startTask();
   pusMedPrio->startTask();
-  pusLowPrio->startTask();
 
   pstTask->startTask();
   thermalTask->startTask();
+  dummyTask->startTask();
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   supvHelperTask->startTask();
 #endif
 #if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
   plTask->startTask();
 #endif
+#if OBSW_ADD_CFDP_COMPONENTS == 1
+  cfdpTask->startTask();
+#endif
 
 #if OBSW_ADD_TEST_CODE == 1
   testTask->startTask();

bsp_linux_board/CMakeLists.txt

@@ -1,5 +1,5 @@
 target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp gpioInit.cpp
-                                   ObjectFactory.cpp RPiSdCardManager.cpp)
+                                   ObjectFactory.cpp)
 
 add_subdirectory(boardconfig)
 add_subdirectory(boardtest)

bsp_linux_board/ObjectFactory.cpp

@@ -82,7 +82,7 @@ void ObjectFactory::produce(void* args) {
 #endif
 
 #if OBSW_ADD_SCEX_DEVICE == 1
-  auto* sdcMan = new RPiSdCardManager("/tmp");
+  auto* sdcMan = new DummySdCardManager("/tmp");
   createScexComponents(uart::DEV, pwrSwitcher, *sdcMan, true, std::nullopt);
 #endif
 

bsp_linux_board/RPiSdCardManager.cpp

@@ -1,13 +0,0 @@
-#include "RPiSdCardManager.h"
-
-RPiSdCardManager::RPiSdCardManager(std::string prefix) : prefix(std::move(prefix)) {}
-
-const std::string& RPiSdCardManager::getCurrentMountPrefix() const { return prefix; }
-
-bool RPiSdCardManager::isSdCardUsable(sd::SdCard sdCard) { return true; }
-
-std::optional<sd::SdCard> RPiSdCardManager::getPreferredSdCard() const { return std::nullopt; }
-
-void RPiSdCardManager::setActiveSdCard(sd::SdCard sdCard) {}
-
-std::optional<sd::SdCard> RPiSdCardManager::getActiveSdCard() const { return std::nullopt; }

bsp_q7s/CMakeLists.txt

@@ -12,7 +12,6 @@ target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp)
 add_subdirectory(boardtest)
 
 add_subdirectory(boardconfig)
-add_subdirectory(comIF)
 add_subdirectory(core)
 
 if(EIVE_Q7S_EM)

bsp_q7s/OBSWConfig.h.in

@@ -8,12 +8,16 @@
 
 #include "commonConfig.h"
 #include "q7sConfig.h"
-#include "OBSWVersion.h"
 
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/
 
+#define OBSW_ENABLE_PERIODIC_HK                     0
+// This switch will cause the SW to command the EIVE system object to safe mode. This will
+// trigger a lot of events, so it can make sense to disable this for debugging purposes
+#define OBSW_COMMAND_SAFE_MODE_AT_STARTUP           1
+
 #define OBSW_ADD_GOMSPACE_PCDU                      @OBSW_ADD_GOMSPACE_PCDU@
 #define OBSW_ADD_MGT                                @OBSW_ADD_MGT@
 #define OBSW_ADD_BPX_BATTERY_HANDLER                @OBSW_ADD_BPX_BATTERY_HANDLER@
@@ -23,7 +27,7 @@
 #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@
@@ -40,31 +44,29 @@
 #define OBSW_TM_TO_PTME                             @OBSW_TM_TO_PTME@
 // Set to 1 if telecommands are received via the PDEC IP Core
 #define OBSW_TC_FROM_PDEC                           @OBSW_TC_FROM_PDEC@
-#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
 
 // Configuration parameter which causes the core controller to try to keep at least one SD card
 // working
 #define OBSW_SD_CARD_MUST_BE_ON                     1
 #define OBSW_ENABLE_TIMERS                          1
 
-// This is a really tricky switch.. It initializes the PCDU switches to their default states
-// at powerup. I think it would be better
-// to leave it off for now. It makes testing a lot more difficult and it might mess with
-// something the operators might want to do by giving the software too much intelligence
-// at the wrong place. The system component might command all the Switches accordingly anyway
-#define OBSW_INITIALIZE_SWITCHES                    0
-#define OBSW_ENABLE_PERIODIC_HK                     0
-
 /*******************************************************************/
 /** All of the following flags should be disabled for mission code */
 /*******************************************************************/
 
+// 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
+
 // Can be used to switch device to NORMAL mode immediately
 #define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    0
 #define OBSW_PRINT_MISSED_DEADLINES                 1
 
 #define OBSW_MPSOC_JTAG_BOOT                        0
-#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
+#define OBSW_STAR_TRACKER_GROUND_CONFIG             @OBSW_STAR_TRACKER_GROUND_CONFIG@
 #define OBSW_SYRLINKS_SIMULATED                     @OBSW_SYRLINKS_SIMULATED@
 #define OBSW_ADD_TEST_CODE                          0
 #define OBSW_ADD_TEST_TASK                          0
@@ -120,12 +122,6 @@
 /** 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_USE_TMTC_TCP_BRIDGE            1
-
 #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
 
 #cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@

bsp_q7s/boardconfig/busConf.h

@@ -28,9 +28,13 @@ static constexpr char UIO_PDEC_IRQ[] = "/dev/uio_pdec_irq";
 static constexpr int MAP_ID_PTME_CONFIG = 3;
 
 namespace uiomapids {
+// Live TM
 static const int PTME_VC0 = 0;
+// OK/NOK/MISC Store
 static const int PTME_VC1 = 1;
+// HK store
 static const int PTME_VC2 = 2;
+// CFDP
 static const int PTME_VC3 = 3;
 static const int PTME_CONFIG = 4;
 }  // namespace uiomapids
@@ -86,6 +90,8 @@ static constexpr char PAPB_BUSY_SIGNAL_VC2[] = "papb_busy_signal_vc2";
 static constexpr char PAPB_EMPTY_SIGNAL_VC2[] = "papb_empty_signal_vc2";
 static constexpr char PAPB_BUSY_SIGNAL_VC3[] = "papb_busy_signal_vc3";
 static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3";
+static constexpr char PTME_RESETN[] = "ptme_resetn";
+
 static constexpr char RS485_EN_TX_CLOCK[] = "tx_clock_enable_ltc2872";
 static constexpr char RS485_EN_TX_DATA[] = "tx_data_enable_ltc2872";
 static constexpr char RS485_EN_RX_CLOCK[] = "rx_clock_enable_ltc2872";

bsp_q7s/boardconfig/q7sConfig.h.in

@@ -17,7 +17,7 @@
 /*******************************************************************/
 
 // Probably better if this is disabled for mission code. Convenient for development
-#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG           1
+#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG           @Q7S_CHECK_FOR_ALREADY_RUNNING_IMG@
 
 #define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST             0
 

bsp_q7s/boardtest/Q7STestTask.h

@@ -3,7 +3,7 @@
 
 #include <libgpsmm.h>
 
-#include "test/testtasks/TestTask.h"
+#include "test/TestTask.h"
 
 class CoreController;
 

bsp_q7s/callbacks/rwSpiCallback.cpp

@@ -6,7 +6,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw_hal/linux/UnixFileGuard.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
-#include "mission/devices/RwHandler.h"
+#include "mission/acs/RwHandler.h"
 
 namespace rwSpiCallback {
 
@@ -76,7 +76,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
     closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-    return RwHandler::SPI_WRITE_FAILURE;
+    return rws::SPI_WRITE_FAILURE;
   }
 
   /** Encoding and sending command */
@@ -101,7 +101,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
       sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
       closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-      return RwHandler::SPI_WRITE_FAILURE;
+      return rws::SPI_WRITE_FAILURE;
     }
     idx++;
   }
@@ -113,7 +113,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
     closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-    return RwHandler::SPI_WRITE_FAILURE;
+    return rws::SPI_WRITE_FAILURE;
   }
 
   uint8_t* rxBuf = nullptr;
@@ -128,7 +128,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   // There must be a delay of at least 20 ms after sending the command.
   // Delay for 70 ms here and release the SPI bus for that duration.
   closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-  usleep(RwDefinitions::SPI_REPLY_DELAY);
+  usleep(rws::SPI_REPLY_DELAY);
   result = openSpi(dev, O_RDWR, &gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
   if (result != returnvalue::OK) {
     return result;
@@ -139,17 +139,17 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
    * However, receiving more than 5 empty frames will be interpreted as an error.
    */
   uint8_t byteRead = 0;
-  for (int idx = 0; idx < 10; idx++) {
+  for (idx = 0; idx < 10; idx++) {
     if (read(fileDescriptor, &byteRead, 1) != 1) {
       sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
       closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-      return RwHandler::SPI_READ_FAILURE;
+      return rws::SPI_READ_FAILURE;
     }
     if (idx == 0) {
       if (byteRead != FLAG_BYTE) {
         sif::error << "Invalid data, expected start marker" << std::endl;
         closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-        return RwHandler::NO_START_MARKER;
+        return rws::NO_START_MARKER;
       }
     }
 
@@ -160,7 +160,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     if (idx == 9) {
       sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
       closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-      return RwHandler::NO_REPLY;
+      return rws::NO_REPLY;
     }
   }
 
@@ -175,7 +175,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
       byteRead = 0;
       if (read(fileDescriptor, &byteRead, 1) != 1) {
         sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-        result = RwHandler::SPI_READ_FAILURE;
+        result = rws::SPI_READ_FAILURE;
         break;
       }
     }
@@ -186,7 +186,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     } else if (byteRead == 0x7D) {
       if (read(fileDescriptor, &byteRead, 1) != 1) {
         sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-        result = RwHandler::SPI_READ_FAILURE;
+        result = rws::SPI_READ_FAILURE;
         break;
       }
       if (byteRead == 0x5E) {
@@ -200,7 +200,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
       } else {
         sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
         closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
-        result = RwHandler::INVALID_SUBSTITUTE;
+        result = rws::INVALID_SUBSTITUTE;
         break;
       }
     } else {
@@ -217,14 +217,14 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     if (decodedFrameLen == replyBufferSize) {
       if (read(fileDescriptor, &byteRead, 1) != 1) {
         sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
-        result = RwHandler::SPI_READ_FAILURE;
+        result = rws::SPI_READ_FAILURE;
         break;
       }
       if (byteRead != FLAG_BYTE) {
         sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
                    << std::endl;
         decodedFrameLen--;
-        result = RwHandler::MISSING_END_SIGN;
+        result = rws::MISSING_END_SIGN;
         break;
       }
     }

bsp_q7s/comIF/CMakeLists.txt

@@ -1 +0,0 @@
-target_sources(${OBSW_NAME} PRIVATE)

bsp_q7s/core/CMakeLists.txt

@@ -1,4 +1,4 @@
 target_sources(${OBSW_NAME} PRIVATE CoreController.cpp scheduling.cpp
-                                    ObjectFactory.cpp)
+                                    ObjectFactory.cpp WatchdogHandler.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>
@@ -30,14 +31,17 @@
 xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
 xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
 
-CoreController::CoreController(object_id_t objectId)
-    : ExtendedControllerBase(objectId, 5), opDivider5(5), opDivider10(10), hkSet(this) {
-  ReturnValue_t result = returnvalue::OK;
+CoreController::CoreController(object_id_t objectId, const std::atomic_uint16_t &i2cErrors)
+    : ExtendedControllerBase(objectId, 5),
+      cmdExecutor(4096),
+      cmdReplyBuf(4096, true),
+      cmdRepliesSizes(128),
+      opDivider5(5),
+      opDivider10(10),
+      hkSet(this),
+      i2cErrors(i2cErrors) {
+  cmdExecutor.setRingBuffer(&cmdReplyBuf, &cmdRepliesSizes);
   try {
-    result = initWatchdogFifo();
-    if (result != returnvalue::OK) {
-      sif::warning << "CoreController::CoreController: Watchdog FIFO init failed" << std::endl;
-    }
     sdcMan = SdCardManager::instance();
     if (sdcMan == nullptr) {
       sif::error << "CoreController::CoreController: SD card manager invalid!" << std::endl;
@@ -46,11 +50,37 @@ CoreController::CoreController(object_id_t objectId)
     if (not BLOCKING_SD_INIT) {
       sdcMan->setBlocking(false);
     }
+    // Set up state of SD card manager and own initial state.
+    // Stopwatch watch;
+    sdcMan->updateSdCardStateFile();
+    sdcMan->updateSdStatePair();
+    SdCardManager::SdStatePair sdStates;
+    sdcMan->getSdCardsStatus(sdStates);
+    auto sdCard = sdcMan->getPreferredSdCard();
+    if (not sdCard.has_value()) {
+      sif::error << "CoreController::initializeAfterTaskCreation: "
+                    "Issues getting preferred SD card, setting to 0"
+                 << std::endl;
+      sdCard = sd::SdCard::SLOT_0;
+    }
+    sdInfo.active = sdCard.value();
+    if (sdStates.first == sd::SdState::MOUNTED) {
+      sdcMan->setActiveSdCard(sd::SdCard::SLOT_0);
+    } else if (sdStates.second == sd::SdState::MOUNTED) {
+      sdcMan->setActiveSdCard(sd::SdCard::SLOT_1);
+    }
+    currMntPrefix = sdcMan->getCurrentMountPrefix();
 
     getCurrentBootCopy(CURRENT_CHIP, CURRENT_COPY);
+
+    initClockFromTimeFile();
   } catch (const std::filesystem::filesystem_error &e) {
     sif::error << "CoreController::CoreController: Failed with exception " << e.what() << std::endl;
   }
+  // Add script folder to path
+  char *currentEnvPath = getenv("PATH");
+  std::string updatedEnvPath = std::string(currentEnvPath) + ":/home/root/scripts:/usr/local/bin";
+  setenv("PATH", updatedEnvPath.c_str(), true);
   sdCardCheckCd.timeOut();
   eventQueue = QueueFactory::instance()->createMessageQueue(5, EventMessage::MAX_MESSAGE_SIZE);
 }
@@ -62,6 +92,9 @@ ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
 }
 
 void CoreController::performControlOperation() {
+#if OBSW_THREAD_TRACING == 1
+  trace::threadTrace(opCounter, "CORE CTRL");
+#endif
   EventMessage event;
   for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
        result = eventQueue->receiveMessage(&event)) {
@@ -72,20 +105,28 @@ void CoreController::performControlOperation() {
       }
     }
   }
-  performWatchdogControlOperation();
   sdStateMachine();
   performMountedSdCardOperations();
-  if (sdCardCheckCd.hasTimedOut()) {
-    if (shortSdCardCdCounter < 2) {
-      shortSdCardCdCounter++;
-    }
-    if (shortSdCardCdCounter == 2) {
-      sdCardCheckCd.setTimeout(DEFAULT_SD_CARD_CHECK_TIMEOUT);
-    }
-    performSdCardCheck();
-    sdCardCheckCd.resetTimer();
-  }
   readHkData();
+  if (i2cErrors >= 5) {
+    bool protOpPerformed = false;
+    triggerEvent(I2C_UNAVAILABLE_REBOOT);
+    gracefulShutdownTasks(CURRENT_CHIP, CURRENT_COPY, protOpPerformed);
+    std::system("xsc_boot_copy -r");
+  }
+  if (shellCmdIsExecuting) {
+    bool replyReceived = false;
+    // TODO: We could read the data in the ring buffer and send it as an action data reply.
+    if (cmdExecutor.check(replyReceived) == CommandExecutor::EXECUTION_FINISHED) {
+      actionHelper.finish(true, successRecipient, EXECUTE_SHELL_CMD);
+      shellCmdIsExecuting = false;
+      cmdReplyBuf.clear();
+      while (not cmdRepliesSizes.empty()) {
+        cmdRepliesSizes.pop();
+      }
+      successRecipient = MessageQueueIF::NO_QUEUE;
+    }
+  }
   opDivider5.checkAndIncrement();
   opDivider10.checkAndIncrement();
 }
@@ -142,21 +183,8 @@ ReturnValue_t CoreController::initialize() {
 
 ReturnValue_t CoreController::initializeAfterTaskCreation() {
   ReturnValue_t result = returnvalue::OK;
-  auto sdCard = sdcMan->getPreferredSdCard();
-  if (not sdCard) {
-    return returnvalue::FAILED;
-  }
-  sdInfo.active = sdCard.value();
-  if (sdInfo.active == sd::SdCard::NONE) {
-    sif::error << "CoreController::initializeAfterTaskCreation: "
-                  "Issues getting preferred SD card, setting to 0"
-               << std::endl;
-    sdInfo.active = sd::SdCard::SLOT_0;
-  }
-  sdcMan->setActiveSdCard(sdInfo.active);
-  currMntPrefix = sdcMan->getCurrentMountPrefix();
   if (BLOCKING_SD_INIT) {
-    ReturnValue_t result = initSdCardBlocking();
+    result = initSdCardBlocking();
     if (result != returnvalue::OK and result != SdCardManager::ALREADY_MOUNTED) {
       sif::warning << "CoreController::CoreController: SD card init failed" << std::endl;
     }
@@ -166,18 +194,37 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
   if (result != returnvalue::OK) {
     sif::warning << "CoreController::initialize: Version initialization failed" << std::endl;
   }
-  // Add script folder to path
-  char *currentEnvPath = getenv("PATH");
-  std::string updatedEnvPath = std::string(currentEnvPath) + ":/home/root/scripts:/usr/local/bin";
-  setenv("PATH", updatedEnvPath.c_str(), true);
   updateProtInfo();
-  initPrint();
   return ExtendedControllerBase::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_BOOT_COUNTS): {
+      announceBootCounts();
+      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);
     }
@@ -281,6 +328,21 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       // Warning: This function will never return, because it reboots the system
       return actionReboot(data, size);
     }
+    case (EXECUTE_SHELL_CMD): {
+      std::string cmd = std::string(cmd, size);
+      if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING or
+          shellCmdIsExecuting) {
+        return HasActionsIF::IS_BUSY;
+      }
+      cmdExecutor.load(cmd, false, false);
+      ReturnValue_t result = cmdExecutor.execute();
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      shellCmdIsExecuting = true;
+      successRecipient = commandedBy;
+      return returnvalue::OK;
+    }
     default: {
       return HasActionsIF::INVALID_ACTION_ID;
     }
@@ -365,7 +427,7 @@ ReturnValue_t CoreController::sdStateMachine() {
       sdInfo.cycleCount = 0;
       return true;
     } else if (sdInfo.cycleCount > 4) {
-      sif::warning << "CoreController::sdInitStateMachine: " << opPrintout << " takes too long"
+      sif::warning << "CoreController::sdStateMachine: " << opPrintout << " takes too long"
                    << std::endl;
       return false;
     }
@@ -377,10 +439,12 @@ ReturnValue_t CoreController::sdStateMachine() {
       // Create updated status file
       result = sdcMan->updateSdCardStateFile();
       if (result != returnvalue::OK) {
-        sif::warning << "CoreController::initialize: Updating SD card state file failed"
+        sif::warning << "CoreController::sdStateMachine: Updating SD card state file failed"
                      << std::endl;
       }
-      sdInfo.commandExecuted = true;
+      sdFsmState = SdStates::SET_STATE_SELF;
+      sdInfo.commandExecuted = false;
+      sdInfo.cycleCount = 0;
     } else {
       nonBlockingOpChecking(SdStates::SET_STATE_SELF, 4, "Updating SDC file");
     }
@@ -523,10 +587,6 @@ ReturnValue_t CoreController::sdStateMachine() {
   if (sdFsmState == SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE) {
     sdFsmState = SdStates::UPDATE_INFO;
   } else if (sdFsmState == SdStates::UPDATE_INFO) {
-    // It is assumed that all tasks are running by the point this section is reached.
-    // Therefore, perform this operation in blocking mode because it does not take long
-    // and the ready state of the SD card is available sooner
-    sdcMan->setBlocking(true);
     // Update status file
     result = sdcMan->updateSdCardStateFile();
     if (result != returnvalue::OK) {
@@ -585,7 +645,8 @@ ReturnValue_t CoreController::sdCardSetup(sd::SdCard sdCard, sd::SdState targetS
       sif::info << "Unmounting SD card " << sdChar << std::endl;
       return sdcMan->unmountSdCard(sdCard);
     } else {
-      if (std::filesystem::exists(mountString)) {
+      std::error_code e;
+      if (std::filesystem::exists(mountString, e)) {
         sif::info << "SD card " << sdChar << " already on and mounted at " << mountString
                   << std::endl;
         return SdCardManager::ALREADY_MOUNTED;
@@ -672,9 +733,9 @@ 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);
@@ -682,7 +743,8 @@ ReturnValue_t CoreController::initVersionFile() {
   std::string versionFilePath = currMntPrefix + VERSION_FILE;
   std::fstream versionFile;
 
-  if (not std::filesystem::exists(versionFilePath)) {
+  std::error_code e;
+  if (not std::filesystem::exists(versionFilePath, e)) {
     sif::info << "Writing version file " << versionFilePath << ".." << std::endl;
     versionFile.open(versionFilePath, std::ios_base::out);
     versionFile << fullObswVersionString << std::endl;
@@ -794,7 +856,8 @@ ReturnValue_t CoreController::actionListDirectoryIntoFile(ActionId_t actionId,
 }
 
 ReturnValue_t CoreController::initBootCopyFile() {
-  if (not std::filesystem::exists(CURR_COPY_FILE)) {
+  std::error_code e;
+  if (not std::filesystem::exists(CURR_COPY_FILE, e)) {
     // This file is created by the systemd service eive-early-config so this should
     // not happen normally
     std::string cmd = "xsc_boot_copy > " + std::string(CURR_COPY_FILE);
@@ -815,36 +878,6 @@ void CoreController::getCurrentBootCopy(xsc::Chip &chip, xsc::Copy &copy) {
   copy = static_cast<xsc::Copy>(xscCopy);
 }
 
-ReturnValue_t CoreController::initWatchdogFifo() {
-  if (not std::filesystem::exists(watchdog::FIFO_NAME)) {
-    // Still return returnvalue::OK for now
-    sif::info << "Watchdog FIFO " << watchdog::FIFO_NAME << " does not exist, can't initiate"
-              << " watchdog" << std::endl;
-    return returnvalue::OK;
-  }
-  // Open FIFO write only and non-blocking to prevent SW from killing itself.
-  watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
-  if (watchdogFifoFd < 0) {
-    if (errno == ENXIO) {
-      watchdogFifoFd = RETRY_FIFO_OPEN;
-      sif::info << "eive-watchdog not running. FIFO can not be opened" << std::endl;
-    } else {
-      sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with " << errno
-                 << ": " << strerror(errno) << std::endl;
-      return returnvalue::FAILED;
-    }
-  }
-  return returnvalue::OK;
-}
-
-void CoreController::initPrint() {
-#if OBSW_VERBOSE_LEVEL >= 1
-  if (watchdogFifoFd > 0) {
-    sif::info << "Opened watchdog FIFO successfully.." << std::endl;
-  }
-#endif
-}
-
 ReturnValue_t CoreController::actionXscReboot(const uint8_t *data, size_t size) {
   if (size < 1) {
     return HasActionsIF::INVALID_PARAMETERS;
@@ -1128,7 +1161,8 @@ ReturnValue_t CoreController::updateProtInfo(bool regenerateChipStateFile) {
       return result;
     }
   }
-  if (not filesystem::exists(CHIP_STATE_FILE)) {
+  std::error_code e;
+  if (not filesystem::exists(CHIP_STATE_FILE, e)) {
     return returnvalue::FAILED;
   }
   ifstream chipStateFile(CHIP_STATE_FILE);
@@ -1139,7 +1173,7 @@ ReturnValue_t CoreController::updateProtInfo(bool regenerateChipStateFile) {
   uint8_t lineCounter = 0;
   string word;
   while (getline(chipStateFile, nextLine)) {
-    ReturnValue_t result = handleProtInfoUpdateLine(nextLine);
+    result = handleProtInfoUpdateLine(nextLine);
     if (result != returnvalue::OK) {
       sif::warning << "CoreController::updateProtInfo: Protection info update failed!" << std::endl;
       return result;
@@ -1195,38 +1229,11 @@ ReturnValue_t CoreController::handleProtInfoUpdateLine(std::string nextLine) {
       }
     }
     wordIdx++;
-  }
-  return returnvalue::OK;
-}
-
-void CoreController::performWatchdogControlOperation() {
-  // Only perform each fifth iteration
-  if (watchdogFifoFd != 0 and opDivider5.check()) {
-    if (watchdogFifoFd == RETRY_FIFO_OPEN) {
-      // Open FIFO write only and non-blocking
-      watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
-      if (watchdogFifoFd < 0) {
-        if (errno == ENXIO) {
-          watchdogFifoFd = RETRY_FIFO_OPEN;
-          // No printout for now, would be spam
-          return;
-        } else {
-          sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with "
-                     << errno << ": " << strerror(errno) << std::endl;
-          return;
-        }
-      }
-      sif::info << "Opened " << watchdog::FIFO_NAME << " successfully" << std::endl;
-    } else if (watchdogFifoFd > 0) {
-      // Write to OBSW watchdog FIFO here
-      const char writeChar = 'a';
-      ssize_t writtenBytes = write(watchdogFifoFd, &writeChar, 1);
-      if (writtenBytes < 0) {
-        sif::error << "Errors writing to watchdog FIFO, code " << errno << ": " << strerror(errno)
-                   << std::endl;
-      }
+    if (wordIdx >= 10) {
+      break;
     }
   }
+  return returnvalue::OK;
 }
 
 void CoreController::performMountedSdCardOperations() {
@@ -1234,18 +1241,26 @@ void CoreController::performMountedSdCardOperations() {
     if (not performOneShotSdCardOpsSwitch) {
       std::ostringstream path;
       path << mntPoint << "/" << CONF_FOLDER;
-      if (not std::filesystem::exists(path.str())) {
-        std::filesystem::create_directory(path.str());
+      std::error_code e;
+      if (not std::filesystem::exists(path.str()), e) {
+        bool created = std::filesystem::create_directory(path.str(), e);
+        if (not created) {
+          sif::error << "Could not create CONF folder at " << path.str() << ": " << e.message()
+                     << std::endl;
+          return;
+        }
       }
       initVersionFile();
       ReturnValue_t result = initBootCopyFile();
       if (result != returnvalue::OK) {
         sif::warning << "CoreController::CoreController: Boot copy init" << std::endl;
       }
-      initClockFromTimeFile();
+      if (not timeFileInitDone) {
+        initClockFromTimeFile();
+      }
       performRebootFileHandling(false);
     }
-    timeFileHandler();
+    backupTimeFileHandler();
   };
   bool someSdCardActive = false;
   if (sdInfo.active == sd::SdCard::SLOT_0 and sdcMan->isSdCardUsable(sd::SdCard::SLOT_0)) {
@@ -1318,11 +1333,12 @@ ReturnValue_t CoreController::performSdCardCheck() {
 void CoreController::performRebootFileHandling(bool recreateFile) {
   using namespace std;
   std::string path = currMntPrefix + REBOOT_FILE;
-  if (not std::filesystem::exists(path) or recreateFile) {
+  std::error_code e;
+  if (not std::filesystem::exists(path, e) or 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;
@@ -1360,13 +1376,13 @@ void CoreController::performRebootFileHandling(bool recreateFile) {
   if (rebootFile.bootFlag) {
     // Trigger event to inform ground that a reboot was triggered
     uint32_t p1 = rebootFile.lastChip << 16 | rebootFile.lastCopy;
-    uint32_t p2 = rebootFile.img00Cnt << 24 | rebootFile.img01Cnt << 16 | rebootFile.img10Cnt << 8 |
-                  rebootFile.img11Cnt;
-    triggerEvent(REBOOT_MECHANISM_TRIGGERED, p1, p2);
+    triggerEvent(REBOOT_MECHANISM_TRIGGERED, p1, 0);
     // Clear the boot flag
     rebootFile.bootFlag = false;
   }
 
+  announceBootCounts();
+
   if (rebootFile.mechanismNextChip != xsc::NO_CHIP and
       rebootFile.mechanismNextCopy != xsc::NO_COPY) {
     if (CURRENT_CHIP != rebootFile.mechanismNextChip or
@@ -1759,7 +1775,7 @@ void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::C
   rewriteRebootFile(rebootFile);
 }
 
-ReturnValue_t CoreController::timeFileHandler() {
+ReturnValue_t CoreController::backupTimeFileHandler() {
   // Always set time. We could only set it if it is updated by GPS, but then the backup time would
   // become obsolete on GPS problems.
   if (opDivider10.check()) {
@@ -1769,14 +1785,14 @@ ReturnValue_t CoreController::timeFileHandler() {
     if (result != returnvalue::OK) {
       return result;
     }
-    std::string fileName = currMntPrefix + TIME_FILE;
+    std::string fileName = currMntPrefix + BACKUP_TIME_FILE;
     std::ofstream timeFile(fileName);
     if (not timeFile.good()) {
       sif::error << "CoreController::timeFileHandler: Error opening time file: " << strerror(errno)
                  << std::endl;
       return returnvalue::FAILED;
     }
-    timeFile << "UNIX SECONDS: " << currentTime.tv_sec << std::endl;
+    timeFile << "UNIX SECONDS: " << currentTime.tv_sec + BOOT_OFFSET_SECONDS << std::endl;
   }
   return returnvalue::OK;
 }
@@ -1784,8 +1800,9 @@ ReturnValue_t CoreController::timeFileHandler() {
 ReturnValue_t CoreController::initClockFromTimeFile() {
   using namespace GpsHyperion;
   using namespace std;
-  std::string fileName = currMntPrefix + TIME_FILE;
-  if (std::filesystem::exists(fileName) and
+  std::string fileName = currMntPrefix + BACKUP_TIME_FILE;
+  std::error_code e;
+  if (sdcMan->isSdCardUsable(std::nullopt) and std::filesystem::exists(fileName, e) and
       ((gpsFix == FixMode::UNKNOWN or gpsFix == FixMode::NOT_SEEN) or
        not utility::timeSanityCheck())) {
     ifstream timeFile(fileName);
@@ -1813,6 +1830,7 @@ ReturnValue_t CoreController::initClockFromTimeFile() {
     sif::info << "Setting system time from time files: " << std::put_time(time, "%c %Z")
               << std::endl;
 #endif
+    timeFileInitDone = true;
     return Clock::setClock(&currentTime);
   }
   return returnvalue::OK;
@@ -1909,7 +1927,8 @@ ReturnValue_t CoreController::executeSwUpdate(SwUpdateSources sourceDir, const u
     prefixPath = path("/tmp");
   }
   path archivePath = prefixPath / path(config::OBSW_UPDATE_ARCHIVE_FILE_NAME);
-  if (not exists(archivePath)) {
+  std::error_code e;
+  if (not exists(archivePath, e)) {
     return HasFileSystemIF::FILE_DOES_NOT_EXIST;
   }
   ostringstream cmd("tar -xJf", ios::app);
@@ -1919,12 +1938,12 @@ ReturnValue_t CoreController::executeSwUpdate(SwUpdateSources sourceDir, const u
     utility::handleSystemError(result, "CoreController::executeAction: SW Update Decompression");
   }
   path strippedImagePath = prefixPath / path(config::STRIPPED_OBSW_BINARY_FILE_NAME);
-  if (!exists(strippedImagePath)) {
+  if (!exists(strippedImagePath, e)) {
     // TODO: Custom returnvalue?
     return returnvalue::FAILED;
   }
   path obswVersionFilePath = prefixPath / path(config::OBSW_VERSION_FILE_NAME);
-  if (!exists(obswVersionFilePath)) {
+  if (!exists(obswVersionFilePath, e)) {
     // TODO: Custom returnvalue?
     return returnvalue::FAILED;
   }
@@ -2021,6 +2040,15 @@ bool CoreController::startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mo
   return true;
 }
 
+void CoreController::announceBootCounts() {
+  uint64_t totalBootCount =
+      rebootFile.img00Cnt + rebootFile.img01Cnt + rebootFile.img10Cnt + rebootFile.img11Cnt;
+  uint32_t individualBootCountsP1 = (rebootFile.img00Cnt << 16) | rebootFile.img01Cnt;
+  uint32_t individualBootCountsP2 = (rebootFile.img10Cnt << 16) | rebootFile.img11Cnt;
+  triggerEvent(INDIVIDUAL_BOOT_COUNTS, individualBootCountsP1, individualBootCountsP2);
+  triggerEvent(REBOOT_COUNTER, (totalBootCount >> 32) & 0xffffffff, totalBootCount & 0xffffffff);
+}
+
 bool CoreController::isNumber(const std::string &s) {
   return !s.empty() && std::find_if(s.begin(), s.end(),
                                     [](unsigned char c) { return !std::isdigit(c); }) == s.end();

bsp_q7s/core/CoreController.h

@@ -1,9 +1,12 @@
 #ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
 #define BSP_Q7S_CORE_CORECONTROLLER_H_
 
+#include <fsfw/container/DynamicFIFO.h>
+#include <fsfw/container/SimpleRingBuffer.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #include <libxiphos.h>
 
+#include <atomic>
 #include <cstddef>
 
 #include "CoreDefinitions.h"
@@ -12,6 +15,7 @@
 #include "events/subsystemIdRanges.h"
 #include "fsfw/controller/ExtendedControllerBase.h"
 #include "mission/devices/devicedefinitions/GPSDefinitions.h"
+#include "mission/trace.h"
 
 class Timer;
 class SdCardManager;
@@ -57,13 +61,14 @@ class CoreController : public ExtendedControllerBase {
 
   static constexpr char VERSION_FILE_NAME[] = "version.txt";
   static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
-  static constexpr char TIME_FILE_NAME[] = "time.txt";
+  static constexpr char TIME_FILE_NAME[] = "time_backup.txt";
 
   const std::string VERSION_FILE =
       "/" + std::string(CONF_FOLDER) + "/" + std::string(VERSION_FILE_NAME);
   const std::string REBOOT_FILE =
       "/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
-  const std::string TIME_FILE = "/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
+  const std::string BACKUP_TIME_FILE =
+      "/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
 
   static constexpr char CHIP_0_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-nom-rootfs";
   static constexpr char CHIP_0_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-gold-rootfs";
@@ -74,6 +79,9 @@ 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 ANNOUNCE_BOOT_COUNTS = 3;
   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;
@@ -93,12 +101,14 @@ class CoreController : public ExtendedControllerBase {
   //! Reboot using the reboot command
   static constexpr ActionId_t REBOOT_OBC = 34;
 
+  static constexpr ActionId_t EXECUTE_SHELL_CMD = 40;
+
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
 
   static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
   //! [EXPORT] : [COMMENT]  Software reboot occurred. Can also be a systemd reboot.
   //! P1: Current Chip, P2: Current Copy
-  static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::MEDIUM);
+  static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::LOW);
   //! [EXPORT] : [COMMENT] 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
@@ -109,8 +119,23 @@ 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);
+  //! [EXPORT] : [COMMENT] Total reboot counter, which is the sum of the boot count of all
+  //! individual images.
+  static constexpr Event REBOOT_COUNTER = event::makeEvent(SUBSYSTEM_ID, 7, severity::INFO);
+  //! [EXPORT] : [COMMENT] Get the boot count of the individual images.
+  //! P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1.
+  //! P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.
+  static constexpr Event INDIVIDUAL_BOOT_COUNTS = event::makeEvent(SUBSYSTEM_ID, 8, severity::INFO);
+  static constexpr Event I2C_UNAVAILABLE_REBOOT =
+      event::makeEvent(SUBSYSTEM_ID, 10, severity::MEDIUM);
 
-  CoreController(object_id_t objectId);
+  CoreController(object_id_t objectId, const std::atomic_uint16_t& i2cErrors);
   virtual ~CoreController();
 
   ReturnValue_t initialize() override;
@@ -151,11 +176,9 @@ class CoreController : public ExtendedControllerBase {
   bool sdInitFinished() const;
 
  private:
+  static constexpr uint32_t BOOT_OFFSET_SECONDS = 15;
   static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
   static constexpr uint32_t MUTEX_TIMEOUT = 20;
-  // Designated value for rechecking FIFO open
-  static constexpr int RETRY_FIFO_OPEN = -2;
-  int watchdogFifoFd = 0;
   GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::UNKNOWN;
 
   // States for SD state machine, which is used in non-blocking mode
@@ -211,9 +234,20 @@ class CoreController : public ExtendedControllerBase {
   } sdCommandingInfo;
 
   RebootFile rebootFile = {};
+
+  CommandExecutor cmdExecutor;
+  SimpleRingBuffer cmdReplyBuf;
+  DynamicFIFO<uint16_t> cmdRepliesSizes;
+  bool shellCmdIsExecuting = false;
+  MessageQueueId_t successRecipient = MessageQueueIF::NO_QUEUE;
+
   std::string currMntPrefix;
+  bool timeFileInitDone = false;
   bool performOneShotSdCardOpsSwitch = false;
   uint8_t shortSdCardCdCounter = 0;
+#if OBSW_THREAD_TRACING == 1
+  uint32_t opCounter;
+#endif
   Countdown sdCardCheckCd = Countdown(INIT_SD_CARD_CHECK_TIMEOUT);
 
   /**
@@ -231,6 +265,7 @@ class CoreController : public ExtendedControllerBase {
   PoolEntry<float> plVoltageEntry = PoolEntry<float>(0.0);
 
   core::HkSet hkSet;
+  const std::atomic_uint16_t& i2cErrors;
 
 #if OBSW_SD_CARD_MUST_BE_ON == 1
   bool remountAttemptFlag = true;
@@ -246,9 +281,8 @@ class CoreController : public ExtendedControllerBase {
 
   ReturnValue_t initClockFromTimeFile();
   ReturnValue_t performSdCardCheck();
-  ReturnValue_t timeFileHandler();
+  ReturnValue_t backupTimeFileHandler();
   ReturnValue_t initBootCopyFile();
-  ReturnValue_t initWatchdogFifo();
   ReturnValue_t initSdCardBlocking();
   bool startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mode, MessageQueueId_t commander,
                            DeviceCommandId_t actionId);
@@ -273,8 +307,6 @@ class CoreController : public ExtendedControllerBase {
 
   ReturnValue_t gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy, bool& protOpPerformed);
 
-  void performWatchdogControlOperation();
-
   ReturnValue_t handleProtInfoUpdateLine(std::string nextLine);
   int handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
                                 bool& protOperationPerformed, bool selfChip, bool selfCopy,
@@ -285,6 +317,7 @@ class CoreController : public ExtendedControllerBase {
   void setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy);
   bool parseRebootFile(std::string path, RebootFile& file);
   void rewriteRebootFile(RebootFile file);
+  void announceBootCounts();
   void readHkData();
   bool isNumber(const std::string& s);
 };

bsp_q7s/core/ObjectFactory.cpp

@@ -1,7 +1,22 @@
 #include "ObjectFactory.h"
 
 #include <fsfw/subsystem/Subsystem.h>
+#include <linux/acs/AcsBoardPolling.h>
+#include <linux/acs/ImtqPollingTask.h>
+#include <linux/acs/RwPollingTask.h>
+#include <linux/acs/startracker/StrComHandler.h>
+#include <linux/com/SyrlinksComHandler.h>
+#include <mission/acs/GyrL3gCustomHandler.h>
+#include <mission/acs/MgmLis3CustomHandler.h>
+#include <mission/acs/MgmRm3100CustomHandler.h>
+#include <mission/system/acs/ImtqAssembly.h>
+#include <mission/system/fdir/StrFdir.h>
 #include <mission/system/objects/CamSwitcher.h>
+#include <mission/system/objects/StrAssembly.h>
+#include <mission/system/objects/SyrlinksAssembly.h>
+#include <mission/tmtc/LiveTmTask.h>
+#include <mission/tmtc/PersistentLogTmStoreTask.h>
+#include <mission/tmtc/PersistentSingleTmStoreTask.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
@@ -18,12 +33,13 @@
 #include "eive/definitions.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "linux/ObjectFactory.h"
+#include "linux/acs/startracker/StarTrackerHandler.h"
 #include "linux/boardtest/I2cTestClass.h"
 #include "linux/boardtest/SpiTestClass.h"
 #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"
@@ -31,29 +47,42 @@
 #include "linux/devices/ploc/PlocMPSoCHelper.h"
 #include "linux/devices/ploc/PlocMemoryDumper.h"
 #include "linux/devices/ploc/PlocSupervisorHandler.h"
-#include "linux/devices/startracker/StarTrackerHandler.h"
-#include "linux/devices/startracker/StrHelper.h"
 #include "linux/ipcore/AxiPtmeConfig.h"
 #include "linux/ipcore/PapbVcInterface.h"
 #include "linux/ipcore/PdecHandler.h"
 #include "linux/ipcore/Ptme.h"
 #include "linux/ipcore/PtmeConfig.h"
+#include "mission/config/configfile.h"
 #include "mission/csp/CspCookie.h"
-#include "mission/system/fdir/AcsBoardFdir.h"
+#include "mission/system/acs/AcsBoardFdir.h"
+#include "mission/system/acs/AcsSubsystem.h"
+#include "mission/system/acs/RwAssembly.h"
+#include "mission/system/acs/SusFdir.h"
+#include "mission/system/acs/acsModeTree.h"
+#include "mission/system/com/SyrlinksFdir.h"
+#include "mission/system/com/comModeTree.h"
 #include "mission/system/fdir/GomspacePowerFdir.h"
 #include "mission/system/fdir/RtdFdir.h"
-#include "mission/system/fdir/SusFdir.h"
-#include "mission/system/fdir/SyrlinksFdir.h"
-#include "mission/system/objects/AcsSubsystem.h"
-#include "mission/system/objects/RwAssembly.h"
 #include "mission/system/objects/TcsBoardAssembly.h"
-#include "mission/system/tree/acsModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
+#include "mission/system/tree/tcsModeTree.h"
+#include "mission/tmtc/tmFilters.h"
+#include "mission/utility/GlobalConfigHandler.h"
 #include "tmtc/pusIds.h"
+
+using gpio::Direction;
+using gpio::Levels;
 #if OBSW_TEST_LIBGPIOD == 1
 #include "linux/boardtest/LibgpiodTest.h"
 #endif
-#include <mission/devices/ImtqHandler.h>
+#include <mission/acs/GyrAdis1650XHandler.h>
+#include <mission/acs/ImtqHandler.h>
+#include <mission/acs/rwHelpers.h>
+#include <mission/com/SyrlinksHandler.h>
+#include <mission/devices/PcduHandler.h>
+#include <mission/devices/Pdu1Handler.h>
+#include <mission/devices/Pdu2Handler.h>
+#include <mission/tmtc/VirtualChannelWithQueue.h>
 
 #include <sstream>
 
@@ -73,34 +102,29 @@
 #include "fsfw_hal/linux/serial/SerialCookie.h"
 #include "fsfw_hal/linux/spi/SpiComIF.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "mission/acs/RwHandler.h"
+#include "mission/com/CcsdsIpCoreHandler.h"
+#include "mission/com/syrlinksDefs.h"
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/ACUHandler.h"
 #include "mission/devices/BpxBatteryHandler.h"
-#include "mission/devices/GyroADIS1650XHandler.h"
 #include "mission/devices/HeaterHandler.h"
 #include "mission/devices/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"
 #include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
-#include "mission/devices/devicedefinitions/RwDefinitions.h"
-#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
 #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
-#include "mission/system/objects/AcsBoardAssembly.h"
-#include "mission/tmtc/CcsdsIpCoreHandler.h"
+#include "mission/system/acs/AcsBoardAssembly.h"
 #include "mission/tmtc/TmFunnelHandler.h"
-#include "mission/tmtc/VirtualChannel.h"
 
 ResetArgs RESET_ARGS_GNSS;
+std::atomic_bool LINK_STATE = CcsdsIpCoreHandler::LINK_DOWN;
+std::atomic_uint16_t I2C_FATAL_ERRORS = 0;
 
 void Factory::setStaticFrameworkObjectIds() {
   PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
@@ -123,11 +147,12 @@ 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 +162,7 @@ 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.
@@ -146,20 +172,19 @@ void ObjectFactory::createTmpComponents() {
 
 void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
                                                   SerialComIF** uartComIF, SpiComIF** spiMainComIF,
-                                                  I2cComIF** i2cComIF, SpiComIF** spiRWComIF) {
-  if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr or
-      spiRWComIF == nullptr) {
+                                                  I2cComIF** i2cComIF) {
+  if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr) {
     sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
                << std::endl;
   }
   *gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
 
   /* Communication interfaces */
-  new CspComIF(objects::CSP_COM_IF);
+  new CspComIF(objects::CSP_COM_IF, "CSP_ROUTER", 60);
   *i2cComIF = new I2cComIF(objects::I2C_COM_IF);
   *uartComIF = new SerialComIF(objects::UART_COM_IF);
   *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
-  *spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
+  //*spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
 }
 
 void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
@@ -173,17 +198,17 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
       new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie, p60Fdir);
 
   auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
-  PDU1Handler* pdu1handler =
-      new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
+  Pdu1Handler* pdu1handler =
+      new Pdu1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
 
   auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
-  PDU2Handler* pdu2handler =
-      new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
+  Pdu2Handler* pdu2handler =
+      new Pdu2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
 
   auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
   ACUHandler* acuhandler =
       new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir);
-  auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
+  auto pcduHandler = new PcduHandler(objects::PCDU_HANDLER, 50);
 
   /**
    * Setting PCDU devices to mode normal immediately after start up because PCDU is always
@@ -204,7 +229,8 @@ 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;
@@ -225,132 +251,135 @@ 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
   return returnvalue::OK;
 }
 
-void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
-                                             PowerSwitchIF* pwrSwitcher) {
-  using namespace gpio;
-  GpioCookie* gpioCookieAcsBoard = new GpioCookie();
-  std::vector<std::reference_wrapper<DeviceHandlerBase>> assemblyChildren;
-
+void ObjectFactory::createAcsBoardGpios(GpioCookie& cookie) {
   std::stringstream consumer;
   GpiodRegularByLineName* gpio = nullptr;
   consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), Direction::OUT,
                                     Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
+  cookie.addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::GYRO_1_L3G_HANDLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), Direction::OUT,
                                     Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
+  cookie.addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), Direction::OUT,
                                     Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
+  cookie.addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::GYRO_3_L3G_HANDLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), Direction::OUT,
                                     Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
+  cookie.addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::MGM_0_LIS3_HANDLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), Direction::OUT,
                                     Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
+  cookie.addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::MGM_1_RM3100_HANDLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), Direction::OUT,
                                     Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
+  cookie.addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(), Direction::OUT,
                                     Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
+  cookie.addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::MGM_3_RM3100_HANDLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), Direction::OUT,
                                     Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
+  cookie.addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
   // GNSS reset pins are active low
   gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), Direction::OUT,
                                     Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
+  cookie.addGpio(gpioIds::GNSS_0_NRESET, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), Direction::OUT,
                                     Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
+  cookie.addGpio(gpioIds::GNSS_1_NRESET, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
   // Enable pins must be pulled low for regular operations
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(), Direction::OUT,
                                     Levels::LOW);
-  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
+  cookie.addGpio(gpioIds::GYRO_0_ENABLE, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), Direction::OUT,
                                     Levels::LOW);
-  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
+  cookie.addGpio(gpioIds::GYRO_2_ENABLE, gpio);
 
   // Enable pins for GNSS
   consumer.str("");
   consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(), Direction::OUT,
                                     Levels::LOW);
-  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_ENABLE, gpio);
+  cookie.addGpio(gpioIds::GNSS_0_ENABLE, gpio);
 
   consumer.str("");
   consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_1_ENABLE, consumer.str(), Direction::OUT,
                                     Levels::LOW);
-  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio);
+  cookie.addGpio(gpioIds::GNSS_1_ENABLE, gpio);
 
   // Select pin. 0 for GPS side A, 1 for GPS side B
   consumer.str("");
   consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), Direction::OUT,
                                     Levels::LOW);
-  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
+  cookie.addGpio(gpioIds::GNSS_SELECT, gpio);
+}
+
+void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF,
+                                             SerialComIF* uartComIF, PowerSwitchIF& pwrSwitcher) {
+  using namespace gpio;
+  GpioCookie* gpioCookieAcsBoard = new GpioCookie();
+  createAcsBoardGpios(*gpioCookieAcsBoard);
   gpioChecker(gpioComIF->addGpios(gpioCookieAcsBoard), "ACS Board");
+
   AcsBoardFdir* fdir = nullptr;
   static_cast<void>(fdir);
 
 #if OBSW_ADD_ACS_BOARD == 1
+  new AcsBoardPolling(objects::ACS_BOARD_POLLING_TASK, spiComIF, *gpioComIF);
   std::string spiDev = q7s::SPI_DEFAULT_DEV;
+  std::array<DeviceHandlerBase*, 8> assemblyChildren;
   SpiCookie* spiCookie =
-      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
+      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, mgmLis3::MAX_BUFFER_SIZE,
                     spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-  auto mgmLis3Handler0 = new MgmLIS3MDLHandler(
-      objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
+  auto mgmLis3Handler0 =
+      new MgmLis3CustomHandler(objects::MGM_0_LIS3_HANDLER, objects::ACS_BOARD_POLLING_TASK,
+                               spiCookie, spi::LIS3_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
   mgmLis3Handler0->setCustomFdir(fdir);
-  assemblyChildren.push_back(*mgmLis3Handler0);
+  assemblyChildren[0] = mgmLis3Handler0;
 #if OBSW_TEST_ACS == 1
   mgmLis3Handler->setStartUpImmediately();
   mgmLis3Handler->setToGoToNormalMode(true);
@@ -359,14 +388,15 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
   mgmLis3Handler->enablePeriodicPrintouts(true, 10);
 #endif
   spiCookie =
-      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
+      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, mgmRm3100::MAX_BUFFER_SIZE,
                     spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
   auto mgmRm3100Handler1 =
-      new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
-                           spi::RM3100_TRANSITION_DELAY);
+      new MgmRm3100CustomHandler(objects::MGM_1_RM3100_HANDLER, objects::ACS_BOARD_POLLING_TASK,
+                                 spiCookie, spi::RM3100_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
   mgmRm3100Handler1->setCustomFdir(fdir);
-  assemblyChildren.push_back(*mgmRm3100Handler1);
+  assemblyChildren[1] = mgmRm3100Handler1;
 #if OBSW_TEST_ACS == 1
   mgmRm3100Handler->setStartUpImmediately();
   mgmRm3100Handler->setToGoToNormalMode(true);
@@ -374,14 +404,15 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
 #if OBSW_DEBUG_ACS == 1
   mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
 #endif
-  spiCookie =
-      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
-                    spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-  auto* mgmLis3Handler2 = new MgmLIS3MDLHandler(
-      objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
+  spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, mgmLis3::MAX_BUFFER_SIZE,
+                            spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
+  auto* mgmLis3Handler2 =
+      new MgmLis3CustomHandler(objects::MGM_2_LIS3_HANDLER, objects::ACS_BOARD_POLLING_TASK,
+                               spiCookie, spi::LIS3_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
   mgmLis3Handler2->setCustomFdir(fdir);
-  assemblyChildren.push_back(*mgmLis3Handler2);
+  assemblyChildren[2] = mgmLis3Handler2;
 #if OBSW_TEST_ACS == 1
   mgmLis3Handler->setStartUpImmediately();
   mgmLis3Handler->setToGoToNormalMode(true);
@@ -390,14 +421,15 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
   mgmLis3Handler->enablePeriodicPrintouts(true, 10);
 #endif
   spiCookie =
-      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
+      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, mgmRm3100::MAX_BUFFER_SIZE,
                     spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
   auto* mgmRm3100Handler3 =
-      new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
-                           spi::RM3100_TRANSITION_DELAY);
+      new MgmRm3100CustomHandler(objects::MGM_3_RM3100_HANDLER, objects::ACS_BOARD_POLLING_TASK,
+                                 spiCookie, spi::RM3100_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
   mgmRm3100Handler3->setCustomFdir(fdir);
-  assemblyChildren.push_back(*mgmRm3100Handler3);
+  assemblyChildren[3] = mgmRm3100Handler3;
 #if OBSW_TEST_ACS == 1
   mgmRm3100Handler->setStartUpImmediately();
   mgmRm3100Handler->setToGoToNormalMode(true);
@@ -408,14 +440,15 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
   // Commented until ACS board V2 in in clean room again
   // Gyro 0 Side A
   spiCookie =
-      new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
+      new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, adis1650x::MAXIMUM_REPLY_SIZE,
                     spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
   auto adisHandler =
-      new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
-                               ADIS1650X::Type::ADIS16505);
+      new GyrAdis1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::ACS_BOARD_POLLING_TASK,
+                              spiCookie, adis1650x::Type::ADIS16505);
   fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
   adisHandler->setCustomFdir(fdir);
-  assemblyChildren.push_back(*adisHandler);
+  assemblyChildren[4] = adisHandler;
 #if OBSW_TEST_ACS == 1
   adisHandler->setStartUpImmediately();
   adisHandler->setToGoToNormalModeImmediately();
@@ -424,13 +457,15 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
   adisHandler->enablePeriodicPrintouts(true, 10);
 #endif
   // Gyro 1 Side A
-  spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
+  spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, l3gd20h::MAX_BUFFER_SIZE,
                             spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  auto gyroL3gHandler1 = new GyroHandlerL3GD20H(
-      objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
+  auto gyroL3gHandler1 =
+      new GyrL3gCustomHandler(objects::GYRO_1_L3G_HANDLER, objects::ACS_BOARD_POLLING_TASK,
+                              spiCookie, spi::L3G_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
   gyroL3gHandler1->setCustomFdir(fdir);
-  assemblyChildren.push_back(*gyroL3gHandler1);
+  assemblyChildren[5] = gyroL3gHandler1;
 #if OBSW_TEST_ACS == 1
   gyroL3gHandler->setStartUpImmediately();
   gyroL3gHandler->setToGoToNormalMode(true);
@@ -440,25 +475,29 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
 #endif
   // Gyro 2 Side B
   spiCookie =
-      new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
+      new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, adis1650x::MAXIMUM_REPLY_SIZE,
                     spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
-  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_MAIN_COM_IF,
-                                         spiCookie, ADIS1650X::Type::ADIS16505);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
+  adisHandler =
+      new GyrAdis1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::ACS_BOARD_POLLING_TASK,
+                              spiCookie, adis1650x::Type::ADIS16505);
   fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
   adisHandler->setCustomFdir(fdir);
-  assemblyChildren.push_back(*adisHandler);
+  assemblyChildren[6] = adisHandler;
 #if OBSW_TEST_ACS == 1
   adisHandler->setStartUpImmediately();
   adisHandler->setToGoToNormalModeImmediately();
 #endif
   // Gyro 3 Side B
-  spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
+  spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, l3gd20h::MAX_BUFFER_SIZE,
                             spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  auto gyroL3gHandler3 = new GyroHandlerL3GD20H(
-      objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
+  auto gyroL3gHandler3 =
+      new GyrL3gCustomHandler(objects::GYRO_3_L3G_HANDLER, objects::ACS_BOARD_POLLING_TASK,
+                              spiCookie, spi::L3G_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
   gyroL3gHandler3->setCustomFdir(fdir);
-  assemblyChildren.push_back(*gyroL3gHandler3);
+  assemblyChildren[7] = gyroL3gHandler3;
 #if OBSW_TEST_ACS == 1
   gyroL3gHandler->setStartUpImmediately();
   gyroL3gHandler->setToGoToNormalMode(true);
@@ -473,30 +512,16 @@ 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(
-      objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
-      objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
-      objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
-  auto acsAss =
-      new AcsBoardAssembly(objects::ACS_BOARD_ASS, pwrSwitcher, acsBoardHelper, gpioComIF);
-  static_cast<void>(acsAss);
-  for (auto& assChild : assemblyChildren) {
-    ReturnValue_t result = assChild.get().connectModeTreeParent(*acsAss);
-    if (result != returnvalue::OK) {
-      sif::error << "Connecting assembly for ACS board component " << assChild.get().getObjectId()
-                 << " failed" << std::endl;
-    }
-  }
-  gpsCtrl->connectModeTreeParent(*acsAss);
-  acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
+  ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyChildren, gpsCtrl, gpioComIF);
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }
 
 void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher,
-                                           HealthTableIF* healthTable) {
+                                           HealthTableIF* healthTable,
+                                           HeaterHandler*& heaterHandler) {
   using namespace gpio;
   GpioCookie* heaterGpiosCookie = new GpioCookie;
   GpiodRegularByLineName* gpio = nullptr;
@@ -539,19 +564,7 @@ void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwi
 
   gpioIF->addGpios(heaterGpiosCookie);
 
-  HeaterHelper helper({{
-      {new HealthDevice(objects::HEATER_0_PLOC_PROC_BRD, MessageQueueIF::NO_QUEUE),
-       gpioIds::HEATER_0},
-      {new HealthDevice(objects::HEATER_1_PCDU_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_1},
-      {new HealthDevice(objects::HEATER_2_ACS_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_2},
-      {new HealthDevice(objects::HEATER_3_OBC_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_3},
-      {new HealthDevice(objects::HEATER_4_CAMERA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_4},
-      {new HealthDevice(objects::HEATER_5_STR, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_5},
-      {new HealthDevice(objects::HEATER_6_DRO, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_6},
-      {new HealthDevice(objects::HEATER_7_HPA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_7},
-  }});
-  new HeaterHandler(objects::HEATER_HANDLER, gpioIF, helper, pwrSwitcher,
-                    pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
+  ObjectFactory::createGenericHeaterComponents(*gpioIF, *pwrSwitcher, heaterHandler);
 }
 
 void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher,
@@ -580,15 +593,19 @@ 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, serial::SYRLINKS_BAUD,
                        syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   syrlinksUartCookie->setParityEven();
 
-  auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HK_HANDLER);
+  new SyrlinksComHandler(objects::SYRLINKS_COM_HANDLER);
+  auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
+  syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
+  auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
   auto syrlinksHandler =
-      new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
-                            pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
+      new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::SYRLINKS_COM_HANDLER,
+                          syrlinksUartCookie, pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
   syrlinksHandler->setPowerSwitcher(pwrSwitcher);
+  syrlinksHandler->connectModeTreeParent(*syrlinksAssy);
 #if OBSW_DEBUG_SYRLINKS == 1
   syrlinksHandler->setDebugMode(true);
 #endif
@@ -599,7 +616,7 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
   std::stringstream consumer;
   auto* camSwitcher =
       new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, pcdu::PDU2_CH8_PAYLOAD_CAMERA);
-  camSwitcher->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
+  camSwitcher->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 #if OBSW_ADD_PLOC_MPSOC == 1
   consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
   auto gpioConfigMPSoC = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_MPSOC_UART,
@@ -608,14 +625,14 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
   mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
   gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC");
   auto mpsocCookie =
-      new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
-                       mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+      new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
+                       serial::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   mpsocCookie->setNoFixedSizeReply();
   auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
   auto* mpsocHandler = new PlocMPSoCHandler(
       objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie, plocMpsocHelper,
       Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF), objects::PLOC_SUPERVISOR_HANDLER);
-  mpsocHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
+  mpsocHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER;
@@ -624,15 +641,15 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
   auto supvGpioCookie = new GpioCookie;
   supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
   gpioComIF->addGpios(supvGpioCookie);
-  auto supervisorCookie =
-      new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV,
-                       uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
+  auto supervisorCookie = new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER,
+                                           q7s::UART_PLOC_SUPERVSIOR_DEV, serial::PLOC_SUPV_BAUD,
+                                           supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
   supervisorCookie->setNoFixedSizeReply();
   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);
+  supvHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
   static_cast<void>(consumer);
 }
@@ -692,85 +709,67 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
   std::array<object_id_t, 4> rwIds = {objects::RW1, objects::RW2, objects::RW3, objects::RW4};
   std::array<gpioId_t, 4> rwGpioIds = {gpioIds::EN_RW1, gpioIds::EN_RW2, gpioIds::EN_RW3,
                                        gpioIds::EN_RW4};
-  std::array<RwHandler*, 4> rws = {};
+  std::array<DeviceHandlerBase*, 4> rws = {};
+  new RwPollingTask(objects::RW_POLLING_TASK, q7s::SPI_RW_DEV, *gpioComIF);
   for (uint8_t idx = 0; idx < rwCookies.size(); idx++) {
-    rwCookies[idx] = new SpiCookie(rwCookieParams[idx].first, rwCookieParams[idx].second,
-                                   RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED,
-                                   &rwSpiCallback::spiCallback, nullptr);
-    rws[idx] = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF,
-                             rwGpioIds[idx]);
-    rwCookies[idx]->setCallbackArgs(rws[idx]);
+    rwCookies[idx] = new RwCookie(idx, rwCookieParams[idx].first, rwCookieParams[idx].second,
+                                  rws::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED);
+    auto* rwHandler = new RwHandler(rwIds[idx], objects::RW_POLLING_TASK, rwCookies[idx], gpioComIF,
+                                    rwGpioIds[idx], idx);
 #if OBSW_TEST_RW == 1
     rws[idx]->setStartUpImmediately();
 #endif
 #if OBSW_DEBUG_RW == 1
-    rws[idx]->setDebugMode(true);
+    rwHandler->setDebugMode(true);
 #endif
+    rws[idx] = rwHandler;
   }
 
-  RwHelper rwHelper(rwIds);
-  auto* rwAss =
-      new RwAssembly(objects::RW_ASS, pwrSwitcher, pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
-  for (uint8_t idx = 0; idx < rws.size(); idx++) {
-    ReturnValue_t result = rws[idx]->connectModeTreeParent(*rwAss);
-    if (result != returnvalue::OK) {
-      sif::error << "Connecting RW " << static_cast<int>(idx) << " to RW assembly failed"
-                 << std::endl;
-    }
-  }
-  rwAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
+  createRwAssy(*pwrSwitcher, pcdu::Switches::PDU2_CH2_RW_5V, rws, rwIds);
 #endif /* OBSW_ADD_RW == 1 */
 }
 
-ReturnValue_t ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF,
-                                                   CcsdsIpCoreHandler** ipCoreHandler) {
+ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
   using namespace gpio;
   // GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
   GpioCookie* gpioCookiePtmeIp = new GpioCookie;
   GpiodRegularByLineName* gpio = nullptr;
-  std::stringstream consumer;
-  consumer.str("PAPB VC0");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str());
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, "PAPB VC0");
   gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
-  consumer.str("PAPB VC0");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str());
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, "PAPB VC0");
   gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
-  consumer.str("PAPB VC 1");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str());
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, "PAPB VC1");
   gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
-  consumer.str("");
-  consumer.str("PAPB VC 1");
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC1, "PAPB VC1");
   gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
-  consumer.str("");
-  consumer.str("PAPB VC 2");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str());
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, "PAPB VC2");
   gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
-  consumer.str("");
-  consumer.str("PAPB VC 2");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str());
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, "PAPB VC2");
   gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
-  consumer.str("");
-  consumer.str("PAPB VC 3");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str());
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, "PAPB VC3");
   gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
-  consumer.str("");
-  consumer.str("PAPB VC 3");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, "PAPB VC3");
   gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
-  gpioChecker(gpioComIF->addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
+  // Initialise to low and then pull high to do a PTME reset, which puts the PTME in reset
+  // state. It will be put out of reset in the CCSDS handler initialize function.
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PTME_RESETN, "PTME RESETN",
+                                    gpio::Direction::OUT, gpio::Levels::LOW);
+  gpioCookiePtmeIp->addGpio(gpioIds::PTME_RESETN, gpio);
+  gpioChecker(args.gpioComIF.addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
+
   // Creating virtual channel interfaces
-  VcInterfaceIF* vc0 =
-      new PapbVcInterface(gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
-                          q7s::uiomapids::PTME_VC0);
-  VcInterfaceIF* vc1 =
-      new PapbVcInterface(gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME,
-                          q7s::uiomapids::PTME_VC1);
-  VcInterfaceIF* vc2 =
-      new PapbVcInterface(gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME,
-                          q7s::uiomapids::PTME_VC2);
-  VcInterfaceIF* vc3 =
-      new PapbVcInterface(gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME,
-                          q7s::uiomapids::PTME_VC3);
+  VirtualChannelIF* vc0 =
+      new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY,
+                          q7s::UIO_PTME, q7s::uiomapids::PTME_VC0);
+  VirtualChannelIF* vc1 =
+      new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY,
+                          q7s::UIO_PTME, q7s::uiomapids::PTME_VC1);
+  VirtualChannelIF* vc2 =
+      new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY,
+                          q7s::UIO_PTME, q7s::uiomapids::PTME_VC2);
+  VirtualChannelIF* vc3 =
+      new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY,
+                          q7s::UIO_PTME, q7s::uiomapids::PTME_VC3);
   // Creating ptme object and adding virtual channel interfaces
   Ptme* ptme = new Ptme(objects::PTME);
   ptme->addVcInterface(ccsds::VC0, vc0);
@@ -780,40 +779,63 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF,
   AxiPtmeConfig* axiPtmeConfig =
       new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
   PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
-#if OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT == 1
-  // Set to high value when not sending via syrlinks
-  static const uint32_t TRANSMITTER_TIMEOUT = 86400000;  // 1 day
-#else
-  static const uint32_t TRANSMITTER_TIMEOUT = 900000;  // 15 minutes
-#endif
-  *ipCoreHandler = new CcsdsIpCoreHandler(
-      objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
-      gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA, TRANSMITTER_TIMEOUT);
-  VirtualChannel* vc = nullptr;
-  vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
-  (*ipCoreHandler)->addVirtualChannel(ccsds::VC0, vc);
-  vc = new VirtualChannel(ccsds::VC1, common::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
-  (*ipCoreHandler)->addVirtualChannel(ccsds::VC1, vc);
-  vc = new VirtualChannel(ccsds::VC2, common::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
-  (*ipCoreHandler)->addVirtualChannel(ccsds::VC2, vc);
-  vc = new VirtualChannel(ccsds::VC3, common::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
-  (*ipCoreHandler)->addVirtualChannel(ccsds::VC3, vc);
+
+  PtmeGpios gpios;
+  gpios.enableTxClock = gpioIds::RS485_EN_TX_CLOCK;
+  gpios.enableTxData = gpioIds::RS485_EN_TX_DATA;
+  gpios.ptmeResetn = gpioIds::PTME_RESETN;
+
+  *args.ipCoreHandler =
+      new CcsdsIpCoreHandler(objects::CCSDS_HANDLER, objects::CCSDS_PACKET_DISTRIBUTOR, *ptmeConfig,
+                             LINK_STATE, &args.gpioComIF, gpios);
+  // This VC will receive all live TM
+  auto* vcWithQueue =
+      new VirtualChannelWithQueue(objects::PTME_VC0_LIVE_TM, ccsds::VC0, "PTME VC0 LIVE TM", *ptme,
+                                  LINK_STATE, args.tmStore, 500);
+  args.liveDestination = vcWithQueue;
+  new LiveTmTask(objects::LIVE_TM_TASK, args.pusFunnel, args.cfdpFunnel, *vcWithQueue);
+
+  // Set up log store.
+  auto* vc = new VirtualChannel(objects::PTME_VC1_LOG_TM, ccsds::VC1, "PTME VC1 LOG TM", *ptme,
+                                LINK_STATE);
+  LogStores logStores(args.stores);
+  // Core task which handles the LOG store and takes care of dumping it as TM using a VC directly
+  new PersistentLogTmStoreTask(objects::LOG_STORE_AND_TM_TASK, args.ipcStore, logStores, *vc,
+                               *SdCardManager::instance());
+
+  vc = new VirtualChannel(objects::PTME_VC2_HK_TM, ccsds::VC2, "PTME VC2 HK TM", *ptme, LINK_STATE);
+  // Core task which handles the HK store and takes care of dumping it as TM using a VC directly
+  new PersistentSingleTmStoreTask(objects::HK_STORE_AND_TM_TASK, args.ipcStore,
+                                  *args.stores.hkStore, *vc, persTmStore::DUMP_HK_STORE_DONE,
+                                  *SdCardManager::instance());
+
+  vc = new VirtualChannel(objects::PTME_VC3_CFDP_TM, ccsds::VC3, "PTME VC3 CFDP TM", *ptme,
+                          LINK_STATE);
+  // Core task which handles the CFDP store and takes care of dumping it as TM using a VC directly
+  new PersistentSingleTmStoreTask(objects::CFDP_STORE_AND_TM_TASK, args.ipcStore,
+                                  *args.stores.cfdpStore, *vc, persTmStore::DUMP_CFDP_STORE_DONE,
+                                  *SdCardManager::instance());
+
+  ReturnValue_t result = (*args.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;
   // GPIO also low after linux boot (specified by device-tree)
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), Direction::OUT,
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, "PDEC Handler", Direction::OUT,
                                     Levels::LOW);
   gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
-  gpioChecker(gpioComIF->addGpios(gpioCookiePdec), "PDEC");
+  gpioChecker(args.gpioComIF.addGpios(gpioCookiePdec), "PDEC");
   struct UioNames uioNames {};
   uioNames.configMemory = q7s::UIO_PDEC_CONFIG_MEMORY;
   uioNames.ramMemory = q7s::UIO_PDEC_RAM;
   uioNames.registers = q7s::UIO_PDEC_REGISTERS;
   uioNames.irq = q7s::UIO_PDEC_IRQ;
-  new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
-                  uioNames);
+  new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, &args.gpioComIF,
+                  gpioIds::PDEC_RESET, uioNames);
   GpioCookie* gpioRS485Chip = new GpioCookie;
   gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
                                     Direction::OUT, Levels::LOW);
@@ -828,12 +850,13 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF,
   gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_DATA, "RS485 Transceiver",
                                     Direction::OUT, Levels::LOW);
   gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
-  gpioChecker(gpioComIF->addGpios(gpioRS485Chip), "RS485 Transceiver");
+  gpioChecker(args.gpioComIF.addGpios(gpioRS485Chip), "RS485 Transceiver");
   return returnvalue::OK;
 }
 
 void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
-                                           PowerSwitchIF* pwrSwitcher) {
+                                           PowerSwitchIF* pwrSwitcher,
+                                           Stack5VHandler& stackHandler) {
   using namespace gpio;
   // Create all GPIO components first
   GpioCookie* plPcduGpios = new GpioCookie;
@@ -879,10 +902,9 @@ 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);
@@ -893,7 +915,7 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
   plPcduHandler->setToGoToNormalModeImmediately(true);
   plPcduHandler->enablePeriodicPrintout(true, 10);
 #endif
-  plPcduHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
+  plPcduHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 }
 
 void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
@@ -911,24 +933,47 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 }
 
 void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
+  auto* strAssy = new StrAssembly(objects::STR_ASSY);
+  strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
   auto* starTrackerCookie =
-      new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
+      new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, serial::STAR_TRACKER_BAUD,
                        startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
   starTrackerCookie->setNoFixedSizeReply();
-  StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
+  StrComHandler* strComIF = new StrComHandler(objects::STR_COM_IF);
+
+  const char* paramJsonFile = nullptr;
+#ifdef EGSE
+  paramJsonFile = "/home/pi/arcsec/json/flight-config.json";
+#else
+#if OBSW_STAR_TRACKER_GROUND_CONFIG == 1
+  paramJsonFile = "/mnt/sd0/startracker/ground-config.json";
+#else
+  paramJsonFile = "/mnt/sd0/startracker/flight-config.json";
+#endif
+#endif
+  if (paramJsonFile == nullptr) {
+    sif::error << "No valid Star Tracker parameter JSON file" << std::endl;
+  }
+  auto strFdir = new StrFdir(objects::STAR_TRACKER);
   auto starTracker =
-      new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
-                             strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
+      new StarTrackerHandler(objects::STAR_TRACKER, objects::STR_COM_IF, starTrackerCookie,
+                             paramJsonFile, strComIF, pcdu::PDU1_CH2_STAR_TRACKER_5V);
   starTracker->setPowerSwitcher(pwrSwitcher);
-  starTracker->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
+  starTracker->connectModeTreeParent(*strAssy);
+  starTracker->setCustomFdir(strFdir);
 }
 
 void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
-  I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
-  auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
+  auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
+  imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
+
+  new ImtqPollingTask(objects::IMTQ_POLLING, I2C_FATAL_ERRORS);
+  I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
+  auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::IMTQ_POLLING, imtqI2cCookie,
                                      pcdu::Switches::PDU1_CH3_MGT_5V);
+  imtqHandler->enableThermalModule(ThermalStateCfg());
   imtqHandler->setPowerSwitcher(pwrSwitcher);
-  imtqHandler->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
+  imtqHandler->connectModeTreeParent(*imtqAssy);
   static_cast<void>(imtqHandler);
 #if OBSW_TEST_IMTQ == 1
   imtqHandler->setStartUpImmediately();

bsp_q7s/core/ObjectFactory.h

@@ -2,10 +2,16 @@
 #define BSP_Q7S_OBJECTFACTORY_H_
 
 #include <fsfw/returnvalues/returnvalue.h>
-#include <mission/tmtc/CcsdsIpCoreHandler.h>
+#include <fsfw_hal/linux/spi/SpiComIF.h>
+#include <mission/com/CcsdsIpCoreHandler.h>
+#include <mission/core/GenericFactory.h>
+#include <mission/devices/HeaterHandler.h>
+#include <mission/system/objects/Stack5VHandler.h>
 #include <mission/tmtc/CfdpTmFunnel.h>
+#include <mission/tmtc/PersistentLogTmStoreTask.h>
 #include <mission/tmtc/PusTmFunnel.h>
 
+#include <atomic>
 #include <string>
 
 class LinuxLibgpioIF;
@@ -17,22 +23,46 @@ class HealthTableIF;
 class AcsBoardAssembly;
 class GpioIF;
 
+extern std::atomic_uint16_t I2C_FATAL_ERRORS;
+
 namespace ObjectFactory {
 
+struct CcsdsComponentArgs {
+  CcsdsComponentArgs(LinuxLibgpioIF& gpioIF, StorageManagerIF& ipcStore, StorageManagerIF& tmStore,
+                     PersistentTmStores& stores, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel,
+                     CcsdsIpCoreHandler** ipCoreHandler)
+      : gpioComIF(gpioIF),
+        ipcStore(ipcStore),
+        tmStore(tmStore),
+        stores(stores),
+        pusFunnel(pusFunnel),
+        cfdpFunnel(cfdpFunnel),
+        ipCoreHandler(ipCoreHandler) {}
+  LinuxLibgpioIF& gpioComIF;
+  StorageManagerIF& ipcStore;
+  StorageManagerIF& tmStore;
+  PersistentTmStores& stores;
+  PusTmFunnel& pusFunnel;
+  CfdpTmFunnel& cfdpFunnel;
+  CcsdsIpCoreHandler** ipCoreHandler;
+  AcceptsTelemetryIF* liveDestination = nullptr;
+};
+
 void setStatics();
 void produce(void* args);
 
 void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, SerialComIF** uartComIF,
-                                   SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
-                                   SpiComIF** spiRwComIF);
+                                   SpiComIF** spiMainComIF, I2cComIF** i2cComIF);
 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);
-void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
-                              PowerSwitchIF* pwrSwitcher);
-void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable);
+ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
+void createAcsBoardGpios(GpioCookie& cookie);
+void createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
+                              PowerSwitchIF& pwrSwitcher);
+void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
+                            HeaterHandler*& heaterHandler);
 void createImtqComponents(PowerSwitchIF* pwrSwitcher);
 void createBpxBatteryComponent();
 void createStrComponents(PowerSwitchIF* pwrSwitcher);
@@ -40,7 +70,7 @@ void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gp
 void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
 void createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitcher);
 void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
-ReturnValue_t createCcsdsComponents(LinuxLibgpioIF* gpioComIF, CcsdsIpCoreHandler** ipCoreHandler);
+ReturnValue_t createCcsdsComponents(CcsdsComponentArgs& args);
 void createMiscComponents();
 
 void createTestComponents(LinuxLibgpioIF* gpioComIF);

bsp_q7s/core/WatchdogHandler.cpp

@@ -0,0 +1,87 @@
+#include "WatchdogHandler.h"
+
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <cerrno>
+#include <cstring>
+#include <filesystem>
+
+#include "fsfw/serviceinterface.h"
+#include "watchdog/definitions.h"
+
+WatchdogHandler::WatchdogHandler() {}
+
+void WatchdogHandler::periodicOperation() {
+  if (watchdogFifoFd != 0) {
+    if (watchdogFifoFd == RETRY_FIFO_OPEN) {
+      // Open FIFO write only and non-blocking
+      watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
+      if (watchdogFifoFd < 0) {
+        if (errno == ENXIO) {
+          watchdogFifoFd = RETRY_FIFO_OPEN;
+          // No printout for now, would be spam
+          return;
+        } else {
+          sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with "
+                     << errno << ": " << strerror(errno) << std::endl;
+          return;
+        }
+      }
+      sif::info << "Opened " << watchdog::FIFO_NAME << " successfully" << std::endl;
+      performStartHandling();
+    } else if (watchdogFifoFd > 0) {
+      // Write to OBSW watchdog FIFO here
+      const char writeChar = watchdog::first::IDLE_CHAR;
+      ssize_t writtenBytes = write(watchdogFifoFd, &writeChar, 1);
+      if (writtenBytes < 0) {
+        sif::error << "Errors writing to watchdog FIFO, code " << errno << ": " << strerror(errno)
+                   << std::endl;
+      }
+    }
+  }
+}
+
+ReturnValue_t WatchdogHandler::initialize(bool enableWatchdogFunction) {
+  using namespace std::filesystem;
+  this->enableWatchFunction = enableWatchdogFunction;
+  std::error_code e;
+  if (not std::filesystem::exists(watchdog::FIFO_NAME, e)) {
+    // Still return returnvalue::OK for now
+    sif::info << "Watchdog FIFO " << watchdog::FIFO_NAME << " does not exist, can't initiate"
+              << " watchdog" << std::endl;
+    return returnvalue::OK;
+  }
+  // Open FIFO write only and non-blocking to prevent SW from killing itself.
+  watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
+  if (watchdogFifoFd < 0) {
+    if (errno == ENXIO) {
+      watchdogFifoFd = RETRY_FIFO_OPEN;
+      sif::info << "eive-watchdog not running. FIFO can not be opened" << std::endl;
+    } else {
+      sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with " << errno
+                 << ": " << strerror(errno) << std::endl;
+      return returnvalue::FAILED;
+    }
+  }
+  return performStartHandling();
+}
+
+ReturnValue_t WatchdogHandler::performStartHandling() {
+  char startBuf[2];
+  ssize_t writeLen = 1;
+  startBuf[0] = watchdog::first::START_CHAR;
+  if (enableWatchFunction) {
+    writeLen += 1;
+    startBuf[1] = watchdog::second::WATCH_FLAG;
+  }
+  ssize_t writtenBytes = write(watchdogFifoFd, &startBuf, writeLen);
+  if (writtenBytes < 0) {
+    sif::error << "WatchdogHandler: Errors writing to watchdog FIFO, code " << errno << ": "
+               << strerror(errno) << std::endl;
+    return returnvalue::FAILED;
+  } else if (writtenBytes != writeLen) {
+    sif::warning << "WatchdogHandler: Not all bytes were written, possible error" << std::endl;
+  }
+  return returnvalue::OK;
+}

bsp_q7s/core/WatchdogHandler.h

@@ -0,0 +1,23 @@
+#ifndef BSP_Q7S_CORE_WATCHDOGHANDLER_H_
+#define BSP_Q7S_CORE_WATCHDOGHANDLER_H_
+
+#include "fsfw/returnvalues/returnvalue.h"
+
+class WatchdogHandler {
+ public:
+  WatchdogHandler();
+
+  ReturnValue_t initialize(bool enableWatchFunction);
+  void periodicOperation();
+
+ private:
+  // Designated value for rechecking FIFO open
+  static constexpr int RETRY_FIFO_OPEN = -2;
+
+  int watchdogFifoFd = 0;
+  bool enableWatchFunction = false;
+
+  ReturnValue_t performStartHandling();
+};
+
+#endif /* BSP_Q7S_CORE_WATCHDOGHANDLER_H_ */

bsp_q7s/core/scheduling.cpp

@@ -1,6 +1,7 @@
 #include "scheduling.h"
 
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/subsystem/Subsystem.h>
 #include <linux/scheduling.h>
 
 #include <iostream>
@@ -16,9 +17,10 @@
 #include "fsfw/tasks/FixedTimeslotTaskIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 #include "fsfw/tasks/TaskFactory.h"
+#include "mission/core/pollingSeqTables.h"
+#include "mission/core/scheduling.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/utility/InitMission.h"
-#include "pollingsequence/pollingSequenceFactory.h"
 
 /* This is configured for linux without CR */
 #ifdef PLATFORM_UNIX
@@ -70,33 +72,38 @@ void scheduling::initTasks() {
 #if OBSW_ADD_SA_DEPL == 1
   // Could add this to the core controller but the core controller does so many thing that I would
   // prefer to have the solar array deployment in a seprate task.
-  PeriodicTaskIF* solarArrayDeplTask = factory->createPeriodicTask(
-      "SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* solarArrayDeplTask =
+      factory->createPeriodicTask("SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
   }
 #endif
 
-  PeriodicTaskIF* sysTask = factory->createPeriodicTask(
-      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
-  result = sysTask->addComponent(objects::CORE_CONTROLLER);
+  PeriodicTaskIF* coreCtrlTask = factory->createPeriodicTask(
+      "CORE_CTRL", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc, &RR_SCHEDULING);
+  result = coreCtrlTask->addComponent(objects::CORE_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
   }
-  result = sysTask->addComponent(objects::PL_SUBSYSTEM);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
-  }
 
   /* TMTC Distribution */
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
-      "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-#if OBSW_ADD_TCPIP_BRIDGE == 1
-  result = tmTcDistributor->addComponent(objects::TMTC_BRIDGE);
+      "TC_DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc, &RR_SCHEDULING);
+#if OBSW_ADD_TCPIP_SERVERS == 1
+#if OBSW_ADD_TMTC_UDP_SERVER == 1
+  result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("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) {
@@ -110,134 +117,192 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CFDP_DISTRIBUTOR", objects::CFDP_DISTRIBUTOR);
   }
-  result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
-  }
 
-#if OBSW_ADD_TCPIP_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", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
   if (result != returnvalue::OK) {
-    scheduling::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", 0, 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* genericSysTask =
+      factory->createPeriodicTask("SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
+  result = genericSysTask->addComponent(objects::EIVE_SYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("EIVE_SYSTEM", objects::EIVE_SYSTEM);
+  }
+  result = genericSysTask->addComponent(objects::COM_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("COM_SUBSYSTEM", objects::COM_SUBSYSTEM);
+  }
+  result = genericSysTask->addComponent(objects::SYRLINKS_ASSY);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("SYRLINKS_ASSY", objects::SYRLINKS_ASSY);
+  }
+  result = genericSysTask->addComponent(objects::PL_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
+  }
+  result = genericSysTask->addComponent(objects::INTERNAL_ERROR_REPORTER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
+  }
+  result = genericSysTask->addComponent(objects::PUS_SERVICE_17_TEST);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
+  }
 
 #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 = genericSysTask->addComponent(objects::CCSDS_HANDLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
   }
 
   // Runs in IRQ mode, frequency does not really matter
   PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
-      "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+      "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
   result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
   }
-#endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
 
+#endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
+  // All the TM store tasks run in permanent loops, frequency does not matter
+  PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
+      "LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
+  result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
+  }
+  PeriodicTaskIF* logTmTask = factory->createPeriodicTask(
+      "LOG_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+  result = logTmTask->addComponent(objects::LOG_STORE_AND_TM_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("LOG_STORE_AND_TM", objects::LOG_STORE_AND_TM_TASK);
+  }
+  PeriodicTaskIF* hkTmTask =
+      factory->createPeriodicTask("HK_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+  result = hkTmTask->addComponent(objects::HK_STORE_AND_TM_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("HK_STORE_AND_TM", objects::HK_STORE_AND_TM_TASK);
+  }
+  PeriodicTaskIF* cfdpTmTask = factory->createPeriodicTask(
+      "CFDP_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+  result = cfdpTmTask->addComponent(objects::CFDP_STORE_AND_TM_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK);
+  }
+
+  // TODO: Use user priorities for this task.
 #if OBSW_ADD_CFDP_COMPONENTS == 1
-  PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
-      "CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* cfdpTask =
+      factory->createPeriodicTask("CFDP_HANDLER", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = cfdpTask->addComponent(objects::CFDP_HANDLER);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
+    scheduling::printAddObjectError("CFDP", 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, &RR_SCHEDULING);
+  result = gpsTask->addComponent(objects::GPS_CONTROLLER);
   if (result != returnvalue::OK) {
     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) {
-    scheduling::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
-  }
-#endif
-
-  PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
-      "SYS_TASK", 40, 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);
+  PeriodicTaskIF* acsBrdPolling =
+      factory->createPeriodicTask("ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
+  result = acsBrdPolling->addComponent(objects::ACS_BOARD_POLLING_TASK);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
+    scheduling::printAddObjectError("ACS_BOARD_POLLING", objects::ACS_BOARD_POLLING_TASK);
   }
-#endif /* OBSW_ADD_ACS_HANDLERS */
+#endif
+
 #if OBSW_ADD_RW == 1
-  result = acsSysTask->addComponent(objects::RW_ASS);
+  PeriodicTaskIF* rwPolling =
+      factory->createPeriodicTask("RW_POLLING_TASK", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
+  result = rwPolling->addComponent(objects::RW_POLLING_TASK);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("RW_ASS", objects::RW_ASS);
+    scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
   }
 #endif
-#if OBSW_ADD_SUS_BOARD_ASS == 1
-  result = acsSysTask->addComponent(objects::SUS_BOARD_ASS);
+#if OBSW_ADD_MGT == 1
+  PeriodicTaskIF* imtqPolling =
+      factory->createPeriodicTask("IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
+  result = imtqPolling->addComponent(objects::IMTQ_POLLING);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
+    scheduling::printAddObjectError("IMTQ_POLLING_TASK", objects::IMTQ_POLLING);
   }
 #endif
+
+#if OBSW_ADD_SUN_SENSORS == 1
+  PeriodicTaskIF* susPolling =
+      factory->createPeriodicTask("SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
+  result = susPolling->addComponent(objects::SUS_POLLING_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("SUS_POLLING_TASK", objects::SUS_POLLING_TASK);
+  }
+#endif
+
+  PeriodicTaskIF* acsSysTask =
+      factory->createPeriodicTask("ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
   }
-
-#if OBSW_ADD_RTD_DEVICES == 1
-  PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
-      "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
-  result = tcsPollingTask->addComponent(objects::SPI_RTD_COM_IF);
+  result = acsSysTask->addComponent(objects::IMTQ_ASSY);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
+    scheduling::printAddObjectError("IMTQ_ASSY", objects::IMTQ_ASSY);
   }
-
-  PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
-      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
-  std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
-      objects::RTD_0_IC3_PLOC_HEATSPREADER,
-      objects::RTD_1_IC4_PLOC_MISSIONBOARD,
-      objects::RTD_2_IC5_4K_CAMERA,
-      objects::RTD_3_IC6_DAC_HEATSPREADER,
-      objects::RTD_4_IC7_STARTRACKER,
-      objects::RTD_5_IC8_RW1_MX_MY,
-      objects::RTD_6_IC9_DRO,
-      objects::RTD_7_IC10_SCEX,
-      objects::RTD_8_IC11_X8,
-      objects::RTD_9_IC12_HPA,
-      objects::RTD_10_IC13_PL_TX,
-      objects::RTD_11_IC14_MPA,
-      objects::RTD_12_IC15_ACU,
-      objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
-      objects::RTD_14_IC17_TCS_BOARD,
-      objects::RTD_15_IC18_IMTQ,
-  };
-
-  for (const auto& rtd : rtdIds) {
-    tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
-    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_WRITE);
-    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_WRITE);
-    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
-    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
+  result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
+  }
+  result = acsSysTask->addComponent(objects::RW_ASSY);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("RW_ASS", objects::RW_ASSY);
+  }
+  result = acsSysTask->addComponent(objects::SUS_BOARD_ASS);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
+  }
+  result = acsSysTask->addComponent(objects::STR_ASSY);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("STR_ASSY", objects::STR_ASSY);
   }
-#endif
 
   PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
-      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
-#if OBSW_ADD_RTD_DEVICES == 1
+      "TCS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
+  scheduling::scheduleRtdSensors(tcsSystemTask);
+  result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("TCS_SUBSYSTEM", objects::TCS_SUBSYSTEM);
+  }
   result = tcsSystemTask->addComponent(objects::TCS_BOARD_ASS);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
   }
-#endif /* OBSW_ADD_RTD_DEVICES */
 #if OBSW_ADD_TCS_CTRL == 1
   result = tcsSystemTask->addComponent(objects::THERMAL_CONTROLLER);
   if (result != returnvalue::OK) {
@@ -251,27 +316,40 @@ void scheduling::initTasks() {
   }
 #endif
 
-#if OBSW_ADD_STAR_TRACKER == 1
-  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
-      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = strHelperTask->addComponent(objects::STR_HELPER);
+#if OBSW_ADD_SYRLINKS == 1
+  PeriodicTaskIF* syrlinksCom = factory->createPeriodicTask(
+      "SYRLINKS_COM", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = syrlinksCom->addComponent(objects::SYRLINKS_COM_HANDLER);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("STR_HELPER", objects::STR_HELPER);
+    scheduling::printAddObjectError("SYRLINKS_COM", objects::SYRLINKS_COM_HANDLER);
+  }
+#endif
+
+#if OBSW_ADD_STAR_TRACKER == 1
+  // Relatively high priority to make sure STR COM works well.
+  PeriodicTaskIF* strHelperTask =
+      factory->createPeriodicTask("STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
+  result = strHelperTask->addComponent(objects::STR_COM_IF);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("STR_HELPER", objects::STR_COM_IF);
   }
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
+  // TODO: Use regular scheduler for this task
 #if OBSW_ADD_PLOC_MPSOC == 1
   PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
-      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+      "PLOC_MPSOC_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
   }
 #endif /* OBSW_ADD_PLOC_MPSOC */
 
+  // TODO: Use regular scheduler for this task
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
-      "PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+      "PLOC_SUPV_HELPER", 0, 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);
@@ -279,20 +357,21 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_PLOC_SUPERVISOR */
 
   PeriodicTaskIF* plTask = factory->createPeriodicTask(
-      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
-  scheduling::addMpsocSupvHandlers(plTask);
+      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc, &RR_SCHEDULING);
   plTask->addComponent(objects::CAM_SWITCHER);
+  scheduling::addMpsocSupvHandlers(plTask);
+  scheduling::scheduleScexDev(plTask);
 
 #if OBSW_ADD_SCEX_DEVICE == 1
-  PeriodicTaskIF* scexDevHandler;
   PeriodicTaskIF* scexReaderTask;
-  scheduling::schedulingScex(*factory, scexDevHandler, scexReaderTask);
+  scheduling::scheduleScexReader(*factory, scexReaderTask);
 #endif
 
   std::vector<PeriodicTaskIF*> pusTasks;
   createPusTasks(*factory, missedDeadlineFunc, pusTasks);
   std::vector<PeriodicTaskIF*> pstTasks;
-  createPstTasks(*factory, missedDeadlineFunc, pstTasks);
+  AcsPstCfg cfg;
+  createPstTasks(*factory, missedDeadlineFunc, pstTasks, cfg);
 
 #if OBSW_ADD_TEST_CODE == 1
 #if OBSW_TEST_CCSDS_BRIDGE == 1
@@ -320,24 +399,44 @@ void scheduling::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
 
+  genericSysTask->startTask();
 #if OBSW_ADD_CCSDS_IP_CORES == 1
-  ccsdsHandlerTask->startTask();
   pdecHandlerTask->startTask();
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
+  liveTmTask->startTask();
+  logTmTask->startTask();
+  hkTmTask->startTask();
+  cfdpTmTask->startTask();
 
-  sysTask->startTask();
+  coreCtrlTask->startTask();
 #if OBSW_ADD_SA_DEPL == 1
   solarArrayDeplTask->startTask();
 #endif
+#if OBSW_ADD_ACS_BOARD == 1
+  acsBrdPolling->startTask();
+#endif
+#if OBSW_ADD_SYRLINKS == 1
+  syrlinksCom->startTask();
+#endif
+#if OBSW_ADD_MGT == 1
+  imtqPolling->startTask();
+#endif
+#if OBSW_ADD_SUN_SENSORS == 1
+  susPolling->startTask();
+#endif
 
   taskStarter(pstTasks, "PST task vector");
   taskStarter(pusTasks, "PUS task vector");
 #if OBSW_ADD_SCEX_DEVICE == 1
-  scexDevHandler->startTask();
   scexReaderTask->startTask();
 #endif
 
@@ -353,12 +452,11 @@ void scheduling::initTasks() {
   strHelperTask->startTask();
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
-  acsCtrlTask->startTask();
+#if OBSW_ADD_RW == 1
+  rwPolling->startTask();
+#endif
+  gpsTask->startTask();
   acsSysTask->startTask();
-#if OBSW_ADD_RTD_DEVICES == 1
-  tcsPollingTask->startTask();
-  tcsTask->startTask();
-#endif /* OBSW_ADD_RTD_DEVICES == 1 */
   if (not tcsSystemTask->isEmpty()) {
     tcsSystemTask->startTask();
   }
@@ -375,13 +473,34 @@ void scheduling::initTasks() {
 }
 
 void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
-                                std::vector<PeriodicTaskIF*>& taskVec) {
+                                std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg) {
   ReturnValue_t result = returnvalue::OK;
+
+#ifdef RELEASE_BUILD
+  static constexpr float acsPstPeriod = 0.4;
+#else
+  static constexpr float acsPstPeriod = 0.4;
+#endif
+  FixedTimeslotTaskIF* acsTcsPst =
+      factory.createFixedTimeslotTask("ACS_TCS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                      acsPstPeriod, missedDeadlineFunc, &RR_SCHEDULING);
+  result = pst::pstTcsAndAcs(acsTcsPst, cfg);
+  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(acsTcsPst);
+  }
+
   /* 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);
+  FixedTimeslotTaskIF* syrlinksPst =
+      factory.createFixedTimeslotTask("SYRLINKS", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5,
+                                      missedDeadlineFunc, &RR_SCHEDULING);
+  result = pst::pstSyrlinks(syrlinksPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
       sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
@@ -389,42 +508,15 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
       sif::error << "scheduling::initTasks: Creating SPI PST failed!" << std::endl;
     }
   } else {
-    taskVec.push_back(spiPst);
+    taskVec.push_back(syrlinksPst);
   }
 #endif
 
-#if OBSW_ADD_RW == 1
-  FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
-      "RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
-  result = pst::pstSpiRw(rwPstTask);
-  if (result != returnvalue::OK) {
-    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
-    } else {
-      sif::error << "scheduling::initTasks: Creating SPI PST failed!" << std::endl;
-    }
-  } else {
-    taskVec.push_back(rwPstTask);
-  }
-#endif
-
-  FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
-      "UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
-  result = pst::pstUart(uartPst);
-  if (result != returnvalue::OK) {
-    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "scheduling::initTasks: UART PST is empty" << std::endl;
-    } else {
-      sif::error << "scheduling::initTasks: Creating UART PST failed!" << std::endl;
-    }
-  } else {
-    taskVec.push_back(uartPst);
-  }
-
 #if OBSW_ADD_I2C_TEST_CODE == 0
-  FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-      "I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
-  result = pst::pstI2c(i2cPst);
+  FixedTimeslotTaskIF* i2cPst =
+      factory.createFixedTimeslotTask("I2C_PS_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.6,
+                                      missedDeadlineFunc, &RR_SCHEDULING);
+  result = pst::pstI2cProcessingSystem(i2cPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
       sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl;
@@ -436,9 +528,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   }
 #endif
 
-#if OBSW_ADD_GOMSPACE_PCDU == 1
-  FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
-      "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
+  FixedTimeslotTaskIF* gomSpacePstTask =
+      factory.createFixedTimeslotTask("GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4,
+                                      0.5, missedDeadlineFunc, &RR_SCHEDULING);
   result = pst::pstGompaceCan(gomSpacePstTask);
   if (result != returnvalue::OK) {
     if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -446,49 +538,36 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
     }
   }
   taskVec.push_back(gomSpacePstTask);
-#endif
 }
 
 void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                                 std::vector<PeriodicTaskIF*>& taskVec) {
   ReturnValue_t result = returnvalue::OK;
   /* PUS Services */
-  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
-      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
+  PeriodicTaskIF* pusHighPrio =
+      factory.createPeriodicTask("PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
+                                 missedDeadlineFunc, &RR_SCHEDULING);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
   }
-  taskVec.push_back(pusVerification);
-
-  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
-      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
   }
-  result = pusEvents->addComponent(objects::EVENT_MANAGER);
+  result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
-  }
-  taskVec.push_back(pusEvents);
-
-  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
-      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+    scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER);
   }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
+    scheduling::printAddObjectError("PUS_TIME", objects::PUS_SERVICE_9_TIME_MGMT);
   }
-
   taskVec.push_back(pusHighPrio);
 
-  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
-      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
-
+  PeriodicTaskIF* pusMedPrio =
+      factory.createPeriodicTask("PUS_MED_PRIO", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8,
+                                 missedDeadlineFunc, &RR_SCHEDULING);
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
@@ -497,6 +576,10 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
   }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_15_TM_STORAGE);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_15", objects::PUS_SERVICE_15_TM_STORAGE);
+  }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_11_TC_SCHEDULER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
@@ -513,20 +596,11 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
   }
-  // Used for connection tests, therefore use higher priority
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_17_TEST);
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
+    scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
   }
   taskVec.push_back(pusMedPrio);
-
-  PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
-      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
-  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
-  }
-  taskVec.push_back(pusLowPrio);
 }
 
 void scheduling::createTestTasks(TaskFactory& factory,

bsp_q7s/core/scheduling.h

@@ -4,6 +4,9 @@
 #include <vector>
 
 #include "fsfw/tasks/definitions.h"
+#include "mission/core/pollingSeqTables.h"
+
+using pst::AcsPstCfg;
 
 class PeriodicTaskIF;
 class TaskFactory;
@@ -13,7 +16,7 @@ void initMission();
 void initTasks();
 
 void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
-                    std::vector<PeriodicTaskIF*>& taskVec);
+                    std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg);
 void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                     std::vector<PeriodicTaskIF*>& taskVec);
 void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,

bsp_q7s/em/emObjectFactory.cpp

@@ -1,7 +1,12 @@
 #include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
+#include <dummies/ComCookieDummy.h>
+#include <dummies/PcduHandlerDummy.h>
 #include <fsfw/health/HealthTableIF.h>
 #include <fsfw/power/DummyPowerSwitcher.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+#include <mission/system/tree/system.h>
+#include <mission/utility/DummySdCardManager.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
@@ -14,20 +19,25 @@
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "mission/core/GenericFactory.h"
+#include "mission/system/com/comModeTree.h"
 
 void ObjectFactory::produce(void* args) {
   ObjectFactory::setStatics();
   HealthTableIF* healthTable = nullptr;
   PusTmFunnel* pusFunnel = nullptr;
   CfdpTmFunnel* cfdpFunnel = nullptr;
-  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel);
+  StorageManagerIF* ipcStore = nullptr;
+  StorageManagerIF* tmStore = nullptr;
+
+  PersistentTmStores stores;
+  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
+                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores);
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   SerialComIF* uartComIF = nullptr;
   SpiComIF* spiMainComIF = nullptr;
   I2cComIF* i2cComIF = nullptr;
-  SpiComIF* spiRwComIF = nullptr;
-  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
   /* Adding gpios for chip select decoding to the gpioComIf */
   q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
   gpioCallbacks::disableAllDecoder(gpioComIF);
@@ -42,17 +52,21 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_GOMSPACE_PCDU == 1
   dummyCfg.addPowerDummies = false;
 #endif
+#if OBSW_ADD_ACS_BOARD == 1
+  dummyCfg.addAcsBoardDummies = false;
+#endif
 
   PowerSwitchIF* pwrSwitcher = nullptr;
 #if OBSW_ADD_GOMSPACE_PCDU == 0
-  pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
+  auto* comCookieDummy = new ComCookieDummy();
+  pwrSwitcher = new PcduHandlerDummy(objects::PCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
 #else
   createPcduComponents(gpioComIF, &pwrSwitcher);
 #endif
 
-  dummy::createDummies(dummyCfg, *pwrSwitcher);
+  dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF);
 
-  new CoreController(objects::CORE_CONTROLLER);
+  new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS);
 
   // Regular FM code, does not work for EM if the hardware is not connected
   // createPcduComponents(gpioComIF, &pwrSwitcher);
@@ -70,7 +84,12 @@ void ObjectFactory::produce(void* args) {
   // createRadSensorComponent(gpioComIF);
 
 #if OBSW_ADD_ACS_BOARD == 1
-  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
+  createAcsBoardComponents(gpioComIF, uartComIF, *pwrSwitcher);
+#else
+  // Still add all GPIOs for EM.
+  GpioCookie* acsBoardGpios = new GpioCookie();
+  createAcsBoardGpios(*acsBoardGpios);
+  gpioChecker(gpioComIF->addGpios(acsBoardGpios), "ACS Board");
 #endif
 
 #if OBSW_ADD_MGT == 1
@@ -92,11 +111,16 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_STAR_TRACKER == 1
   createStrComponents(pwrSwitcher);
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
+
 #if OBSW_ADD_CCSDS_IP_CORES == 1
   CcsdsIpCoreHandler* ipCoreHandler = nullptr;
-  createCcsdsComponents(gpioComIF, &ipCoreHandler);
+  CcsdsComponentArgs ccsdsArgs(*gpioComIF, *ipcStore, *tmStore, stores, *pusFunnel, *cfdpFunnel,
+                               &ipCoreHandler);
+  createCcsdsComponents(ccsdsArgs);
 #if OBSW_TM_TO_PTME == 1
-  ObjectFactory::addTmtcIpCoresToFunnels(*ipCoreHandler, *pusFunnel, *cfdpFunnel);
+  if (ccsdsArgs.liveDestination != nullptr) {
+    pusFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
+  }
 #endif
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
   /* Test Task */
@@ -108,4 +132,8 @@ void ObjectFactory::produce(void* args) {
                        pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
 #endif
   createAcsController(true);
+  HeaterHandler* heaterHandler = nullptr;
+  ObjectFactory::createGenericHeaterComponents(*gpioComIF, *pwrSwitcher, heaterHandler);
+  createThermalController(*heaterHandler);
+  satsystem::init();
 }

bsp_q7s/fmObjectFactory.cpp

@@ -1,4 +1,6 @@
 #include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
+#include <fsfw/storagemanager/LocalPool.h>
+#include <fsfw/storagemanager/PoolManager.h>
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 
 #include "OBSWConfig.h"
@@ -12,39 +14,51 @@
 #include "linux/callbacks/gpioCallbacks.h"
 #include "mission/core/GenericFactory.h"
 #include "mission/system/tree/system.h"
+#include "mission/tmtc/tmFilters.h"
 
 void ObjectFactory::produce(void* args) {
   ObjectFactory::setStatics();
   HealthTableIF* healthTable = nullptr;
   PusTmFunnel* pusFunnel = nullptr;
   CfdpTmFunnel* cfdpFunnel = nullptr;
-  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel);
+  StorageManagerIF* ipcStore = nullptr;
+  StorageManagerIF* tmStore = nullptr;
+
+  PersistentTmStores stores;
+  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
+                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores);
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   SerialComIF* uartComIF = nullptr;
   SpiComIF* spiMainComIF = nullptr;
   I2cComIF* i2cComIF = nullptr;
   PowerSwitchIF* pwrSwitcher = nullptr;
-  SpiComIF* spiRwComIF = nullptr;
-  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
   /* Adding gpios for chip select decoding to the gpioComIf */
   q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
   gpioCallbacks::disableAllDecoder(gpioComIF);
 
-  new CoreController(objects::CORE_CONTROLLER);
+  new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS);
   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);
+  createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher);
 #endif
-  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
+  HeaterHandler* heaterHandler;
+  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
 #if OBSW_ADD_TMP_DEVICES == 1
   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 */
@@ -63,11 +77,16 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_STAR_TRACKER == 1
   createStrComponents(pwrSwitcher);
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
+
 #if OBSW_ADD_CCSDS_IP_CORES == 1
   CcsdsIpCoreHandler* ipCoreHandler = nullptr;
-  createCcsdsComponents(gpioComIF, &ipCoreHandler);
+  CcsdsComponentArgs ccsdsArgs(*gpioComIF, *ipcStore, *tmStore, stores, *pusFunnel, *cfdpFunnel,
+                               &ipCoreHandler);
+  createCcsdsComponents(ccsdsArgs);
 #if OBSW_TM_TO_PTME == 1
-  addTmtcIpCoresToFunnels(*ipCoreHandler, *pusFunnel, *cfdpFunnel);
+  if (ccsdsArgs.liveDestination != nullptr) {
+    pusFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
+  }
 #endif
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
 
@@ -81,7 +100,7 @@ void ObjectFactory::produce(void* args) {
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 
   createMiscComponents();
-  createThermalController();
+  createThermalController(*heaterHandler);
   createAcsController(true);
   satsystem::init();
 }

bsp_q7s/fs/FilesystemHelper.cpp

@@ -22,7 +22,7 @@ ReturnValue_t FilesystemHelper::checkPath(std::string path) {
     }
   } else if (path.substr(0, sizeof(config::SD_1_MOUNT_POINT)) ==
              std::string(config::SD_1_MOUNT_POINT)) {
-    if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
+    if (!sdcMan->isSdCardUsable(sd::SLOT_1)) {
       sif::warning << "FilesystemHelper::checkPath: SD card 1 not mounted" << std::endl;
       return SD_NOT_MOUNTED;
     }

bsp_q7s/fs/SdCardManager.cpp

@@ -2,6 +2,7 @@
 
 #include <fsfw/ipc/MutexGuard.h>
 #include <fsfw/timemanager/Countdown.h>
+#include <fsfw/timemanager/Stopwatch.h>
 #include <unistd.h>
 
 #include <cstring>
@@ -20,31 +21,32 @@
 SdCardManager* SdCardManager::INSTANCE = nullptr;
 
 SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) {
-  mutex = MutexFactory::instance()->createMutex();
-  ReturnValue_t result = mutex->lockMutex();
-  if (result != returnvalue::OK) {
+  sdLock = MutexFactory::instance()->createMutex();
+  prefLock = MutexFactory::instance()->createMutex();
+  defaultLock = MutexFactory::instance()->createMutex();
+
+  MutexGuard mg(prefLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
+  if (mg.getLockResult() != returnvalue::OK) {
     sif::error << "SdCardManager::SdCardManager: Mutex lock failed" << std::endl;
   }
   uint8_t prefSdRaw = 0;
-  result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw);
-  if (mutex->unlockMutex() != returnvalue::OK) {
-    sif::error << "SdCardManager::SdCardManager: Mutex unlock failed" << std::endl;
-  }
+  ReturnValue_t result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw);
 
   if (result != returnvalue::OK) {
     if (result == scratch::KEY_NOT_FOUND) {
       sif::warning << "CoreController::sdCardInit: "
                       "Preferred SD card not set. Setting to 0"
                    << std::endl;
-      setPreferredSdCard(sd::SdCard::SLOT_0);
-      sdInfo.pref = sd::SdCard::SLOT_0;
+      scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sd::SdCard::SLOT_0));
+      prefSdRaw = sd::SdCard::SLOT_0;
+
     } else {
       // Should not happen.
       // TODO: Maybe trigger event?
       sif::error << "SdCardManager::SdCardManager: Reading preferred SD card from scratch"
                     "buffer failed"
                  << std::endl;
-      sdInfo.pref = sd::SdCard::SLOT_0;
+      prefSdRaw = sd::SdCard::SLOT_0;
     }
   }
   sdInfo.pref = static_cast<sd::SdCard>(prefSdRaw);
@@ -193,28 +195,9 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
   return result;
 }
 
-ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& active) {
-  using namespace std;
-  MutexGuard mg(mutex);
-  if (not filesystem::exists(SD_STATE_FILE)) {
-    return STATUS_FILE_NEXISTS;
-  }
-
-  // Now the file should exist in any case. Still check whether it exists.
-  fstream sdStatus(SD_STATE_FILE);
-  if (not sdStatus.good()) {
-    return STATUS_FILE_NEXISTS;
-  }
-  string line;
-  uint8_t idx = 0;
-  sd::SdCard currentSd = sd::SdCard::SLOT_0;
-  // Process status file line by line
-  while (std::getline(sdStatus, line)) {
-    processSdStatusLine(active, line, idx, currentSd);
-  }
-  if (active.first != sd::SdState::MOUNTED && active.second != sd::SdState::MOUNTED) {
-    sdCardActive = false;
-  }
+ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& sdStates) {
+  MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
+  sdStates = this->sdStates;
   return returnvalue::OK;
 }
 
@@ -237,7 +220,8 @@ ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
     mountDev = SD_1_DEV_NAME;
     mountPoint = config::SD_1_MOUNT_POINT;
   }
-  if (not filesystem::exists(mountDev)) {
+  std::error_code e;
+  if (not filesystem::exists(mountDev, e)) {
     sif::warning << "SdCardManager::mountSdCard: Device file does not exists. Make sure to"
                     " turn on the SD card"
                  << std::endl;
@@ -272,7 +256,8 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
   } else if (sdCard == sd::SdCard::SLOT_1) {
     mountPoint = config::SD_1_MOUNT_POINT;
   }
-  if (not filesystem::exists(mountPoint)) {
+  std::error_code e;
+  if (not filesystem::exists(mountPoint, e)) {
     sif::error << "SdCardManager::unmountSdCard: Default mount point " << mountPoint
                << "does not exist" << std::endl;
     return UNMOUNT_ERROR;
@@ -304,10 +289,9 @@ ReturnValue_t SdCardManager::sanitizeState(SdStatePair* statusPair, sd::SdCard p
     resetNonBlockingState = true;
   }
   if (statusPair == nullptr) {
-    sdStatusPtr = std::make_unique<SdStatePair>();
-    statusPair = sdStatusPtr.get();
-    getSdCardsStatus(*statusPair);
+    return returnvalue::FAILED;
   }
+  getSdCardsStatus(*statusPair);
 
   if (statusPair->first == sd::SdState::ON) {
     result = mountSdCard(prefSdCard);
@@ -325,8 +309,33 @@ void SdCardManager::resetState() {
   currentOp = Operations::IDLE;
 }
 
-void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& active,
-                                        std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
+ReturnValue_t SdCardManager::updateSdStatePair() {
+  using namespace std;
+
+  std::error_code e;
+  if (not filesystem::exists(SD_STATE_FILE, e)) {
+    return STATUS_FILE_NEXISTS;
+  }
+
+  // Now the file should exist in any case. Still check whether it exists.
+  fstream sdStatus(SD_STATE_FILE);
+  if (not sdStatus.good()) {
+    return STATUS_FILE_NEXISTS;
+  }
+  string line;
+  uint8_t idx = 0;
+  sd::SdCard currentSd = sd::SdCard::SLOT_0;
+  // Process status file line by line
+  while (std::getline(sdStatus, line)) {
+    processSdStatusLine(line, idx, currentSd);
+  }
+  if (sdStates.first != sd::SdState::MOUNTED && sdStates.second != sd::SdState::MOUNTED) {
+    sdCardActive = false;
+  }
+  return returnvalue::OK;
+}
+
+void SdCardManager::processSdStatusLine(std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
   using namespace std;
   istringstream iss(line);
   string word;
@@ -347,24 +356,26 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& act
 
       if (word == "on") {
         if (currentSd == sd::SdCard::SLOT_0) {
-          active.first = sd::SdState::ON;
+          sdStates.first = sd::SdState::ON;
         } else {
-          active.second = sd::SdState::ON;
+          sdStates.second = sd::SdState::ON;
         }
       } else if (word == "off") {
+        MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
         if (currentSd == sd::SdCard::SLOT_0) {
-          active.first = sd::SdState::OFF;
+          sdStates.first = sd::SdState::OFF;
         } else {
-          active.second = sd::SdState::OFF;
+          sdStates.second = sd::SdState::OFF;
         }
       }
     }
 
     if (mountLine) {
+      MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
       if (currentSd == sd::SdCard::SLOT_0) {
-        active.first = sd::SdState::MOUNTED;
+        sdStates.first = sd::SdState::MOUNTED;
       } else {
-        active.second = sd::SdState::MOUNTED;
+        sdStates.second = sd::SdState::MOUNTED;
       }
     }
 
@@ -378,7 +389,7 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& act
 }
 
 std::optional<sd::SdCard> SdCardManager::getPreferredSdCard() const {
-  MutexGuard mg(mutex);
+  MutexGuard mg(prefLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
   auto res = mg.getLockResult();
   if (res != returnvalue::OK) {
     sif::error << "SdCardManager::getPreferredSdCard: Lock error" << std::endl;
@@ -387,7 +398,7 @@ std::optional<sd::SdCard> SdCardManager::getPreferredSdCard() const {
 }
 
 ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
-  MutexGuard mg(mutex);
+  MutexGuard mg(prefLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
   if (sdCard == sd::SdCard::BOTH) {
     return returnvalue::FAILED;
   }
@@ -399,10 +410,9 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
   if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
     return CommandExecutor::COMMAND_PENDING;
   }
-  MutexGuard mg(mutex);
   // Use q7hw utility and pipe the command output into the state file
   std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
-  cmdExecutor.load(updateCmd, blocking, printCmdOutput);
+  cmdExecutor.load(updateCmd, true, printCmdOutput);
   ReturnValue_t result = cmdExecutor.execute();
   if (blocking and result != returnvalue::OK) {
     utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
@@ -410,9 +420,12 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
   return result;
 }
 
-const std::string& SdCardManager::getCurrentMountPrefix() const {
-  MutexGuard mg(mutex);
-  return currentPrefix;
+const char* SdCardManager::getCurrentMountPrefix() const {
+  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
+  if (currentPrefix.has_value()) {
+    return currentPrefix.value().c_str();
+  }
+  return nullptr;
 }
 
 SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {
@@ -461,41 +474,35 @@ void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = p
 
 bool SdCardManager::isSdCardUsable(std::optional<sd::SdCard> sdCard) {
   {
-    MutexGuard mg(mutex);
+    MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
     if (markedUnusable) {
       return false;
     }
   }
 
-  SdCardManager::SdStatePair active;
-  ReturnValue_t result = this->getSdCardsStatus(active);
-
-  if (result != returnvalue::OK) {
-    sif::debug << "SdCardManager::isSdCardMounted: Failed to get SD card active state";
-    return false;
-  }
+  MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
   if (not sdCard) {
-    if (active.first == sd::MOUNTED or active.second == sd::MOUNTED) {
+    if (sdStates.first == sd::MOUNTED or sdStates.second == sd::MOUNTED) {
       return true;
     }
     return false;
   }
   if (sdCard == sd::SLOT_0) {
-    if (active.first == sd::MOUNTED) {
+    if (sdStates.first == sd::MOUNTED) {
       return true;
     } else {
       return false;
     }
   }
   if (sdCard == sd::SLOT_1) {
-    if (active.second == sd::MOUNTED) {
+    if (sdStates.second == sd::MOUNTED) {
       return true;
     } else {
       return false;
     }
   }
   if (sdCard == sd::BOTH) {
-    if (active.first == sd::MOUNTED && active.second == sd::MOUNTED) {
+    if (sdStates.first == sd::MOUNTED && sdStates.second == sd::MOUNTED) {
       return true;
     }
   }
@@ -505,9 +512,9 @@ bool SdCardManager::isSdCardUsable(std::optional<sd::SdCard> sdCard) {
 ReturnValue_t SdCardManager::isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly) {
   std::ostringstream command;
   if (sdcard == sd::SdCard::SLOT_0) {
-    command << "grep -q '" << config::SD_0_MOUNT_POINT << " vfat ro,' /proc/mounts";
+    command << "grep -q '" << config::SD_0_MOUNT_POINT << " ext4 rw,' /proc/mounts";
   } else if (sdcard == sd::SdCard::SLOT_1) {
-    command << "grep -q '" << config::SD_1_MOUNT_POINT << " vfat ro,' /proc/mounts";
+    command << "grep -q '" << config::SD_1_MOUNT_POINT << " ext4 rw,' /proc/mounts";
   } else {
     return returnvalue::FAILED;
   }
@@ -516,18 +523,9 @@ ReturnValue_t SdCardManager::isSdCardMountedReadOnly(sd::SdCard sdcard, bool& re
     return result;
   }
   result = cmdExecutor.execute();
-  if (result != returnvalue::OK) {
-    int exitStatus = cmdExecutor.getLastError();
-    if (exitStatus == 1) {
-      readOnly = false;
-      return returnvalue::OK;
-    }
-    return result;
-  }
-  auto& readVec = cmdExecutor.getReadVector();
-  size_t readLen = strnlen(readVec.data(), readVec.size());
-  if (readLen == 0) {
+  if (result == returnvalue::OK) {
     readOnly = false;
+    return result;
   }
   readOnly = true;
   return returnvalue::OK;
@@ -566,7 +564,7 @@ ReturnValue_t SdCardManager::performFsck(sd::SdCard sdcard, bool printOutput, in
 }
 
 void SdCardManager::setActiveSdCard(sd::SdCard sdCard) {
-  MutexGuard mg(mutex);
+  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
   sdInfo.active = sdCard;
   if (sdInfo.active == sd::SdCard::SLOT_0) {
     currentPrefix = config::SD_0_MOUNT_POINT;
@@ -576,7 +574,7 @@ void SdCardManager::setActiveSdCard(sd::SdCard sdCard) {
 }
 
 std::optional<sd::SdCard> SdCardManager::getActiveSdCard() const {
-  MutexGuard mg(mutex);
+  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
   if (markedUnusable) {
     return std::nullopt;
   }
@@ -584,6 +582,6 @@ std::optional<sd::SdCard> SdCardManager::getActiveSdCard() const {
 }
 
 void SdCardManager::markUnusable() {
-  MutexGuard mg(mutex);
+  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
   markedUnusable = true;
 }

bsp_q7s/fs/SdCardManager.h

@@ -25,7 +25,7 @@ class MutexIF;
  *          state
  */
 class SdCardManager : public SystemObject, public SdCardMountedIF {
-  friend class SdCardAccess;
+  friend class CoreController;
 
  public:
   using mountInitCb = ReturnValue_t (*)(void* args);
@@ -187,7 +187,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * @param prefSdCardPtr
    * @return
    */
-  const std::string& getCurrentMountPrefix() const override;
+  const char* getCurrentMountPrefix() const override;
 
   OpStatus checkCurrentOp(Operations& currentOp);
 
@@ -218,21 +218,29 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
 
  private:
   CommandExecutor cmdExecutor;
+  SdStatePair sdStates;
   Operations currentOp = Operations::IDLE;
   bool blocking = false;
   bool sdCardActive = true;
   bool printCmdOutput = true;
   bool markedUnusable = false;
-  MutexIF* mutex = nullptr;
+  MutexIF* sdLock = nullptr;
+  MutexIF* prefLock = nullptr;
+  MutexIF* defaultLock = nullptr;
+  static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
+  static constexpr uint32_t SD_LOCK_TIMEOUT = 100;
+  static constexpr uint32_t OTHER_TIMEOUT = 20;
+  static constexpr char LOCK_CTX[] = "SdCardManager";
 
   SdCardManager();
 
+  ReturnValue_t updateSdStatePair();
+
   ReturnValue_t setSdCardState(sd::SdCard sdCard, bool on);
 
-  void processSdStatusLine(SdStatePair& active, std::string& line, uint8_t& idx,
-                           sd::SdCard& currentSd);
+  void processSdStatusLine(std::string& line, uint8_t& idx, sd::SdCard& currentSd);
 
-  std::string currentPrefix;
+  std::optional<std::string> currentPrefix;
 
   static SdCardManager* INSTANCE;
 };

bsp_q7s/fs/helpers.cpp

@@ -3,6 +3,9 @@
 std::filesystem::path fshelpers::getPrefixedPath(SdCardManager &man,
                                                  std::filesystem::path pathWihtoutPrefix) {
   auto prefix = man.getCurrentMountPrefix();
+  if (prefix == nullptr) {
+    return pathWihtoutPrefix;
+  }
   auto resPath = prefix / pathWihtoutPrefix;
   return resPath;
 }

bsp_q7s/main.cpp

@@ -12,10 +12,10 @@
  * @brief 	This is the main program for the target hardware.
  * @return
  */
-int main(void) {
+int main(int argc, char* argv[]) {
   using namespace std;
 #if Q7S_SIMPLE_MODE == 0
-  return obsw::obsw();
+  return obsw::obsw(argc, argv);
 #else
   return simple::simple();
 #endif

bsp_q7s/memory/CMakeLists.txt

@@ -1 +1 @@
-target_sources(${OBSW_NAME} PRIVATE scratchApi.cpp)
+target_sources(${OBSW_NAME} PRIVATE scratchApi.cpp LocalParameterHandler.cpp)

bsp_q7s/memory/LocalParameterHandler.cpp

@@ -0,0 +1,41 @@
+#include "LocalParameterHandler.h"
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+LocalParameterHandler::LocalParameterHandler(std::string sdRelativeName, SdCardMountedIF* sdcMan)
+    : NVMParameterBase(), sdRelativeName(sdRelativeName), sdcMan(sdcMan) {}
+
+LocalParameterHandler::~LocalParameterHandler() {}
+
+ReturnValue_t LocalParameterHandler::initialize() {
+  ReturnValue_t result = updateFullName();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = readJsonFile();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t LocalParameterHandler::writeJsonFile() {
+  ReturnValue_t result = updateFullName();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return NVMParameterBase::writeJsonFile();
+}
+
+ReturnValue_t LocalParameterHandler::updateFullName() {
+  std::string mountPrefix;
+  auto activeSd = sdcMan->getActiveSdCard();
+  if (activeSd and sdcMan->isSdCardUsable(activeSd.value())) {
+    mountPrefix = sdcMan->getCurrentMountPrefix();
+  } else {
+    return SD_NOT_READY;
+  }
+  std::string fullname = mountPrefix + "/" + sdRelativeName;
+  NVMParameterBase::setFullName(fullname);
+  return returnvalue::OK;
+}

bsp_q7s/memory/LocalParameterHandler.h

@@ -0,0 +1,106 @@
+#ifndef BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_
+#define BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_
+
+#include <mission/memory/NvmParameterBase.h>
+#include <mission/memory/SdCardMountedIF.h>
+
+#include <string>
+
+/**
+ * @brief	Class to handle persistent parameters
+ *
+ */
+class LocalParameterHandler : public NVMParameterBase {
+ public:
+  static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_PARAM_HANDLER;
+
+  static constexpr ReturnValue_t SD_NOT_READY = returnvalue::makeCode(INTERFACE_ID, 0);
+  /**
+   * @brief	Constructor
+   *
+   * @param sdRelativeName	Absolute name of json file relative to mount
+   * 												directory
+   * of SD card. E.g. conf/example.json
+   * @param sdcMan	Pointer to SD card manager
+   */
+  LocalParameterHandler(std::string sdRelativeName, SdCardMountedIF* sdcMan);
+  virtual ~LocalParameterHandler();
+
+  /**
+   * @brief Will initialize the local parameter handler
+   *
+   * @return OK if successful, otherwise error return value
+   */
+  ReturnValue_t initialize();
+
+  /**
+   * @brief Function to add parameter to json file. If the json file does
+   * 				not yet exist it will be created here.
+   *
+   * @param key	The string to identify the parameter
+   * @param value	The value to set for this parameter
+   *
+   * @return OK if successful, otherwise error return value
+   *
+   * @details The function will add the parameter only if it is not already
+   * 					present in the json file
+   */
+  template <typename T>
+  ReturnValue_t addParameter(std::string key, T value);
+
+  /**
+   * @brief	Function will update a parameter which already exists in the json
+   * 				file
+   *
+   * @param key 	The unique string to identify the parameter to update
+   * @param value The new new value to set
+   *
+   * @return OK if successful, otherwise error return value
+   */
+  template <typename T>
+  ReturnValue_t updateParameter(std::string key, T value);
+
+ private:
+  // Name relative to mount point of SD card where parameters will be stored
+  std::string sdRelativeName;
+
+  SdCardMountedIF* sdcMan;
+
+  virtual ReturnValue_t writeJsonFile();
+
+  /**
+   * @brief This function sets the name of the json file dependent on the
+   * 				currently active SD card
+   *
+   * @return OK if successful, otherwise error return value
+   */
+  ReturnValue_t updateFullName();
+};
+
+template <typename T>
+inline ReturnValue_t LocalParameterHandler::addParameter(std::string key, T value) {
+  ReturnValue_t result = insertValue(key, value);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = writeJsonFile();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return returnvalue::OK;
+}
+
+template <typename T>
+inline ReturnValue_t LocalParameterHandler::updateParameter(std::string key, T value) {
+  ReturnValue_t result = setValue(key, value);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = writeJsonFile();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return returnvalue::OK;
+}
+
+#endif /* BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_ */

bsp_q7s/obsw.cpp

@@ -1,23 +1,35 @@
 #include "obsw.h"
 
+#include <pwd.h>
+#include <sys/types.h>
+#include <unistd.h>
+
 #include <filesystem>
+#include <fstream>
 #include <iostream>
 
 #include "OBSWConfig.h"
+#include "bsp_q7s/core/WatchdogHandler.h"
 #include "commonConfig.h"
 #include "core/scheduling.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/version.h"
+#include "mission/acs/defs.h"
+#include "mission/com/defs.h"
+#include "mission/system/tree/system.h"
 #include "q7sConfig.h"
 #include "watchdog/definitions.h"
 
-static int OBSW_ALREADY_RUNNING = -2;
+static constexpr int OBSW_ALREADY_RUNNING = -2;
 #if OBSW_Q7S_EM == 0
 static const char* DEV_STRING = "Xiphos Q7S FM";
 #else
 static const char* DEV_STRING = "Xiphos Q7S EM";
 #endif
-int obsw::obsw() {
+
+WatchdogHandler WATCHDOG_HANDLER;
+
+int obsw::obsw(int argc, char* argv[]) {
   using namespace fsfw;
   std::cout << "-- EIVE OBSW --" << std::endl;
   std::cout << "-- Compiled for Linux (" << DEV_STRING << ") --" << std::endl;
@@ -26,9 +38,10 @@ int obsw::obsw() {
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
 
 #if Q7S_CHECK_FOR_ALREADY_RUNNING_IMG == 1
+  std::error_code e;
   // Check special file here. This file is created or deleted by the eive-watchdog application
   // or systemd service!
-  if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
+  if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME, e)) {
     sif::warning << "File " << watchdog::RUNNING_FILE_NAME
                  << " exists so the software might "
                     "already be running. Check if obsw systemd service has been stopped."
@@ -36,11 +49,103 @@ int obsw::obsw() {
     return OBSW_ALREADY_RUNNING;
   }
 #endif
+
+  // Delay the boot if applicable.
+  bootDelayHandling();
+
+  bool initWatchFunction = false;
+  std::string fullExecPath = argv[0];
+  if (fullExecPath.find("/usr/bin") != std::string::npos) {
+    initWatchFunction = true;
+  }
+  ReturnValue_t result = WATCHDOG_HANDLER.initialize(initWatchFunction);
+  if (result != returnvalue::OK) {
+    std::cerr << "Initiating EIVE watchdog handler failed" << std::endl;
+  }
+
   scheduling::initMission();
 
+  // Command the EIVE system to safe mode
+#if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
+  // This ensures that the PCDU switches were updated.
+  TaskFactory::delayTask(1000);
+  commandComSubsystemRxOnly();
+  commandEiveSystemToSafe();
+#else
+  announceAllModes();
+#endif
+
   for (;;) {
-    /* Suspend main thread by sleeping it. */
-    TaskFactory::delayTask(5000);
+    WATCHDOG_HANDLER.periodicOperation();
+    TaskFactory::delayTask(2000);
   }
   return 0;
 }
+
+void obsw::bootDelayHandling() {
+  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";
+  std::error_code e;
+  // Init delay handling.
+  if (std::filesystem::exists(bootDelayFile, e)) {
+    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);
+  }
+}
+
+void obsw::commandEiveSystemToSafe() {
+  auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
+  CommandMessage msg;
+  ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
+  ReturnValue_t result =
+      MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
+  if (result != returnvalue::OK) {
+    sif::error << "obsw: Sending safe mode command to EIVE system failed" << std::endl;
+  }
+}
+
+void obsw::commandComSubsystemRxOnly() {
+  auto* comSs = ObjectManager::instance()->get<HasModesIF>(objects::COM_SUBSYSTEM);
+  if (comSs == nullptr) {
+    sif::error << "obsw: Could not retrieve COM subsystem object" << std::endl;
+    return;
+  }
+  CommandMessage msg;
+  ModeMessage::setCmdModeMessage(msg, com::RX_ONLY, 0);
+  ReturnValue_t result = MessageQueueSenderIF::sendMessage(comSs->getCommandQueue(), &msg,
+                                                           MessageQueueIF::NO_QUEUE, false);
+  if (result != returnvalue::OK) {
+    sif::error << "obsw: Sending RX_ONLY mode command to COM subsystem failed" << std::endl;
+  }
+}
+
+void obsw::announceAllModes() {
+  auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
+  CommandMessage msg;
+  ModeMessage::setModeAnnounceMessage(msg, true);
+  ReturnValue_t result =
+      MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
+  if (result != returnvalue::OK) {
+    sif::error << "obsw: Sending safe mode command to EIVE system failed" << std::endl;
+  }
+}

bsp_q7s/obsw.h

@@ -3,8 +3,13 @@
 
 namespace obsw {
 
-int obsw();
+int obsw(int argc, char* argv[]);
 
-};
+void bootDelayHandling();
+void commandEiveSystemToSafe();
+void commandComSubsystemRxOnly();
+void announceAllModes();
+
+};  // namespace obsw
 
 #endif /* BSP_Q7S_CORE_OBSW_H_ */

clone-submodules-no-privlibs.sh

@@ -0,0 +1,6 @@
+#!/bin/bash
+
+root="$(pwd)"
+ln -s "$root/hooks" "$root/.git/hooks"
+
+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})
-    list(APPEND GIT_INFO ${VERSION_SHA1})
+    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/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

@@ -4,6 +4,8 @@
 #include <cstdint>
 #include "fsfw/version.h"
 
+#cmakedefine RELEASE_BUILD
+
 #cmakedefine RASPBERRY_PI
 #cmakedefine XIPHOS_Q7S
 #cmakedefine BEAGLEBONEBLACK
@@ -17,7 +19,7 @@ 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
+#define OBSW_ADD_TCPIP_SERVERS              1
 
 #define OBSW_ADD_CFDP_COMPONENTS            1
 
@@ -36,14 +38,6 @@ 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

@@ -5,6 +5,7 @@
 
 #include <cstdint>
 
+#include "commonConfig.h"
 #include "fsfw/timemanager/clockDefinitions.h"
 #include "fsfw_hal/linux/serial/SerialCookie.h"
 #include "fsfw_hal/linux/spi/spiDefinitions.h"
@@ -47,13 +48,22 @@ static constexpr spi::SpiModes DEFAULT_ADIS16507_MODE = spi::SpiModes::MODE_3;
 static constexpr uint32_t RW_SPEED = 300'000;
 static constexpr spi::SpiModes RW_MODE = spi::SpiModes::MODE_0;
 
-static constexpr dur_millis_t RTD_CS_TIMEOUT = 50;
+#ifdef RELEASE_BUILD
+static constexpr uint8_t CS_FACTOR = 1;
+#else
+static constexpr uint8_t CS_FACTOR = 3;
+#endif
+
+static constexpr dur_millis_t RTD_CS_TIMEOUT = 50 * CS_FACTOR;
 static constexpr uint32_t RTD_SPEED = 2'000'000;
 static constexpr spi::SpiModes RTD_MODE = spi::SpiModes::MODE_3;
 
+static constexpr dur_millis_t SUS_CS_TIMEOUT = 50 * CS_FACTOR;
+static constexpr dur_millis_t ACS_BOARD_CS_TIMEOUT = 50 * CS_FACTOR;
+
 }  // namespace spi
 
-namespace uart {
+namespace serial {
 
 static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024;
 static constexpr UartBaudRate SYRLINKS_BAUD = UartBaudRate::RATE_38400;
@@ -63,6 +73,6 @@ static constexpr UartBaudRate PLOC_MPSOC_BAUD = UartBaudRate::RATE_115200;
 static constexpr UartBaudRate PLOC_SUPV_BAUD = UartBaudRate::RATE_921600;
 static constexpr UartBaudRate STAR_TRACKER_BAUD = UartBaudRate::RATE_921600;
 
-}  // namespace uart
+}  // namespace serial
 
 #endif /* COMMON_CONFIG_DEVCONF_H_ */

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/devices/gpioIds.h

@@ -102,6 +102,7 @@ enum gpioId_t {
   VC2_PAPB_BUSY,
   VC3_PAPB_EMPTY,
   VC3_PAPB_BUSY,
+  PTME_RESETN,
 
   PDEC_RESET,
 

common/config/devices/heaterSwitcherList.h

@@ -12,7 +12,7 @@ enum Switchers : uint8_t {
   HEATER_4_CAMERA,
   HEATER_5_STR,
   HEATER_6_DRO,
-  HEATER_7_HPA,
+  HEATER_7_S_BAND,
   NUMBER_OF_SWITCHES
 };
 }

common/config/eive/definitions.h

@@ -39,10 +39,56 @@ 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 uint32_t VC0_LIVE_TM_QUEUE_SIZE = 300;
+// There are three individual log stores!
+static constexpr uint32_t MISC_STORE_QUEUE_SIZE = 200;
+static constexpr uint32_t OK_STORE_QUEUE_SIZE = 350;
+static constexpr uint32_t NOK_STORE_QUEUE_SIZE = 350;
+static constexpr uint32_t HK_STORE_QUEUE_SIZE = 300;
+static constexpr uint32_t CFDP_STORE_QUEUE_SIZE = 300;
+
+static constexpr uint32_t MAX_PUS_FUNNEL_QUEUE_DEPTH = 100;
+static constexpr uint32_t MAX_CFDP_FUNNEL_QUEUE_DEPTH = 80;
+
+static constexpr uint32_t MAX_STORED_CMDS_UDP = 150;
+static constexpr uint32_t MAX_STORED_CMDS_TCP = 180;
+
+namespace spiSched {
+
+static constexpr uint32_t SCHED_BLOCK_1_SUS_READ_MS = 15;
+static constexpr uint32_t SCHED_BLOCK_2_SENSOR_READ_MS = 30;
+static constexpr uint32_t SCHED_BLOCK_3_READ_IMTQ_MGM_MS = 43;
+static constexpr uint32_t SCHED_BLOCK_4_ACS_CTRL_MS = 45;
+static constexpr uint32_t SCHED_BLOCK_5_ACTUATOR_MS = 55;
+static constexpr uint32_t SCHED_BLOCK_6_IMTQ_BLOCK_2_MS = 105;
+static constexpr uint32_t SCHED_BLOCK_RTD = 150;
+static constexpr uint32_t SCHED_BLOCK_7_RW_READ_MS = 300;
+static constexpr uint32_t SCHED_BLOCK_8_PLPCDU_MS = 320;
+static constexpr uint32_t SCHED_BLOCK_9_RAD_SENS_MS = 340;
+
+// 15 ms for FM
+static constexpr float SCHED_BLOCK_1_PERIOD = static_cast<float>(SCHED_BLOCK_1_SUS_READ_MS) / 400.0;
+static constexpr float SCHED_BLOCK_2_PERIOD =
+    static_cast<float>(SCHED_BLOCK_2_SENSOR_READ_MS) / 400.0;
+static constexpr float SCHED_BLOCK_3_PERIOD =
+    static_cast<float>(SCHED_BLOCK_3_READ_IMTQ_MGM_MS) / 400.0;
+static constexpr float SCHED_BLOCK_4_PERIOD = static_cast<float>(SCHED_BLOCK_4_ACS_CTRL_MS) / 400.0;
+static constexpr float SCHED_BLOCK_5_PERIOD = static_cast<float>(SCHED_BLOCK_5_ACTUATOR_MS) / 400.0;
+static constexpr float SCHED_BLOCK_6_PERIOD =
+    static_cast<float>(SCHED_BLOCK_6_IMTQ_BLOCK_2_MS) / 400.0;
+static constexpr float SCHED_BLOCK_RTD_PERIOD = static_cast<float>(SCHED_BLOCK_RTD) / 400.0;
+static constexpr float SCHED_BLOCK_7_PERIOD = static_cast<float>(SCHED_BLOCK_7_RW_READ_MS) / 400.0;
+static constexpr float SCHED_BLOCK_8_PERIOD = static_cast<float>(SCHED_BLOCK_8_PLPCDU_MS) / 400.0;
+static constexpr float SCHED_BLOCK_9_PERIOD = static_cast<float>(SCHED_BLOCK_9_RAD_SENS_MS) / 400.0;
+
+}  // namespace spiSched
+
 }  // namespace config
 
 #endif /* COMMON_CONFIG_DEFINITIONS_H_ */

common/config/eive/eventSubsystemIds.h

@@ -35,6 +35,11 @@ enum : uint8_t {
   SYRLINKS = 137,
   SCEX_HANDLER = 138,
   CONFIGHANDLER = 139,
+  CORE = 140,
+  TCS_CONTROLLER = 141,
+  COM_SUBSYSTEM = 142,
+  PERSISTENT_TM_STORE = 143,
+  SYRLINKS_COM = 144,
   COMMON_SUBSYSTEM_ID_END
 
 };

common/config/eive/objects.h

@@ -8,8 +8,10 @@ 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,
@@ -42,13 +44,14 @@ enum commonObjects : uint32_t {
   STAR_TRACKER = 0x44130001,
   GPS_CONTROLLER = 0x44130045,
 
+  IMTQ_POLLING = 0x44140013,
   IMTQ_HANDLER = 0x44140014,
   TMP1075_HANDLER_TCS_0 = 0x44420004,
   TMP1075_HANDLER_TCS_1 = 0x44420005,
   TMP1075_HANDLER_PLPCDU_0 = 0x44420006,
   TMP1075_HANDLER_PLPCDU_1 = 0x44420007,
   TMP1075_HANDLER_IF_BOARD = 0x44420008,
-  TMP1075_HANDLER_OBC_IF_BOARD = 0x44420009,
+
   PCDU_HANDLER = 0x442000A1,
   P60DOCK_HANDLER = 0x44250000,
   PDU1_HANDLER = 0x44250001,
@@ -59,10 +62,14 @@ enum commonObjects : uint32_t {
   RAD_SENSOR = 0x443200A5,
   PLOC_UPDATER = 0x44330000,
   PLOC_MEMORY_DUMPER = 0x44330001,
-  STR_HELPER = 0x44330002,
+  STR_COM_IF = 0x44330002,
   PLOC_MPSOC_HELPER = 0x44330003,
   AXI_PTME_CONFIG = 0x44330004,
   PTME_CONFIG = 0x44330005,
+  PTME_VC0_LIVE_TM = 0x44330006,
+  PTME_VC1_LOG_TM = 0x44330007,
+  PTME_VC2_HK_TM = 0x44330008,
+  PTME_VC3_CFDP_TM = 0x44330009,
   PLOC_MPSOC_HANDLER = 0x44330015,
   PLOC_SUPERVISOR_HANDLER = 0x44330016,
   PLOC_SUPERVISOR_HELPER = 0x44330017,
@@ -115,10 +122,14 @@ 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,
+  SYRLINKS_COM_HANDLER = 0x445300A4,
 
   /* 0x49 ('I') for Communication Interfaces */
-  SPI_RTD_COM_IF = 0x49020006,
+  ACS_BOARD_POLLING_TASK = 0x49060004,
+  RW_POLLING_TASK = 0x49060005,
+  SPI_RTD_COM_IF = 0x49060006,
+  SUS_POLLING_TASK = 0x49060007,
 
   // 0x60 for other stuff
   HEATER_0_PLOC_PROC_BRD = 0x60000000,
@@ -128,22 +139,42 @@ enum commonObjects : uint32_t {
   HEATER_4_CAMERA = 0x60000004,
   HEATER_5_STR = 0x60000005,
   HEATER_6_DRO = 0x60000006,
-  HEATER_7_HPA = 0x60000007,
+  HEATER_7_SYRLINKS = 0x60000007,
 
   // 0x73 ('s') for assemblies and system/subsystem components
   ACS_BOARD_ASS = 0x73000001,
   SUS_BOARD_ASS = 0x73000002,
   TCS_BOARD_ASS = 0x73000003,
-  RW_ASS = 0x73000004,
+  RW_ASSY = 0x73000004,
   CAM_SWITCHER = 0x73000006,
+  SYRLINKS_ASSY = 0x73000007,
+  IMTQ_ASSY = 0x73000008,
+  STR_ASSY = 0x73000009,
+  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,
   CFDP_HANDLER = 0x73000205,
   CFDP_DISTRIBUTOR = 0x73000206,
+  MISC_TM_STORE = 0x73020001,
+  OK_TM_STORE = 0x73020002,
+  NOT_OK_TM_STORE = 0x73020003,
+  HK_TM_STORE = 0x73020004,
+  CFDP_TM_STORE = 0x73030000,
+
+  LIVE_TM_TASK = 0x73040000,
+  LOG_STORE_AND_TM_TASK = 0x73040001,
+  HK_STORE_AND_TM_TASK = 0x73040002,
+  CFDP_STORE_AND_TM_TASK = 0x73040003,
+  DOWNLINK_RAM_STORE = 0x73040004,
+
+  // Other stuff
+  THERMAL_TEMP_INSERTER = 0x90000003,
 };
 }
 

common/config/eive/resultClassIds.h

@@ -35,9 +35,17 @@ enum commonClassIds : uint8_t {
   SA_DEPL_HANDLER,          // SADPL
   MPSOC_RETURN_VALUES_IF,   // MPSOCRTVIF
   SUPV_RETURN_VALUES_IF,    // SPVRTVIF
+  ACS_CTRL,                 // ACSCTRL
+  ACS_MEKF,                 // ACSMEKF
+  ACS_SAFE,                 // ACSSAF
+  ACS_PTG,                  // ACSPTG
+  ACS_DETUMBLE,             // ACSDTB
+  SD_CARD_MANAGER,          // SDMA
+  LOCAL_PARAM_HANDLER,      // LPH
+  PERSISTENT_TM_STORE,      // PTM
+  TM_SINK,                  // TMS
   COMMON_CLASS_ID_END       // [EXPORT] : [END]
 };
-
 }
 
 #endif /* COMMON_CONFIG_COMMONCLASSIDS_H_ */

common/config/tmtc/pusIds.h

@@ -12,6 +12,7 @@ enum Ids {
   PUS_SERVICE_8 = 8,
   PUS_SERVICE_9 = 9,
   PUS_SERVICE_11 = 11,
+  PUS_SERVICE_15 = 15,
   PUS_SERVICE_17 = 17,
   PUS_SERVICE_19 = 19,
   PUS_SERVICE_20 = 20,

dummies/AcuDummy.cpp

@@ -7,9 +7,9 @@ AcuDummy::AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
 
 AcuDummy::~AcuDummy() {}
 
-void AcuDummy::doStartUp() {}
+void AcuDummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void AcuDummy::doShutDown() {}
+void AcuDummy::doShutDown() { setMode(MODE_OFF); }
 
 ReturnValue_t AcuDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
 
@@ -37,6 +37,7 @@ uint32_t AcuDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return
 
 ReturnValue_t AcuDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                 LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(ACU::pool::ACU_TEMPERATURES, new PoolEntry<float>(3));
+  localDataPoolMap.emplace(ACU::pool::ACU_TEMPERATURES,
+                           new PoolEntry<float>({10.0, 10.0, 10.0}, true));
   return returnvalue::OK;
 }

dummies/BpxDummy.cpp

@@ -7,9 +7,9 @@ BpxDummy::BpxDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
 
 BpxDummy::~BpxDummy() {}
 
-void BpxDummy::doStartUp() {}
+void BpxDummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void BpxDummy::doShutDown() {}
+void BpxDummy::doShutDown() { setMode(MODE_OFF); }
 
 ReturnValue_t BpxDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
 

dummies/BpxDummy.h

@@ -34,10 +34,10 @@ class BpxDummy : public DeviceHandlerBase {
   PoolEntry<uint16_t> dischargeCurrent = PoolEntry<uint16_t>({0});
   PoolEntry<uint16_t> heaterCurrent = PoolEntry<uint16_t>({0});
   PoolEntry<uint16_t> battVolt = PoolEntry<uint16_t>({0});
-  PoolEntry<int16_t> battTemp1 = PoolEntry<int16_t>({0});
-  PoolEntry<int16_t> battTemp2 = PoolEntry<int16_t>({0});
-  PoolEntry<int16_t> battTemp3 = PoolEntry<int16_t>({0});
-  PoolEntry<int16_t> battTemp4 = PoolEntry<int16_t>({0});
+  PoolEntry<int16_t> battTemp1 = PoolEntry<int16_t>({10}, true);
+  PoolEntry<int16_t> battTemp2 = PoolEntry<int16_t>({10}, true);
+  PoolEntry<int16_t> battTemp3 = PoolEntry<int16_t>({10}, true);
+  PoolEntry<int16_t> battTemp4 = PoolEntry<int16_t>({10}, true);
   PoolEntry<uint32_t> rebootCounter = PoolEntry<uint32_t>({0});
   PoolEntry<uint8_t> bootCause = PoolEntry<uint8_t>({0});
   PoolEntry<uint8_t> battheatMode = PoolEntry<uint8_t>({0});

dummies/CMakeLists.txt

@@ -1,11 +1,13 @@
 target_sources(
   ${LIB_DUMMIES}
-  PUBLIC TemperatureSensorsDummy.cpp
+  PUBLIC TemperatureSensorInserter.cpp
          SusDummy.cpp
          BpxDummy.cpp
          ComIFDummy.cpp
          ComCookieDummy.cpp
          RwDummy.cpp
+         Max31865Dummy.cpp
+         PcduHandlerDummy.cpp
          StarTrackerDummy.cpp
          SyrlinksDummy.cpp
          ImtqDummy.cpp
@@ -13,10 +15,17 @@ target_sources(
          PduDummy.cpp
          P60DockDummy.cpp
          SaDeploymentDummy.cpp
+         GpsDhbDummy.cpp
+         GpsCtrlDummy.cpp
          GyroAdisDummy.cpp
          GyroL3GD20Dummy.cpp
          MgmLIS3MDLDummy.cpp
          PlPcduDummy.cpp
+         ExecutableComIfDummy.cpp
+         ScexDummy.cpp
          CoreControllerDummy.cpp
+         PlocMpsocDummy.cpp
+         PlocSupervisorDummy.cpp
          helpers.cpp
-         MgmRm3100Dummy.cpp)
+         MgmRm3100Dummy.cpp
+         Tmp1075Dummy.cpp)

dummies/CoreControllerDummy.h

@@ -1,7 +1,7 @@
 #pragma once
 
 #include <fsfw/controller/ExtendedControllerBase.h>
-#include <mission/devices/devicedefinitions/SusDefinitions.h>
+#include <mission/devices/devicedefinitions/susMax1227Helpers.h>
 
 class CoreControllerDummy : public ExtendedControllerBase {
  public:

dummies/ExecutableComIfDummy.cpp

@@ -0,0 +1,27 @@
+#include <dummies/ExecutableComIfDummy.h>
+
+ExecutableComIfDummy::ExecutableComIfDummy(object_id_t objectId) : SystemObject(objectId) {}
+
+ReturnValue_t ExecutableComIfDummy::initializeInterface(CookieIF *cookie) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ExecutableComIfDummy::sendMessage(CookieIF *cookie, const uint8_t *sendData,
+                                                size_t sendLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ExecutableComIfDummy::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; }
+
+ReturnValue_t ExecutableComIfDummy::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ExecutableComIfDummy::performOperation(uint8_t operationCode) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ExecutableComIfDummy::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+                                                        size_t *size) {
+  return returnvalue::OK;
+}

dummies/ExecutableComIfDummy.h

@@ -0,0 +1,21 @@
+#ifndef DUMMIES_EXECUTABLECOMIFDUMMY_H_
+#define DUMMIES_EXECUTABLECOMIFDUMMY_H_
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+
+class ExecutableComIfDummy : public ExecutableObjectIF,
+                             public DeviceCommunicationIF,
+                             public SystemObject {
+ public:
+  ExecutableComIfDummy(object_id_t objectId);
+  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t initializeInterface(CookieIF *cookie) override;
+  ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
+};
+
+#endif /* DUMMIES_EXECUTABLECOMIFDUMMY_H_ */

dummies/GpsCtrlDummy.cpp

@@ -0,0 +1,36 @@
+#include "GpsCtrlDummy.h"
+
+GpsCtrlDummy::GpsCtrlDummy(object_id_t objectId)
+    : ExtendedControllerBase(objectId, 20), gpsSet(this) {}
+
+ReturnValue_t GpsCtrlDummy::handleCommandMessage(CommandMessage* message) {
+  return returnvalue::OK;
+}
+
+void GpsCtrlDummy::performControlOperation() {}
+
+ReturnValue_t GpsCtrlDummy::checkModeCommand(Mode_t mode, Submode_t submode,
+                                             uint32_t* msToReachTheMode) {
+  return returnvalue::OK;
+}
+
+LocalPoolDataSetBase* GpsCtrlDummy::getDataSetHandle(sid_t sid) { return &gpsSet; }
+
+ReturnValue_t GpsCtrlDummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                                    LocalDataPoolManager& poolManager) {
+  localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({537222.3469}, true));
+  localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({-8.8579}, true));
+  localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({49.5952}, true));
+  localDataPoolMap.emplace(GpsHyperion::SPEED, new PoolEntry<double>({0}));
+  localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>({2023}, true));
+  localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>({5}, true));
+  localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>({16}, true));
+  localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry<uint8_t>({1}, true));
+  localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry<uint8_t>({0}, true));
+  localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>({0}, true));
+  localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>({1684191600}, true));
+  localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
+  localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
+  localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
+  return returnvalue::OK;
+}

dummies/GpsCtrlDummy.h

@@ -0,0 +1,23 @@
+#ifndef DUMMIES_GPSCTRLDUMMY_H_
+#define DUMMIES_GPSCTRLDUMMY_H_
+
+#include <fsfw/controller/ExtendedControllerBase.h>
+#include <mission/devices/devicedefinitions/GPSDefinitions.h>
+
+class GpsCtrlDummy : public ExtendedControllerBase {
+ public:
+  GpsCtrlDummy(object_id_t objectId);
+
+ private:
+  GpsPrimaryDataset gpsSet;
+
+  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
+  void performControlOperation() override;
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t* msToReachTheMode) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                        LocalDataPoolManager& poolManager) override;
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+};
+
+#endif /* DUMMIES_GPSCTRLDUMMY_H_ */

dummies/GpsDhbDummy.cpp

@@ -0,0 +1,58 @@
+#include <dummies/GpsDhbDummy.h>
+#include <mission/devices/devicedefinitions/GPSDefinitions.h>
+
+GpsDhbDummy::GpsDhbDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie) {}
+
+GpsDhbDummy::~GpsDhbDummy() {}
+
+void GpsDhbDummy::doStartUp() {}
+
+void GpsDhbDummy::doShutDown() {}
+
+ReturnValue_t GpsDhbDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t GpsDhbDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t GpsDhbDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                   const uint8_t *commandData,
+                                                   size_t commandDataLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t GpsDhbDummy::scanForReply(const uint8_t *start, size_t len,
+                                        DeviceCommandId_t *foundId, size_t *foundLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t GpsDhbDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  return returnvalue::OK;
+}
+
+void GpsDhbDummy::fillCommandAndReplyMap() {}
+
+uint32_t GpsDhbDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+
+ReturnValue_t GpsDhbDummy::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/GpsDhbDummy.h

@@ -0,0 +1,33 @@
+#ifndef DUMMIES_GPSDHBDUMMY_H_
+#define DUMMIES_GPSDHBDUMMY_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+class GpsDhbDummy : 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;
+
+  GpsDhbDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  virtual ~GpsDhbDummy();
+
+ 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_GPSDHBDUMMY_H_ */

dummies/GyroAdisDummy.cpp

@@ -1,15 +1,15 @@
 #include "GyroAdisDummy.h"
 
-#include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
+#include <mission/acs/gyroAdisHelpers.h>
 
 GyroAdisDummy::GyroAdisDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie), dataset(this) {}
 
 GyroAdisDummy::~GyroAdisDummy() {}
 
-void GyroAdisDummy::doStartUp() {}
+void GyroAdisDummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void GyroAdisDummy::doShutDown() {}
+void GyroAdisDummy::doShutDown() { setMode(MODE_OFF); }
 
 ReturnValue_t GyroAdisDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;
@@ -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::TEMPERATURE, new PoolEntry<float>({0.0}));
+  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/GyroAdisDummy.h

@@ -2,8 +2,7 @@
 #define DUMMIES_GYROADISDUMMY_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-
-#include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
+#include <mission/acs/gyroAdisHelpers.h>
 
 class GyroAdisDummy : public DeviceHandlerBase {
  public:

dummies/GyroL3GD20Dummy.cpp

@@ -1,15 +1,15 @@
 #include "GyroL3GD20Dummy.h"
 
-#include "fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h"
+#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
 
 GyroL3GD20Dummy::GyroL3GD20Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
 
 GyroL3GD20Dummy::~GyroL3GD20Dummy() {}
 
-void GyroL3GD20Dummy::doStartUp() {}
+void GyroL3GD20Dummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void GyroL3GD20Dummy::doShutDown() {}
+void GyroL3GD20Dummy::doShutDown() { setMode(MODE_OFF); }
 
 ReturnValue_t GyroL3GD20Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;
@@ -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::TEMPERATURE, 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

@@ -1,15 +1,15 @@
 #include "ImtqDummy.h"
 
-#include <mission/devices/devicedefinitions/imtqHandlerDefinitions.h>
+#include <mission/acs/imtqHelpers.h>
 
 ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
 
-ImtqDummy::~ImtqDummy() {}
+ImtqDummy::~ImtqDummy() = default;
 
-void ImtqDummy::doStartUp() {}
+void ImtqDummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void ImtqDummy::doShutDown() {}
+void ImtqDummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
 
 ReturnValue_t ImtqDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
 
@@ -38,6 +38,10 @@ uint32_t ImtqDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { retur
 
 ReturnValue_t ImtqDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                  LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(IMTQ::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
-  return returnvalue::OK;
+  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 DeviceHandlerBase::initializeLocalDataPool(localDataPoolMap, poolManager);
 }

dummies/ImtqDummy.h

@@ -12,7 +12,7 @@ class ImtqDummy : public DeviceHandlerBase {
   static const uint8_t PERIODIC_REPLY_DATA = 2;
 
   ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
-  virtual ~ImtqDummy();
+  ~ImtqDummy() override;
 
  protected:
   void doStartUp() override;

dummies/Max31865Dummy.cpp

@@ -0,0 +1,45 @@
+#include "Max31865Dummy.h"
+
+using namespace returnvalue;
+
+Max31865Dummy::Max31865Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie), set(this, EiveMax31855::EXCHANGE_SET_ID) {}
+void Max31865Dummy::doStartUp() { setMode(MODE_ON); }
+void Max31865Dummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
+ReturnValue_t Max31865Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+ReturnValue_t Max31865Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) { return OK; }
+ReturnValue_t Max31865Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                     const uint8_t *commandData,
+                                                     size_t commandDataLen) {
+  return 0;
+}
+ReturnValue_t Max31865Dummy::scanForReply(const uint8_t *start, size_t len,
+                                          DeviceCommandId_t *foundId, size_t *foundLen) {
+  return 0;
+}
+ReturnValue_t Max31865Dummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  return 0;
+}
+void Max31865Dummy::fillCommandAndReplyMap() {}
+uint32_t Max31865Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 0; }
+ReturnValue_t Max31865Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                     LocalDataPoolManager &poolManager) {
+  using namespace MAX31865;
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::RTD_VALUE), new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::TEMPERATURE_C), new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::LAST_FAULT_BYTE),
+                           new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::FAULT_BYTE), new PoolEntry<uint8_t>({0}));
+  return OK;
+}
+
+void Max31865Dummy::setTemperature(float temperature) {
+  set.temperatureCelcius.value = temperature;
+}
+
+LocalPoolDataSetBase *Max31865Dummy::getDataSetHandle(sid_t sid) { return &set; }
+Max31865Dummy::Max31865Dummy(object_id_t objectId, CookieIF *cookie)
+    : DeviceHandlerBase(objectId, objects::DUMMY_COM_IF, cookie),
+      set(this, EiveMax31855::EXCHANGE_SET_ID) {}

dummies/Max31865Dummy.h

@@ -0,0 +1,33 @@
+#ifndef EIVE_OBSW_MAX31865DUMMY_H
+#define EIVE_OBSW_MAX31865DUMMY_H
+
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "mission/devices/devicedefinitions/Max31865Definitions.h"
+
+class Max31865Dummy : public DeviceHandlerBase {
+ public:
+  Max31865Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  Max31865Dummy(object_id_t objectId, CookieIF *comCookie);
+
+  void setTemperature(float temperature);
+
+ private:
+  MAX31865::PrimarySet set;
+
+  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;
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
+};
+
+#endif  // EIVE_OBSW_MAX31865DUMMY_H

dummies/MgmLIS3MDLDummy.cpp

@@ -1,15 +1,15 @@
 #include "MgmLIS3MDLDummy.h"
 
-#include "fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h"
+#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
 
 MgmLIS3MDLDummy::MgmLIS3MDLDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie), dataset(this) {}
 
 MgmLIS3MDLDummy::~MgmLIS3MDLDummy() {}
 
-void MgmLIS3MDLDummy::doStartUp() {}
+void MgmLIS3MDLDummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void MgmLIS3MDLDummy::doShutDown() {}
+void MgmLIS3MDLDummy::doShutDown() { setMode(MODE_OFF); }
 
 ReturnValue_t MgmLIS3MDLDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;
@@ -40,6 +40,8 @@ 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(mgmLis3::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(mgmLis3::FIELD_STRENGTHS,
+                           new PoolEntry<float>({1.02, 0.56, -0.78}, true));
   return returnvalue::OK;
 }

dummies/MgmLIS3MDLDummy.h

@@ -2,8 +2,7 @@
 #define DUMMIES_MGMLIS3MDLDUMMY_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-
-#include "fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h"
+#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
 
 class MgmLIS3MDLDummy : public DeviceHandlerBase {
  public:
@@ -17,7 +16,7 @@ class MgmLIS3MDLDummy : public DeviceHandlerBase {
   virtual ~MgmLIS3MDLDummy();
 
  protected:
-  MGMLIS3MDL::MgmPrimaryDataset dataset;
+  mgmLis3::MgmPrimaryDataset dataset;
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;

dummies/MgmRm3100Dummy.cpp

@@ -7,18 +7,22 @@ MgmRm3100Dummy::MgmRm3100Dummy(object_id_t objectId, object_id_t comif, CookieIF
 
 MgmRm3100Dummy::~MgmRm3100Dummy() = default;
 
-void MgmRm3100Dummy::doStartUp() {}
+void MgmRm3100Dummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void MgmRm3100Dummy::doShutDown() {}
+void MgmRm3100Dummy::doShutDown() { setMode(MODE_OFF); }
 
-ReturnValue_t MgmRm3100Dummy::buildNormalDeviceCommand(DeviceCommandId_t* id) { return OK; }
+ReturnValue_t MgmRm3100Dummy::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+  return NOTHING_TO_SEND;
+}
 
-ReturnValue_t MgmRm3100Dummy::buildTransitionDeviceCommand(DeviceCommandId_t* id) { return OK; }
+ReturnValue_t MgmRm3100Dummy::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  return NOTHING_TO_SEND;
+}
 
 ReturnValue_t MgmRm3100Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                       const uint8_t* commandData,
                                                       size_t commandDataLen) {
-  return OK;
+  return NOTHING_TO_SEND;
 }
 
 ReturnValue_t MgmRm3100Dummy::scanForReply(const uint8_t* start, size_t len,
@@ -36,5 +40,7 @@ uint32_t MgmRm3100Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
 
 ReturnValue_t MgmRm3100Dummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                       LocalDataPoolManager& poolManager) {
-  return OK;
+  localDataPoolMap.emplace(mgmRm3100::FIELD_STRENGTHS,
+                           new PoolEntry<float>({0.87, -0.95, 0.11}, true));
+  return returnvalue::OK;
 }

dummies/MgmRm3100Dummy.h

@@ -1,8 +1,9 @@
 #ifndef DUMMIES_MGMRM3100DUMMY_H_
 #define DUMMIES_MGMRM3100DUMMY_H_
 
+#include <fsfw_hal/devicehandlers/devicedefinitions/mgmRm3100Helpers.h>
+
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
-#include "fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h"
 
 class MgmRm3100Dummy : public DeviceHandlerBase {
  public:
@@ -10,7 +11,7 @@ class MgmRm3100Dummy : public DeviceHandlerBase {
   virtual ~MgmRm3100Dummy();
 
  protected:
-  RM3100::Rm3100PrimaryDataset dataset;
+  mgmRm3100::Rm3100PrimaryDataset dataset;
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;

dummies/P60DockDummy.cpp

@@ -7,9 +7,9 @@ P60DockDummy::P60DockDummy(object_id_t objectId, object_id_t comif, CookieIF *co
 
 P60DockDummy::~P60DockDummy() {}
 
-void P60DockDummy::doStartUp() {}
+void P60DockDummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void P60DockDummy::doShutDown() {}
+void P60DockDummy::doShutDown() { setMode(MODE_OFF); }
 
 ReturnValue_t P60DockDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;
@@ -40,7 +40,9 @@ uint32_t P60DockDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { re
 
 ReturnValue_t P60DockDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                     LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(P60Dock::pool::P60DOCK_TEMPERATURE_1, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(P60Dock::pool::P60DOCK_TEMPERATURE_2, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(P60Dock::pool::P60DOCK_TEMPERATURE_1,
+                           new PoolEntry<float>({10.0}, true));
+  localDataPoolMap.emplace(P60Dock::pool::P60DOCK_TEMPERATURE_2,
+                           new PoolEntry<float>({10.0}, true));
   return returnvalue::OK;
 }

dummies/PcduHandlerDummy.cpp

@@ -0,0 +1,62 @@
+#include "PcduHandlerDummy.h"
+
+#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+
+PcduHandlerDummy::PcduHandlerDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie), dummySwitcher(objectId, 18, 18, false) {}
+
+PcduHandlerDummy::~PcduHandlerDummy() {}
+
+void PcduHandlerDummy::doStartUp() { setMode(MODE_NORMAL); }
+
+void PcduHandlerDummy::doShutDown() { setMode(MODE_OFF); }
+
+ReturnValue_t PcduHandlerDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t PcduHandlerDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t PcduHandlerDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                        const uint8_t *commandData,
+                                                        size_t commandDataLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t PcduHandlerDummy::scanForReply(const uint8_t *start, size_t len,
+                                             DeviceCommandId_t *foundId, size_t *foundLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t PcduHandlerDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  return returnvalue::OK;
+}
+
+void PcduHandlerDummy::fillCommandAndReplyMap() {}
+
+uint32_t PcduHandlerDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+
+ReturnValue_t PcduHandlerDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                        LocalDataPoolManager &poolManager) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t PcduHandlerDummy::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
+  return dummySwitcher.sendSwitchCommand(switchNr, onOff);
+}
+
+ReturnValue_t PcduHandlerDummy::sendFuseOnCommand(uint8_t fuseNr) {
+  return dummySwitcher.sendFuseOnCommand(fuseNr);
+}
+
+ReturnValue_t PcduHandlerDummy::getSwitchState(power::Switch_t switchNr) const {
+  return dummySwitcher.getSwitchState(switchNr);
+}
+
+ReturnValue_t PcduHandlerDummy::getFuseState(uint8_t fuseNr) const {
+  return dummySwitcher.getFuseState(fuseNr);
+}
+
+uint32_t PcduHandlerDummy::getSwitchDelayMs(void) const { return dummySwitcher.getSwitchDelayMs(); }

dummies/PcduHandlerDummy.h

@@ -0,0 +1,39 @@
+#pragma once
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <fsfw/power/DummyPowerSwitcher.h>
+
+class PcduHandlerDummy : public DeviceHandlerBase, public PowerSwitchIF {
+ 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;
+
+  PcduHandlerDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  virtual ~PcduHandlerDummy();
+
+ protected:
+  DummyPowerSwitcher dummySwitcher;
+
+  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;
+
+  ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) override;
+  ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
+  ReturnValue_t getSwitchState(power::Switch_t switchNr) const override;
+  ReturnValue_t getFuseState(uint8_t fuseNr) const override;
+  uint32_t getSwitchDelayMs(void) const override;
+};

dummies/PduDummy.cpp

@@ -3,13 +3,14 @@
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 
 PduDummy::PduDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
-    : DeviceHandlerBase(objectId, comif, comCookie) {}
+    : DeviceHandlerBase(objectId, comif, comCookie),
+      coreHk(this, static_cast<uint32_t>(P60System::SetIds::CORE)) {}
 
 PduDummy::~PduDummy() {}
 
-void PduDummy::doStartUp() {}
+void PduDummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void PduDummy::doShutDown() {}
+void PduDummy::doShutDown() { setMode(MODE_OFF); }
 
 ReturnValue_t PduDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
 
@@ -37,6 +38,8 @@ uint32_t PduDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return
 
 ReturnValue_t PduDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                 LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(PDU::pool::PDU_TEMPERATURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(PDU::pool::PDU_TEMPERATURE, new PoolEntry<float>({10.0}, true));
+  localDataPoolMap.emplace(PDU::pool::PDU_VOLTAGES, &pduVoltages);
+  localDataPoolMap.emplace(PDU::pool::PDU_CURRENTS, &pduCurrents);
   return returnvalue::OK;
 }

dummies/PduDummy.h

@@ -3,6 +3,8 @@
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 
+#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
+
 class PduDummy : public DeviceHandlerBase {
  public:
   static const DeviceCommandId_t SIMPLE_COMMAND = 1;
@@ -15,6 +17,10 @@ class PduDummy : public DeviceHandlerBase {
   virtual ~PduDummy();
 
  protected:
+  PDU::PduCoreHk coreHk;
+  PoolEntry<int16_t> pduVoltages = PoolEntry<int16_t>(9);
+  PoolEntry<int16_t> pduCurrents = PoolEntry<int16_t>(9);
+
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;

dummies/PlPcduDummy.cpp

@@ -7,9 +7,9 @@ PlPcduDummy::PlPcduDummy(object_id_t objectId, object_id_t comif, CookieIF *comC
 
 PlPcduDummy::~PlPcduDummy() {}
 
-void PlPcduDummy::doStartUp() {}
+void PlPcduDummy::doStartUp() { setMode(MODE_NORMAL); }
 
-void PlPcduDummy::doShutDown() {}
+void PlPcduDummy::doShutDown() { setMode(MODE_OFF); }
 
 ReturnValue_t PlPcduDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;
@@ -40,6 +40,6 @@ uint32_t PlPcduDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { ret
 
 ReturnValue_t PlPcduDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                    LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::TEMP, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::TEMP, new PoolEntry<float>({0.0}, true));
   return returnvalue::OK;
 }

dummies/PlocMpsocDummy.cpp

@@ -0,0 +1,42 @@
+#include "PlocMpsocDummy.h"
+
+PlocMpsocDummy::PlocMpsocDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie) {}
+
+PlocMpsocDummy::~PlocMpsocDummy() {}
+
+void PlocMpsocDummy::doStartUp() { setMode(MODE_ON); }
+
+void PlocMpsocDummy::doShutDown() { setMode(MODE_OFF); }
+
+ReturnValue_t PlocMpsocDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t PlocMpsocDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t PlocMpsocDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                      const uint8_t *commandData,
+                                                      size_t commandDataLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocMpsocDummy::scanForReply(const uint8_t *start, size_t len,
+                                           DeviceCommandId_t *foundId, size_t *foundLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocMpsocDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  return returnvalue::OK;
+}
+
+void PlocMpsocDummy::fillCommandAndReplyMap() {}
+
+uint32_t PlocMpsocDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+
+ReturnValue_t PlocMpsocDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                      LocalDataPoolManager &poolManager) {
+  return returnvalue::OK;
+}

dummies/PlocMpsocDummy.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+class PlocMpsocDummy : 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;
+
+  PlocMpsocDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  virtual ~PlocMpsocDummy();
+
+ 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;
+};

dummies/PlocSupervisorDummy.cpp

@@ -0,0 +1,44 @@
+#include "PlocSupervisorDummy.h"
+
+PlocSupervisorDummy::PlocSupervisorDummy(object_id_t objectId, object_id_t comif,
+                                         CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie) {}
+
+PlocSupervisorDummy::~PlocSupervisorDummy() {}
+
+void PlocSupervisorDummy::doStartUp() { setMode(MODE_ON); }
+
+void PlocSupervisorDummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
+
+ReturnValue_t PlocSupervisorDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t PlocSupervisorDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t PlocSupervisorDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                           const uint8_t *commandData,
+                                                           size_t commandDataLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocSupervisorDummy::scanForReply(const uint8_t *start, size_t len,
+                                                DeviceCommandId_t *foundId, size_t *foundLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocSupervisorDummy::interpretDeviceReply(DeviceCommandId_t id,
+                                                        const uint8_t *packet) {
+  return returnvalue::OK;
+}
+
+void PlocSupervisorDummy::fillCommandAndReplyMap() {}
+
+uint32_t PlocSupervisorDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+
+ReturnValue_t PlocSupervisorDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                           LocalDataPoolManager &poolManager) {
+  return returnvalue::OK;
+}

dummies/PlocSupervisorDummy.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+class PlocSupervisorDummy : 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;
+
+  PlocSupervisorDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  virtual ~PlocSupervisorDummy();
+
+ 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;
+};

dummies/RwDummy.cpp

@@ -1,6 +1,6 @@
 #include "RwDummy.h"
 
-#include <mission/devices/devicedefinitions/RwDefinitions.h>
+#include <mission/acs/rwHelpers.h>
 
 RwDummy::RwDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
@@ -37,39 +37,39 @@ uint32_t RwDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return
 
 ReturnValue_t RwDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(RwDefinitions::TEMPERATURE_C, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::TEMPERATURE_C, new PoolEntry<int32_t>({0}));
 
-  localDataPoolMap.emplace(RwDefinitions::CURR_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::STATE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::CLC_MODE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::CURR_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::STATE, new PoolEntry<uint8_t>({1}, true));
+  localDataPoolMap.emplace(rws::CLC_MODE, new PoolEntry<uint8_t>({0}));
 
-  localDataPoolMap.emplace(RwDefinitions::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>({0}));
 
-  localDataPoolMap.emplace(RwDefinitions::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::PRESSURE_SENSOR_TEMPERATURE, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(RwDefinitions::PRESSURE, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_STATE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_CLC_MODE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_CURR_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::TM_RW_REF_SPEED, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::EXECUTED_REPLIES, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::COMMAND_REPLIES, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_BYTES_READ, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_PARITY_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_NOISE_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_FRAME_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(RwDefinitions::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::PRESSURE_SENSOR_TEMPERATURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(rws::PRESSURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_STATE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TM_CLC_MODE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_CURR_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::TM_RW_REF_SPEED, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::EXECUTED_REPLIES, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::COMMAND_REPLIES, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_BYTES_READ, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_PARITY_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_NOISE_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_FRAME_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(rws::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
   return returnvalue::OK;
 }

dummies/ScexDummy.cpp

@@ -0,0 +1,40 @@
+#include "ScexDummy.h"
+
+ScexDummy::ScexDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie) {}
+
+ScexDummy::~ScexDummy() {}
+
+void ScexDummy::doStartUp() { setMode(MODE_ON); }
+
+void ScexDummy::doShutDown() { setMode(MODE_OFF); }
+
+ReturnValue_t ScexDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
+
+ReturnValue_t ScexDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t ScexDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                 const uint8_t *commandData,
+                                                 size_t commandDataLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ScexDummy::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                                      size_t *foundLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t ScexDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  return returnvalue::OK;
+}
+
+void ScexDummy::fillCommandAndReplyMap() {}
+
+uint32_t ScexDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+
+ReturnValue_t ScexDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                 LocalDataPoolManager &poolManager) {
+  return returnvalue::OK;
+}

dummies/ScexDummy.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+class ScexDummy : 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;
+
+  ScexDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  virtual ~ScexDummy();
+
+ 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;
+};