Merge branch 'develop' of https://egit.irs.uni-stuttgart.de/eive/eive-obsw into develop

Reviewed-on: #402

.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>

CHANGELOG.md

@@ -8,15 +8,142 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/).
 The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
 list yields a list of all related PRs for each release.
 
-Starting at v2.0.0, the following changes will consitute of a breaking
-change warranting a new major release:
+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 behavour of the OBSW changes in a major shape or form relevant
-  for operations
+- The behaviour of the OBSW changes in a major shape or form relevant for operations
 
 # [unreleased]
 
+# [v1.31.1]
+
+## 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 possible fixes
+  for actuator control.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/403
+
+# [v1.31.0]
+
+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]
+
+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]
+
+## 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]
+
+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]
+
+## 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
@@ -141,6 +268,7 @@ eive-tmtc: v2.12.2
 ## 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

CMakeLists.txt

@@ -10,8 +10,8 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 1)
-set(OBSW_VERSION_MINOR 28)
-set(OBSW_VERSION_REVISION 0)
+set(OBSW_VERSION_MINOR 31)
+set(OBSW_VERSION_REVISION 1)
 
 # set(CMAKE_VERBOSE TRUE)
 
@@ -175,25 +175,11 @@ if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
     if(LIST_LEN GREATER 4)
       list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
     endif()
-    if(NOT OBSW_VERSION_MAJOR)
-      set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
-    endif()
-    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})
-    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})
@@ -358,6 +344,7 @@ 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

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 256 translations.
+ * @brief    Auto-generated event translation file. Contains 260 translations.
  * @details
- * Generated on: 2023-02-17 02:12:04
+ * Generated on: 2023-02-23 15:39:20
  */
 #include "translateEvents.h"
 
@@ -92,6 +92,9 @@ const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
 const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
 const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
+const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
+const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
+const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -129,8 +132,8 @@ 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";
@@ -150,6 +153,7 @@ 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 *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 *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
@@ -433,6 +437,12 @@ const char *translateEvents(Event event) {
       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_INVALID_MODE_VIOLATION_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -508,9 +518,9 @@ 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):
@@ -550,8 +560,10 @@ const char *translateEvents(Event event) {
     case (12406):
       return LOST_BIT_LOCK_PDEC_STRING;
     case (12407):
-      return POLL_SYSCALL_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 (12500):
       return IMAGE_UPLOAD_FAILED_STRING;

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 147 translations.
- * Generated on: 2023-02-17 02:12:04
+ * Contains 148 translations.
+ * Generated on: 2023-02-23 15:39:20
  */
 #include "translateObjects.h"
 
@@ -38,6 +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";
@@ -220,6 +221,8 @@ 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:

bsp_q7s/callbacks/rwSpiCallback.cpp

@@ -139,7 +139,7 @@ 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);

bsp_q7s/core/CoreController.cpp

@@ -160,7 +160,7 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
   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;
     }
@@ -1163,7 +1163,7 @@ 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;

bsp_q7s/core/ObjectFactory.cpp

@@ -1,6 +1,7 @@
 #include "ObjectFactory.h"
 
 #include <fsfw/subsystem/Subsystem.h>
+#include <linux/devices/ImtqPollingTask.h>
 #include <linux/devices/RwPollingTask.h>
 #include <mission/system/objects/CamSwitcher.h>
 
@@ -572,7 +573,6 @@ void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
       new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
                           pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
   syrlinksHandler->setPowerSwitcher(pwrSwitcher);
-  syrlinksHandler->setStartUpImmediately();
   syrlinksHandler->connectModeTreeParent(satsystem::com::SUBSYSTEM);
 #if OBSW_DEBUG_SYRLINKS == 1
   syrlinksHandler->setDebugMode(true);
@@ -755,15 +755,10 @@ 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);
+
+  *ipCoreHandler = new CcsdsIpCoreHandler(objects::CCSDS_HANDLER, objects::PTME,
+                                          objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig, gpioComIF,
+                                          gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA);
   VirtualChannel* vc = nullptr;
   vc = new VirtualChannel(ccsds::VC0, config::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
   (*ipCoreHandler)->addVirtualChannel(ccsds::VC0, vc);
@@ -906,8 +901,9 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
 }
 
 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,
+  new ImtqPollingTask(objects::IMTQ_POLLING);
+  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);

bsp_q7s/core/scheduling.cpp

@@ -17,10 +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
@@ -198,12 +198,20 @@ void scheduling::initTasks() {
 
 #if OBSW_ADD_RW == 1
   PeriodicTaskIF* rwPolling = factory->createPeriodicTask(
-      "RW_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+      "RW_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
   result = rwPolling->addComponent(objects::RW_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
   }
 #endif
+#if OBSW_ADD_MGT == 1
+  PeriodicTaskIF* imtqPolling = factory->createPeriodicTask(
+      "IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  result = imtqPolling->addComponent(objects::IMTQ_POLLING);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("IMTQ_POLLING_TASK", objects::IMTQ_POLLING);
+  }
+#endif
 
   PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
       "ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
@@ -345,6 +353,9 @@ void scheduling::initTasks() {
 #if OBSW_ADD_SA_DEPL == 1
   solarArrayDeplTask->startTask();
 #endif
+#if OBSW_ADD_MGT == 1
+  imtqPolling->startTask();
+#endif
 
   taskStarter(pstTasks, "PST task vector");
   taskStarter(pusTasks, "PUS task vector");
@@ -393,10 +404,10 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 #ifdef RELEASE_BUILD
   static constexpr float acsPstPeriod = 0.4;
 #else
-  static constexpr float acsPstPeriod = 0.8;
+  static constexpr float acsPstPeriod = 0.4;
 #endif
   FixedTimeslotTaskIF* acsTcsPst = factory.createFixedTimeslotTask(
-      "ACS_TCS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
+      "ACS_TCS_PST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
   result = pst::pstTcsAndAcs(acsTcsPst, cfg);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {

bsp_q7s/core/scheduling.h

@@ -1,11 +1,10 @@
 #ifndef BSP_Q7S_INITMISSION_H_
 #define BSP_Q7S_INITMISSION_H_
 
-#include <pollingsequence/pollingSequenceFactory.h>
-
 #include <vector>
 
 #include "fsfw/tasks/definitions.h"
+#include "mission/core/pollingSeqTables.h"
 
 using pst::AcsPstCfg;
 

bsp_q7s/em/emObjectFactory.cpp

@@ -28,8 +28,7 @@ void ObjectFactory::produce(void* args) {
   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);

clone-submodules-no-privlibs.sh

@@ -1,3 +1,6 @@
 #!/bin/bash
 
+root="$(pwd)"
+ln -s "$root/hooks" "$root/.git/hooks"
+
 git submodule update --init fsfw thirdparty/rapidcsv thirdparty/lwgps thirdparty/json

common/config/eive/definitions.h

@@ -59,17 +59,25 @@ namespace acs {
 
 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_ACS_CTRL_MS = 45;
-static constexpr uint32_t SCHED_BLOCK_4_ACTUATOR_MS = 50;
-static constexpr uint32_t SCHED_BLOCK_5_RW_READ_MS = 300;
+static constexpr uint32_t SCHED_BLOCK_3_READ_IMTQ_MGM_MS = 42;
+static constexpr uint32_t SCHED_BLOCK_4_ACS_CTRL_MS = 45;
+static constexpr uint32_t SCHED_BLOCK_5_ACTUATOR_MS = 50;
+static constexpr uint32_t SCHED_BLOCK_6_IMTQ_BLOCK_2_MS = 90;
+static constexpr uint32_t SCHED_BLOCK_RTD = 150;
+static constexpr uint32_t SCHED_BLOCK_7_RW_READ_MS = 300;
 
 // 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_ACS_CTRL_MS) / 400.0;
-static constexpr float SCHED_BLOCK_4_PERIOD = static_cast<float>(SCHED_BLOCK_4_ACTUATOR_MS) / 400.0;
-static constexpr float SCHED_BLOCK_5_PERIOD = static_cast<float>(SCHED_BLOCK_5_RW_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_7_PERIOD = static_cast<float>(SCHED_BLOCK_7_RW_READ_MS) / 400.0;
+static constexpr float SCHED_BLOCK_RTD_PERIOD = static_cast<float>(SCHED_BLOCK_RTD) / 400.0;
 
 }  // namespace acs
 

common/config/eive/objects.h

@@ -44,6 +44,7 @@ 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,

dummies/ImtqDummy.cpp

@@ -1,6 +1,6 @@
 #include "ImtqDummy.h"
 
-#include <mission/devices/devicedefinitions/imtqHandlerDefinitions.h>
+#include <mission/devices/devicedefinitions/imtqHelpers.h>
 
 ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
@@ -38,10 +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}));
-  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}));
+  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);
 }

generators/bsp_hosted_events.csv

@@ -1,112 +1,115 @@
 Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
-2200;0x0898;STORE_SEND_WRITE_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2201;0x0899;STORE_WRITE_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2202;0x089a;STORE_SEND_READ_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2203;0x089b;STORE_READ_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2204;0x089c;UNEXPECTED_MSG;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2205;0x089d;STORING_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2206;0x089e;TM_DUMP_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2207;0x089f;STORE_INIT_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2208;0x08a0;STORE_INIT_EMPTY;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2209;0x08a1;STORE_CONTENT_CORRUPTED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2210;0x08a2;STORE_INITIALIZE;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2211;0x08a3;INIT_DONE;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2212;0x08a4;DUMP_FINISHED;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2213;0x08a5;DELETION_FINISHED;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2214;0x08a6;DELETION_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2215;0x08a7;AUTO_CATALOGS_SENDING_FAILED;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2600;0x0a28;GET_DATA_FAILED;LOW;;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-2601;0x0a29;STORE_DATA_FAILED;LOW;;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-2800;0x0af0;DEVICE_BUILDING_COMMAND_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2801;0x0af1;DEVICE_SENDING_COMMAND_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2802;0x0af2;DEVICE_REQUESTING_REPLY_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2803;0x0af3;DEVICE_READING_REPLY_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2804;0x0af4;DEVICE_INTERPRETING_REPLY_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2805;0x0af5;DEVICE_MISSED_REPLY;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2806;0x0af6;DEVICE_UNKNOWN_REPLY;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2807;0x0af7;DEVICE_UNREQUESTED_REPLY;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2200;0x0898;STORE_SEND_WRITE_FAILED;LOW;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2201;0x0899;STORE_WRITE_FAILED;LOW;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2202;0x089a;STORE_SEND_READ_FAILED;LOW;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2203;0x089b;STORE_READ_FAILED;LOW;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2204;0x089c;UNEXPECTED_MSG;LOW;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2205;0x089d;STORING_FAILED;LOW;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2206;0x089e;TM_DUMP_FAILED;LOW;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2207;0x089f;STORE_INIT_FAILED;LOW;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2208;0x08a0;STORE_INIT_EMPTY;INFO;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2209;0x08a1;STORE_CONTENT_CORRUPTED;LOW;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2210;0x08a2;STORE_INITIALIZE;INFO;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2211;0x08a3;INIT_DONE;INFO;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2212;0x08a4;DUMP_FINISHED;INFO;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2213;0x08a5;DELETION_FINISHED;INFO;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2214;0x08a6;DELETION_FAILED;LOW;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2215;0x08a7;AUTO_CATALOGS_SENDING_FAILED;INFO;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2600;0x0a28;GET_DATA_FAILED;LOW;No description;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+2601;0x0a29;STORE_DATA_FAILED;LOW;No description;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+2800;0x0af0;DEVICE_BUILDING_COMMAND_FAILED;LOW;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2801;0x0af1;DEVICE_SENDING_COMMAND_FAILED;LOW;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2802;0x0af2;DEVICE_REQUESTING_REPLY_FAILED;LOW;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2803;0x0af3;DEVICE_READING_REPLY_FAILED;LOW;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2804;0x0af4;DEVICE_INTERPRETING_REPLY_FAILED;LOW;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2805;0x0af5;DEVICE_MISSED_REPLY;LOW;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2806;0x0af6;DEVICE_UNKNOWN_REPLY;LOW;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2807;0x0af7;DEVICE_UNREQUESTED_REPLY;LOW;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 2808;0x0af8;INVALID_DEVICE_COMMAND;LOW;Indicates a SW bug in child class.;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2809;0x0af9;MONITORING_LIMIT_EXCEEDED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2810;0x0afa;MONITORING_AMBIGUOUS;HIGH;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2811;0x0afb;DEVICE_WANTS_HARD_REBOOT;HIGH;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-4201;0x1069;FUSE_CURRENT_HIGH;LOW;;fsfw/src/fsfw/power/Fuse.h
-4202;0x106a;FUSE_WENT_OFF;LOW;;fsfw/src/fsfw/power/Fuse.h
-4204;0x106c;POWER_ABOVE_HIGH_LIMIT;LOW;;fsfw/src/fsfw/power/Fuse.h
-4205;0x106d;POWER_BELOW_LOW_LIMIT;LOW;;fsfw/src/fsfw/power/Fuse.h
-4300;0x10cc;SWITCH_WENT_OFF;LOW;;fsfw/src/fsfw/power/PowerSwitchIF.h
-5000;0x1388;HEATER_ON;INFO;;fsfw/src/fsfw/thermal/Heater.h
-5001;0x1389;HEATER_OFF;INFO;;fsfw/src/fsfw/thermal/Heater.h
-5002;0x138a;HEATER_TIMEOUT;LOW;;fsfw/src/fsfw/thermal/Heater.h
-5003;0x138b;HEATER_STAYED_ON;LOW;;fsfw/src/fsfw/thermal/Heater.h
-5004;0x138c;HEATER_STAYED_OFF;LOW;;fsfw/src/fsfw/thermal/Heater.h
-5200;0x1450;TEMP_SENSOR_HIGH;LOW;;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
-5201;0x1451;TEMP_SENSOR_LOW;LOW;;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
-5202;0x1452;TEMP_SENSOR_GRADIENT;LOW;;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
-5901;0x170d;COMPONENT_TEMP_LOW;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-5902;0x170e;COMPONENT_TEMP_HIGH;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-5903;0x170f;COMPONENT_TEMP_OOL_LOW;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-5904;0x1710;COMPONENT_TEMP_OOL_HIGH;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-5905;0x1711;TEMP_NOT_IN_OP_RANGE;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-7101;0x1bbd;FDIR_CHANGED_STATE;INFO;;fsfw/src/fsfw/fdir/FailureIsolationBase.h
-7102;0x1bbe;FDIR_STARTS_RECOVERY;MEDIUM;;fsfw/src/fsfw/fdir/FailureIsolationBase.h
-7103;0x1bbf;FDIR_TURNS_OFF_DEVICE;MEDIUM;;fsfw/src/fsfw/fdir/FailureIsolationBase.h
-7201;0x1c21;MONITOR_CHANGED_STATE;LOW;;fsfw/src/fsfw/monitoring/MonitoringIF.h
-7202;0x1c22;VALUE_BELOW_LOW_LIMIT;LOW;;fsfw/src/fsfw/monitoring/MonitoringIF.h
-7203;0x1c23;VALUE_ABOVE_HIGH_LIMIT;LOW;;fsfw/src/fsfw/monitoring/MonitoringIF.h
-7204;0x1c24;VALUE_OUT_OF_RANGE;LOW;;fsfw/src/fsfw/monitoring/MonitoringIF.h
-7400;0x1ce8;CHANGING_MODE;INFO;;fsfw/src/fsfw/modes/HasModesIF.h
-7401;0x1ce9;MODE_INFO;INFO;;fsfw/src/fsfw/modes/HasModesIF.h
-7402;0x1cea;FALLBACK_FAILED;HIGH;;fsfw/src/fsfw/modes/HasModesIF.h
-7403;0x1ceb;MODE_TRANSITION_FAILED;LOW;;fsfw/src/fsfw/modes/HasModesIF.h
-7404;0x1cec;CANT_KEEP_MODE;HIGH;;fsfw/src/fsfw/modes/HasModesIF.h
-7405;0x1ced;OBJECT_IN_INVALID_MODE;LOW;;fsfw/src/fsfw/modes/HasModesIF.h
-7406;0x1cee;FORCING_MODE;MEDIUM;;fsfw/src/fsfw/modes/HasModesIF.h
-7407;0x1cef;MODE_CMD_REJECTED;LOW;;fsfw/src/fsfw/modes/HasModesIF.h
-7506;0x1d52;HEALTH_INFO;INFO;;fsfw/src/fsfw/health/HasHealthIF.h
-7507;0x1d53;CHILD_CHANGED_HEALTH;INFO;;fsfw/src/fsfw/health/HasHealthIF.h
-7508;0x1d54;CHILD_PROBLEMS;LOW;;fsfw/src/fsfw/health/HasHealthIF.h
-7509;0x1d55;OVERWRITING_HEALTH;LOW;;fsfw/src/fsfw/health/HasHealthIF.h
-7510;0x1d56;TRYING_RECOVERY;MEDIUM;;fsfw/src/fsfw/health/HasHealthIF.h
-7511;0x1d57;RECOVERY_STEP;MEDIUM;;fsfw/src/fsfw/health/HasHealthIF.h
-7512;0x1d58;RECOVERY_DONE;MEDIUM;;fsfw/src/fsfw/health/HasHealthIF.h
-7600;0x1db0;HANDLE_PACKET_FAILED;LOW;;fsfw/src/fsfw/tcdistribution/definitions.h
+2809;0x0af9;MONITORING_LIMIT_EXCEEDED;LOW;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2810;0x0afa;MONITORING_AMBIGUOUS;HIGH;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2811;0x0afb;DEVICE_WANTS_HARD_REBOOT;HIGH;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+4201;0x1069;FUSE_CURRENT_HIGH;LOW;No description;fsfw/src/fsfw/power/Fuse.h
+4202;0x106a;FUSE_WENT_OFF;LOW;No description;fsfw/src/fsfw/power/Fuse.h
+4204;0x106c;POWER_ABOVE_HIGH_LIMIT;LOW;No description;fsfw/src/fsfw/power/Fuse.h
+4205;0x106d;POWER_BELOW_LOW_LIMIT;LOW;No description;fsfw/src/fsfw/power/Fuse.h
+4300;0x10cc;SWITCH_WENT_OFF;LOW;No description;fsfw/src/fsfw/power/PowerSwitchIF.h
+5000;0x1388;HEATER_ON;INFO;No description;fsfw/src/fsfw/thermal/Heater.h
+5001;0x1389;HEATER_OFF;INFO;No description;fsfw/src/fsfw/thermal/Heater.h
+5002;0x138a;HEATER_TIMEOUT;LOW;No description;fsfw/src/fsfw/thermal/Heater.h
+5003;0x138b;HEATER_STAYED_ON;LOW;No description;fsfw/src/fsfw/thermal/Heater.h
+5004;0x138c;HEATER_STAYED_OFF;LOW;No description;fsfw/src/fsfw/thermal/Heater.h
+5200;0x1450;TEMP_SENSOR_HIGH;LOW;No description;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
+5201;0x1451;TEMP_SENSOR_LOW;LOW;No description;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
+5202;0x1452;TEMP_SENSOR_GRADIENT;LOW;No description;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
+5901;0x170d;COMPONENT_TEMP_LOW;LOW;No description;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5902;0x170e;COMPONENT_TEMP_HIGH;LOW;No description;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5903;0x170f;COMPONENT_TEMP_OOL_LOW;LOW;No description;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5904;0x1710;COMPONENT_TEMP_OOL_HIGH;LOW;No description;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5905;0x1711;TEMP_NOT_IN_OP_RANGE;LOW;No description;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+7101;0x1bbd;FDIR_CHANGED_STATE;INFO;No description;fsfw/src/fsfw/fdir/FailureIsolationBase.h
+7102;0x1bbe;FDIR_STARTS_RECOVERY;MEDIUM;No description;fsfw/src/fsfw/fdir/FailureIsolationBase.h
+7103;0x1bbf;FDIR_TURNS_OFF_DEVICE;MEDIUM;No description;fsfw/src/fsfw/fdir/FailureIsolationBase.h
+7201;0x1c21;MONITOR_CHANGED_STATE;LOW;No description;fsfw/src/fsfw/monitoring/MonitoringIF.h
+7202;0x1c22;VALUE_BELOW_LOW_LIMIT;LOW;No description;fsfw/src/fsfw/monitoring/MonitoringIF.h
+7203;0x1c23;VALUE_ABOVE_HIGH_LIMIT;LOW;No description;fsfw/src/fsfw/monitoring/MonitoringIF.h
+7204;0x1c24;VALUE_OUT_OF_RANGE;LOW;No description;fsfw/src/fsfw/monitoring/MonitoringIF.h
+7400;0x1ce8;CHANGING_MODE;INFO;No description;fsfw/src/fsfw/modes/HasModesIF.h
+7401;0x1ce9;MODE_INFO;INFO;No description;fsfw/src/fsfw/modes/HasModesIF.h
+7402;0x1cea;FALLBACK_FAILED;HIGH;No description;fsfw/src/fsfw/modes/HasModesIF.h
+7403;0x1ceb;MODE_TRANSITION_FAILED;LOW;No description;fsfw/src/fsfw/modes/HasModesIF.h
+7404;0x1cec;CANT_KEEP_MODE;HIGH;No description;fsfw/src/fsfw/modes/HasModesIF.h
+7405;0x1ced;OBJECT_IN_INVALID_MODE;LOW;No description;fsfw/src/fsfw/modes/HasModesIF.h
+7406;0x1cee;FORCING_MODE;MEDIUM;No description;fsfw/src/fsfw/modes/HasModesIF.h
+7407;0x1cef;MODE_CMD_REJECTED;LOW;No description;fsfw/src/fsfw/modes/HasModesIF.h
+7506;0x1d52;HEALTH_INFO;INFO;No description;fsfw/src/fsfw/health/HasHealthIF.h
+7507;0x1d53;CHILD_CHANGED_HEALTH;INFO;No description;fsfw/src/fsfw/health/HasHealthIF.h
+7508;0x1d54;CHILD_PROBLEMS;LOW;No description;fsfw/src/fsfw/health/HasHealthIF.h
+7509;0x1d55;OVERWRITING_HEALTH;LOW;No description;fsfw/src/fsfw/health/HasHealthIF.h
+7510;0x1d56;TRYING_RECOVERY;MEDIUM;No description;fsfw/src/fsfw/health/HasHealthIF.h
+7511;0x1d57;RECOVERY_STEP;MEDIUM;No description;fsfw/src/fsfw/health/HasHealthIF.h
+7512;0x1d58;RECOVERY_DONE;MEDIUM;No description;fsfw/src/fsfw/health/HasHealthIF.h
+7600;0x1db0;HANDLE_PACKET_FAILED;LOW;No description;fsfw/src/fsfw/tcdistribution/definitions.h
 7900;0x1edc;RF_AVAILABLE;INFO;A RF available signal was detected. P1: raw RFA state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 7901;0x1edd;RF_LOST;INFO;A previously found RF available signal was lost. P1: raw RFA state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 7902;0x1ede;BIT_LOCK;INFO;A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 7903;0x1edf;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 7905;0x1ee1;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
-8900;0x22c4;CLOCK_SET;INFO;;fsfw/src/fsfw/pus/Service9TimeManagement.h
-8901;0x22c5;CLOCK_DUMP;INFO;;fsfw/src/fsfw/pus/Service9TimeManagement.h
-8902;0x22c6;CLOCK_SET_FAILURE;LOW;;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8900;0x22c4;CLOCK_SET;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8901;0x22c5;CLOCK_DUMP;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8902;0x22c6;CLOCK_SET_FAILURE;LOW;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
 9100;0x238c;TC_DELETION_FAILED;MEDIUM;Deletion of a TC from the map failed. P1: First 32 bit of request ID, P2. Last 32 bit of Request ID;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
-9700;0x25e4;TEST;INFO;;fsfw/src/fsfw/pus/Service17Test.h
-10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;;fsfw/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
-10800;0x2a30;STORE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
-10801;0x2a31;MSG_QUEUE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
-10802;0x2a32;SERIALIZATION_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
-11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/acsDefs.h
-11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;;mission/acsDefs.h
+9700;0x25e4;TEST;INFO;No description;fsfw/src/fsfw/pus/Service17Test.h
+10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;No description;fsfw/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
+10800;0x2a30;STORE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
+10801;0x2a31;MSG_QUEUE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
+10802;0x2a32;SERIALIZATION_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
+11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;No description;mission/acsDefs.h
+11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;No description;mission/acsDefs.h
+11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acsDefs.h
+11203;0x2bc3;MEKF_INVALID_INFO;INFO;No description;mission/acsDefs.h
+11204;0x2bc4;MEKF_INVALID_MODE_VIOLATION;HIGH;No description;mission/acsDefs.h
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
-11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
-11303;0x2c27;FDIR_REACTION_IGNORED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
-11400;0x2c88;GPIO_PULL_HIGH_FAILED;LOW;;mission/devices/HeaterHandler.h
-11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;;mission/devices/HeaterHandler.h
-11402;0x2c8a;HEATER_WENT_ON;INFO;;mission/devices/HeaterHandler.h
-11403;0x2c8b;HEATER_WENT_OFF;INFO;;mission/devices/HeaterHandler.h
-11404;0x2c8c;SWITCH_ALREADY_ON;LOW;;mission/devices/HeaterHandler.h
-11405;0x2c8d;SWITCH_ALREADY_OFF;LOW;;mission/devices/HeaterHandler.h
-11406;0x2c8e;MAIN_SWITCH_TIMEOUT;MEDIUM;;mission/devices/HeaterHandler.h
-11407;0x2c8f;FAULTY_HEATER_WAS_ON;LOW;;mission/devices/HeaterHandler.h
+11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/devices/devicedefinitions/powerDefinitions.h
+11303;0x2c27;FDIR_REACTION_IGNORED;MEDIUM;No description;mission/devices/devicedefinitions/powerDefinitions.h
+11400;0x2c88;GPIO_PULL_HIGH_FAILED;LOW;No description;mission/devices/HeaterHandler.h
+11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;No description;mission/devices/HeaterHandler.h
+11402;0x2c8a;HEATER_WENT_ON;INFO;No description;mission/devices/HeaterHandler.h
+11403;0x2c8b;HEATER_WENT_OFF;INFO;No description;mission/devices/HeaterHandler.h
+11404;0x2c8c;SWITCH_ALREADY_ON;LOW;No description;mission/devices/HeaterHandler.h
+11405;0x2c8d;SWITCH_ALREADY_OFF;LOW;No description;mission/devices/HeaterHandler.h
+11406;0x2c8e;MAIN_SWITCH_TIMEOUT;MEDIUM;No description;mission/devices/HeaterHandler.h
+11407;0x2c8f;FAULTY_HEATER_WAS_ON;LOW;No description;mission/devices/HeaterHandler.h
 11500;0x2cec;BURN_PHASE_START;INFO;P1: Burn duration in milliseconds, P2: Dry run flag;mission/devices/SolarArrayDeploymentHandler.h
 11501;0x2ced;BURN_PHASE_DONE;INFO;P1: Burn duration in milliseconds, P2: Dry run flag;mission/devices/SolarArrayDeploymentHandler.h
-11502;0x2cee;MAIN_SWITCH_ON_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
-11503;0x2cef;MAIN_SWITCH_OFF_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
-11504;0x2cf0;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
-11505;0x2cf1;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
-11506;0x2cf2;DEPL_SA1_GPIO_SWTICH_OFF_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
-11507;0x2cf3;DEPL_SA2_GPIO_SWTICH_OFF_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
-11508;0x2cf4;AUTONOMOUS_DEPLOYMENT_COMPLETED;INFO;;mission/devices/SolarArrayDeploymentHandler.h
+11502;0x2cee;MAIN_SWITCH_ON_TIMEOUT;LOW;No description;mission/devices/SolarArrayDeploymentHandler.h
+11503;0x2cef;MAIN_SWITCH_OFF_TIMEOUT;LOW;No description;mission/devices/SolarArrayDeploymentHandler.h
+11504;0x2cf0;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;No description;mission/devices/SolarArrayDeploymentHandler.h
+11505;0x2cf1;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;No description;mission/devices/SolarArrayDeploymentHandler.h
+11506;0x2cf2;DEPL_SA1_GPIO_SWTICH_OFF_FAILED;HIGH;No description;mission/devices/SolarArrayDeploymentHandler.h
+11507;0x2cf3;DEPL_SA2_GPIO_SWTICH_OFF_FAILED;HIGH;No description;mission/devices/SolarArrayDeploymentHandler.h
+11508;0x2cf4;AUTONOMOUS_DEPLOYMENT_COMPLETED;INFO;No description;mission/devices/SolarArrayDeploymentHandler.h
 11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/devices/ploc/PlocMPSoCHandler.h
 11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/devices/ploc/PlocMPSoCHandler.h
 11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/devices/ploc/PlocMPSoCHandler.h
@@ -122,30 +125,31 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
 11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/devices/ImtqHandler.h
 11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/devicedefinitions/rwHelpers.h
-11802;0x2e1a;RESET_OCCURED;LOW;;mission/devices/devicedefinitions/rwHelpers.h
-11901;0x2e7d;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
-11902;0x2e7e;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
+11802;0x2e1a;RESET_OCCURED;LOW;No description;mission/devices/devicedefinitions/rwHelpers.h
+11901;0x2e7d;BOOTING_FIRMWARE_FAILED_EVENT;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
+11902;0x2e7e;BOOTING_BOOTLOADER_FAILED_EVENT;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
 12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/devices/ploc/PlocSupervisorHandler.h
 12002;0x2ee2;SUPV_UNKNOWN_TM;LOW;Unhandled event. P1: APID, P2: Service ID;linux/devices/ploc/PlocSupervisorHandler.h
-12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;;linux/devices/ploc/PlocSupervisorHandler.h
+12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;No description;linux/devices/ploc/PlocSupervisorHandler.h
 12004;0x2ee4;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux/devices/ploc/PlocSupervisorHandler.h
 12005;0x2ee5;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report P1: ID of command for which the execution failed P2: Status code sent by the supervisor handler;linux/devices/ploc/PlocSupervisorHandler.h
 12006;0x2ee6;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux/devices/ploc/PlocSupervisorHandler.h
 12007;0x2ee7;SUPV_HELPER_EXECUTING;LOW;Supervisor helper currently executing a command;linux/devices/ploc/PlocSupervisorHandler.h
 12008;0x2ee8;SUPV_MPSOC_SHUTDOWN_BUILD_FAILED;LOW;Failed to build the command to shutdown the MPSoC;linux/devices/ploc/PlocSupervisorHandler.h
-12100;0x2f44;SANITIZATION_FAILED;LOW;;bsp_q7s/fs/SdCardManager.h
-12101;0x2f45;MOUNTED_SD_CARD;INFO;;bsp_q7s/fs/SdCardManager.h
+12100;0x2f44;SANITIZATION_FAILED;LOW;No description;bsp_q7s/fs/SdCardManager.h
+12101;0x2f45;MOUNTED_SD_CARD;INFO;No description;bsp_q7s/fs/SdCardManager.h
 12300;0x300c;SEND_MRAM_DUMP_FAILED;LOW;Failed to send mram dump command to supervisor handler P1: Return value of commandAction function P2: Start address of MRAM to dump with this command;linux/devices/ploc/PlocMemoryDumper.h
 12301;0x300d;MRAM_DUMP_FAILED;LOW;Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command;linux/devices/ploc/PlocMemoryDumper.h
 12302;0x300e;MRAM_DUMP_FINISHED;LOW;MRAM dump finished successfully;linux/devices/ploc/PlocMemoryDumper.h
-12401;0x3071;INVALID_TC_FRAME;HIGH;;linux/ipcore/PdecHandler.h
+12401;0x3071;INVALID_TC_FRAME;HIGH;No description;linux/ipcore/PdecHandler.h
 12402;0x3072;INVALID_FAR;HIGH;Read invalid FAR from PDEC after startup;linux/ipcore/PdecHandler.h
 12403;0x3073;CARRIER_LOCK;INFO;Carrier lock detected;linux/ipcore/PdecHandler.h
 12404;0x3074;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);linux/ipcore/PdecHandler.h
 12405;0x3075;LOST_CARRIER_LOCK_PDEC;INFO;Lost carrier lock;linux/ipcore/PdecHandler.h
 12406;0x3076;LOST_BIT_LOCK_PDEC;INFO;Lost bit lock;linux/ipcore/PdecHandler.h
-12407;0x3077;POLL_SYSCALL_ERROR_PDEC;MEDIUM;;linux/ipcore/PdecHandler.h
-12408;0x3078;WRITE_SYSCALL_ERROR_PDEC;MEDIUM;;linux/ipcore/PdecHandler.h
+12407;0x3077;TOO_MANY_IRQS;MEDIUM;Too many IRQs over the time window of one second. P1: Allowed TCs;linux/ipcore/PdecHandler.h
+12408;0x3078;POLL_SYSCALL_ERROR_PDEC;MEDIUM;No description;linux/ipcore/PdecHandler.h
+12409;0x3079;WRITE_SYSCALL_ERROR_PDEC;MEDIUM;No description;linux/ipcore/PdecHandler.h
 12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h
 12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h
 12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h
@@ -161,11 +165,11 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12512;0x30e0;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrHelper.h
 12513;0x30e1;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrHelper.h
 12514;0x30e2;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrHelper.h
-12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;;linux/devices/startracker/StrHelper.h
-12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;;linux/devices/startracker/StrHelper.h
+12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h
+12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h
 12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/devices/ploc/PlocMPSoCHelper.h
 12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/devices/ploc/PlocMPSoCHelper.h
-12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;;linux/devices/ploc/PlocMPSoCHelper.h
+12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/devices/ploc/PlocMPSoCHelper.h
 12603;0x313b;MPSOC_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
 12604;0x313c;MPSOC_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
 12605;0x313d;MPSOC_MISSING_ACK;LOW;Did not receive acknowledgment report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
@@ -175,8 +179,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12609;0x3141;MPSOC_ACK_INVALID_APID;LOW;Expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
 12610;0x3142;MPSOC_EXE_INVALID_APID;LOW;Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
 12611;0x3143;MPSOC_HELPER_SEQ_CNT_MISMATCH;LOW;Received sequence count does not match expected sequence count P1: Expected sequence count P2: Received sequence count;linux/devices/ploc/PlocMPSoCHelper.h
-12612;0x3144;MPSOC_TM_SIZE_ERROR;LOW;;linux/devices/ploc/PlocMPSoCHelper.h
-12613;0x3145;MPSOC_TM_CRC_MISSMATCH;LOW;;linux/devices/ploc/PlocMPSoCHelper.h
+12612;0x3144;MPSOC_TM_SIZE_ERROR;LOW;No description;linux/devices/ploc/PlocMPSoCHelper.h
+12613;0x3145;MPSOC_TM_CRC_MISSMATCH;LOW;No description;linux/devices/ploc/PlocMPSoCHelper.h
 12700;0x319c;TRANSITION_BACK_TO_OFF;MEDIUM;Could not transition properly and went back to ALL OFF;mission/devices/PayloadPcduHandler.h
 12701;0x319d;NEG_V_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
 12702;0x319e;U_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
@@ -189,15 +193,15 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12709;0x31a5;I_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
 12710;0x31a6;U_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
 12711;0x31a7;I_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
-12800;0x3200;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/objects/AcsBoardAssembly.h
-12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/objects/AcsBoardAssembly.h
-12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/objects/AcsBoardAssembly.h
+12800;0x3200;TRANSITION_OTHER_SIDE_FAILED;HIGH;No description;mission/system/objects/AcsBoardAssembly.h
+12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;No description;mission/system/objects/AcsBoardAssembly.h
+12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/objects/AcsBoardAssembly.h
 12803;0x3203;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/objects/AcsBoardAssembly.h
-12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/objects/SusAssembly.h
-12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/objects/SusAssembly.h
-12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/objects/SusAssembly.h
+12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;No description;mission/system/objects/SusAssembly.h
+12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;No description;mission/system/objects/SusAssembly.h
+12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/objects/SusAssembly.h
 12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/objects/SusAssembly.h
-13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;;mission/system/objects/TcsBoardAssembly.h
+13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;No description;mission/system/objects/TcsBoardAssembly.h
 13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission/devices/devicedefinitions/GPSDefinitions.h
 13101;0x332d;CANT_GET_FIX;LOW;Could not get fix in maximum allowed time. P1: Maximum allowed time to get a fix after the GPS was switched on.;mission/devices/devicedefinitions/GPSDefinitions.h
 13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/devices/P60DockHandler.h
@@ -211,9 +215,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13605;0x3525;SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL;LOW;Requesting event buffer was successful;linux/devices/ploc/PlocSupvUartMan.h
 13606;0x3526;SUPV_EVENT_BUFFER_REQUEST_FAILED;LOW;Requesting event buffer failed;linux/devices/ploc/PlocSupvUartMan.h
 13607;0x3527;SUPV_EVENT_BUFFER_REQUEST_TERMINATED;LOW;Terminated event buffer request by command P1: Number of packets read before process was terminated;linux/devices/ploc/PlocSupvUartMan.h
-13608;0x3528;SUPV_MEM_CHECK_OK;INFO;;linux/devices/ploc/PlocSupvUartMan.h
-13609;0x3529;SUPV_MEM_CHECK_FAIL;INFO;;linux/devices/ploc/PlocSupvUartMan.h
-13616;0x3530;SUPV_SENDING_COMMAND_FAILED;LOW;;linux/devices/ploc/PlocSupvUartMan.h
+13608;0x3528;SUPV_MEM_CHECK_OK;INFO;No description;linux/devices/ploc/PlocSupvUartMan.h
+13609;0x3529;SUPV_MEM_CHECK_FAIL;INFO;No description;linux/devices/ploc/PlocSupvUartMan.h
+13616;0x3530;SUPV_SENDING_COMMAND_FAILED;LOW;No description;linux/devices/ploc/PlocSupvUartMan.h
 13617;0x3531;SUPV_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
 13618;0x3532;SUPV_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
 13619;0x3533;SUPV_MISSING_ACK;LOW;Did not receive acknowledgement report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocSupvUartMan.h
@@ -225,33 +229,33 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13625;0x3539;ACK_RECEPTION_FAILURE;LOW;Failed to receive acknowledgment report P1: Return value P2: Apid of command for which the reception of the acknowledgment report failed;linux/devices/ploc/PlocSupvUartMan.h
 13626;0x353a;EXE_RECEPTION_FAILURE;LOW;Failed to receive execution report P1: Return value P2: Apid of command for which the reception of the execution report failed;linux/devices/ploc/PlocSupvUartMan.h
 13627;0x353b;WRITE_MEMORY_FAILED;LOW;Update procedure failed when sending packet. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h
-13628;0x353c;SUPV_REPLY_SIZE_MISSMATCH;LOW;;linux/devices/ploc/PlocSupvUartMan.h
-13629;0x353d;SUPV_REPLY_CRC_MISSMATCH;LOW;;linux/devices/ploc/PlocSupvUartMan.h
+13628;0x353c;SUPV_REPLY_SIZE_MISSMATCH;LOW;No description;linux/devices/ploc/PlocSupvUartMan.h
+13629;0x353d;SUPV_REPLY_CRC_MISSMATCH;LOW;No description;linux/devices/ploc/PlocSupvUartMan.h
 13630;0x353e;SUPV_UPDATE_PROGRESS;INFO;Will be triggered every 5 percent of the update progress. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h
-13631;0x353f;HDLC_FRAME_REMOVAL_ERROR;INFO;;linux/devices/ploc/PlocSupvUartMan.h
-13632;0x3540;HDLC_CRC_ERROR;INFO;;linux/devices/ploc/PlocSupvUartMan.h
-13700;0x3584;FDIR_REACTION_IGNORED;MEDIUM;;mission/devices/devicedefinitions/SyrlinksDefinitions.h
+13631;0x353f;HDLC_FRAME_REMOVAL_ERROR;INFO;No description;linux/devices/ploc/PlocSupvUartMan.h
+13632;0x3540;HDLC_CRC_ERROR;INFO;No description;linux/devices/ploc/PlocSupvUartMan.h
+13700;0x3584;FDIR_REACTION_IGNORED;MEDIUM;No description;mission/devices/devicedefinitions/SyrlinksDefinitions.h
 13701;0x3585;TX_ON;INFO;Transmitter is on now. P1: Submode, P2: Current default datarate.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
 13702;0x3586;TX_OFF;INFO;Transmitter is off now.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
-13800;0x35e8;MISSING_PACKET;LOW;;mission/devices/devicedefinitions/ScexDefinitions.h
-13801;0x35e9;EXPERIMENT_TIMEDOUT;LOW;;mission/devices/devicedefinitions/ScexDefinitions.h
-13802;0x35ea;MULTI_PACKET_COMMAND_DONE;INFO;;mission/devices/devicedefinitions/ScexDefinitions.h
-13901;0x364d;SET_CONFIGFILEVALUE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
-13902;0x364e;GET_CONFIGFILEVALUE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
-13903;0x364f;INSERT_CONFIGFILEVALUE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
-13904;0x3650;WRITE_CONFIGFILE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
-13905;0x3651;READ_CONFIGFILE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
-14000;0x36b0;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
+13800;0x35e8;MISSING_PACKET;LOW;No description;mission/devices/devicedefinitions/ScexDefinitions.h
+13801;0x35e9;EXPERIMENT_TIMEDOUT;LOW;No description;mission/devices/devicedefinitions/ScexDefinitions.h
+13802;0x35ea;MULTI_PACKET_COMMAND_DONE;INFO;No description;mission/devices/devicedefinitions/ScexDefinitions.h
+13901;0x364d;SET_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
+13902;0x364e;GET_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
+13903;0x364f;INSERT_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
+13904;0x3650;WRITE_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
+13905;0x3651;READ_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
+14000;0x36b0;ALLOC_FAILURE;MEDIUM;No description;bsp_q7s/core/CoreController.h
 14001;0x36b1;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
 14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
-14003;0x36b3;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h
+14003;0x36b3;REBOOT_HW;MEDIUM;No description;bsp_q7s/core/CoreController.h
 14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
 14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;bsp_q7s/core/CoreController.h
 14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
-14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;;mission/controller/ThermalController.h
-14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;;mission/controller/ThermalController.h
-14102;0x3716;SYRLINKS_OVERHEATING;HIGH;;mission/controller/ThermalController.h
-14103;0x3717;PLOC_OVERHEATING;HIGH;;mission/controller/ThermalController.h
-14104;0x3718;OBC_OVERHEATING;HIGH;;mission/controller/ThermalController.h
-14105;0x3719;HPA_OVERHEATING;HIGH;;mission/controller/ThermalController.h
-14106;0x371a;PLPCDU_OVERHEATING;HIGH;;mission/controller/ThermalController.h
+14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/ThermalController.h
+14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/ThermalController.h
+14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
+14103;0x3717;PLOC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
+14104;0x3718;OBC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
+14105;0x3719;HPA_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
+14106;0x371a;PLPCDU_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h

generators/bsp_hosted_objects.csv

@@ -30,6 +30,7 @@
 0x44120350;RW4
 0x44130001;STAR_TRACKER
 0x44130045;GPS_CONTROLLER
+0x44140013;IMTQ_POLLING
 0x44140014;IMTQ_HANDLER
 0x442000A1;PCDU_HANDLER
 0x44250000;P60DOCK_HANDLER

generators/bsp_hosted_returnvalues.csv

@@ -2,8 +2,17 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0000;OK;System-wide code for ok.;0;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
 0x0001;Failed;Unspecified system-wide code for failed.;1;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
 0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NVMParameterBase.h
-0x6300;NVMB_Busy;;0;NVM_PARAM_BASE;mission/system/objects/Stack5VHandler.h
-0x52b0;RWHA_SpiWriteFailure;;176;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
+0x5100;IMTQ_InvalidCommandCode;No description;0;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
+0x5101;IMTQ_MgmMeasurementLowLevelError;No description;1;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
+0x5102;IMTQ_ActuateCmdLowLevelError;No description;2;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
+0x5103;IMTQ_ParameterMissing;No description;3;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
+0x5104;IMTQ_ParameterInvalid;No description;4;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
+0x5105;IMTQ_CcUnavailable;No description;5;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
+0x5106;IMTQ_InternalProcessingError;No description;6;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
+0x5107;IMTQ_RejectedWithoutReason;No description;7;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
+0x5108;IMTQ_CmdErrUnknown;No description;8;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
+0x51a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;167;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
+0x52b0;RWHA_SpiWriteFailure;No description;176;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
 0x52b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
 0x52b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
 0x52b3;RWHA_InvalidSubstitute;Can be used by the HDLC decoding mechanism to inform about an invalid substitution combination;179;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
@@ -11,459 +20,456 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x52b5;RWHA_NoReply;Reaction wheel only responds with empty frames.;181;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
 0x52b6;RWHA_NoStartMarker;Expected a start marker as first byte;182;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
 0x52b7;RWHA_SpiReadTimeout;Timeout when reading reply;183;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
-0x58a0;SUSS_ErrorUnlockMutex;;160;SUS_HANDLER;mission/devices/SusHandler.h
-0x58a1;SUSS_ErrorLockMutex;;161;SUS_HANDLER;mission/devices/SusHandler.h
-0x66a0;SADPL_CommandNotSupported;;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x66a1;SADPL_DeploymentAlreadyExecuting;;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x66a2;SADPL_MainSwitchTimeoutFailure;;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x66a3;SADPL_SwitchingDeplSa1Failed;;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x66a4;SADPL_SwitchingDeplSa2Failed;;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x51a0;IMTQ_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;IMTQ_HANDLER;mission/devices/RwHandler.h
-0x51a1;IMTQ_InvalidRampTime;Action Message with invalid ramp time was received.;161;IMTQ_HANDLER;mission/devices/RwHandler.h
-0x51a2;IMTQ_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;IMTQ_HANDLER;mission/devices/RwHandler.h
-0x51a3;IMTQ_ExecutionFailed;Command execution failed;163;IMTQ_HANDLER;mission/devices/RwHandler.h
-0x51a4;IMTQ_CrcError;Reaction wheel reply has invalid crc;164;IMTQ_HANDLER;mission/devices/RwHandler.h
-0x51a5;IMTQ_ValueNotRead;;165;IMTQ_HANDLER;mission/devices/RwHandler.h
-0x51a6;IMTQ_CmdErrUnknown;;166;IMTQ_HANDLER;mission/devices/ImtqHandler.h
-0x51a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;167;IMTQ_HANDLER;mission/devices/ImtqHandler.h
-0x50a0;SYRLINKS_CrcFailure;;160;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a1;SYRLINKS_UartFraminOrParityErrorAck;;161;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a2;SYRLINKS_BadCharacterAck;;162;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a3;SYRLINKS_BadParameterValueAck;;163;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a4;SYRLINKS_BadEndOfFrameAck;;164;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a5;SYRLINKS_UnknownCommandIdAck;;165;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a6;SYRLINKS_BadCrcAck;;166;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a7;SYRLINKS_ReplyWrongSize;;167;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a8;SYRLINKS_MissingStartFrameCharacter;;168;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x5d00;GOMS_PacketTooLong;;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d01;GOMS_InvalidTableId;;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d02;GOMS_InvalidAddress;;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d03;GOMS_InvalidParamSize;;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d04;GOMS_InvalidPayloadSize;;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d05;GOMS_UnknownReplyId;;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x4fa1;HEATER_CommandNotSupported;;161;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x4fa2;HEATER_InitFailed;;162;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x4fa3;HEATER_InvalidSwitchNr;;163;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x4fa4;HEATER_MainSwitchSetTimeout;;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x4fa5;HEATER_CommandAlreadyWaiting;;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x58a0;SUSS_ErrorUnlockMutex;No description;160;SUS_HANDLER;mission/devices/SusHandler.h
+0x58a1;SUSS_ErrorLockMutex;No description;161;SUS_HANDLER;mission/devices/SusHandler.h
+0x66a0;SADPL_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;SA_DEPL_HANDLER;mission/devices/RwHandler.h
+0x66a1;SADPL_InvalidRampTime;Action Message with invalid ramp time was received.;161;SA_DEPL_HANDLER;mission/devices/RwHandler.h
+0x66a2;SADPL_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;SA_DEPL_HANDLER;mission/devices/RwHandler.h
+0x66a3;SADPL_ExecutionFailed;Command execution failed;163;SA_DEPL_HANDLER;mission/devices/RwHandler.h
+0x66a4;SADPL_CrcError;Reaction wheel reply has invalid crc;164;SA_DEPL_HANDLER;mission/devices/RwHandler.h
+0x66a5;SADPL_ValueNotRead;No description;165;SA_DEPL_HANDLER;mission/devices/RwHandler.h
+0x50a0;SYRLINKS_CrcFailure;No description;160;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a1;SYRLINKS_UartFraminOrParityErrorAck;No description;161;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a2;SYRLINKS_BadCharacterAck;No description;162;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a3;SYRLINKS_BadParameterValueAck;No description;163;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a4;SYRLINKS_BadEndOfFrameAck;No description;164;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a5;SYRLINKS_UnknownCommandIdAck;No description;165;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a6;SYRLINKS_BadCrcAck;No description;166;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a7;SYRLINKS_ReplyWrongSize;No description;167;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a8;SYRLINKS_MissingStartFrameCharacter;No description;168;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x5d00;GOMS_PacketTooLong;No description;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d01;GOMS_InvalidTableId;No description;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d02;GOMS_InvalidAddress;No description;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d03;GOMS_InvalidParamSize;No description;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d04;GOMS_InvalidPayloadSize;No description;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d05;GOMS_UnknownReplyId;No description;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x4fa1;HEATER_CommandNotSupported;No description;161;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa2;HEATER_InitFailed;No description;162;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa3;HEATER_InvalidSwitchNr;No description;163;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa4;HEATER_MainSwitchSetTimeout;No description;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa5;HEATER_CommandAlreadyWaiting;No description;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
-0x6a01;ACSSAF_SafectrlMekfInputInvalid;;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
-0x6b01;ACSPTG_PtgctrlMekfInputInvalid;;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
-0x6c01;ACSDTB_DetumbleNoSensordata;;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
-0x6901;ACSKAL_KalmanNoGyrMeas;;1;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6902;ACSKAL_KalmanNoModel;;2;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6903;ACSKAL_KalmanInversionFailed;;3;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x4500;HSPI_OpeningFileFailed;;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4501;HSPI_FullDuplexTransferFailed;;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4502;HSPI_HalfDuplexTransferFailed;;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4801;HGIO_UnknownGpioId;;1;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4802;HGIO_DriveGpioFailure;;2;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4803;HGIO_GpioTypeFailure;;3;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4804;HGIO_GpioInvalidInstance;;4;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4805;HGIO_GpioDuplicateDetected;;5;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4806;HGIO_GpioInitFailed;;6;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4807;HGIO_GpioGetValueFailed;;7;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4601;HURT_UartReadFailure;;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
-0x4602;HURT_UartReadSizeMissmatch;;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
-0x4603;HURT_UartRxBufferTooSmall;;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
+0x6a01;ACSSAF_SafectrlMekfInputInvalid;No description;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
+0x6b01;ACSPTG_PtgctrlMekfInputInvalid;No description;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
+0x6c01;ACSDTB_DetumbleNoSensordata;No description;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
+0x6902;ACSKAL_KalmanUninitialized;No description;2;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6903;ACSKAL_KalmanNoGyrData;No description;3;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6904;ACSKAL_KalmanNoModelVectors;No description;4;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6905;ACSKAL_KalmanNoSusMgmStrData;No description;5;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6906;ACSKAL_KalmanCovarianceInversionFailed;No description;6;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6907;ACSKAL_KalmanInitialized;No description;7;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6908;ACSKAL_KalmanRunning;No description;8;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
+0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
+0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
+0x4801;HGIO_UnknownGpioId;No description;1;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4802;HGIO_DriveGpioFailure;No description;2;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4803;HGIO_GpioTypeFailure;No description;3;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4804;HGIO_GpioInvalidInstance;No description;4;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4805;HGIO_GpioDuplicateDetected;No description;5;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4806;HGIO_GpioInitFailed;No description;6;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4807;HGIO_GpioGetValueFailed;No description;7;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4601;HURT_UartReadFailure;No description;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
+0x4602;HURT_UartReadSizeMissmatch;No description;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
+0x4603;HURT_UartRxBufferTooSmall;No description;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
 0x4400;UXOS_ExecutionFinished;Execution of the current command has finished;0;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4401;UXOS_CommandPending;Command is pending. This will also be returned if the user tries to load another command but a command is still pending;1;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4402;UXOS_BytesRead;Some bytes have been read from the executing process;2;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4406;UXOS_PcloseCallError;;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x2801;SM_DataTooLarge;;1;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2802;SM_DataStorageFull;;2;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2803;SM_IllegalStorageId;;3;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2804;SM_DataDoesNotExist;;4;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2805;SM_IllegalAddress;;5;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2806;SM_PoolTooLarge;;6;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x0601;PP_DoItMyself;;1;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0602;PP_PointsToVariable;;2;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0603;PP_PointsToMemory;;3;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0604;PP_ActivityCompleted;;4;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0605;PP_PointsToVectorUint8;;5;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0606;PP_PointsToVectorUint16;;6;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0607;PP_PointsToVectorUint32;;7;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0608;PP_PointsToVectorFloat;;8;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06a0;PP_DumpNotSupported;;160;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e0;PP_InvalidSize;;224;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e1;PP_InvalidAddress;;225;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e2;PP_InvalidContent;;226;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e3;PP_UnalignedAccess;;227;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e4;PP_WriteProtected;;228;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x13e0;MH_UnknownCmd;;224;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x13e1;MH_InvalidAddress;;225;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x13e2;MH_InvalidSize;;226;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x13e3;MH_StateMismatch;;227;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x38a1;SGP4_InvalidEccentricity;;161;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a2;SGP4_InvalidMeanMotion;;162;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a3;SGP4_InvalidPerturbationElements;;163;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a4;SGP4_InvalidSemiLatusRectum;;164;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a5;SGP4_InvalidEpochElements;;165;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a6;SGP4_SatelliteHasDecayed;;166;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38b1;SGP4_TleTooOld;;177;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38b2;SGP4_TleNotInitialized;;178;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x1801;FF_Full;;1;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
-0x1802;FF_Empty;;2;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
-0x1601;FMM_MapFull;;1;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
-0x1602;FMM_KeyDoesNotExist;;2;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
-0x3901;MUX_NotEnoughResources;;1;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3902;MUX_InsufficientMemory;;2;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3903;MUX_NoPrivilege;;3;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3904;MUX_WrongAttributeSetting;;4;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3905;MUX_MutexAlreadyLocked;;5;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3906;MUX_MutexNotFound;;6;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3907;MUX_MutexMaxLocks;;7;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3908;MUX_CurrThreadAlreadyOwnsMutex;;8;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3909;MUX_CurrThreadDoesNotOwnMutex;;9;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x390a;MUX_MutexTimeout;;10;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x390b;MUX_MutexInvalidId;;11;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x390c;MUX_MutexDestroyedWhileWaiting;;12;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3a01;MQI_Empty;;1;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x4406;UXOS_PcloseCallError;No description;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x2801;SM_DataTooLarge;No description;1;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2802;SM_DataStorageFull;No description;2;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2803;SM_IllegalStorageId;No description;3;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2804;SM_DataDoesNotExist;No description;4;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2805;SM_IllegalAddress;No description;5;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2806;SM_PoolTooLarge;No description;6;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x0601;PP_DoItMyself;No description;1;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0602;PP_PointsToVariable;No description;2;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0603;PP_PointsToMemory;No description;3;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0604;PP_ActivityCompleted;No description;4;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0605;PP_PointsToVectorUint8;No description;5;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0606;PP_PointsToVectorUint16;No description;6;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0607;PP_PointsToVectorUint32;No description;7;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0608;PP_PointsToVectorFloat;No description;8;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06a0;PP_DumpNotSupported;No description;160;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e0;PP_InvalidSize;No description;224;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e1;PP_InvalidAddress;No description;225;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e2;PP_InvalidContent;No description;226;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e3;PP_UnalignedAccess;No description;227;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e4;PP_WriteProtected;No description;228;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x13e0;MH_UnknownCmd;No description;224;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x13e1;MH_InvalidAddress;No description;225;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x13e2;MH_InvalidSize;No description;226;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x13e3;MH_StateMismatch;No description;227;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x38a1;SGP4_InvalidEccentricity;No description;161;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a2;SGP4_InvalidMeanMotion;No description;162;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a3;SGP4_InvalidPerturbationElements;No description;163;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a4;SGP4_InvalidSemiLatusRectum;No description;164;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a5;SGP4_InvalidEpochElements;No description;165;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a6;SGP4_SatelliteHasDecayed;No description;166;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38b1;SGP4_TleTooOld;No description;177;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38b2;SGP4_TleNotInitialized;No description;178;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x1801;FF_Full;No description;1;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
+0x1802;FF_Empty;No description;2;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
+0x1601;FMM_MapFull;No description;1;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
+0x1602;FMM_KeyDoesNotExist;No description;2;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
+0x3901;MUX_NotEnoughResources;No description;1;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3902;MUX_InsufficientMemory;No description;2;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3903;MUX_NoPrivilege;No description;3;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3904;MUX_WrongAttributeSetting;No description;4;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3905;MUX_MutexAlreadyLocked;No description;5;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3906;MUX_MutexNotFound;No description;6;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3907;MUX_MutexMaxLocks;No description;7;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3908;MUX_CurrThreadAlreadyOwnsMutex;No description;8;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3909;MUX_CurrThreadDoesNotOwnMutex;No description;9;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x390a;MUX_MutexTimeout;No description;10;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x390b;MUX_MutexInvalidId;No description;11;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x390c;MUX_MutexDestroyedWhileWaiting;No description;12;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3a01;MQI_Empty;No description;1;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
 0x3a02;MQI_Full;No space left for more messages;2;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
 0x3a03;MQI_NoReplyPartner;Returned if a reply method was called without partner;3;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
 0x3a04;MQI_DestinationInvalid;Returned if the target destination is invalid.;4;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x0f01;CM_UnknownCommand;;1;COMMAND_MESSAGE;fsfw/src/fsfw/ipc/CommandMessageIF.h
-0x0e01;HM_InvalidMode;;1;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
-0x0e02;HM_TransNotAllowed;;2;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
-0x0e03;HM_InTransition;;3;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
-0x0e04;HM_InvalidSubmode;;4;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
-0x0c02;MS_InvalidEntry;;2;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x0c03;MS_TooManyElements;;3;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x0c04;MS_CantStoreEmpty;;4;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x0b01;SB_ChildNotFound;;1;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b02;SB_ChildInfoUpdated;;2;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b03;SB_ChildDoesntHaveModes;;3;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b04;SB_CouldNotInsertChild;;4;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b05;SB_TableContainsInvalidObjectId;;5;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0d01;SS_SequenceAlreadyExists;;1;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d02;SS_TableAlreadyExists;;2;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d03;SS_TableDoesNotExist;;3;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d04;SS_TableOrSequenceLengthInvalid;;4;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d05;SS_SequenceDoesNotExist;;5;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d06;SS_TableContainsInvalidObjectId;;6;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d07;SS_FallbackSequenceDoesNotExist;;7;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d08;SS_NoTargetTable;;8;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d09;SS_SequenceOrTableTooLong;;9;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d0b;SS_IsFallbackSequence;;11;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d0c;SS_AccessDenied;;12;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d0e;SS_TableInUse;;14;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0da1;SS_TargetTableNotReached;;161;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0da2;SS_TableCheckFailed;;162;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x2501;EV_ListenerNotFound;;1;EVENT_MANAGER_IF;fsfw/src/fsfw/events/EventManagerIF.h
-0x04e1;RMP_CommandNoDescriptorsAvailable;;225;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04e2;RMP_CommandBufferFull;;226;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04e3;RMP_CommandChannelOutOfRange;;227;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04e6;RMP_CommandChannelDeactivated;;230;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04e7;RMP_CommandPortOutOfRange;;231;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04e8;RMP_CommandPortInUse;;232;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04e9;RMP_CommandNoChannel;;233;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04ea;RMP_NoHwCrc;;234;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04d0;RMP_ReplyNoReply;;208;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04d1;RMP_ReplyNotSent;;209;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04d2;RMP_ReplyNotYetSent;;210;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04d3;RMP_ReplyMissmatch;;211;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04d4;RMP_ReplyTimeout;;212;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04c0;RMP_ReplyInterfaceBusy;;192;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04c1;RMP_ReplyTransmissionError;;193;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04c2;RMP_ReplyInvalidData;;194;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04c3;RMP_ReplyNotSupported;;195;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04f0;RMP_LinkDown;;240;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04f1;RMP_SpwCredit;;241;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04f2;RMP_SpwEscape;;242;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04f3;RMP_SpwDisconnect;;243;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04f4;RMP_SpwParity;;244;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04f5;RMP_SpwWriteSync;;245;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04f6;RMP_SpwInvalidAddress;;246;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04f7;RMP_SpwEarlyEop;;247;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04f8;RMP_SpwDma;;248;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x04f9;RMP_SpwLinkError;;249;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x0400;RMP_ReplyOk;;0;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x0401;RMP_ReplyGeneralErrorCode;;1;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x0402;RMP_ReplyUnusedPacketTypeOrCommandCode;;2;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x0403;RMP_ReplyInvalidKey;;3;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x0404;RMP_ReplyInvalidDataCrc;;4;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x0405;RMP_ReplyEarlyEop;;5;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x0406;RMP_ReplyTooMuchData;;6;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x0407;RMP_ReplyEep;;7;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x0408;RMP_ReplyReserved;;8;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x0409;RMP_ReplyVerifyBufferOverrun;;9;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x040a;RMP_ReplyCommandNotImplementedOrNotAuthorised;;10;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x040b;RMP_ReplyRmwDataLengthError;;11;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x040c;RMP_ReplyInvalidTargetLogicalAddress;;12;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x1401;SE_BufferTooShort;;1;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
-0x1402;SE_StreamTooShort;;2;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
-0x1403;SE_TooManyElements;;3;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
-0x3da0;PVA_InvalidReadWriteMode;;160;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
-0x3da1;PVA_InvalidPoolEntry;;161;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
-0x0801;DPS_InvalidParameterDefinition;;1;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
-0x0802;DPS_SetWasAlreadyRead;;2;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
-0x0803;DPS_CommitingWithoutReading;;3;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
-0x0804;DPS_DataSetUninitialised;;4;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
-0x0805;DPS_DataSetFull;;5;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
-0x0806;DPS_PoolVarNull;;6;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
-0x1c01;TCD_PacketLost;;1;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1c02;TCD_DestinationNotFound;;2;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1c03;TCD_ServiceIdAlreadyExists;;3;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1b00;TCC_NoDestinationFound;;0;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b01;TCC_InvalidCcsdsVersion;;1;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b02;TCC_InvalidApid;;2;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b03;TCC_InvalidPacketType;;3;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b04;TCC_InvalidSecHeaderField;;4;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b05;TCC_IncorrectPrimaryHeader;;5;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b07;TCC_IncompletePacket;;7;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b08;TCC_InvalidPusVersion;;8;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b09;TCC_IncorrectChecksum;;9;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b0a;TCC_IllegalPacketSubtype;;10;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b0b;TCC_IncorrectSecondaryHeader;;11;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x3001;POS_InPowerTransition;;1;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
-0x3002;POS_SwitchStateMismatch;;2;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
-0x0501;PS_SwitchOn;;1;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
-0x0500;PS_SwitchOff;;0;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
-0x0502;PS_SwitchTimeout;;2;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
-0x0503;PS_FuseOn;;3;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
-0x0504;PS_FuseOff;;4;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
-0x3b00;SPH_ConnBroken;;0;SEMAPHORE_IF;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
-0x2a01;IEC_NoConfigurationTable;;1;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a02;IEC_NoCpuTable;;2;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a03;IEC_InvalidWorkspaceAddress;;3;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a04;IEC_TooLittleWorkspace;;4;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a05;IEC_WorkspaceAllocation;;5;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a06;IEC_InterruptStackTooSmall;;6;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a07;IEC_ThreadExitted;;7;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a08;IEC_InconsistentMpInformation;;8;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a09;IEC_InvalidNode;;9;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0a;IEC_NoMpci;;10;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0b;IEC_BadPacket;;11;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0c;IEC_OutOfPackets;;12;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0d;IEC_OutOfGlobalObjects;;13;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0e;IEC_OutOfProxies;;14;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0f;IEC_InvalidGlobalId;;15;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a10;IEC_BadStackHook;;16;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a11;IEC_BadAttributes;;17;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a12;IEC_ImplementationKeyCreateInconsistency;;18;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a13;IEC_ImplementationBlockingOperationCancel;;19;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a14;IEC_MutexObtainFromBadState;;20;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a15;IEC_UnlimitedAndMaximumIs0;;21;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2600;FDI_YourFault;;0;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
-0x2601;FDI_MyFault;;1;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
-0x2602;FDI_ConfirmLater;;2;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
-0x1e00;PUS_InvalidPusVersion;;0;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
-0x1e01;PUS_InvalidCrc16;;1;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
-0x0201;OM_InsertionFailed;;1;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
-0x0202;OM_NotFound;;2;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
-0x0203;OM_ChildInitFailed;;3;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
-0x0204;OM_InternalErrReporterUninit;;4;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
-0x2201;TMF_Busy;;1;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2202;TMF_LastPacketFound;;2;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2203;TMF_StopFetch;;3;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2204;TMF_Timeout;;4;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2205;TMF_TmChannelFull;;5;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2206;TMF_NotStored;;6;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2207;TMF_AllDeleted;;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2208;TMF_InvalidData;;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2209;TMF_NotReady;;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2101;TMB_Busy;;1;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2102;TMB_Full;;2;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2103;TMB_Empty;;3;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2104;TMB_NullRequested;;4;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2105;TMB_TooLarge;;5;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2106;TMB_NotReady;;6;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2107;TMB_DumpError;;7;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2108;TMB_CrcError;;8;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2109;TMB_Timeout;;9;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210a;TMB_IdlePacketFound;;10;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210b;TMB_TelecommandFound;;11;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210c;TMB_NoPusATm;;12;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210d;TMB_TooSmall;;13;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210e;TMB_BlockNotFound;;14;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210f;TMB_InvalidRequest;;15;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2d01;PAW_UnknownDatatype;;1;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d02;PAW_DatatypeMissmatch;;2;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d03;PAW_Readonly;;3;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d04;PAW_TooBig;;4;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d05;PAW_SourceNotSet;;5;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d06;PAW_OutOfBounds;;6;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d07;PAW_NotSet;;7;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d08;PAW_ColumnOrRowsZero;;8;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2e01;HPA_InvalidIdentifierId;;1;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
-0x2e02;HPA_InvalidDomainId;;2;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
-0x2e03;HPA_InvalidValue;;3;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
-0x2e05;HPA_ReadOnly;;5;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
-0x3b01;SPH_SemaphoreTimeout;;1;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
-0x3b02;SPH_SemaphoreNotOwned;;2;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
-0x3b03;SPH_SemaphoreInvalid;;3;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
-0x1a01;TRC_NotEnoughSensors;;1;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
-0x1a02;TRC_LowestValueOol;;2;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
-0x1a03;TRC_HighestValueOol;;3;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
-0x1a04;TRC_BothValuesOol;;4;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
-0x1a05;TRC_DuplexOol;;5;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
-0x3101;LIM_Unchecked;;1;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
-0x3102;LIM_Invalid;;2;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
-0x3103;LIM_Unselected;;3;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
-0x3104;LIM_BelowLowLimit;;4;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
-0x3105;LIM_AboveHighLimit;;5;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
-0x3106;LIM_UnexpectedValue;;6;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
-0x3107;LIM_OutOfRange;;7;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
-0x31a0;LIM_FirstSample;;160;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
-0x31e0;LIM_InvalidSize;;224;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
-0x31e1;LIM_WrongType;;225;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
-0x31e2;LIM_WrongPid;;226;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
-0x31e3;LIM_WrongLimitId;;227;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
-0x31ee;LIM_MonitorNotFound;;238;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
-0x3601;CFDP_InvalidTlvType;;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3602;CFDP_InvalidDirectiveField;;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3603;CFDP_InvalidPduDatafieldLen;;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3604;CFDP_InvalidAckDirectiveFields;;4;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3605;CFDP_MetadataCantParseOptions;;5;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3606;CFDP_NakCantParseOptions;;6;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3607;CFDP_FinishedCantParseFsResponses;;7;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3608;CFDP_FilestoreRequiresSecondFile;;8;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3609;CFDP_FilestoreResponseCantParseFsMessage;;9;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x360a;CFDP_InvalidPduFormat;;10;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x4300;FILS_GenericFileError;;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4301;FILS_GenericDirError;;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4302;FILS_FilesystemInactive;;2;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4303;FILS_GenericRenameError;;3;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4304;FILS_IsBusy;;4;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4305;FILS_InvalidParameters;;5;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430a;FILS_FileDoesNotExist;;10;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430b;FILS_FileAlreadyExists;;11;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430c;FILS_NotAFile;;12;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430d;FILS_FileLocked;;13;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430e;FILS_PermissionDenied;;14;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4315;FILS_DirectoryDoesNotExist;;21;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4316;FILS_DirectoryAlreadyExists;;22;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4317;FILS_NotADirectory;;23;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4318;FILS_DirectoryNotEmpty;;24;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x431e;FILS_SequencePacketMissingWrite;;30;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x431f;FILS_SequencePacketMissingRead;;31;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x2c01;CCS_BcIsSetVrCommand;;1;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2c02;CCS_BcIsUnlockCommand;;2;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cb0;CCS_BcIllegalCommand;;176;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cb1;CCS_BoardReadingNotFinished;;177;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf0;CCS_NsPositiveW;;240;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf1;CCS_NsNegativeW;;241;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf2;CCS_NsLockout;;242;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf3;CCS_FarmInLockout;;243;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf4;CCS_FarmInWait;;244;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce0;CCS_WrongSymbol;;224;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce1;CCS_DoubleStart;;225;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce2;CCS_StartSymbolMissed;;226;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce3;CCS_EndWithoutStart;;227;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce4;CCS_TooLarge;;228;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce5;CCS_TooShort;;229;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce6;CCS_WrongTfVersion;;230;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce7;CCS_WrongSpacecraftId;;231;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce8;CCS_NoValidFrameType;;232;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce9;CCS_CrcFailed;;233;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cea;CCS_VcNotFound;;234;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ceb;CCS_ForwardingFailed;;235;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cec;CCS_ContentTooLarge;;236;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ced;CCS_ResidualData;;237;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cee;CCS_DataCorrupted;;238;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cef;CCS_IllegalSegmentationFlag;;239;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cd0;CCS_IllegalFlagCombination;;208;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cd1;CCS_ShorterThanHeader;;209;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cd2;CCS_TooShortBlockedPacket;;210;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cd3;CCS_TooShortMapExtraction;;211;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x4201;PUS11_InvalidTypeTimeWindow;;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
-0x4202;PUS11_InvalidTimeWindow;;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
-0x4203;PUS11_TimeshiftingNotPossible;;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
-0x4204;PUS11_InvalidRelativeTime;;4;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
-0x4205;PUS11_ContainedTcTooSmall;;5;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
-0x4206;PUS11_ContainedTcCrcMissmatch;;6;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
-0x3401;DC_NoReplyReceived;;1;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3402;DC_ProtocolError;;2;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3403;DC_Nullpointer;;3;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3404;DC_InvalidCookieType;;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3405;DC_NotActive;;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3406;DC_TooMuchData;;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x03a0;DHB_InvalidChannel;;160;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
-0x03b0;DHB_AperiodicReply;;176;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
-0x03b1;DHB_IgnoreReplyData;;177;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
-0x03b2;DHB_IgnoreFullPacket;;178;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
-0x03c0;DHB_NothingToSend;;192;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
-0x03c2;DHB_CommandMapError;;194;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
-0x03d0;DHB_NoSwitch;;208;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
-0x03e0;DHB_ChildTimeout;;224;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
-0x03e1;DHB_SwitchFailed;;225;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
-0x1201;AB_NeedSecondStep;;1;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1202;AB_NeedToReconfigure;;2;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1203;AB_ModeFallback;;3;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1204;AB_ChildNotCommandable;;4;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1205;AB_NeedToChangeHealth;;5;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x12a1;AB_NotEnoughChildrenInCorrectState;;161;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x27a0;DHI_NoCommandData;;160;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x27a1;DHI_CommandNotSupported;;161;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x27a2;DHI_CommandAlreadySent;;162;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x27a3;DHI_CommandWasNotSent;;163;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x27a4;DHI_CantSwitchAddress;;164;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x27a5;DHI_WrongModeForCommand;;165;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x27a6;DHI_Timeout;;166;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x27a7;DHI_Busy;;167;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x27a8;DHI_NoReplyExpected;;168;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x27a9;DHI_NonOpTemperature;;169;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x27aa;DHI_CommandNotImplemented;;170;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x27b0;DHI_ChecksumError;;176;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x27b1;DHI_LengthMissmatch;;177;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x27b2;DHI_InvalidData;;178;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x27b3;DHI_ProtocolError;;179;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x27c0;DHI_DeviceDidNotExecute;;192;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x27c1;DHI_DeviceReportedError;;193;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x27c2;DHI_UnknownDeviceReply;;194;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x27c3;DHI_DeviceReplyInvalid;;195;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x27d0;DHI_InvalidCommandParameter;;208;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x27d1;DHI_InvalidNumberOrLengthOfParameters;;209;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x2401;MT_TooDetailedRequest;;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x2402;MT_TooGeneralRequest;;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x2403;MT_NoMatch;;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x2404;MT_Full;;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x2405;MT_NewNodeCreated;;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x3f01;DLEE_NoPacketFound;;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x3f02;DLEE_PossiblePacketLoss;;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x2f01;ASC_TooLongForTargetType;;1;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x2f02;ASC_InvalidCharacters;;2;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x2f03;ASC_BufferTooSmall;;3;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x1701;HHI_ObjectNotHealthy;;1;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
-0x1702;HHI_InvalidHealthState;;2;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
-0x1703;HHI_IsExternallyControlled;;3;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
-0x3201;CF_ObjectHasNoFunctions;;1;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
-0x3202;CF_AlreadyCommanding;;2;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
-0x3301;HF_IsBusy;;1;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x3302;HF_InvalidParameters;;2;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x3303;HF_ExecutionFinished;;3;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x3304;HF_InvalidActionId;;4;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x1000;TIM_UnsupportedTimeFormat;;0;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1001;TIM_NotEnoughInformationForTargetFormat;;1;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1002;TIM_LengthMismatch;;2;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1003;TIM_InvalidTimeFormat;;3;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1004;TIM_InvalidDayOfYear;;4;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1005;TIM_TimeDoesNotFitFormat;;5;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x3701;TSI_BadTimestamp;;1;TIME_STAMPER_IF;fsfw/src/fsfw/timemanager/TimeStampIF.h
-0x3c00;LPIF_PoolEntryNotFound;;0;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
-0x3c01;LPIF_PoolEntryTypeConflict;;1;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
-0x3e00;HKM_QueueOrDestinationInvalid;;0;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e01;HKM_WrongHkPacketType;;1;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e02;HKM_ReportingStatusUnchanged;;2;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e03;HKM_PeriodicHelperInvalid;;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e04;HKM_PoolobjectNotFound;;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e05;HKM_DatasetNotFound;;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x2901;TC_InvalidTargetState;;1;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-0x29f1;TC_AboveOperationalLimit;;241;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-0x29f2;TC_BelowOperationalLimit;;242;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-0x2001;CSB_ExecutionComplete;;1;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2002;CSB_NoStepMessage;;2;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2003;CSB_ObjectBusy;;3;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2004;CSB_Busy;;4;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2005;CSB_InvalidTc;;5;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2006;CSB_InvalidObject;;6;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2007;CSB_InvalidReply;;7;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x4c00;SPPA_NoPacketFound;;0;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
-0x4c01;SPPA_SplitPacket;;1;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
-0x1d01;ATC_ActivityStarted;;1;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x1d02;ATC_InvalidSubservice;;2;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x1d03;ATC_IllegalApplicationData;;3;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x1d04;ATC_SendTmFailed;;4;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x1d05;ATC_Timeout;;5;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x0f01;CM_UnknownCommand;No description;1;COMMAND_MESSAGE;fsfw/src/fsfw/ipc/CommandMessageIF.h
+0x0e01;HM_InvalidMode;No description;1;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
+0x0e02;HM_TransNotAllowed;No description;2;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
+0x0e03;HM_InTransition;No description;3;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
+0x0e04;HM_InvalidSubmode;No description;4;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
+0x0c02;MS_InvalidEntry;No description;2;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
+0x0c03;MS_TooManyElements;No description;3;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
+0x0c04;MS_CantStoreEmpty;No description;4;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
+0x0b01;SB_ChildNotFound;No description;1;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b02;SB_ChildInfoUpdated;No description;2;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b03;SB_ChildDoesntHaveModes;No description;3;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b04;SB_CouldNotInsertChild;No description;4;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b05;SB_TableContainsInvalidObjectId;No description;5;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0d01;SS_SequenceAlreadyExists;No description;1;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d02;SS_TableAlreadyExists;No description;2;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d03;SS_TableDoesNotExist;No description;3;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d04;SS_TableOrSequenceLengthInvalid;No description;4;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d05;SS_SequenceDoesNotExist;No description;5;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d06;SS_TableContainsInvalidObjectId;No description;6;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d07;SS_FallbackSequenceDoesNotExist;No description;7;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d08;SS_NoTargetTable;No description;8;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d09;SS_SequenceOrTableTooLong;No description;9;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d0b;SS_IsFallbackSequence;No description;11;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d0c;SS_AccessDenied;No description;12;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d0e;SS_TableInUse;No description;14;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0da1;SS_TargetTableNotReached;No description;161;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0da2;SS_TableCheckFailed;No description;162;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x2501;EV_ListenerNotFound;No description;1;EVENT_MANAGER_IF;fsfw/src/fsfw/events/EventManagerIF.h
+0x04e1;RMP_CommandNoDescriptorsAvailable;No description;225;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04e2;RMP_CommandBufferFull;No description;226;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04e3;RMP_CommandChannelOutOfRange;No description;227;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04e6;RMP_CommandChannelDeactivated;No description;230;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04e7;RMP_CommandPortOutOfRange;No description;231;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04e8;RMP_CommandPortInUse;No description;232;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04e9;RMP_CommandNoChannel;No description;233;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04ea;RMP_NoHwCrc;No description;234;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04d0;RMP_ReplyNoReply;No description;208;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04d1;RMP_ReplyNotSent;No description;209;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04d2;RMP_ReplyNotYetSent;No description;210;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04d3;RMP_ReplyMissmatch;No description;211;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04d4;RMP_ReplyTimeout;No description;212;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04c0;RMP_ReplyInterfaceBusy;No description;192;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04c1;RMP_ReplyTransmissionError;No description;193;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04c2;RMP_ReplyInvalidData;No description;194;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04c3;RMP_ReplyNotSupported;No description;195;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04f0;RMP_LinkDown;No description;240;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04f1;RMP_SpwCredit;No description;241;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04f2;RMP_SpwEscape;No description;242;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04f3;RMP_SpwDisconnect;No description;243;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04f4;RMP_SpwParity;No description;244;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04f5;RMP_SpwWriteSync;No description;245;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04f6;RMP_SpwInvalidAddress;No description;246;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04f7;RMP_SpwEarlyEop;No description;247;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04f8;RMP_SpwDma;No description;248;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04f9;RMP_SpwLinkError;No description;249;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x0400;RMP_ReplyOk;No description;0;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x0401;RMP_ReplyGeneralErrorCode;No description;1;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x0402;RMP_ReplyUnusedPacketTypeOrCommandCode;No description;2;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x0403;RMP_ReplyInvalidKey;No description;3;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x0404;RMP_ReplyInvalidDataCrc;No description;4;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x0405;RMP_ReplyEarlyEop;No description;5;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x0406;RMP_ReplyTooMuchData;No description;6;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x0407;RMP_ReplyEep;No description;7;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x0408;RMP_ReplyReserved;No description;8;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x0409;RMP_ReplyVerifyBufferOverrun;No description;9;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x040a;RMP_ReplyCommandNotImplementedOrNotAuthorised;No description;10;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x040b;RMP_ReplyRmwDataLengthError;No description;11;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x040c;RMP_ReplyInvalidTargetLogicalAddress;No description;12;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x1401;SE_BufferTooShort;No description;1;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x1402;SE_StreamTooShort;No description;2;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x1403;SE_TooManyElements;No description;3;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x3da0;PVA_InvalidReadWriteMode;No description;160;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
+0x3da1;PVA_InvalidPoolEntry;No description;161;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
+0x0801;DPS_InvalidParameterDefinition;No description;1;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
+0x0802;DPS_SetWasAlreadyRead;No description;2;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
+0x0803;DPS_CommitingWithoutReading;No description;3;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
+0x0804;DPS_DataSetUninitialised;No description;4;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
+0x0805;DPS_DataSetFull;No description;5;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
+0x0806;DPS_PoolVarNull;No description;6;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
+0x1c01;TCD_PacketLost;No description;1;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
+0x1c02;TCD_DestinationNotFound;No description;2;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
+0x1c03;TCD_ServiceIdAlreadyExists;No description;3;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
+0x1b00;TCC_NoDestinationFound;No description;0;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b01;TCC_InvalidCcsdsVersion;No description;1;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b02;TCC_InvalidApid;No description;2;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b03;TCC_InvalidPacketType;No description;3;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b04;TCC_InvalidSecHeaderField;No description;4;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b05;TCC_IncorrectPrimaryHeader;No description;5;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b07;TCC_IncompletePacket;No description;7;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b08;TCC_InvalidPusVersion;No description;8;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b09;TCC_IncorrectChecksum;No description;9;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b0a;TCC_IllegalPacketSubtype;No description;10;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b0b;TCC_IncorrectSecondaryHeader;No description;11;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x3001;POS_InPowerTransition;No description;1;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
+0x3002;POS_SwitchStateMismatch;No description;2;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
+0x0501;PS_SwitchOn;No description;1;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
+0x0500;PS_SwitchOff;No description;0;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
+0x0502;PS_SwitchTimeout;No description;2;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
+0x0503;PS_FuseOn;No description;3;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
+0x0504;PS_FuseOff;No description;4;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
+0x3b00;SPH_ConnBroken;No description;0;SEMAPHORE_IF;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
+0x2a01;IEC_NoConfigurationTable;No description;1;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a02;IEC_NoCpuTable;No description;2;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a03;IEC_InvalidWorkspaceAddress;No description;3;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a04;IEC_TooLittleWorkspace;No description;4;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a05;IEC_WorkspaceAllocation;No description;5;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a06;IEC_InterruptStackTooSmall;No description;6;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a07;IEC_ThreadExitted;No description;7;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a08;IEC_InconsistentMpInformation;No description;8;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a09;IEC_InvalidNode;No description;9;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0a;IEC_NoMpci;No description;10;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0b;IEC_BadPacket;No description;11;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0c;IEC_OutOfPackets;No description;12;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0d;IEC_OutOfGlobalObjects;No description;13;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0e;IEC_OutOfProxies;No description;14;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0f;IEC_InvalidGlobalId;No description;15;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a10;IEC_BadStackHook;No description;16;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a11;IEC_BadAttributes;No description;17;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a12;IEC_ImplementationKeyCreateInconsistency;No description;18;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a13;IEC_ImplementationBlockingOperationCancel;No description;19;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a14;IEC_MutexObtainFromBadState;No description;20;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a15;IEC_UnlimitedAndMaximumIs0;No description;21;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2600;FDI_YourFault;No description;0;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x2601;FDI_MyFault;No description;1;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x2602;FDI_ConfirmLater;No description;2;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x1e00;PUS_InvalidPusVersion;No description;0;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
+0x1e01;PUS_InvalidCrc16;No description;1;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
+0x0201;OM_InsertionFailed;No description;1;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0202;OM_NotFound;No description;2;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0203;OM_ChildInitFailed;No description;3;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0204;OM_InternalErrReporterUninit;No description;4;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x2201;TMF_Busy;No description;1;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2202;TMF_LastPacketFound;No description;2;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2203;TMF_StopFetch;No description;3;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2204;TMF_Timeout;No description;4;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2205;TMF_TmChannelFull;No description;5;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2206;TMF_NotStored;No description;6;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2207;TMF_AllDeleted;No description;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2208;TMF_InvalidData;No description;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2209;TMF_NotReady;No description;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2101;TMB_Busy;No description;1;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2102;TMB_Full;No description;2;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2103;TMB_Empty;No description;3;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2104;TMB_NullRequested;No description;4;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2105;TMB_TooLarge;No description;5;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2106;TMB_NotReady;No description;6;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2107;TMB_DumpError;No description;7;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2108;TMB_CrcError;No description;8;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2109;TMB_Timeout;No description;9;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210a;TMB_IdlePacketFound;No description;10;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210b;TMB_TelecommandFound;No description;11;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210c;TMB_NoPusATm;No description;12;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210d;TMB_TooSmall;No description;13;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210e;TMB_BlockNotFound;No description;14;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210f;TMB_InvalidRequest;No description;15;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2d01;PAW_UnknownDatatype;No description;1;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d02;PAW_DatatypeMissmatch;No description;2;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d03;PAW_Readonly;No description;3;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d04;PAW_TooBig;No description;4;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d05;PAW_SourceNotSet;No description;5;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d06;PAW_OutOfBounds;No description;6;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d07;PAW_NotSet;No description;7;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d08;PAW_ColumnOrRowsZero;No description;8;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2e01;HPA_InvalidIdentifierId;No description;1;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e02;HPA_InvalidDomainId;No description;2;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e03;HPA_InvalidValue;No description;3;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e05;HPA_ReadOnly;No description;5;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x3b01;SPH_SemaphoreTimeout;No description;1;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
+0x3b02;SPH_SemaphoreNotOwned;No description;2;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
+0x3b03;SPH_SemaphoreInvalid;No description;3;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
+0x1a01;TRC_NotEnoughSensors;No description;1;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
+0x1a02;TRC_LowestValueOol;No description;2;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
+0x1a03;TRC_HighestValueOol;No description;3;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
+0x1a04;TRC_BothValuesOol;No description;4;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
+0x1a05;TRC_DuplexOol;No description;5;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
+0x3101;LIM_Unchecked;No description;1;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x3102;LIM_Invalid;No description;2;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x3103;LIM_Unselected;No description;3;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x3104;LIM_BelowLowLimit;No description;4;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x3105;LIM_AboveHighLimit;No description;5;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x3106;LIM_UnexpectedValue;No description;6;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x3107;LIM_OutOfRange;No description;7;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x31a0;LIM_FirstSample;No description;160;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x31e0;LIM_InvalidSize;No description;224;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x31e1;LIM_WrongType;No description;225;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x31e2;LIM_WrongPid;No description;226;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x31e3;LIM_WrongLimitId;No description;227;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x31ee;LIM_MonitorNotFound;No description;238;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x3601;CFDP_InvalidTlvType;No description;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3602;CFDP_InvalidDirectiveField;No description;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3603;CFDP_InvalidPduDatafieldLen;No description;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3604;CFDP_InvalidAckDirectiveFields;No description;4;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3605;CFDP_MetadataCantParseOptions;No description;5;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3606;CFDP_NakCantParseOptions;No description;6;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3607;CFDP_FinishedCantParseFsResponses;No description;7;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3608;CFDP_FilestoreRequiresSecondFile;No description;8;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3609;CFDP_FilestoreResponseCantParseFsMessage;No description;9;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x360a;CFDP_InvalidPduFormat;No description;10;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x4300;FILS_GenericFileError;No description;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4301;FILS_GenericDirError;No description;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4302;FILS_FilesystemInactive;No description;2;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4303;FILS_GenericRenameError;No description;3;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4304;FILS_IsBusy;No description;4;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4305;FILS_InvalidParameters;No description;5;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430a;FILS_FileDoesNotExist;No description;10;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430b;FILS_FileAlreadyExists;No description;11;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430c;FILS_NotAFile;No description;12;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430d;FILS_FileLocked;No description;13;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430e;FILS_PermissionDenied;No description;14;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4315;FILS_DirectoryDoesNotExist;No description;21;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4316;FILS_DirectoryAlreadyExists;No description;22;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4317;FILS_NotADirectory;No description;23;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4318;FILS_DirectoryNotEmpty;No description;24;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x431e;FILS_SequencePacketMissingWrite;No description;30;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x431f;FILS_SequencePacketMissingRead;No description;31;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x2c01;CCS_BcIsSetVrCommand;No description;1;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2c02;CCS_BcIsUnlockCommand;No description;2;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cb0;CCS_BcIllegalCommand;No description;176;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cb1;CCS_BoardReadingNotFinished;No description;177;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf0;CCS_NsPositiveW;No description;240;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf1;CCS_NsNegativeW;No description;241;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf2;CCS_NsLockout;No description;242;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf3;CCS_FarmInLockout;No description;243;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf4;CCS_FarmInWait;No description;244;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce0;CCS_WrongSymbol;No description;224;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce1;CCS_DoubleStart;No description;225;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce2;CCS_StartSymbolMissed;No description;226;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce3;CCS_EndWithoutStart;No description;227;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce4;CCS_TooLarge;No description;228;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce5;CCS_TooShort;No description;229;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce6;CCS_WrongTfVersion;No description;230;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce7;CCS_WrongSpacecraftId;No description;231;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce8;CCS_NoValidFrameType;No description;232;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce9;CCS_CrcFailed;No description;233;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cea;CCS_VcNotFound;No description;234;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ceb;CCS_ForwardingFailed;No description;235;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cec;CCS_ContentTooLarge;No description;236;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ced;CCS_ResidualData;No description;237;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cee;CCS_DataCorrupted;No description;238;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cef;CCS_IllegalSegmentationFlag;No description;239;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd0;CCS_IllegalFlagCombination;No description;208;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd1;CCS_ShorterThanHeader;No description;209;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd2;CCS_TooShortBlockedPacket;No description;210;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd3;CCS_TooShortMapExtraction;No description;211;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x4201;PUS11_InvalidTypeTimeWindow;No description;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
+0x4202;PUS11_InvalidTimeWindow;No description;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
+0x4203;PUS11_TimeshiftingNotPossible;No description;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
+0x4204;PUS11_InvalidRelativeTime;No description;4;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
+0x4205;PUS11_ContainedTcTooSmall;No description;5;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
+0x4206;PUS11_ContainedTcCrcMissmatch;No description;6;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
+0x3401;DC_NoReplyReceived;No description;1;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3402;DC_ProtocolError;No description;2;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3403;DC_Nullpointer;No description;3;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3404;DC_InvalidCookieType;No description;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3405;DC_NotActive;No description;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3406;DC_TooMuchData;No description;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x03a0;DHB_InvalidChannel;No description;160;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
+0x03b0;DHB_AperiodicReply;No description;176;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
+0x03b1;DHB_IgnoreReplyData;No description;177;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
+0x03b2;DHB_IgnoreFullPacket;No description;178;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
+0x03c0;DHB_NothingToSend;No description;192;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
+0x03c2;DHB_CommandMapError;No description;194;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
+0x03d0;DHB_NoSwitch;No description;208;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
+0x03e0;DHB_ChildTimeout;No description;224;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
+0x03e1;DHB_SwitchFailed;No description;225;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
+0x1201;AB_NeedSecondStep;No description;1;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1202;AB_NeedToReconfigure;No description;2;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1203;AB_ModeFallback;No description;3;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1204;AB_ChildNotCommandable;No description;4;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1205;AB_NeedToChangeHealth;No description;5;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x12a1;AB_NotEnoughChildrenInCorrectState;No description;161;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x27a0;DHI_NoCommandData;No description;160;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27a1;DHI_CommandNotSupported;No description;161;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27a2;DHI_CommandAlreadySent;No description;162;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27a3;DHI_CommandWasNotSent;No description;163;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27a4;DHI_CantSwitchAddress;No description;164;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27a5;DHI_WrongModeForCommand;No description;165;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27a6;DHI_Timeout;No description;166;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27a7;DHI_Busy;No description;167;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27a8;DHI_NoReplyExpected;No description;168;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27a9;DHI_NonOpTemperature;No description;169;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27aa;DHI_CommandNotImplemented;No description;170;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27b0;DHI_ChecksumError;No description;176;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27b1;DHI_LengthMissmatch;No description;177;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27b2;DHI_InvalidData;No description;178;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27b3;DHI_ProtocolError;No description;179;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27c0;DHI_DeviceDidNotExecute;No description;192;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27c1;DHI_DeviceReportedError;No description;193;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27c2;DHI_UnknownDeviceReply;No description;194;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27c3;DHI_DeviceReplyInvalid;No description;195;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27d0;DHI_InvalidCommandParameter;No description;208;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27d1;DHI_InvalidNumberOrLengthOfParameters;No description;209;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x2401;MT_TooDetailedRequest;No description;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x2402;MT_TooGeneralRequest;No description;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x2403;MT_NoMatch;No description;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x2404;MT_Full;No description;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x2405;MT_NewNodeCreated;No description;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x3f01;DLEE_NoPacketFound;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x3f02;DLEE_PossiblePacketLoss;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x2f01;ASC_TooLongForTargetType;No description;1;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
+0x2f02;ASC_InvalidCharacters;No description;2;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
+0x2f03;ASC_BufferTooSmall;No description;3;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
+0x1701;HHI_ObjectNotHealthy;No description;1;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
+0x1702;HHI_InvalidHealthState;No description;2;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
+0x1703;HHI_IsExternallyControlled;No description;3;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
+0x3201;CF_ObjectHasNoFunctions;No description;1;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
+0x3202;CF_AlreadyCommanding;No description;2;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
+0x3301;HF_IsBusy;No description;1;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x3302;HF_InvalidParameters;No description;2;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x3303;HF_ExecutionFinished;No description;3;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x3304;HF_InvalidActionId;No description;4;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x1000;TIM_UnsupportedTimeFormat;No description;0;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1001;TIM_NotEnoughInformationForTargetFormat;No description;1;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1002;TIM_LengthMismatch;No description;2;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1003;TIM_InvalidTimeFormat;No description;3;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1004;TIM_InvalidDayOfYear;No description;4;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1005;TIM_TimeDoesNotFitFormat;No description;5;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x3701;TSI_BadTimestamp;No description;1;TIME_STAMPER_IF;fsfw/src/fsfw/timemanager/TimeStampIF.h
+0x3c00;LPIF_PoolEntryNotFound;No description;0;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
+0x3c01;LPIF_PoolEntryTypeConflict;No description;1;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
+0x3e00;HKM_QueueOrDestinationInvalid;No description;0;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e01;HKM_WrongHkPacketType;No description;1;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e02;HKM_ReportingStatusUnchanged;No description;2;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e03;HKM_PeriodicHelperInvalid;No description;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e04;HKM_PoolobjectNotFound;No description;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e05;HKM_DatasetNotFound;No description;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x2901;TC_InvalidTargetState;No description;1;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x29f1;TC_AboveOperationalLimit;No description;241;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x29f2;TC_BelowOperationalLimit;No description;242;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x2001;CSB_ExecutionComplete;No description;1;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2002;CSB_NoStepMessage;No description;2;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2003;CSB_ObjectBusy;No description;3;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2004;CSB_Busy;No description;4;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2005;CSB_InvalidTc;No description;5;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2006;CSB_InvalidObject;No description;6;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2007;CSB_InvalidReply;No description;7;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x4c00;SPPA_NoPacketFound;No description;0;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
+0x4c01;SPPA_SplitPacket;No description;1;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
+0x1d01;ATC_ActivityStarted;No description;1;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d02;ATC_InvalidSubservice;No description;2;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d03;ATC_IllegalApplicationData;No description;3;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d04;ATC_SendTmFailed;No description;4;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d05;ATC_Timeout;No description;5;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h

generators/bsp_q7s_events.csv

@@ -1,112 +1,115 @@
 Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
-2200;0x0898;STORE_SEND_WRITE_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2201;0x0899;STORE_WRITE_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2202;0x089a;STORE_SEND_READ_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2203;0x089b;STORE_READ_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2204;0x089c;UNEXPECTED_MSG;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2205;0x089d;STORING_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2206;0x089e;TM_DUMP_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2207;0x089f;STORE_INIT_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2208;0x08a0;STORE_INIT_EMPTY;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2209;0x08a1;STORE_CONTENT_CORRUPTED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2210;0x08a2;STORE_INITIALIZE;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2211;0x08a3;INIT_DONE;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2212;0x08a4;DUMP_FINISHED;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2213;0x08a5;DELETION_FINISHED;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2214;0x08a6;DELETION_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2215;0x08a7;AUTO_CATALOGS_SENDING_FAILED;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2600;0x0a28;GET_DATA_FAILED;LOW;;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-2601;0x0a29;STORE_DATA_FAILED;LOW;;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-2800;0x0af0;DEVICE_BUILDING_COMMAND_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2801;0x0af1;DEVICE_SENDING_COMMAND_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2802;0x0af2;DEVICE_REQUESTING_REPLY_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2803;0x0af3;DEVICE_READING_REPLY_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2804;0x0af4;DEVICE_INTERPRETING_REPLY_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2805;0x0af5;DEVICE_MISSED_REPLY;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2806;0x0af6;DEVICE_UNKNOWN_REPLY;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2807;0x0af7;DEVICE_UNREQUESTED_REPLY;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2200;0x0898;STORE_SEND_WRITE_FAILED;LOW;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2201;0x0899;STORE_WRITE_FAILED;LOW;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2202;0x089a;STORE_SEND_READ_FAILED;LOW;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2203;0x089b;STORE_READ_FAILED;LOW;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2204;0x089c;UNEXPECTED_MSG;LOW;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2205;0x089d;STORING_FAILED;LOW;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2206;0x089e;TM_DUMP_FAILED;LOW;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2207;0x089f;STORE_INIT_FAILED;LOW;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2208;0x08a0;STORE_INIT_EMPTY;INFO;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2209;0x08a1;STORE_CONTENT_CORRUPTED;LOW;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2210;0x08a2;STORE_INITIALIZE;INFO;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2211;0x08a3;INIT_DONE;INFO;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2212;0x08a4;DUMP_FINISHED;INFO;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2213;0x08a5;DELETION_FINISHED;INFO;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2214;0x08a6;DELETION_FAILED;LOW;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2215;0x08a7;AUTO_CATALOGS_SENDING_FAILED;INFO;No description;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2600;0x0a28;GET_DATA_FAILED;LOW;No description;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+2601;0x0a29;STORE_DATA_FAILED;LOW;No description;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+2800;0x0af0;DEVICE_BUILDING_COMMAND_FAILED;LOW;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2801;0x0af1;DEVICE_SENDING_COMMAND_FAILED;LOW;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2802;0x0af2;DEVICE_REQUESTING_REPLY_FAILED;LOW;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2803;0x0af3;DEVICE_READING_REPLY_FAILED;LOW;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2804;0x0af4;DEVICE_INTERPRETING_REPLY_FAILED;LOW;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2805;0x0af5;DEVICE_MISSED_REPLY;LOW;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2806;0x0af6;DEVICE_UNKNOWN_REPLY;LOW;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2807;0x0af7;DEVICE_UNREQUESTED_REPLY;LOW;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 2808;0x0af8;INVALID_DEVICE_COMMAND;LOW;Indicates a SW bug in child class.;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2809;0x0af9;MONITORING_LIMIT_EXCEEDED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2810;0x0afa;MONITORING_AMBIGUOUS;HIGH;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2811;0x0afb;DEVICE_WANTS_HARD_REBOOT;HIGH;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-4201;0x1069;FUSE_CURRENT_HIGH;LOW;;fsfw/src/fsfw/power/Fuse.h
-4202;0x106a;FUSE_WENT_OFF;LOW;;fsfw/src/fsfw/power/Fuse.h
-4204;0x106c;POWER_ABOVE_HIGH_LIMIT;LOW;;fsfw/src/fsfw/power/Fuse.h
-4205;0x106d;POWER_BELOW_LOW_LIMIT;LOW;;fsfw/src/fsfw/power/Fuse.h
-4300;0x10cc;SWITCH_WENT_OFF;LOW;;fsfw/src/fsfw/power/PowerSwitchIF.h
-5000;0x1388;HEATER_ON;INFO;;fsfw/src/fsfw/thermal/Heater.h
-5001;0x1389;HEATER_OFF;INFO;;fsfw/src/fsfw/thermal/Heater.h
-5002;0x138a;HEATER_TIMEOUT;LOW;;fsfw/src/fsfw/thermal/Heater.h
-5003;0x138b;HEATER_STAYED_ON;LOW;;fsfw/src/fsfw/thermal/Heater.h
-5004;0x138c;HEATER_STAYED_OFF;LOW;;fsfw/src/fsfw/thermal/Heater.h
-5200;0x1450;TEMP_SENSOR_HIGH;LOW;;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
-5201;0x1451;TEMP_SENSOR_LOW;LOW;;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
-5202;0x1452;TEMP_SENSOR_GRADIENT;LOW;;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
-5901;0x170d;COMPONENT_TEMP_LOW;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-5902;0x170e;COMPONENT_TEMP_HIGH;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-5903;0x170f;COMPONENT_TEMP_OOL_LOW;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-5904;0x1710;COMPONENT_TEMP_OOL_HIGH;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-5905;0x1711;TEMP_NOT_IN_OP_RANGE;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-7101;0x1bbd;FDIR_CHANGED_STATE;INFO;;fsfw/src/fsfw/fdir/FailureIsolationBase.h
-7102;0x1bbe;FDIR_STARTS_RECOVERY;MEDIUM;;fsfw/src/fsfw/fdir/FailureIsolationBase.h
-7103;0x1bbf;FDIR_TURNS_OFF_DEVICE;MEDIUM;;fsfw/src/fsfw/fdir/FailureIsolationBase.h
-7201;0x1c21;MONITOR_CHANGED_STATE;LOW;;fsfw/src/fsfw/monitoring/MonitoringIF.h
-7202;0x1c22;VALUE_BELOW_LOW_LIMIT;LOW;;fsfw/src/fsfw/monitoring/MonitoringIF.h
-7203;0x1c23;VALUE_ABOVE_HIGH_LIMIT;LOW;;fsfw/src/fsfw/monitoring/MonitoringIF.h
-7204;0x1c24;VALUE_OUT_OF_RANGE;LOW;;fsfw/src/fsfw/monitoring/MonitoringIF.h
-7400;0x1ce8;CHANGING_MODE;INFO;;fsfw/src/fsfw/modes/HasModesIF.h
-7401;0x1ce9;MODE_INFO;INFO;;fsfw/src/fsfw/modes/HasModesIF.h
-7402;0x1cea;FALLBACK_FAILED;HIGH;;fsfw/src/fsfw/modes/HasModesIF.h
-7403;0x1ceb;MODE_TRANSITION_FAILED;LOW;;fsfw/src/fsfw/modes/HasModesIF.h
-7404;0x1cec;CANT_KEEP_MODE;HIGH;;fsfw/src/fsfw/modes/HasModesIF.h
-7405;0x1ced;OBJECT_IN_INVALID_MODE;LOW;;fsfw/src/fsfw/modes/HasModesIF.h
-7406;0x1cee;FORCING_MODE;MEDIUM;;fsfw/src/fsfw/modes/HasModesIF.h
-7407;0x1cef;MODE_CMD_REJECTED;LOW;;fsfw/src/fsfw/modes/HasModesIF.h
-7506;0x1d52;HEALTH_INFO;INFO;;fsfw/src/fsfw/health/HasHealthIF.h
-7507;0x1d53;CHILD_CHANGED_HEALTH;INFO;;fsfw/src/fsfw/health/HasHealthIF.h
-7508;0x1d54;CHILD_PROBLEMS;LOW;;fsfw/src/fsfw/health/HasHealthIF.h
-7509;0x1d55;OVERWRITING_HEALTH;LOW;;fsfw/src/fsfw/health/HasHealthIF.h
-7510;0x1d56;TRYING_RECOVERY;MEDIUM;;fsfw/src/fsfw/health/HasHealthIF.h
-7511;0x1d57;RECOVERY_STEP;MEDIUM;;fsfw/src/fsfw/health/HasHealthIF.h
-7512;0x1d58;RECOVERY_DONE;MEDIUM;;fsfw/src/fsfw/health/HasHealthIF.h
-7600;0x1db0;HANDLE_PACKET_FAILED;LOW;;fsfw/src/fsfw/tcdistribution/definitions.h
+2809;0x0af9;MONITORING_LIMIT_EXCEEDED;LOW;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2810;0x0afa;MONITORING_AMBIGUOUS;HIGH;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2811;0x0afb;DEVICE_WANTS_HARD_REBOOT;HIGH;No description;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+4201;0x1069;FUSE_CURRENT_HIGH;LOW;No description;fsfw/src/fsfw/power/Fuse.h
+4202;0x106a;FUSE_WENT_OFF;LOW;No description;fsfw/src/fsfw/power/Fuse.h
+4204;0x106c;POWER_ABOVE_HIGH_LIMIT;LOW;No description;fsfw/src/fsfw/power/Fuse.h
+4205;0x106d;POWER_BELOW_LOW_LIMIT;LOW;No description;fsfw/src/fsfw/power/Fuse.h
+4300;0x10cc;SWITCH_WENT_OFF;LOW;No description;fsfw/src/fsfw/power/PowerSwitchIF.h
+5000;0x1388;HEATER_ON;INFO;No description;fsfw/src/fsfw/thermal/Heater.h
+5001;0x1389;HEATER_OFF;INFO;No description;fsfw/src/fsfw/thermal/Heater.h
+5002;0x138a;HEATER_TIMEOUT;LOW;No description;fsfw/src/fsfw/thermal/Heater.h
+5003;0x138b;HEATER_STAYED_ON;LOW;No description;fsfw/src/fsfw/thermal/Heater.h
+5004;0x138c;HEATER_STAYED_OFF;LOW;No description;fsfw/src/fsfw/thermal/Heater.h
+5200;0x1450;TEMP_SENSOR_HIGH;LOW;No description;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
+5201;0x1451;TEMP_SENSOR_LOW;LOW;No description;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
+5202;0x1452;TEMP_SENSOR_GRADIENT;LOW;No description;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
+5901;0x170d;COMPONENT_TEMP_LOW;LOW;No description;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5902;0x170e;COMPONENT_TEMP_HIGH;LOW;No description;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5903;0x170f;COMPONENT_TEMP_OOL_LOW;LOW;No description;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5904;0x1710;COMPONENT_TEMP_OOL_HIGH;LOW;No description;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5905;0x1711;TEMP_NOT_IN_OP_RANGE;LOW;No description;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+7101;0x1bbd;FDIR_CHANGED_STATE;INFO;No description;fsfw/src/fsfw/fdir/FailureIsolationBase.h
+7102;0x1bbe;FDIR_STARTS_RECOVERY;MEDIUM;No description;fsfw/src/fsfw/fdir/FailureIsolationBase.h
+7103;0x1bbf;FDIR_TURNS_OFF_DEVICE;MEDIUM;No description;fsfw/src/fsfw/fdir/FailureIsolationBase.h
+7201;0x1c21;MONITOR_CHANGED_STATE;LOW;No description;fsfw/src/fsfw/monitoring/MonitoringIF.h
+7202;0x1c22;VALUE_BELOW_LOW_LIMIT;LOW;No description;fsfw/src/fsfw/monitoring/MonitoringIF.h
+7203;0x1c23;VALUE_ABOVE_HIGH_LIMIT;LOW;No description;fsfw/src/fsfw/monitoring/MonitoringIF.h
+7204;0x1c24;VALUE_OUT_OF_RANGE;LOW;No description;fsfw/src/fsfw/monitoring/MonitoringIF.h
+7400;0x1ce8;CHANGING_MODE;INFO;No description;fsfw/src/fsfw/modes/HasModesIF.h
+7401;0x1ce9;MODE_INFO;INFO;No description;fsfw/src/fsfw/modes/HasModesIF.h
+7402;0x1cea;FALLBACK_FAILED;HIGH;No description;fsfw/src/fsfw/modes/HasModesIF.h
+7403;0x1ceb;MODE_TRANSITION_FAILED;LOW;No description;fsfw/src/fsfw/modes/HasModesIF.h
+7404;0x1cec;CANT_KEEP_MODE;HIGH;No description;fsfw/src/fsfw/modes/HasModesIF.h
+7405;0x1ced;OBJECT_IN_INVALID_MODE;LOW;No description;fsfw/src/fsfw/modes/HasModesIF.h
+7406;0x1cee;FORCING_MODE;MEDIUM;No description;fsfw/src/fsfw/modes/HasModesIF.h
+7407;0x1cef;MODE_CMD_REJECTED;LOW;No description;fsfw/src/fsfw/modes/HasModesIF.h
+7506;0x1d52;HEALTH_INFO;INFO;No description;fsfw/src/fsfw/health/HasHealthIF.h
+7507;0x1d53;CHILD_CHANGED_HEALTH;INFO;No description;fsfw/src/fsfw/health/HasHealthIF.h
+7508;0x1d54;CHILD_PROBLEMS;LOW;No description;fsfw/src/fsfw/health/HasHealthIF.h
+7509;0x1d55;OVERWRITING_HEALTH;LOW;No description;fsfw/src/fsfw/health/HasHealthIF.h
+7510;0x1d56;TRYING_RECOVERY;MEDIUM;No description;fsfw/src/fsfw/health/HasHealthIF.h
+7511;0x1d57;RECOVERY_STEP;MEDIUM;No description;fsfw/src/fsfw/health/HasHealthIF.h
+7512;0x1d58;RECOVERY_DONE;MEDIUM;No description;fsfw/src/fsfw/health/HasHealthIF.h
+7600;0x1db0;HANDLE_PACKET_FAILED;LOW;No description;fsfw/src/fsfw/tcdistribution/definitions.h
 7900;0x1edc;RF_AVAILABLE;INFO;A RF available signal was detected. P1: raw RFA state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 7901;0x1edd;RF_LOST;INFO;A previously found RF available signal was lost. P1: raw RFA state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 7902;0x1ede;BIT_LOCK;INFO;A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 7903;0x1edf;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 7905;0x1ee1;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
-8900;0x22c4;CLOCK_SET;INFO;;fsfw/src/fsfw/pus/Service9TimeManagement.h
-8901;0x22c5;CLOCK_DUMP;INFO;;fsfw/src/fsfw/pus/Service9TimeManagement.h
-8902;0x22c6;CLOCK_SET_FAILURE;LOW;;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8900;0x22c4;CLOCK_SET;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8901;0x22c5;CLOCK_DUMP;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8902;0x22c6;CLOCK_SET_FAILURE;LOW;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
 9100;0x238c;TC_DELETION_FAILED;MEDIUM;Deletion of a TC from the map failed. P1: First 32 bit of request ID, P2. Last 32 bit of Request ID;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
-9700;0x25e4;TEST;INFO;;fsfw/src/fsfw/pus/Service17Test.h
-10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;;fsfw/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
-10800;0x2a30;STORE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
-10801;0x2a31;MSG_QUEUE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
-10802;0x2a32;SERIALIZATION_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
-11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/acsDefs.h
-11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;;mission/acsDefs.h
+9700;0x25e4;TEST;INFO;No description;fsfw/src/fsfw/pus/Service17Test.h
+10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;No description;fsfw/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
+10800;0x2a30;STORE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
+10801;0x2a31;MSG_QUEUE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
+10802;0x2a32;SERIALIZATION_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
+11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;No description;mission/acsDefs.h
+11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;No description;mission/acsDefs.h
+11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acsDefs.h
+11203;0x2bc3;MEKF_INVALID_INFO;INFO;No description;mission/acsDefs.h
+11204;0x2bc4;MEKF_INVALID_MODE_VIOLATION;HIGH;No description;mission/acsDefs.h
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
-11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
-11303;0x2c27;FDIR_REACTION_IGNORED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
-11400;0x2c88;GPIO_PULL_HIGH_FAILED;LOW;;mission/devices/HeaterHandler.h
-11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;;mission/devices/HeaterHandler.h
-11402;0x2c8a;HEATER_WENT_ON;INFO;;mission/devices/HeaterHandler.h
-11403;0x2c8b;HEATER_WENT_OFF;INFO;;mission/devices/HeaterHandler.h
-11404;0x2c8c;SWITCH_ALREADY_ON;LOW;;mission/devices/HeaterHandler.h
-11405;0x2c8d;SWITCH_ALREADY_OFF;LOW;;mission/devices/HeaterHandler.h
-11406;0x2c8e;MAIN_SWITCH_TIMEOUT;MEDIUM;;mission/devices/HeaterHandler.h
-11407;0x2c8f;FAULTY_HEATER_WAS_ON;LOW;;mission/devices/HeaterHandler.h
+11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/devices/devicedefinitions/powerDefinitions.h
+11303;0x2c27;FDIR_REACTION_IGNORED;MEDIUM;No description;mission/devices/devicedefinitions/powerDefinitions.h
+11400;0x2c88;GPIO_PULL_HIGH_FAILED;LOW;No description;mission/devices/HeaterHandler.h
+11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;No description;mission/devices/HeaterHandler.h
+11402;0x2c8a;HEATER_WENT_ON;INFO;No description;mission/devices/HeaterHandler.h
+11403;0x2c8b;HEATER_WENT_OFF;INFO;No description;mission/devices/HeaterHandler.h
+11404;0x2c8c;SWITCH_ALREADY_ON;LOW;No description;mission/devices/HeaterHandler.h
+11405;0x2c8d;SWITCH_ALREADY_OFF;LOW;No description;mission/devices/HeaterHandler.h
+11406;0x2c8e;MAIN_SWITCH_TIMEOUT;MEDIUM;No description;mission/devices/HeaterHandler.h
+11407;0x2c8f;FAULTY_HEATER_WAS_ON;LOW;No description;mission/devices/HeaterHandler.h
 11500;0x2cec;BURN_PHASE_START;INFO;P1: Burn duration in milliseconds, P2: Dry run flag;mission/devices/SolarArrayDeploymentHandler.h
 11501;0x2ced;BURN_PHASE_DONE;INFO;P1: Burn duration in milliseconds, P2: Dry run flag;mission/devices/SolarArrayDeploymentHandler.h
-11502;0x2cee;MAIN_SWITCH_ON_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
-11503;0x2cef;MAIN_SWITCH_OFF_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
-11504;0x2cf0;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
-11505;0x2cf1;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
-11506;0x2cf2;DEPL_SA1_GPIO_SWTICH_OFF_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
-11507;0x2cf3;DEPL_SA2_GPIO_SWTICH_OFF_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
-11508;0x2cf4;AUTONOMOUS_DEPLOYMENT_COMPLETED;INFO;;mission/devices/SolarArrayDeploymentHandler.h
+11502;0x2cee;MAIN_SWITCH_ON_TIMEOUT;LOW;No description;mission/devices/SolarArrayDeploymentHandler.h
+11503;0x2cef;MAIN_SWITCH_OFF_TIMEOUT;LOW;No description;mission/devices/SolarArrayDeploymentHandler.h
+11504;0x2cf0;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;No description;mission/devices/SolarArrayDeploymentHandler.h
+11505;0x2cf1;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;No description;mission/devices/SolarArrayDeploymentHandler.h
+11506;0x2cf2;DEPL_SA1_GPIO_SWTICH_OFF_FAILED;HIGH;No description;mission/devices/SolarArrayDeploymentHandler.h
+11507;0x2cf3;DEPL_SA2_GPIO_SWTICH_OFF_FAILED;HIGH;No description;mission/devices/SolarArrayDeploymentHandler.h
+11508;0x2cf4;AUTONOMOUS_DEPLOYMENT_COMPLETED;INFO;No description;mission/devices/SolarArrayDeploymentHandler.h
 11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/devices/ploc/PlocMPSoCHandler.h
 11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/devices/ploc/PlocMPSoCHandler.h
 11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/devices/ploc/PlocMPSoCHandler.h
@@ -122,30 +125,31 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
 11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/devices/ImtqHandler.h
 11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/devicedefinitions/rwHelpers.h
-11802;0x2e1a;RESET_OCCURED;LOW;;mission/devices/devicedefinitions/rwHelpers.h
-11901;0x2e7d;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
-11902;0x2e7e;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
+11802;0x2e1a;RESET_OCCURED;LOW;No description;mission/devices/devicedefinitions/rwHelpers.h
+11901;0x2e7d;BOOTING_FIRMWARE_FAILED_EVENT;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
+11902;0x2e7e;BOOTING_BOOTLOADER_FAILED_EVENT;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
 12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/devices/ploc/PlocSupervisorHandler.h
 12002;0x2ee2;SUPV_UNKNOWN_TM;LOW;Unhandled event. P1: APID, P2: Service ID;linux/devices/ploc/PlocSupervisorHandler.h
-12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;;linux/devices/ploc/PlocSupervisorHandler.h
+12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;No description;linux/devices/ploc/PlocSupervisorHandler.h
 12004;0x2ee4;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux/devices/ploc/PlocSupervisorHandler.h
 12005;0x2ee5;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report P1: ID of command for which the execution failed P2: Status code sent by the supervisor handler;linux/devices/ploc/PlocSupervisorHandler.h
 12006;0x2ee6;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux/devices/ploc/PlocSupervisorHandler.h
 12007;0x2ee7;SUPV_HELPER_EXECUTING;LOW;Supervisor helper currently executing a command;linux/devices/ploc/PlocSupervisorHandler.h
 12008;0x2ee8;SUPV_MPSOC_SHUTDOWN_BUILD_FAILED;LOW;Failed to build the command to shutdown the MPSoC;linux/devices/ploc/PlocSupervisorHandler.h
-12100;0x2f44;SANITIZATION_FAILED;LOW;;bsp_q7s/fs/SdCardManager.h
-12101;0x2f45;MOUNTED_SD_CARD;INFO;;bsp_q7s/fs/SdCardManager.h
+12100;0x2f44;SANITIZATION_FAILED;LOW;No description;bsp_q7s/fs/SdCardManager.h
+12101;0x2f45;MOUNTED_SD_CARD;INFO;No description;bsp_q7s/fs/SdCardManager.h
 12300;0x300c;SEND_MRAM_DUMP_FAILED;LOW;Failed to send mram dump command to supervisor handler P1: Return value of commandAction function P2: Start address of MRAM to dump with this command;linux/devices/ploc/PlocMemoryDumper.h
 12301;0x300d;MRAM_DUMP_FAILED;LOW;Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command;linux/devices/ploc/PlocMemoryDumper.h
 12302;0x300e;MRAM_DUMP_FINISHED;LOW;MRAM dump finished successfully;linux/devices/ploc/PlocMemoryDumper.h
-12401;0x3071;INVALID_TC_FRAME;HIGH;;linux/ipcore/PdecHandler.h
+12401;0x3071;INVALID_TC_FRAME;HIGH;No description;linux/ipcore/PdecHandler.h
 12402;0x3072;INVALID_FAR;HIGH;Read invalid FAR from PDEC after startup;linux/ipcore/PdecHandler.h
 12403;0x3073;CARRIER_LOCK;INFO;Carrier lock detected;linux/ipcore/PdecHandler.h
 12404;0x3074;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);linux/ipcore/PdecHandler.h
 12405;0x3075;LOST_CARRIER_LOCK_PDEC;INFO;Lost carrier lock;linux/ipcore/PdecHandler.h
 12406;0x3076;LOST_BIT_LOCK_PDEC;INFO;Lost bit lock;linux/ipcore/PdecHandler.h
-12407;0x3077;POLL_SYSCALL_ERROR_PDEC;MEDIUM;;linux/ipcore/PdecHandler.h
-12408;0x3078;WRITE_SYSCALL_ERROR_PDEC;MEDIUM;;linux/ipcore/PdecHandler.h
+12407;0x3077;TOO_MANY_IRQS;MEDIUM;Too many IRQs over the time window of one second. P1: Allowed TCs;linux/ipcore/PdecHandler.h
+12408;0x3078;POLL_SYSCALL_ERROR_PDEC;MEDIUM;No description;linux/ipcore/PdecHandler.h
+12409;0x3079;WRITE_SYSCALL_ERROR_PDEC;MEDIUM;No description;linux/ipcore/PdecHandler.h
 12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h
 12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h
 12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h
@@ -161,11 +165,11 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12512;0x30e0;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrHelper.h
 12513;0x30e1;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrHelper.h
 12514;0x30e2;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrHelper.h
-12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;;linux/devices/startracker/StrHelper.h
-12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;;linux/devices/startracker/StrHelper.h
+12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h
+12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h
 12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/devices/ploc/PlocMPSoCHelper.h
 12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/devices/ploc/PlocMPSoCHelper.h
-12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;;linux/devices/ploc/PlocMPSoCHelper.h
+12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/devices/ploc/PlocMPSoCHelper.h
 12603;0x313b;MPSOC_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
 12604;0x313c;MPSOC_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
 12605;0x313d;MPSOC_MISSING_ACK;LOW;Did not receive acknowledgment report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
@@ -175,8 +179,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12609;0x3141;MPSOC_ACK_INVALID_APID;LOW;Expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
 12610;0x3142;MPSOC_EXE_INVALID_APID;LOW;Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
 12611;0x3143;MPSOC_HELPER_SEQ_CNT_MISMATCH;LOW;Received sequence count does not match expected sequence count P1: Expected sequence count P2: Received sequence count;linux/devices/ploc/PlocMPSoCHelper.h
-12612;0x3144;MPSOC_TM_SIZE_ERROR;LOW;;linux/devices/ploc/PlocMPSoCHelper.h
-12613;0x3145;MPSOC_TM_CRC_MISSMATCH;LOW;;linux/devices/ploc/PlocMPSoCHelper.h
+12612;0x3144;MPSOC_TM_SIZE_ERROR;LOW;No description;linux/devices/ploc/PlocMPSoCHelper.h
+12613;0x3145;MPSOC_TM_CRC_MISSMATCH;LOW;No description;linux/devices/ploc/PlocMPSoCHelper.h
 12700;0x319c;TRANSITION_BACK_TO_OFF;MEDIUM;Could not transition properly and went back to ALL OFF;mission/devices/PayloadPcduHandler.h
 12701;0x319d;NEG_V_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
 12702;0x319e;U_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
@@ -189,15 +193,15 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12709;0x31a5;I_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
 12710;0x31a6;U_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
 12711;0x31a7;I_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
-12800;0x3200;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/objects/AcsBoardAssembly.h
-12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/objects/AcsBoardAssembly.h
-12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/objects/AcsBoardAssembly.h
+12800;0x3200;TRANSITION_OTHER_SIDE_FAILED;HIGH;No description;mission/system/objects/AcsBoardAssembly.h
+12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;No description;mission/system/objects/AcsBoardAssembly.h
+12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/objects/AcsBoardAssembly.h
 12803;0x3203;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/objects/AcsBoardAssembly.h
-12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/objects/SusAssembly.h
-12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/objects/SusAssembly.h
-12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/objects/SusAssembly.h
+12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;No description;mission/system/objects/SusAssembly.h
+12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;No description;mission/system/objects/SusAssembly.h
+12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/objects/SusAssembly.h
 12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/objects/SusAssembly.h
-13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;;mission/system/objects/TcsBoardAssembly.h
+13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;No description;mission/system/objects/TcsBoardAssembly.h
 13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission/devices/devicedefinitions/GPSDefinitions.h
 13101;0x332d;CANT_GET_FIX;LOW;Could not get fix in maximum allowed time. P1: Maximum allowed time to get a fix after the GPS was switched on.;mission/devices/devicedefinitions/GPSDefinitions.h
 13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/devices/P60DockHandler.h
@@ -211,9 +215,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13605;0x3525;SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL;LOW;Requesting event buffer was successful;linux/devices/ploc/PlocSupvUartMan.h
 13606;0x3526;SUPV_EVENT_BUFFER_REQUEST_FAILED;LOW;Requesting event buffer failed;linux/devices/ploc/PlocSupvUartMan.h
 13607;0x3527;SUPV_EVENT_BUFFER_REQUEST_TERMINATED;LOW;Terminated event buffer request by command P1: Number of packets read before process was terminated;linux/devices/ploc/PlocSupvUartMan.h
-13608;0x3528;SUPV_MEM_CHECK_OK;INFO;;linux/devices/ploc/PlocSupvUartMan.h
-13609;0x3529;SUPV_MEM_CHECK_FAIL;INFO;;linux/devices/ploc/PlocSupvUartMan.h
-13616;0x3530;SUPV_SENDING_COMMAND_FAILED;LOW;;linux/devices/ploc/PlocSupvUartMan.h
+13608;0x3528;SUPV_MEM_CHECK_OK;INFO;No description;linux/devices/ploc/PlocSupvUartMan.h
+13609;0x3529;SUPV_MEM_CHECK_FAIL;INFO;No description;linux/devices/ploc/PlocSupvUartMan.h
+13616;0x3530;SUPV_SENDING_COMMAND_FAILED;LOW;No description;linux/devices/ploc/PlocSupvUartMan.h
 13617;0x3531;SUPV_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
 13618;0x3532;SUPV_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
 13619;0x3533;SUPV_MISSING_ACK;LOW;Did not receive acknowledgement report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocSupvUartMan.h
@@ -225,33 +229,33 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13625;0x3539;ACK_RECEPTION_FAILURE;LOW;Failed to receive acknowledgment report P1: Return value P2: Apid of command for which the reception of the acknowledgment report failed;linux/devices/ploc/PlocSupvUartMan.h
 13626;0x353a;EXE_RECEPTION_FAILURE;LOW;Failed to receive execution report P1: Return value P2: Apid of command for which the reception of the execution report failed;linux/devices/ploc/PlocSupvUartMan.h
 13627;0x353b;WRITE_MEMORY_FAILED;LOW;Update procedure failed when sending packet. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h
-13628;0x353c;SUPV_REPLY_SIZE_MISSMATCH;LOW;;linux/devices/ploc/PlocSupvUartMan.h
-13629;0x353d;SUPV_REPLY_CRC_MISSMATCH;LOW;;linux/devices/ploc/PlocSupvUartMan.h
+13628;0x353c;SUPV_REPLY_SIZE_MISSMATCH;LOW;No description;linux/devices/ploc/PlocSupvUartMan.h
+13629;0x353d;SUPV_REPLY_CRC_MISSMATCH;LOW;No description;linux/devices/ploc/PlocSupvUartMan.h
 13630;0x353e;SUPV_UPDATE_PROGRESS;INFO;Will be triggered every 5 percent of the update progress. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h
-13631;0x353f;HDLC_FRAME_REMOVAL_ERROR;INFO;;linux/devices/ploc/PlocSupvUartMan.h
-13632;0x3540;HDLC_CRC_ERROR;INFO;;linux/devices/ploc/PlocSupvUartMan.h
-13700;0x3584;FDIR_REACTION_IGNORED;MEDIUM;;mission/devices/devicedefinitions/SyrlinksDefinitions.h
+13631;0x353f;HDLC_FRAME_REMOVAL_ERROR;INFO;No description;linux/devices/ploc/PlocSupvUartMan.h
+13632;0x3540;HDLC_CRC_ERROR;INFO;No description;linux/devices/ploc/PlocSupvUartMan.h
+13700;0x3584;FDIR_REACTION_IGNORED;MEDIUM;No description;mission/devices/devicedefinitions/SyrlinksDefinitions.h
 13701;0x3585;TX_ON;INFO;Transmitter is on now. P1: Submode, P2: Current default datarate.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
 13702;0x3586;TX_OFF;INFO;Transmitter is off now.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
-13800;0x35e8;MISSING_PACKET;LOW;;mission/devices/devicedefinitions/ScexDefinitions.h
-13801;0x35e9;EXPERIMENT_TIMEDOUT;LOW;;mission/devices/devicedefinitions/ScexDefinitions.h
-13802;0x35ea;MULTI_PACKET_COMMAND_DONE;INFO;;mission/devices/devicedefinitions/ScexDefinitions.h
-13901;0x364d;SET_CONFIGFILEVALUE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
-13902;0x364e;GET_CONFIGFILEVALUE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
-13903;0x364f;INSERT_CONFIGFILEVALUE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
-13904;0x3650;WRITE_CONFIGFILE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
-13905;0x3651;READ_CONFIGFILE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
-14000;0x36b0;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
+13800;0x35e8;MISSING_PACKET;LOW;No description;mission/devices/devicedefinitions/ScexDefinitions.h
+13801;0x35e9;EXPERIMENT_TIMEDOUT;LOW;No description;mission/devices/devicedefinitions/ScexDefinitions.h
+13802;0x35ea;MULTI_PACKET_COMMAND_DONE;INFO;No description;mission/devices/devicedefinitions/ScexDefinitions.h
+13901;0x364d;SET_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
+13902;0x364e;GET_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
+13903;0x364f;INSERT_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
+13904;0x3650;WRITE_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
+13905;0x3651;READ_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
+14000;0x36b0;ALLOC_FAILURE;MEDIUM;No description;bsp_q7s/core/CoreController.h
 14001;0x36b1;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
 14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
-14003;0x36b3;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h
+14003;0x36b3;REBOOT_HW;MEDIUM;No description;bsp_q7s/core/CoreController.h
 14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
 14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;bsp_q7s/core/CoreController.h
 14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
-14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;;mission/controller/ThermalController.h
-14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;;mission/controller/ThermalController.h
-14102;0x3716;SYRLINKS_OVERHEATING;HIGH;;mission/controller/ThermalController.h
-14103;0x3717;PLOC_OVERHEATING;HIGH;;mission/controller/ThermalController.h
-14104;0x3718;OBC_OVERHEATING;HIGH;;mission/controller/ThermalController.h
-14105;0x3719;HPA_OVERHEATING;HIGH;;mission/controller/ThermalController.h
-14106;0x371a;PLPCDU_OVERHEATING;HIGH;;mission/controller/ThermalController.h
+14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/ThermalController.h
+14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/ThermalController.h
+14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
+14103;0x3717;PLOC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
+14104;0x3718;OBC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
+14105;0x3719;HPA_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
+14106;0x371a;PLPCDU_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h

generators/bsp_q7s_objects.csv

@@ -29,6 +29,7 @@
 0x44120350;RW4
 0x44130001;STAR_TRACKER
 0x44130045;GPS_CONTROLLER
+0x44140013;IMTQ_POLLING
 0x44140014;IMTQ_HANDLER
 0x442000A1;PCDU_HANDLER
 0x44250000;P60DOCK_HANDLER

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 256 translations.
+ * @brief    Auto-generated event translation file. Contains 260 translations.
  * @details
- * Generated on: 2023-02-17 02:12:04
+ * Generated on: 2023-02-23 15:39:20
  */
 #include "translateEvents.h"
 
@@ -92,6 +92,9 @@ const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
 const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
 const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
+const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
+const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
+const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -129,8 +132,8 @@ 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";
@@ -150,6 +153,7 @@ 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 *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 *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
@@ -433,6 +437,12 @@ const char *translateEvents(Event event) {
       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_INVALID_MODE_VIOLATION_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -508,9 +518,9 @@ 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):
@@ -550,8 +560,10 @@ const char *translateEvents(Event event) {
     case (12406):
       return LOST_BIT_LOCK_PDEC_STRING;
     case (12407):
-      return POLL_SYSCALL_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 (12500):
       return IMAGE_UPLOAD_FAILED_STRING;

generators/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 152 translations.
- * Generated on: 2023-02-17 02:12:04
+ * Contains 153 translations.
+ * Generated on: 2023-02-23 15:39:20
  */
 #include "translateObjects.h"
 
@@ -37,6 +37,7 @@ 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";
@@ -223,6 +224,8 @@ 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:

generators/requirements.txt

@@ -1,2 +1,2 @@
 colorlog==6.7.0
-git+https://egit.irs.uni-stuttgart.de/fsfw/fsfwgen@66e31885a7c87fbb4340cd2a51a13e1196f377af#egg=fsfwgen
+git+https://egit.irs.uni-stuttgart.de/fsfw/fsfwgen@v0.3.0#egg=fsfwgen

hooks/post-checkout

@@ -0,0 +1,6 @@
+#!/bin/bash
+#
+# update submodules after checkout
+
+git submodule init
+git submodule update

linux/ObjectFactory.cpp

@@ -9,7 +9,7 @@
 #include <fsfw_hal/linux/spi/SpiComIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
 #include <linux/callbacks/gpioCallbacks.h>
-#include <linux/devices/Max31865RtdLowlevelHandler.h>
+#include <linux/devices/Max31865RtdPolling.h>
 #include <mission/controller/AcsController.h>
 #include <mission/core/GenericFactory.h>
 #include <mission/devices/Max31865EiveHandler.h>
@@ -278,7 +278,7 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
   TcsBoardAssembly* tcsBoardAss = ObjectFactory::createTcsBoardAssy(*pwrSwitcher);
 
   // Create special low level reader communication interface
-  new Max31865RtdReader(objects::SPI_RTD_COM_IF, comIF, gpioComIF);
+  new Max31865RtdPolling(objects::SPI_RTD_COM_IF, comIF, gpioComIF);
   for (uint8_t idx = 0; idx < NUM_RTDS; idx++) {
     rtdCookies[idx] = new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second,
                                     MAX31865::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);

linux/boardtest/I2cTestClass.cpp

@@ -29,7 +29,7 @@ ReturnValue_t I2cTestClass::performPeriodicAction() {
 
 void I2cTestClass::battInit() {
   sif::info << "I2cTestClass: BPX Initialization" << std::endl;
-  UnixFileGuard fileHelper(i2cdev, &bpxInfo.fd, O_RDWR, "I2cTestClass::sendMessage");
+  UnixFileGuard fileHelper(i2cdev, bpxInfo.fd, O_RDWR, "I2cTestClass::sendMessage");
   if (fileHelper.getOpenResult() != returnvalue::OK) {
     sif::error << "Opening I2C device" << i2cdev << " failed" << std::endl;
     return;
@@ -58,7 +58,7 @@ void I2cTestClass::battInit() {
 }
 
 void I2cTestClass::battPeriodic() {
-  UnixFileGuard fileHelper(i2cdev, &bpxInfo.fd, O_RDWR, "I2cTestClass::sendMessage");
+  UnixFileGuard fileHelper(i2cdev, bpxInfo.fd, O_RDWR, "I2cTestClass::sendMessage");
   if (fileHelper.getOpenResult() != returnvalue::OK) {
     sif::error << "Opening I2C device" << i2cdev << " failed" << std::endl;
     return;

linux/boardtest/SpiTestClass.cpp

@@ -94,7 +94,7 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
 #endif
   int fileDescriptor = 0;
 
-  UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
+  UnixFileGuard fileHelper(deviceName, fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
   if (fileHelper.getOpenResult()) {
     sif::error << "SpiTestClass::performRm3100Test: File descriptor could not be opened!"
                << std::endl;
@@ -137,7 +137,7 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
   if ((statusReg & 0b1000'0000) == 0) {
     sif::warning << "SpiTestClass::performRm3100Test: Data not ready!" << std::endl;
     TaskFactory::delayTask(10);
-    uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
+    statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
     if ((statusReg & 0b1000'0000) == 0) {
       return;
     }
@@ -191,7 +191,7 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
 #endif
   int fileDescriptor = 0;
 
-  UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
+  UnixFileGuard fileHelper(deviceName, fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
   if (fileHelper.getOpenResult()) {
     sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
                << std::endl;
@@ -231,7 +231,7 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
 #endif
   int fileDescriptor = 0;
 
-  UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
+  UnixFileGuard fileHelper(deviceName, fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
   if (fileHelper.getOpenResult()) {
     sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
                << std::endl;
@@ -341,7 +341,7 @@ void SpiTestClass::performMax1227Test() {
 #elif defined(TE0720_1CFA)
 #endif
   int fd = 0;
-  UnixFileGuard fileHelper(deviceName, &fd, O_RDWR, "SpiComIF::initializeInterface");
+  UnixFileGuard fileHelper(deviceName, fd, O_RDWR, "SpiComIF::initializeInterface");
   if (fileHelper.getOpenResult()) {
     sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
                << std::endl;

linux/csp/CspComIF.cpp

@@ -141,8 +141,8 @@ ReturnValue_t CspComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
           requestStruct.mem_id = P60PDU_PARAM;
           requestStruct.count = p60pdu_config_count;
           requestStruct.size = P60PDU_PARAM_SIZE;
-          int result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
-                                             requestStruct.mem_id, cspCookie->getTimeout());
+          result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
+                                         requestStruct.mem_id, cspCookie->getTimeout());
           if (result != 0) {
             return returnvalue::FAILED;
           }
@@ -151,8 +151,8 @@ ReturnValue_t CspComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
           requestStruct.mem_id = P60ACU_PARAM;
           requestStruct.count = p60acu_config_count;
           requestStruct.size = P60ACU_PARAM_SIZE;
-          int result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
-                                             requestStruct.mem_id, cspCookie->getTimeout());
+          result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
+                                         requestStruct.mem_id, cspCookie->getTimeout());
           if (result != 0) {
             return returnvalue::FAILED;
           }
@@ -161,8 +161,8 @@ ReturnValue_t CspComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
           requestStruct.mem_id = P60DOCK_PARAM;
           requestStruct.count = p60dock_config_count;
           requestStruct.size = P60DOCK_PARAM_SIZE;
-          int result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
-                                             requestStruct.mem_id, cspCookie->getTimeout());
+          result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
+                                         requestStruct.mem_id, cspCookie->getTimeout());
           if (result != 0) {
             return returnvalue::FAILED;
           }
@@ -171,8 +171,8 @@ ReturnValue_t CspComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
             return returnvalue::FAILED;
           }
           const TableInfo* tableInfo = reinterpret_cast<const TableInfo*>(sendData);
-          int result = gs_rparam_save(cspAddress, cspCookie->getTimeout(), tableInfo->sourceTable,
-                                      tableInfo->targetTable);
+          result = gs_rparam_save(cspAddress, cspCookie->getTimeout(), tableInfo->sourceTable,
+                                  tableInfo->targetTable);
           if (result != 0) {
             return returnvalue::FAILED;
           }
@@ -181,8 +181,8 @@ ReturnValue_t CspComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
             return returnvalue::FAILED;
           }
           const TableInfo* tableInfo = reinterpret_cast<const TableInfo*>(sendData);
-          int result = gs_rparam_load(cspAddress, cspCookie->getTimeout(), tableInfo->sourceTable,
-                                      tableInfo->targetTable);
+          result = gs_rparam_load(cspAddress, cspCookie->getTimeout(), tableInfo->sourceTable,
+                                  tableInfo->targetTable);
           if (result != 0) {
             return returnvalue::FAILED;
           }

linux/devices/CMakeLists.txt

@@ -3,8 +3,9 @@ if(EIVE_BUILD_GPSD_GPS_HANDLER)
 endif()
 
 target_sources(
-  ${OBSW_NAME} PRIVATE Max31865RtdLowlevelHandler.cpp ScexUartReader.cpp
-                       ScexDleParser.cpp ScexHelper.cpp RwPollingTask.cpp)
+  ${OBSW_NAME}
+  PRIVATE Max31865RtdPolling.cpp ScexUartReader.cpp ImtqPollingTask.cpp
+          ScexDleParser.cpp ScexHelper.cpp RwPollingTask.cpp)
 
 add_subdirectory(ploc)
 

linux/devices/ImtqPollingTask.cpp

@@ -0,0 +1,433 @@
+#include "ImtqPollingTask.h"
+
+#include <fcntl.h>
+#include <fsfw/tasks/SemaphoreFactory.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
+#include <fsfw_hal/linux/UnixFileGuard.h>
+#include <linux/i2c-dev.h>
+#include <sys/ioctl.h>
+
+#include "fsfw/FSFW.h"
+
+ImtqPollingTask::ImtqPollingTask(object_id_t imtqPollingTask) : SystemObject(imtqPollingTask) {
+  semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
+  semaphore->acquire();
+  ipcLock = MutexFactory::instance()->createMutex();
+  bufLock = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t ImtqPollingTask::performOperation(uint8_t operationCode) {
+  while (true) {
+    ipcLock->lockMutex();
+    state = InternalState::IDLE;
+    ipcLock->unlockMutex();
+    semaphore->acquire();
+
+    comStatus = returnvalue::OK;
+    // Stopwatch watch;
+    switch (currentRequest) {
+      case imtq::RequestType::MEASURE_NO_ACTUATION: {
+        handleMeasureStep();
+        break;
+      }
+      case imtq::RequestType::ACTUATE: {
+        handleActuateStep();
+        break;
+      }
+    };
+  }
+  return returnvalue::OK;
+}
+
+void ImtqPollingTask::handleMeasureStep() {
+  size_t replyLen = 0;
+  uint8_t* replyPtr;
+  ImtqRepliesDefault replies(replyBuf.data());
+  // Can be used later to verify correct timing (e.g. all data has been read)
+  clearReadFlagsDefault(replies);
+  auto i2cCmdExecMeasure = [&](imtq::CC::CC cc) {
+    ccToReplyPtrMeasure(replies, cc, &replyPtr, replyLen);
+    return i2cCmdExecDefault(cc, replyPtr, replyLen, imtq::MGM_MEASUREMENT_LOW_LEVEL_ERROR);
+  };
+
+  cmdLen = 1;
+  cmdBuf[0] = imtq::CC::GET_SYSTEM_STATE;
+  if (i2cCmdExecMeasure(imtq::CC::GET_SYSTEM_STATE) != returnvalue::OK) {
+    return;
+  }
+
+  ignoreNextActuateRequest =
+      (replies.getSystemState()[2] == static_cast<uint8_t>(imtq::mode::SELF_TEST));
+  if (ignoreNextActuateRequest) {
+    // Do not command anything until self-test is done.
+    return;
+  }
+
+  if (specialRequest != imtq::SpecialRequest::NONE) {
+    auto executeSelfTest = [&](imtq::selfTest::Axis axis) {
+      cmdBuf[0] = imtq::CC::SELF_TEST_CMD;
+      cmdBuf[1] = axis;
+      return i2cCmdExecMeasure(imtq::CC::SELF_TEST_CMD);
+    };
+    // If a self-test is already ongoing, ignore the request.
+    if (replies.getSystemState()[2] != static_cast<uint8_t>(imtq::mode::SELF_TEST)) {
+      switch (specialRequest) {
+        case (imtq::SpecialRequest::DO_SELF_TEST_POS_X): {
+          executeSelfTest(imtq::selfTest::Axis::X_POSITIVE);
+          break;
+        }
+        case (imtq::SpecialRequest::DO_SELF_TEST_NEG_X): {
+          executeSelfTest(imtq::selfTest::Axis::X_NEGATIVE);
+          break;
+        }
+        case (imtq::SpecialRequest::DO_SELF_TEST_POS_Y): {
+          executeSelfTest(imtq::selfTest::Axis::Y_POSITIVE);
+          break;
+        }
+        case (imtq::SpecialRequest::DO_SELF_TEST_NEG_Y): {
+          executeSelfTest(imtq::selfTest::Axis::Y_NEGATIVE);
+          break;
+        }
+        case (imtq::SpecialRequest::DO_SELF_TEST_POS_Z): {
+          executeSelfTest(imtq::selfTest::Axis::Z_POSITIVE);
+          break;
+        }
+        case (imtq::SpecialRequest::DO_SELF_TEST_NEG_Z): {
+          executeSelfTest(imtq::selfTest::Axis::Z_NEGATIVE);
+          break;
+        }
+        case (imtq::SpecialRequest::GET_SELF_TEST_RESULT): {
+          cmdBuf[0] = imtq::CC::GET_SELF_TEST_RESULT;
+          i2cCmdExecMeasure(imtq::CC::GET_SELF_TEST_RESULT);
+          break;
+        }
+        default: {
+          // Should never happen
+          break;
+        }
+      }
+      // We are done. Only request self test or results here.
+      return;
+    }
+  }
+
+  cmdBuf[0] = imtq::CC::START_MTM_MEASUREMENT;
+  if (i2cCmdExecMeasure(imtq::CC::START_MTM_MEASUREMENT) != returnvalue::OK) {
+    return;
+  }
+  // Takes a bit of time to take measurements. Subtract a bit because of the delay of previous
+  // commands.
+  TaskFactory::delayTask(currentIntegrationTimeMs);
+
+  cmdBuf[0] = imtq::CC::GET_RAW_MTM_MEASUREMENT;
+  if (i2cCmdExecMeasure(imtq::CC::GET_RAW_MTM_MEASUREMENT) != returnvalue::OK) {
+    return;
+  }
+
+  cmdBuf[0] = imtq::CC::GET_ENG_HK_DATA;
+  if (i2cCmdExecMeasure(imtq::CC::GET_ENG_HK_DATA) != returnvalue::OK) {
+    return;
+  }
+
+  cmdBuf[0] = imtq::CC::GET_CAL_MTM_MEASUREMENT;
+  if (i2cCmdExecMeasure(imtq::CC::GET_CAL_MTM_MEASUREMENT) != returnvalue::OK) {
+    return;
+  }
+  // sif::debug << "measure done" << std::endl;
+  return;
+}
+
+void ImtqPollingTask::handleActuateStep() {
+  uint8_t* replyPtr = nullptr;
+  size_t replyLen = 0;
+  // No point when self-test mode is active.
+  if (ignoreNextActuateRequest) {
+    return;
+  }
+  ImtqRepliesWithTorque replies(replyBufActuation.data());
+  // Can be used later to verify correct timing (e.g. all data has been read)
+  clearReadFlagsWithTorque(replies);
+  auto i2cCmdExecActuate = [&](imtq::CC::CC cc) {
+    ccToReplyPtrActuate(replies, cc, &replyPtr, replyLen);
+    return i2cCmdExecDefault(cc, replyPtr, replyLen, imtq::ACTUATE_CMD_LOW_LEVEL_ERROR);
+  };
+  buildDipoleCommand();
+  if (i2cCmdExecActuate(imtq::CC::START_ACTUATION_DIPOLE) != returnvalue::OK) {
+    return;
+  }
+
+  cmdLen = 1;
+  cmdBuf[0] = imtq::CC::START_MTM_MEASUREMENT;
+  if (i2cCmdExecActuate(imtq::CC::START_MTM_MEASUREMENT) != returnvalue::OK) {
+    return;
+  }
+
+  TaskFactory::delayTask(currentIntegrationTimeMs);
+
+  cmdBuf[0] = imtq::CC::GET_RAW_MTM_MEASUREMENT;
+  if (i2cCmdExecActuate(imtq::CC::GET_RAW_MTM_MEASUREMENT) != returnvalue::OK) {
+    return;
+  }
+  cmdBuf[0] = imtq::CC::GET_ENG_HK_DATA;
+  if (i2cCmdExecActuate(imtq::CC::GET_ENG_HK_DATA) != returnvalue::OK) {
+    return;
+  }
+  // sif::debug << "measure with torque done" << std::endl;
+  return;
+}
+
+ReturnValue_t ImtqPollingTask::initialize() { return returnvalue::OK; }
+
+ReturnValue_t ImtqPollingTask::initializeInterface(CookieIF* cookie) {
+  i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+  if (i2cCookie == nullptr) {
+    sif::error << "ImtqPollingTask::initializeInterface: Invalid I2C cookie" << std::endl;
+    return returnvalue::FAILED;
+  }
+  i2cDev = i2cCookie->getDeviceFile().c_str();
+  i2cAddr = i2cCookie->getAddress();
+  return returnvalue::OK;
+}
+
+ReturnValue_t ImtqPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendData,
+                                           size_t sendLen) {
+  ImtqRequest request(sendData, sendLen);
+  {
+    MutexGuard mg(ipcLock);
+    currentRequest = request.getRequestType();
+    if (currentRequest == imtq::RequestType::ACTUATE) {
+      std::memcpy(dipoles, request.getDipoles(), 6);
+      torqueDuration = request.getTorqueDuration();
+    }
+    specialRequest = request.getSpecialRequest();
+    if (state != InternalState::IDLE) {
+      return returnvalue::FAILED;
+    }
+    state = InternalState::BUSY;
+  }
+  semaphore->release();
+
+  return returnvalue::OK;
+}
+
+ReturnValue_t ImtqPollingTask::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
+
+ReturnValue_t ImtqPollingTask::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+  return returnvalue::OK;
+}
+
+void ImtqPollingTask::ccToReplyPtrMeasure(ImtqRepliesDefault& replies, imtq::CC::CC cc,
+                                          uint8_t** replyBuf, size_t& replyLen) {
+  replyLen = imtq::getReplySize(cc);
+  switch (cc) {
+    case (imtq::CC::CC::GET_ENG_HK_DATA): {
+      *replyBuf = replies.engHk;
+      break;
+    }
+    case (imtq::CC::CC::SOFTWARE_RESET): {
+      *replyBuf = replies.swReset;
+      break;
+    }
+    case (imtq::CC::CC::GET_SYSTEM_STATE): {
+      *replyBuf = replies.systemState;
+      break;
+    }
+    case (imtq::CC::CC::START_MTM_MEASUREMENT): {
+      *replyBuf = replies.startMtmMeasurement;
+      break;
+    }
+    case (imtq::CC::CC::GET_RAW_MTM_MEASUREMENT): {
+      *replyBuf = replies.rawMgmMeasurement;
+      break;
+    }
+    case (imtq::CC::CC::GET_CAL_MTM_MEASUREMENT): {
+      *replyBuf = replies.calibMgmMeasurement;
+      break;
+    }
+    default: {
+      *replyBuf = replies.specialRequestReply;
+      break;
+    }
+  }
+}
+
+void ImtqPollingTask::ccToReplyPtrActuate(ImtqRepliesWithTorque& replies, imtq::CC::CC cc,
+                                          uint8_t** replyBuf, size_t& replyLen) {
+  replyLen = imtq::getReplySize(cc);
+  switch (cc) {
+    case (imtq::CC::CC::START_ACTUATION_DIPOLE): {
+      *replyBuf = replies.dipoleActuation;
+      break;
+    }
+    case (imtq::CC::CC::GET_ENG_HK_DATA): {
+      *replyBuf = replies.engHk;
+      break;
+    }
+    case (imtq::CC::CC::START_MTM_MEASUREMENT): {
+      *replyBuf = replies.startMtmMeasurement;
+      break;
+    }
+    case (imtq::CC::CC::GET_RAW_MTM_MEASUREMENT): {
+      *replyBuf = replies.rawMgmMeasurement;
+      break;
+    }
+    default: {
+      *replyBuf = nullptr;
+      replyLen = 0;
+      break;
+    }
+  }
+}
+size_t ImtqPollingTask::getExchangeBufLen(imtq::SpecialRequest specialRequest) {
+  size_t baseLen = ImtqRepliesDefault::BASE_LEN;
+  switch (specialRequest) {
+    case (imtq::SpecialRequest::NONE):
+    case (imtq::SpecialRequest::DO_SELF_TEST_POS_X):
+    case (imtq::SpecialRequest::DO_SELF_TEST_NEG_X):
+    case (imtq::SpecialRequest::DO_SELF_TEST_POS_Y):
+    case (imtq::SpecialRequest::DO_SELF_TEST_NEG_Y):
+    case (imtq::SpecialRequest::DO_SELF_TEST_POS_Z):
+    case (imtq::SpecialRequest::DO_SELF_TEST_NEG_Z): {
+      break;
+    }
+    case (imtq::SpecialRequest::GET_SELF_TEST_RESULT): {
+      baseLen += imtq::replySize::SELF_TEST_RESULTS;
+      break;
+    }
+  }
+  return baseLen;
+}
+
+void ImtqPollingTask::buildDipoleCommand() {
+  cmdBuf[0] = imtq::CC::CC::START_ACTUATION_DIPOLE;
+  uint8_t* serPtr = cmdBuf.data() + 1;
+  size_t serLen = 0;
+  for (uint8_t idx = 0; idx < 3; idx++) {
+    SerializeAdapter::serialize(&dipoles[idx], &serPtr, &serLen, cmdBuf.size(),
+                                SerializeIF::Endianness::LITTLE);
+  }
+  SerializeAdapter::serialize(&torqueDuration, &serPtr, &serLen, cmdBuf.size(),
+                              SerializeIF::Endianness::LITTLE);
+  cmdLen = 1 + serLen;
+}
+
+ReturnValue_t ImtqPollingTask::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
+                                                   size_t* size) {
+  imtq::RequestType currentRequest;
+  {
+    MutexGuard mg(ipcLock);
+    currentRequest = this->currentRequest;
+  }
+
+  size_t replyLen = 0;
+  MutexGuard mg(bufLock);
+  if (currentRequest == imtq::RequestType::MEASURE_NO_ACTUATION) {
+    replyLen = getExchangeBufLen(specialRequest);
+    memcpy(exchangeBuf.data(), replyBuf.data(), replyLen);
+  } else {
+    replyLen = ImtqRepliesWithTorque::BASE_LEN;
+    memcpy(exchangeBuf.data(), replyBufActuation.data(), replyLen);
+  }
+  *buffer = exchangeBuf.data();
+  *size = replyLen;
+  return comStatus;
+}
+
+void ImtqPollingTask::clearReadFlagsDefault(ImtqRepliesDefault& replies) {
+  replies.calibMgmMeasurement[0] = false;
+  replies.rawMgmMeasurement[0] = false;
+  replies.systemState[0] = false;
+  replies.specialRequestReply[0] = false;
+  replies.engHk[0] = false;
+}
+
+ReturnValue_t ImtqPollingTask::i2cCmdExecDefault(imtq::CC::CC cc, uint8_t* replyPtr,
+                                                 size_t replyLen, ReturnValue_t comErrIfFails) {
+  ReturnValue_t res = performI2cFullRequest(replyPtr + 1, replyLen);
+  if (res != returnvalue::OK) {
+    sif::error << "IMTQ: I2C transaction for command 0x" << std::hex << std::setw(2) << cc
+               << " failed" << std::dec << std::endl;
+    comStatus = comErrIfFails;
+    return returnvalue::FAILED;
+  }
+  if (replyPtr[1] != cc) {
+    sif::warning << "IMTQ: Unexpected CC 0x" << std::hex << std::setw(2)
+                 << static_cast<int>(replyPtr[1]) << " for command 0x" << cc << std::dec
+                 << std::endl;
+    comStatus = comErrIfFails;
+    return returnvalue::FAILED;
+  }
+  replyPtr[0] = true;
+  return returnvalue::OK;
+}
+
+void ImtqPollingTask::clearReadFlagsWithTorque(ImtqRepliesWithTorque& replies) {
+  replies.dipoleActuation[0] = false;
+  replies.engHk[0] = false;
+  replies.rawMgmMeasurement[0] = false;
+  replies.startMtmMeasurement[0] = false;
+}
+
+ReturnValue_t ImtqPollingTask::performI2cFullRequest(uint8_t* reply, size_t replyLen) {
+  int fd = 0;
+  if (cmdLen == 0 or reply == nullptr) {
+    return returnvalue::FAILED;
+  }
+
+  {
+    UnixFileGuard fileHelper(i2cDev, fd, O_RDWR, "ImtqPollingTask::performI2cFullRequest");
+    if (fileHelper.getOpenResult() != returnvalue::OK) {
+      return fileHelper.getOpenResult();
+    }
+    if (ioctl(fd, I2C_SLAVE, i2cAddr) < 0) {
+      sif::warning << "Opening IMTQ slave device failed with code " << errno << ": "
+                   << strerror(errno) << std::endl;
+    }
+
+    int written = write(fd, cmdBuf.data(), cmdLen);
+    if (written < 0) {
+      sif::error << "IMTQ: Failed to send with error code " << errno
+                 << ". Error description: " << strerror(errno) << std::endl;
+      return returnvalue::FAILED;
+    } else if (static_cast<size_t>(written) != cmdLen) {
+      sif::error << "IMTQ: Could not write all bytes" << std::endl;
+      return returnvalue::FAILED;
+    }
+  }
+#if FSFW_HAL_I2C_WIRETAPPING == 1
+  sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
+  arrayprinter::print(sendData, sendLen);
+#endif
+
+  // wait 1 ms like specified in the datasheet. This is the time the IMTQ needs
+  // to prepare a reply.
+  usleep(1000);
+
+  {
+    UnixFileGuard fileHelper(i2cDev, fd, O_RDWR, "ImtqPollingTask::performI2cFullRequest");
+    if (fileHelper.getOpenResult() != returnvalue::OK) {
+      return fileHelper.getOpenResult();
+    }
+    if (ioctl(fd, I2C_SLAVE, i2cAddr) < 0) {
+      sif::warning << "Opening IMTQ slave device failed with code " << errno << ": "
+                   << strerror(errno) << std::endl;
+    }
+    MutexGuard mg(bufLock);
+    int readLen = read(fd, reply, replyLen);
+    if (readLen != static_cast<int>(replyLen)) {
+      if (readLen < 0) {
+        sif::warning << "IMTQ: Reading failed with error code " << errno << " | " << strerror(errno)
+                     << std::endl;
+      } else {
+        sif::warning << "IMTQ: Read only" << readLen << " from " << replyLen << " bytes"
+                     << std::endl;
+      }
+    }
+  }
+  if (reply[0] == 0xff or reply[1] == 0xff) {
+    sif::warning << "IMTQ: No reply available after 1 millisecond";
+    return NO_REPLY_AVAILABLE;
+  }
+  return returnvalue::OK;
+}

linux/devices/ImtqPollingTask.h

@@ -0,0 +1,70 @@
+#ifndef LINUX_DEVICES_IMTQPOLLINGTASK_H_
+#define LINUX_DEVICES_IMTQPOLLINGTASK_H_
+
+#include <fsfw/tasks/SemaphoreIF.h>
+#include <fsfw_hal/linux/i2c/I2cCookie.h>
+
+#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "mission/devices/devicedefinitions/imtqHelpers.h"
+
+class ImtqPollingTask : public SystemObject,
+                        public ExecutableObjectIF,
+                        public DeviceCommunicationIF {
+ public:
+  ImtqPollingTask(object_id_t imtqPollingTask);
+
+  ReturnValue_t performOperation(uint8_t operationCode) override;
+  ReturnValue_t initialize() override;
+
+ private:
+  static constexpr ReturnValue_t NO_REPLY_AVAILABLE = returnvalue::makeCode(2, 0);
+
+  enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
+  imtq::RequestType currentRequest = imtq::RequestType::MEASURE_NO_ACTUATION;
+
+  SemaphoreIF* semaphore;
+  ReturnValue_t comStatus = returnvalue::OK;
+  MutexIF* ipcLock;
+  MutexIF* bufLock;
+  I2cCookie* i2cCookie = nullptr;
+  const char* i2cDev = nullptr;
+  address_t i2cAddr = 0;
+  uint32_t currentIntegrationTimeMs = 10;
+  bool ignoreNextActuateRequest = false;
+
+  imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE;
+  int16_t dipoles[3] = {};
+  uint16_t torqueDuration = 0;
+  // uint8_t startActuateRawBuf[3] = {};
+
+  std::array<uint8_t, 32> cmdBuf;
+  std::array<uint8_t, 524> replyBuf;
+  std::array<uint8_t, 524> replyBufActuation;
+  std::array<uint8_t, 524> exchangeBuf;
+  size_t cmdLen = 0;
+
+  // DeviceCommunicationIF overrides
+  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;
+
+  void ccToReplyPtrMeasure(ImtqRepliesDefault& replies, imtq::CC::CC cc, uint8_t** replyBuf,
+                           size_t& replyLen);
+  void ccToReplyPtrActuate(ImtqRepliesWithTorque& replies, imtq::CC::CC cc, uint8_t** replyBuf,
+                           size_t& replyLen);
+  void clearReadFlagsDefault(ImtqRepliesDefault& replies);
+  void clearReadFlagsWithTorque(ImtqRepliesWithTorque& replies);
+  size_t getExchangeBufLen(imtq::SpecialRequest specialRequest);
+  void buildDipoleCommand();
+  void handleMeasureStep();
+  void handleActuateStep();
+  ReturnValue_t i2cCmdExecDefault(imtq::CC::CC cc, uint8_t* replyPtr, size_t replyLen,
+                                  ReturnValue_t comErrIfFails);
+  ReturnValue_t performI2cFullRequest(uint8_t* reply, size_t replyLen);
+};
+
+#endif /* LINUX_DEVICES_IMTQPOLLINGTASK_H_ */

linux/devices/Max31865RtdPolling.cpp

@@ -1,8 +1,7 @@
-#include "Max31865RtdLowlevelHandler.h"
-
 #include <fsfw/tasks/TaskFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
 #include <fsfw_hal/linux/spi/ManualCsLockGuard.h>
+#include <linux/devices/Max31865RtdPolling.h>
 
 #define OBSW_RTD_AUTO_MODE 1
 
@@ -17,12 +16,13 @@ static constexpr uint8_t BASE_CFG =
     (MAX31865::ConvMode::NORM_OFF << MAX31865::CfgBitPos::CONV_MODE);
 #endif
 
-Max31865RtdReader::Max31865RtdReader(object_id_t objectId, SpiComIF* lowLevelComIF, GpioIF* gpioIF)
+Max31865RtdPolling::Max31865RtdPolling(object_id_t objectId, SpiComIF* lowLevelComIF,
+                                       GpioIF* gpioIF)
     : SystemObject(objectId), rtds(EiveMax31855::NUM_RTDS), comIF(lowLevelComIF), gpioIF(gpioIF) {
   readerMutex = MutexFactory::instance()->createMutex();
 }
 
-ReturnValue_t Max31865RtdReader::performOperation(uint8_t operationCode) {
+ReturnValue_t Max31865RtdPolling::performOperation(uint8_t operationCode) {
   using namespace MAX31865;
   ReturnValue_t result = returnvalue::OK;
   static_cast<void>(result);
@@ -49,17 +49,16 @@ ReturnValue_t Max31865RtdReader::performOperation(uint8_t operationCode) {
   return periodicReadHandling();
 }
 
-bool Max31865RtdReader::rtdIsActive(uint8_t idx) {
+bool Max31865RtdPolling::rtdIsActive(uint8_t idx) {
   if (rtds[idx]->on and rtds[idx]->db.active and rtds[idx]->db.configured) {
     return true;
   }
   return false;
 }
 
-bool Max31865RtdReader::periodicInitHandling() {
+bool Max31865RtdPolling::periodicInitHandling() {
   using namespace MAX31865;
   ReturnValue_t result = returnvalue::OK;
-
   for (auto& rtd : rtds) {
     if (rtd == nullptr) {
       continue;
@@ -70,11 +69,9 @@ bool Max31865RtdReader::periodicInitHandling() {
       return false;
     }
     if ((rtd->on or rtd->db.active) and not rtd->db.configured and rtd->cd.hasTimedOut()) {
-      ManualCsLockWrapper mg1(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
-      if (mg1.lockResult != returnvalue::OK or mg1.gpioResult != returnvalue::OK) {
-        sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed" << std::endl;
-        continue;
-      }
+      // Please note that using the manual CS lock wrapper here is problematic. Might be a SPI
+      // or hardware specific issue where the CS needs to be pulled high and then low again
+      // between transfers
       result = writeCfgReg(rtd->spiCookie, BASE_CFG);
       if (result != returnvalue::OK) {
         handleSpiError(rtd, result, "writeCfgReg");
@@ -115,7 +112,7 @@ bool Max31865RtdReader::periodicInitHandling() {
   return someRtdUsable;
 }
 
-ReturnValue_t Max31865RtdReader::periodicReadReqHandling() {
+ReturnValue_t Max31865RtdPolling::periodicReadReqHandling() {
   using namespace MAX31865;
   // Now request one shot config for all active RTDs
   for (auto& rtd : rtds) {
@@ -139,7 +136,7 @@ ReturnValue_t Max31865RtdReader::periodicReadReqHandling() {
   return returnvalue::OK;
 }
 
-ReturnValue_t Max31865RtdReader::periodicReadHandling() {
+ReturnValue_t Max31865RtdPolling::periodicReadHandling() {
   using namespace MAX31865;
   auto result = returnvalue::OK;
   // Now read the RTD values
@@ -153,11 +150,9 @@ ReturnValue_t Max31865RtdReader::periodicReadHandling() {
       return returnvalue::FAILED;
     }
     if (rtdIsActive(rtd->idx)) {
-      ManualCsLockWrapper mg1(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
-      if (mg1.lockResult != returnvalue::OK or mg1.gpioResult != returnvalue::OK) {
-        sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed" << std::endl;
-        continue;
-      }
+      // Please note that using the manual CS lock wrapper here is problematic. Might be a SPI
+      // or hardware specific issue where the CS needs to be pulled high and then low again
+      // between transfers
       uint16_t rtdVal = 0;
       bool faultBitSet = false;
       result = writeCfgReg(rtd->spiCookie, BASE_CFG);
@@ -166,6 +161,7 @@ ReturnValue_t Max31865RtdReader::periodicReadHandling() {
         continue;
       }
       result = readRtdVal(rtd->spiCookie, rtdVal, faultBitSet);
+      // sif::debug << "RTD Val: " << rtdVal << std::endl;
       if (result != returnvalue::OK) {
         handleSpiError(rtd, result, "readRtdVal");
         continue;
@@ -191,7 +187,7 @@ ReturnValue_t Max31865RtdReader::periodicReadHandling() {
   return returnvalue::OK;
 }
 
-ReturnValue_t Max31865RtdReader::initializeInterface(CookieIF* cookie) {
+ReturnValue_t Max31865RtdPolling::initializeInterface(CookieIF* cookie) {
   if (cookie == nullptr) {
     throw std::invalid_argument("Invalid MAX31865 Reader Cookie");
   }
@@ -211,8 +207,8 @@ ReturnValue_t Max31865RtdReader::initializeInterface(CookieIF* cookie) {
   return returnvalue::OK;
 }
 
-ReturnValue_t Max31865RtdReader::sendMessage(CookieIF* cookie, const uint8_t* sendData,
-                                             size_t sendLen) {
+ReturnValue_t Max31865RtdPolling::sendMessage(CookieIF* cookie, const uint8_t* sendData,
+                                              size_t sendLen) {
   if (cookie == nullptr) {
     return returnvalue::FAILED;
   }
@@ -232,7 +228,7 @@ ReturnValue_t Max31865RtdReader::sendMessage(CookieIF* cookie, const uint8_t* se
     return returnvalue::FAILED;
   }
 
-  auto thresholdHandler = [](Max31865ReaderCookie* rtdCookie, const uint8_t* sendData) {
+  auto thresholdHandler = [&]() {
     rtdCookie->lowThreshold = (sendData[1] << 8) | sendData[2];
     rtdCookie->highThreshold = (sendData[3] << 8) | sendData[4];
     rtdCookie->writeLowThreshold = true;
@@ -249,7 +245,7 @@ ReturnValue_t Max31865RtdReader::sendMessage(CookieIF* cookie, const uint8_t* se
         rtdCookie->db.active = false;
         rtdCookie->db.configured = false;
         if (sendLen == 5) {
-          thresholdHandler(rtdCookie, sendData);
+          thresholdHandler();
         }
       }
       break;
@@ -265,7 +261,7 @@ ReturnValue_t Max31865RtdReader::sendMessage(CookieIF* cookie, const uint8_t* se
         rtdCookie->db.active = true;
       }
       if (sendLen == 5) {
-        thresholdHandler(rtdCookie, sendData);
+        thresholdHandler();
       }
       break;
     }
@@ -308,14 +304,14 @@ ReturnValue_t Max31865RtdReader::sendMessage(CookieIF* cookie, const uint8_t* se
   return returnvalue::OK;
 }
 
-ReturnValue_t Max31865RtdReader::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
+ReturnValue_t Max31865RtdPolling::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
 
-ReturnValue_t Max31865RtdReader::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+ReturnValue_t Max31865RtdPolling::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
   return returnvalue::OK;
 }
 
-ReturnValue_t Max31865RtdReader::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
-                                                     size_t* size) {
+ReturnValue_t Max31865RtdPolling::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
+                                                      size_t* size) {
   MutexGuard mg(readerMutex);
   if (mg.getLockResult() != returnvalue::OK) {
     // TODO: Emit warning
@@ -338,13 +334,13 @@ ReturnValue_t Max31865RtdReader::readReceivedMessage(CookieIF* cookie, uint8_t**
   return returnvalue::OK;
 }
 
-ReturnValue_t Max31865RtdReader::writeCfgReg(SpiCookie* cookie, uint8_t cfg) {
+ReturnValue_t Max31865RtdPolling::writeCfgReg(SpiCookie* cookie, uint8_t cfg) {
   using namespace MAX31865;
   return writeNToReg(cookie, CONFIG, 1, &cfg, nullptr);
 }
 
-ReturnValue_t Max31865RtdReader::writeBiasSel(MAX31865::Bias bias, SpiCookie* cookie,
-                                              uint8_t baseCfg) {
+ReturnValue_t Max31865RtdPolling::writeBiasSel(MAX31865::Bias bias, SpiCookie* cookie,
+                                               uint8_t baseCfg) {
   using namespace MAX31865;
   if (bias == MAX31865::Bias::OFF) {
     baseCfg &= ~(1 << CfgBitPos::BIAS_SEL);
@@ -354,7 +350,7 @@ ReturnValue_t Max31865RtdReader::writeBiasSel(MAX31865::Bias bias, SpiCookie* co
   return writeCfgReg(cookie, baseCfg);
 }
 
-ReturnValue_t Max31865RtdReader::clearFaultStatus(SpiCookie* cookie) {
+ReturnValue_t Max31865RtdPolling::clearFaultStatus(SpiCookie* cookie) {
   using namespace MAX31865;
   // Read back the current configuration to avoid overwriting it when clearing te fault status
   uint8_t currentCfg = 0;
@@ -368,7 +364,7 @@ ReturnValue_t Max31865RtdReader::clearFaultStatus(SpiCookie* cookie) {
   return writeCfgReg(cookie, currentCfg);
 }
 
-ReturnValue_t Max31865RtdReader::readCfgReg(SpiCookie* cookie, uint8_t& cfg) {
+ReturnValue_t Max31865RtdPolling::readCfgReg(SpiCookie* cookie, uint8_t& cfg) {
   using namespace MAX31865;
   uint8_t* replyPtr = nullptr;
   auto result = readNFromReg(cookie, CONFIG, 1, &replyPtr);
@@ -378,19 +374,19 @@ ReturnValue_t Max31865RtdReader::readCfgReg(SpiCookie* cookie, uint8_t& cfg) {
   return result;
 }
 
-ReturnValue_t Max31865RtdReader::writeLowThreshold(SpiCookie* cookie, uint16_t val) {
+ReturnValue_t Max31865RtdPolling::writeLowThreshold(SpiCookie* cookie, uint16_t val) {
   using namespace MAX31865;
   uint8_t cmd[2] = {static_cast<uint8_t>((val >> 8) & 0xff), static_cast<uint8_t>(val & 0xff)};
   return writeNToReg(cookie, LOW_THRESHOLD, 2, cmd, nullptr);
 }
 
-ReturnValue_t Max31865RtdReader::writeHighThreshold(SpiCookie* cookie, uint16_t val) {
+ReturnValue_t Max31865RtdPolling::writeHighThreshold(SpiCookie* cookie, uint16_t val) {
   using namespace MAX31865;
   uint8_t cmd[2] = {static_cast<uint8_t>((val >> 8) & 0xff), static_cast<uint8_t>(val & 0xff)};
   return writeNToReg(cookie, HIGH_THRESHOLD, 2, cmd, nullptr);
 }
 
-ReturnValue_t Max31865RtdReader::readLowThreshold(SpiCookie* cookie, uint16_t& lowThreshold) {
+ReturnValue_t Max31865RtdPolling::readLowThreshold(SpiCookie* cookie, uint16_t& lowThreshold) {
   using namespace MAX31865;
   uint8_t* replyPtr = nullptr;
   auto result = readNFromReg(cookie, LOW_THRESHOLD, 2, &replyPtr);
@@ -400,7 +396,7 @@ ReturnValue_t Max31865RtdReader::readLowThreshold(SpiCookie* cookie, uint16_t& l
   return result;
 }
 
-ReturnValue_t Max31865RtdReader::readHighThreshold(SpiCookie* cookie, uint16_t& highThreshold) {
+ReturnValue_t Max31865RtdPolling::readHighThreshold(SpiCookie* cookie, uint16_t& highThreshold) {
   using namespace MAX31865;
   uint8_t* replyPtr = nullptr;
   auto result = readNFromReg(cookie, HIGH_THRESHOLD, 2, &replyPtr);
@@ -410,8 +406,8 @@ ReturnValue_t Max31865RtdReader::readHighThreshold(SpiCookie* cookie, uint16_t&
   return result;
 }
 
-ReturnValue_t Max31865RtdReader::writeNToReg(SpiCookie* cookie, uint8_t reg, size_t n, uint8_t* cmd,
-                                             uint8_t** reply) {
+ReturnValue_t Max31865RtdPolling::writeNToReg(SpiCookie* cookie, uint8_t reg, size_t n,
+                                              uint8_t* cmd, uint8_t** reply) {
   using namespace MAX31865;
   if (n > cmdBuf.size() - 1) {
     return returnvalue::FAILED;
@@ -423,7 +419,7 @@ ReturnValue_t Max31865RtdReader::writeNToReg(SpiCookie* cookie, uint8_t reg, siz
   return comIF->sendMessage(cookie, cmdBuf.data(), n + 1);
 }
 
-ReturnValue_t Max31865RtdReader::readRtdVal(SpiCookie* cookie, uint16_t& val, bool& faultBitSet) {
+ReturnValue_t Max31865RtdPolling::readRtdVal(SpiCookie* cookie, uint16_t& val, bool& faultBitSet) {
   using namespace MAX31865;
   uint8_t* replyPtr = nullptr;
   auto result = readNFromReg(cookie, RTD, 2, &replyPtr);
@@ -438,8 +434,8 @@ ReturnValue_t Max31865RtdReader::readRtdVal(SpiCookie* cookie, uint16_t& val, bo
   return result;
 }
 
-ReturnValue_t Max31865RtdReader::readNFromReg(SpiCookie* cookie, uint8_t reg, size_t n,
-                                              uint8_t** reply) {
+ReturnValue_t Max31865RtdPolling::readNFromReg(SpiCookie* cookie, uint8_t reg, size_t n,
+                                               uint8_t** reply) {
   using namespace MAX31865;
   if (n > 4) {
     return returnvalue::FAILED;
@@ -465,15 +461,15 @@ ReturnValue_t Max31865RtdReader::readNFromReg(SpiCookie* cookie, uint8_t reg, si
   return returnvalue::OK;
 }
 
-ReturnValue_t Max31865RtdReader::handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result,
-                                                const char* ctx) {
+ReturnValue_t Max31865RtdPolling::handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result,
+                                                 const char* ctx) {
   cookie->db.spiErrorCount.value += 1;
   sif::warning << "Max31865RtdReader::handleSpiError: " << ctx << " | Failed with result " << result
                << std::endl;
   return result;
 }
 
-ReturnValue_t Max31865RtdReader::initialize() {
+ReturnValue_t Max31865RtdPolling::initialize() {
   csLock = comIF->getCsMutex();
   return SystemObject::initialize();
 }

linux/devices/Max31865RtdPolling.h

@@ -35,11 +35,11 @@ struct Max31865ReaderCookie : public CookieIF {
   EiveMax31855::ReadOutStruct db;
 };
 
-class Max31865RtdReader : public SystemObject,
-                          public ExecutableObjectIF,
-                          public DeviceCommunicationIF {
+class Max31865RtdPolling : public SystemObject,
+                           public ExecutableObjectIF,
+                           public DeviceCommunicationIF {
  public:
-  Max31865RtdReader(object_id_t objectId, SpiComIF* lowLevelComIF, GpioIF* gpioIF);
+  Max31865RtdPolling(object_id_t objectId, SpiComIF* lowLevelComIF, GpioIF* gpioIF);
 
   ReturnValue_t performOperation(uint8_t operationCode) override;
   ReturnValue_t initialize() override;

linux/devices/RwPollingTask.cpp

@@ -162,11 +162,15 @@ ReturnValue_t RwPollingTask::requestReceiveMessage(CookieIF* cookie, size_t requ
 
 ReturnValue_t RwPollingTask::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
   RwCookie* rwCookie = dynamic_cast<RwCookie*>(cookie);
-  {
-    MutexGuard mg(ipcLock);
-    *buffer = rwCookie->replyBuf.data();
-    *size = rwCookie->replyBuf.size();
+  if (rwCookie == nullptr or rwCookie->bufLock == nullptr) {
+    return returnvalue::FAILED;
   }
+  {
+    MutexGuard mg(rwCookie->bufLock);
+    memcpy(rwCookie->exchangeBuf.data(), rwCookie->replyBuf.data(), rwCookie->replyBuf.size());
+  }
+  *buffer = rwCookie->exchangeBuf.data();
+  *size = rwCookie->exchangeBuf.size();
   return returnvalue::OK;
 }
 
@@ -183,7 +187,7 @@ ReturnValue_t RwPollingTask::writeAndReadAllRws(DeviceCommandId_t id) {
     if (skipCommandingForRw[idx]) {
       continue;
     }
-    ReturnValue_t result = sendOneMessage(fd, *rwCookies[idx]);
+    result = sendOneMessage(fd, *rwCookies[idx]);
     if (result != returnvalue::OK) {
       closeSpi(fd);
       return returnvalue::FAILED;
@@ -248,6 +252,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
 #endif
 
   size_t decodedFrameLen = 0;
+  MutexGuard mg(rwCookie.bufLock);
 
   while (decodedFrameLen < maxReplyLen) {
     // First byte already read in
@@ -428,7 +433,12 @@ void RwPollingTask::handleSpecialRequests() {
     }
     uint8_t* replyBuf;
     size_t maxReadLen = idAndIdxToReadBuffer(specialRequestIds[idx], idx, &replyBuf);
-    readNextReply(*rwCookies[idx], replyBuf, maxReadLen);
+    result = readNextReply(*rwCookies[idx], replyBuf, maxReadLen);
+    if (result == returnvalue::OK) {
+      // The first byte is always a flag which shows whether the value was read
+      // properly at least once.
+      replyBuf[0] = true;
+    }
   }
 }
 
@@ -479,7 +489,7 @@ ReturnValue_t RwPollingTask::pullCsLow(gpioId_t gpioId, GpioIF& gpioIF) {
   }
   // Pull SPI CS low. For now, no support for active high given
   if (gpioId != gpio::NO_GPIO) {
-    ReturnValue_t result = gpioIF.pullLow(gpioId);
+    result = gpioIF.pullLow(gpioId);
     if (result != returnvalue::OK) {
       sif::error << "RwPollingTask::pullCsLow: Failed to pull chip select low" << std::endl;
       return result;

linux/devices/RwPollingTask.h

@@ -18,10 +18,14 @@ class RwCookie : public SpiCookie {
   static constexpr size_t REPLY_BUF_LEN = 524;
   RwCookie(uint8_t rwIdx, address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
            spi::SpiModes spiMode, uint32_t spiSpeed)
-      : SpiCookie(spiAddress, chipSelect, maxSize, spiMode, spiSpeed), rwIdx(rwIdx) {}
+      : SpiCookie(spiAddress, chipSelect, maxSize, spiMode, spiSpeed), rwIdx(rwIdx) {
+    bufLock = MutexFactory::instance()->createMutex();
+  }
 
  private:
   std::array<uint8_t, REPLY_BUF_LEN> replyBuf{};
+  std::array<uint8_t, REPLY_BUF_LEN> exchangeBuf{};
+  MutexIF* bufLock;
   bool setSpeed = true;
   int32_t currentRwSpeed = 0;
   uint16_t currentRampTime = 0;
@@ -56,6 +60,13 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
   static constexpr uint32_t TIMEOUT_MS = 20;
   static constexpr uint8_t MAX_RETRIES_REPLY = 5;
 
+  // DeviceCommunicationIF overrides
+  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;
+
   ReturnValue_t writeAndReadAllRws(DeviceCommandId_t id);
   ReturnValue_t writeOneRwCmd(uint8_t rwIdx, int fd);
   ReturnValue_t readAllRws(DeviceCommandId_t id);
@@ -64,15 +75,6 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
   ReturnValue_t readNextReply(RwCookie& rwCookie, uint8_t* replyBuf, size_t maxReplyLen);
   void handleSpecialRequests();
 
-  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;
   ReturnValue_t openSpi(int flags, int& fd);
   ReturnValue_t pullCsLow(gpioId_t gpioId, GpioIF& gpioIF);
   void prepareSimpleCommand(DeviceCommandId_t id);

linux/devices/ploc/PlocSupervisorHandler.cpp

@@ -119,7 +119,7 @@ ReturnValue_t PlocSupervisorHandler::executeAction(ActionId_t actionId,
     case MEMORY_CHECK_WITH_FILE: {
       shutdownCmdSent = false;
       UpdateParams params;
-      ReturnValue_t result = extractBaseParams(&data, size, params);
+      result = extractBaseParams(&data, size, params);
       if (result != returnvalue::OK) {
         return result;
       }

linux/devices/startracker/StarTrackerHandler.cpp

@@ -1909,7 +1909,7 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
       if (internalState == InternalState::VERIFY_BOOT) {
         sif::warning << "StarTrackerHandler::checkProgram: Failed to boot firmware" << std::endl;
         // Device handler will run into timeout and fall back to transition source mode
-        triggerEvent(BOOTING_FIRMWARE_FAILED);
+        triggerEvent(BOOTING_FIRMWARE_FAILED_EVENT);
         internalState = InternalState::FAILED_FIRMWARE_BOOT;
       } else if (internalState == InternalState::BOOTLOADER_CHECK) {
         internalState = InternalState::DONE;
@@ -1922,7 +1922,7 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
       if (internalState == InternalState::VERIFY_BOOT) {
         internalState = InternalState::LOGLEVEL;
       } else if (internalState == InternalState::BOOTLOADER_CHECK) {
-        triggerEvent(BOOTING_BOOTLOADER_FAILED);
+        triggerEvent(BOOTING_BOOTLOADER_FAILED_EVENT);
         internalState = InternalState::BOOTING_BOOTLOADER_FAILED;
       }
       break;

linux/devices/startracker/StarTrackerHandler.h

@@ -140,9 +140,9 @@ class StarTrackerHandler : public DeviceHandlerBase {
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;
 
   //! [EXPORT] : [COMMENT] Failed to boot firmware
-  static const Event BOOTING_FIRMWARE_FAILED = MAKE_EVENT(1, severity::LOW);
+  static const Event BOOTING_FIRMWARE_FAILED_EVENT = MAKE_EVENT(1, severity::LOW);
   //! [EXPORT] : [COMMENT] Failed to boot star tracker into bootloader mode
-  static const Event BOOTING_BOOTLOADER_FAILED = MAKE_EVENT(2, severity::LOW);
+  static const Event BOOTING_BOOTLOADER_FAILED_EVENT = MAKE_EVENT(2, severity::LOW);
 
   static const size_t MAX_PATH_SIZE = 50;
   static const size_t MAX_FILE_NAME = 30;

linux/fsfwconfig/CMakeLists.txt

@@ -1,5 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE ipc/MissionMessageTypes.cpp
-                                    pollingsequence/pollingSequenceFactory.cpp)
+target_sources(${OBSW_NAME} PRIVATE ipc/MissionMessageTypes.cpp)
 
 target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 256 translations.
+ * @brief    Auto-generated event translation file. Contains 260 translations.
  * @details
- * Generated on: 2023-02-17 02:12:04
+ * Generated on: 2023-02-23 15:39:20
  */
 #include "translateEvents.h"
 
@@ -92,6 +92,9 @@ const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
 const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
 const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
 const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
+const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
+const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
+const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -129,8 +132,8 @@ 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";
@@ -150,6 +153,7 @@ 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 *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 *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
@@ -433,6 +437,12 @@ const char *translateEvents(Event event) {
       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_INVALID_MODE_VIOLATION_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -508,9 +518,9 @@ 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):
@@ -550,8 +560,10 @@ const char *translateEvents(Event event) {
     case (12406):
       return LOST_BIT_LOCK_PDEC_STRING;
     case (12407):
-      return POLL_SYSCALL_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 (12500):
       return IMAGE_UPLOAD_FAILED_STRING;

linux/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 152 translations.
- * Generated on: 2023-02-17 02:12:04
+ * Contains 153 translations.
+ * Generated on: 2023-02-23 15:39:20
  */
 #include "translateObjects.h"
 
@@ -37,6 +37,7 @@ 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";
@@ -223,6 +224,8 @@ 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:

linux/ipcore/PdecHandler.cpp

@@ -1,6 +1,7 @@
 #include "PdecHandler.h"
 
 #include <fcntl.h>
+#include <fsfw/tasks/TaskFactory.h>
 #include <poll.h>
 #include <sys/mman.h>
 #include <unistd.h>
@@ -113,7 +114,7 @@ ReturnValue_t PdecHandler::polledOperation() {
         // Requires reconfiguration and reinitialization of PDEC
         triggerEvent(INVALID_FAR);
         state = State::WAIT_FOR_RECOVERY;
-        return result;
+        break;
       }
       state = State::RUNNING;
       break;
@@ -145,8 +146,9 @@ ReturnValue_t PdecHandler::irqOperation() {
 
   // Used to unmask IRQ
   uint32_t info = 1;
-  ssize_t nb = 0;
-  int ret = 0;
+
+  interruptWindowCd.resetTimer();
+
   // Clear interrupts with dummy read before unmasking the interrupt. Use a volatile to prevent
   // read being optimized away.
   volatile uint32_t dummy = *(registerBaseAddress + PDEC_PIR_OFFSET);
@@ -157,7 +159,7 @@ ReturnValue_t PdecHandler::irqOperation() {
     readCommandQueue();
     switch (state) {
       case State::INIT:
-        resetFarStatFlag();
+        result = resetFarStatFlag();
         if (result != returnvalue::OK) {
           // Requires reconfiguration and reinitialization of PDEC
           triggerEvent(INVALID_FAR);
@@ -165,59 +167,19 @@ ReturnValue_t PdecHandler::irqOperation() {
           return result;
         }
         state = State::RUNNING;
+        checkLocks();
         break;
       case State::RUNNING: {
-        nb = write(fd, &info, sizeof(info));
-        if (nb != static_cast<ssize_t>(sizeof(info))) {
-          sif::error << "PdecHandler::irqOperation: Unmasking IRQ failed" << std::endl;
-          triggerEvent(WRITE_SYSCALL_ERROR_PDEC, errno);
-          close(fd);
-          state = State::INIT;
-          return returnvalue::FAILED;
-        }
-        struct pollfd fds = {.fd = fd, .events = POLLIN, .revents = 0};
-        ret = poll(&fds, 1, IRQ_TIMEOUT_MS);
-        if (ret == 0) {
-          // No TCs for timeout period
-          checkLocks();
-          lockCheckCd.resetTimer();
-        } else if (ret >= 1) {
-          nb = read(fd, &info, sizeof(info));
-          if (nb == static_cast<ssize_t>(sizeof(info))) {
-            uint32_t pisr = *(registerBaseAddress + PDEC_PISR_OFFSET);
-            if ((pisr & TC_NEW_MASK) == TC_NEW_MASK) {
-              // handle TC
-              handleNewTc();
-            }
-            if ((pisr & TC_ABORT_MASK) == TC_ABORT_MASK) {
-              tcAbortCounter += 1;
-            }
-            if ((pisr & NEW_FAR_MASK) == NEW_FAR_MASK) {
-              // Read FAR here
-              CURRENT_FAR = readFar();
-              checkFrameAna(CURRENT_FAR);
-            }
-            if (lockCheckCd.hasTimedOut()) {
-              checkLocks();
-              lockCheckCd.resetTimer();
-            }
-            // Clear interrupts with dummy read
-            dummy = *(registerBaseAddress + PDEC_PIR_OFFSET);
-          }
-        } else {
-          sif::error << "PdecHandler::irqOperation: Poll error with errno " << errno << ": "
-                     << strerror(errno) << std::endl;
-          triggerEvent(POLL_SYSCALL_ERROR_PDEC, errno);
-          close(fd);
-          state = State::INIT;
-          return returnvalue::FAILED;
-        }
+        checkAndHandleIrqs(fd, info);
         break;
       }
       case State::WAIT_FOR_RECOVERY:
+        TaskFactory::delayTask(400);
         break;
       default:
+        // Should never happen.
         sif::error << "PdecHandler::performOperation: Invalid state" << std::endl;
+        TaskFactory::delayTask(400);
         break;
     }
   }
@@ -226,6 +188,71 @@ ReturnValue_t PdecHandler::irqOperation() {
   return returnvalue::OK;
 }
 
+ReturnValue_t PdecHandler::checkAndHandleIrqs(int fd, uint32_t& info) {
+  ssize_t nb = write(fd, &info, sizeof(info));
+  if (nb != static_cast<ssize_t>(sizeof(info))) {
+    sif::error << "PdecHandler::irqOperation: Unmasking IRQ failed" << std::endl;
+    triggerEvent(WRITE_SYSCALL_ERROR_PDEC, errno);
+    close(fd);
+    state = State::INIT;
+    return returnvalue::FAILED;
+  }
+  struct pollfd fds = {.fd = fd, .events = POLLIN, .revents = 0};
+  int ret = poll(&fds, 1, IRQ_TIMEOUT_MS);
+  if (ret == 0) {
+    // No TCs for timeout period
+    checkLocks();
+    genericCheckCd.resetTimer();
+    resetIrqLimiters();
+  } else if (ret >= 1) {
+    // Interrupt handling.
+    nb = read(fd, &info, sizeof(info));
+    interruptCounter++;
+    if (nb == static_cast<ssize_t>(sizeof(info))) {
+      uint32_t pisr = *(registerBaseAddress + PDEC_PISR_OFFSET);
+      if ((pisr & TC_NEW_MASK) == TC_NEW_MASK) {
+        // handle TC
+        handleNewTc();
+      }
+      if ((pisr & TC_ABORT_MASK) == TC_ABORT_MASK) {
+        tcAbortCounter += 1;
+      }
+      if ((pisr & NEW_FAR_MASK) == NEW_FAR_MASK) {
+        // Read FAR here
+        CURRENT_FAR = readFar();
+        checkFrameAna(CURRENT_FAR);
+      }
+      // Clear interrupts with dummy read. Volatile is important here to prevent
+      // compiler opitmizations in release builds!
+      volatile uint32_t dummy = *(registerBaseAddress + PDEC_PIR_OFFSET);
+      static_cast<void>(dummy);
+
+      if (genericCheckCd.hasTimedOut()) {
+        checkLocks();
+        genericCheckCd.resetTimer();
+        if (interruptWindowCd.hasTimedOut()) {
+          if (interruptCounter >= MAX_ALLOWED_IRQS_PER_WINDOW) {
+            sif::error << "PdecHandler::irqOperation: Possible IRQ storm" << std::endl;
+            triggerEvent(TOO_MANY_IRQS, MAX_ALLOWED_IRQS_PER_WINDOW);
+            resetIrqLimiters();
+            TaskFactory::delayTask(400);
+            return returnvalue::FAILED;
+          }
+          resetIrqLimiters();
+        }
+      }
+    }
+  } else {
+    sif::error << "PdecHandler::irqOperation: Poll error with errno " << errno << ": "
+               << strerror(errno) << std::endl;
+    triggerEvent(POLL_SYSCALL_ERROR_PDEC, errno);
+    close(fd);
+    state = State::INIT;
+    return returnvalue::FAILED;
+  }
+  return returnvalue::OK;
+}
+
 void PdecHandler::readCommandQueue(void) {
   CommandMessage commandMessage;
   ReturnValue_t result = returnvalue::FAILED;
@@ -330,12 +357,12 @@ bool PdecHandler::checkFrameAna(uint32_t pdecFar) {
   FrameAna_t frameAna = static_cast<FrameAna_t>((pdecFar & FRAME_ANA_MASK) >> FRAME_ANA_POSITION);
   switch (frameAna) {
     case (FrameAna_t::ABANDONED_CLTU): {
-      triggerEvent(INVALID_TC_FRAME, ABANDONED_CLTU);
+      triggerEvent(INVALID_TC_FRAME, ABANDONED_CLTU_RETVAL);
       sif::warning << "PdecHandler::checkFrameAna: Abondoned CLTU" << std::endl;
       break;
     }
     case (FrameAna_t::FRAME_DIRTY): {
-      triggerEvent(INVALID_TC_FRAME, FRAME_DIRTY);
+      triggerEvent(INVALID_TC_FRAME, FRAME_DIRTY_RETVAL);
       sif::warning << "PdecHandler::checkFrameAna: Frame dirty" << std::endl;
       break;
     }
@@ -350,13 +377,13 @@ bool PdecHandler::checkFrameAna(uint32_t pdecFar) {
       break;
     }
     case (FrameAna_t::AD_DISCARDED_LOCKOUT): {
-      triggerEvent(INVALID_TC_FRAME, AD_DISCARDED_LOCKOUT);
+      triggerEvent(INVALID_TC_FRAME, AD_DISCARDED_LOCKOUT_RETVAL);
       sif::warning << "PdecHandler::checkFrameAna: AD frame discarded because of lockout"
                    << std::endl;
       break;
     }
     case (FrameAna_t::AD_DISCARDED_WAIT): {
-      triggerEvent(INVALID_TC_FRAME, AD_DISCARDED_LOCKOUT);
+      triggerEvent(INVALID_TC_FRAME, AD_DISCARDED_LOCKOUT_RETVAL);
       sif::warning << "PdecHandler::checkFrameAna: AD frame discarded because of wait" << std::endl;
       break;
     }
@@ -385,40 +412,40 @@ void PdecHandler::handleIReason(uint32_t pdecFar, ReturnValue_t parameter1) {
   IReason_t ireason = static_cast<IReason_t>((pdecFar & IREASON_MASK) >> IREASON_POSITION);
   switch (ireason) {
     case (IReason_t::NO_REPORT): {
-      triggerEvent(INVALID_TC_FRAME, parameter1, NO_REPORT);
+      triggerEvent(INVALID_TC_FRAME, parameter1, NO_REPORT_RETVAL);
       sif::info << "PdecHandler::handleIReason: No illegal report" << std::endl;
       break;
     }
     case (IReason_t::ERROR_VERSION_NUMBER): {
-      triggerEvent(INVALID_TC_FRAME, parameter1, ERROR_VERSION_NUMBER);
+      triggerEvent(INVALID_TC_FRAME, parameter1, ERROR_VERSION_NUMBER_RETVAL);
       sif::info << "PdecHandler::handleIReason: Error in version number and reserved A and B "
                 << "fields" << std::endl;
       break;
     }
     case (IReason_t::ILLEGAL_COMBINATION): {
-      triggerEvent(INVALID_TC_FRAME, parameter1, ILLEGAL_COMBINATION);
+      triggerEvent(INVALID_TC_FRAME, parameter1, ILLEGAL_COMBINATION_RETVAL);
       sif::info << "PdecHandler::handleIReason: Illegal combination (AC) of bypass and control "
                 << "command flags" << std::endl;
       break;
     }
     case (IReason_t::INVALID_SC_ID): {
-      triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_SC_ID);
+      triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_SC_ID_RETVAL);
       sif::info << "PdecHandler::handleIReason: Invalid spacecraft identifier " << std::endl;
       break;
     }
     case (IReason_t::INVALID_VC_ID_MSB): {
-      triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_VC_ID_MSB);
+      triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_VC_ID_MSB_RETVAL);
       sif::info << "PdecHandler::handleIReason: VC identifier bit 0 to 4 did not match "
                 << std::endl;
       break;
     }
     case (IReason_t::INVALID_VC_ID_LSB): {
-      triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_VC_ID_LSB);
+      triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_VC_ID_LSB_RETVAL);
       sif::info << "PdecHandler::handleIReason: VC identifier bit 5 did not match " << std::endl;
       break;
     }
     case (IReason_t::NS_NOT_ZERO): {
-      triggerEvent(INVALID_TC_FRAME, parameter1, NS_NOT_ZERO);
+      triggerEvent(INVALID_TC_FRAME, parameter1, NS_NOT_ZERO_RETVAL);
       sif::info << "PdecHandler::handleIReason: N(S) of BC or BD frame not set to all zeros"
                 << std::endl;
       break;
@@ -618,6 +645,11 @@ void PdecHandler::printPdecMon() {
 
 uint32_t PdecHandler::readFar() { return *(registerBaseAddress + PDEC_FAR_OFFSET); }
 
+void PdecHandler::resetIrqLimiters() {
+  interruptWindowCd.resetTimer();
+  interruptCounter = 0;
+}
+
 std::string PdecHandler::getMonStatusString(uint32_t status) {
   switch (status) {
     case TC_CHANNEL_INACTIVE:

linux/ipcore/PdecHandler.h

@@ -87,40 +87,42 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
   static const Event LOST_CARRIER_LOCK_PDEC = MAKE_EVENT(5, severity::INFO);
   //! [EXPORT] : [COMMENT] Lost bit lock
   static const Event LOST_BIT_LOCK_PDEC = MAKE_EVENT(6, severity::INFO);
+  //! [EXPORT] : [COMMENT] Too many IRQs over the time window of one second. P1: Allowed TCs
+  static constexpr Event TOO_MANY_IRQS = MAKE_EVENT(7, severity::MEDIUM);
   static constexpr Event POLL_SYSCALL_ERROR_PDEC =
-      event::makeEvent(SUBSYSTEM_ID, 7, severity::MEDIUM);
-  static constexpr Event WRITE_SYSCALL_ERROR_PDEC =
       event::makeEvent(SUBSYSTEM_ID, 8, severity::MEDIUM);
+  static constexpr Event WRITE_SYSCALL_ERROR_PDEC =
+      event::makeEvent(SUBSYSTEM_ID, 9, severity::MEDIUM);
 
  private:
   static const uint8_t INTERFACE_ID = CLASS_ID::PDEC_HANDLER;
 
   static constexpr Modes OP_MODE = Modes::IRQ;
 
-  static const ReturnValue_t ABANDONED_CLTU = MAKE_RETURN_CODE(0xA0);
-  static const ReturnValue_t FRAME_DIRTY = MAKE_RETURN_CODE(0xA1);
+  static const ReturnValue_t ABANDONED_CLTU_RETVAL = MAKE_RETURN_CODE(0xA0);
+  static const ReturnValue_t FRAME_DIRTY_RETVAL = MAKE_RETURN_CODE(0xA1);
   static const ReturnValue_t FRAME_ILLEGAL_ONE_REASON = MAKE_RETURN_CODE(0xA2);
   static const ReturnValue_t FRAME_ILLEGAL_MULTIPLE_REASONS = MAKE_RETURN_CODE(0xA2);
-  static const ReturnValue_t AD_DISCARDED_LOCKOUT = MAKE_RETURN_CODE(0xA3);
-  static const ReturnValue_t AD_DISCARDED_WAIT = MAKE_RETURN_CODE(0xA4);
+  static const ReturnValue_t AD_DISCARDED_LOCKOUT_RETVAL = MAKE_RETURN_CODE(0xA3);
+  static const ReturnValue_t AD_DISCARDED_WAIT_RETVAL = MAKE_RETURN_CODE(0xA4);
   static const ReturnValue_t AD_DISCARDED_NS_VS = MAKE_RETURN_CODE(0xA5);
 
   //! [EXPORT] : [COMMENT] Received action message with unknown action id
   static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xB0);
 
-  static const ReturnValue_t NO_REPORT = MAKE_RETURN_CODE(0xA6);
+  static const ReturnValue_t NO_REPORT_RETVAL = MAKE_RETURN_CODE(0xA6);
   //! Error in version number and reserved A and B fields
-  static const ReturnValue_t ERROR_VERSION_NUMBER = MAKE_RETURN_CODE(0xA7);
+  static const ReturnValue_t ERROR_VERSION_NUMBER_RETVAL = MAKE_RETURN_CODE(0xA7);
   //! Illegal combination of bypass and control command flag
-  static const ReturnValue_t ILLEGAL_COMBINATION = MAKE_RETURN_CODE(0xA8);
+  static const ReturnValue_t ILLEGAL_COMBINATION_RETVAL = MAKE_RETURN_CODE(0xA8);
   //! Spacecraft identifier did not match
-  static const ReturnValue_t INVALID_SC_ID = MAKE_RETURN_CODE(0xA9);
+  static const ReturnValue_t INVALID_SC_ID_RETVAL = MAKE_RETURN_CODE(0xA9);
   //! VC identifier bits 0 to 4 did not match
-  static const ReturnValue_t INVALID_VC_ID_MSB = MAKE_RETURN_CODE(0xAA);
+  static const ReturnValue_t INVALID_VC_ID_MSB_RETVAL = MAKE_RETURN_CODE(0xAA);
   //! VC identifier bit 5 did not match
-  static const ReturnValue_t INVALID_VC_ID_LSB = MAKE_RETURN_CODE(0xAB);
+  static const ReturnValue_t INVALID_VC_ID_LSB_RETVAL = MAKE_RETURN_CODE(0xAB);
   //! N(S) of BC or BD frame not set to all zeros
-  static const ReturnValue_t NS_NOT_ZERO = MAKE_RETURN_CODE(0xAC);
+  static const ReturnValue_t NS_NOT_ZERO_RETVAL = MAKE_RETURN_CODE(0xAC);
   //! Invalid BC control command
   static const ReturnValue_t INVALID_BC_CC = MAKE_RETURN_CODE(0xAE);
 
@@ -180,6 +182,8 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
   // discarded
   static const uint8_t MAP_CLK_FREQ = 2;
 
+  static constexpr uint32_t MAX_ALLOWED_IRQS_PER_WINDOW = 800;
+
   enum class FrameAna_t : uint8_t {
     ABANDONED_CLTU,
     FRAME_DIRTY,
@@ -206,13 +210,16 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
 
   static uint32_t CURRENT_FAR;
 
-  Countdown lockCheckCd = Countdown(IRQ_TIMEOUT_MS);
+  Countdown genericCheckCd = Countdown(IRQ_TIMEOUT_MS);
   object_id_t tcDestinationId;
 
   AcceptsTelecommandsIF* tcDestination = nullptr;
 
   LinuxLibgpioIF* gpioComIF = nullptr;
 
+  uint32_t interruptCounter = 0;
+  Countdown interruptWindowCd = Countdown(1000);
+
   /**
    * Reset signal is required to hold PDEC in reset state until the configuration has been
    * written to the appropriate memory space.
@@ -259,6 +266,7 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
 
   ReturnValue_t polledOperation();
   ReturnValue_t irqOperation();
+  ReturnValue_t checkAndHandleIrqs(int fd, uint32_t& info);
 
   uint32_t readFar();
 
@@ -294,6 +302,8 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
    */
   void checkLocks();
 
+  void resetIrqLimiters();
+
   /**
    * @brief   Analyzes the FramAna field (frame analysis data) of a FAR report.
    *

misc/eclipse/.cproject

@@ -58,7 +58,6 @@
 					</folderInfo>
 					<sourceEntries>
 						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="cmake-build-debug/_deps/etl-src/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -121,7 +120,6 @@
 					</folderInfo>
 					<sourceEntries>
 						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="cmake-build-debug/_deps/etl-src/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -190,7 +188,6 @@
 					</folderInfo>
 					<sourceEntries>
 						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="cmake-build-debug/_deps/etl-src/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -259,7 +256,6 @@
 					</folderInfo>
 					<sourceEntries>
 						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="cmake-build-debug/_deps/etl-src/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -423,7 +419,6 @@
 					</folderInfo>
 					<sourceEntries>
 						<entry excluding="build-Debug-RPi/_deps/etl-src/uml|build-Debug-RPi/_deps/etl-src/test|build-Debug-RPi/_deps/etl-src/temp|build-Debug-RPi/_deps/etl-src/support|build-Debug-RPi/_deps/etl-src/subprojects|build-Debug-RPi/_deps/etl-src/scripts|build-Debug-RPi/_deps/etl-src/images|build-Debug-RPi/_deps/etl-src/examples|build-Debug-RPi/_deps/etl-src/cmake|build-Debug-RPi/_deps/etl-src/arduino|cmake-build-debug-q7s|cmake-build-debug|cmake-build-debug-q7s-em|cmake-build-release-q7s-em|bsp_hosted|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="cmake-build-debug/_deps/etl-src/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -586,7 +581,6 @@
 					</folderInfo>
 					<sourceEntries>
 						<entry excluding="build-Debug-RPi/_deps/etl-src/uml|build-Debug-RPi/_deps/etl-src/test|build-Debug-RPi/_deps/etl-src/temp|build-Debug-RPi/_deps/etl-src/support|build-Debug-RPi/_deps/etl-src/subprojects|build-Debug-RPi/_deps/etl-src/scripts|build-Debug-RPi/_deps/etl-src/images|build-Debug-RPi/_deps/etl-src/examples|build-Debug-RPi/_deps/etl-src/cmake|build-Debug-RPi/_deps/etl-src/arduino|cmake-build-debug-q7s|cmake-build-debug|cmake-build-debug-q7s-em|cmake-build-release-q7s-em|bsp_hosted|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="cmake-build-debug/_deps/etl-src/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -756,8 +750,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="cmake-build-debug-q7s|cmake-build-release-q7s-em|build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|cmake-build-debug-q7s-em|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="cmake-build-debug/_deps/etl-src/include"/>
+						<entry excluding="cmake-build-release-q7s-em|build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|cmake-build-debug-q7s-em|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -925,7 +918,6 @@
 					</folderInfo>
 					<sourceEntries>
 						<entry excluding="cmake-build-debug-q7s|cmake-build-release-q7s-em|cmake-build-release-q7s/_deps/etl-src/uml|cmake-build-release-q7s/_deps/etl-src/test|cmake-build-release-q7s/_deps/etl-src/temp|cmake-build-release-q7s/_deps/etl-src/support|cmake-build-release-q7s/_deps/etl-src/subprojects|cmake-build-release-q7s/_deps/etl-src/scripts|cmake-build-release-q7s/_deps/etl-src/images|cmake-build-release-q7s/_deps/etl-src/examples|cmake-build-release-q7s/_deps/etl-src/cmake|cmake-build-release-q7s/_deps/etl-src/arduino|build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|cmake-build-debug-q7s-em|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="cmake-build-debug/_deps/etl-src/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -1326,7 +1318,6 @@
 					</folderInfo>
 					<sourceEntries>
 						<entry excluding="cmake-build-debug-q7s|cmake-build-release-q7s-em|build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="cmake-build-debug/_deps/etl-src/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -1496,9 +1487,6 @@
 		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1939781894;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1939781894.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.2002501811;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.1316209993">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.1898420988;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.2134154524">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
 		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.646655988;cdt.managedbuild.tool.gnu.cpp.compiler.input.1437856797">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
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@@ -1541,9 +1529,6 @@
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 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.978379831;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.780507143">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
 		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.1595165802;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.1925043110">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>

mission/acsDefs.h

@@ -25,6 +25,10 @@ static const Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
 static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
 //!< Multiple RWs are invalid, not commandable and therefore higher ACS modes cannot be maintained.
 static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);
+//!< MEKF was not able to compute a solution.
+static constexpr Event MEKF_INVALID_INFO = MAKE_EVENT(3, severity::INFO);
+//!< MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.
+static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(4, severity::HIGH);
 
 extern const char* getModeStr(AcsMode mode);
 

mission/comDefs.h

@@ -24,7 +24,7 @@ enum class CcsdsSubmode : uint8_t {
   DATARATE_HIGH = 2,
   DATARATE_DEFAULT = 3
 };
-enum class ParameterId : uint8_t { DATARATE = 0 };
+enum class ParameterId : uint8_t { DATARATE = 0, TRANSMITTER_TIMEOUT = 1 };
 
 }  // namespace com
 

mission/controller/AcsController.cpp

@@ -14,8 +14,6 @@ AcsController::AcsController(object_id_t objectId)
       safeCtrl(&acsParameters),
       detumble(&acsParameters),
       ptgCtrl(&acsParameters),
-      detumbleCounter{0},
-      multipleRwUnavailableCounter{0},
       parameterHelper(this),
       mgmDataRaw(this),
       mgmDataProcessed(this),
@@ -28,6 +26,14 @@ AcsController::AcsController(object_id_t objectId)
       ctrlValData(this),
       actuatorCmdData(this) {}
 
+ReturnValue_t AcsController::initialize() {
+  ReturnValue_t result = parameterHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return ExtendedControllerBase::initialize();
+}
+
 ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
   ReturnValue_t result = actionHelper.handleActionMessage(message);
   if (result == returnvalue::OK) {
@@ -116,17 +122,24 @@ void AcsController::performSafe() {
 
   sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
-  ReturnValue_t validMekf;
-  navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, &susDataProcessed,
-                     &mekfData, &validMekf);
-
-  // give desired satellite rate and sun direction to align
+  ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
+                                            &susDataProcessed, &mekfData);
+  if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING &&
+      result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) {
+    if (not mekfInvalidFlag) {
+      triggerEvent(acs::MEKF_INVALID_INFO);
+      mekfInvalidFlag = true;
+    }
+  } else {
+    mekfInvalidFlag = false;
+  }
+  // get desired satellite rate and sun direction to align
   double satRateSafe[3] = {0, 0, 0}, sunTargetDir[3] = {0, 0, 0};
   guidance.getTargetParamsSafe(sunTargetDir, satRateSafe);
   // if MEKF is working
   double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
   bool magMomMtqValid = false;
-  if (validMekf == returnvalue::OK) {
+  if (result == MultiplicativeKalmanFilter::KALMAN_RUNNING) {
     safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(),
                       mgmDataProcessed.magIgrfModel.value, mgmDataProcessed.magIgrfModel.isValid(),
                       susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(),
@@ -141,24 +154,9 @@ void AcsController::performSafe() {
         sunTargetDir, satRateSafe, &errAng, magMomMtq, &magMomMtqValid);
   }
 
-  int16_t cmdDipolMtqs[3] = {0, 0, 0};
   actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs);
 
-  {
-    PoolReadGuard pg(&ctrlValData);
-    if (pg.getReadResult() == returnvalue::OK) {
-      double unitQuat[4] = {0, 0, 0, 1};
-      std::memcpy(ctrlValData.tgtQuat.value, unitQuat, 4 * sizeof(double));
-      ctrlValData.tgtQuat.setValid(false);
-      std::memcpy(ctrlValData.errQuat.value, unitQuat, 4 * sizeof(double));
-      ctrlValData.errQuat.setValid(false);
-      ctrlValData.errAng.value = errAng;
-      ctrlValData.errAng.setValid(true);
-      ctrlValData.setValidity(true, false);
-    }
-  }
-
-  //	Detumble check and switch
+  // detumble check and switch
   if (mekfData.satRotRateMekf.isValid() &&
       VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) >
           acsParameters.detumbleParameter.omegaDetumbleStart) {
@@ -176,20 +174,8 @@ void AcsController::performSafe() {
     triggerEvent(acs::SAFE_RATE_VIOLATION);
   }
 
-  {
-    PoolReadGuard pg(&actuatorCmdData);
-    if (pg.getReadResult() == returnvalue::OK) {
-      int32_t zeroVec[4] = {0, 0, 0, 0};
-      std::memcpy(actuatorCmdData.rwTargetTorque.value, zeroVec, 4 * sizeof(int32_t));
-      actuatorCmdData.rwTargetTorque.setValid(false);
-      std::memcpy(actuatorCmdData.rwTargetSpeed.value, zeroVec, 4 * sizeof(int32_t));
-      actuatorCmdData.rwTargetSpeed.setValid(false);
-      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolMtqs, 3 * sizeof(int16_t));
-      actuatorCmdData.mtqTargetDipole.setValid(true);
-      actuatorCmdData.setValidity(true, false);
-    }
-  }
-
+  updateCtrlValData(errAng);
+  updateActuatorCmdData(cmdDipolMtqs);
   //  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
   //                   acsParameters.magnetorquesParameter.torqueDuration, 0, 0, 0, 0,
   //                   acsParameters.rwHandlingParameters.rampTime);
@@ -201,15 +187,21 @@ void AcsController::performDetumble() {
 
   sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
-  ReturnValue_t validMekf;
-  navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, &susDataProcessed,
-                     &mekfData, &validMekf);
-
+  ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
+                                            &susDataProcessed, &mekfData);
+  if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING &&
+      result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) {
+    if (not mekfInvalidFlag) {
+      triggerEvent(acs::MEKF_INVALID_INFO);
+      mekfInvalidFlag = true;
+    }
+  } else {
+    mekfInvalidFlag = false;
+  }
   double magMomMtq[3] = {0, 0, 0};
   detumble.bDotLaw(mgmDataProcessed.mgmVecTotDerivative.value,
                    mgmDataProcessed.mgmVecTotDerivative.isValid(), mgmDataProcessed.mgmVecTot.value,
                    mgmDataProcessed.mgmVecTot.isValid(), magMomMtq);
-  int16_t cmdDipolMtqs[3] = {0, 0, 0};
   actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs);
 
   if (mekfData.satRotRateMekf.isValid() &&
@@ -229,19 +221,8 @@ void AcsController::performDetumble() {
     triggerEvent(acs::SAFE_RATE_RECOVERY);
   }
 
-  {
-    PoolReadGuard pg(&actuatorCmdData);
-    if (pg.getReadResult() == returnvalue::OK) {
-      std::memset(actuatorCmdData.rwTargetTorque.value, 0, 4 * sizeof(double));
-      actuatorCmdData.rwTargetTorque.setValid(false);
-      std::memset(actuatorCmdData.rwTargetSpeed.value, 0, 4 * sizeof(int32_t));
-      actuatorCmdData.rwTargetSpeed.setValid(false);
-      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolMtqs, 3 * sizeof(int16_t));
-      actuatorCmdData.mtqTargetDipole.setValid(true);
-      actuatorCmdData.setValidity(true, false);
-    }
-  }
-
+  disableCtrlValData();
+  updateActuatorCmdData(cmdDipolMtqs);
   //  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
   //                   acsParameters.magnetorquesParameter.torqueDuration, 0, 0, 0, 0,
   //                   acsParameters.rwHandlingParameters.rampTime);
@@ -253,23 +234,34 @@ void AcsController::performPointingCtrl() {
 
   sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
-  ReturnValue_t validMekf;
-  navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, &susDataProcessed,
-                     &mekfData, &validMekf);
-
-  double targetQuat[4] = {0, 0, 0, 0}, refSatRate[3] = {0, 0, 0};
-  double quatRef[4] = {0, 0, 0, 0};
+  ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
+                                            &susDataProcessed, &mekfData);
+  if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING &&
+      result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) {
+    if (not mekfInvalidFlag) {
+      triggerEvent(acs::MEKF_INVALID_INFO);
+      mekfInvalidFlag = true;
+    }
+    if (mekfInvalidCounter > 4) {
+      triggerEvent(acs::MEKF_INVALID_MODE_VIOLATION);
+    }
+    mekfInvalidCounter++;
+    commandActuators(0, 0, 0, acsParameters.magnetorquesParameter.torqueDuration, cmdSpeedRws[0],
+                     cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
+                     acsParameters.rwHandlingParameters.rampTime);
+    return;
+  } else {
+    mekfInvalidFlag = false;
+    mekfInvalidCounter = 0;
+  }
   uint8_t enableAntiStiction = true;
-
-  double quatErrorComplete[4] = {0, 0, 0, 0}, quatError[3] = {0, 0, 0},
-         deltaRate[3] = {0, 0, 0};  // ToDo: check if pointer needed
   double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
+  result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
   if (result == returnvalue::FAILED) {
-    multipleRwUnavailableCounter++;
     if (multipleRwUnavailableCounter > 4) {
       triggerEvent(acs::MULTIPLE_RW_INVALID);
     }
+    multipleRwUnavailableCounter++;
     return;
   } else {
     multipleRwUnavailableCounter = 0;
@@ -278,40 +270,37 @@ void AcsController::performPointingCtrl() {
   double torqueRws[4] = {0, 0, 0, 0}, torqueRwsScaled[4] = {0, 0, 0, 0};
   double mgtDpDes[3] = {0, 0, 0};
 
+  // Variables required for guidance
+  double targetQuat[4] = {0, 0, 0, 1}, targetSatRotRate[3] = {0, 0, 0}, errorQuat[4] = {0, 0, 0, 1},
+         errorAngle = 0, errorSatRotRate[3] = {0, 0, 0};
   switch (submode) {
     case acs::PTG_IDLE:
-      guidance.sunQuatPtg(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
-                          targetQuat, refSatRate);
-      std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
-                  4 * sizeof(double));
-      enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
-      guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
-                          deltaRate);
-      ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, quatError, deltaRate,
-                     *rwPseudoInv, torquePtgRws);
+      guidance.targetQuatPtgSun(susDataProcessed.sunIjkModel.value, targetQuat, targetSatRotRate);
+      guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
+                          targetSatRotRate, errorQuat, errorSatRotRate, errorAngle);
       ptgCtrl.ptgNullspace(
-          &acsParameters.targetModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
+          &acsParameters.idleModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
           &(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
           &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
       VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
       actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
       ptgCtrl.ptgDesaturation(
-          &acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
+          &acsParameters.idleModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
           mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
           &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
           &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
-
+      enableAntiStiction = acsParameters.idleModeControllerParameters.enableAntiStiction;
       break;
 
     case acs::PTG_TARGET:
-      guidance.targetQuatPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now, targetQuat,
-                                      refSatRate);
-      std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
-                  4 * sizeof(double));
-      enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
-      guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
-                          deltaRate);
-      ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, quatError, deltaRate,
+      guidance.targetQuatPtgThreeAxes(now, gpsDataProcessed.gpsPosition.value,
+                                      gpsDataProcessed.gpsVelocity.value, targetQuat,
+                                      targetSatRotRate);
+      guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
+                          targetSatRotRate, acsParameters.targetModeControllerParameters.quatRef,
+                          acsParameters.targetModeControllerParameters.refRotRate, errorQuat,
+                          errorSatRotRate, errorAngle);
+      ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, errorQuat, errorSatRotRate,
                      *rwPseudoInv, torquePtgRws);
       ptgCtrl.ptgNullspace(
           &acsParameters.targetModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
@@ -324,17 +313,15 @@ void AcsController::performPointingCtrl() {
           mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
           &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
           &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+      enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
       break;
 
     case acs::PTG_TARGET_GS:
-      guidance.targetQuatPtgGs(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
-                               targetQuat, refSatRate);
-      std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
-                  4 * sizeof(double));
-      enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
-      guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
-                          deltaRate);
-      ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, quatError, deltaRate,
+      guidance.targetQuatPtgGs(now, gpsDataProcessed.gpsPosition.value,
+                               susDataProcessed.sunIjkModel.value, targetQuat, targetSatRotRate);
+      guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
+                          targetSatRotRate, errorQuat, errorSatRotRate, errorAngle);
+      ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, errorQuat, errorSatRotRate,
                      *rwPseudoInv, torquePtgRws);
       ptgCtrl.ptgNullspace(
           &acsParameters.targetModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
@@ -347,16 +334,18 @@ void AcsController::performPointingCtrl() {
           mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
           &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
           &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+      enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
       break;
 
     case acs::PTG_NADIR:
-      guidance.quatNadirPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now, targetQuat,
-                                     refSatRate);
-      std::memcpy(quatRef, acsParameters.nadirModeControllerParameters.quatRef, 4 * sizeof(double));
-      enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction;
-      guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
-                          deltaRate);
-      ptgCtrl.ptgLaw(&acsParameters.nadirModeControllerParameters, quatError, deltaRate,
+      guidance.targetQuatPtgNadirThreeAxes(now, gpsDataProcessed.gpsPosition.value,
+                                           gpsDataProcessed.gpsVelocity.value, targetQuat,
+                                           targetSatRotRate);
+      guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
+                          targetSatRotRate, acsParameters.nadirModeControllerParameters.quatRef,
+                          acsParameters.nadirModeControllerParameters.refRotRate, errorQuat,
+                          errorSatRotRate, errorAngle);
+      ptgCtrl.ptgLaw(&acsParameters.nadirModeControllerParameters, errorQuat, errorSatRotRate,
                      *rwPseudoInv, torquePtgRws);
       ptgCtrl.ptgNullspace(
           &acsParameters.nadirModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
@@ -369,16 +358,17 @@ void AcsController::performPointingCtrl() {
           mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
           &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
           &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+      enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction;
       break;
 
     case acs::PTG_INERTIAL:
-      guidance.inertialQuatPtg(targetQuat, refSatRate);
-      std::memcpy(quatRef, acsParameters.inertialModeControllerParameters.quatRef,
+      std::memcpy(targetQuat, acsParameters.inertialModeControllerParameters.tgtQuat,
                   4 * sizeof(double));
-      enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
-      guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
-                          deltaRate);
-      ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, quatError, deltaRate,
+      guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
+                          targetSatRotRate, acsParameters.inertialModeControllerParameters.quatRef,
+                          acsParameters.inertialModeControllerParameters.refRotRate, errorQuat,
+                          errorSatRotRate, errorAngle);
+      ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, errorQuat, errorSatRotRate,
                      *rwPseudoInv, torquePtgRws);
       ptgCtrl.ptgNullspace(
           &acsParameters.inertialModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
@@ -391,6 +381,7 @@ void AcsController::performPointingCtrl() {
           mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
           &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
           &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+      enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
       break;
   }
 
@@ -398,24 +389,14 @@ void AcsController::performPointingCtrl() {
     ptgCtrl.rwAntistiction(&sensorValues, torqueRwsScaled);
   }
 
-  int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
   actuatorCmd.cmdSpeedToRws(sensorValues.rw1Set.currSpeed.value,
                             sensorValues.rw2Set.currSpeed.value,
                             sensorValues.rw3Set.currSpeed.value,
                             sensorValues.rw4Set.currSpeed.value, torqueRwsScaled, cmdSpeedRws);
-  int16_t cmdDipolMtqs[3] = {0, 0, 0};
   actuatorCmd.cmdDipolMtq(mgtDpDes, cmdDipolMtqs);
 
-  {
-    PoolReadGuard pg(&actuatorCmdData);
-    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(actuatorCmdData.rwTargetTorque.value, rwTrqNs, 4 * sizeof(double));
-      std::memcpy(actuatorCmdData.rwTargetSpeed.value, cmdSpeedRws, 4 * sizeof(int32_t));
-      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolMtqs, 3 * sizeof(int16_t));
-      actuatorCmdData.setValidity(true, true);
-    }
-  }
-
+  updateCtrlValData(targetQuat, errorQuat, errorAngle);
+  updateActuatorCmdData(rwTrqNs, cmdSpeedRws, cmdDipolMtqs);
   //  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
   //                   acsParameters.magnetorquesParameter.torqueDuration, cmdSpeedRws[0],
   //                   cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
@@ -451,6 +432,55 @@ ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole,
   return returnvalue::OK;
 }
 
+void AcsController::updateActuatorCmdData(const int16_t *mtqTargetDipole) {
+  updateActuatorCmdData(RW_OFF_TORQUE, RW_OFF_SPEED, mtqTargetDipole);
+}
+
+void AcsController::updateActuatorCmdData(const double *rwTargetTorque,
+                                          const int32_t *rwTargetSpeed,
+                                          const int16_t *mtqTargetDipole) {
+  PoolReadGuard pg(&actuatorCmdData);
+  if (pg.getReadResult() == returnvalue::OK) {
+    std::memcpy(actuatorCmdData.rwTargetTorque.value, rwTargetTorque, 4 * sizeof(double));
+    std::memcpy(actuatorCmdData.rwTargetSpeed.value, rwTargetSpeed, 4 * sizeof(int32_t));
+    std::memcpy(actuatorCmdData.mtqTargetDipole.value, mtqTargetDipole, 3 * sizeof(int16_t));
+    actuatorCmdData.setValidity(true, true);
+  }
+}
+
+void AcsController::updateCtrlValData(double errAng) {
+  PoolReadGuard pg(&ctrlValData);
+  if (pg.getReadResult() == returnvalue::OK) {
+    std::memcpy(ctrlValData.tgtQuat.value, UNIT_QUAT, 4 * sizeof(double));
+    ctrlValData.tgtQuat.setValid(false);
+    std::memcpy(ctrlValData.errQuat.value, UNIT_QUAT, 4 * sizeof(double));
+    ctrlValData.errQuat.setValid(false);
+    ctrlValData.errAng.value = errAng;
+    ctrlValData.errAng.setValid(true);
+    ctrlValData.setValidity(true, false);
+  }
+}
+
+void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQuat, double errAng) {
+  PoolReadGuard pg(&ctrlValData);
+  if (pg.getReadResult() == returnvalue::OK) {
+    std::memcpy(ctrlValData.tgtQuat.value, tgtQuat, 4 * sizeof(double));
+    std::memcpy(ctrlValData.errQuat.value, errQuat, 4 * sizeof(double));
+    ctrlValData.errAng.value = errAng;
+    ctrlValData.setValidity(true, true);
+  }
+}
+
+void AcsController::disableCtrlValData() {
+  PoolReadGuard pg(&ctrlValData);
+  if (pg.getReadResult() == returnvalue::OK) {
+    std::memcpy(ctrlValData.tgtQuat.value, UNIT_QUAT, 4 * sizeof(double));
+    std::memcpy(ctrlValData.errQuat.value, UNIT_QUAT, 4 * sizeof(double));
+    ctrlValData.errAng.value = 0;
+    ctrlValData.setValidity(false, true);
+  }
+}
+
 ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                      LocalDataPoolManager &poolManager) {
   // MGM Raw
@@ -524,11 +554,13 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   // MEKF
   localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
   localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MEKF_STATUS, &mekfStatus);
   poolManager.subscribeForDiagPeriodicPacket({mekfData.getSid(), false, 5.0});
   // Ctrl Values
   localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
   localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat);
   localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_ANG, &errAng);
+  localDataPoolMap.emplace(acsctrl::PoolIds::TGT_ROT_RATE, &tgtRotRate);
   poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), false, 5.0});
   // Actuator CMD
   localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_TORQUE, &rwTargetTorque);
@@ -795,11 +827,3 @@ void AcsController::copyGyrData() {
     }
   }
 }
-
-ReturnValue_t AcsController::initialize() {
-  ReturnValue_t result = parameterHelper.initialize();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return ExtendedControllerBase::initialize();
-}

mission/controller/AcsController.h

@@ -5,10 +5,12 @@
 #include <fsfw/globalfunctions/math/VectorOperations.h>
 #include <fsfw/parameters/ParameterHelper.h>
 #include <fsfw/parameters/ReceivesParameterMessagesIF.h>
+#include <mission/devices/devicedefinitions/imtqHelpers.h>
 #include <mission/devices/devicedefinitions/rwHelpers.h>
 
 #include "acs/ActuatorCmd.h"
 #include "acs/Guidance.h"
+#include "acs/MultiplicativeKalmanFilter.h"
 #include "acs/Navigation.h"
 #include "acs/SensorProcessing.h"
 #include "acs/control/Detumble.h"
@@ -19,7 +21,6 @@
 #include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
 #include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
 #include "mission/devices/devicedefinitions/SusDefinitions.h"
-#include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
 #include "mission/trace.h"
 
 class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
@@ -39,6 +40,10 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void performPointingCtrl();
 
  private:
+  static constexpr double UNIT_QUAT[4] = {0, 0, 0, 1};
+  static constexpr double RW_OFF_TORQUE[4] = {0.0, 0.0, 0.0, 0.0};
+  static constexpr int32_t RW_OFF_SPEED[4] = {0, 0, 0, 0};
+
   AcsParameters acsParameters;
   SensorProcessing sensorProcessing;
   Navigation navigation;
@@ -49,11 +54,15 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   Detumble detumble;
   PtgCtrl ptgCtrl;
 
-  uint8_t detumbleCounter;
-  uint8_t multipleRwUnavailableCounter;
-
   ParameterHelper parameterHelper;
 
+  uint8_t detumbleCounter = 0;
+  uint8_t multipleRwUnavailableCounter = 0;
+  bool mekfInvalidFlag = true;
+  uint8_t mekfInvalidCounter = 0;
+  int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
+  int16_t cmdDipolMtqs[3] = {0, 0, 0};
+
 #if OBSW_THREAD_TRACING == 1
   uint32_t opCounter = 0;
 #endif
@@ -79,12 +88,18 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
                                  uint16_t dipoleTorqueDuration, int32_t rw1Speed, int32_t rw2Speed,
                                  int32_t rw3Speed, int32_t rw4Speed, uint16_t rampTime);
+  void updateActuatorCmdData(const int16_t* mtqTargetDipole);
+  void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed,
+                             const int16_t* mtqTargetDipole);
+  void updateCtrlValData(double errAng);
+  void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng);
+  void disableCtrlValData();
 
   /* ACS Sensor Values */
   ACS::SensorValues sensorValues;
 
   /* ACS Actuation Datasets */
-  IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
+  imtq::DipoleActuationSet dipoleSet = imtq::DipoleActuationSet(objects::IMTQ_HANDLER);
   rws::RwSpeedActuationSet rw1SpeedSet = rws::RwSpeedActuationSet(objects::RW1);
   rws::RwSpeedActuationSet rw2SpeedSet = rws::RwSpeedActuationSet(objects::RW2);
   rws::RwSpeedActuationSet rw3SpeedSet = rws::RwSpeedActuationSet(objects::RW3);
@@ -169,12 +184,14 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   acsctrl::MekfData mekfData;
   PoolEntry<double> quatMekf = PoolEntry<double>(4);
   PoolEntry<double> satRotRateMekf = PoolEntry<double>(3);
+  PoolEntry<uint8_t> mekfStatus = PoolEntry<uint8_t>();
 
   // Ctrl Values
   acsctrl::CtrlValData ctrlValData;
   PoolEntry<double> tgtQuat = PoolEntry<double>(4);
   PoolEntry<double> errQuat = PoolEntry<double>(4);
   PoolEntry<double> errAng = PoolEntry<double>();
+  PoolEntry<double> tgtRotRate = PoolEntry<double>(3);
 
   // Actuator CMD
   acsctrl::ActuatorCmdData actuatorCmdData;

mission/controller/ThermalController.cpp

@@ -10,7 +10,7 @@
 #include <mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h>
 #include <mission/devices/devicedefinitions/GyroL3GD20Definitions.h>
 #include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
-#include <mission/devices/devicedefinitions/imtqHandlerDefinitions.h>
+#include <mission/devices/devicedefinitions/imtqHelpers.h>
 #include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
 #include <mission/devices/devicedefinitions/rwHelpers.h>
 #include <objects/systemObjectList.h>
@@ -21,6 +21,7 @@ ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater
       sensorTemperatures(this),
       susTemperatures(this),
       deviceTemperatures(this),
+      heaterInfo(this),
       imtqThermalSet(objects::IMTQ_HANDLER, ThermalStateCfg()),
       max31865Set0(objects::RTD_0_IC3_PLOC_HEATSPREADER,
                    EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
@@ -112,108 +113,88 @@ void ThermalController::performControlOperation() {
     deviceTemperatures.commit();
   }
 
+  std::array<HeaterHandler::SwitchState, 8> heaterStates;
+  heaterHandler.getAllSwitchStates(heaterStates);
+  {
+    PoolReadGuard pg(&heaterInfo);
+    std::memcpy(heaterInfo.heaterSwitchState.value, heaterStates.data(), 8);
+    {
+      PoolReadGuard pg2(&currentVecPdu2);
+      if (pg.getReadResult() == returnvalue::OK and pg2.getReadResult() == returnvalue::OK) {
+        heaterInfo.heaterCurrent.value = currentVecPdu2.value[PDU2::Channels::TCS_HEATER_IN];
+      }
+    }
+  }
+
   // performThermalModuleCtrl();
 }
 
 ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                          LocalDataPoolManager& poolManager) {
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_PLOC_HEATSPREADER,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_PLOC_MISSIONBOARD,
-                           new PoolEntry<float>({1.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_4K_CAMERA,
-                           new PoolEntry<float>({2.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_DAC_HEATSPREADER,
-                           new PoolEntry<float>({3.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_STARTRACKER,
-                           new PoolEntry<float>({4.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_RW1, new PoolEntry<float>({5.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_DRO, new PoolEntry<float>({6.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_SCEX, new PoolEntry<float>({7.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_X8, new PoolEntry<float>({8.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_HPA, new PoolEntry<float>({9.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TX_MODUL,
-                           new PoolEntry<float>({10.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_MPA, new PoolEntry<float>({11.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_ACU, new PoolEntry<float>({12.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_PLPCDU_HEATSPREADER,
-                           new PoolEntry<float>({13.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TCS_BOARD,
-                           new PoolEntry<float>({14.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_MAGNETTORQUER,
-                           new PoolEntry<float>({15.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_TCS_0, &tmp1075Tcs0);
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_TCS_1, &tmp1075Tcs1);
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_PLPCDU_0, &tmp1075PlPcdu0);
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_PLPCDU_1, &tmp1075PlPcdu1);
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_IF_BOARD, &tmp1075IfBrd);
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_PLOC_HEATSPREADER, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_PLOC_MISSIONBOARD, new PoolEntry<float>({1.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_4K_CAMERA, new PoolEntry<float>({2.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_DAC_HEATSPREADER, new PoolEntry<float>({3.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_STARTRACKER, new PoolEntry<float>({4.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_RW1, new PoolEntry<float>({5.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_DRO, new PoolEntry<float>({6.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_SCEX, new PoolEntry<float>({7.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_X8, new PoolEntry<float>({8.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_HPA, new PoolEntry<float>({9.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_TX_MODUL, new PoolEntry<float>({10.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_MPA, new PoolEntry<float>({11.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_ACU, new PoolEntry<float>({12.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_PLPCDU_HEATSPREADER, new PoolEntry<float>({13.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_TCS_BOARD, new PoolEntry<float>({14.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_MAGNETTORQUER, new PoolEntry<float>({15.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_TMP1075_TCS_0, &tmp1075Tcs0);
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_TMP1075_TCS_1, &tmp1075Tcs1);
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_TMP1075_PLPCDU_0, &tmp1075PlPcdu0);
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_TMP1075_PLPCDU_1, &tmp1075PlPcdu1);
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_TMP1075_IF_BOARD, &tmp1075IfBrd);
 
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_0_N_LOC_XFYFZM_PT_XF,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_6_R_LOC_XFYBZM_PT_XF,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_1_N_LOC_XBYFZM_PT_XB,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_7_R_LOC_XBYBZM_PT_XB,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_2_N_LOC_XFYBZB_PT_YB,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_8_R_LOC_XBYBZB_PT_YB,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_3_N_LOC_XFYBZF_PT_YF,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_9_R_LOC_XBYBZB_PT_YF,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_4_N_LOC_XMYFZF_PT_ZF,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_10_N_LOC_XMYBZF_PT_ZF,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_5_N_LOC_XFYMZB_PT_ZB,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_11_R_LOC_XBYMZB_PT_ZB,
-                           new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_0_N_LOC_XFYFZM_PT_XF, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_6_R_LOC_XFYBZM_PT_XF, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_1_N_LOC_XBYFZM_PT_XB, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_7_R_LOC_XBYBZM_PT_XB, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_2_N_LOC_XFYBZB_PT_YB, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_8_R_LOC_XBYBZB_PT_YB, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_3_N_LOC_XFYBZF_PT_YF, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_9_R_LOC_XBYBZB_PT_YF, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_4_N_LOC_XMYFZF_PT_ZF, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_10_N_LOC_XMYBZF_PT_ZF, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_5_N_LOC_XFYMZB_PT_ZB, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_11_R_LOC_XBYMZB_PT_ZB, new PoolEntry<float>({0.0}));
 
-  localDataPoolMap.emplace(thermalControllerDefinitions::COMPONENT_RW, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::COMPONENT_RW, new PoolEntry<float>({0.0}));
 
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_Q7S, new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::BATTERY_TEMP_1,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::BATTERY_TEMP_2,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::BATTERY_TEMP_3,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::BATTERY_TEMP_4,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_RW1, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_RW2, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_RW3, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_RW4, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_STAR_TRACKER,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_SYRLINKS_POWER_AMPLIFIER,
-                           new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_SYRLINKS_BASEBAND_BOARD,
-                           new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_MGT, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_ACU, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_PDU1, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_PDU2, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_1_P60DOCK, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_2_P60DOCK, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_GYRO_0_SIDE_A,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_GYRO_1_SIDE_A,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_GYRO_2_SIDE_B,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_GYRO_3_SIDE_B,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_MGM_0_SIDE_A,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_MGM_2_SIDE_B,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_ADC_PAYLOAD_PCDU,
-                           new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_Q7S, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::BATTERY_TEMP_1, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(tcsCtrl::BATTERY_TEMP_2, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(tcsCtrl::BATTERY_TEMP_3, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(tcsCtrl::BATTERY_TEMP_4, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_RW1, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_RW2, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_RW3, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_RW4, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_STAR_TRACKER, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_SYRLINKS_POWER_AMPLIFIER, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_SYRLINKS_BASEBAND_BOARD, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_MGT, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_ACU, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_PDU1, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_PDU2, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_1_P60DOCK, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_2_P60DOCK, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_GYRO_0_SIDE_A, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_GYRO_1_SIDE_A, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_GYRO_2_SIDE_B, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_GYRO_3_SIDE_B, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_MGM_0_SIDE_A, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_MGM_2_SIDE_B, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_ADC_PAYLOAD_PCDU, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::HEATER_SWITCH_LIST, &heaterSwitchStates);
+  localDataPoolMap.emplace(tcsCtrl::HEATER_CURRENT, &heaterCurrent);
 
   poolManager.subscribeForRegularPeriodicPacket(
       subdp::RegularHkPeriodicParams(sensorTemperatures.getSid(), false, 10.0));
@@ -221,17 +202,21 @@ ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& lo
       subdp::RegularHkPeriodicParams(susTemperatures.getSid(), false, 10.0));
   poolManager.subscribeForRegularPeriodicPacket(
       subdp::RegularHkPeriodicParams(deviceTemperatures.getSid(), false, 10.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(heaterInfo.getSid(), false, 10.0));
   return returnvalue::OK;
 }
 
 LocalPoolDataSetBase* ThermalController::getDataSetHandle(sid_t sid) {
   switch (sid.ownerSetId) {
-    case thermalControllerDefinitions::SENSOR_TEMPERATURES:
+    case tcsCtrl::SENSOR_TEMPERATURES:
       return &sensorTemperatures;
-    case thermalControllerDefinitions::SUS_TEMPERATURES:
+    case tcsCtrl::SUS_TEMPERATURES:
       return &susTemperatures;
-    case thermalControllerDefinitions::DEVICE_TEMPERATURES:
+    case tcsCtrl::DEVICE_TEMPERATURES:
       return &deviceTemperatures;
+    case tcsCtrl::HEATER_SET:
+      return &heaterInfo;
     default:
       return nullptr;
   }
@@ -785,7 +770,7 @@ void ThermalController::copyDevices() {
   }
 
   {
-    lp_var_t<int16_t> tempMgt = lp_var_t<int16_t>(objects::IMTQ_HANDLER, IMTQ::MCU_TEMPERATURE);
+    lp_var_t<int16_t> tempMgt = lp_var_t<int16_t>(objects::IMTQ_HANDLER, imtq::MCU_TEMPERATURE);
     PoolReadGuard pg(&tempMgt, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read MGT temperature" << std::endl;

mission/controller/ThermalController.h

@@ -12,6 +12,7 @@
 #include <list>
 
 #include "mission/devices/HeaterHandler.h"
+#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
 #include "mission/trace.h"
 
 /**
@@ -76,9 +77,12 @@ class ThermalController : public ExtendedControllerBase {
 
   HeaterHandler& heaterHandler;
 
-  thermalControllerDefinitions::SensorTemperatures sensorTemperatures;
-  thermalControllerDefinitions::SusTemperatures susTemperatures;
-  thermalControllerDefinitions::DeviceTemperatures deviceTemperatures;
+  tcsCtrl::SensorTemperatures sensorTemperatures;
+  tcsCtrl::SusTemperatures susTemperatures;
+  tcsCtrl::DeviceTemperatures deviceTemperatures;
+  tcsCtrl::HeaterInfo heaterInfo;
+  lp_vec_t<int16_t, 9> currentVecPdu2 =
+      lp_vec_t<int16_t, 9>(gp_id_t(objects::PDU2_HANDLER, PDU::pool::PDU_CURRENTS));
 
   DeviceHandlerThermalSet imtqThermalSet;
 
@@ -160,11 +164,13 @@ class ThermalController : public ExtendedControllerBase {
   std::array<std::pair<bool, double>, 5> sensors;
   uint8_t numSensors = 0;
 
-  PoolEntry<float> tmp1075Tcs0 = PoolEntry<float>(10.0);
-  PoolEntry<float> tmp1075Tcs1 = PoolEntry<float>(10.0);
-  PoolEntry<float> tmp1075PlPcdu0 = PoolEntry<float>(10.0);
-  PoolEntry<float> tmp1075PlPcdu1 = PoolEntry<float>(10.0);
-  PoolEntry<float> tmp1075IfBrd = PoolEntry<float>(10.0);
+  PoolEntry<float> tmp1075Tcs0 = PoolEntry<float>({10.0});
+  PoolEntry<float> tmp1075Tcs1 = PoolEntry<float>({10.0});
+  PoolEntry<float> tmp1075PlPcdu0 = PoolEntry<float>({10.0});
+  PoolEntry<float> tmp1075PlPcdu1 = PoolEntry<float>({10.0});
+  PoolEntry<float> tmp1075IfBrd = PoolEntry<float>({10.0});
+  PoolEntry<uint8_t> heaterSwitchStates = PoolEntry<uint8_t>(heater::NUMBER_OF_SWITCHES);
+  PoolEntry<int16_t> heaterCurrent = PoolEntry<int16_t>();
 
   static constexpr dur_millis_t MUTEX_TIMEOUT = 50;
 

mission/controller/acs/AcsParameters.cpp

@@ -342,7 +342,41 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           return INVALID_IDENTIFIER_ID;
       }
       break;
-    case (0x9):  // TargetModeControllerParameters
+    case (0x9):  // IdleModeControllerParameters
+      switch (parameterId) {
+        case 0x0:
+          parameterWrapper->set(targetModeControllerParameters.zeta);
+          break;
+        case 0x1:
+          parameterWrapper->set(targetModeControllerParameters.om);
+          break;
+        case 0x2:
+          parameterWrapper->set(targetModeControllerParameters.omMax);
+          break;
+        case 0x3:
+          parameterWrapper->set(targetModeControllerParameters.qiMin);
+          break;
+        case 0x4:
+          parameterWrapper->set(targetModeControllerParameters.gainNullspace);
+          break;
+        case 0x5:
+          parameterWrapper->set(targetModeControllerParameters.desatMomentumRef);
+          break;
+        case 0x6:
+          parameterWrapper->set(targetModeControllerParameters.deSatGainFactor);
+          break;
+        case 0x7:
+          parameterWrapper->set(targetModeControllerParameters.desatOn);
+          break;
+        case 0x8:
+          parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
+          break;
+
+        default:
+          return INVALID_IDENTIFIER_ID;
+      }
+      break;
+    case (0xA):  // TargetModeControllerParameters
       switch (parameterId) {
         case 0x0:
           parameterWrapper->set(targetModeControllerParameters.zeta);
@@ -408,7 +442,61 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           return INVALID_IDENTIFIER_ID;
       }
       break;
-    case (0xA):  // NadirModeControllerParameters
+    case (0xB):  // GsTargetModeControllerParameters
+      switch (parameterId) {
+        case 0x0:
+          parameterWrapper->set(targetModeControllerParameters.zeta);
+          break;
+        case 0x1:
+          parameterWrapper->set(targetModeControllerParameters.om);
+          break;
+        case 0x2:
+          parameterWrapper->set(targetModeControllerParameters.omMax);
+          break;
+        case 0x3:
+          parameterWrapper->set(targetModeControllerParameters.qiMin);
+          break;
+        case 0x4:
+          parameterWrapper->set(targetModeControllerParameters.gainNullspace);
+          break;
+        case 0x5:
+          parameterWrapper->set(targetModeControllerParameters.desatMomentumRef);
+          break;
+        case 0x6:
+          parameterWrapper->set(targetModeControllerParameters.deSatGainFactor);
+          break;
+        case 0x7:
+          parameterWrapper->set(targetModeControllerParameters.desatOn);
+          break;
+        case 0x8:
+          parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
+          break;
+        case 0x9:
+          parameterWrapper->set(targetModeControllerParameters.refDirection);
+          break;
+        case 0xA:
+          parameterWrapper->set(targetModeControllerParameters.refRotRate);
+          break;
+        case 0xB:
+          parameterWrapper->set(targetModeControllerParameters.quatRef);
+          break;
+        case 0xC:
+          parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
+          break;
+        case 0xD:
+          parameterWrapper->set(targetModeControllerParameters.latitudeTgt);
+          break;
+        case 0xE:
+          parameterWrapper->set(targetModeControllerParameters.longitudeTgt);
+          break;
+        case 0xF:
+          parameterWrapper->set(targetModeControllerParameters.altitudeTgt);
+          break;
+        default:
+          return INVALID_IDENTIFIER_ID;
+      }
+      break;
+    case (0xC):  // NadirModeControllerParameters
       switch (parameterId) {
         case 0x0:
           parameterWrapper->set(nadirModeControllerParameters.zeta);
@@ -450,7 +538,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           return INVALID_IDENTIFIER_ID;
       }
       break;
-    case (0xB):  // InertialModeControllerParameters
+    case (0xD):  // InertialModeControllerParameters
       switch (parameterId) {
         case 0x0:
           parameterWrapper->set(inertialModeControllerParameters.zeta);
@@ -492,7 +580,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           return INVALID_IDENTIFIER_ID;
       }
       break;
-    case (0xC):  // StrParameters
+    case (0xE):  // StrParameters
       switch (parameterId) {
         case 0x0:
           parameterWrapper->set(strParameters.exclusionAngle);
@@ -504,7 +592,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           return INVALID_IDENTIFIER_ID;
       }
       break;
-    case (0xD):  // GpsParameters
+    case (0xF):  // GpsParameters
       switch (parameterId) {
         case 0x0:
           parameterWrapper->set(gpsParameters.timeDiffVelocityMax);
@@ -513,7 +601,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           return INVALID_IDENTIFIER_ID;
       }
       break;
-    case (0xE):  // SunModelParameters
+    case (0x10):  // SunModelParameters
       switch (parameterId) {
         case 0x0:
           parameterWrapper->set(sunModelParameters.domega);
@@ -543,7 +631,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           return INVALID_IDENTIFIER_ID;
       }
       break;
-    case (0xF):  // KalmanFilterParameters
+    case (0x11):  // KalmanFilterParameters
       switch (parameterId) {
         case 0x0:
           parameterWrapper->set(kalmanFilterParameters.sensorNoiseSTR);
@@ -567,7 +655,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           return INVALID_IDENTIFIER_ID;
       }
       break;
-    case (0x10):  // MagnetorquesParameter
+    case (0x12):  // MagnetorquesParameter
       switch (parameterId) {
         case 0x0:
           parameterWrapper->set(magnetorquesParameter.mtq0orientationMatrix);
@@ -594,7 +682,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           return INVALID_IDENTIFIER_ID;
       }
       break;
-    case (0x11):  // DetumbleParameter
+    case (0x13):  // DetumbleParameter
       switch (parameterId) {
         case 0x0:
           parameterWrapper->set(detumbleParameter.detumblecounter);

mission/controller/acs/AcsParameters.h

@@ -841,10 +841,12 @@ class AcsParameters : public HasParametersIF {
     uint8_t enableAntiStiction = true;
   } pointingLawParameters;
 
+  struct IdleModeControllerParameters : PointingLawParameters {
+  } idleModeControllerParameters;
+
   struct TargetModeControllerParameters : PointingLawParameters {
     double refDirection[3] = {-1, 0, 0};  // Antenna
-    double refRotRate[3] = {0, 0, 0};     // Not used atm, do we want an option to
-    // give this as an input- currently en calculation is done
+    double refRotRate[3] = {0, 0, 0};
     double quatRef[4] = {0, 0, 0, 1};
     int8_t timeElapsedMax = 10;  // rot rate calculations
 
@@ -860,9 +862,20 @@ class AcsParameters : public HasParametersIF {
     double blindRotRate = 1 * M_PI / 180;
   } targetModeControllerParameters;
 
+  struct GsTargetModeControllerParameters : PointingLawParameters {
+    double refDirection[3] = {-1, 0, 0};  // Antenna
+    int8_t timeElapsedMax = 10;           // rot rate calculations
+
+    // Default is Stuttgart GS
+    double latitudeTgt = 48.7495 * M_PI / 180.;   // [rad] Latitude
+    double longitudeTgt = 9.10384 * M_PI / 180.;  // [rad] Longitude
+    double altitudeTgt = 500;                     // [m]
+  } gsTargetModeControllerParameters;
+
   struct NadirModeControllerParameters : PointingLawParameters {
     double refDirection[3] = {-1, 0, 0};  // Antenna
     double quatRef[4] = {0, 0, 0, 1};
+    double refRotRate[3] = {0, 0, 0};
     int8_t timeElapsedMax = 10;  // rot rate calculations
   } nadirModeControllerParameters;
 

mission/controller/acs/Guidance.cpp

@@ -1,10 +1,3 @@
-/*
- * Guidance.cpp
- *
- *  Created on: 6 Jun 2022
- *      Author: Robin Marquardt
- */
-
 #include "Guidance.h"
 
 #include <fsfw/datapool/PoolReadGuard.h>
@@ -19,74 +12,50 @@
 #include "util/CholeskyDecomposition.h"
 #include "util/MathOperations.h"
 
-Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = *acsParameters_; }
+Guidance::Guidance(AcsParameters *acsParameters_) : acsParameters(*acsParameters_) {}
 
 Guidance::~Guidance() {}
 
-void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3]) {
-  if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE) or
-      not std::filesystem::exists(SD_1_SKEWED_PTG_FILE)) {  // ToDo: if file does not exist anymore
-    std::memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDir,
-                3 * sizeof(double));
-  } else {
-    std::memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDirLeop,
-                3 * sizeof(double));
-  }
-  std::memcpy(satRateSafe, acsParameters.safeModeControllerParameters.satRateRef,
-              3 * sizeof(double));
-}
-
-void Guidance::targetQuatPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
-                                       acsctrl::SusDataProcessed *susDataProcessed,
-                                       acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
-                                       double targetQuat[4], double refSatRate[3]) {
+void Guidance::targetQuatPtgSingleAxis(timeval now, double posSatE[3], double velSatE[3],
+                                       double sunDirI[3], double refDirB[3], double quatBI[4],
+                                       double targetQuat[4], double targetSatRotRate[3]) {
   //-------------------------------------------------------------------------------------
   //	Calculation of target quaternion to groundstation or given latitude, longitude and altitude
   //-------------------------------------------------------------------------------------
-  //	Transform longitude, latitude and altitude to cartesian coordiantes (earth
-  // fixed/centered frame)
-  double targetCart[3] = {0, 0, 0};
+  // transform longitude, latitude and altitude to ECEF
+  double targetE[3] = {0, 0, 0};
 
   MathOperations<double>::cartesianFromLatLongAlt(
       acsParameters.targetModeControllerParameters.latitudeTgt,
       acsParameters.targetModeControllerParameters.longitudeTgt,
-      acsParameters.targetModeControllerParameters.altitudeTgt, targetCart);
+      acsParameters.targetModeControllerParameters.altitudeTgt, targetE);
 
-  //	Position of the satellite in the earth/fixed frame via GPS
-  double posSatE[3] = {0, 0, 0};
-  double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
-  double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
-  MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
-                                                  sensorValues->gpsSet.altitude.value, posSatE);
-
-  //	Target direction in the ECEF frame
+  // target direction in the ECEF frame
   double targetDirE[3] = {0, 0, 0};
-  VectorOperations<double>::subtract(targetCart, posSatE, targetDirE, 3);
+  VectorOperations<double>::subtract(targetE, posSatE, targetDirE, 3);
 
-  //	Transformation between ECEF and IJK frame
-  double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
-  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
+  // transformation between ECEF and ECI frame
+  double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
+  MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
 
-  double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
+  double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
 
-  //	Transformation between ECEF and Body frame
-  double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  // transformation between ECEF and Body frame
+  double dcmBI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double quatBJ[4] = {0, 0, 0, 0};
-  std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
 
-  QuaternionOperations::toDcm(quatBJ, dcmBJ);
-  MatrixOperations<double>::multiply(*dcmBJ, *dcmJE, *dcmBE, 3, 3, 3);
+  QuaternionOperations::toDcm(quatBI, dcmBI);
+  MatrixOperations<double>::multiply(*dcmBI, *dcmIE, *dcmBE, 3, 3, 3);
 
-  //	Target Direction in the body frame
+  // target Direction in the body frame
   double targetDirB[3] = {0, 0, 0};
   MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
 
-  //	rotation quaternion from two vectors
+  // rotation quaternion from two vectors
   double refDir[3] = {0, 0, 0};
   refDir[0] = acsParameters.targetModeControllerParameters.refDirection[0];
   refDir[1] = acsParameters.targetModeControllerParameters.refDirection[1];
@@ -106,15 +75,13 @@ void Guidance::targetQuatPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl:
   VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
 
   //-------------------------------------------------------------------------------------
-  //	Calculation of reference rotation rate
+  // calculation of reference rotation rate
   //-------------------------------------------------------------------------------------
-  double velSatE[3] = {0, 0, 0};
-  std::memcpy(velSatE, gpsDataProcessed->gpsVelocity.value, 3 * sizeof(double));
   double velSatB[3] = {0, 0, 0}, velSatBPart1[3] = {0, 0, 0}, velSatBPart2[3] = {0, 0, 0};
-  //	Velocity: v_B = dcm_BI * dcmIE * v_E + dcm_BI * DotDcm_IE * v_E
+  // velocity: v_B = dcm_BI * dcmIE * v_E + dcm_BI * DotDcm_IE * v_E
   MatrixOperations<double>::multiply(*dcmBE, velSatE, velSatBPart1, 3, 3, 1);
   double dcmBEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MatrixOperations<double>::multiply(*dcmBJ, *dcmJEDot, *dcmBEDot, 3, 3, 3);
+  MatrixOperations<double>::multiply(*dcmBI, *dcmIEDot, *dcmBEDot, 3, 3, 3);
   MatrixOperations<double>::multiply(*dcmBEDot, posSatE, velSatBPart2, 3, 3, 1);
   VectorOperations<double>::add(velSatBPart1, velSatBPart2, velSatB, 3);
 
@@ -124,21 +91,14 @@ void Guidance::targetQuatPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl:
   double satRateDir[3] = {0, 0, 0};
   VectorOperations<double>::cross(velSatB, targetDirB, satRateDir);
   VectorOperations<double>::normalize(satRateDir, satRateDir, 3);
-  VectorOperations<double>::mulScalar(satRateDir, normRefSatRate, refSatRate, 3);
+  VectorOperations<double>::mulScalar(satRateDir, normRefSatRate, targetSatRotRate, 3);
 
   //-------------------------------------------------------------------------------------
   //	Calculation of reference rotation rate in case of star tracker blinding
   //-------------------------------------------------------------------------------------
   if (acsParameters.targetModeControllerParameters.avoidBlindStr) {
     double sunDirB[3] = {0, 0, 0};
-
-    if (susDataProcessed->sunIjkModel.isValid()) {
-      double sunDirJ[3] = {0, 0, 0};
-      std::memcpy(sunDirJ, susDataProcessed->sunIjkModel.value, 3 * sizeof(double));
-      MatrixOperations<double>::multiply(*dcmBJ, sunDirJ, sunDirB, 3, 3, 1);
-    } else {
-      std::memcpy(sunDirB, susDataProcessed->susVecTot.value, 3 * sizeof(double));
-    }
+    MatrixOperations<double>::multiply(*dcmBI, sunDirI, sunDirB, 3, 3, 1);
 
     double exclAngle = acsParameters.strParameters.exclusionAngle,
            blindStart = acsParameters.targetModeControllerParameters.blindAvoidStart,
@@ -148,18 +108,13 @@ void Guidance::targetQuatPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl:
 
     if (!(strBlindAvoidFlag)) {
       double critSightAngle = blindStart * exclAngle;
-
       if (sightAngleSun < critSightAngle) {
         strBlindAvoidFlag = true;
       }
-
-    }
-
-    else {
+    } else {
       if (sightAngleSun < blindEnd * exclAngle) {
         double normBlindRefRate = acsParameters.targetModeControllerParameters.blindRotRate;
         double blindRefRate[3] = {0, 0, 0};
-
         if (sunDirB[1] < 0) {
           blindRefRate[0] = normBlindRefRate;
           blindRefRate[1] = 0;
@@ -169,21 +124,353 @@ void Guidance::targetQuatPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl:
           blindRefRate[1] = 0;
           blindRefRate[2] = 0;
         }
-
-        VectorOperations<double>::add(blindRefRate, refSatRate, refSatRate, 3);
-
+        VectorOperations<double>::add(blindRefRate, targetSatRotRate, targetSatRotRate, 3);
       } else {
         strBlindAvoidFlag = false;
       }
     }
   }
+  // revert calculated quaternion from qBX to qIX
+  double quatIB[4] = {0, 0, 0, 1};
+  QuaternionOperations::inverse(quatBI, quatIB);
+  QuaternionOperations::multiply(quatIB, targetQuat, targetQuat);
 }
 
-void Guidance::refRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
-                               double *refSatRate) {
+void Guidance::targetQuatPtgThreeAxes(timeval now, double posSatE[3], double velSatE[3],
+                                      double targetQuat[4], double targetSatRotRate[3]) {
+  //-------------------------------------------------------------------------------------
+  //	Calculation of target quaternion for target pointing
+  //-------------------------------------------------------------------------------------
+  // transform longitude, latitude and altitude to cartesian coordiantes (ECEF)
+  double targetE[3] = {0, 0, 0};
+  MathOperations<double>::cartesianFromLatLongAlt(
+      acsParameters.targetModeControllerParameters.latitudeTgt,
+      acsParameters.targetModeControllerParameters.longitudeTgt,
+      acsParameters.targetModeControllerParameters.altitudeTgt, targetE);
+  double targetDirE[3] = {0, 0, 0};
+  VectorOperations<double>::subtract(targetE, posSatE, targetDirE, 3);
+
+  // transformation between ECEF and ECI frame
+  double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
+  MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
+
+  double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
+
+  // target direction in the ECI frame
+  double posSatI[3] = {0, 0, 0}, targetI[3] = {0, 0, 0}, targetDirI[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*dcmIE, posSatE, posSatI, 3, 3, 1);
+  MatrixOperations<double>::multiply(*dcmIE, targetE, targetI, 3, 3, 1);
+  VectorOperations<double>::subtract(targetI, posSatI, targetDirI, 3);
+
+  // x-axis aligned with target direction
+  // this aligns with the camera, E- and S-band antennas
+  double xAxis[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(targetDirI, xAxis, 3);
+
+  // transform velocity into inertial frame
+  double velocityI[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*dcmIE, velSatE, velPart1, 3, 3, 1);
+  MatrixOperations<double>::multiply(*dcmIEDot, posSatE, velPart2, 3, 3, 1);
+  VectorOperations<double>::add(velPart1, velPart2, velocityI, 3);
+
+  // orbital normal vector of target and velocity vector
+  double orbitalNormalI[3] = {0, 0, 0};
+  VectorOperations<double>::cross(posSatI, velocityI, orbitalNormalI);
+  VectorOperations<double>::normalize(orbitalNormalI, orbitalNormalI, 3);
+
+  // y-axis of satellite in orbit plane so that z-axis is parallel to long side of picture
+  // resolution
+  double yAxis[3] = {0, 0, 0};
+  VectorOperations<double>::cross(orbitalNormalI, xAxis, yAxis);
+  VectorOperations<double>::normalize(yAxis, yAxis, 3);
+
+  // z-axis completes RHS
+  double zAxis[3] = {0, 0, 0};
+  VectorOperations<double>::cross(xAxis, yAxis, zAxis);
+
+  // join transformation matrix
+  double dcmIX[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
+                        {xAxis[1], yAxis[1], zAxis[1]},
+                        {xAxis[2], yAxis[2], zAxis[2]}};
+  QuaternionOperations::fromDcm(dcmIX, targetQuat);
+
+  int8_t timeElapsedMax = acsParameters.targetModeControllerParameters.timeElapsedMax;
+  targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate);
+}
+
+void Guidance::targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3],
+                               double targetQuat[4], double targetSatRotRate[3]) {
+  //-------------------------------------------------------------------------------------
+  //	Calculation of target quaternion for ground station pointing
+  //-------------------------------------------------------------------------------------
+  // transform longitude, latitude and altitude to cartesian coordiantes (ECEF)
+  double groundStationE[3] = {0, 0, 0};
+
+  MathOperations<double>::cartesianFromLatLongAlt(
+      acsParameters.gsTargetModeControllerParameters.latitudeTgt,
+      acsParameters.gsTargetModeControllerParameters.longitudeTgt,
+      acsParameters.gsTargetModeControllerParameters.altitudeTgt, groundStationE);
+  double targetDirE[3] = {0, 0, 0};
+  VectorOperations<double>::subtract(groundStationE, posSatE, targetDirE, 3);
+
+  // transformation between ECEF and ECI frame
+  double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
+  MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
+
+  double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
+
+  // target direction in the ECI frame
+  double posSatI[3] = {0, 0, 0}, groundStationI[3] = {0, 0, 0}, groundStationDirI[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*dcmIE, posSatE, posSatI, 3, 3, 1);
+  MatrixOperations<double>::multiply(*dcmIE, groundStationE, groundStationI, 3, 3, 1);
+  VectorOperations<double>::subtract(groundStationI, posSatI, groundStationDirI, 3);
+
+  // negative x-axis aligned with target direction
+  // this aligns with the camera, E- and S-band antennas
+  double xAxis[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(groundStationDirI, xAxis, 3);
+  VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
+
+  // get sun vector model in ECI
+  VectorOperations<double>::normalize(sunDirI, sunDirI, 3);
+
+  // calculate z-axis as projection of sun vector into plane defined by x-axis as normal vector
+  // z = sPerpenticular =  s - sParallel = s - (x*s)/norm(x)^2 * x
+  double xDotS = VectorOperations<double>::dot(xAxis, sunDirI);
+  xDotS /= pow(VectorOperations<double>::norm(xAxis, 3), 2);
+  double sunParallel[3], zAxis[3];
+  VectorOperations<double>::mulScalar(xAxis, xDotS, sunParallel, 3);
+  VectorOperations<double>::subtract(sunDirI, sunParallel, zAxis, 3);
+  VectorOperations<double>::normalize(zAxis, zAxis, 3);
+
+  // y-axis completes RHS
+  double yAxis[3];
+  VectorOperations<double>::cross(zAxis, xAxis, yAxis);
+  VectorOperations<double>::normalize(yAxis, yAxis, 3);
+
+  // join transformation matrix
+  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
+                         {xAxis[1], yAxis[1], zAxis[1]},
+                         {xAxis[2], yAxis[2], zAxis[2]}};
+  QuaternionOperations::fromDcm(dcmTgt, targetQuat);
+
+  int8_t timeElapsedMax = acsParameters.gsTargetModeControllerParameters.timeElapsedMax;
+  targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate);
+}
+
+void Guidance::targetQuatPtgSun(double sunDirI[3], double targetQuat[4], double refSatRate[3]) {
+  //-------------------------------------------------------------------------------------
+  //	Calculation of target quaternion to sun
+  //-------------------------------------------------------------------------------------
+  //  positive z-Axis of EIVE in direction of sun
+  double zAxis[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(sunDirI, zAxis, 3);
+
+  //  assign helper vector (north pole inertial)
+  double helperVec[3] = {0, 0, 1};
+
+  //  construct y-axis from helper vector and z-axis
+  double yAxis[3] = {0, 0, 0};
+  VectorOperations<double>::cross(zAxis, helperVec, yAxis);
+  VectorOperations<double>::normalize(yAxis, yAxis, 3);
+
+  //  x-axis completes RHS
+  double xAxis[3] = {0, 0, 0};
+  VectorOperations<double>::cross(yAxis, zAxis, xAxis);
+  VectorOperations<double>::normalize(xAxis, xAxis, 3);
+
+  // join transformation matrix
+  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
+                         {xAxis[1], yAxis[1], zAxis[1]},
+                         {xAxis[2], yAxis[2], zAxis[2]}};
+  QuaternionOperations::fromDcm(dcmTgt, targetQuat);
+
+  //----------------------------------------------------------------------------
+  //	Calculation of reference rotation rate
+  //----------------------------------------------------------------------------
+  refSatRate[0] = 0;
+  refSatRate[1] = 0;
+  refSatRate[2] = 0;
+}
+
+void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], double quatBI[4],
+                                            double targetQuat[4], double refDirB[3],
+                                            double refSatRate[3]) {
+  //-------------------------------------------------------------------------------------
+  //	Calculation of target quaternion for Nadir pointing
+  //-------------------------------------------------------------------------------------
+  double targetDirE[3] = {0, 0, 0};
+  VectorOperations<double>::mulScalar(posSatE, -1, targetDirE, 3);
+
+  // transformation between ECEF and ECI frame
+  double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
+  MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
+
+  double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
+
+  // transformation between ECEF and Body frame
+  double dcmBI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  QuaternionOperations::toDcm(quatBI, dcmBI);
+  MatrixOperations<double>::multiply(*dcmBI, *dcmIE, *dcmBE, 3, 3, 3);
+
+  // target Direction in the body frame
+  double targetDirB[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
+
+  // rotation quaternion from two vectors
+  double refDir[3] = {0, 0, 0};
+  refDir[0] = acsParameters.nadirModeControllerParameters.refDirection[0];
+  refDir[1] = acsParameters.nadirModeControllerParameters.refDirection[1];
+  refDir[2] = acsParameters.nadirModeControllerParameters.refDirection[2];
+  double noramlizedTargetDirB[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(targetDirB, noramlizedTargetDirB, 3);
+  VectorOperations<double>::normalize(refDir, refDir, 3);
+  double normTargetDirB = VectorOperations<double>::norm(noramlizedTargetDirB, 3);
+  double normRefDir = VectorOperations<double>::norm(refDir, 3);
+  double crossDir[3] = {0, 0, 0};
+  double dotDirections = VectorOperations<double>::dot(noramlizedTargetDirB, refDir);
+  VectorOperations<double>::cross(noramlizedTargetDirB, refDir, crossDir);
+  targetQuat[0] = crossDir[0];
+  targetQuat[1] = crossDir[1];
+  targetQuat[2] = crossDir[2];
+  targetQuat[3] = sqrt(pow(normTargetDirB, 2) * pow(normRefDir, 2) + dotDirections);
+  VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
+
   //-------------------------------------------------------------------------------------
   //	Calculation of reference rotation rate
   //-------------------------------------------------------------------------------------
+  refSatRate[0] = 0;
+  refSatRate[1] = 0;
+  refSatRate[2] = 0;
+
+  // revert calculated quaternion from qBX to qIX
+  double quatIB[4] = {0, 0, 0, 1};
+  QuaternionOperations::inverse(quatBI, quatIB);
+  QuaternionOperations::multiply(quatIB, targetQuat, targetQuat);
+}
+
+void Guidance::targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], double velSatE[3],
+                                           double targetQuat[4], double refSatRate[3]) {
+  //-------------------------------------------------------------------------------------
+  //	Calculation of target quaternion for Nadir pointing
+  //-------------------------------------------------------------------------------------
+  // transformation between ECEF and ECI frame
+  double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
+  MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
+
+  double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
+
+  // satellite position in inertial reference frame
+  double posSatI[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*dcmIE, posSatE, posSatI, 3, 3, 1);
+
+  // negative x-axis aligned with position vector
+  // this aligns with the camera, E- and S-band antennas
+  double xAxis[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(posSatI, xAxis, 3);
+  VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
+
+  // make z-Axis parallel to major part of camera resolution
+  double zAxis[3] = {0, 0, 0};
+  double velocityI[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*dcmIE, velSatE, velPart1, 3, 3, 1);
+  MatrixOperations<double>::multiply(*dcmIEDot, posSatE, velPart2, 3, 3, 1);
+  VectorOperations<double>::add(velPart1, velPart2, velocityI, 3);
+  VectorOperations<double>::cross(xAxis, velocityI, zAxis);
+  VectorOperations<double>::normalize(zAxis, zAxis, 3);
+
+  // y-Axis completes RHS
+  double yAxis[3] = {0, 0, 0};
+  VectorOperations<double>::cross(zAxis, xAxis, yAxis);
+
+  // join transformation matrix
+  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
+                         {xAxis[1], yAxis[1], zAxis[1]},
+                         {xAxis[2], yAxis[2], zAxis[2]}};
+  QuaternionOperations::fromDcm(dcmTgt, targetQuat);
+
+  int8_t timeElapsedMax = acsParameters.nadirModeControllerParameters.timeElapsedMax;
+  targetRotationRate(timeElapsedMax, now, targetQuat, refSatRate);
+}
+
+void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
+                          double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
+                          double errorQuat[4], double errorSatRotRate[3], double errorAngle) {
+  // First calculate error quaternion between current and target orientation
+  QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat);
+  // Last calculate add rotation from reference quaternion
+  QuaternionOperations::multiply(refQuat, errorQuat, errorQuat);
+  // Keep scalar part of quaternion positive
+  if (errorQuat[3] < 0) {
+    VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);
+  }
+  // Calculate error angle
+  errorAngle = QuaternionOperations::getAngle(errorQuat, true);
+
+  // Only give back error satellite rotational rate if orientation has already been aquired
+  if (errorAngle < 2. / 180. * M_PI) {
+    // First combine the target and reference satellite rotational rates
+    double combinedRefSatRotRate[3] = {0, 0, 0};
+    VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
+    // Then substract the combined required satellite rotational rates from the actual rate
+    VectorOperations<double>::subtract(currentSatRotRate, combinedRefSatRotRate, errorSatRotRate,
+                                       3);
+  } else {
+    // If orientation has not been aquired yet set satellite rotational rate to zero
+    errorSatRotRate = 0;
+  }
+
+  // target flag in matlab, importance, does look like it only gives feedback if pointing control is
+  // under 150 arcsec ??
+}
+
+void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
+                          double targetSatRotRate[3], double errorQuat[4],
+                          double errorSatRotRate[3], double errorAngle) {
+  // First calculate error quaternion between current and target orientation
+  QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat);
+  // Keep scalar part of quaternion positive
+  if (errorQuat[3] < 0) {
+    VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);
+  }
+  // Calculate error angle
+  errorAngle = QuaternionOperations::getAngle(errorQuat, true);
+
+  // Only give back error satellite rotational rate if orientation has already been aquired
+  if (errorAngle < 2. / 180. * M_PI) {
+    // Then substract the combined required satellite rotational rates from the actual rate
+    VectorOperations<double>::subtract(currentSatRotRate, targetSatRotRate, errorSatRotRate, 3);
+  } else {
+    // If orientation has not been aquired yet set satellite rotational rate to zero
+    errorSatRotRate = 0;
+  }
+
+  // target flag in matlab, importance, does look like it only gives feedback if pointing control is
+  // under 150 arcsec ??
+}
+
+void Guidance::targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
+                                  double *refSatRate) {
+  //-------------------------------------------------------------------------------------
+  //	Calculation of target rotation rate
+  //-------------------------------------------------------------------------------------
   double timeElapsed = now.tv_sec + now.tv_usec * pow(10, -6) -
                        (timeSavedQuaternion.tv_sec +
                         timeSavedQuaternion.tv_usec * pow((double)timeSavedQuaternion.tv_usec, -6));
@@ -221,395 +508,6 @@ void Guidance::refRotationRate(int8_t timeElapsedMax, timeval now, double quatIn
   savedQuaternion[3] = quatInertialTarget[3];
 }
 
-void Guidance::targetQuatPtgThreeAxes(ACS::SensorValues *sensorValues,
-                                      acsctrl::GpsDataProcessed *gpsDataProcessed,
-                                      acsctrl::MekfData *mekfData, timeval now,
-                                      double targetQuat[4], double refSatRate[3]) {
-  //-------------------------------------------------------------------------------------
-  //	Calculation of target quaternion for target pointing
-  //-------------------------------------------------------------------------------------
-  //	Transform longitude, latitude and altitude to cartesian coordiantes (earth
-  // fixed/centered frame)
-  double targetCart[3] = {0, 0, 0};
-
-  MathOperations<double>::cartesianFromLatLongAlt(
-      acsParameters.targetModeControllerParameters.latitudeTgt,
-      acsParameters.targetModeControllerParameters.longitudeTgt,
-      acsParameters.targetModeControllerParameters.altitudeTgt, targetCart);
-  //	Position of the satellite in the earth/fixed frame via GPS
-  double posSatE[3] = {0, 0, 0};
-  std::memcpy(posSatE, gpsDataProcessed->gpsPosition.value, 3 * sizeof(double));
-  double targetDirE[3] = {0, 0, 0};
-  VectorOperations<double>::subtract(targetCart, posSatE, targetDirE, 3);
-
-  //	Transformation between ECEF and IJK frame
-  double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
-  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
-
-  double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
-
-  //	Target Direction and position vector in the inertial frame
-  double targetDirJ[3] = {0, 0, 0}, posSatJ[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*dcmJE, targetDirE, targetDirJ, 3, 3, 1);
-  MatrixOperations<double>::multiply(*dcmJE, posSatE, posSatJ, 3, 3, 1);
-
-  // negative x-Axis aligned with target (Camera/E-band transmitter position)
-  double xAxis[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(targetDirJ, xAxis, 3);
-  VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
-
-  // Transform velocity into inertial frame
-  double velocityE[3];
-  std::memcpy(velocityE, gpsDataProcessed->gpsVelocity.value, 3 * sizeof(double));
-  double velocityJ[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*dcmJE, velocityE, velPart1, 3, 3, 1);
-  MatrixOperations<double>::multiply(*dcmJEDot, posSatE, velPart2, 3, 3, 1);
-  VectorOperations<double>::add(velPart1, velPart2, velocityJ, 3);
-
-  // orbital normal vector
-  double orbitalNormalJ[3] = {0, 0, 0};
-  VectorOperations<double>::cross(posSatJ, velocityJ, orbitalNormalJ);
-  VectorOperations<double>::normalize(orbitalNormalJ, orbitalNormalJ, 3);
-
-  // y-Axis of satellite in orbit plane so that z-axis parallel to long side of picture resolution
-  double yAxis[3] = {0, 0, 0};
-  VectorOperations<double>::cross(orbitalNormalJ, xAxis, yAxis);
-  VectorOperations<double>::normalize(yAxis, yAxis, 3);
-
-  // z-Axis completes RHS
-  double zAxis[3] = {0, 0, 0};
-  VectorOperations<double>::cross(xAxis, yAxis, zAxis);
-
-  // Complete transformation matrix
-  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
-                         {xAxis[1], yAxis[1], zAxis[1]},
-                         {xAxis[2], yAxis[2], zAxis[2]}};
-  double quatInertialTarget[4] = {0, 0, 0, 0};
-  QuaternionOperations::fromDcm(dcmTgt, quatInertialTarget);
-
-  int8_t timeElapsedMax = acsParameters.targetModeControllerParameters.timeElapsedMax;
-  refRotationRate(timeElapsedMax, now, quatInertialTarget, refSatRate);
-
-  // Transform in system relative to satellite frame
-  double quatBJ[4] = {0, 0, 0, 0};
-  std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
-  QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
-}
-
-void Guidance::targetQuatPtgGs(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
-                               acsctrl::SusDataProcessed *susDataProcessed,
-                               acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
-                               double targetQuat[4], double refSatRate[3]) {
-  //-------------------------------------------------------------------------------------
-  //	Calculation of target quaternion for ground station pointing
-  //-------------------------------------------------------------------------------------
-  //	Transform longitude, latitude and altitude to cartesian coordiantes (earth
-  // fixed/centered frame)
-  double groundStationCart[3] = {0, 0, 0};
-
-  MathOperations<double>::cartesianFromLatLongAlt(
-      acsParameters.targetModeControllerParameters.latitudeTgt,
-      acsParameters.targetModeControllerParameters.longitudeTgt,
-      acsParameters.targetModeControllerParameters.altitudeTgt, groundStationCart);
-  //	Position of the satellite in the earth/fixed frame via GPS
-  double posSatE[3] = {0, 0, 0};
-  double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
-  double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
-  MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
-                                                  sensorValues->gpsSet.altitude.value, posSatE);
-  double targetDirE[3] = {0, 0, 0};
-  VectorOperations<double>::subtract(groundStationCart, posSatE, targetDirE, 3);
-
-  //	Transformation between ECEF and IJK frame
-  double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
-  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
-
-  double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
-
-  //	Target Direction and position vector in the inertial frame
-  double targetDirJ[3] = {0, 0, 0}, posSatJ[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*dcmJE, targetDirE, targetDirJ, 3, 3, 1);
-  MatrixOperations<double>::multiply(*dcmJE, posSatE, posSatJ, 3, 3, 1);
-
-  // negative x-Axis aligned with target (Camera/E-band transmitter position)
-  double xAxis[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(targetDirJ, xAxis, 3);
-  VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
-
-  // get Sun Vector Model in ECI
-  double sunJ[3];
-  std::memcpy(sunJ, susDataProcessed->sunIjkModel.value, 3 * sizeof(double));
-  VectorOperations<double>::normalize(sunJ, sunJ, 3);
-
-  // calculate z-axis as projection of sun vector into plane defined by x-axis as normal vector
-  // z = sPerpenticular =  s - sParallel = s - (x*s)/norm(x)^2 * x
-  double xDotS = VectorOperations<double>::dot(xAxis, sunJ);
-  xDotS /= pow(VectorOperations<double>::norm(xAxis, 3), 2);
-  double sunParallel[3], zAxis[3];
-  VectorOperations<double>::mulScalar(xAxis, xDotS, sunParallel, 3);
-  VectorOperations<double>::subtract(sunJ, sunParallel, zAxis, 3);
-  VectorOperations<double>::normalize(zAxis, zAxis, 3);
-
-  // calculate y-axis
-  double yAxis[3];
-  VectorOperations<double>::cross(zAxis, xAxis, yAxis);
-  VectorOperations<double>::normalize(yAxis, yAxis, 3);
-
-  // Complete transformation matrix
-  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
-                         {xAxis[1], yAxis[1], zAxis[1]},
-                         {xAxis[2], yAxis[2], zAxis[2]}};
-  double quatInertialTarget[4] = {0, 0, 0, 0};
-  QuaternionOperations::fromDcm(dcmTgt, quatInertialTarget);
-
-  int8_t timeElapsedMax = acsParameters.targetModeControllerParameters.timeElapsedMax;
-  refRotationRate(timeElapsedMax, now, quatInertialTarget, refSatRate);
-
-  // Transform in system relative to satellite frame
-  double quatBJ[4] = {0, 0, 0, 0};
-  std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
-  QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
-}
-
-void Guidance::sunQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
-                          acsctrl::SusDataProcessed *susDataProcessed,
-                          acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
-                          double targetQuat[4], double refSatRate[3]) {
-  //-------------------------------------------------------------------------------------
-  //	Calculation of target quaternion to sun
-  //-------------------------------------------------------------------------------------
-  double quatBJ[4] = {0, 0, 0, 0};
-  double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
-  QuaternionOperations::toDcm(quatBJ, dcmBJ);
-
-  double sunDirJ[3] = {0, 0, 0}, sunDirB[3] = {0, 0, 0};
-  if (susDataProcessed->sunIjkModel.isValid()) {
-    std::memcpy(sunDirJ, susDataProcessed->sunIjkModel.value, 3 * sizeof(double));
-    MatrixOperations<double>::multiply(*dcmBJ, sunDirJ, sunDirB, 3, 3, 1);
-  } else if (susDataProcessed->susVecTot.isValid()) {
-    std::memcpy(sunDirB, susDataProcessed->susVecTot.value, 3 * sizeof(double));
-  } else {
-    return;
-  }
-
-  //	Transformation between ECEF and IJK frame
-  double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
-  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
-  double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
-
-  // positive z-Axis of EIVE in direction of sun
-  double zAxis[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(sunDirB, zAxis, 3);
-
-  // Assign helper vector (north pole inertial)
-  double helperVec[3] = {0, 0, 1};
-
-  //
-  double yAxis[3] = {0, 0, 0};
-  VectorOperations<double>::cross(zAxis, helperVec, yAxis);
-  VectorOperations<double>::normalize(yAxis, yAxis, 3);
-
-  //
-  double xAxis[3] = {0, 0, 0};
-  VectorOperations<double>::cross(yAxis, zAxis, xAxis);
-  VectorOperations<double>::normalize(xAxis, xAxis, 3);
-
-  // Transformation matrix to Sun, no further transforamtions, reference is already
-  // the EIVE body frame
-  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
-                         {xAxis[1], yAxis[1], zAxis[1]},
-                         {xAxis[2], yAxis[2], zAxis[2]}};
-  double quatSun[4] = {0, 0, 0, 0};
-  QuaternionOperations::fromDcm(dcmTgt, quatSun);
-
-  targetQuat[0] = quatSun[0];
-  targetQuat[1] = quatSun[1];
-  targetQuat[2] = quatSun[2];
-  targetQuat[3] = quatSun[3];
-
-  //----------------------------------------------------------------------------
-  //	Calculation of reference rotation rate
-  //----------------------------------------------------------------------------
-  refSatRate[0] = 0;
-  refSatRate[1] = 0;
-  refSatRate[2] = 0;
-}
-
-void Guidance::quatNadirPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
-                                      timeval now, double targetQuat[4],
-                                      double refSatRate[3]) {  // old version of Nadir Pointing
-  //-------------------------------------------------------------------------------------
-  //	Calculation of target quaternion for Nadir pointing
-  //-------------------------------------------------------------------------------------
-  //	Position of the satellite in the earth/fixed frame via GPS
-  double posSatE[3] = {0, 0, 0};
-  double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
-  double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
-  MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
-                                                  sensorValues->gpsSet.altitude.value, posSatE);
-  double targetDirE[3] = {0, 0, 0};
-  VectorOperations<double>::mulScalar(posSatE, -1, targetDirE, 3);
-
-  //	Transformation between ECEF and IJK frame
-  double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
-  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
-
-  double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
-
-  //	Transformation between ECEF and Body frame
-  double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double quatBJ[4] = {0, 0, 0, 0};
-  std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
-  QuaternionOperations::toDcm(quatBJ, dcmBJ);
-  MatrixOperations<double>::multiply(*dcmBJ, *dcmJE, *dcmBE, 3, 3, 3);
-
-  //	Target Direction in the body frame
-  double targetDirB[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
-
-  //	rotation quaternion from two vectors
-  double refDir[3] = {0, 0, 0};
-  refDir[0] = acsParameters.nadirModeControllerParameters.refDirection[0];
-  refDir[1] = acsParameters.nadirModeControllerParameters.refDirection[1];
-  refDir[2] = acsParameters.nadirModeControllerParameters.refDirection[2];
-  double noramlizedTargetDirB[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(targetDirB, noramlizedTargetDirB, 3);
-  VectorOperations<double>::normalize(refDir, refDir, 3);
-  double normTargetDirB = VectorOperations<double>::norm(noramlizedTargetDirB, 3);
-  double normRefDir = VectorOperations<double>::norm(refDir, 3);
-  double crossDir[3] = {0, 0, 0};
-  double dotDirections = VectorOperations<double>::dot(noramlizedTargetDirB, refDir);
-  VectorOperations<double>::cross(noramlizedTargetDirB, refDir, crossDir);
-  targetQuat[0] = crossDir[0];
-  targetQuat[1] = crossDir[1];
-  targetQuat[2] = crossDir[2];
-  targetQuat[3] = sqrt(pow(normTargetDirB, 2) * pow(normRefDir, 2) + dotDirections);
-  VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
-
-  //-------------------------------------------------------------------------------------
-  //	Calculation of reference rotation rate
-  //-------------------------------------------------------------------------------------
-  refSatRate[0] = 0;
-  refSatRate[1] = 0;
-  refSatRate[2] = 0;
-}
-
-void Guidance::quatNadirPtgThreeAxes(ACS::SensorValues *sensorValues,
-                                     acsctrl::GpsDataProcessed *gpsDataProcessed,
-                                     acsctrl::MekfData *mekfData, timeval now, double targetQuat[4],
-                                     double refSatRate[3]) {
-  //-------------------------------------------------------------------------------------
-  //	Calculation of target quaternion for Nadir pointing
-  //-------------------------------------------------------------------------------------
-  //	Position of the satellite in the earth/fixed frame via GPS
-  double posSatE[3] = {0, 0, 0};
-  double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
-  double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
-  MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
-                                                  sensorValues->gpsSet.altitude.value, posSatE);
-  double targetDirE[3] = {0, 0, 0};
-  VectorOperations<double>::mulScalar(posSatE, -1, targetDirE, 3);
-
-  //	Transformation between ECEF and IJK frame
-  double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
-  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
-
-  double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
-
-  //	Target Direction in the body frame
-  double targetDirJ[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*dcmJE, targetDirE, targetDirJ, 3, 3, 1);
-
-  // negative x-Axis aligned with target (Camera position)
-  double xAxis[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(targetDirJ, xAxis, 3);
-  VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
-
-  // z-Axis parallel to long side of picture resolution
-  double zAxis[3] = {0, 0, 0}, velocityE[3];
-  std::memcpy(velocityE, gpsDataProcessed->gpsVelocity.value, 3 * sizeof(double));
-  double velocityJ[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*dcmJE, velocityE, velPart1, 3, 3, 1);
-  MatrixOperations<double>::multiply(*dcmJEDot, posSatE, velPart2, 3, 3, 1);
-  VectorOperations<double>::add(velPart1, velPart2, velocityJ, 3);
-  VectorOperations<double>::cross(xAxis, velocityJ, zAxis);
-  VectorOperations<double>::normalize(zAxis, zAxis, 3);
-
-  // y-Axis completes RHS
-  double yAxis[3] = {0, 0, 0};
-  VectorOperations<double>::cross(zAxis, xAxis, yAxis);
-
-  // Complete transformation matrix
-  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
-                         {xAxis[1], yAxis[1], zAxis[1]},
-                         {xAxis[2], yAxis[2], zAxis[2]}};
-  double quatInertialTarget[4] = {0, 0, 0, 0};
-  QuaternionOperations::fromDcm(dcmTgt, quatInertialTarget);
-
-  int8_t timeElapsedMax = acsParameters.nadirModeControllerParameters.timeElapsedMax;
-  refRotationRate(timeElapsedMax, now, quatInertialTarget, refSatRate);
-
-  // Transform in system relative to satellite frame
-  double quatBJ[4] = {0, 0, 0, 0};
-  std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
-  QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
-}
-
-void Guidance::inertialQuatPtg(double targetQuat[4], double refSatRate[3]) {
-  std::memcpy(targetQuat, acsParameters.inertialModeControllerParameters.tgtQuat,
-              4 * sizeof(double));
-  std::memcpy(refSatRate, acsParameters.inertialModeControllerParameters.refRotRate,
-              3 * sizeof(double));
-}
-
-void Guidance::comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double quatRef[4],
-                          double refSatRate[3], double quatErrorComplete[4], double quatError[3],
-                          double deltaRate[3]) {
-  double satRate[3] = {0, 0, 0};
-  std::memcpy(satRate, mekfData->satRotRateMekf.value, 3 * sizeof(double));
-  VectorOperations<double>::subtract(satRate, refSatRate, deltaRate, 3);
-  // valid checks ?
-  double quatErrorMtx[4][4] = {{quatRef[3], quatRef[2], -quatRef[1], -quatRef[0]},
-                               {-quatRef[2], quatRef[3], quatRef[0], -quatRef[1]},
-                               {quatRef[1], -quatRef[0], quatRef[3], -quatRef[2]},
-                               {quatRef[0], -quatRef[1], quatRef[2], quatRef[3]}};
-
-  MatrixOperations<double>::multiply(*quatErrorMtx, targetQuat, quatErrorComplete, 4, 4, 1);
-
-  if (quatErrorComplete[3] < 0) {
-    quatErrorComplete[3] *= -1;
-  }
-
-  quatError[0] = quatErrorComplete[0];
-  quatError[1] = quatErrorComplete[1];
-  quatError[2] = quatErrorComplete[2];
-
-  // target flag in matlab, importance, does look like it only gives feedback if pointing control is
-  // under 150 arcsec ??
-}
-
 ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
                                                 double *rwPseudoInv) {
   bool rw1valid = (sensorValues->rw1Set.state.value && sensorValues->rw1Set.state.isValid());
@@ -640,3 +538,16 @@ ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
     return returnvalue::FAILED;
   }
 }
+
+void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3]) {
+  if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE) or
+      not std::filesystem::exists(SD_1_SKEWED_PTG_FILE)) {  // ToDo: if file does not exist anymore
+    std::memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDir,
+                3 * sizeof(double));
+  } else {
+    std::memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDirLeop,
+                3 * sizeof(double));
+  }
+  std::memcpy(satRateSafe, acsParameters.safeModeControllerParameters.satRateRef,
+              3 * sizeof(double));
+}

mission/controller/acs/Guidance.h

@@ -1,10 +1,3 @@
-/*
- * Guidance.h
- *
- *  Created on: 6 Jun 2022
- *      Author: Robin Marquardt
- */
-
 #ifndef GUIDANCE_H_
 #define GUIDANCE_H_
 
@@ -23,49 +16,40 @@ class Guidance {
 
   // Function to get the target quaternion and refence rotation rate from gps position and
   // position of the ground station
-  void targetQuatPtgThreeAxes(ACS::SensorValues *sensorValues,
-                              acsctrl::GpsDataProcessed *gpsDataProcessed,
-                              acsctrl::MekfData *mekfData, timeval now, double targetQuat[4],
-                              double refSatRate[3]);
-  void targetQuatPtgGs(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
-                       acsctrl::SusDataProcessed *susDataProcessed,
-                       acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
-                       double targetQuat[4], double refSatRate[3]);
-  void targetQuatPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
-                               acsctrl::SusDataProcessed *susDataProcessed,
-                               acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
-                               double targetQuat[4], double refSatRate[3]);
+  void targetQuatPtgSingleAxis(timeval now, double posSatE[3], double velSatE[3], double sunDirI[3],
+                               double refDirB[3], double quatBI[4], double targetQuat[4],
+                               double targetSatRotRate[3]);
+  void targetQuatPtgThreeAxes(timeval now, double posSatE[3], double velSatE[3], double quatIX[4],
+                              double targetSatRotRate[3]);
+  void targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3], double quatIX[4],
+                       double targetSatRotRate[3]);
 
   // Function to get the target quaternion and refence rotation rate for sun pointing after ground
   // station
-  void sunQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
-                  acsctrl::SusDataProcessed *susDataProcessed,
-                  acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now, double targetQuat[4],
-                  double refSatRate[3]);
+  void targetQuatPtgSun(double sunDirI[3], double targetQuat[4], double refSatRate[3]);
 
   // Function to get the target quaternion and refence rotation rate from gps position for Nadir
   // pointing
-  void quatNadirPtgThreeAxes(ACS::SensorValues *sensorValues,
-                             acsctrl::GpsDataProcessed *gpsDataProcessed,
-                             acsctrl::MekfData *mekfData, timeval now, double targetQuat[4],
-                             double refSatRate[3]);
-  void quatNadirPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
-                              timeval now, double targetQuat[4], double refSatRate[3]);
+  void targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], double quatBI[4],
+                                    double targetQuat[4], double refDirB[3], double refSatRate[3]);
+  void targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], double velSatE[3],
+                                   double targetQuat[4], double refSatRate[3]);
 
-  // Function to get the target quaternion and refence rotation rate from parameters for inertial
-  // pointing
-  void inertialQuatPtg(double targetQuat[4], double refSatRate[3]);
+  // @note: Calculates the error quaternion between the current orientation and the target
+  // quaternion, considering a reference quaternion. Additionally the difference between the  actual
+  // and a desired satellite rotational rate is calculated, again considering a reference rotational
+  // rate. Lastly gives back the error angle of the error quaternion.
+  void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
+                  double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
+                  double errorQuat[4], double errorSatRotRate[3], double errorAngle);
+  void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
+                  double targetSatRotRate[3], double errorQuat[4], double errorSatRotRate[3],
+                  double errorAngle);
 
-  // @note: compares target Quaternion and reference quaternion, also actual satellite rate and
-  // desired
-  void comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double quatRef[4],
-                  double refSatRate[3], double quatErrorComplete[4], double quatError[3],
-                  double deltaRate[3]);
+  void targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
+                          double *targetSatRotRate);
 
-  void refRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
-                       double *refSatRate);
-
-  //	@note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
+  // @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
   // reation wheel 	maybe can be done in "commanding.h"
   ReturnValue_t getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv);
 

mission/controller/acs/MultiplicativeKalmanFilter.cpp

@@ -14,7 +14,7 @@
 
 /*Initialisation of values for parameters in constructor*/
 MultiplicativeKalmanFilter::MultiplicativeKalmanFilter(AcsParameters *acsParameters_)
-    : initialQuaternion{0.5, 0.5, 0.5, 0.5},
+    : initialQuaternion{0, 0, 0, 1},
       initialCovarianceMatrix{{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0},
                               {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}} {
   loadAcsParameters(acsParameters_);
@@ -27,12 +27,10 @@ void MultiplicativeKalmanFilter::loadAcsParameters(AcsParameters *acsParameters_
   kalmanFilterParameters = &(acsParameters_->kalmanFilterParameters);
 }
 
-void MultiplicativeKalmanFilter::reset() {}
-
-void MultiplicativeKalmanFilter::init(
+ReturnValue_t MultiplicativeKalmanFilter::init(
     const double *magneticField_, const bool validMagField_, const double *sunDir_,
     const bool validSS, const double *sunDirJ, const bool validSSModel, const double *magFieldJ,
-    const bool validMagModel) {  // valids for "model measurements"?
+    const bool validMagModel, acsctrl::MekfData *mekfData) {  // valids for "model measurements"?
   // check for valid mag/sun
   if (validMagField_ && validSS && validSSModel && validMagModel) {
     validInit = true;
@@ -190,9 +188,13 @@ void MultiplicativeKalmanFilter::init(
     initialCovarianceMatrix[5][3] = initGyroCov[2][0];
     initialCovarianceMatrix[5][4] = initGyroCov[2][1];
     initialCovarianceMatrix[5][5] = initGyroCov[2][2];
+    updateDataSetWithoutData(mekfData, MekfStatus::INITIALIZED);
+    return KALMAN_INITIALIZED;
   } else {
     // no initialisation possible, no valid measurements
     validInit = false;
+    updateDataSetWithoutData(mekfData, MekfStatus::UNINITIALIZED);
+    return KALMAN_UNINITIALIZED;
   }
 }
 
@@ -208,33 +210,13 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(const double *quaternionSTR, c
   // Check for GYR Measurements
   int MDF = 0;  // Matrix Dimension Factor
   if (!validGYRs_) {
-    {
-      PoolReadGuard pg(mekfData);
-      if (pg.getReadResult() == returnvalue::OK) {
-        double unitQuat[4] = {0.0, 0.0, 0.0, 1.0};
-        double zeroVec[3] = {0.0, 0.0, 0.0};
-        std::memcpy(mekfData->quatMekf.value, unitQuat, 4 * sizeof(double));
-        std::memcpy(mekfData->satRotRateMekf.value, zeroVec, 3 * sizeof(double));
-        mekfData->setValidity(false, true);
-      }
-    }
-    validMekf = false;
-    return KALMAN_NO_GYR_MEAS;
+    updateDataSetWithoutData(mekfData, MekfStatus::NO_GYR_DATA);
+    return KALMAN_NO_GYR_DATA;
   }
   // Check for Model Calculations
   else if (!validSSModel || !validMagModel) {
-    {
-      PoolReadGuard pg(mekfData);
-      if (pg.getReadResult() == returnvalue::OK) {
-        double unitQuat[4] = {0.0, 0.0, 0.0, 1.0};
-        double zeroVec[3] = {0.0, 0.0, 0.0};
-        std::memcpy(mekfData->quatMekf.value, unitQuat, 4 * sizeof(double));
-        std::memcpy(mekfData->satRotRateMekf.value, zeroVec, 3 * sizeof(double));
-        mekfData->setValidity(false, true);
-      }
-    }
-    validMekf = false;
-    return KALMAN_NO_MODEL;
+    updateDataSetWithoutData(mekfData, MekfStatus::NO_MODEL_VECTORS);
+    return KALMAN_NO_MODEL_VECTORS;
   }
   // Check Measurements available from SS, MAG, STR
   if (validSS && validMagField_ && validSTR_) {
@@ -260,17 +242,7 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(const double *quaternionSTR, c
     MDF = 3;
   } else {
     sensorsAvail = 8;  // no measurements
-    validMekf = false;
-    {
-      PoolReadGuard pg(mekfData);
-      if (pg.getReadResult() == returnvalue::OK) {
-        double unitQuat[4] = {0.0, 0.0, 0.0, 1.0};
-        double zeroVec[3] = {0.0, 0.0, 0.0};
-        std::memcpy(mekfData->quatMekf.value, unitQuat, 4 * sizeof(double));
-        std::memcpy(mekfData->satRotRateMekf.value, zeroVec, 3 * sizeof(double));
-        mekfData->setValidity(false, true);
-      }
-    }
+    updateDataSetWithoutData(mekfData, MekfStatus::NO_SUS_MGM_STR_DATA);
     return returnvalue::FAILED;
   }
 
@@ -881,18 +853,8 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(const double *quaternionSTR, c
   double invResidualCov[MDF][MDF] = {{0}};
   int inversionFailed = MathOperations<double>::inverseMatrix(*residualCov, *invResidualCov, MDF);
   if (inversionFailed) {
-    {
-      PoolReadGuard pg(mekfData);
-      if (pg.getReadResult() == returnvalue::OK) {
-        double unitQuat[4] = {0.0, 0.0, 0.0, 1.0};
-        double zeroVec[3] = {0.0, 0.0, 0.0};
-        std::memcpy(mekfData->quatMekf.value, unitQuat, 4 * sizeof(double));
-        std::memcpy(mekfData->satRotRateMekf.value, zeroVec, 3 * sizeof(double));
-        mekfData->setValidity(false, true);
-      }
-    }
-    validMekf = false;
-    return KALMAN_INVERSION_FAILED;  // RETURN VALUE ? -- Like: Kalman Inversion Failed
+    updateDataSetWithoutData(mekfData, MekfStatus::COVARIANCE_INVERSION_FAILED);
+    return KALMAN_COVARIANCE_INVERSION_FAILED;  // RETURN VALUE ? -- Like: Kalman Inversion Failed
   }
 
   // [K = P * H' / (H * P * H' + R)]
@@ -1121,20 +1083,46 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(const double *quaternionSTR, c
   MatrixOperations<double>::multiply(*discTimeMatrix, *cov1, *cov1, 6, 6, 6);
 
   MatrixOperations<double>::add(*cov0, *cov1, *initialCovarianceMatrix, 6, 6);
-  validMekf = true;
 
-  // Discrete Time Step
+  updateDataSet(mekfData, MekfStatus::RUNNING, quatBJ, rotRateEst);
+  return KALMAN_RUNNING;
+}
 
-  // Check for new data in measurement -> SensorProcessing ?
+void MultiplicativeKalmanFilter::reset(acsctrl::MekfData *mekfData) {
+  double resetQuaternion[4] = {0, 0, 0, 1};
+  double resetCovarianceMatrix[6][6] = {{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0},
+                                        {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}};
+  std::memcpy(initialQuaternion, resetQuaternion, 4 * sizeof(double));
+  std::memcpy(initialCovarianceMatrix, resetCovarianceMatrix, 6 * 6 * sizeof(double));
+  updateDataSetWithoutData(mekfData, MekfStatus::UNINITIALIZED);
+}
 
+void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::MekfData *mekfData,
+                                                          MekfStatus mekfStatus) {
   {
     PoolReadGuard pg(mekfData);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(mekfData->quatMekf.value, quatBJ, 4 * sizeof(double));
-      std::memcpy(mekfData->satRotRateMekf.value, rotRateEst, 3 * sizeof(double));
+      double unitQuat[4] = {0.0, 0.0, 0.0, 1.0};
+      double zeroVec[3] = {0.0, 0.0, 0.0};
+      std::memcpy(mekfData->quatMekf.value, unitQuat, 4 * sizeof(double));
+      mekfData->quatMekf.setValid(false);
+      std::memcpy(mekfData->satRotRateMekf.value, zeroVec, 3 * sizeof(double));
+      mekfData->satRotRateMekf.setValid(false);
+      mekfData->mekfStatus = mekfStatus;
+      mekfData->setValidity(true, false);
+    }
+  }
+}
+
+void MultiplicativeKalmanFilter::updateDataSet(acsctrl::MekfData *mekfData, MekfStatus mekfStatus,
+                                               double quat[4], double satRotRate[3]) {
+  {
+    PoolReadGuard pg(mekfData);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(mekfData->quatMekf.value, quat, 4 * sizeof(double));
+      std::memcpy(mekfData->satRotRateMekf.value, satRotRate, 3 * sizeof(double));
+      mekfData->mekfStatus = mekfStatus;
       mekfData->setValidity(true, true);
     }
   }
-
-  return returnvalue::OK;
 }

mission/controller/acs/MultiplicativeKalmanFilter.h

@@ -15,8 +15,7 @@
 #ifndef MULTIPLICATIVEKALMANFILTER_H_
 #define MULTIPLICATIVEKALMANFILTER_H_
 
-#include <stdint.h>  //uint8_t
-#include <time.h>    /*purpose, timeval ?*/
+#include <stdint.h>
 
 #include "../controllerdefinitions/AcsCtrlDefinitions.h"
 #include "AcsParameters.h"
@@ -30,18 +29,19 @@ class MultiplicativeKalmanFilter {
   MultiplicativeKalmanFilter(AcsParameters *acsParameters_);
   virtual ~MultiplicativeKalmanFilter();
 
-  void reset();  // NOT YET DEFINED - should only reset all mekf variables
+  void reset(acsctrl::MekfData *mekfData);
 
   /* @brief: init() - This function initializes the Kalman Filter and will provide the first
    * quaternion through the QUEST algorithm
    * @param:  magneticField_  magnetic field vector in the body frame
-   * 			sunDir_ 		sun direction vector in the body frame
-   * 			sunDirJ 		sun direction vector in the ECI frame
-   * 			magFieldJ 		magnetic field vector in the ECI frame
+   * 		  sunDir_ 		  sun direction vector in the body frame
+   * 		  sunDirJ 		  sun direction vector in the ECI frame
+   * 		  magFieldJ 	  magnetic field vector in the ECI frame
    */
-  void init(const double *magneticField_, const bool validMagField_, const double *sunDir_,
-            const bool validSS, const double *sunDirJ, const bool validSSModel,
-            const double *magFieldJ, const bool validMagModel);
+  ReturnValue_t init(const double *magneticField_, const bool validMagField_, const double *sunDir_,
+                     const bool validSS, const double *sunDirJ, const bool validSSModel,
+                     const double *magFieldJ, const bool validMagModel,
+                     acsctrl::MekfData *mekfData);
 
   /* @brief:  mekfEst() - This function calculates the quaternion and gyro bias of the Kalman Filter
    * for the current step after the initalization
@@ -63,11 +63,26 @@ class MultiplicativeKalmanFilter {
                         const double *sunDirJ, const bool validSSModel, const double *magFieldJ,
                         const bool validMagModel, double sampleTime, acsctrl::MekfData *mekfData);
 
+  enum MekfStatus : uint8_t {
+    UNINITIALIZED = 0,
+    NO_GYR_DATA = 1,
+    NO_MODEL_VECTORS = 2,
+    NO_SUS_MGM_STR_DATA = 3,
+    COVARIANCE_INVERSION_FAILED = 4,
+    INITIALIZED = 10,
+    RUNNING = 11,
+  };
+
   // resetting Mekf
   static constexpr uint8_t IF_KAL_ID = CLASS_ID::ACS_KALMAN;
-  static constexpr ReturnValue_t KALMAN_NO_GYR_MEAS = returnvalue::makeCode(IF_KAL_ID, 1);
-  static constexpr ReturnValue_t KALMAN_NO_MODEL = returnvalue::makeCode(IF_KAL_ID, 2);
-  static constexpr ReturnValue_t KALMAN_INVERSION_FAILED = returnvalue::makeCode(IF_KAL_ID, 3);
+  static constexpr ReturnValue_t KALMAN_UNINITIALIZED = returnvalue::makeCode(IF_KAL_ID, 2);
+  static constexpr ReturnValue_t KALMAN_NO_GYR_DATA = returnvalue::makeCode(IF_KAL_ID, 3);
+  static constexpr ReturnValue_t KALMAN_NO_MODEL_VECTORS = returnvalue::makeCode(IF_KAL_ID, 4);
+  static constexpr ReturnValue_t KALMAN_NO_SUS_MGM_STR_DATA = returnvalue::makeCode(IF_KAL_ID, 5);
+  static constexpr ReturnValue_t KALMAN_COVARIANCE_INVERSION_FAILED =
+      returnvalue::makeCode(IF_KAL_ID, 6);
+  static constexpr ReturnValue_t KALMAN_INITIALIZED = returnvalue::makeCode(IF_KAL_ID, 7);
+  static constexpr ReturnValue_t KALMAN_RUNNING = returnvalue::makeCode(IF_KAL_ID, 8);
 
  private:
   /*Parameters*/
@@ -80,16 +95,17 @@ class MultiplicativeKalmanFilter {
   double initialQuaternion[4];          /*after reset?QUEST*/
   double initialCovarianceMatrix[6][6]; /*after reset?QUEST*/
   double propagatedQuaternion[4];       /*Filter Quaternion for next step*/
-  bool validMekf;
   uint8_t sensorsAvail;
 
   /*Outputs*/
   double quatBJ[4];  /* Output Quaternion */
   double biasGYR[3]; /*Between measured and estimated sat Rate*/
                      /*Parameter INIT*/
-  // double alpha, gamma, beta;
   /*Functions*/
   void loadAcsParameters(AcsParameters *acsParameters_);
+  void updateDataSetWithoutData(acsctrl::MekfData *mekfData, MekfStatus mekfStatus);
+  void updateDataSet(acsctrl::MekfData *mekfData, MekfStatus mekfStatus, double quat[4],
+                     double satRotRate[3]);
 };
 
 #endif /* ACS_MULTIPLICATIVEKALMANFILTER_H_ */

mission/controller/acs/Navigation.cpp

@@ -1,10 +1,3 @@
-/*
- * Navigation.cpp
- *
- *  Created on: 23 May 2022
- *      Author: Robin Marquardt
- */
-
 #include "Navigation.h"
 
 #include <fsfw/globalfunctions/math/MatrixOperations.h>
@@ -21,37 +14,37 @@ Navigation::Navigation(AcsParameters *acsParameters_) : multiplicativeKalmanFilt
 
 Navigation::~Navigation() {}
 
-void Navigation::useMekf(ACS::SensorValues *sensorValues,
-                         acsctrl::GyrDataProcessed *gyrDataProcessed,
-                         acsctrl::MgmDataProcessed *mgmDataProcessed,
-                         acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MekfData *mekfData,
-                         ReturnValue_t *mekfValid) {
-  double quatJB[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
+ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
+                                  acsctrl::GyrDataProcessed *gyrDataProcessed,
+                                  acsctrl::MgmDataProcessed *mgmDataProcessed,
+                                  acsctrl::SusDataProcessed *susDataProcessed,
+                                  acsctrl::MekfData *mekfData) {
+  double quatIB[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
                       sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
-  bool quatJBValid = sensorValues->strSet.caliQx.isValid() &&
+  bool quatIBValid = sensorValues->strSet.caliQx.isValid() &&
                      sensorValues->strSet.caliQy.isValid() &&
                      sensorValues->strSet.caliQz.isValid() && sensorValues->strSet.caliQw.isValid();
 
   if (kalmanInit) {
-    *mekfValid = multiplicativeKalmanFilter.mekfEst(
-        quatJB, quatJBValid, gyrDataProcessed->gyrVecTot.value,
+    return multiplicativeKalmanFilter.mekfEst(
+        quatIB, quatIBValid, gyrDataProcessed->gyrVecTot.value,
         gyrDataProcessed->gyrVecTot.isValid(), mgmDataProcessed->mgmVecTot.value,
         mgmDataProcessed->mgmVecTot.isValid(), susDataProcessed->susVecTot.value,
         susDataProcessed->susVecTot.isValid(), susDataProcessed->sunIjkModel.value,
         susDataProcessed->sunIjkModel.isValid(), mgmDataProcessed->magIgrfModel.value,
-        mgmDataProcessed->magIgrfModel.isValid(), acsParameters.onBoardParams.sampleTime,
-        mekfData);  // VALIDS FOR QUAT AND RATE ??
+        mgmDataProcessed->magIgrfModel.isValid(), acsParameters.onBoardParams.sampleTime, mekfData);
   } else {
-    multiplicativeKalmanFilter.init(
+    ReturnValue_t result;
+    result = multiplicativeKalmanFilter.init(
         mgmDataProcessed->mgmVecTot.value, mgmDataProcessed->mgmVecTot.isValid(),
         susDataProcessed->susVecTot.value, susDataProcessed->susVecTot.isValid(),
         susDataProcessed->sunIjkModel.value, susDataProcessed->sunIjkModel.isValid(),
-        mgmDataProcessed->magIgrfModel.value, mgmDataProcessed->magIgrfModel.isValid());
+        mgmDataProcessed->magIgrfModel.value, mgmDataProcessed->magIgrfModel.isValid(), mekfData);
     kalmanInit = true;
-    *mekfValid = returnvalue::OK;
-
-    //		Maybe we need feedback from kalmanfilter to identify if there was a problem with the
-    // init of kalman filter 		where does this class know from that kalman filter was not
-    // initialized ?
+    return result;
   }
 }
+
+void Navigation::resetMekf(acsctrl::MekfData *mekfData) {
+  multiplicativeKalmanFilter.reset(mekfData);
+}

mission/controller/acs/Navigation.h

@@ -1,10 +1,3 @@
-/*
- * Navigation.h
- *
- *  Created on: 19 Apr 2022
- *      Author: Robin Marquardt
- */
-
 #ifndef NAVIGATION_H_
 #define NAVIGATION_H_
 
@@ -16,14 +9,14 @@
 
 class Navigation {
  public:
-  Navigation(AcsParameters *acsParameters_);  // Input mode ?
+  Navigation(AcsParameters *acsParameters_);
   virtual ~Navigation();
 
-  void useMekf(ACS::SensorValues *sensorValues, acsctrl::GyrDataProcessed *gyrDataProcessed,
-               acsctrl::MgmDataProcessed *mgmDataProcessed,
-               acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MekfData *mekfData,
-               ReturnValue_t *mekfValid);
-  void processSensorData();
+  ReturnValue_t useMekf(ACS::SensorValues *sensorValues,
+                        acsctrl::GyrDataProcessed *gyrDataProcessed,
+                        acsctrl::MgmDataProcessed *mgmDataProcessed,
+                        acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MekfData *mekfData);
+  void resetMekf(acsctrl::MekfData *mekfData);
 
  protected:
  private:

mission/controller/acs/SensorProcessing.cpp

@@ -1,10 +1,3 @@
-/*
- * SensorProcessing.cpp
- *
- *  Created on: 7 Mar 2022
- *      Author: Robin Marquardt
- */
-
 #include "SensorProcessing.h"
 
 #include <fsfw/datapool/PoolReadGuard.h>
@@ -567,7 +560,7 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
     gcLatitude = atan(factor * tan(latitudeRad));
 
     // Calculation of the satellite velocity in earth fixed frame
-    double posSatE[3] = {0, 0, 0}, deltaDistance[3] = {0, 0, 0}, gpsVelocityE[3] = {0, 0, 0};
+    double deltaDistance[3] = {0, 0, 0};
     MathOperations<double>::cartesianFromLatLongAlt(latitudeRad, gdLongitude, gpsAltitude, posSatE);
     if (validSavedPosSatE &&
         (gpsUnixSeconds - timeOfSavedPosSatE) < (gpsParameters->timeDiffVelocityMax)) {

mission/controller/acs/SensorValues.h

@@ -1,6 +1,7 @@
 #ifndef SENSORVALUES_H_
 #define SENSORVALUES_H_
 
+#include <mission/devices/devicedefinitions/imtqHelpers.h>
 #include <mission/devices/devicedefinitions/rwHelpers.h>
 
 #include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
@@ -10,7 +11,6 @@
 #include "mission/devices/devicedefinitions/GPSDefinitions.h"
 #include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
 #include "mission/devices/devicedefinitions/SusDefinitions.h"
-#include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
 
 namespace ACS {
 
@@ -35,7 +35,8 @@ class SensorValues {
       MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_2_LIS3_HANDLER);
   RM3100::Rm3100PrimaryDataset mgm3Rm3100Set =
       RM3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER);
-  IMTQ::RawMtmMeasurementSet imtqMgmSet = IMTQ::RawMtmMeasurementSet(objects::IMTQ_HANDLER);
+  imtq::RawMtmMeasurementNoTorque imtqMgmSet =
+      imtq::RawMtmMeasurementNoTorque(objects::IMTQ_HANDLER);
 
   std::array<SUS::SusDataset, 12> susSets{
       SUS::SusDataset(objects::SUS_0_N_LOC_XFYFZM_PT_XF),

mission/controller/acs/SusConverter.cpp

@@ -63,8 +63,7 @@ void SusConverter::calcAngle(const uint16_t susChannel[6]) {
 }
 
 void SusConverter::calibration(const float coeffAlpha[9][10], const float coeffBeta[9][10]) {
-  uint8_t index;
-  float k, l;
+  uint8_t index, k, l;
 
   // while loop iterates above all calibration cells to use the different calibration functions in
   // each cell
@@ -75,10 +74,10 @@ void SusConverter::calibration(const float coeffAlpha[9][10], const float coeffB
     while (l < 3) {
       l++;
       // if-condition to check in which cell the data point has to be
-      if ((alphaBetaRaw[0] > ((completeCellWidth * ((k - 1) / 3)) - halfCellWidth) &&
-           alphaBetaRaw[0] < ((completeCellWidth * (k / 3)) - halfCellWidth)) &&
-          (alphaBetaRaw[1] > ((completeCellWidth * ((l - 1) / 3)) - halfCellWidth) &&
-           alphaBetaRaw[1] < ((completeCellWidth * (l / 3)) - halfCellWidth))) {
+      if ((alphaBetaRaw[0] > ((completeCellWidth * ((k - 1) / 3.)) - halfCellWidth) &&
+           alphaBetaRaw[0] < ((completeCellWidth * (k / 3.)) - halfCellWidth)) &&
+          (alphaBetaRaw[1] > ((completeCellWidth * ((l - 1) / 3.)) - halfCellWidth) &&
+           alphaBetaRaw[1] < ((completeCellWidth * (l / 3.)) - halfCellWidth))) {
         index = (3 * (k - 1) + l) - 1;  // calculate the index of the datapoint for the right cell
         alphaBetaCalibrated[0] =
             coeffAlpha[index][0] + coeffAlpha[index][1] * alphaBetaRaw[0] +

mission/controller/acs/control/PtgCtrl.cpp

@@ -27,7 +27,7 @@ void PtgCtrl::loadAcsParameters(AcsParameters *acsParameters_) {
 }
 
 void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters,
-                     const double *qError, const double *deltaRate, const double *rwPseudoInv,
+                     const double *errorQuat, const double *deltaRate, const double *rwPseudoInv,
                      double *torqueRws) {
   //------------------------------------------------------------------------------------------------
   // Compute gain matrix K and P matrix
@@ -37,6 +37,8 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
   double qErrorMin = pointingLawParameters->qiMin;
   double omMax = pointingLawParameters->omMax;
 
+  double qError[3] = {errorQuat[0], errorQuat[1], errorQuat[2]};
+
   double cInt = 2 * om * zeta;
   double kInt = 2 * pow(om, 2);
 

mission/controller/controllerdefinitions/AcsCtrlDefinitions.h

@@ -91,10 +91,12 @@ enum PoolIds : lp_id_t {
   // MEKF
   SAT_ROT_RATE_MEKF,
   QUAT_MEKF,
+  MEKF_STATUS,
   // Ctrl Values
   TGT_QUAT,
   ERROR_QUAT,
   ERROR_ANG,
+  TGT_ROT_RATE,
   // Actuator Cmd
   RW_TARGET_TORQUE,
   RW_TARGET_SPEED,
@@ -108,8 +110,8 @@ static constexpr uint8_t SUS_SET_PROCESSED_ENTRIES = 15;
 static constexpr uint8_t GYR_SET_RAW_ENTRIES = 4;
 static constexpr uint8_t GYR_SET_PROCESSED_ENTRIES = 5;
 static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 4;
-static constexpr uint8_t MEKF_SET_ENTRIES = 2;
-static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 3;
+static constexpr uint8_t MEKF_SET_ENTRIES = 3;
+static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 4;
 static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
 
 /**
@@ -238,6 +240,7 @@ class MekfData : public StaticLocalDataSet<MEKF_SET_ENTRIES> {
 
   lp_vec_t<double, 4> quatMekf = lp_vec_t<double, 4>(sid.objectId, QUAT_MEKF, this);
   lp_vec_t<double, 3> satRotRateMekf = lp_vec_t<double, 3>(sid.objectId, SAT_ROT_RATE_MEKF, this);
+  lp_var_t<uint8_t> mekfStatus = lp_var_t<uint8_t>(sid.objectId, MEKF_STATUS, this);
 
  private:
 };
@@ -249,6 +252,7 @@ class CtrlValData : public StaticLocalDataSet<CTRL_VAL_SET_ENTRIES> {
   lp_vec_t<double, 4> tgtQuat = lp_vec_t<double, 4>(sid.objectId, TGT_QUAT, this);
   lp_vec_t<double, 4> errQuat = lp_vec_t<double, 4>(sid.objectId, ERROR_QUAT, this);
   lp_var_t<double> errAng = lp_var_t<double>(sid.objectId, ERROR_ANG, this);
+  lp_vec_t<double, 3> tgtRotRate = lp_vec_t<double, 3>(sid.objectId, TGT_ROT_RATE, this);
 
  private:
 };

mission/controller/controllerdefinitions/ThermalControllerDefinitions.h

@@ -4,13 +4,16 @@
 #include <fsfw/datapoollocal/LocalPoolVariable.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 
-namespace thermalControllerDefinitions {
+#include "devices/heaterSwitcherList.h"
 
-enum SetIds : uint32_t {
-  SENSOR_TEMPERATURES,
-  DEVICE_TEMPERATURES,
-  SUS_TEMPERATURES,
-  COMPONENT_TEMPERATURES
+namespace tcsCtrl {
+
+enum SetId : uint32_t {
+  SENSOR_TEMPERATURES = 0,
+  DEVICE_TEMPERATURES = 1,
+  SUS_TEMPERATURES = 2,
+  COMPONENT_TEMPERATURES = 3,
+  HEATER_SET = 4,
 };
 
 enum PoolIds : lp_id_t {
@@ -75,7 +78,10 @@ enum PoolIds : lp_id_t {
   TEMP_GYRO_3_SIDE_B,
   TEMP_MGM_0_SIDE_A,
   TEMP_MGM_2_SIDE_B,
-  TEMP_ADC_PAYLOAD_PCDU
+  TEMP_ADC_PAYLOAD_PCDU,
+
+  HEATER_SWITCH_LIST,
+  HEATER_CURRENT
 };
 
 static const uint8_t ENTRIES_SENSOR_TEMPERATURE_SET = 25;
@@ -202,6 +208,17 @@ class SusTemperatures : public StaticLocalDataSet<ENTRIES_SUS_TEMPERATURE_SET> {
       lp_var_t<float>(sid.objectId, PoolIds::SUS_11_R_LOC_XBYMZB_PT_ZB, this);
 };
 
-}  // namespace thermalControllerDefinitions
+class HeaterInfo : public StaticLocalDataSet<3> {
+ public:
+  HeaterInfo(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, HEATER_SET) {}
+  HeaterInfo(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, HEATER_SET)) {}
+
+  lp_vec_t<uint8_t, heater::NUMBER_OF_SWITCHES> heaterSwitchState =
+      lp_vec_t<uint8_t, heater::NUMBER_OF_SWITCHES>(sid.objectId, PoolIds::HEATER_SWITCH_LIST,
+                                                    this);
+  lp_var_t<int16_t> heaterCurrent = lp_var_t<int16_t>(sid.objectId, PoolIds::HEATER_CURRENT, this);
+};
+
+}  // namespace tcsCtrl
 
 #endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_THERMALCONTROLLERDEFINITIONS_H_ */

mission/core/CMakeLists.txt

@@ -1 +1,2 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE GenericFactory.cpp scheduling.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE GenericFactory.cpp scheduling.cpp
+                                           pollingSeqTables.cpp)

mission/core/GenericFactory.cpp

@@ -20,6 +20,7 @@
 #include <fsfw/pus/Service8FunctionManagement.h>
 #include <fsfw/pus/Service9TimeManagement.h>
 #include <fsfw/storagemanager/PoolManager.h>
+#include <fsfw/subsystem/SubsystemBase.h>
 #include <fsfw/tcdistribution/CcsdsDistributor.h>
 #include <fsfw/tcdistribution/PusDistributor.h>
 #include <fsfw/timemanager/CdsShortTimeStamper.h>
@@ -219,6 +220,7 @@ void ObjectFactory::createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF&
   }});
   heaterHandler = new HeaterHandler(objects::HEATER_HANDLER, &gpioIF, helper, &pwrSwitcher,
                                     pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
+  heaterHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
 }
 
 void ObjectFactory::createThermalController(HeaterHandler& heaterHandler) {

mission/core/pollingSeqTables.cpp

@@ -1,9 +1,10 @@
-#include "pollingSequenceFactory.h"
+#include "pollingSeqTables.h"
 
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/objectmanager/ObjectManagerIF.h>
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
+#include <mission/devices/devicedefinitions/imtqHelpers.h>
 
 #include "OBSWConfig.h"
 #include "eive/definitions.h"
@@ -60,8 +61,8 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
                         DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
   thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.25, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.25, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.3, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.3, DeviceHandlerIF::GET_READ);
 #endif
   // These are actually part of another bus, but this works, so keep it like this for now
 #if OBSW_ADD_TMP_DEVICES == 1
@@ -585,102 +586,80 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
   if (cfg.scheduleImtq) {
     // This is the MTM measurement cycle
     thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::PERFORM_OPERATION);
+                          imtq::ComStep::DHB_OP);
     thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
+                          imtq::ComStep::START_MEASURE_SEND);
     thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::GET_READ);
+                          imtq::ComStep::START_MEASURE_GET);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD,
+                          imtq::ComStep::READ_MEASURE_SEND);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD,
+                          imtq::ComStep::READ_MEASURE_GET);
   }
 
-  thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_3_PERIOD, 0);
+  thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_4_PERIOD, 0);
 
   if (cfg.scheduleImtq) {
     // This is the torquing cycle.
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_5_PERIOD,
+                          imtq::ComStep::START_ACTUATE_SEND);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_5_PERIOD,
+                          imtq::ComStep::START_ACTUATE_GET);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_6_PERIOD,
+                          imtq::ComStep::READ_ACTUATE_SEND);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_6_PERIOD,
+                          imtq::ComStep::READ_ACTUATE_GET);
   }
 
   if (cfg.scheduleRws) {
     // this is the torquing cycle
-    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_5_PERIOD,
                           DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_5_PERIOD,
                           DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_5_PERIOD,
                           DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_5_PERIOD,
                           DeviceHandlerIF::PERFORM_OPERATION);
 
-    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-
-    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-
     thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_5_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_5_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_5_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_5_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::SEND_WRITE);
 
     thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_5_PERIOD,
-                          DeviceHandlerIF::GET_READ);
+                          DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_5_PERIOD,
-                          DeviceHandlerIF::GET_READ);
+                          DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_5_PERIOD,
-                          DeviceHandlerIF::GET_READ);
+                          DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_5_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_7_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_7_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_7_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_7_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_7_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_7_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_7_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_7_PERIOD,
                           DeviceHandlerIF::GET_READ);
   }
 
-  thisSequence->addSlot(objects::SPI_RTD_COM_IF, length * 0.5, 0);
+  thisSequence->addSlot(objects::SPI_RTD_COM_IF, length * config::acs::SCHED_BLOCK_RTD_PERIOD, 0);
 
   return returnvalue::OK;
 }

mission/devices/GyroADIS1650XHandler.cpp

@@ -434,7 +434,7 @@ ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *
       // Prepare transfer
       int fileDescriptor = 0;
       std::string device = comIf->getSpiDev();
-      UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
+      UnixFileGuard fileHelper(device, fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
       if (fileHelper.getOpenResult() != returnvalue::OK) {
         return SpiComIF::OPENING_FILE_FAILED;
       }

mission/devices/HeaterHandler.cpp

@@ -8,11 +8,13 @@
 #include <stdexcept>
 
 #include "devices/powerSwitcherList.h"
+#include "fsfw/subsystem/helper.h"
 
 HeaterHandler::HeaterHandler(object_id_t setObjectId_, GpioIF* gpioInterface_, HeaterHelper helper,
                              PowerSwitchIF* mainLineSwitcher_, power::Switch_t mainLineSwitch_)
     : SystemObject(setObjectId_),
       helper(helper),
+      modeHelper(this),
       gpioInterface(gpioInterface_),
       mainLineSwitcher(mainLineSwitcher_),
       mainLineSwitch(mainLineSwitch_),
@@ -28,8 +30,8 @@ HeaterHandler::HeaterHandler(object_id_t setObjectId_, GpioIF* gpioInterface_, H
   if (mainLineSwitcher == nullptr) {
     throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid PowerSwitchIF");
   }
-  heaterMutex = MutexFactory::instance()->createMutex();
-  if (heaterMutex == nullptr) {
+  heaterHealthAndStateMutex = MutexFactory::instance()->createMutex();
+  if (heaterHealthAndStateMutex == nullptr) {
     throw std::runtime_error("HeaterHandler::HeaterHandler: Creating Mutex failed");
   }
   auto mqArgs = MqArgs(setObjectId_, static_cast<void*>(this));
@@ -46,6 +48,13 @@ ReturnValue_t HeaterHandler::performOperation(uint8_t operationCode) {
       heater.first->performOperation(0);
     }
     handleSwitchHandling();
+    if (waitForSwitchOff) {
+      if (mainLineSwitcher->getSwitchState(mainLineSwitch) == SWITCH_OFF) {
+        waitForSwitchOff = false;
+        mode = MODE_OFF;
+        modeHelper.modeChanged(mode, submode);
+      }
+    }
   } catch (const std::out_of_range& e) {
     sif::warning << "HeaterHandler::performOperation: "
                     "Out of range error | "
@@ -76,6 +85,10 @@ ReturnValue_t HeaterHandler::initialize() {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
+  result = modeHelper.initialize();
+  if (result != returnvalue::OK) {
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
   return returnvalue::OK;
 }
 
@@ -95,11 +108,16 @@ void HeaterHandler::readCommandQueue() {
       break;
     } else if (result != returnvalue::OK) {
       sif::warning << "HeaterHandler::readCommandQueue: Message reception error" << std::endl;
+      break;
     }
     result = actionHelper.handleActionMessage(&command);
     if (result == returnvalue::OK) {
       continue;
     }
+    result = modeHelper.handleModeCommand(&command);
+    if (result == returnvalue::OK) {
+      continue;
+    }
   } while (result == returnvalue::OK);
 }
 
@@ -124,7 +142,11 @@ ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, MessageQueueId_t
   auto action = static_cast<SwitchAction>(data[1]);
   // Always accepts OFF commands
   if (action == SwitchAction::SET_SWITCH_ON) {
-    HasHealthIF::HealthState health = heater.healthDevice->getHealth();
+    HasHealthIF::HealthState health;
+    {
+      MutexGuard mg(heaterHealthAndStateMutex);
+      health = heater.healthDevice->getHealth();
+    }
     if (health == HasHealthIF::FAULTY or health == HasHealthIF::PERMANENT_FAULTY or
         health == HasHealthIF::NEEDS_RECOVERY) {
       return HasHealthIF::OBJECT_NOT_HEALTHY;
@@ -218,6 +240,9 @@ void HeaterHandler::handleSwitchHandling() {
 void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
   ReturnValue_t result = returnvalue::OK;
   auto& heater = heaterVec.at(heaterIdx);
+  if (waitForSwitchOff) {
+    waitForSwitchOff = false;
+  }
   /* Check if command waits for main switch being set on and whether the timeout has expired */
   if (heater.waitMainSwitchOn && heater.mainSwitchCountdown.hasTimedOut()) {
     // TODO - This requires the initiation of an FDIR procedure
@@ -244,11 +269,16 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
         triggerEvent(GPIO_PULL_HIGH_FAILED, result);
       } else {
         triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
-        heater.switchState = ON;
+        {
+          MutexGuard mg(heaterHealthAndStateMutex);
+          heater.switchState = ON;
+        }
       }
     } else {
       triggerEvent(SWITCH_ALREADY_ON, heaterIdx);
     }
+    mode = HasModesIF::MODE_ON;
+    modeHelper.modeChanged(mode, submode);
     // There is no need to send action finish replies if the sender was the
     // HeaterHandler itself
     if (heater.replyQueue != commandQueue->getId()) {
@@ -289,15 +319,15 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
                  << " low" << std::endl;
       triggerEvent(GPIO_PULL_LOW_FAILED, result);
     } else {
-      auto result = heaterMutex->lockMutex();
-      heater.switchState = OFF;
-      if (result == returnvalue::OK) {
-        heaterMutex->unlockMutex();
+      {
+        MutexGuard mg(heaterHealthAndStateMutex);
+        heater.switchState = OFF;
       }
       triggerEvent(HEATER_WENT_OFF, heaterIdx, 0);
       // When all switches are off, also main line switch will be turned off
       if (allSwitchesOff()) {
         mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
+        waitForSwitchOff = true;
       }
     }
   } else {
@@ -316,7 +346,7 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
 }
 
 HeaterHandler::SwitchState HeaterHandler::checkSwitchState(heater::Switchers switchNr) const {
-  MutexGuard mg(heaterMutex);
+  MutexGuard mg(heaterHealthAndStateMutex);
   return heaterVec.at(switchNr).switchState;
 }
 
@@ -329,9 +359,57 @@ ReturnValue_t HeaterHandler::switchHeater(heater::Switchers heater, SwitchState
   return returnvalue::FAILED;
 }
 
+void HeaterHandler::announceMode(bool recursive) {
+  triggerEvent(MODE_INFO, mode, submode);
+
+  std::array<SwitchState, 8> states;
+  getAllSwitchStates(states);
+  for (unsigned idx = 0; idx < helper.heaters.size(); idx++) {
+    if (states[idx] == ON) {
+      EventManagerIF::triggerEvent(helper.heaters[idx].first->getObjectId(), MODE_INFO, MODE_ON, 0);
+    } else {
+      EventManagerIF::triggerEvent(helper.heaters[idx].first->getObjectId(), MODE_INFO, MODE_OFF,
+                                   0);
+    }
+  }
+}
+
+void HeaterHandler::getMode(Mode_t* mode, Submode_t* submode) {
+  if (!mode || !submode) {
+    return;
+  }
+  *mode = this->mode;
+  *submode = this->submode;
+}
+
+const HasHealthIF* HeaterHandler::getOptHealthIF() const { return nullptr; }
+
+const HasModesIF& HeaterHandler::getModeIF() const { return *this; }
+
+ReturnValue_t HeaterHandler::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
+  return modetree::connectModeTreeParent(parent, *this, nullptr, modeHelper);
+}
+
+ModeTreeChildIF& HeaterHandler::getModeTreeChildIF() { return *this; }
+
+object_id_t HeaterHandler::getObjectId() const { return SystemObject::getObjectId(); }
+
+ReturnValue_t HeaterHandler::getAllSwitchStates(std::array<SwitchState, 8>& statesBuf) {
+  {
+    MutexGuard mg(heaterHealthAndStateMutex);
+    if (mg.getLockResult() != returnvalue::OK) {
+      return returnvalue::FAILED;
+    }
+    for (unsigned idx = 0; idx < helper.heaters.size(); idx++) {
+      statesBuf[idx] = heaterVec[idx].switchState;
+    }
+  }
+  return returnvalue::OK;
+}
+
 bool HeaterHandler::allSwitchesOff() {
   bool allSwitchesOrd = false;
-  MutexGuard mg(heaterMutex);
+  MutexGuard mg(heaterHealthAndStateMutex);
   /* Or all switches. As soon one switch is on, allSwitchesOrd will be true */
   for (power::Switch_t switchNr = 0; switchNr < heater::NUMBER_OF_SWITCHES; switchNr++) {
     allSwitchesOrd = allSwitchesOrd || heaterVec.at(switchNr).switchState;
@@ -364,7 +442,7 @@ uint32_t HeaterHandler::getSwitchDelayMs(void) const { return 2000; }
 HasHealthIF::HealthState HeaterHandler::getHealth(heater::Switchers heater) {
   auto* healthDev = heaterVec.at(heater).healthDevice;
   if (healthDev != nullptr) {
-    MutexGuard mg(heaterMutex);
+    MutexGuard mg(heaterHealthAndStateMutex);
     return healthDev->getHealth();
   }
   return HasHealthIF::HealthState::FAULTY;

mission/devices/HeaterHandler.h

@@ -10,6 +10,8 @@
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/power/PowerSwitchIF.h>
 #include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/subsystem/ModeTreeChildIF.h>
+#include <fsfw/subsystem/ModeTreeConnectionIF.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
 #include <fsfw/timemanager/Countdown.h>
 #include <fsfw_hal/common/gpio/GpioIF.h>
@@ -40,6 +42,9 @@ struct HeaterHelper {
  */
 class HeaterHandler : public ExecutableObjectIF,
                       public PowerSwitchIF,
+                      public HasModesIF,
+                      public ModeTreeChildIF,
+                      public ModeTreeConnectionIF,
                       public SystemObject,
                       public HasActionsIF {
   friend class ThermalController;
@@ -54,6 +59,7 @@ class HeaterHandler : public ExecutableObjectIF,
   static const ReturnValue_t COMMAND_ALREADY_WAITING = MAKE_RETURN_CODE(0xA5);
 
   enum CmdSourceParam : uint8_t { INTERNAL = 0, EXTERNAL = 1 };
+  enum SwitchState : uint8_t { ON = 1, OFF = 0 };
 
   /** Device command IDs */
   static const DeviceCommandId_t SWITCH_HEATER = 0x0;
@@ -61,10 +67,12 @@ class HeaterHandler : public ExecutableObjectIF,
   HeaterHandler(object_id_t setObjectId, GpioIF* gpioInterface_, HeaterHelper helper,
                 PowerSwitchIF* mainLineSwitcherObjectId, power::Switch_t mainLineSwitch);
 
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
+  ReturnValue_t getAllSwitchStates(std::array<SwitchState, 8>& statesBuf);
+
   virtual ~HeaterHandler();
 
  protected:
-  enum SwitchState : bool { ON = true, OFF = false };
   enum SwitchAction : uint8_t { SET_SWITCH_OFF, SET_SWITCH_ON, NONE };
 
   ReturnValue_t switchHeater(heater::Switchers heater, SwitchState switchState);
@@ -128,12 +136,14 @@ class HeaterHandler : public ExecutableObjectIF,
 
   HeaterMap heaterVec = {};
 
-  MutexIF* heaterMutex = nullptr;
+  MutexIF* heaterHealthAndStateMutex = nullptr;
 
   HeaterHelper helper;
+  ModeHelper modeHelper;
 
   /** Size of command queue */
   size_t cmdQueueSize = 20;
+  bool waitForSwitchOff = true;
 
   GpioIF* gpioInterface = nullptr;
 
@@ -152,6 +162,9 @@ class HeaterHandler : public ExecutableObjectIF,
 
   StorageManagerIF* ipcStore = nullptr;
 
+  Mode_t mode = HasModesIF::MODE_OFF;
+  Submode_t submode = 0;
+
   void readCommandQueue();
 
   /**
@@ -172,6 +185,16 @@ class HeaterHandler : public ExecutableObjectIF,
    */
   void setInitialSwitchStates();
 
+  // HasModesIF implementation
+  void announceMode(bool recursive) override;
+  void getMode(Mode_t* mode, Submode_t* submode) override;
+
+  // Mode Tree helper overrides
+  object_id_t getObjectId() const override;
+  const HasHealthIF* getOptHealthIF() const override;
+  const HasModesIF& getModeIF() const override;
+  ModeTreeChildIF& getModeTreeChildIF() override;
+
   void handleSwitchOnCommand(heater::Switchers heaterIdx);
 
   void handleSwitchOffCommand(heater::Switchers heaterIdx);

mission/devices/ImtqHandler.h

@@ -2,7 +2,7 @@
 #define MISSION_DEVICES_IMTQHANDLER_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-#include <mission/devices/devicedefinitions/imtqHandlerDefinitions.h>
+#include <mission/devices/devicedefinitions/imtqHelpers.h>
 #include <string.h>
 
 #include "events/subsystemIdRanges.h"
@@ -23,7 +23,6 @@ class ImtqHandler : public DeviceHandlerBase {
 
   void setPollingMode(NormalPollingMode pollMode);
 
-  void doSendRead() override;
   /**
    * @brief   Sets mode to MODE_NORMAL. Can be used for debugging.
    */
@@ -32,6 +31,7 @@ class ImtqHandler : public DeviceHandlerBase {
   void setDebugMode(bool enable);
 
  protected:
+  ReturnValue_t performOperation(uint8_t opCode);
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
@@ -42,7 +42,6 @@ class ImtqHandler : public DeviceHandlerBase {
   ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
                              size_t* foundLen) override;
   ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
-  void setNormalDatapoolEntriesInvalid() override;
   virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -50,19 +49,6 @@ class ImtqHandler : public DeviceHandlerBase {
   ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) override;
 
  private:
-  static const uint8_t INTERFACE_ID = CLASS_ID::IMTQ_HANDLER;
-
-  static const ReturnValue_t INVALID_COMMAND_CODE = MAKE_RETURN_CODE(0xA0);
-  static const ReturnValue_t PARAMETER_MISSING = MAKE_RETURN_CODE(0xA1);
-  static const ReturnValue_t PARAMETER_INVALID = MAKE_RETURN_CODE(0xA2);
-  static const ReturnValue_t CC_UNAVAILABLE = MAKE_RETURN_CODE(0xA3);
-  static const ReturnValue_t INTERNAL_PROCESSING_ERROR = MAKE_RETURN_CODE(0xA4);
-  static const ReturnValue_t REJECTED_WITHOUT_REASON = MAKE_RETURN_CODE(0xA5);
-  static const ReturnValue_t CMD_ERR_UNKNOWN = MAKE_RETURN_CODE(0xA6);
-  //! [EXPORT] : [COMMENT] The status reply to a self test command was received but no self test
-  //! command has been sent. This should normally never happen.
-  static const ReturnValue_t UNEXPECTED_SELF_TEST_REPLY = MAKE_RETURN_CODE(0xA7);
-
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::IMTQ_HANDLER;
 
   //! [EXPORT] : [COMMENT] Get self test result returns I2C failure
@@ -97,49 +83,43 @@ class ImtqHandler : public DeviceHandlerBase {
   //! link between IMTQ and OBC.
   static const Event INVALID_ERROR_BYTE = MAKE_EVENT(8, severity::LOW);
 
-  IMTQ::EngHkDataset engHkDataset;
-  IMTQ::CalibratedMtmMeasurementSet calMtmMeasurementSet;
-  IMTQ::RawMtmMeasurementSet rawMtmMeasurementSet;
-  IMTQ::DipoleActuationSet dipoleSet;
-  IMTQ::PosXSelfTestSet posXselfTestDataset;
-  IMTQ::NegXSelfTestSet negXselfTestDataset;
-  IMTQ::PosYSelfTestSet posYselfTestDataset;
-  IMTQ::NegYSelfTestSet negYselfTestDataset;
-  IMTQ::PosZSelfTestSet posZselfTestDataset;
-  IMTQ::NegZSelfTestSet negZselfTestDataset;
+  imtq::StatusDataset statusSet;
+  imtq::DipoleActuationSet dipoleSet;
+  imtq::RawMtmMeasurementNoTorque rawMtmNoTorque;
+  imtq::HkDatasetNoTorque hkDatasetNoTorque;
+
+  imtq::RawMtmMeasurementWithTorque rawMtmWithTorque;
+  imtq::HkDatasetWithTorque hkDatasetWithTorque;
+
+  imtq::CalibratedMtmMeasurementSet calMtmMeasurementSet;
+  imtq::PosXSelfTestSet posXselfTestDataset;
+  imtq::NegXSelfTestSet negXselfTestDataset;
+  imtq::PosYSelfTestSet posYselfTestDataset;
+  imtq::NegYSelfTestSet negYselfTestDataset;
+  imtq::PosZSelfTestSet posZselfTestDataset;
+  imtq::NegZSelfTestSet negZselfTestDataset;
 
   NormalPollingMode pollingMode = NormalPollingMode::UNCALIBRATED;
 
+  PoolEntry<uint8_t> statusMode = PoolEntry<uint8_t>({0});
+  PoolEntry<uint8_t> statusError = PoolEntry<uint8_t>({0});
+  PoolEntry<uint8_t> statusConfig = PoolEntry<uint8_t>({0});
+  PoolEntry<uint32_t> statusUptime = PoolEntry<uint32_t>({0});
+
   PoolEntry<int32_t> mgmCalEntry = PoolEntry<int32_t>(3);
   PoolEntry<int16_t> dipoleXEntry = PoolEntry<int16_t>(0, false);
   PoolEntry<int16_t> dipoleYEntry = PoolEntry<int16_t>(0, false);
   PoolEntry<int16_t> dipoleZEntry = PoolEntry<int16_t>(0, false);
   PoolEntry<uint16_t> torqueDurationEntry = PoolEntry<uint16_t>(0, false);
-  // Hardcoded to default integration time of 10 ms.
-  // SHOULDDO: Support for other integration times
-  Countdown integrationTimeCd = Countdown(10);
-
   power::Switch_t switcher = power::NO_SWITCH;
 
-  uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE];
+  uint8_t commandBuffer[imtq::MAX_COMMAND_SIZE];
   bool goToNormalMode = false;
   bool debugMode = false;
+  bool specialRequestActive = false;
+  bool firstReplyCycle = true;
 
-  enum class CommunicationStep {
-    GET_ENG_HK_DATA,
-    START_MTM_MEASUREMENT,
-    GET_CAL_MTM_MEASUREMENT,
-    GET_RAW_MTM_MEASUREMENT,
-    DIPOLE_ACTUATION
-  };
-
-  CommunicationStep communicationStep = CommunicationStep::GET_ENG_HK_DATA;
-
-  enum class StartupStep { NONE, COMMAND_SELF_TEST, GET_SELF_TEST_RESULT };
-
-  StartupStep startupStep = StartupStep::COMMAND_SELF_TEST;
-
-  bool selfTestPerformed = false;
+  imtq::RequestType requestStep = imtq::RequestType::MEASURE_NO_ACTUATION;
 
   /**
    * @brief   In case of a status reply to a single axis self test command, this function
@@ -155,7 +135,7 @@ class ImtqHandler : public DeviceHandlerBase {
    *
    * @return  The return code derived from the received status byte.
    */
-  ReturnValue_t parseStatusByte(const uint8_t* packet);
+  ReturnValue_t parseStatusByte(imtq::CC::CC command, const uint8_t* packet);
 
   /**
    * @brief   This function fills the engineering housekeeping dataset with the received data.
@@ -163,23 +143,9 @@ class ImtqHandler : public DeviceHandlerBase {
    * @param packet    Pointer to the received data.
    *
    */
-  void fillEngHkDataset(const uint8_t* packet);
+  void fillEngHkDataset(imtq::HkDataset& hkDataset, const uint8_t* packet);
 
-  /**
-   * @brief   This function sends a command reply to the requesting queue.
-   *
-   * @param data  Pointer to the data to send.
-   * @param dataSize  Size of the data to send.
-   * @param relplyId  Reply id which will be inserted at the beginning of the action message.
-   */
-  void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
-
-  /**
-   * @brief   This function handles the reply containing the commanded dipole.
-   *
-   * @param packet    Pointer to the reply data.
-   */
-  void handleGetCommandedDipoleReply(const uint8_t* packet);
+  void fillSystemStateIntoDataset(const uint8_t* packet);
 
   /**
    * @brief   This function parses the reply containing the calibrated MTM measurement and writes
@@ -212,7 +178,7 @@ class ImtqHandler : public DeviceHandlerBase {
   void handlePositiveZSelfTestReply(const uint8_t* packet);
   void handleNegativeZSelfTestReply(const uint8_t* packet);
 
-  ReturnValue_t buildDipoleActuationCommand();
+  // ReturnValue_t buildDipoleActuationCommand();
   /**
    * @brief   This function checks the error byte of a self test measurement.
    *

mission/devices/PayloadPcduHandler.cpp

@@ -722,7 +722,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   int retval = 0;
   // Prepare transfer
   int fileDescriptor = 0;
-  UnixFileGuard fileHelper(comIf->getSpiDev(), &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
+  UnixFileGuard fileHelper(comIf->getSpiDev(), fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
   if (fileHelper.getOpenResult() != returnvalue::OK) {
     return SpiComIF::OPENING_FILE_FAILED;
   }

mission/devices/RwHandler.cpp

@@ -163,12 +163,12 @@ ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_
   RwReplies replies(packet);
   ReturnValue_t result = returnvalue::OK;
   ReturnValue_t status;
-  auto checkPacket = [&](DeviceCommandId_t id, const uint8_t* packetPtr) {
+  auto checkPacket = [&](DeviceCommandId_t currentId, const uint8_t* packetPtr) {
     // This is just the packet length of the frame from the RW. The actual
     // data is one more flag byte to show whether the value was read at least once.
-    auto packetLen = rws::idToPacketLen(id);
+    auto packetLen = rws::idToPacketLen(currentId);
     // arrayprinter::print(packetPtr, packetLen);
-    uint16_t replyCrc;
+    uint16_t replyCrc = 0;
     size_t dummy = 0;
     SerializeAdapter::deSerialize(&replyCrc, packetPtr + packetLen - 2, &dummy,
                                   SerializeIF::Endianness::LITTLE);

mission/devices/SyrlinksHandler.cpp

@@ -279,7 +279,7 @@ ReturnValue_t SyrlinksHandler::scanForReply(const uint8_t* start, size_t remaini
       break;
     default:
       sif::warning << "SyrlinksHkHandler::scanForReply: Unknown reply identifier" << std::endl;
-      result = IGNORE_REPLY_DATA;
+      result = IGNORE_FULL_PACKET;
       break;
   }
 

mission/devices/devicedefinitions/CMakeLists.txt

@@ -1 +1,2 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE ScexDefinitions.cpp rwHelpers.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE ScexDefinitions.cpp rwHelpers.cpp
+                                           imtqHelpers.cpp)

mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h

@@ -147,11 +147,15 @@ class AdisGyroConfigDataset : public StaticLocalDataSet<5> {
     setAllVariablesReadOnly();
   }
 
-  lp_var_t<uint16_t> diagStatReg = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::DIAG_STAT_REGISTER);
-  lp_var_t<uint8_t> filterSetting = lp_var_t<uint8_t>(sid.objectId, ADIS1650X::FILTER_SETTINGS);
-  lp_var_t<uint16_t> rangMdl = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::RANG_MDL);
-  lp_var_t<uint16_t> mscCtrlReg = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::MSC_CTRL_REGISTER);
-  lp_var_t<uint16_t> decRateReg = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::DEC_RATE_REGISTER);
+  lp_var_t<uint16_t> diagStatReg =
+      lp_var_t<uint16_t>(sid.objectId, ADIS1650X::DIAG_STAT_REGISTER, this);
+  lp_var_t<uint8_t> filterSetting =
+      lp_var_t<uint8_t>(sid.objectId, ADIS1650X::FILTER_SETTINGS, this);
+  lp_var_t<uint16_t> rangMdl = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::RANG_MDL, this);
+  lp_var_t<uint16_t> mscCtrlReg =
+      lp_var_t<uint16_t>(sid.objectId, ADIS1650X::MSC_CTRL_REGISTER, this);
+  lp_var_t<uint16_t> decRateReg =
+      lp_var_t<uint16_t>(sid.objectId, ADIS1650X::DEC_RATE_REGISTER, this);
 
  private:
   friend class GyroADIS1650XHandler;

mission/devices/devicedefinitions/imtqHelpers.cpp

@@ -0,0 +1,49 @@
+#include "imtqHelpers.h"
+
+size_t imtq::getReplySize(CC::CC cc, size_t* optSecondSize) {
+  switch (cc) {
+    // Software reset is a bit special and can also cause a I2C NAK because
+    // the device might be reset at that moment. Otherwise, 2 bytes should be returned
+    case (CC::CC::SOFTWARE_RESET): {
+      if (optSecondSize != nullptr) {
+        *optSecondSize = 0;
+      }
+      return 2;
+    }
+    case (CC::CC::START_ACTUATION_DIPOLE):
+    case (CC::CC::SELF_TEST_CMD):
+    case (CC::CC::START_MTM_MEASUREMENT): {
+      return 2;
+    }
+    case (CC::CC::GET_SYSTEM_STATE): {
+      return 9;
+    }
+    case (CC::CC::GET_RAW_MTM_MEASUREMENT):
+    case (CC::CC::GET_CAL_MTM_MEASUREMENT): {
+      return 15;
+    }
+    case (CC::CC::GET_COIL_CURRENT):
+    case (CC::CC::GET_COMMANDED_DIPOLE):
+    case (CC::CC::GET_COIL_TEMPERATURES): {
+      return 8;
+    }
+    case (CC::CC::GET_SELF_TEST_RESULT): {
+      // Can also be 360 for the all axes self-test!
+      if (optSecondSize != nullptr) {
+        *optSecondSize = 360;
+      }
+      return 120;
+    }
+    case (CC::CC::GET_RAW_HK_DATA):
+    case (CC::CC::GET_ENG_HK_DATA): {
+      return 24;
+    }
+    case (CC::CC::GET_PARAM): {
+      return imtq::replySize::MAX_SET_GET_PARAM_LEN;
+    }
+    default: {
+      return 0;
+    }
+  }
+  return 0;
+}

mission/devices/devicedefinitions/imtqHelpers.h

@@ -1,23 +1,60 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_
 
+#include <eive/resultClassIds.h>
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
 
 class ImtqHandler;
 
-namespace IMTQ {
+namespace imtq {
 
-static const DeviceCommandId_t NONE = 0x0;
-static const DeviceCommandId_t GET_ENG_HK_DATA = 0x1;
+enum ComStep : uint8_t {
+  DHB_OP = 0,
+  START_MEASURE_SEND = 1,
+  START_MEASURE_GET = 2,
+  READ_MEASURE_SEND = 3,
+  READ_MEASURE_GET = 4,
+  START_ACTUATE_SEND = 5,
+  START_ACTUATE_GET = 6,
+  READ_ACTUATE_SEND = 7,
+  READ_ACTUATE_GET = 8,
+};
+
+enum class RequestType : uint8_t { MEASURE_NO_ACTUATION, ACTUATE };
+
+enum class SpecialRequest : uint8_t {
+  NONE = 0,
+  DO_SELF_TEST_POS_X = 1,
+  DO_SELF_TEST_NEG_X = 2,
+  DO_SELF_TEST_POS_Y = 3,
+  DO_SELF_TEST_NEG_Y = 4,
+  DO_SELF_TEST_POS_Z = 5,
+  DO_SELF_TEST_NEG_Z = 6,
+  GET_SELF_TEST_RESULT = 7
+};
+
+static const uint8_t INTERFACE_ID = CLASS_ID::IMTQ_HANDLER;
+
+static constexpr ReturnValue_t INVALID_COMMAND_CODE = MAKE_RETURN_CODE(0);
+static constexpr ReturnValue_t MGM_MEASUREMENT_LOW_LEVEL_ERROR = MAKE_RETURN_CODE(1);
+static constexpr ReturnValue_t ACTUATE_CMD_LOW_LEVEL_ERROR = MAKE_RETURN_CODE(2);
+static const ReturnValue_t PARAMETER_MISSING = MAKE_RETURN_CODE(3);
+static const ReturnValue_t PARAMETER_INVALID = MAKE_RETURN_CODE(4);
+static const ReturnValue_t CC_UNAVAILABLE = MAKE_RETURN_CODE(5);
+static const ReturnValue_t INTERNAL_PROCESSING_ERROR = MAKE_RETURN_CODE(6);
+static const ReturnValue_t REJECTED_WITHOUT_REASON = MAKE_RETURN_CODE(7);
+static const ReturnValue_t CMD_ERR_UNKNOWN = MAKE_RETURN_CODE(8);
+//! [EXPORT] : [COMMENT] The status reply to a self test command was received but no self test
+//! command has been sent. This should normally never happen.
+static const ReturnValue_t UNEXPECTED_SELF_TEST_REPLY = MAKE_RETURN_CODE(0xA7);
+
+namespace cmdIds {
+
+static constexpr DeviceCommandId_t REQUEST = 0x70;
+static constexpr DeviceCommandId_t REPLY = 0x71;
 static const DeviceCommandId_t START_ACTUATION_DIPOLE = 0x2;
-static const DeviceCommandId_t GET_COMMANDED_DIPOLE = 0x3;
-/** Generates new measurement of the magnetic field */
-static const DeviceCommandId_t START_MTM_MEASUREMENT = 0x4;
-/** Requests the calibrated magnetometer measurement */
-static const DeviceCommandId_t GET_CAL_MTM_MEASUREMENT = 0x5;
-/** Requests the raw values measured by the built-in MTM XEN1210 */
-static const DeviceCommandId_t GET_RAW_MTM_MEASUREMENT = 0x6;
 static const DeviceCommandId_t POS_X_SELF_TEST = 0x7;
 static const DeviceCommandId_t NEG_X_SELF_TEST = 0x8;
 static const DeviceCommandId_t POS_Y_SELF_TEST = 0x9;
@@ -26,36 +63,49 @@ static const DeviceCommandId_t POS_Z_SELF_TEST = 0xB;
 static const DeviceCommandId_t NEG_Z_SELF_TEST = 0xC;
 static const DeviceCommandId_t GET_SELF_TEST_RESULT = 0xD;
 
-static const uint8_t GET_TEMP_REPLY_SIZE = 2;
-static const uint8_t CFGR_CMD_SIZE = 3;
+}  // namespace cmdIds
+
 static const uint8_t POINTER_REG_SIZE = 1;
 
 enum SetIds : uint32_t {
-  ENG_HK = 1,
-  CAL_MGM = 2,
-  RAW_MGM = 3,
-  POS_X_TEST = 4,
-  NEG_X_TEST = 5,
-  POS_Y_TEST = 6,
-  NEG_Y_TEST = 7,
-  POS_Z_TEST = 8,
-  NEG_Z_TEST = 9,
-  DIPOLES = 10
+  ENG_HK_NO_TORQUE = 1,
+  RAW_MTM_NO_TORQUE = 2,
+  ENG_HK_SET_WITH_TORQUE = 3,
+  RAW_MTM_WITH_TORQUE = 4,
+  STATUS_SET = 5,
+  DIPOLES = 6,
+
+  CAL_MTM_SET = 9,
+  POSITIVE_X_TEST = 10,
+  NEGATIVE_X_TEST = 11,
+  POSITIVE_Y_TEST = 12,
+  NEGATIVE_Y_TEST = 13,
+  POSITIVE_Z_TEST = 14,
+  NEGATIVE_Z_TEST = 15,
 };
 
-static const uint8_t SIZE_ENG_HK_COMMAND = 1;
-static const uint8_t SIZE_STATUS_REPLY = 2;
-static const uint8_t SIZE_ENG_HK_DATA_REPLY = 24;
-static const uint8_t SIZE_GET_COMMANDED_DIPOLE_REPLY = 8;
-static const uint8_t SIZE_GET_CAL_MTM_MEASUREMENT = 15;
-static const uint8_t SIZE_GET_RAW_MTM_MEASUREMENT = 15;
-static const uint16_t SIZE_SELF_TEST_RESULTS = 120;
+namespace replySize {
 
-static const uint16_t MAX_REPLY_SIZE = SIZE_SELF_TEST_RESULTS;
-static const uint8_t MAX_COMMAND_SIZE = 9;
+static constexpr uint8_t GET_TEMP_REPLY_SIZE = 2;
+static constexpr uint8_t CFGR_CMD_SIZE = 3;
+static constexpr size_t DEFAULT_MIN_LEN = 2;
+static constexpr size_t STATUS_REPLY = DEFAULT_MIN_LEN;
+static constexpr size_t ENG_HK_DATA_REPLY = 24;
+static constexpr size_t GET_COMMANDED_DIPOLE_REPLY = 8;
+static constexpr size_t MAX_SET_GET_PARAM_LEN = 12;
+static constexpr size_t SYSTEM_STATE = 9;
+static constexpr size_t CAL_MTM_MEASUREMENT = 15;
+static constexpr size_t RAW_MTM_MEASUREMENT = 15;
+static constexpr size_t SELF_TEST_RESULTS = 120;
+static constexpr size_t SELF_TEST_RESULTS_ALL_AXES = 360;
+
+}  // namespace replySize
+
+static const uint16_t MAX_REPLY_SIZE = replySize::SELF_TEST_RESULTS_ALL_AXES;
+static const uint8_t MAX_COMMAND_SIZE = 16;
 
 /** Define entries in IMTQ specific dataset */
-static const uint8_t ENG_HK_SET_POOL_ENTRIES = 11;
+static const uint8_t HK_SET_POOL_ENTRIES = 20;
 static const uint8_t CAL_MTM_POOL_ENTRIES = 4;
 static const uint8_t SELF_TEST_DATASET_ENTRIES = 104;
 
@@ -72,45 +122,75 @@ static const uint8_t INVALID_ERROR_BYTE =
 
 static const uint8_t MAIN_STEP_OFFSET = 43;
 
+// Command Code
+namespace CC {
+
 /**
  * Command code definitions. Each command or reply of an IMTQ request will begin with one of
  * the following command codes.
  */
-namespace CC {
-static const uint8_t START_MTM_MEASUREMENT = 0x4;
-static const uint8_t START_ACTUATION_DIPOLE = 0x6;
-static const uint8_t SELF_TEST_CMD = 0x8;
-static const uint8_t SOFTWARE_RESET = 0xAA;
-static const uint8_t GET_ENG_HK_DATA = 0x4A;
-static const uint8_t GET_COMMANDED_DIPOLE = 0x46;
-static const uint8_t GET_RAW_MTM_MEASUREMENT = 0x42;
-static const uint8_t GET_CAL_MTM_MEASUREMENT = 0x43;
-static const uint8_t GET_SELF_TEST_RESULT = 0x47;
-static const uint8_t PAST_AVAILABLE_RESPONSE_BYTES = 0xff;
-};  // namespace CC
+enum CC : uint8_t {
+  START_MTM_MEASUREMENT = 0x4,
+  START_ACTUATION_DIPOLE = 0x6,
+  SELF_TEST_CMD = 0x8,
+  GET_SYSTEM_STATE = 0x41,
+  GET_RAW_MTM_MEASUREMENT = 0x42,
+  GET_CAL_MTM_MEASUREMENT = 0x43,
+  GET_COIL_CURRENT = 0x44,
+  GET_COIL_TEMPERATURES = 0x45,
+  GET_COMMANDED_DIPOLE = 0x46,
+  GET_SELF_TEST_RESULT = 0x47,
+  GET_RAW_HK_DATA = 0x49,
+  GET_ENG_HK_DATA = 0x4A,
+  GET_PARAM = 0x81,
+  SET_PARAM = 0x82,
+  SOFTWARE_RESET = 0xAA,
+  PAST_AVAILABLE_RESPONSE_BYTES = 0xff
+};
 
-namespace SELF_TEST_AXIS {
-static const uint8_t ALL = 0x0;
-static const uint8_t X_POSITIVE = 0x1;
-static const uint8_t X_NEGATIVE = 0x2;
-static const uint8_t Y_POSITIVE = 0x3;
-static const uint8_t Y_NEGATIVE = 0x4;
-static const uint8_t Z_POSITIVE = 0x5;
-static const uint8_t Z_NEGATIVE = 0x6;
-}  // namespace SELF_TEST_AXIS
+}  // namespace CC
 
-namespace SELF_TEST_STEPS {
-static const uint8_t INIT = 0x0;
-static const uint8_t X_POSITIVE = 0x1;
-static const uint8_t X_NEGATIVE = 0x2;
-static const uint8_t Y_POSITIVE = 0x3;
-static const uint8_t Y_NEGATIVE = 0x4;
-static const uint8_t Z_POSITIVE = 0x5;
-static const uint8_t Z_NEGATIVE = 0x6;
-static const uint8_t FINA = 0x7;
-}  // namespace SELF_TEST_STEPS
+size_t getReplySize(CC::CC cc, size_t* optSecondSize = nullptr);
+
+namespace mode {
+enum Mode : uint8_t { IDLE = 0, SELF_TEST = 1, DETUMBLE = 2 };
+}
+
+namespace selfTest {
+
+enum Axis : uint8_t {
+
+  ALL = 0x0,
+  X_POSITIVE = 0x1,
+  X_NEGATIVE = 0x2,
+  Y_POSITIVE = 0x3,
+  Y_NEGATIVE = 0x4,
+  Z_POSITIVE = 0x5,
+  Z_NEGATIVE = 0x6,
+};
+
+namespace step {
+
+enum Step : uint8_t {
+
+  INIT = 0x0,
+  X_POSITIVE = 0x1,
+  X_NEGATIVE = 0x2,
+  Y_POSITIVE = 0x3,
+  Y_NEGATIVE = 0x4,
+  Z_POSITIVE = 0x5,
+  Z_NEGATIVE = 0x6,
+  FINA = 0x7
+};
+}
+}  // namespace selfTest
 
 enum PoolIds : lp_id_t {
+  STATUS_BYTE_MODE,
+  STATUS_BYTE_ERROR,
+  STATUS_BYTE_CONF,
+  STATUS_BYTE_UPTIME,
+
   DIGITAL_VOLTAGE_MV,
   ANALOG_VOLTAGE_MV,
   DIGITAL_CURRENT,
@@ -384,12 +464,23 @@ enum PoolIds : lp_id_t {
   FINA_NEG_Z_COIL_Z_TEMPERATURE,
 };
 
-class EngHkDataset : public StaticLocalDataSet<ENG_HK_SET_POOL_ENTRIES> {
+class StatusDataset : public StaticLocalDataSet<4> {
  public:
-  EngHkDataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, IMTQ::SetIds::ENG_HK) {}
+  StatusDataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, imtq::SetIds::STATUS_SET) {}
+  // Status byte variables
+  lp_var_t<uint8_t> statusByteMode = lp_var_t<uint8_t>(sid.objectId, STATUS_BYTE_MODE, this);
+  lp_var_t<uint8_t> statusByteError = lp_var_t<uint8_t>(sid.objectId, STATUS_BYTE_ERROR, this);
+  lp_var_t<uint8_t> statusByteConfig = lp_var_t<uint8_t>(sid.objectId, STATUS_BYTE_CONF, this);
+  lp_var_t<uint32_t> statusByteUptime = lp_var_t<uint32_t>(sid.objectId, STATUS_BYTE_UPTIME, this);
+};
 
-  EngHkDataset(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::ENG_HK)) {}
+class HkDataset : public StaticLocalDataSet<HK_SET_POOL_ENTRIES> {
+ public:
+  HkDataset(HasLocalDataPoolIF* owner, uint32_t setId) : StaticLocalDataSet(owner, setId) {}
 
+  HkDataset(object_id_t objectId, uint32_t setId) : StaticLocalDataSet(sid_t(objectId, setId)) {}
+
+  // Engineering HK variables
   lp_var_t<uint16_t> digitalVoltageMv = lp_var_t<uint16_t>(sid.objectId, DIGITAL_VOLTAGE_MV, this);
   lp_var_t<uint16_t> analogVoltageMv = lp_var_t<uint16_t>(sid.objectId, ANALOG_VOLTAGE_MV, this);
   lp_var_t<float> digitalCurrentmA = lp_var_t<float>(sid.objectId, DIGITAL_CURRENT, this);
@@ -404,16 +495,27 @@ class EngHkDataset : public StaticLocalDataSet<ENG_HK_SET_POOL_ENTRIES> {
   lp_var_t<int16_t> mcuTemperature = lp_var_t<int16_t>(sid.objectId, MCU_TEMPERATURE, this);
 };
 
+class HkDatasetNoTorque : public HkDataset {
+ public:
+  HkDatasetNoTorque(HasLocalDataPoolIF* owner) : HkDataset(owner, imtq::SetIds::ENG_HK_NO_TORQUE) {}
+};
+
+class HkDatasetWithTorque : public HkDataset {
+ public:
+  HkDatasetWithTorque(HasLocalDataPoolIF* owner)
+      : HkDataset(owner, imtq::SetIds::ENG_HK_SET_WITH_TORQUE) {}
+};
 /**
+ *
  * @brief   This dataset holds the last calibrated MTM measurement.
  */
 class CalibratedMtmMeasurementSet : public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
  public:
   CalibratedMtmMeasurementSet(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, IMTQ::SetIds::CAL_MGM) {}
+      : StaticLocalDataSet(owner, imtq::SetIds::CAL_MTM_SET) {}
 
   CalibratedMtmMeasurementSet(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::CAL_MGM)) {}
+      : StaticLocalDataSet(sid_t(objectId, imtq::SetIds::CAL_MTM_SET)) {}
 
   /** The unit of all measurements is nT */
   lp_vec_t<int32_t, 3> mgmXyz = lp_vec_t<int32_t, 3>(sid.objectId, MGM_CAL_NT, this);
@@ -427,11 +529,11 @@ class CalibratedMtmMeasurementSet : public StaticLocalDataSet<CAL_MTM_POOL_ENTRI
  */
 class RawMtmMeasurementSet : public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
  public:
-  RawMtmMeasurementSet(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, IMTQ::SetIds::RAW_MGM) {}
+  RawMtmMeasurementSet(HasLocalDataPoolIF* owner, uint32_t setId)
+      : StaticLocalDataSet(owner, setId) {}
 
-  RawMtmMeasurementSet(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::RAW_MGM)) {}
+  RawMtmMeasurementSet(object_id_t objectId, uint32_t setId)
+      : StaticLocalDataSet(sid_t(objectId, setId)) {}
 
   /** The unit of all measurements is nT */
   lp_vec_t<float, 3> mtmRawNt = lp_vec_t<float, 3>(sid.objectId, MTM_RAW, this);
@@ -440,6 +542,21 @@ class RawMtmMeasurementSet : public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
       lp_var_t<uint8_t>(sid.objectId, ACTUATION_RAW_STATUS, this);
 };
 
+class RawMtmMeasurementNoTorque : public RawMtmMeasurementSet {
+ public:
+  RawMtmMeasurementNoTorque(HasLocalDataPoolIF* owner)
+      : RawMtmMeasurementSet(owner, imtq::SetIds::RAW_MTM_NO_TORQUE) {}
+  RawMtmMeasurementNoTorque(object_id_t objectId)
+      : RawMtmMeasurementSet(objectId, imtq::SetIds::RAW_MTM_NO_TORQUE) {}
+};
+class RawMtmMeasurementWithTorque : public RawMtmMeasurementSet {
+ public:
+  RawMtmMeasurementWithTorque(HasLocalDataPoolIF* owner)
+      : RawMtmMeasurementSet(owner, imtq::SetIds::RAW_MTM_WITH_TORQUE) {}
+  RawMtmMeasurementWithTorque(object_id_t objectId)
+      : RawMtmMeasurementSet(objectId, imtq::SetIds::RAW_MTM_WITH_TORQUE) {}
+};
+
 /**
  * @brief   This class can be used to ease the generation of an action message commanding the
  *          IMTQHandler to configure the magnettorquer with the desired dipoles.
@@ -482,9 +599,9 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
 
  public:
   DipoleActuationSet(HasLocalDataPoolIF& owner)
-      : StaticLocalDataSet(&owner, IMTQ::SetIds::DIPOLES) {}
+      : StaticLocalDataSet(&owner, imtq::SetIds::DIPOLES) {}
   DipoleActuationSet(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::DIPOLES)) {}
+      : StaticLocalDataSet(sid_t(objectId, imtq::SetIds::DIPOLES)) {}
 
   // Refresh torque command without changing any of the set dipoles.
   void refreshTorqueing(uint16_t durationMs_) { currentTorqueDurationMs = durationMs_; }
@@ -534,10 +651,10 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
 class PosXSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
  public:
   PosXSelfTestSet(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, IMTQ::SetIds::POS_X_TEST) {}
+      : StaticLocalDataSet(owner, imtq::SetIds::POSITIVE_X_TEST) {}
 
   PosXSelfTestSet(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::POS_X_TEST)) {}
+      : StaticLocalDataSet(sid_t(objectId, imtq::SetIds::POSITIVE_X_TEST)) {}
 
   /** INIT block */
   lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_POS_X_ERR, this);
@@ -611,10 +728,10 @@ class PosXSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
 class NegXSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
  public:
   NegXSelfTestSet(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, IMTQ::SetIds::NEG_X_TEST) {}
+      : StaticLocalDataSet(owner, imtq::SetIds::NEGATIVE_X_TEST) {}
 
   NegXSelfTestSet(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::NEG_X_TEST)) {}
+      : StaticLocalDataSet(sid_t(objectId, imtq::SetIds::NEGATIVE_X_TEST)) {}
 
   /** INIT block */
   lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_NEG_X_ERR, this);
@@ -688,10 +805,10 @@ class NegXSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
 class PosYSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
  public:
   PosYSelfTestSet(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, IMTQ::SetIds::POS_Y_TEST) {}
+      : StaticLocalDataSet(owner, imtq::SetIds::POSITIVE_Y_TEST) {}
 
   PosYSelfTestSet(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::POS_Y_TEST)) {}
+      : StaticLocalDataSet(sid_t(objectId, imtq::SetIds::POSITIVE_Y_TEST)) {}
 
   /** INIT block */
   lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_POS_Y_ERR, this);
@@ -765,10 +882,10 @@ class PosYSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
 class NegYSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
  public:
   NegYSelfTestSet(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, IMTQ::SetIds::NEG_Y_TEST) {}
+      : StaticLocalDataSet(owner, imtq::SetIds::NEGATIVE_Y_TEST) {}
 
   NegYSelfTestSet(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::NEG_Y_TEST)) {}
+      : StaticLocalDataSet(sid_t(objectId, imtq::SetIds::NEGATIVE_Y_TEST)) {}
 
   /** INIT block */
   lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_NEG_Y_ERR, this);
@@ -842,10 +959,10 @@ class NegYSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
 class PosZSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
  public:
   PosZSelfTestSet(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, IMTQ::SetIds::POS_Z_TEST) {}
+      : StaticLocalDataSet(owner, imtq::SetIds::POSITIVE_Z_TEST) {}
 
   PosZSelfTestSet(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::POS_Z_TEST)) {}
+      : StaticLocalDataSet(sid_t(objectId, imtq::SetIds::POSITIVE_Y_TEST)) {}
 
   /** INIT block */
   lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_POS_Z_ERR, this);
@@ -919,10 +1036,10 @@ class PosZSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
 class NegZSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
  public:
   NegZSelfTestSet(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, IMTQ::SetIds::NEG_Z_TEST) {}
+      : StaticLocalDataSet(owner, imtq::SetIds::NEGATIVE_Z_TEST) {}
 
   NegZSelfTestSet(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::NEG_Z_TEST)) {}
+      : StaticLocalDataSet(sid_t(objectId, imtq::SetIds::NEGATIVE_Z_TEST)) {}
 
   /** INIT block */
   lp_var_t<uint8_t> initErr = lp_var_t<uint8_t>(sid.objectId, INIT_NEG_Z_ERR, this);
@@ -979,6 +1096,153 @@ class NegZSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
       lp_var_t<int16_t>(sid.objectId, FINA_NEG_Z_COIL_Z_TEMPERATURE, this);
 };
 
-}  // namespace IMTQ
+}  // namespace imtq
 
+struct ImtqRequest {
+  friend class ImtqHandler;
+
+ public:
+  static constexpr size_t REQUEST_LEN = 10;
+
+  ImtqRequest(const uint8_t* data, size_t maxSize)
+      : rawData(const_cast<uint8_t*>(data)), maxSize(maxSize) {}
+
+  imtq::RequestType getRequestType() const { return static_cast<imtq::RequestType>(rawData[0]); }
+
+  void setMeasureRequest(imtq::SpecialRequest specialRequest) {
+    rawData[0] = static_cast<uint8_t>(imtq::RequestType::MEASURE_NO_ACTUATION);
+    rawData[1] = static_cast<uint8_t>(specialRequest);
+  }
+
+  void setActuateRequest(int16_t dipoleX, int16_t dipoleY, int16_t dipoleZ,
+                         uint16_t torqueDuration) {
+    size_t dummy = 0;
+    rawData[0] = static_cast<uint8_t>(imtq::RequestType::ACTUATE);
+    rawData[1] = static_cast<uint8_t>(imtq::SpecialRequest::NONE);
+    uint8_t* serPtr = rawData + 2;
+    SerializeAdapter::serialize(&dipoleX, &serPtr, &dummy, maxSize,
+                                SerializeIF::Endianness::MACHINE);
+    SerializeAdapter::serialize(&dipoleY, &serPtr, &dummy, maxSize,
+                                SerializeIF::Endianness::MACHINE);
+    SerializeAdapter::serialize(&dipoleZ, &serPtr, &dummy, maxSize,
+                                SerializeIF::Endianness::MACHINE);
+    SerializeAdapter::serialize(&torqueDuration, &serPtr, &dummy, maxSize,
+                                SerializeIF::Endianness::MACHINE);
+  }
+
+  uint8_t* startOfActuateDataPtr() { return rawData + 2; }
+
+  int16_t* getDipoles() { return reinterpret_cast<int16_t*>(rawData + 2); }
+
+  uint16_t getTorqueDuration() {
+    uint8_t* data = rawData + 2 + 6;
+    uint16_t value = 0;
+    size_t dummy = 0;
+    SerializeAdapter::deSerialize(&value, data, &dummy, SerializeIF::Endianness::MACHINE);
+    return value;
+  }
+
+  void setSpecialRequest(imtq::SpecialRequest specialRequest) {
+    rawData[1] = static_cast<uint8_t>(specialRequest);
+  }
+
+  imtq::SpecialRequest getSpecialRequest() const {
+    return static_cast<imtq::SpecialRequest>(rawData[1]);
+  }
+
+ private:
+  ImtqRequest(uint8_t* rawData, size_t maxLen) : rawData(rawData) {
+    if (rawData != nullptr) {
+      rawData[0] = static_cast<uint8_t>(imtq::RequestType::MEASURE_NO_ACTUATION);
+    }
+  }
+  uint8_t* rawData;
+  size_t maxSize = 0;
+};
+
+struct ImtqRepliesDefault {
+  friend class ImtqPollingTask;
+
+ public:
+  static constexpr size_t BASE_LEN =
+      imtq::replySize::DEFAULT_MIN_LEN + 1 + imtq::replySize::SYSTEM_STATE + 1 +
+      +imtq::replySize::DEFAULT_MIN_LEN + 1 + imtq::replySize::RAW_MTM_MEASUREMENT + 1 +
+      imtq::replySize::ENG_HK_DATA_REPLY + 1 + imtq::replySize::CAL_MTM_MEASUREMENT + 1;
+  ImtqRepliesDefault(const uint8_t* rawData) : rawData(const_cast<uint8_t*>(rawData)) {
+    initPointers();
+  }
+
+  uint8_t* getCalibMgmMeasurement() const { return calibMgmMeasurement + 1; }
+  bool wasCalibMgmMeasurementRead() const { return calibMgmMeasurement[0]; };
+
+  uint8_t* getEngHk() const { return engHk + 1; }
+  bool wasEngHkRead() const { return engHk[0]; };
+
+  uint8_t* getRawMgmMeasurement() const { return rawMgmMeasurement + 1; }
+  bool wasGetRawMgmMeasurementRead() const { return rawMgmMeasurement[0]; };
+
+  uint8_t* getSpecialRequest() const { return specialRequestReply + 1; }
+  bool wasSpecialRequestRead() const { return specialRequestReply[0]; }
+  uint8_t* getStartMtmMeasurement() const { return startMtmMeasurement + 1; }
+  bool wasStartMtmMeasurementRead() const { return startMtmMeasurement[0]; }
+
+  uint8_t* getSwReset() const { return swReset + 1; }
+
+  uint8_t* getSystemState() const { return systemState + 1; }
+  bool wasGetSystemStateRead() const { return systemState[0]; }
+
+ private:
+  void initPointers() {
+    swReset = rawData;
+    systemState = swReset + imtq::replySize::DEFAULT_MIN_LEN + 1;
+    startMtmMeasurement = systemState + imtq::replySize::SYSTEM_STATE + 1;
+    rawMgmMeasurement = startMtmMeasurement + imtq::replySize::DEFAULT_MIN_LEN + 1;
+    engHk = rawMgmMeasurement + imtq::replySize::RAW_MTM_MEASUREMENT + 1;
+    calibMgmMeasurement = engHk + imtq::replySize::ENG_HK_DATA_REPLY + 1;
+    specialRequestReply = calibMgmMeasurement + imtq::replySize::CAL_MTM_MEASUREMENT + 1;
+  }
+  uint8_t* rawData;
+  uint8_t* swReset;
+  uint8_t* systemState;
+  uint8_t* startMtmMeasurement;
+  uint8_t* rawMgmMeasurement;
+  uint8_t* engHk;
+  uint8_t* calibMgmMeasurement;
+  // Share this to reduce amount of copied code for each transfer.
+  uint8_t* specialRequestReply;
+};
+
+struct ImtqRepliesWithTorque {
+  friend class ImtqPollingTask;
+
+ public:
+  static constexpr size_t BASE_LEN =
+      imtq::replySize::DEFAULT_MIN_LEN + 1 + imtq::replySize::ENG_HK_DATA_REPLY + 1 +
+      imtq::replySize::DEFAULT_MIN_LEN + 1 + imtq::replySize::RAW_MTM_MEASUREMENT + 1;
+  ImtqRepliesWithTorque(const uint8_t* rawData) : rawData(const_cast<uint8_t*>(rawData)) {
+    initPointers();
+  }
+
+  uint8_t* getDipoleActuation() const { return dipoleActuation + 1; }
+  bool wasDipoleActuationRead() const { return dipoleActuation[0]; }
+
+  uint8_t* getEngHk() const { return engHk + 1; }
+  bool wasEngHkRead() const { return engHk[0]; };
+
+  uint8_t* getRawMgmMeasurement() const { return rawMgmMeasurement + 1; }
+  bool wasGetRawMgmMeasurementRead() const { return rawMgmMeasurement[0]; };
+
+ private:
+  void initPointers() {
+    dipoleActuation = rawData;
+    engHk = dipoleActuation + imtq::replySize::DEFAULT_MIN_LEN + 1;
+    startMtmMeasurement = engHk + imtq::replySize::ENG_HK_DATA_REPLY + 1;
+    rawMgmMeasurement = startMtmMeasurement + imtq::replySize::DEFAULT_MIN_LEN + 1;
+  }
+  uint8_t* rawData;
+  uint8_t* dipoleActuation;
+  uint8_t* engHk;
+  uint8_t* startMtmMeasurement;
+  uint8_t* rawMgmMeasurement;
+};
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_IMTQDEFINITIONS_H_ */

mission/system/objects/AcsBoardAssembly.h

@@ -108,8 +108,6 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {
   static constexpr pcdu::Switches SWITCH_A = pcdu::Switches::PDU1_CH7_ACS_A_SIDE_3V3;
   static constexpr pcdu::Switches SWITCH_B = pcdu::Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3;
 
-  bool tryingOtherSide = false;
-  bool dualModeErrorSwitch = true;
   AcsBoardHelper helper;
   GpioIF* gpioIF = nullptr;
 

mission/system/objects/AcsSubsystem.cpp

@@ -47,6 +47,11 @@ ReturnValue_t AcsSubsystem::initialize() {
   if (result != returnvalue::OK) {
     sif::error << "AcsSubsystem: Subscribing for acs::MULTIPLE_RW_INVALID failed" << std::endl;
   }
+  result = manager->subscribeToEvent(eventQueue->getId(),
+                                     event::getEventId(acs::MEKF_INVALID_MODE_VIOLATION));
+  if (result != returnvalue::OK) {
+    sif::error << "AcsSubsystem: Subscribing for acs::MULTIPLE_RW_INVALID failed" << std::endl;
+  }
   return Subsystem::initialize();
 }
 
@@ -59,22 +64,24 @@ void AcsSubsystem::handleEventMessages() {
   EventMessage event;
   for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
        result = eventQueue->receiveMessage(&event)) {
+    ReturnValue_t status;
     switch (event.getMessageId()) {
       case EventMessage::EVENT_MESSAGE:
         if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
           CommandMessage msg;
           ModeMessage::setCmdModeMessage(msg, acs::AcsMode::DETUMBLE, 0);
-          ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
+          status = commandQueue->sendMessage(commandQueue->getId(), &msg);
           if (result != returnvalue::OK) {
             sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
           }
         }
         if (event.getEvent() == acs::SAFE_RATE_RECOVERY ||
-            event.getEvent() == acs::MULTIPLE_RW_INVALID) {
+            event.getEvent() == acs::MULTIPLE_RW_INVALID ||
+            event.getEvent() == acs::MEKF_INVALID_MODE_VIOLATION) {
           CommandMessage msg;
           ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
-          ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
-          if (result != returnvalue::OK) {
+          status = commandQueue->sendMessage(commandQueue->getId(), &msg);
+          if (status != returnvalue::OK) {
             sif::error << "AcsSubsystem: sending SAFE mode cmd to self has failed" << std::endl;
           }
         }

mission/system/objects/ComSubsystem.cpp

@@ -1,13 +1,36 @@
 #include "ComSubsystem.h"
 
+#include <fsfw/events/EventManagerIF.h>
 #include <fsfw/ipc/MutexGuard.h>
+#include <fsfw/ipc/QueueFactory.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <linux/ipcore/PdecHandler.h>
+#include <mission/comDefs.h>
+#include <mission/config/comCfg.h>
 
-#include "mission/config/comCfg.h"
+#include <utility>
 
 ComSubsystem::ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
-                           uint32_t maxNumberOfTables)
+                           uint32_t maxNumberOfTables, uint32_t transmitterTimeout)
     : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables), paramHelper(this) {
   com::setCurrentDatarate(com::Datarate::LOW_RATE_MODULATION_BPSK);
+  auto mqArgs = MqArgs(setObjectId, static_cast<void *>(this));
+  eventQueue =
+      QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+  transmitterCountdown.setTimeout(transmitterTimeout);
+}
+
+void ComSubsystem::performChildOperation() {
+  readEventQueue();
+  // Execute default rate sequence after transition has been completed
+  if (rememberBitLock and not isInTransition) {
+    startRxAndTxLowRateSeq();
+    rememberBitLock = false;
+  }
+  if (countdownActive) {
+    checkTransmitterCountdown();
+  }
+  Subsystem::performChildOperation();
 }
 
 MessageQueueId_t ComSubsystem::getCommandQueue() const { return Subsystem::getCommandQueue(); }
@@ -27,6 +50,17 @@ ReturnValue_t ComSubsystem::getParameter(uint8_t domainId, uint8_t uniqueIdentif
     parameterWrapper->set(datarateCfg);
     com::setCurrentDatarate(static_cast<com::Datarate>(newVal));
     return returnvalue::OK;
+  } else if ((domainId == 0) and
+             (uniqueIdentifier == static_cast<uint8_t>(com::ParameterId::TRANSMITTER_TIMEOUT))) {
+    uint32_t newVal = 0;
+    ReturnValue_t result = newValues->getElement(&newVal);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    parameterWrapper->set(transmitterTimeout);
+    transmitterTimeout = newVal;
+    transmitterCountdown.setTimeout(transmitterTimeout);
+    return returnvalue::OK;
   }
   return returnvalue::OK;
 }
@@ -44,5 +78,121 @@ ReturnValue_t ComSubsystem::initialize() {
   if (result != returnvalue::OK) {
     return result;
   }
+  EventManagerIF *manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  if (manager == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "ComSubsystem::initialize: Invalid event manager" << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  result = manager->registerListener(eventQueue->getId());
+  if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "ComSubsystem::initialize: Failed to register Com Subsystem as event "
+                    "listener"
+                 << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  result = manager->subscribeToEventRange(eventQueue->getId(),
+                                          event::getEventId(PdecHandler::CARRIER_LOCK),
+                                          event::getEventId(PdecHandler::BIT_LOCK_PDEC));
+  if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "ComSubsystem::initialize: Failed to subscribe to events from PDEC "
+                  "handler"
+               << std::endl;
+#endif
+    return result;
+  }
   return Subsystem::initialize();
 }
+
+void ComSubsystem::startTransition(Mode_t mode, Submode_t submode) {
+  // Depending on the submode the transmitter timeout is enabled or
+  // disabled here
+  if (mode == com::Submode::RX_ONLY) {
+    transmitterCountdown.timeOut();
+    countdownActive = false;
+  } else if (isTxMode(mode)) {
+    // Only start transmitter countdown if transmitter is not already on
+    if (not isTxMode(this->mode)) {
+      transmitterCountdown.resetTimer();
+      countdownActive = true;
+    }
+  }
+  Subsystem::startTransition(mode, submode);
+}
+
+void ComSubsystem::readEventQueue() {
+  EventMessage event;
+  for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
+       result = eventQueue->receiveMessage(&event)) {
+    switch (event.getMessageId()) {
+      case EventMessage::EVENT_MESSAGE:
+        handleEventMessage(&event);
+        break;
+      default:
+        sif::debug << "CcsdsHandler::checkEvents: Did not subscribe to this event message"
+                   << std::endl;
+        break;
+    }
+  }
+}
+
+void ComSubsystem::handleEventMessage(EventMessage *eventMessage) {
+  Event event = eventMessage->getEvent();
+  switch (event) {
+    case PdecHandler::BIT_LOCK_PDEC: {
+      handleBitLockEvent();
+      break;
+    }
+    case PdecHandler::CARRIER_LOCK: {
+      handleCarrierLockEvent();
+      break;
+    }
+    default:
+      sif::debug << "ComSubsystem::handleEvent: Did not subscribe to this event" << std::endl;
+      break;
+  }
+}
+
+void ComSubsystem::handleBitLockEvent() {
+  if (isTxMode(mode)) {
+    // Tx already on
+    return;
+  }
+  if (isInTransition) {
+    rememberBitLock = true;
+    return;
+  }
+  startRxAndTxLowRateSeq();
+}
+
+void ComSubsystem::handleCarrierLockEvent() {
+  if (!enableTxWhenCarrierLock) {
+    return;
+  }
+  startRxAndTxLowRateSeq();
+}
+
+void ComSubsystem::startRxAndTxLowRateSeq() {
+  // Turns transmitter on
+  startTransition(com::Submode::RX_AND_TX_LOW_DATARATE, SUBMODE_NONE);
+}
+
+void ComSubsystem::checkTransmitterCountdown() {
+  if (transmitterCountdown.hasTimedOut()) {
+    startTransition(com::Submode::RX_ONLY, SUBMODE_NONE);
+    countdownActive = false;
+  }
+}
+
+bool ComSubsystem::isTxMode(Mode_t mode) {
+  if ((mode == com::Submode::RX_AND_TX_DEFAULT_DATARATE) ||
+      (mode == com::Submode::RX_AND_TX_LOW_DATARATE) ||
+      (mode == com::Submode::RX_AND_TX_HIGH_DATARATE)) {
+    return true;
+  }
+  return false;
+}

mission/system/objects/ComSubsystem.h

@@ -1,6 +1,7 @@
 #ifndef MISSION_SYSTEM_COMSUBSYSTEM_H_
 #define MISSION_SYSTEM_COMSUBSYSTEM_H_
 
+#include <fsfw/events/EventMessage.h>
 #include <fsfw/parameters/HasParametersIF.h>
 #include <fsfw/parameters/ParameterHelper.h>
 #include <fsfw/subsystem/Subsystem.h>
@@ -9,21 +10,71 @@
 
 class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
  public:
-  ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
+  /**
+   * @brief Constructor
+   *
+   * @param setObjectId
+   * @param maxNumberOfSequences
+   * @param maxNumberOfTables
+   * @param transmitterTimeout	Maximum time the transmitter of the syrlinks
+   * 														will
+   * be enabled
+   */
+  ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables,
+               uint32_t transmitterTimeout);
   virtual ~ComSubsystem() = default;
 
   MessageQueueId_t getCommandQueue() const override;
   ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
                              ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
                              uint16_t startAtIndex) override;
+  virtual void performChildOperation() override;
 
  private:
+  static const Mode_t INITIAL_MODE = 0;
+
   ReturnValue_t handleCommandMessage(CommandMessage *message) override;
 
   ReturnValue_t initialize() override;
 
+  void startTransition(Mode_t mode, Submode_t submode) override;
+
+  void readEventQueue();
+  void handleEventMessage(EventMessage *eventMessage);
+  void handleBitLockEvent();
+  void handleCarrierLockEvent();
+  void checkTransmitterCountdown();
+  /**
+   * @brief	Enables transmitter in low rate mode
+   */
+  void startRxAndTxLowRateSeq();
+
+  /**
+   * @brief	Returns true if mode is a mode where the transmitter is on
+   */
+  bool isTxMode(Mode_t mode);
+
   uint8_t datarateCfg = static_cast<uint8_t>(com::Datarate::LOW_RATE_MODULATION_BPSK);
+  // Maximum time after which the transmitter will be turned of. This is a
+  // protection mechanism due prevent the syrlinks from overheating
+  uint32_t transmitterTimeout = 0;
   ParameterHelper paramHelper;
+
+  MessageQueueIF *eventQueue = nullptr;
+
+  bool enableTxWhenCarrierLock = false;
+
+  // Countdown will be started as soon as the transmitter was enabled
+  Countdown transmitterCountdown;
+
+  // Transmitter countdown only active when sysrlinks transmitter is on (modes:
+  // rx and tx low rate, rx and tx high rate, rx and tx default rate)
+  bool countdownActive = false;
+
+  // True when bit lock occurred while COM subsystem is in a transition. This
+  // variable is used to remember the bit lock and execute the default rate
+  // sequence after the active transition has been completed
+  bool rememberBitLock = false;
 };
 
 #endif /* MISSION_SYSTEM_COMSUBSYSTEM_H_ */

mission/system/objects/Stack5VHandler.h

@@ -10,6 +10,7 @@ enum class HandlerState { SWITCH_PENDING, IDLE };
 
 class Stack5VHandler {
  public:
+  //! [EXPORT] : [SKIP]
   static constexpr ReturnValue_t BUSY = returnvalue::makeCode(1, 0);
   Stack5VHandler(PowerSwitchIF& switcher);
 

mission/system/objects/SusAssembly.h

@@ -50,8 +50,6 @@ class SusAssembly : public DualLaneAssemblyBase {
 
   SusAssHelper helper;
   PowerSwitchIF* pwrSwitcher = nullptr;
-  bool tryingOtherSide = false;
-  bool dualModeErrorSwitch = true;
   ReturnValue_t initialize() override;
 
   // AssemblyBase overrides

mission/system/tree/comModeTree.cpp

@@ -1,6 +1,5 @@
 #include "comModeTree.h"
 
-#include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/modes/HasModesIF.h>
 #include <fsfw/returnvalues/returnvalue.h>
 #include <fsfw/subsystem/Subsystem.h>
@@ -11,7 +10,8 @@
 
 const auto check = subsystem::checkInsert;
 
-ComSubsystem satsystem::com::SUBSYSTEM = ComSubsystem(objects::COM_SUBSYSTEM, 12, 24);
+ComSubsystem satsystem::com::SUBSYSTEM =
+    ComSubsystem(objects::COM_SUBSYSTEM, 12, 24, TRANSMITTER_TIMEOUT);
 
 static const auto OFF = HasModesIF::MODE_OFF;
 static const auto ON = HasModesIF::MODE_ON;
@@ -19,39 +19,48 @@ static const auto NML = DeviceHandlerIF::MODE_NORMAL;
 
 auto COM_SEQUENCE_RX_ONLY =
     std::make_pair(::com::Submode::RX_ONLY, FixedArrayList<ModeListEntry, 3>());
-auto COM_TABLE_RX_ONLY_TGT =
-    std::make_pair((::com::Submode::RX_ONLY << 24) | 1, FixedArrayList<ModeListEntry, 3>());
-auto COM_TABLE_RX_ONLY_TRANS_0 =
-    std::make_pair((::com::Submode::RX_ONLY << 24) | 2, FixedArrayList<ModeListEntry, 3>());
-auto COM_TABLE_RX_ONLY_TRANS_1 =
-    std::make_pair((::com::Submode::RX_ONLY << 24) | 3, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_ONLY_TGT = std::make_pair(
+    static_cast<uint32_t>(::com::Submode::RX_ONLY << 24) | 1, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_ONLY_TRANS_0 = std::make_pair(
+    static_cast<uint32_t>(::com::Submode::RX_ONLY << 24) | 2, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_ONLY_TRANS_1 = std::make_pair(
+    static_cast<uint32_t>(::com::Submode::RX_ONLY << 24) | 3, FixedArrayList<ModeListEntry, 3>());
 
 auto COM_SEQUENCE_RX_AND_TX_LOW_RATE =
     std::make_pair(::com::Submode::RX_AND_TX_LOW_DATARATE, FixedArrayList<ModeListEntry, 3>());
-auto COM_TABLE_RX_AND_TX_LOW_RATE_TGT = std::make_pair(
-    (::com::Submode::RX_AND_TX_LOW_DATARATE << 24) | 1, FixedArrayList<ModeListEntry, 3>());
-auto COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0 = std::make_pair(
-    (::com::Submode::RX_AND_TX_LOW_DATARATE << 24) | 2, FixedArrayList<ModeListEntry, 3>());
-auto COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1 = std::make_pair(
-    (::com::Submode::RX_AND_TX_LOW_DATARATE << 24) | 3, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_LOW_RATE_TGT =
+    std::make_pair(static_cast<uint32_t>(::com::Submode::RX_AND_TX_LOW_DATARATE << 24) | 1,
+                   FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0 =
+    std::make_pair(static_cast<uint32_t>(::com::Submode::RX_AND_TX_LOW_DATARATE << 24) | 2,
+                   FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1 =
+    std::make_pair(static_cast<uint32_t>(::com::Submode::RX_AND_TX_LOW_DATARATE << 24) | 3,
+                   FixedArrayList<ModeListEntry, 3>());
 
 auto COM_SEQUENCE_RX_AND_TX_HIGH_RATE =
     std::make_pair(::com::Submode::RX_AND_TX_HIGH_DATARATE, FixedArrayList<ModeListEntry, 3>());
-auto COM_TABLE_RX_AND_TX_HIGH_RATE_TGT = std::make_pair(
-    (::com::Submode::RX_AND_TX_HIGH_DATARATE << 24) | 1, FixedArrayList<ModeListEntry, 3>());
-auto COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0 = std::make_pair(
-    (::com::Submode::RX_AND_TX_HIGH_DATARATE << 24) | 2, FixedArrayList<ModeListEntry, 3>());
-auto COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1 = std::make_pair(
-    (::com::Submode::RX_AND_TX_HIGH_DATARATE << 24) | 3, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_HIGH_RATE_TGT =
+    std::make_pair(static_cast<uint32_t>(::com::Submode::RX_AND_TX_HIGH_DATARATE << 24) | 1,
+                   FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0 =
+    std::make_pair(static_cast<uint32_t>(::com::Submode::RX_AND_TX_HIGH_DATARATE << 24) | 2,
+                   FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1 =
+    std::make_pair(static_cast<uint32_t>(::com::Submode::RX_AND_TX_HIGH_DATARATE << 24) | 3,
+                   FixedArrayList<ModeListEntry, 3>());
 
 auto COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE =
     std::make_pair(::com::Submode::RX_AND_TX_DEFAULT_DATARATE, FixedArrayList<ModeListEntry, 3>());
-auto COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT = std::make_pair(
-    (::com::Submode::RX_AND_TX_DEFAULT_DATARATE << 24) | 1, FixedArrayList<ModeListEntry, 3>());
-auto COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_0 = std::make_pair(
-    (::com::Submode::RX_AND_TX_DEFAULT_DATARATE << 24) | 2, FixedArrayList<ModeListEntry, 3>());
-auto COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1 = std::make_pair(
-    (::com::Submode::RX_AND_TX_DEFAULT_DATARATE << 24) | 3, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT =
+    std::make_pair(static_cast<uint32_t>(::com::Submode::RX_AND_TX_DEFAULT_DATARATE << 24) | 1,
+                   FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_0 =
+    std::make_pair(static_cast<uint32_t>(::com::Submode::RX_AND_TX_DEFAULT_DATARATE << 24) | 2,
+                   FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1 =
+    std::make_pair(static_cast<uint32_t>(::com::Submode::RX_AND_TX_DEFAULT_DATARATE << 24) | 3,
+                   FixedArrayList<ModeListEntry, 3>());
 
 namespace {
 
@@ -68,7 +77,7 @@ Subsystem& satsystem::com::init() {
   buildTxAndRxLowRateSequence(SUBSYSTEM, entry);
   buildTxAndRxHighRateSequence(SUBSYSTEM, entry);
   buildTxAndRxDefaultRateSequence(SUBSYSTEM, entry);
-  SUBSYSTEM.setInitialMode(NML, ::com::Submode::RX_ONLY);
+  SUBSYSTEM.setInitialMode(COM_SEQUENCE_RX_ONLY.first);
   return SUBSYSTEM;
 }
 
@@ -95,7 +104,7 @@ void buildRxOnlySequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build RX Only table. We could track the state of the CCSDS IP core handler
   // as well but I do not think this is necessary because enabling that should
-  // not intefere with the Syrlinks Handler.
+  // not interfere with the Syrlinks Handler.
   iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TGT.second);
   check(ss.addTable(TableEntry(COM_TABLE_RX_ONLY_TGT.first, &COM_TABLE_RX_ONLY_TGT.second)), ctxc);
 

mission/system/tree/comModeTree.h

@@ -1,6 +1,7 @@
 #ifndef MISSION_SYSTEM_TREE_COMMODETREE_H_
 #define MISSION_SYSTEM_TREE_COMMODETREE_H_
 
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <mission/system/objects/ComSubsystem.h>
 
 namespace satsystem {
@@ -8,6 +9,11 @@ namespace satsystem {
 namespace com {
 extern ComSubsystem SUBSYSTEM;
 
+// The syrlinks must not transmitting longer then 15 minutes otherwise the
+// transceiver might be damaged due to overheating
+// 15 minutes in milliseconds
+static const uint32_t TRANSMITTER_TIMEOUT = 900000;
+
 Subsystem& init();
 }  // namespace com
 

mission/system/tree/system.cpp

@@ -7,6 +7,7 @@
 #include "acsModeTree.h"
 #include "comModeTree.h"
 #include "eive/objects.h"
+#include "mission/comDefs.h"
 #include "payloadModeTree.h"
 #include "tcsModeTree.h"
 #include "util.h"
@@ -85,6 +86,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
   // Build SAFE transition 0. Two transitions to reduce number of consecutive events and because
   // consecutive commanding of TCS and ACS can lead to SPI issues.
   iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second);
+  iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_SAFE_TRANS_0.second);
   check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_0.first, &EIVE_TABLE_SAFE_TRANS_0.second)),
         ctxc);
 

mission/tmtc/CcsdsIpCoreHandler.cpp

@@ -1,12 +1,10 @@
 #include "CcsdsIpCoreHandler.h"
 
 #include <fsfw/subsystem/helper.h>
-#include <linux/ipcore/PdecHandler.h>
 #include <linux/ipcore/PtmeConfig.h>
 #include <mission/config/comCfg.h>
 
 #include "eive/definitions.h"
-#include "fsfw/events/EventManagerIF.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serialize/SerializeAdapter.h"
@@ -16,8 +14,7 @@
 
 CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t ptmeId,
                                        object_id_t tcDestination, PtmeConfig* ptmeConfig,
-                                       GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData,
-                                       uint32_t transmitterTimeout)
+                                       GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData)
     : SystemObject(objectId),
       ptmeId(ptmeId),
       tcDestination(tcDestination),
@@ -27,8 +24,7 @@ CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t ptmeId,
       ptmeConfig(ptmeConfig),
       gpioIF(gpioIF),
       enTxClock(enTxClock),
-      enTxData(enTxData),
-      transmitterTimeout(transmitterTimeout) {
+      enTxData(enTxData) {
   commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
   auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
   eventQueue =
@@ -38,11 +34,9 @@ CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t ptmeId,
 CcsdsIpCoreHandler::~CcsdsIpCoreHandler() {}
 
 ReturnValue_t CcsdsIpCoreHandler::performOperation(uint8_t operationCode) {
-  checkEvents();
   readCommandQueue();
   handleTelemetry();
   handleTelecommands();
-  checkTxTimer();
   return returnvalue::OK;
 }
 
@@ -98,46 +92,11 @@ ReturnValue_t CcsdsIpCoreHandler::initialize() {
     iter->second->setPtmeObject(ptme);
   }
 
-  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
-  if (manager == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "CcsdsHandler::initialize: Invalid event manager" << std::endl;
-#endif
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-  result = manager->registerListener(eventQueue->getId());
-  if (result != returnvalue::OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "CcsdsHandler::initialize: Failed to register CCSDS handler as event "
-                    "listener"
-                 << std::endl;
-#endif
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-    ;
-  }
-  result = manager->subscribeToEventRange(eventQueue->getId(),
-                                          event::getEventId(PdecHandler::CARRIER_LOCK),
-                                          event::getEventId(PdecHandler::BIT_LOCK_PDEC));
-  if (result != returnvalue::OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "CcsdsHandler::initialize: Failed to subscribe to events from PDEC "
-                  "handler"
-               << std::endl;
-#endif
-    return result;
-  }
   result = ptmeConfig->initialize();
   if (result != returnvalue::OK) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
-  if (result != returnvalue::OK) {
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  transmitterCountdown.setTimeout(transmitterTimeout);
-  transmitterCountdown.timeOut();
-
 #if OBSW_SYRLINKS_SIMULATED == 1
   // Update data on rising edge
   ptmeConfig->invertTxClock(false);
@@ -286,54 +245,6 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu
   return EXECUTION_FINISHED;
 }
 
-void CcsdsIpCoreHandler::checkEvents() {
-  EventMessage event;
-  for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
-       result = eventQueue->receiveMessage(&event)) {
-    switch (event.getMessageId()) {
-      case EventMessage::EVENT_MESSAGE:
-        handleEvent(&event);
-        break;
-      default:
-        sif::debug << "CcsdsHandler::checkEvents: Did not subscribe to this event message"
-                   << std::endl;
-        break;
-    }
-  }
-}
-
-void CcsdsIpCoreHandler::handleEvent(EventMessage* eventMessage) {
-  Event event = eventMessage->getEvent();
-  switch (event) {
-    case PdecHandler::BIT_LOCK_PDEC: {
-      handleBitLockEvent();
-      break;
-    }
-    case PdecHandler::CARRIER_LOCK: {
-      handleCarrierLockEvent();
-      break;
-    }
-    default:
-      sif::debug << "CcsdsHandler::handleEvent: Did not subscribe to this event" << std::endl;
-      break;
-  }
-}
-
-void CcsdsIpCoreHandler::handleBitLockEvent() {
-  if (transmitterCountdown.isBusy()) {
-    // Transmitter already enabled
-    return;
-  }
-  enableTransmit();
-}
-
-void CcsdsIpCoreHandler::handleCarrierLockEvent() {
-  if (!enableTxWhenCarrierLock) {
-    return;
-  }
-  enableTransmit();
-}
-
 void CcsdsIpCoreHandler::forwardLinkstate() {
   VirtualChannelMapIter iter;
   for (iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
@@ -342,27 +253,12 @@ void CcsdsIpCoreHandler::forwardLinkstate() {
 }
 
 void CcsdsIpCoreHandler::enableTransmit() {
-  if (transmitterCountdown.isBusy()) {
-    // Transmitter already enabled
-    return;
-  }
 #ifndef TE0720_1CFA
   gpioIF->pullHigh(enTxClock);
   gpioIF->pullHigh(enTxData);
 #endif
   linkState = UP;
   forwardLinkstate();
-  transmitterCountdown.resetTimer();
-}
-
-void CcsdsIpCoreHandler::checkTxTimer() {
-  if (linkState == DOWN) {
-    return;
-  }
-  if (transmitterCountdown.hasTimedOut()) {
-    disableTransmit();
-    // TODO: set mode to off (move timer to subsystem)
-  }
 }
 
 void CcsdsIpCoreHandler::getMode(Mode_t* mode, Submode_t* submode) {
@@ -431,7 +327,6 @@ void CcsdsIpCoreHandler::disableTransmit() {
 #endif
   linkState = DOWN;
   forwardLinkstate();
-  transmitterCountdown.timeOut();
 }
 
 const char* CcsdsIpCoreHandler::getName() const { return "CCSDS Handler"; }

mission/tmtc/CcsdsIpCoreHandler.h

@@ -59,8 +59,7 @@ class CcsdsIpCoreHandler : public SystemObject,
    * @param enTxData  GPIO ID of RS485 tx data enable
    */
   CcsdsIpCoreHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination,
-                     PtmeConfig* ptmeConfig, GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData,
-                     uint32_t transmitterTimeout = 900000);
+                     PtmeConfig* ptmeConfig, GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData);
 
   ~CcsdsIpCoreHandler();
 
@@ -154,29 +153,16 @@ class CcsdsIpCoreHandler : public SystemObject,
   PtmeConfig* ptmeConfig = nullptr;
 
   GpioIF* gpioIF = nullptr;
+  // GPIO to enable RS485 transceiver for TX clock
   gpioId_t enTxClock = gpio::NO_GPIO;
+  // GPIO to enable RS485 transceiver for TX data signal
   gpioId_t enTxData = gpio::NO_GPIO;
 
-  // Syrlinks must not be transmitting more than 15 minutes (according to datasheet)
-  // Value initialized by constructor argument
-  const uint32_t transmitterTimeout = 0;
-
-  // Countdown to disable transmitter after 15 minutes
-  Countdown transmitterCountdown;
-
-  // When true transmitting is started as soon as carrier lock has been detected
-  bool enableTxWhenCarrierLock = false;
-
   bool linkState = DOWN;
 
   void readCommandQueue(void);
   void handleTelemetry();
   void handleTelecommands();
-  void checkEvents();
-  void handleEvent(EventMessage* eventMessage);
-
-  void handleBitLockEvent();
-  void handleCarrierLockEvent();
 
   /**
    * @brief    Forward link state to virtual channels.
@@ -188,12 +174,6 @@ class CcsdsIpCoreHandler : public SystemObject,
    */
   void enableTransmit();
 
-  /**
-   * @brief   Checks Tx timer for timeout and disables RS485 tx clock and tx data in case
-   *          timer has expired.
-   */
-  void checkTxTimer();
-
   /**
    * @brief   Disables the transmitter by pulling the enable tx clock and tx data pin of the
    *          RS485 transceiver chips to high.

mission/tmtc/CfdpTmFunnel.cpp

@@ -12,6 +12,7 @@ const char* CfdpTmFunnel::getName() const { return "CFDP TM Funnel"; }
 
 ReturnValue_t CfdpTmFunnel::performOperation(uint8_t) {
   TmTcMessage currentMessage;
+  unsigned int count = 0;
   ReturnValue_t status = tmQueue->receiveMessage(&currentMessage);
   while (status == returnvalue::OK) {
     status = handlePacket(currentMessage);
@@ -19,6 +20,11 @@ ReturnValue_t CfdpTmFunnel::performOperation(uint8_t) {
       sif::warning << "CfdpTmFunnel packet handling failed" << std::endl;
       break;
     }
+    count++;
+    if (count == 500) {
+      sif::error << "CfdpTmFunnel: Possible message storm detected" << std::endl;
+      break;
+    }
     status = tmQueue->receiveMessage(&currentMessage);
   }
 
@@ -53,16 +59,19 @@ ReturnValue_t CfdpTmFunnel::handlePacket(TmTcMessage& msg) {
 #endif
     return result;
   }
-  size_t serSize = 0;
-  result =
-      spacePacketHeader.serializeBe(&newPacketData, &serSize, spacePacketHeader.getFullPacketLen());
+
+  size_t packetLen = 0;
+  uint8_t* serPtr = newPacketData;
+  result = spacePacketHeader.serializeBe(&serPtr, &packetLen, spacePacketHeader.getFullPacketLen());
   if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "CfdpTmFunnel::handlePacket: Error serializing packet" << std::endl;
 #endif
     return result;
   }
-  std::memcpy(newPacketData, cfdpPacket, cfdpPacketLen);
+  std::memcpy(serPtr, cfdpPacket, cfdpPacketLen);
+  packetLen += cfdpPacketLen;
+
   // Delete old packet
   tmStore.deleteData(msg.getStorageId());
   msg.setStorageId(newStoreId);
@@ -74,14 +83,16 @@ ReturnValue_t CfdpTmFunnel::handlePacket(TmTcMessage& msg) {
         // Create copy of data to ensure each TM recipient has its own copy. That way, we don't need
         // to bother with send order and where the data is deleted.
         store_address_t storeId;
-        result = tmStore.addData(&storeId, newPacketData, serSize);
+        result = tmStore.addData(&storeId, newPacketData, packetLen);
         if (result == returnvalue::OK) {
           msg.setStorageId(storeId);
         } else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::error << "PusTmFunnel::handlePacket: Store too full to create data copy"
+          sif::error << "PusTmFunnel::handlePacket: Store too full to create data copy or store "
+                        "error"
                      << std::endl;
 #endif
+          break;
         }
       } else {
         msg.setStorageId(origStoreId);

mission/tmtc/PusTmFunnel.cpp

@@ -12,6 +12,7 @@ PusTmFunnel::~PusTmFunnel() = default;
 
 ReturnValue_t PusTmFunnel::performOperation(uint8_t) {
   TmTcMessage currentMessage;
+  unsigned int count = 0;
   ReturnValue_t status = tmQueue->receiveMessage(&currentMessage);
   while (status == returnvalue::OK) {
     status = handlePacket(currentMessage);
@@ -19,6 +20,11 @@ ReturnValue_t PusTmFunnel::performOperation(uint8_t) {
       sif::warning << "TmFunnel packet handling failed" << std::endl;
       break;
     }
+    count++;
+    if (count == 500) {
+      sif::error << "PusTmFunnel: Possible message storm detected" << std::endl;
+      break;
+    }
     status = tmQueue->receiveMessage(&currentMessage);
   }
 

mission/tmtc/VirtualChannel.cpp

@@ -28,6 +28,7 @@ ReturnValue_t VirtualChannel::performOperation() {
   ReturnValue_t result = returnvalue::OK;
   TmTcMessage message;
 
+  unsigned int count = 0;
   while (tmQueue->receiveMessage(&message) == returnvalue::OK) {
     store_address_t storeId = message.getStorageId();
     const uint8_t* data = nullptr;
@@ -43,12 +44,16 @@ ReturnValue_t VirtualChannel::performOperation() {
     if (linkIsUp) {
       result = ptme->writeToVc(vcId, data, size);
     }
-
     tmStore->deleteData(storeId);
-
     if (result != returnvalue::OK) {
       return result;
     }
+
+    count++;
+    if (count == 500) {
+      sif::error << "VirtualChannel: Possible message storm detected" << std::endl;
+      break;
+    }
   }
   return result;
 }