Merge pull request 'unfassbar' (#513) from unfassbar into develop

Reviewed-on: #513

CHANGELOG.md

@@ -16,6 +16,75 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v1.39.1] 2023-03-22
+
+## Fixed
+
+- Bugfix for STR: Some action commands wrongfully declined.
+- STR: No normal command handling while a special request like an image upload is active.
+- RS485 data line was not enabled when the transmitter was switched on.
+
+# [v1.39.0] 2023-03-21
+
+Requires firmware update for new FPGA design where reset line is routed into the software.
+2 relevant PRs:
+ - https://egit.irs.uni-stuttgart.de/eive/q7s-vivado/pulls/53
+ - https://egit.irs.uni-stuttgart.de/eive/q7s-vivado/pulls/54
+
+eive-tmtc: v2.19.3
+
+## Added
+
+- Added NaN and Inf check for the `MEKF`. If these are detected, the `AcsController` will reset
+  the `MEKF` on its own once. This way, there will not be an event spam and operators will have
+  to look into the reason of wrong outputs. To restore the reset ability, an action command has
+  been added.
+- Contingency handling for non-working I2C bus bug. Reboot the system if the I2C is not working.
+
+## Fixed
+
+- Fixed transition for dual power lane assemblies: When going from dual side submode to single side
+  submode, perform logical commanding first, similarly to when going to OFF mode.
+- GPS time is only set to valid if at least one satellite is in view.
+
+## Changed
+
+- Bugfixes for STR mode transitions: Booting to mode ON with submode FIRMWARE now works properly.
+  Furthermore, the submode in the NORMAL mode now should be 0 instead of some ON mode submode.
+- Updated GYR bias values to newest measurements. This also corrects the ADIS values to always
+  consit of just one digit.
+- The CCSDS IP core handler now exposes a parameter to enable the priority select mode
+  for the PTME core. This mode prioritizes virtual channels with a lower index, so for example
+  the virtual channel (VC0) will have the highest priority, while VC3 will have the lowestg
+  priority. This mode will be enabled by default for now, but can be set via the parameter IF with
+  the unique parameter ID 0. The update of this mode requires a PTME reset. Therefore, it will only
+  be performed when the transmitter is off to avoid weird bugs.
+- Connect and handle reset line for the PTME core in the software now.
+- Safe mode controller failure event now only triggers once per minute.
+
+# [v1.38.0] 2023-03-17
+
+eive-tmtc: v2.19.2
+
+## Fixed
+
+- SA deployment file handling: Use exceptionless API.
+- Fix deadlock in SD card manager constructor: Double lock of preferred SD card lock.
+
+## Added
+
+- Failure of Safe Mode Ctrl will now trigger an event. As this can only be caused by sensors not
+  being in the correct mode, the assemblies should take care that this will never happen and no
+  additional FDIR is needed.
+
+## Changed
+
+- Telemetry relevant datasets for the RWs are now set invalid and partially reset on shotdown.
+- I2C PST now has a polling frequency of 0.4 seconds instead of 0.2 seconds.
+- GS PST now has a polling frequency of 0.5 seconds instead of 1 second.
+- Bump FSFW: merged upstream.
+- Move BPX battery scheduling to ACS PST to avoid clashes with IMTQ scheduling / polling
+
 # [v1.37.2] 2023-03-14
 
 - Changed `PoolManager` bugfix implementation in the FSFW.
@@ -30,6 +99,8 @@ eive-tmtc: v2.19.1
 ## Added
 
 - Added `EXECUTE_SHELL_CMD` action command for `CoreController` to execute arbitrary Linux commands.
+- Added some missing PLOC commands.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/462
 - Add `PcduHandlerDummy` component.
 - Added parameter for timeout until `MEKF_INVALID_MODE_VIOLATION` event is triggered.
 
@@ -53,6 +124,17 @@ eive-tmtc: v2.19.1
 - Set `OBSW_ADD_TCS_CTRL` to 1. Always add TCS controller now for both EM and FM.
 - generators module: Bump `fsfwgen` dependency to v0.3.1. The returnvalue CSV files are now sorted.
 - generators module: Always generate subsystem ID CSV files now.
+- The COM subsystem is now not commanded by the EIVE system anymore. Instead,
+  a separate RX_ONLY mode command will be sent at OBSW boot. After that,
+  commanding is done autonomously by the COM subsystem internally or by the operator. This prevents
+  the transmitter from going off during fallbacks to the SAFE mode, which might not always be
+  desired.
+- Initialize switch states to a special `SWITCH_STATE_UNKNOWN` (2) variable. Return
+  `PowerSwitchIF::SWITCH_UNKNOWN` in switch state getter if this is the state.
+- Wait 1 second before commanding SAFE mode. This ensures or at least increases the chance that
+  the switch states were initialized.
+- Dual Lane Assemblies: The returnvalues of the dual lane power state machine FSM are not ignored
+  anymore.
 
 # [v1.37.0] 2023-03-11
 

CMakeLists.txt

@@ -10,8 +10,8 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 1)
-set(OBSW_VERSION_MINOR 37)
-set(OBSW_VERSION_REVISION 2)
+set(OBSW_VERSION_MINOR 39)
+set(OBSW_VERSION_REVISION 1)
 
 # set(CMAKE_VERBOSE TRUE)
 

automation/Jenkinsfile

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

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 277 translations.
+ * @brief    Auto-generated event translation file. Contains 279 translations.
  * @details
- * Generated on: 2023-03-14 17:08:41
+ * Generated on: 2023-03-21 23:59:36
  */
 #include "translateEvents.h"
 
@@ -97,6 +97,7 @@ 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 *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -259,6 +260,7 @@ const char *VERSION_INFO_STRING = "VERSION_INFO";
 const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
 const char *REBOOT_COUNTER_STRING = "REBOOT_COUNTER";
 const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
+const char *I2C_UNAVAILABLE_REBOOT_STRING = "I2C_UNAVAILABLE_REBOOT";
 const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
 const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
 const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
@@ -464,6 +466,8 @@ const char *translateEvents(Event event) {
       return MEKF_INVALID_INFO_STRING;
     case (11204):
       return MEKF_INVALID_MODE_VIOLATION_STRING;
+    case (11205):
+      return SAFE_MODE_CONTROLLER_FAILURE_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -788,6 +792,8 @@ const char *translateEvents(Event event) {
       return REBOOT_COUNTER_STRING;
     case (14008):
       return INDIVIDUAL_BOOT_COUNTS_STRING;
+    case (14010):
+      return I2C_UNAVAILABLE_REBOOT_STRING;
     case (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 169 translations.
- * Generated on: 2023-03-14 17:08:41
+ * Generated on: 2023-03-21 23:59:36
  */
 #include "translateObjects.h"
 

bsp_q7s/boardconfig/busConf.h

@@ -90,6 +90,8 @@ static constexpr char PAPB_BUSY_SIGNAL_VC2[] = "papb_busy_signal_vc2";
 static constexpr char PAPB_EMPTY_SIGNAL_VC2[] = "papb_empty_signal_vc2";
 static constexpr char PAPB_BUSY_SIGNAL_VC3[] = "papb_busy_signal_vc3";
 static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3";
+static constexpr char PTME_RESETN[] = "ptme_resetn";
+
 static constexpr char RS485_EN_TX_CLOCK[] = "tx_clock_enable_ltc2872";
 static constexpr char RS485_EN_TX_DATA[] = "tx_data_enable_ltc2872";
 static constexpr char RS485_EN_RX_CLOCK[] = "rx_clock_enable_ltc2872";

bsp_q7s/core/CoreController.cpp

@@ -31,14 +31,15 @@
 xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
 xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
 
-CoreController::CoreController(object_id_t objectId)
+CoreController::CoreController(object_id_t objectId, const std::atomic_uint16_t &i2cErrors)
     : ExtendedControllerBase(objectId, 5),
       cmdExecutor(4096),
       cmdReplyBuf(4096, true),
       cmdRepliesSizes(128),
       opDivider5(5),
       opDivider10(10),
-      hkSet(this) {
+      hkSet(this),
+      i2cErrors(i2cErrors) {
   cmdExecutor.setRingBuffer(&cmdReplyBuf, &cmdRepliesSizes);
   try {
     sdcMan = SdCardManager::instance();
@@ -107,6 +108,12 @@ void CoreController::performControlOperation() {
   sdStateMachine();
   performMountedSdCardOperations();
   readHkData();
+  if (i2cErrors >= 5) {
+    bool protOpPerformed = false;
+    triggerEvent(I2C_UNAVAILABLE_REBOOT);
+    gracefulShutdownTasks(CURRENT_CHIP, CURRENT_COPY, protOpPerformed);
+    std::system("xsc_boot_copy -r");
+  }
   if (shellCmdIsExecuting) {
     bool replyReceived = false;
     // TODO: We could read the data in the ring buffer and send it as an action data reply.

bsp_q7s/core/CoreController.h

@@ -6,6 +6,7 @@
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #include <libxiphos.h>
 
+#include <atomic>
 #include <cstddef>
 
 #include "CoreDefinitions.h"
@@ -131,8 +132,10 @@ class CoreController : public ExtendedControllerBase {
   //! P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1.
   //! P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.
   static constexpr Event INDIVIDUAL_BOOT_COUNTS = event::makeEvent(SUBSYSTEM_ID, 8, severity::INFO);
+  static constexpr Event I2C_UNAVAILABLE_REBOOT =
+      event::makeEvent(SUBSYSTEM_ID, 10, severity::MEDIUM);
 
-  CoreController(object_id_t objectId);
+  CoreController(object_id_t objectId, const std::atomic_uint16_t& i2cErrors);
   virtual ~CoreController();
 
   ReturnValue_t initialize() override;
@@ -262,6 +265,7 @@ class CoreController : public ExtendedControllerBase {
   PoolEntry<float> plVoltageEntry = PoolEntry<float>(0.0);
 
   core::HkSet hkSet;
+  const std::atomic_uint16_t& i2cErrors;
 
 #if OBSW_SD_CARD_MUST_BE_ON == 1
   bool remountAttemptFlag = true;

bsp_q7s/core/ObjectFactory.cpp

@@ -77,6 +77,8 @@ using gpio::Levels;
 #include <mission/devices/GyrAdis1650XHandler.h>
 #include <mission/devices/ImtqHandler.h>
 #include <mission/devices/PcduHandler.h>
+#include <mission/devices/Pdu1Handler.h>
+#include <mission/devices/Pdu2Handler.h>
 #include <mission/devices/SyrlinksHandler.h>
 #include <mission/devices/devicedefinitions/rwHelpers.h>
 #include <mission/tmtc/VirtualChannelWithQueue.h>
@@ -105,8 +107,6 @@ using gpio::Levels;
 #include "mission/devices/HeaterHandler.h"
 #include "mission/devices/Max31865PT1000Handler.h"
 #include "mission/devices/P60DockHandler.h"
-#include "mission/devices/PDU1Handler.h"
-#include "mission/devices/PDU2Handler.h"
 #include "mission/devices/PayloadPcduHandler.h"
 #include "mission/devices/RadiationSensorHandler.h"
 #include "mission/devices/RwHandler.h"
@@ -123,6 +123,7 @@ using gpio::Levels;
 
 ResetArgs RESET_ARGS_GNSS;
 std::atomic_bool LINK_STATE = CcsdsIpCoreHandler::LINK_DOWN;
+std::atomic_uint16_t I2C_FATAL_ERRORS = 0;
 
 void Factory::setStaticFrameworkObjectIds() {
   PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
@@ -196,17 +197,17 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
       new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie, p60Fdir);
 
   auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
-  PDU1Handler* pdu1handler =
-      new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
+  Pdu1Handler* pdu1handler =
+      new Pdu1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
 
   auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
-  PDU2Handler* pdu2handler =
-      new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
+  Pdu2Handler* pdu2handler =
+      new Pdu2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
 
   auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
   ACUHandler* acuhandler =
       new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir);
-  auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
+  auto pcduHandler = new PcduHandler(objects::PCDU_HANDLER, 50);
 
   /**
    * Setting PCDU devices to mode normal immediately after start up because PCDU is always
@@ -747,7 +748,13 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
   gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, "PAPB VC3");
   gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
+  // Initialise to low and then pull high to do a PTME reset, which puts the PTME in reset
+  // state. It will be put out of reset in the CCSDS handler initialize function.
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PTME_RESETN, "PTME RESETN",
+                                    gpio::Direction::OUT, gpio::Levels::LOW);
+  gpioCookiePtmeIp->addGpio(gpioIds::PTME_RESETN, gpio);
   gpioChecker(args.gpioComIF.addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
+
   // Creating virtual channel interfaces
   VirtualChannelIF* vc0 =
       new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY,
@@ -771,9 +778,14 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
       new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
   PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
 
-  *args.ipCoreHandler = new CcsdsIpCoreHandler(
-      objects::CCSDS_HANDLER, objects::CCSDS_PACKET_DISTRIBUTOR, *ptmeConfig, LINK_STATE,
-      &args.gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA);
+  PtmeGpios gpios;
+  gpios.enableTxClock = gpioIds::RS485_EN_TX_CLOCK;
+  gpios.enableTxData = gpioIds::RS485_EN_TX_DATA;
+  gpios.ptmeResetn = gpioIds::PTME_RESETN;
+
+  *args.ipCoreHandler =
+      new CcsdsIpCoreHandler(objects::CCSDS_HANDLER, objects::CCSDS_PACKET_DISTRIBUTOR, *ptmeConfig,
+                             LINK_STATE, &args.gpioComIF, gpios);
   // This VC will receive all live TM
   auto* vcWithQueue =
       new VirtualChannelWithQueue(objects::PTME_VC0_LIVE_TM, ccsds::VC0, "PTME VC0 LIVE TM", *ptme,
@@ -953,7 +965,7 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
   auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
   imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 
-  new ImtqPollingTask(objects::IMTQ_POLLING);
+  new ImtqPollingTask(objects::IMTQ_POLLING, I2C_FATAL_ERRORS);
   I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
   auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::IMTQ_POLLING, imtqI2cCookie,
                                      pcdu::Switches::PDU1_CH3_MGT_5V);

bsp_q7s/core/ObjectFactory.h

@@ -11,6 +11,7 @@
 #include <mission/tmtc/PersistentLogTmStoreTask.h>
 #include <mission/tmtc/PusTmFunnel.h>
 
+#include <atomic>
 #include <string>
 
 class LinuxLibgpioIF;
@@ -22,6 +23,8 @@ class HealthTableIF;
 class AcsBoardAssembly;
 class GpioIF;
 
+extern std::atomic_uint16_t I2C_FATAL_ERRORS;
+
 namespace ObjectFactory {
 
 struct CcsdsComponentArgs {

bsp_q7s/core/scheduling.cpp

@@ -486,8 +486,8 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 
 #if OBSW_ADD_I2C_TEST_CODE == 0
   FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-      "I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
-  result = pst::pstI2c(i2cPst);
+      "I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.4, missedDeadlineFunc);
+  result = pst::pstI2cProcessingSystem(i2cPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
       sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl;
@@ -500,7 +500,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 #endif
 
   FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
-      "GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
+      "GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
   result = pst::pstGompaceCan(gomSpacePstTask);
   if (result != returnvalue::OK) {
     if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {

bsp_q7s/em/emObjectFactory.cpp

@@ -66,7 +66,7 @@ void ObjectFactory::produce(void* args) {
 
   dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF);
 
-  new CoreController(objects::CORE_CONTROLLER);
+  new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS);
 
   // Regular FM code, does not work for EM if the hardware is not connected
   // createPcduComponents(gpioComIF, &pwrSwitcher);

bsp_q7s/fmObjectFactory.cpp

@@ -38,7 +38,7 @@ void ObjectFactory::produce(void* args) {
   q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
   gpioCallbacks::disableAllDecoder(gpioComIF);
 
-  new CoreController(objects::CORE_CONTROLLER);
+  new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS);
   createPcduComponents(gpioComIF, &pwrSwitcher);
   auto* stackHandler = new Stack5VHandler(*pwrSwitcher);
 

bsp_q7s/fs/SdCardManager.cpp

@@ -37,7 +37,6 @@ SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor
       sif::warning << "CoreController::sdCardInit: "
                       "Preferred SD card not set. Setting to 0"
                    << std::endl;
-      setPreferredSdCard(sd::SdCard::SLOT_0);
       scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sd::SdCard::SLOT_0));
       prefSdRaw = sd::SdCard::SLOT_0;
 

bsp_q7s/obsw.cpp

@@ -15,6 +15,7 @@
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/version.h"
 #include "mission/acsDefs.h"
+#include "mission/comDefs.h"
 #include "mission/system/tree/system.h"
 #include "q7sConfig.h"
 #include "watchdog/definitions.h"
@@ -66,6 +67,9 @@ int obsw::obsw(int argc, char* argv[]) {
 
   // Command the EIVE system to safe mode
 #if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
+  // This ensures that the PCDU switches were updated.
+  TaskFactory::delayTask(1000);
+  commandComSubsystemRxOnly();
   commandEiveSystemToSafe();
 #else
   announceAllModes();
@@ -116,7 +120,22 @@ void obsw::commandEiveSystemToSafe() {
   ReturnValue_t result =
       MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
   if (result != returnvalue::OK) {
-    sif::error << "Sending safe mode command to EIVE system failed" << std::endl;
+    sif::error << "obsw: Sending safe mode command to EIVE system failed" << std::endl;
+  }
+}
+
+void obsw::commandComSubsystemRxOnly() {
+  auto* comSs = ObjectManager::instance()->get<HasModesIF>(objects::COM_SUBSYSTEM);
+  if (comSs == nullptr) {
+    sif::error << "obsw: Could not retrieve COM subsystem object" << std::endl;
+    return;
+  }
+  CommandMessage msg;
+  ModeMessage::setCmdModeMessage(msg, com::RX_ONLY, 0);
+  ReturnValue_t result = MessageQueueSenderIF::sendMessage(comSs->getCommandQueue(), &msg,
+                                                           MessageQueueIF::NO_QUEUE, false);
+  if (result != returnvalue::OK) {
+    sif::error << "obsw: Sending RX_ONLY mode command to COM subsystem failed" << std::endl;
   }
 }
 
@@ -127,6 +146,6 @@ void obsw::announceAllModes() {
   ReturnValue_t result =
       MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
   if (result != returnvalue::OK) {
-    sif::error << "Sending safe mode command to EIVE system failed" << std::endl;
+    sif::error << "obsw: Sending safe mode command to EIVE system failed" << std::endl;
   }
 }

bsp_q7s/obsw.h

@@ -7,6 +7,7 @@ int obsw(int argc, char* argv[]);
 
 void bootDelayHandling();
 void commandEiveSystemToSafe();
+void commandComSubsystemRxOnly();
 void announceAllModes();
 
 };  // namespace obsw

common/config/devices/gpioIds.h

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

generators/bsp_hosted_events.csv

@@ -91,6 +91,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 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
+11205;0x2bc5;SAFE_MODE_CONTROLLER_FAILURE;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;No description;mission/devices/devicedefinitions/powerDefinitions.h
@@ -258,6 +259,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
 14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;bsp_q7s/core/CoreController.h
 14008;0x36b8;INDIVIDUAL_BOOT_COUNTS;INFO;Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.;bsp_q7s/core/CoreController.h
+14010;0x36ba;I2C_UNAVAILABLE_REBOOT;MEDIUM;No description;bsp_q7s/core/CoreController.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

generators/bsp_hosted_returnvalues.csv

@@ -190,8 +190,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 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
-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
+0x2401;MT_NoPacketFound;No description;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x2402;MT_PossiblePacketLoss;No description;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.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
@@ -370,8 +370,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 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
-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
+0x3f01;DLEE_StreamTooShort;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
+0x3f02;DLEE_DecodingError;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.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
@@ -401,9 +401,9 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 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;No description;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.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
+0x4500;HSPI_HalTimeoutRetval;No description;0;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4501;HSPI_HalBusyRetval;No description;1;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4502;HSPI_HalErrorRetval;No description;2;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.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
@@ -456,22 +456,28 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 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
+0x5da0;GOMS_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
+0x5da1;GOMS_InvalidRampTime;Action Message with invalid ramp time was received.;161;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
+0x5da2;GOMS_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
+0x5da3;GOMS_ExecutionFailed;Command execution failed;163;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
+0x5da4;GOMS_CrcError;Reaction wheel reply has invalid crc;164;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
+0x5da5;GOMS_ValueNotRead;No description;165;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
 0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
 0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NvmParameterBase.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
+0x66a0;SADPL_CommandNotSupported;No description;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a1;SADPL_DeploymentAlreadyExecuting;No description;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a2;SADPL_MainSwitchTimeoutFailure;No description;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a3;SADPL_SwitchingDeplSa1Failed;No description;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a4;SADPL_SwitchingDeplSa2Failed;No description;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
 0x6900;ACSCTRL_FileDeletionFailed;No description;0;ACS_CTRL;mission/controller/AcsController.h
 0x6a02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6a03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6a04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6a05;ACSMEKF_MekfNoSusMgmStrData;No description;5;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6a06;ACSMEKF_MekfCovarianceInversionFailed;No description;6;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6a07;ACSMEKF_MekfInitialized;No description;7;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6a08;ACSMEKF_MekfRunning;No description;8;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a07;ACSMEKF_MekfNotFinite;No description;7;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a08;ACSMEKF_MekfInitialized;No description;8;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a09;ACSMEKF_MekfRunning;No description;9;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6b01;ACSSAF_SafectrlMekfInputInvalid;No description;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
 0x6c01;ACSPTG_PtgctrlMekfInputInvalid;No description;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
 0x6d01;ACSDTB_DetumbleNoSensordata;No description;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h

generators/bsp_q7s_events.csv

@@ -91,6 +91,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 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
+11205;0x2bc5;SAFE_MODE_CONTROLLER_FAILURE;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;No description;mission/devices/devicedefinitions/powerDefinitions.h
@@ -258,6 +259,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
 14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;bsp_q7s/core/CoreController.h
 14008;0x36b8;INDIVIDUAL_BOOT_COUNTS;INFO;Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.;bsp_q7s/core/CoreController.h
+14010;0x36ba;I2C_UNAVAILABLE_REBOOT;MEDIUM;No description;bsp_q7s/core/CoreController.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

generators/bsp_q7s_returnvalues.csv

@@ -190,8 +190,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 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
-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
+0x2401;MT_NoPacketFound;No description;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x2402;MT_PossiblePacketLoss;No description;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.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
@@ -370,8 +370,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 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
-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
+0x3f01;DLEE_StreamTooShort;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
+0x3f02;DLEE_DecodingError;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.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
@@ -401,9 +401,9 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 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;No description;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.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
+0x4500;HSPI_HalTimeoutRetval;No description;0;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4501;HSPI_HalBusyRetval;No description;1;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4502;HSPI_HalErrorRetval;No description;2;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.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
@@ -448,8 +448,6 @@ 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
-0x5300;STRH_NoReplyAvailable;No description;0;STR_HANDLER;linux/devices/ImtqPollingTask.h
-0x5302;STRH_InvalidCrc;No description;2;STR_HANDLER;linux/devices/ScexHelper.h
 0x53a0;STRH_TemperatureReqFailed;Status in temperature reply signals error;160;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
 0x53a1;STRH_PingFailed;Ping command failed;161;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
 0x53a2;STRH_VersionReqFailed;Status in version reply signals error;162;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
@@ -473,8 +471,10 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x53b4;STRH_CrcFailure;Received reply with invalid CRC;180;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
 0x53b5;STRH_StrHelperExecuting;Star tracker handler currently executing a command and using the communication interface;181;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
 0x53b6;STRH_StartrackerAlreadyBooted;Star tracker is already in firmware mode;182;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53b7;STRH_StartrackerRunningFirmware;Star tracker is in firmware mode but must be in bootloader mode to execute this command;183;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53b8;STRH_StartrackerRunningBootloader;Star tracker is in bootloader mode but must be in firmware mode to execute this command;184;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53b7;STRH_StartrackerNotRunningFirmware;Star tracker must be in firmware mode to run this command;183;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53b8;STRH_StartrackerNotRunningBootloader;Star tracker must be in bootloader mode to run this command;184;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x5400;DWLPWRON_NoReplyAvailable;No description;0;DWLPWRON_CMD;linux/devices/ImtqPollingTask.h
+0x5402;DWLPWRON_InvalidCrc;No description;2;DWLPWRON_CMD;linux/devices/ScexHelper.h
 0x54e0;DWLPWRON_InvalidMode;Received command has invalid JESD mode (valid modes are 0 - 5);224;DWLPWRON_CMD;linux/devices/devicedefinitions/PlocMPSoCDefinitions.h
 0x54e1;DWLPWRON_InvalidLaneRate;Received command has invalid lane rate (valid lane rate are 0 - 9);225;DWLPWRON_CMD;linux/devices/devicedefinitions/PlocMPSoCDefinitions.h
 0x5700;PLSPVhLP_RequestDone;No description;0;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h
@@ -506,6 +506,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 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
+0x5da0;GOMS_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
+0x5da1;GOMS_InvalidRampTime;Action Message with invalid ramp time was received.;161;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
+0x5da2;GOMS_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
+0x5da3;GOMS_ExecutionFailed;Command execution failed;163;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
+0x5da4;GOMS_CrcError;Reaction wheel reply has invalid crc;164;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
+0x5da5;GOMS_ValueNotRead;No description;165;GOM_SPACE_HANDLER;mission/devices/RwHandler.h
 0x5ea0;PLMEMDUMP_MramAddressTooHigh;The capacity of the MRAM amounts to 512 kB. Thus the maximum address must not be higher than 0x7d000.;160;PLOC_MEMORY_DUMPER;linux/devices/ploc/PlocMemoryDumper.h
 0x5ea1;PLMEMDUMP_MramInvalidAddressCombination;The specified end address is lower than the start address;161;PLOC_MEMORY_DUMPER;linux/devices/ploc/PlocMemoryDumper.h
 0x5fa0;PDEC_AbandonedCltuRetval;No description;160;PDEC_HANDLER;linux/ipcore/PdecHandler.h
@@ -535,12 +541,11 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x64a0;FSHLP_SdNotMounted;SD card specified with path string not mounted;160;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
 0x64a1;FSHLP_FileNotExists;Specified file does not exist on filesystem;161;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
 0x65a0;PLMPHLP_FileClosedAccidentally;File accidentally close;160;PLOC_MPSOC_HELPER;linux/devices/ploc/PlocMPSoCHelper.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
+0x66a0;SADPL_CommandNotSupported;No description;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a1;SADPL_DeploymentAlreadyExecuting;No description;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a2;SADPL_MainSwitchTimeoutFailure;No description;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a3;SADPL_SwitchingDeplSa1Failed;No description;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a4;SADPL_SwitchingDeplSa2Failed;No description;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
 0x67a0;MPSOCRTVIF_CrcFailure;Space Packet received from PLOC has invalid CRC;160;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
 0x67a1;MPSOCRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC;161;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
 0x67a2;MPSOCRTVIF_ReceivedExeFailure;Received execution failure reply from PLOC;162;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
@@ -581,8 +586,9 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x6a04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6a05;ACSMEKF_MekfNoSusMgmStrData;No description;5;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6a06;ACSMEKF_MekfCovarianceInversionFailed;No description;6;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6a07;ACSMEKF_MekfInitialized;No description;7;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6a08;ACSMEKF_MekfRunning;No description;8;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a07;ACSMEKF_MekfNotFinite;No description;7;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a08;ACSMEKF_MekfInitialized;No description;8;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6a09;ACSMEKF_MekfRunning;No description;9;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6b01;ACSSAF_SafectrlMekfInputInvalid;No description;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
 0x6c01;ACSPTG_PtgctrlMekfInputInvalid;No description;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
 0x6d01;ACSDTB_DetumbleNoSensordata;No description;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 277 translations.
+ * @brief    Auto-generated event translation file. Contains 279 translations.
  * @details
- * Generated on: 2023-03-14 17:08:41
+ * Generated on: 2023-03-21 23:59:36
  */
 #include "translateEvents.h"
 
@@ -97,6 +97,7 @@ 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 *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -259,6 +260,7 @@ const char *VERSION_INFO_STRING = "VERSION_INFO";
 const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
 const char *REBOOT_COUNTER_STRING = "REBOOT_COUNTER";
 const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
+const char *I2C_UNAVAILABLE_REBOOT_STRING = "I2C_UNAVAILABLE_REBOOT";
 const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
 const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
 const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
@@ -464,6 +466,8 @@ const char *translateEvents(Event event) {
       return MEKF_INVALID_INFO_STRING;
     case (11204):
       return MEKF_INVALID_MODE_VIOLATION_STRING;
+    case (11205):
+      return SAFE_MODE_CONTROLLER_FAILURE_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -788,6 +792,8 @@ const char *translateEvents(Event event) {
       return REBOOT_COUNTER_STRING;
     case (14008):
       return INDIVIDUAL_BOOT_COUNTS_STRING;
+    case (14010):
+      return I2C_UNAVAILABLE_REBOOT_STRING;
     case (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 173 translations.
- * Generated on: 2023-03-14 17:08:41
+ * Generated on: 2023-03-21 23:59:36
  */
 #include "translateObjects.h"
 

linux/devices/AcsBoardPolling.cpp

@@ -451,95 +451,99 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
     cdHasTimedOut = gyro.countdown.hasTimedOut();
     mustPerformStartup = gyro.performStartup;
   }
-  if (mode == acs::SimpleSensorMode::NORMAL and cdHasTimedOut) {
-    if (mustPerformStartup) {
-      uint8_t regList[6];
-      // Read configuration
-      regList[0] = adis1650x::DIAG_STAT_REG;
-      regList[1] = adis1650x::FILTER_CTRL_REG;
-      regList[2] = adis1650x::RANG_MDL_REG;
-      regList[3] = adis1650x::MSC_CTRL_REG;
-      regList[4] = adis1650x::DEC_RATE_REG;
-      regList[5] = adis1650x::PROD_ID_REG;
-      size_t transferLen =
-          adis1650x::prepareReadCommand(regList, sizeof(regList), cmdBuf.data(), cmdBuf.size());
-      result = readAdisCfg(*gyro.cookie, transferLen);
-      if (result != returnvalue::OK) {
-        gyro.replyResult = result;
-        return;
-      }
-      result = spiComIF.readReceivedMessage(gyro.cookie, &rawReply, &dummy);
-      if (result != returnvalue::OK or rawReply == nullptr) {
-        gyro.replyResult = result;
-        return;
-      }
-      uint16_t prodId = (rawReply[12] << 8) | rawReply[13];
-      if (((gyro.type == adis1650x::Type::ADIS16505) and (prodId != adis1650x::PROD_ID_16505)) or
-          ((gyro.type == adis1650x::Type::ADIS16507) and (prodId != adis1650x::PROD_ID_16507))) {
-        sif::warning << "AcsPollingTask: Invalid  ADIS product ID " << prodId << std::endl;
-        gyro.replyResult = returnvalue::FAILED;
-        return;
-      }
-      MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
-      gyro.ownReply.cfgWasSet = true;
-      gyro.ownReply.cfg.diagStat = (rawReply[2] << 8) | rawReply[3];
-      gyro.ownReply.cfg.filterSetting = (rawReply[4] << 8) | rawReply[5];
-      gyro.ownReply.cfg.rangMdl = (rawReply[6] << 8) | rawReply[7];
-      gyro.ownReply.cfg.mscCtrlReg = (rawReply[8] << 8) | rawReply[9];
-      gyro.ownReply.cfg.decRateReg = (rawReply[10] << 8) | rawReply[11];
-      gyro.ownReply.cfg.prodId = prodId;
-      gyro.ownReply.data.sensitivity = adis1650x::rangMdlToSensitivity(gyro.ownReply.cfg.rangMdl);
-      gyro.performStartup = false;
-    }
-    // Read regular registers
-    std::memcpy(cmdBuf.data(), adis1650x::BURST_READ_ENABLE.data(),
-                adis1650x::BURST_READ_ENABLE.size());
-    std::memset(cmdBuf.data() + 2, 0, 10 * 2);
-    result = spiComIF.sendMessage(gyro.cookie, cmdBuf.data(), adis1650x::SENSOR_READOUT_SIZE);
+  if (mode == acs::SimpleSensorMode::OFF) {
+    return;
+  }
+  if (not cdHasTimedOut) {
+    return;
+  }
+  if (mustPerformStartup) {
+    uint8_t regList[6];
+    // Read configuration
+    regList[0] = adis1650x::DIAG_STAT_REG;
+    regList[1] = adis1650x::FILTER_CTRL_REG;
+    regList[2] = adis1650x::RANG_MDL_REG;
+    regList[3] = adis1650x::MSC_CTRL_REG;
+    regList[4] = adis1650x::DEC_RATE_REG;
+    regList[5] = adis1650x::PROD_ID_REG;
+    size_t transferLen =
+        adis1650x::prepareReadCommand(regList, sizeof(regList), cmdBuf.data(), cmdBuf.size());
+    result = readAdisCfg(*gyro.cookie, transferLen);
     if (result != returnvalue::OK) {
-      gyro.replyResult = returnvalue::FAILED;
+      gyro.replyResult = result;
       return;
     }
     result = spiComIF.readReceivedMessage(gyro.cookie, &rawReply, &dummy);
     if (result != returnvalue::OK or rawReply == nullptr) {
+      gyro.replyResult = result;
+      return;
+    }
+    uint16_t prodId = (rawReply[12] << 8) | rawReply[13];
+    if (((gyro.type == adis1650x::Type::ADIS16505) and (prodId != adis1650x::PROD_ID_16505)) or
+        ((gyro.type == adis1650x::Type::ADIS16507) and (prodId != adis1650x::PROD_ID_16507))) {
+      sif::warning << "AcsPollingTask: Invalid  ADIS product ID " << prodId << std::endl;
       gyro.replyResult = returnvalue::FAILED;
       return;
     }
-    uint16_t checksum = (rawReply[20] << 8) | rawReply[21];
-
-    // Now verify the read checksum with the expected checksum according to datasheet p. 20
-    uint16_t calcChecksum = 0;
-    for (size_t idx = 2; idx < 20; idx++) {
-      calcChecksum += rawReply[idx];
-    }
-    if (checksum != calcChecksum) {
-      sif::warning << "AcsPollingTask: Invalid ADIS reply checksum" << std::endl;
-      gyro.replyResult = returnvalue::FAILED;
-      return;
-    }
-
-    auto burstMode = adis1650x::burstModeFromMscCtrl(gyro.ownReply.cfg.mscCtrlReg);
-    if (burstMode != adis1650x::BurstModes::BURST_16_BURST_SEL_0) {
-      sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Analysis for select burst mode"
-                    " not implemented!"
-                 << std::endl;
-      gyro.replyResult = returnvalue::FAILED;
-      return;
-    }
-
     MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
-    gyro.ownReply.dataWasSet = true;
-    gyro.ownReply.cfg.diagStat = rawReply[2] << 8 | rawReply[3];
-    gyro.ownReply.data.angVelocities[0] = (rawReply[4] << 8) | rawReply[5];
-    gyro.ownReply.data.angVelocities[1] = (rawReply[6] << 8) | rawReply[7];
-    gyro.ownReply.data.angVelocities[2] = (rawReply[8] << 8) | rawReply[9];
-
-    gyro.ownReply.data.accelerations[0] = (rawReply[10] << 8) | rawReply[11];
-    gyro.ownReply.data.accelerations[1] = (rawReply[12] << 8) | rawReply[13];
-    gyro.ownReply.data.accelerations[2] = (rawReply[14] << 8) | rawReply[15];
-
-    gyro.ownReply.data.temperatureRaw = (rawReply[16] << 8) | rawReply[17];
+    gyro.ownReply.cfgWasSet = true;
+    gyro.ownReply.cfg.diagStat = (rawReply[2] << 8) | rawReply[3];
+    gyro.ownReply.cfg.filterSetting = (rawReply[4] << 8) | rawReply[5];
+    gyro.ownReply.cfg.rangMdl = (rawReply[6] << 8) | rawReply[7];
+    gyro.ownReply.cfg.mscCtrlReg = (rawReply[8] << 8) | rawReply[9];
+    gyro.ownReply.cfg.decRateReg = (rawReply[10] << 8) | rawReply[11];
+    gyro.ownReply.cfg.prodId = prodId;
+    gyro.ownReply.data.sensitivity = adis1650x::rangMdlToSensitivity(gyro.ownReply.cfg.rangMdl);
+    gyro.performStartup = false;
   }
+  // Read regular registers
+  std::memcpy(cmdBuf.data(), adis1650x::BURST_READ_ENABLE.data(),
+              adis1650x::BURST_READ_ENABLE.size());
+  std::memset(cmdBuf.data() + 2, 0, 10 * 2);
+  result = spiComIF.sendMessage(gyro.cookie, cmdBuf.data(), adis1650x::SENSOR_READOUT_SIZE);
+  if (result != returnvalue::OK) {
+    gyro.replyResult = returnvalue::FAILED;
+    return;
+  }
+  result = spiComIF.readReceivedMessage(gyro.cookie, &rawReply, &dummy);
+  if (result != returnvalue::OK or rawReply == nullptr) {
+    gyro.replyResult = returnvalue::FAILED;
+    return;
+  }
+  uint16_t checksum = (rawReply[20] << 8) | rawReply[21];
+
+  // Now verify the read checksum with the expected checksum according to datasheet p. 20
+  uint16_t calcChecksum = 0;
+  for (size_t idx = 2; idx < 20; idx++) {
+    calcChecksum += rawReply[idx];
+  }
+  if (checksum != calcChecksum) {
+    sif::warning << "AcsPollingTask: Invalid ADIS reply checksum" << std::endl;
+    gyro.replyResult = returnvalue::FAILED;
+    return;
+  }
+
+  auto burstMode = adis1650x::burstModeFromMscCtrl(gyro.ownReply.cfg.mscCtrlReg);
+  if (burstMode != adis1650x::BurstModes::BURST_16_BURST_SEL_0) {
+    sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Analysis for select burst mode"
+                  " not implemented!"
+               << std::endl;
+    gyro.replyResult = returnvalue::FAILED;
+    return;
+  }
+
+  MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+  gyro.ownReply.dataWasSet = true;
+  gyro.ownReply.cfg.diagStat = rawReply[2] << 8 | rawReply[3];
+  gyro.ownReply.data.angVelocities[0] = (rawReply[4] << 8) | rawReply[5];
+  gyro.ownReply.data.angVelocities[1] = (rawReply[6] << 8) | rawReply[7];
+  gyro.ownReply.data.angVelocities[2] = (rawReply[8] << 8) | rawReply[9];
+
+  gyro.ownReply.data.accelerations[0] = (rawReply[10] << 8) | rawReply[11];
+  gyro.ownReply.data.accelerations[1] = (rawReply[12] << 8) | rawReply[13];
+  gyro.ownReply.data.accelerations[2] = (rawReply[14] << 8) | rawReply[15];
+
+  gyro.ownReply.data.temperatureRaw = (rawReply[16] << 8) | rawReply[17];
 }
 
 void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {

linux/devices/GpsHyperionLinuxController.cpp

@@ -302,7 +302,10 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   // TIME is set for every message, no need for a counter
   bool timeValid = false;
   if (TIME_SET == (TIME_SET & gps.set)) {
-    timeValid = true;
+    // To prevent totally incorrect times from being declared valid.
+    if (gpsSet.satInView.isValid() and gpsSet.satInView.value >= 1) {
+      timeValid = true;
+    }
     timeval time = {};
 #if LIBGPS_VERSION_MINOR <= 17
     gpsSet.unixSeconds.value = std::floor(gps.fix.time);

linux/devices/ImtqPollingTask.cpp

@@ -10,7 +10,8 @@
 
 #include "fsfw/FSFW.h"
 
-ImtqPollingTask::ImtqPollingTask(object_id_t imtqPollingTask) : SystemObject(imtqPollingTask) {
+ImtqPollingTask::ImtqPollingTask(object_id_t imtqPollingTask, std::atomic_uint16_t& i2cFatalErrors)
+    : SystemObject(imtqPollingTask), i2cFatalErrors(i2cFatalErrors) {
   semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
   semaphore->acquire();
   ipcLock = MutexFactory::instance()->createMutex();
@@ -427,12 +428,20 @@ ReturnValue_t ImtqPollingTask::performI2cFullRequest(uint8_t* reply, size_t repl
     if (ioctl(fd, I2C_SLAVE, i2cAddr) < 0) {
       sif::warning << "Opening IMTQ slave device failed with code " << errno << ": "
                    << strerror(errno) << std::endl;
+      if (errno == EBUSY) {
+        i2cFatalErrors++;
+      }
     }
 
     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;
+      // This is a weird issue which sometimes occurs on debug builds. All I2C buses are busy
+      // for all writes,
+      if (errno == EBUSY) {
+        i2cFatalErrors++;
+      }
       return returnvalue::FAILED;
     } else if (static_cast<size_t>(written) != cmdLen) {
       sif::error << "IMTQ: Could not write all bytes" << std::endl;

linux/devices/ImtqPollingTask.h

@@ -4,6 +4,8 @@
 #include <fsfw/tasks/SemaphoreIF.h>
 #include <fsfw_hal/linux/i2c/I2cCookie.h>
 
+#include <atomic>
+
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
@@ -13,7 +15,7 @@ class ImtqPollingTask : public SystemObject,
                         public ExecutableObjectIF,
                         public DeviceCommunicationIF {
  public:
-  ImtqPollingTask(object_id_t imtqPollingTask);
+  ImtqPollingTask(object_id_t imtqPollingTask, std::atomic_uint16_t& i2cFatalErrors);
 
   ReturnValue_t performOperation(uint8_t operationCode) override;
   ReturnValue_t initialize() override;
@@ -28,6 +30,7 @@ class ImtqPollingTask : public SystemObject,
   ReturnValue_t comStatus = returnvalue::OK;
   MutexIF* ipcLock;
   MutexIF* bufLock;
+  std::atomic_uint16_t& i2cFatalErrors;
   I2cCookie* i2cCookie = nullptr;
   const char* i2cDev = nullptr;
   address_t i2cAddr = 0;

linux/devices/startracker/StarTrackerHandler.cpp

@@ -129,7 +129,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
       break;
   }
 
-  if (strHelperExecuting == true) {
+  if (strHelperHandlingSpecialRequest == true) {
     return STR_HELPER_EXECUTING;
   }
 
@@ -157,7 +157,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
       if (result != returnvalue::OK) {
         return result;
       }
-      strHelperExecuting = true;
+      strHelperHandlingSpecialRequest = true;
       return EXECUTION_FINISHED;
     }
     case (startracker::DOWNLOAD_IMAGE): {
@@ -173,7 +173,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
       if (result != returnvalue::OK) {
         return result;
       }
-      strHelperExecuting = true;
+      strHelperHandlingSpecialRequest = true;
       return EXECUTION_FINISHED;
     }
     case (startracker::FLASH_READ): {
@@ -185,7 +185,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
       if (result != returnvalue::OK) {
         return result;
       }
-      strHelperExecuting = true;
+      strHelperHandlingSpecialRequest = true;
       return EXECUTION_FINISHED;
     }
     case (startracker::CHANGE_IMAGE_DOWNLOAD_FILE): {
@@ -215,7 +215,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
       if (result != returnvalue::OK) {
         return result;
       }
-      strHelperExecuting = true;
+      strHelperHandlingSpecialRequest = true;
       return EXECUTION_FINISHED;
     }
     default:
@@ -268,21 +268,24 @@ void StarTrackerHandler::doStartUp() {
     default:
       return;
   }
-  setMode(_MODE_TO_ON, SUBMODE_BOOTLOADER);
+  startupState = StartupState::DONE;
+  internalState = InternalState::IDLE;
+  setMode(_MODE_TO_ON);
 }
 
 void StarTrackerHandler::doShutDown() {
   // If the star tracker is shutdown also stop all running processes in the image loader task
   strHelper->stopProcess();
+  internalState = InternalState::IDLE;
+  startupState = StartupState::IDLE;
+  bootState = FwBootState::NONE;
   setMode(_MODE_POWER_DOWN);
 }
 
-void StarTrackerHandler::doOffActivity() {
-  startupState = StartupState::IDLE;
-  internalState = InternalState::IDLE;
-}
-
 ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+  if (strHelperHandlingSpecialRequest) {
+    return NOTHING_TO_SEND;
+  }
   switch (normalState) {
     case NormalState::TEMPERATURE_REQUEST:
       *id = startracker::REQ_TEMPERATURE;
@@ -302,81 +305,103 @@ ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id
 
 ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
   switch (internalState) {
-    case InternalState::BOOT:
-      *id = startracker::BOOT;
-      bootCountdown.setTimeout(BOOT_TIMEOUT);
-      internalState = InternalState::BOOT_DELAY;
-      return buildCommandFromCommand(*id, nullptr, 0);
-    case InternalState::REQ_VERSION:
-      internalState = InternalState::VERIFY_BOOT;
-      // Again read program to check if firmware boot was successful
-      *id = startracker::REQ_VERSION;
-      return buildCommandFromCommand(*id, nullptr, 0);
-    case InternalState::LOGLEVEL:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::LOGLEVEL;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::LIMITS:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::LIMITS;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::TRACKING:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::TRACKING;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::MOUNTING:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::MOUNTING;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::IMAGE_PROCESSOR:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::IMAGE_PROCESSOR;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::CAMERA:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::CAMERA;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::CENTROIDING:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::CENTROIDING;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::LISA:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::LISA;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::MATCHING:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::MATCHING;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::VALIDATION:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::VALIDATION;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::ALGO:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::ALGO;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::LOG_SUBSCRIPTION:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::LOGSUBSCRIPTION;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
-    case InternalState::DEBUG_CAMERA:
-      internalState = InternalState::WAIT_FOR_EXECUTION;
-      *id = startracker::DEBUG_CAMERA;
-      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
-                                     paramJsonFile.size());
+    case InternalState::BOOT_FIRMWARE: {
+      if (bootState == FwBootState::WAIT_FOR_EXECUTION or bootState == FwBootState::VERIFY_BOOT) {
+        return NOTHING_TO_SEND;
+      }
+      if (bootState == FwBootState::NONE) {
+        *id = startracker::BOOT;
+        bootCountdown.setTimeout(BOOT_TIMEOUT);
+        bootState = FwBootState::BOOT_DELAY;
+        return buildCommandFromCommand(*id, nullptr, 0);
+      }
+      if (bootState == FwBootState::BOOT_DELAY) {
+        if (bootCountdown.isBusy()) {
+          return NOTHING_TO_SEND;
+        }
+        bootState = FwBootState::REQ_VERSION;
+      }
+      switch (bootState) {
+        case (FwBootState::REQ_VERSION): {
+          bootState = FwBootState::VERIFY_BOOT;
+          // Again read program to check if firmware boot was successful
+          *id = startracker::REQ_VERSION;
+          return buildCommandFromCommand(*id, nullptr, 0);
+        }
+        case (FwBootState::LOGLEVEL): {
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::LOGLEVEL;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        }
+        case (FwBootState::LIMITS): {
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::LIMITS;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        }
+        case (FwBootState::TRACKING): {
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::TRACKING;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        }
+        case FwBootState::MOUNTING:
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::MOUNTING;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        case FwBootState::IMAGE_PROCESSOR:
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::IMAGE_PROCESSOR;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        case FwBootState::CAMERA:
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::CAMERA;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        case FwBootState::CENTROIDING:
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::CENTROIDING;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        case FwBootState::LISA:
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::LISA;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        case FwBootState::MATCHING:
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::MATCHING;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        case FwBootState::VALIDATION:
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::VALIDATION;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        case FwBootState::ALGO:
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::ALGO;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        case FwBootState::LOG_SUBSCRIPTION:
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::LOGSUBSCRIPTION;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        case FwBootState::DEBUG_CAMERA:
+          bootState = FwBootState::WAIT_FOR_EXECUTION;
+          *id = startracker::DEBUG_CAMERA;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        default: {
+          sif::error << "STR: Unexpected boot state" << (int)bootState << std::endl;
+          return NOTHING_TO_SEND;
+        }
+      }
+    }
     case InternalState::BOOT_BOOTLOADER:
       internalState = InternalState::BOOTLOADER_CHECK;
       *id = startracker::SWITCH_TO_BOOTLOADER_PROGRAM;
@@ -707,6 +732,15 @@ void StarTrackerHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
 
 void StarTrackerHandler::doOnTransition(Submode_t subModeFrom) {
   uint8_t dhbSubmode = getSubmode();
+  // We hide that the transition to submode firmware actually goes through the submode bootloader.
+  // This is because the startracker always starts in bootloader mode but we want to allow direct
+  // transitions to firmware mode.
+  if (startupState == StartupState::DONE) {
+    subModeFrom = SUBMODE_BOOTLOADER;
+  }
+  if (dhbSubmode == SUBMODE_NONE) {
+    bootFirmware(MODE_ON);
+  }
   if (dhbSubmode == SUBMODE_BOOTLOADER && subModeFrom == SUBMODE_FIRMWARE) {
     bootBootloader();
   } else if (dhbSubmode == SUBMODE_FIRMWARE && subModeFrom == SUBMODE_FIRMWARE) {
@@ -736,19 +770,23 @@ void StarTrackerHandler::doNormalTransition(Mode_t modeFrom, Submode_t subModeFr
 void StarTrackerHandler::bootFirmware(Mode_t toMode) {
   switch (internalState) {
     case InternalState::IDLE:
-      internalState = InternalState::BOOT;
+      sif::info << "STR: Booting to firmware mode" << std::endl;
+      internalState = InternalState::BOOT_FIRMWARE;
       break;
-    case InternalState::BOOT_DELAY:
-      if (bootCountdown.hasTimedOut()) {
-        internalState = InternalState::REQ_VERSION;
-      }
+    case InternalState::BOOT_FIRMWARE:
       break;
     case InternalState::FAILED_FIRMWARE_BOOT:
       internalState = InternalState::IDLE;
       break;
     case InternalState::DONE:
-      setMode(toMode);
+      if (toMode == MODE_NORMAL) {
+        setMode(toMode, 0);
+      } else {
+        setMode(toMode, SUBMODE_FIRMWARE);
+      }
+      sif::info << "STR: Firmware boot success" << std::endl;
       internalState = InternalState::IDLE;
+      startupState = StartupState::IDLE;
       break;
     default:
       return;
@@ -776,10 +814,11 @@ void StarTrackerHandler::setUpJsonCfgs(JsonConfigs& cfgs, const char* paramJsonF
 void StarTrackerHandler::bootBootloader() {
   if (internalState == InternalState::IDLE) {
     internalState = InternalState::BOOT_BOOTLOADER;
-  } else if (internalState == InternalState::BOOTING_BOOTLOADER_FAILED) {
+  } else if (internalState == InternalState::FAILED_BOOTLOADER_BOOT) {
     internalState = InternalState::IDLE;
   } else if (internalState == InternalState::DONE) {
     internalState = InternalState::IDLE;
+    startupState = StartupState::IDLE;
     setMode(MODE_ON);
   }
 }
@@ -1260,7 +1299,7 @@ size_t StarTrackerHandler::getNextReplyLength(DeviceCommandId_t commandId) {
 
 ReturnValue_t StarTrackerHandler::doSendReadHook() {
   // Prevent DHB from polling UART during commands executed by the image loader task
-  if (strHelperExecuting) {
+  if (strHelperHandlingSpecialRequest) {
     return returnvalue::FAILED;
   }
   return returnvalue::OK;
@@ -1502,7 +1541,7 @@ void StarTrackerHandler::handleEvent(EventMessage* eventMessage) {
     case objects::STR_HELPER: {
       // All events from image loader signal either that the operation was successful or that it
       // failed
-      strHelperExecuting = false;
+      strHelperHandlingSpecialRequest = false;
       break;
     }
     default:
@@ -1934,7 +1973,7 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
       if (startupState == StartupState::WAIT_CHECK_PROGRAM) {
         startupState = StartupState::DONE;
       }
-      if (internalState == InternalState::VERIFY_BOOT) {
+      if (bootState == FwBootState::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_EVENT);
@@ -1947,11 +1986,11 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
       if (startupState == StartupState::WAIT_CHECK_PROGRAM) {
         startupState = StartupState::BOOT_BOOTLOADER;
       }
-      if (internalState == InternalState::VERIFY_BOOT) {
-        internalState = InternalState::LOGLEVEL;
+      if (bootState == FwBootState::VERIFY_BOOT) {
+        bootState = FwBootState::LOGLEVEL;
       } else if (internalState == InternalState::BOOTLOADER_CHECK) {
         triggerEvent(BOOTING_BOOTLOADER_FAILED_EVENT);
-        internalState = InternalState::BOOTING_BOOTLOADER_FAILED;
+        internalState = InternalState::FAILED_BOOTLOADER_BOOT;
       }
       break;
     default:
@@ -2025,54 +2064,55 @@ ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dat
 void StarTrackerHandler::handleStartup(const uint8_t* parameterId) {
   switch (*parameterId) {
     case (startracker::ID::LOG_LEVEL): {
-      internalState = InternalState::LIMITS;
+      bootState = FwBootState::LIMITS;
       break;
     }
     case (startracker::ID::LIMITS): {
-      internalState = InternalState::TRACKING;
+      bootState = FwBootState::TRACKING;
       break;
     }
     case (startracker::ID::TRACKING): {
-      internalState = InternalState::MOUNTING;
+      bootState = FwBootState::MOUNTING;
       break;
     }
     case (startracker::ID::MOUNTING): {
-      internalState = InternalState::IMAGE_PROCESSOR;
+      bootState = FwBootState::IMAGE_PROCESSOR;
       break;
     }
     case (startracker::ID::IMAGE_PROCESSOR): {
-      internalState = InternalState::CAMERA;
+      bootState = FwBootState::CAMERA;
       break;
     }
     case (startracker::ID::CAMERA): {
-      internalState = InternalState::CENTROIDING;
+      bootState = FwBootState::CENTROIDING;
       break;
     }
     case (startracker::ID::CENTROIDING): {
-      internalState = InternalState::LISA;
+      bootState = FwBootState::LISA;
       break;
     }
     case (startracker::ID::LISA): {
-      internalState = InternalState::MATCHING;
+      bootState = FwBootState::MATCHING;
       break;
     }
     case (startracker::ID::MATCHING): {
-      internalState = InternalState::VALIDATION;
+      bootState = FwBootState::VALIDATION;
       break;
     }
     case (startracker::ID::VALIDATION): {
-      internalState = InternalState::ALGO;
+      bootState = FwBootState::ALGO;
       break;
     }
     case (startracker::ID::ALGO): {
-      internalState = InternalState::LOG_SUBSCRIPTION;
+      bootState = FwBootState::LOG_SUBSCRIPTION;
       break;
     }
     case (startracker::ID::LOG_SUBSCRIPTION): {
-      internalState = InternalState::DEBUG_CAMERA;
+      bootState = FwBootState::DEBUG_CAMERA;
       break;
     }
     case (startracker::ID::DEBUG_CAMERA): {
+      bootState = FwBootState::NONE;
       internalState = InternalState::DONE;
       break;
     }
@@ -2110,14 +2150,14 @@ ReturnValue_t StarTrackerHandler::checkCommand(ActionId_t actionId) {
     case startracker::REQ_SUBSCRIPTION:
     case startracker::REQ_LOG_SUBSCRIPTION:
     case startracker::REQ_DEBUG_CAMERA:
-      if (not(getMode() == MODE_ON && getSubmode() == startracker::Program::FIRMWARE)) {
-        return STARTRACKER_RUNNING_BOOTLOADER;
+      if (getMode() == MODE_ON and getSubmode() != startracker::Program::FIRMWARE) {
+        return STARTRACKER_NOT_RUNNING_FIRMWARE;
       }
       break;
     case startracker::FIRMWARE_UPDATE:
     case startracker::FLASH_READ:
-      if (not(getMode() == MODE_ON && getSubmode() == startracker::Program::BOOTLOADER)) {
-        return STARTRACKER_RUNNING_FIRMWARE;
+      if (getMode() != MODE_ON or getSubmode() != startracker::Program::BOOTLOADER) {
+        return STARTRACKER_NOT_RUNNING_BOOTLOADER;
       }
       break;
     default:

linux/devices/startracker/StarTrackerHandler.h

@@ -60,7 +60,6 @@ class StarTrackerHandler : public DeviceHandlerBase {
  protected:
   void doStartUp() override;
   void doShutDown() override;
-  void doOffActivity() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
   ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
   void fillCommandAndReplyMap() override;
@@ -133,12 +132,10 @@ class StarTrackerHandler : public DeviceHandlerBase {
   static const ReturnValue_t STR_HELPER_EXECUTING = MAKE_RETURN_CODE(0xB5);
   //! [EXPORT] : [COMMENT] Star tracker is already in firmware mode
   static const ReturnValue_t STARTRACKER_ALREADY_BOOTED = MAKE_RETURN_CODE(0xB6);
-  //! [EXPORT] : [COMMENT] Star tracker is in firmware mode but must be in bootloader mode to
-  //! execute this command
-  static const ReturnValue_t STARTRACKER_RUNNING_FIRMWARE = MAKE_RETURN_CODE(0xB7);
-  //! [EXPORT] : [COMMENT] Star tracker is in bootloader mode but must be in firmware mode to
-  //! execute this command
-  static const ReturnValue_t STARTRACKER_RUNNING_BOOTLOADER = MAKE_RETURN_CODE(0xB8);
+  //! [EXPORT] : [COMMENT] Star tracker must be in firmware mode to run this command
+  static const ReturnValue_t STARTRACKER_NOT_RUNNING_FIRMWARE = MAKE_RETURN_CODE(0xB7);
+  //! [EXPORT] : [COMMENT] Star tracker must be in bootloader mode to run this command
+  static const ReturnValue_t STARTRACKER_NOT_RUNNING_BOOTLOADER = MAKE_RETURN_CODE(0xB8);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;
 
@@ -247,14 +244,31 @@ class StarTrackerHandler : public DeviceHandlerBase {
 
   NormalState normalState = NormalState::TEMPERATURE_REQUEST;
 
+  enum class StartupState {
+    IDLE,
+    CHECK_PROGRAM,
+    WAIT_CHECK_PROGRAM,
+    BOOT_BOOTLOADER,
+    WAIT_JCFG,
+    DONE
+  };
+  StartupState startupState = StartupState::IDLE;
+
   enum class InternalState {
     IDLE,
-    BOOT,
+    BOOT_FIRMWARE,
+    DONE,
+    FAILED_FIRMWARE_BOOT,
+    BOOT_BOOTLOADER,
+    BOOTLOADER_CHECK,
+    FAILED_BOOTLOADER_BOOT
+  };
+
+  enum class FwBootState {
+    NONE,
+    BOOT_DELAY,
     REQ_VERSION,
     VERIFY_BOOT,
-    STARTUP_CHECK,
-    BOOT_DELAY,
-    FIRMWARE_CHECK,
     LOGLEVEL,
     LIMITS,
     TRACKING,
@@ -270,27 +284,12 @@ class StarTrackerHandler : public DeviceHandlerBase {
     LOG_SUBSCRIPTION,
     DEBUG_CAMERA,
     WAIT_FOR_EXECUTION,
-    DONE,
-    FAILED_FIRMWARE_BOOT,
-    BOOT_BOOTLOADER,
-    BOOTLOADER_CHECK,
-    BOOTING_BOOTLOADER_FAILED
   };
+  FwBootState bootState = FwBootState::NONE;
 
   InternalState internalState = InternalState::IDLE;
 
-  enum class StartupState {
-    IDLE,
-    CHECK_PROGRAM,
-    WAIT_CHECK_PROGRAM,
-    BOOT_BOOTLOADER,
-    WAIT_JCFG,
-    DONE
-  };
-
-  StartupState startupState = StartupState::IDLE;
-
-  bool strHelperExecuting = false;
+  bool strHelperHandlingSpecialRequest = false;
 
   const power::Switch_t powerSwitch = power::NO_SWITCH;
 

linux/devices/startracker/StrHelper.cpp

@@ -263,6 +263,10 @@ ReturnValue_t StrHelper::performImageUpload() {
     return returnvalue::FAILED;
   }
   std::ifstream file(uploadImage.uploadFile, std::ifstream::binary);
+  if (file.bad()) {
+    return HasFileSystemIF::GENERIC_FILE_ERROR;
+  }
+
   // Set position of next character to end of file input stream
   file.seekg(0, file.end);
   // tellg returns position of character in input stream

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 277 translations.
+ * @brief    Auto-generated event translation file. Contains 279 translations.
  * @details
- * Generated on: 2023-03-14 17:08:41
+ * Generated on: 2023-03-21 23:59:36
  */
 #include "translateEvents.h"
 
@@ -97,6 +97,7 @@ 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 *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -259,6 +260,7 @@ const char *VERSION_INFO_STRING = "VERSION_INFO";
 const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
 const char *REBOOT_COUNTER_STRING = "REBOOT_COUNTER";
 const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
+const char *I2C_UNAVAILABLE_REBOOT_STRING = "I2C_UNAVAILABLE_REBOOT";
 const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
 const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
 const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
@@ -464,6 +466,8 @@ const char *translateEvents(Event event) {
       return MEKF_INVALID_INFO_STRING;
     case (11204):
       return MEKF_INVALID_MODE_VIOLATION_STRING;
+    case (11205):
+      return SAFE_MODE_CONTROLLER_FAILURE_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -788,6 +792,8 @@ const char *translateEvents(Event event) {
       return REBOOT_COUNTER_STRING;
     case (14008):
       return INDIVIDUAL_BOOT_COUNTS_STRING;
+    case (14010):
+      return I2C_UNAVAILABLE_REBOOT_STRING;
     case (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 173 translations.
- * Generated on: 2023-03-14 17:08:41
+ * Generated on: 2023-03-21 23:59:36
  */
 #include "translateObjects.h"
 

linux/ipcore/AxiPtmeConfig.cpp

@@ -71,6 +71,22 @@ ReturnValue_t AxiPtmeConfig::disableTxclockInversion() {
   return returnvalue::OK;
 }
 
+ReturnValue_t AxiPtmeConfig::enableBatPriorityBit() {
+  ReturnValue_t result = writeBit(COMMON_CONFIG_REG, true, BitPos::EN_BAT_PRIORITY);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t AxiPtmeConfig::disableBatPriorityBit() {
+  ReturnValue_t result = writeBit(COMMON_CONFIG_REG, false, BitPos::EN_BAT_PRIORITY);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return returnvalue::OK;
+}
+
 ReturnValue_t AxiPtmeConfig::writeReg(uint32_t regOffset, uint32_t writeVal) {
   ReturnValue_t result = returnvalue::OK;
   result = mutex->lockMutex(timeoutType, mutexTimeout);

linux/ipcore/AxiPtmeConfig.h

@@ -54,6 +54,9 @@ class AxiPtmeConfig : public SystemObject {
   ReturnValue_t enableTxclockInversion();
   ReturnValue_t disableTxclockInversion();
 
+  ReturnValue_t enableBatPriorityBit();
+  ReturnValue_t disableBatPriorityBit();
+
  private:
   // Address of register storing the bitrate configuration parameter
   static const uint32_t CADU_BITRATE_REG = 0x0;
@@ -61,7 +64,7 @@ class AxiPtmeConfig : public SystemObject {
   static const uint32_t COMMON_CONFIG_REG = 0x4;
   static const uint32_t ADRESS_DIVIDER = 4;
 
-  enum class BitPos : uint32_t { EN_TX_CLK_MANIPULATOR, INVERT_CLOCK };
+  enum class BitPos : uint32_t { EN_TX_CLK_MANIPULATOR = 0, INVERT_CLOCK = 1, EN_BAT_PRIORITY = 2 };
 
   std::string axiUio;
   std::string uioMap;

linux/ipcore/PtmeConfig.cpp

@@ -48,3 +48,11 @@ ReturnValue_t PtmeConfig::configTxManipulator(bool enable) {
   }
   return result;
 }
+
+ReturnValue_t PtmeConfig::enableBatPriorityBit(bool enable) {
+  if (enable) {
+    return axiPtmeConfig->enableBatPriorityBit();
+  } else {
+    return axiPtmeConfig->disableBatPriorityBit();
+  }
+}

linux/ipcore/PtmeConfig.h

@@ -1,6 +1,8 @@
 #ifndef LINUX_OBC_PTMECONFIG_H_
 #define LINUX_OBC_PTMECONFIG_H_
 
+#include <fsfw_hal/common/gpio/gpioDefinitions.h>
+
 #include "AxiPtmeConfig.h"
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/returnvalues/returnvalue.h"
@@ -53,6 +55,15 @@ class PtmeConfig : public SystemObject {
    */
   ReturnValue_t configTxManipulator(bool enable);
 
+  /**
+   * Enable the bat priority bit in the PTME wrapper component.
+   * Please note that a reset of the PTME is still required as specified in the documentation.
+   * This is done by a higher level component.
+   * @param enable
+   * @return
+   */
+  ReturnValue_t enableBatPriorityBit(bool enable);
+
  private:
   static const uint8_t INTERFACE_ID = CLASS_ID::RATE_SETTER;
 

mission/acsDefs.h

@@ -32,6 +32,8 @@ static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);
 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);
+//!< The ACS safe mode controller was not able to compute a solution and has failed.
+static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(5, severity::HIGH);
 
 extern const char* getModeStr(AcsMode mode);
 

mission/controller/AcsController.cpp

@@ -55,6 +55,10 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
       navigation.resetMekf(&mekfData);
       return HasActionsIF::EXECUTION_FINISHED;
     }
+    case RESTORE_MEKF_NONFINITE_RECOVERY: {
+      mekfLost = false;
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
     default: {
       return HasActionsIF::INVALID_ACTION_ID;
     }
@@ -149,6 +153,10 @@ void AcsController::performSafe() {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
     }
+    if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
+      navigation.resetMekf(&mekfData);
+      mekfLost = true;
+    }
   } else {
     mekfInvalidFlag = false;
   }
@@ -173,7 +181,18 @@ void AcsController::performSafe() {
         sunTargetDir, satRateSafe, &errAng, magMomMtq);
   }
   if (result == returnvalue::FAILED) {
-    // ToDo: this should never ever happen or we are dead. prob add an event at least
+    if (not safeCtrlFailureFlag) {
+      triggerEvent(acs::SAFE_MODE_CONTROLLER_FAILURE);
+      safeCtrlFailureFlag = true;
+    }
+    safeCtrlFailureCounter++;
+    if (safeCtrlFailureCounter > 150) {
+      safeCtrlFailureFlag = false;
+      safeCtrlFailureCounter = 0;
+    }
+  } else {
+    safeCtrlFailureFlag = false;
+    safeCtrlFailureCounter = 0;
   }
 
   actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,
@@ -220,6 +239,9 @@ void AcsController::performDetumble() {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
     }
+    if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
+      navigation.resetMekf(&mekfData);
+    }
   } else {
     mekfInvalidFlag = false;
   }
@@ -271,6 +293,9 @@ void AcsController::performPointingCtrl() {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
     }
+    if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
+      navigation.resetMekf(&mekfData);
+    }
     if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) {
       // Trigger this so STR FDIR can set the device faulty.
       EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0);

mission/controller/AcsController.h

@@ -62,6 +62,11 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   uint8_t multipleRwUnavailableCounter = 0;
   bool mekfInvalidFlag = false;
   uint16_t mekfInvalidCounter = 0;
+  bool safeCtrlFailureFlag = false;
+  uint8_t safeCtrlFailureCounter = 0;
+  uint8_t resetMekfCount = 0;
+  bool mekfLost = false;
+
   int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
   int16_t cmdDipolMtqs[3] = {0, 0, 0};
 
@@ -75,6 +80,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   /** Device command IDs */
   static const DeviceCommandId_t SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0x0;
   static const DeviceCommandId_t RESET_MEKF = 0x1;
+  static const DeviceCommandId_t RESTORE_MEKF_NONFINITE_RECOVERY = 0x2;
 
   static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL;
   static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0);

mission/controller/acs/AcsParameters.h

@@ -768,10 +768,10 @@ class AcsParameters : public HasParametersIF {
     double gyr2orientationMatrix[3][3] = {{0, 0, -1}, {0, -1, 0}, {-1, 0, 0}};
     double gyr3orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
 
-    double gyr0bias[3] = {0.06318149743589743, 0.4283235025641024, -0.16383500000000004};
-    double gyr1bias[3] = {-0.12855128205128205, 1.6737307692307695, 1.031724358974359};
-    double gyr2bias[3] = {0.15039212820512823, 0.7094475589743591, -0.22298363589743594};
-    double gyr3bias[3] = {0.0021730769230769217, -0.6655897435897435, 0.034096153846153845};
+    double gyr0bias[3] = {0.0, 0.4, -0.1};
+    double gyr1bias[3] = {0.0956745283018868, 2.0854575471698116, 1.2505990566037737};
+    double gyr2bias[3] = {0.1, 0.7, -0.2};
+    double gyr3bias[3] = {-0.10721698113207549, -0.6111650943396226, 0.1716462264150944};
 
     /* var = sigma^2, sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
      * assumed to be equal for the same class of sensors */

mission/controller/acs/MultiplicativeKalmanFilter.cpp

@@ -1080,6 +1080,12 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
 
   MatrixOperations<double>::add(*cov0, *cov1, *initialCovarianceMatrix, 6, 6);
 
+  if (not(MathOperations<double>::checkVectorIsFinite(propagatedQuaternion, 4)) ||
+      not(MathOperations<double>::checkMatrixIsFinite(initialQuaternion, 6, 6))) {
+    updateDataSetWithoutData(mekfData, MekfStatus::NOT_FINITE);
+    return MEKF_NOT_FINITE;
+  }
+
   updateDataSet(mekfData, MekfStatus::RUNNING, quatBJ, rotRateEst);
   return MEKF_RUNNING;
 }

mission/controller/acs/MultiplicativeKalmanFilter.h

@@ -62,6 +62,7 @@ class MultiplicativeKalmanFilter {
     NO_MODEL_VECTORS = 2,
     NO_SUS_MGM_STR_DATA = 3,
     COVARIANCE_INVERSION_FAILED = 4,
+    NOT_FINITE = 5,
     INITIALIZED = 10,
     RUNNING = 11,
   };
@@ -74,8 +75,9 @@ class MultiplicativeKalmanFilter {
   static constexpr ReturnValue_t MEKF_NO_SUS_MGM_STR_DATA = returnvalue::makeCode(IF_MEKF_ID, 5);
   static constexpr ReturnValue_t MEKF_COVARIANCE_INVERSION_FAILED =
       returnvalue::makeCode(IF_MEKF_ID, 6);
-  static constexpr ReturnValue_t MEKF_INITIALIZED = returnvalue::makeCode(IF_MEKF_ID, 7);
-  static constexpr ReturnValue_t MEKF_RUNNING = returnvalue::makeCode(IF_MEKF_ID, 8);
+  static constexpr ReturnValue_t MEKF_NOT_FINITE = returnvalue::makeCode(IF_MEKF_ID, 7);
+  static constexpr ReturnValue_t MEKF_INITIALIZED = returnvalue::makeCode(IF_MEKF_ID, 8);
+  static constexpr ReturnValue_t MEKF_RUNNING = returnvalue::makeCode(IF_MEKF_ID, 9);
 
  private:
   /*Parameters*/

mission/controller/acs/util/MathOperations.h

@@ -404,6 +404,26 @@ class MathOperations {
     std::memcpy(inverse, identity, sizeof(identity));
     return 0;  // successful inversion
   }
+
+  static bool checkVectorIsFinite(const T1 *inputVector, uint8_t size) {
+    for (uint8_t i = 0; i < size; i++) {
+      if (not isfinite(inputVector[i])) {
+        return false;
+      }
+    }
+    return true;
+  }
+
+  static bool checkMatrixIsFinite(const T1 *inputMatrix, uint8_t rows, uint8_t cols) {
+    for (uint8_t col = 0; col < cols; col++) {
+      for (uint8_t row = 0; row < rows; row++) {
+        if (not isfinite(inputMatrix[row * cols + cols])) {
+          return false;
+        }
+      }
+    }
+    return true;
+  }
 };
 
 #endif /* ACS_MATH_MATHOPERATIONS_H_ */

mission/core/GenericFactory.cpp

@@ -112,8 +112,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
   }
 
   {
-    PoolManager::LocalPoolConfig poolCfg = {{600, 32},   {400, 64},   {400, 128}, {300, 512},
-                                            {250, 1024}, {150, 2048}};
+    PoolManager::LocalPoolConfig poolCfg = {{600, 32},  {400, 64},   {400, 128},
+                                            {300, 512}, {250, 1024}, {150, 2048}};
     *tmStore = new PoolManager(objects::TM_STORE, poolCfg);
   }
 
@@ -254,8 +254,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
                                    pus::PUS_SERVICE_20);
   new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, config::EIVE_PUS_APID,
                                 pus::PUS_SERVICE_200, 8);
-  HealthServiceCfg healthCfg(objects::PUS_SERVICE_201_HEALTH, config::EIVE_PUS_APID, *healthTable,
-                             20);
+  HealthServiceCfg healthCfg(objects::PUS_SERVICE_201_HEALTH, config::EIVE_PUS_APID,
+                             objects::HEALTH_TABLE, 20);
   new CServiceHealthCommanding(healthCfg);
 
 #if OBSW_ADD_CFDP_COMPONENTS == 1

mission/core/pollingSeqTables.cpp

@@ -36,31 +36,25 @@ ReturnValue_t pst::pstSyrlinks(FixedTimeslotTaskIF *thisSequence) {
 
 // I don't think this needs to be in a PST because linux takes care of bus serialization, but
 // keep it like this for now, it works
-ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
+ReturnValue_t pst::pstI2cProcessingSystem(FixedTimeslotTaskIF *thisSequence) {
   // Length of a communication cycle
   uint32_t length = thisSequence->getPeriodMs();
   static_cast<void>(length);
-  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2,
-                        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 * 0.3, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.3, DeviceHandlerIF::GET_READ);
 
   // These are actually part of another bus, but this works, so keep it like this for now
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4,
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.2,
                         DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.45, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.45, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.2, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.3, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.3, DeviceHandlerIF::GET_READ);
 
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5,
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4,
                         DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.55, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.55, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::GET_READ);
 
   thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6,
                         DeviceHandlerIF::PERFORM_OPERATION);
@@ -68,10 +62,9 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
                         DeviceHandlerIF::SEND_WRITE);
   thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6,
                         DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.65,
+  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.7,
                         DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.65,
-                        DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.7, DeviceHandlerIF::GET_READ);
   // damaged
   /*
   thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
@@ -90,10 +83,9 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
                         DeviceHandlerIF::SEND_WRITE);
   thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
                         DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.85,
+  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.9,
                         DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.85,
-                        DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.9, DeviceHandlerIF::GET_READ);
   static_cast<void>(length);
   return thisSequence->checkSequence();
 }
@@ -562,6 +554,16 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                         DeviceHandlerIF::SEND_READ);
   thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
                         DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
+                        DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
+                        DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
+                        DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
+                        DeviceHandlerIF::GET_READ);
 
 #if OBSW_ADD_RAD_SENSORS == 1
   /* Radiation sensor */

mission/core/pollingSeqTables.h

@@ -51,7 +51,7 @@ ReturnValue_t pstSyrlinks(FixedTimeslotTaskIF* thisSequence);
 
 ReturnValue_t pstTcsAndAcs(FixedTimeslotTaskIF* thisSequence, AcsPstCfg cfg);
 
-ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);
+ReturnValue_t pstI2cProcessingSystem(FixedTimeslotTaskIF* thisSequence);
 
 /**
  * Generic test PST

mission/devices/CMakeLists.txt

@@ -5,8 +5,8 @@ target_sources(
           Tmp1075Handler.cpp
           PcduHandler.cpp
           P60DockHandler.cpp
-          PDU1Handler.cpp
-          PDU2Handler.cpp
+          Pdu1Handler.cpp
+          Pdu2Handler.cpp
           ACUHandler.cpp
           SyrlinksHandler.cpp
           Max31865PT1000Handler.cpp

mission/devices/GyrAdis1650XHandler.cpp

@@ -65,10 +65,7 @@ ReturnValue_t GyrAdis1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_
     }
     case (InternalState::SHUTDOWN): {
       *id = adis1650x::REQUEST;
-      acs::Adis1650XRequest *request = reinterpret_cast<acs::Adis1650XRequest *>(cmdBuf.data());
-      request->mode = acs::SimpleSensorMode::OFF;
-      request->type = adisType;
-      return returnvalue::OK;
+      return preparePeriodicRequest(acs::SimpleSensorMode::OFF);
     }
     default: {
       return NOTHING_TO_SEND;

mission/devices/PcduHandler.cpp

@@ -7,7 +7,7 @@
 #include <mission/devices/PcduHandler.h>
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
 
-PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
+PcduHandler::PcduHandler(object_id_t setObjectId, size_t cmdQueueSize)
     : SystemObject(setObjectId),
       poolManager(this, nullptr),
       p60CoreHk(objects::P60DOCK_HANDLER),
@@ -19,11 +19,12 @@ PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
   commandQueue = QueueFactory::instance()->createMessageQueue(
       cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
   pwrLock = MutexFactory::instance()->createMutex();
+  std::memset(switchStates, SWITCH_STATE_UNKNOWN, sizeof(switchStates));
 }
 
-PCDUHandler::~PCDUHandler() {}
+PcduHandler::~PcduHandler() {}
 
-ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
+ReturnValue_t PcduHandler::performOperation(uint8_t counter) {
   if (counter == DeviceHandlerIF::PERFORM_OPERATION) {
     readCommandQueue();
   }
@@ -51,7 +52,7 @@ ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
   return returnvalue::OK;
 }
 
-ReturnValue_t PCDUHandler::initialize() {
+ReturnValue_t PcduHandler::initialize() {
   ReturnValue_t result;
 
   IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
@@ -99,7 +100,7 @@ ReturnValue_t PCDUHandler::initialize() {
   return returnvalue::OK;
 }
 
-void PCDUHandler::initializeSwitchStates() {
+void PcduHandler::initializeSwitchStates() {
   using namespace pcdu;
   try {
     for (uint8_t idx = 0; idx < NUMBER_OF_SWITCHES; idx++) {
@@ -116,7 +117,7 @@ void PCDUHandler::initializeSwitchStates() {
   }
 }
 
-void PCDUHandler::readCommandQueue() {
+void PcduHandler::readCommandQueue() {
   ReturnValue_t result = returnvalue::OK;
   CommandMessage command;
 
@@ -129,9 +130,9 @@ void PCDUHandler::readCommandQueue() {
   }
 }
 
-MessageQueueId_t PCDUHandler::getCommandQueue() const { return commandQueue->getId(); }
+MessageQueueId_t PcduHandler::getCommandQueue() const { return commandQueue->getId(); }
 
-void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
+void PcduHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
   if (sid == sid_t(objects::PDU2_HANDLER, static_cast<uint32_t>(P60System::SetIds::CORE))) {
     updateHkTableDataset(storeId, &pdu2CoreHk, &timeStampPdu2HkDataset);
     updatePdu2SwitchStates();
@@ -143,7 +144,7 @@ void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool*
   }
 }
 
-void PCDUHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset,
+void PcduHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset,
                                        CCSDSTime::CDS_short* datasetTimeStamp) {
   ReturnValue_t result;
 
@@ -169,7 +170,7 @@ void PCDUHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSet
   }
 }
 
-void PCDUHandler::updatePdu2SwitchStates() {
+void PcduHandler::updatePdu2SwitchStates() {
   using namespace pcdu;
   using namespace PDU2;
   GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2;
@@ -206,7 +207,7 @@ void PCDUHandler::updatePdu2SwitchStates() {
   }
 }
 
-void PCDUHandler::updatePdu1SwitchStates() {
+void PcduHandler::updatePdu1SwitchStates() {
   using namespace pcdu;
   using namespace PDU1;
   PoolReadGuard rg0(&switcherSet);
@@ -243,9 +244,9 @@ void PCDUHandler::updatePdu1SwitchStates() {
   }
 }
 
-LocalDataPoolManager* PCDUHandler::getHkManagerHandle() { return &poolManager; }
+LocalDataPoolManager* PcduHandler::getHkManagerHandle() { return &poolManager; }
 
-ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) {
+ReturnValue_t PcduHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) {
   using namespace pcdu;
   ReturnValue_t result;
   uint16_t memoryAddress = 0;
@@ -395,9 +396,9 @@ ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO
   return result;
 }
 
-ReturnValue_t PCDUHandler::sendFuseOnCommand(uint8_t fuseNr) { return returnvalue::OK; }
+ReturnValue_t PcduHandler::sendFuseOnCommand(uint8_t fuseNr) { return returnvalue::OK; }
 
-ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
+ReturnValue_t PcduHandler::getSwitchState(uint8_t switchNr) const {
   if (switchNr >= pcdu::NUMBER_OF_SWITCHES) {
     sif::debug << "PCDUHandler::getSwitchState: Invalid switch number" << std::endl;
     return returnvalue::FAILED;
@@ -407,6 +408,9 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
     MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     currentState = switchStates[switchNr];
   }
+  if (currentState == SWITCH_STATE_UNKNOWN) {
+    return PowerSwitchIF::SWITCH_UNKNOWN;
+  }
   if (currentState == 1) {
     return PowerSwitchIF::SWITCH_ON;
   } else {
@@ -414,13 +418,13 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
   }
 }
 
-ReturnValue_t PCDUHandler::getFuseState(uint8_t fuseNr) const { return returnvalue::OK; }
+ReturnValue_t PcduHandler::getFuseState(uint8_t fuseNr) const { return returnvalue::OK; }
 
-uint32_t PCDUHandler::getSwitchDelayMs(void) const { return 20000; }
+uint32_t PcduHandler::getSwitchDelayMs(void) const { return 20000; }
 
-object_id_t PCDUHandler::getObjectId() const { return SystemObject::getObjectId(); }
+object_id_t PcduHandler::getObjectId() const { return SystemObject::getObjectId(); }
 
-ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+ReturnValue_t PcduHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                    LocalDataPoolManager& poolManager) {
   using namespace pcdu;
   localDataPoolMap.emplace(PoolIds::PDU1_SWITCHES, &pdu1Switches);
@@ -431,7 +435,7 @@ ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDat
   return returnvalue::OK;
 }
 
-ReturnValue_t PCDUHandler::initializeAfterTaskCreation() {
+ReturnValue_t PcduHandler::initializeAfterTaskCreation() {
   if (executingTask != nullptr) {
     pstIntervalMs = executingTask->getPeriodMs();
   }
@@ -442,11 +446,11 @@ ReturnValue_t PCDUHandler::initializeAfterTaskCreation() {
   return returnvalue::OK;
 }
 
-uint32_t PCDUHandler::getPeriodicOperationFrequency() const { return pstIntervalMs; }
+uint32_t PcduHandler::getPeriodicOperationFrequency() const { return pstIntervalMs; }
 
-void PCDUHandler::setTaskIF(PeriodicTaskIF* task) { executingTask = task; }
+void PcduHandler::setTaskIF(PeriodicTaskIF* task) { executingTask = task; }
 
-LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) {
+LocalPoolDataSetBase* PcduHandler::getDataSetHandle(sid_t sid) {
   if (sid == switcherSet.getSid()) {
     return &switcherSet;
   } else {
@@ -455,7 +459,7 @@ LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) {
   }
 }
 
-void PCDUHandler::checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx,
+void PcduHandler::checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx,
                                           uint8_t setValue) {
   using namespace pcdu;
   if (switchStates[switchIdx] != setValue) {

mission/devices/PcduHandler.h

@@ -20,13 +20,13 @@
  * This is necessary because the FSFW manages all power related functionalities via one
  * power object. This includes for example switching on and off of devices.
  */
-class PCDUHandler : public PowerSwitchIF,
+class PcduHandler : public PowerSwitchIF,
                     public HasLocalDataPoolIF,
                     public SystemObject,
                     public ExecutableObjectIF {
  public:
-  PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize = 20);
-  virtual ~PCDUHandler();
+  PcduHandler(object_id_t setObjectId, size_t cmdQueueSize = 20);
+  virtual ~PcduHandler();
 
   virtual ReturnValue_t initialize() override;
   virtual ReturnValue_t performOperation(uint8_t counter) override;
@@ -35,7 +35,11 @@ class PCDUHandler : public PowerSwitchIF,
 
   virtual ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
   virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
-  virtual ReturnValue_t getSwitchState(uint8_t switchNr) const override;
+  /**
+   * @param switchNr
+   * @return returnvalue::FAILED if the switch state has not been updated yet.
+   */
+  ReturnValue_t getSwitchState(uint8_t switchNr) const override;
   virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override;
   virtual uint32_t getSwitchDelayMs(void) const override;
   virtual object_id_t getObjectId() const override;
@@ -84,6 +88,7 @@ class PCDUHandler : public PowerSwitchIF,
   /** The timeStamp of the current pdu1HkTableDataset */
   CCSDSTime::CDS_short timeStampPdu1HkDataset;
 
+  uint8_t SWITCH_STATE_UNKNOWN = 2;
   uint8_t switchStates[pcdu::NUMBER_OF_SWITCHES];
   /**
    * Pointer to the IPCStore.

mission/devices/Pdu1Handler.cpp

@@ -1,11 +1,10 @@
-#include "PDU1Handler.h"
-
 #include <fsfw/datapool/PoolReadGuard.h>
+#include <mission/devices/Pdu1Handler.h>
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
 
 #include "devices/powerSwitcherList.h"
 
-PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
+Pdu1Handler::Pdu1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
                          FailureIsolationBase *customFdir)
     : GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir),
       coreHk(this),
@@ -13,23 +12,23 @@ PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comC
   initPduConfigTable();
 }
 
-PDU1Handler::~PDU1Handler() {}
+Pdu1Handler::~Pdu1Handler() {}
 
-ReturnValue_t PDU1Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+ReturnValue_t Pdu1Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   *id = GOMSPACE::REQUEST_HK_TABLE;
   return buildCommandFromCommand(*id, NULL, 0);
 }
 
-void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
+void Pdu1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
   parseHkTableReply(packet);
 }
 
-void PDU1Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
+void Pdu1Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
   this->channelSwitchHook = hook;
   this->hookArgs = args;
 }
 
-ReturnValue_t PDU1Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
+ReturnValue_t Pdu1Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
                                             bool afterExecution) {
   using namespace PDU1;
   GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU1;
@@ -79,15 +78,15 @@ ReturnValue_t PDU1Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
   return returnvalue::OK;
 }
 
-void PDU1Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
+void Pdu1Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
   handleDeviceTm(packet, PDU::CONFIG_TABLE_SIZE, id);
 }
 
-void PDU1Handler::parseHkTableReply(const uint8_t *packet) {
+void Pdu1Handler::parseHkTableReply(const uint8_t *packet) {
   GomspaceDeviceHandler::parsePduHkTable(coreHk, auxHk, packet);
 }
 
-ReturnValue_t PDU1Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+ReturnValue_t Pdu1Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                    LocalDataPoolManager &poolManager) {
   initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU1);
   poolManager.subscribeForDiagPeriodicPacket(
@@ -97,7 +96,7 @@ ReturnValue_t PDU1Handler::initializeLocalDataPool(localpool::DataPool &localDat
   return returnvalue::OK;
 }
 
-LocalPoolDataSetBase *PDU1Handler::getDataSetHandle(sid_t sid) {
+LocalPoolDataSetBase *Pdu1Handler::getDataSetHandle(sid_t sid) {
   if (sid == coreHk.getSid()) {
     return &coreHk;
   } else if (sid == auxHk.getSid()) {
@@ -106,7 +105,7 @@ LocalPoolDataSetBase *PDU1Handler::getDataSetHandle(sid_t sid) {
   return nullptr;
 }
 
-ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
+ReturnValue_t Pdu1Handler::printStatus(DeviceCommandId_t cmd) {
   ReturnValue_t result = returnvalue::OK;
   switch (cmd) {
     case (GOMSPACE::PRINT_SWITCH_V_I): {
@@ -137,7 +136,7 @@ ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
   return result;
 }
 
-void PDU1Handler::printHkTableSwitchVI() {
+void Pdu1Handler::printHkTableSwitchVI() {
   using namespace PDU1;
   sif::info << "PDU1 Info: " << std::endl;
   sif::info << "Boot Cause: " << auxHk.bootcause << " | Boot Count: " << std::setw(4) << std::right
@@ -163,7 +162,7 @@ void PDU1Handler::printHkTableSwitchVI() {
   printerHelper("Syrlinks", Channels::SYRLINKS);
 }
 
-void PDU1Handler::printHkTableLatchups() {
+void Pdu1Handler::printHkTableLatchups() {
   using namespace PDU1;
   sif::info << "PDU1 Latchup Information" << std::endl;
   auto printerHelper = [&](std::string channelStr, Channels idx) {

mission/devices/Pdu1Handler.h

@@ -19,11 +19,11 @@
  *          ACS 3.3V for Side A group, channel 7
  *          Unoccupied, 5V, channel 8
  */
-class PDU1Handler : public GomspaceDeviceHandler {
+class Pdu1Handler : public GomspaceDeviceHandler {
  public:
-  PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+  Pdu1Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
               FailureIsolationBase* customFdir);
-  virtual ~PDU1Handler();
+  virtual ~Pdu1Handler();
 
   virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                 LocalDataPoolManager& poolManager) override;

mission/devices/Pdu2Handler.cpp

@@ -1,11 +1,10 @@
-#include "PDU2Handler.h"
-
 #include <fsfw/datapool/PoolReadGuard.h>
+#include <mission/devices/Pdu2Handler.h>
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
 
 #include "devices/powerSwitcherList.h"
 
-PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
+Pdu2Handler::Pdu2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
                          FailureIsolationBase *customFdir)
     : GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir),
       coreHk(this),
@@ -13,27 +12,27 @@ PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comC
   initPduConfigTable();
 }
 
-PDU2Handler::~PDU2Handler() {}
+Pdu2Handler::~Pdu2Handler() {}
 
-ReturnValue_t PDU2Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+ReturnValue_t Pdu2Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   *id = GOMSPACE::REQUEST_HK_TABLE;
   return buildCommandFromCommand(*id, NULL, 0);
 }
 
-void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
+void Pdu2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
   parseHkTableReply(packet);
 }
 
-void PDU2Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
+void Pdu2Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
   handleDeviceTm(packet, PDU::CONFIG_TABLE_SIZE, id);
 }
 
-void PDU2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
+void Pdu2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
   this->channelSwitchHook = hook;
   this->hookArgs = args;
 }
 
-LocalPoolDataSetBase *PDU2Handler::getDataSetHandle(sid_t sid) {
+LocalPoolDataSetBase *Pdu2Handler::getDataSetHandle(sid_t sid) {
   if (sid == coreHk.getSid()) {
     return &coreHk;
   } else if (sid == auxHk.getSid()) {
@@ -42,11 +41,11 @@ LocalPoolDataSetBase *PDU2Handler::getDataSetHandle(sid_t sid) {
   return nullptr;
 }
 
-void PDU2Handler::parseHkTableReply(const uint8_t *packet) {
+void Pdu2Handler::parseHkTableReply(const uint8_t *packet) {
   GomspaceDeviceHandler::parsePduHkTable(coreHk, auxHk, packet);
 }
 
-ReturnValue_t PDU2Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+ReturnValue_t Pdu2Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                    LocalDataPoolManager &poolManager) {
   initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU2);
   poolManager.subscribeForDiagPeriodicPacket(
@@ -56,7 +55,7 @@ ReturnValue_t PDU2Handler::initializeLocalDataPool(localpool::DataPool &localDat
   return returnvalue::OK;
 }
 
-ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
+ReturnValue_t Pdu2Handler::printStatus(DeviceCommandId_t cmd) {
   ReturnValue_t result = returnvalue::OK;
   switch (cmd) {
     case (GOMSPACE::PRINT_SWITCH_V_I): {
@@ -87,7 +86,7 @@ ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
   return result;
 }
 
-void PDU2Handler::printHkTableSwitchVI() {
+void Pdu2Handler::printHkTableSwitchVI() {
   using namespace PDU2;
   sif::info << "PDU2 Info:" << std::endl;
   sif::info << "Boot Cause: " << auxHk.bootcause << " | Boot Count: " << std::setw(4) << std::right
@@ -111,7 +110,7 @@ void PDU2Handler::printHkTableSwitchVI() {
   printerHelper("Payload Camera", Channels::PAYLOAD_CAMERA);
 }
 
-void PDU2Handler::printHkTableLatchups() {
+void Pdu2Handler::printHkTableLatchups() {
   using namespace PDU2;
   sif::info << "PDU2 Latchup Information" << std::endl;
   auto printerHelper = [&](std::string channelStr, Channels idx) {
@@ -129,7 +128,7 @@ void PDU2Handler::printHkTableLatchups() {
   printerHelper("Payload Camera", Channels::PAYLOAD_CAMERA);
 }
 
-ReturnValue_t PDU2Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
+ReturnValue_t Pdu2Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
                                             bool afterExecution) {
   using namespace PDU2;
   GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2;

mission/devices/Pdu2Handler.h

@@ -19,11 +19,11 @@
  * 			ACS Board (Gyro, MGMs, GPS), 3.3V channel 7
  * 			Payload Camera, 8V, channel 8
  */
-class PDU2Handler : public GomspaceDeviceHandler {
+class Pdu2Handler : public GomspaceDeviceHandler {
  public:
-  PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+  Pdu2Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
               FailureIsolationBase* customFdir);
-  virtual ~PDU2Handler();
+  virtual ~Pdu2Handler();
 
   virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                 LocalDataPoolManager& poolManager) override;

mission/devices/RwHandler.cpp

@@ -24,7 +24,6 @@ RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCooki
     sif::error << "RwHandler: Invalid gpio communication interface" << std::endl;
   }
 }
-
 RwHandler::~RwHandler() {}
 
 void RwHandler::doStartUp() {
@@ -43,6 +42,17 @@ void RwHandler::doShutDown() {
   }
   internalState = InternalState::DEFAULT;
   updatePeriodicReply(false, rws::REPLY_ID);
+  {
+    PoolReadGuard pg(&statusSet);
+    statusSet.currSpeed = 0.0;
+    statusSet.referenceSpeed = 0.0;
+    statusSet.state = 0;
+    statusSet.setValidity(false, true);
+  }
+  {
+    PoolReadGuard pg(&tmDataset);
+    tmDataset.setValidity(false, true);
+  }
   // The power switch is handled by the assembly, so we can go off here directly.
   setMode(MODE_OFF);
 }

mission/devices/SolarArrayDeploymentHandler.cpp

@@ -157,10 +157,14 @@ ReturnValue_t SolarArrayDeploymentHandler::performAutonomousDepl(sd::SdCard sdCa
   return returnvalue::OK;
 }
 
-bool SolarArrayDeploymentHandler::autonomousDeplForFile(sd::SdCard sdCard, const char* filename,
+bool SolarArrayDeploymentHandler::autonomousDeplForFile(sd::SdCard sdCard, const char* infoFile,
                                                         bool dryRun) {
   using namespace std;
-  ifstream file(filename);
+  std::error_code e;
+  ifstream file(infoFile);
+  if (file.bad()) {
+    return false;
+  }
   string line;
   string word;
   unsigned int lineNum = 0;
@@ -211,14 +215,14 @@ bool SolarArrayDeploymentHandler::autonomousDeplForFile(sd::SdCard sdCard, const
           stateSwitch = true;
         }
       };
-      if ((secsSinceBoot > FIRST_BURN_START_TIME) and (secsSinceBoot < FIRST_BURN_END_TIME)) {
+      if ((secsSinceBoot >= FIRST_BURN_START_TIME) and (secsSinceBoot < FIRST_BURN_END_TIME)) {
         switchCheck(AutonomousDeplState::FIRST_BURN);
-      } else if ((secsSinceBoot > WAIT_START_TIME) and (secsSinceBoot < WAIT_END_TIME)) {
+      } else if ((secsSinceBoot >= WAIT_START_TIME) and (secsSinceBoot < WAIT_END_TIME)) {
         switchCheck(AutonomousDeplState::WAIT);
-      } else if ((secsSinceBoot > SECOND_BURN_START_TIME) and
+      } else if ((secsSinceBoot >= SECOND_BURN_START_TIME) and
                  (secsSinceBoot < SECOND_BURN_END_TIME)) {
         switchCheck(AutonomousDeplState::SECOND_BURN);
-      } else if (secsSinceBoot > SECOND_BURN_END_TIME) {
+      } else if (secsSinceBoot >= SECOND_BURN_END_TIME) {
         switchCheck(AutonomousDeplState::DONE);
       }
     }
@@ -240,15 +244,18 @@ bool SolarArrayDeploymentHandler::autonomousDeplForFile(sd::SdCard sdCard, const
     }
   }
   if (deplState == AutonomousDeplState::DONE) {
-    remove(filename);
+    std::filesystem::remove(infoFile, e);
     if (sdCard == sd::SdCard::SLOT_0) {
-      remove(SD_0_DEPL_FILE);
+      std::filesystem::remove(SD_0_DEPL_FILE, e);
     } else {
-      remove(SD_1_DEPL_FILE);
+      std::filesystem::remove(SD_1_DEPL_FILE, e);
     }
     triggerEvent(AUTONOMOUS_DEPLOYMENT_COMPLETED);
   } else {
-    std::ofstream of(filename);
+    std::ofstream of(infoFile);
+    if (of.bad()) {
+      return false;
+    }
     of << "phase: ";
     if (deplState == AutonomousDeplState::INIT) {
       of << PHASE_INIT_STR << "\n";

mission/sysDefs.h

@@ -0,0 +1,11 @@
+#ifndef MISSION_SYSDEFS_H_
+#define MISSION_SYSDEFS_H_
+
+#include "acsDefs.h"
+namespace satsystem {
+
+enum Mode : Mode_t { BOOT = 5, SAFE = acs::AcsMode::SAFE, PTG_IDLE = acs::AcsMode::PTG_IDLE };
+
+}
+
+#endif /* MISSION_SYSDEFS_H_ */

mission/system/objects/DualLaneAssemblyBase.cpp

@@ -19,7 +19,10 @@ DualLaneAssemblyBase::DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF*
 void DualLaneAssemblyBase::performChildOperation() {
   using namespace duallane;
   if (pwrStateMachine.active()) {
-    pwrStateMachineWrapper();
+    ReturnValue_t result = pwrStateMachineWrapper();
+    if (result != returnvalue::OK) {
+      handleModeTransitionFailed(result);
+    }
   }
   // Only perform the regular child operation if the power state machine is not active.
   // It does not make any sense to command device modes while the power switcher is busy
@@ -31,10 +34,17 @@ void DualLaneAssemblyBase::performChildOperation() {
 }
 
 void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
-  // doStartTransition(mode, submode);
   using namespace duallane;
   pwrStateMachine.reset();
   if (mode != MODE_OFF) {
+    // Special exception: A transition from dual side to single mode must be handled like
+    // going OFF.
+    if ((this->mode == MODE_ON or this->mode == DeviceHandlerIF::MODE_NORMAL) and
+        this->submode == DUAL_MODE and submode != DUAL_MODE) {
+      dualToSingleSideTransition = true;
+      AssemblyBase::startTransition(mode, submode);
+      return;
+    }
     // If anything other than MODE_OFF is commanded, perform power state machine first
     // Cache the target modes, required by power state machine
     pwrStateMachine.start(mode, submode);
@@ -72,9 +82,13 @@ ReturnValue_t DualLaneAssemblyBase::pwrStateMachineWrapper() {
       // Will be called for transitions to MODE_OFF, where everything is done after power switching
       finishModeOp();
     } else if (opCode == OpCodes::TO_NOT_OFF_DONE) {
-      // Will be called for transitions from MODE_OFF to anything else, where the mode still has
-      // to be commanded after power switching
-      AssemblyBase::startTransition(targetMode, targetSubmode);
+      if (dualToSingleSideTransition) {
+        finishModeOp();
+      } else {
+        // Will be called for transitions from MODE_OFF to anything else, where the mode still has
+        // to be commanded after power switching
+        AssemblyBase::startTransition(targetMode, targetSubmode);
+      }
     } else if (opCode == OpCodes::TIMEOUT_OCCURED) {
       if (powerRetryCounter == 0) {
         powerRetryCounter++;
@@ -112,8 +126,16 @@ void DualLaneAssemblyBase::handleModeReached() {
     pwrStateMachine.start(targetMode, targetSubmode);
     // Now we can switch off the power. After that, the AssemblyBase::handleModeReached function
     // will be called
+    // Ignore failures for now.
     pwrStateMachineWrapper();
   } else {
+    // For dual to single side transition, devices should be logically off, but the switch
+    // handling still needs to be done.
+    if (dualToSingleSideTransition) {
+      pwrStateMachine.start(targetMode, targetSubmode);
+      pwrStateMachineWrapper();
+      return;
+    }
     finishModeOp();
   }
 }
@@ -225,6 +247,7 @@ void DualLaneAssemblyBase::finishModeOp() {
   pwrStateMachine.reset();
   powerRetryCounter = 0;
   tryingOtherSide = false;
+  dualToSingleSideTransition = false;
   dualModeErrorSwitch = true;
 }
 

mission/system/objects/DualLaneAssemblyBase.h

@@ -31,6 +31,7 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
   uint8_t powerRetryCounter = 0;
   bool tryingOtherSide = false;
   bool dualModeErrorSwitch = true;
+  bool dualToSingleSideTransition = false;
   duallane::Submodes defaultSubmode = duallane::Submodes::A_SIDE;
 
   enum RecoveryCustomStates {

mission/system/tree/system.cpp

@@ -3,6 +3,7 @@
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/subsystem/Subsystem.h>
 #include <mission/acsDefs.h>
+#include <mission/sysDefs.h>
 
 #include "acsModeTree.h"
 #include "comModeTree.h"
@@ -16,6 +17,7 @@ namespace {
 // Alias for checker function
 const auto check = subsystem::checkInsert;
 
+void buildBootSequence(Subsystem& ss, ModeListEntry& eh);
 void buildSafeSequence(Subsystem& ss, ModeListEntry& eh);
 void buildIdleSequence(Subsystem& ss, ModeListEntry& eh);
 }  // namespace
@@ -33,29 +35,36 @@ void satsystem::init() {
   auto& comSubsystem = com::init();
   comSubsystem.connectModeTreeParent(EIVE_SYSTEM);
   ModeListEntry entry;
+  buildBootSequence(EIVE_SYSTEM, entry);
   buildSafeSequence(EIVE_SYSTEM, entry);
   buildIdleSequence(EIVE_SYSTEM, entry);
-  EIVE_SYSTEM.setInitialMode(HasModesIF::MODE_OFF, 0);
+  EIVE_SYSTEM.setInitialMode(satsystem::Mode::BOOT, 0);
 }
 
 EiveSystem satsystem::EIVE_SYSTEM = EiveSystem(objects::EIVE_SYSTEM, 12, 24);
 
-auto EIVE_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_SEQUENCE_BOOT = std::make_pair(satsystem::Mode::BOOT, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_BOOT_TGT =
+    std::make_pair((satsystem::Mode::BOOT << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_BOOT_TRANS_0 =
+    std::make_pair((satsystem::Mode::BOOT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+
+auto EIVE_SEQUENCE_SAFE = std::make_pair(satsystem::Mode::SAFE, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_SAFE_TGT =
-    std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((satsystem::Mode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_SAFE_TRANS_0 =
-    std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((satsystem::Mode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_SAFE_TRANS_1 =
-    std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((satsystem::Mode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
 
 auto EIVE_SEQUENCE_IDLE =
-    std::make_pair(acs::AcsMode::PTG_IDLE, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair(satsystem::Mode::PTG_IDLE, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_IDLE_TGT =
-    std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_IDLE_TRANS_0 =
-    std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_IDLE_TRANS_1 =
-    std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
 
 namespace {
 
@@ -89,7 +98,6 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build SAFE transition 0.
   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);
   iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_0.second);
   iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_0.second, true);
   check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_0.first, &EIVE_TABLE_SAFE_TRANS_0.second)),
@@ -140,4 +148,48 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 }
 
+void buildBootSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildBootSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table,
+                 bool allowAllSubmodes = false) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    if (allowAllSubmodes) {
+      eh.allowAllSubmodes();
+    }
+    check(table.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::OFF, 0, EIVE_TABLE_BOOT_TGT.second, true);
+  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
+  iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TGT.second);
+  iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TGT.first, &EIVE_TABLE_BOOT_TGT.second)), ctxc);
+
+  // Build SAFE transition 0.
+  iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
+  iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TRANS_0.second);
+  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second, true);
+  check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TRANS_0.first, &EIVE_TABLE_BOOT_TRANS_0.second)),
+        ctxc);
+
+  // Build Safe sequence
+  ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TRANS_0.first, 0, false);
+  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_BOOT.first, &EIVE_SEQUENCE_BOOT.second,
+                                     EIVE_SEQUENCE_SAFE.first)),
+        ctxc);
+}
 }  // namespace

mission/tmtc/CcsdsIpCoreHandler.cpp

@@ -3,6 +3,7 @@
 #include <fsfw/subsystem/helper.h>
 #include <linux/ipcore/PtmeConfig.h>
 #include <mission/config/comCfg.h>
+#include <unistd.h>
 
 #include "eive/definitions.h"
 #include "fsfw/ipc/QueueFactory.h"
@@ -14,7 +15,7 @@
 
 CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDestination,
                                        PtmeConfig& ptmeConfig, std::atomic_bool& linkState,
-                                       GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData)
+                                       GpioIF* gpioIF, PtmeGpios gpioIds)
     : SystemObject(objectId),
       linkState(linkState),
       tcDestination(tcDestination),
@@ -22,9 +23,8 @@ CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDesti
       actionHelper(this, nullptr),
       modeHelper(this),
       ptmeConfig(ptmeConfig),
-      gpioIF(gpioIF),
-      enTxClock(enTxClock),
-      enTxData(enTxData) {
+      ptmeGpios(gpioIds),
+      gpioIF(gpioIF) {
   commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
   auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
   eventQueue =
@@ -39,7 +39,7 @@ ReturnValue_t CcsdsIpCoreHandler::performOperation(uint8_t operationCode) {
 }
 
 ReturnValue_t CcsdsIpCoreHandler::initialize() {
-  ReturnValue_t result = returnvalue::OK;
+
   AcceptsTelecommandsIF* tcDistributor =
       ObjectManager::instance()->get<AcceptsTelecommandsIF>(tcDestination);
   if (tcDistributor == nullptr) {
@@ -51,7 +51,7 @@ ReturnValue_t CcsdsIpCoreHandler::initialize() {
 
   tcDistributorQueueId = tcDistributor->getRequestQueue();
 
-  result = parameterHelper.initialize();
+  ReturnValue_t result = parameterHelper.initialize();
   if (result != returnvalue::OK) {
     return result;
   }
@@ -71,6 +71,13 @@ ReturnValue_t CcsdsIpCoreHandler::initialize() {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
+  // This also pulls the PTME out of reset state.
+  if (batPriorityParam == 0) {
+    disablePrioritySelectMode();
+  } else {
+    enablePrioritySelectMode();
+  }
+
 #if OBSW_SYRLINKS_SIMULATED == 1
   // Update data on rising edge
   ptmeConfig.invertTxClock(false);
@@ -111,7 +118,24 @@ ReturnValue_t CcsdsIpCoreHandler::getParameter(uint8_t domainId, uint8_t uniqueI
                                                ParameterWrapper* parameterWrapper,
                                                const ParameterWrapper* newValues,
                                                uint16_t startAtIndex) {
-  return returnvalue::OK;
+  if ((domainId == 0) and (uniqueIdentifier == ParamId::BAT_PRIORITY)) {
+    uint8_t newVal = 0;
+    ReturnValue_t result = newValues->getElement(&newVal);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    if (newVal > 1) {
+      return HasParametersIF::INVALID_VALUE;
+    }
+    parameterWrapper->set(batPriorityParam);
+    if (mode == MODE_ON) {
+      updateBatPriorityOnTxOff = true;
+    } else if (mode == MODE_OFF) {
+      updateBatPriorityFromParam();
+    }
+    return returnvalue::OK;
+  }
+  return HasParametersIF::INVALID_IDENTIFIER_ID;
 }
 
 uint32_t CcsdsIpCoreHandler::getIdentifier() const { return 0; }
@@ -184,8 +208,8 @@ void CcsdsIpCoreHandler::updateLinkState() { linkState = LINK_UP; }
 
 void CcsdsIpCoreHandler::enableTransmit() {
 #ifndef TE0720_1CFA
-  gpioIF->pullHigh(enTxClock);
-  gpioIF->pullHigh(enTxData);
+  gpioIF->pullHigh(ptmeGpios.enableTxClock);
+  gpioIF->pullHigh(ptmeGpios.enableTxData);
 #endif
   linkState = LINK_UP;
 }
@@ -211,14 +235,8 @@ ReturnValue_t CcsdsIpCoreHandler::checkModeCommand(Mode_t mode, Submode_t submod
 }
 
 void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
-  auto rateHigh = [&]() {
-    ReturnValue_t result = ptmeConfig.setRate(RATE_500KBPS);
-    if (result == returnvalue::OK) {
-      this->mode = HasModesIF::MODE_ON;
-    }
-  };
-  auto rateLow = [&]() {
-    ReturnValue_t result = ptmeConfig.setRate(RATE_100KBPS);
+  auto rateSet = [&](uint32_t rate) {
+    ReturnValue_t result = ptmeConfig.setRate(rate);
     if (result == returnvalue::OK) {
       this->mode = HasModesIF::MODE_ON;
     }
@@ -228,14 +246,14 @@ void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
     if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
       com::Datarate currentDatarate = com::getCurrentDatarate();
       if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
-        rateLow();
+        rateSet(RATE_100KBPS);
       } else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
-        rateHigh();
+        rateSet(RATE_500KBPS);
       }
     } else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH)) {
-      rateHigh();
+      rateSet(RATE_500KBPS);
     } else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
-      rateLow();
+      rateSet(RATE_100KBPS);
     }
 
   } else if (mode == HasModesIF::MODE_OFF) {
@@ -251,10 +269,14 @@ void CcsdsIpCoreHandler::announceMode(bool recursive) { triggerEvent(MODE_INFO,
 
 void CcsdsIpCoreHandler::disableTransmit() {
 #ifndef TE0720_1CFA
-  gpioIF->pullLow(enTxClock);
-  gpioIF->pullLow(enTxData);
+  gpioIF->pullLow(ptmeGpios.enableTxClock);
+  gpioIF->pullLow(ptmeGpios.enableTxData);
 #endif
   linkState = LINK_DOWN;
+  if (updateBatPriorityOnTxOff) {
+    updateBatPriorityFromParam();
+    updateBatPriorityOnTxOff = false;
+  }
 }
 
 const char* CcsdsIpCoreHandler::getName() const { return "CCSDS Handler"; }
@@ -270,3 +292,27 @@ ReturnValue_t CcsdsIpCoreHandler::connectModeTreeParent(HasModeTreeChildrenIF& p
 ModeTreeChildIF& CcsdsIpCoreHandler::getModeTreeChildIF() { return *this; }
 
 object_id_t CcsdsIpCoreHandler::getObjectId() const { return SystemObject::getObjectId(); }
+
+void CcsdsIpCoreHandler::enablePrioritySelectMode() {
+  ptmeConfig.enableBatPriorityBit(true);
+  // Reset the PTME
+  gpioIF->pullLow(ptmeGpios.ptmeResetn);
+  usleep(10);
+  gpioIF->pullHigh(ptmeGpios.ptmeResetn);
+}
+
+void CcsdsIpCoreHandler::disablePrioritySelectMode() {
+  ptmeConfig.enableBatPriorityBit(false);
+  // Reset the PTME
+  gpioIF->pullLow(ptmeGpios.ptmeResetn);
+  usleep(10);
+  gpioIF->pullHigh(ptmeGpios.ptmeResetn);
+}
+
+void CcsdsIpCoreHandler::updateBatPriorityFromParam() {
+  if (batPriorityParam == 0) {
+    disablePrioritySelectMode();
+  } else {
+    enablePrioritySelectMode();
+  }
+}

mission/tmtc/CcsdsIpCoreHandler.h

@@ -25,12 +25,25 @@
 #include "linux/ipcore/PtmeConfig.h"
 #include "mission/comDefs.h"
 
+struct PtmeGpios {
+  gpioId_t enableTxClock = gpio::NO_GPIO;
+  gpioId_t enableTxData = gpio::NO_GPIO;
+  gpioId_t ptmeResetn = gpio::NO_GPIO;
+};
+
 /**
  * @brief   This class handles the data exchange with the CCSDS IP cores implemented in the
  *          programmable logic of the Q7S.
  *
- * @details After reboot default CADU bitrate is always set to 100 kbps (results in downlink rate
- *          of 200 kbps due to convolutional code added by syrlinks transceiver)
+ * @details
+ * After reboot default CADU bitrate is always set to 100 kbps (results in downlink rate
+ * of 200 kbps due to convolutional code added by syrlinks transceiver). The IP core handler exposes
+ * a parameter to enable the priority selection mode for the PTME core.
+ *
+ * If the transmitter is on, the selection mode will be enabled when the transmitter goes off.
+ * If the transmitter is off, the update of the PTME will be done immediately on a parameter update.
+ * This is done because changing this parameter requires a reset of the PTME core to avoid bugs
+ * while the transmitter is enabled.
  *
  * @author  J. Meier
  */
@@ -39,11 +52,12 @@ class CcsdsIpCoreHandler : public SystemObject,
                            public ModeTreeChildIF,
                            public ModeTreeConnectionIF,
                            public HasModesIF,
-                           // public AcceptsTelemetryIF,
                            public AcceptsTelecommandsIF,
                            public ReceivesParameterMessagesIF,
                            public HasActionsIF {
  public:
+  enum ParamId : uint8_t { BAT_PRIORITY = 0 };
+
   static const bool LINK_UP = true;
   static const bool LINK_DOWN = false;
   using VcId_t = uint8_t;
@@ -61,8 +75,7 @@ class CcsdsIpCoreHandler : public SystemObject,
    * @param enTxData  GPIO ID of RS485 tx data enable
    */
   CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDestination, PtmeConfig& ptmeConfig,
-                     std::atomic_bool& linkState, GpioIF* gpioIF, gpioId_t enTxClock,
-                     gpioId_t enTxData);
+                     std::atomic_bool& linkState, GpioIF* gpioIF, PtmeGpios gpioIds);
 
   ~CcsdsIpCoreHandler();
 
@@ -138,15 +151,14 @@ class CcsdsIpCoreHandler : public SystemObject,
   MessageQueueId_t tcDistributorQueueId = MessageQueueIF::NO_QUEUE;
 
   PtmeConfig& ptmeConfig;
+  PtmeGpios ptmeGpios;
+  // BAT priority bit on by default to enable priority selection mode for the PTME.
+  uint8_t batPriorityParam = 1;
+  bool updateBatPriorityOnTxOff = false;
 
   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;
 
   void readCommandQueue(void);
-  void handleTelemetry();
 
   /**
    * @brief    Forward link state to virtual channels.
@@ -163,6 +175,16 @@ class CcsdsIpCoreHandler : public SystemObject,
    *          RS485 transceiver chips to high.
    */
   void disableTransmit();
+
+  /**
+   * The following set of functions configure the mode of the PTME bandwith allocation table (BAT)
+   * module. This consists of the following 2 steps:
+   *   1. Update the BAT priority bit in the PTME wrapper
+   *   2. Reset the PTME as specified in the datasheet.
+   */
+  void enablePrioritySelectMode();
+  void disablePrioritySelectMode();
+  void updateBatPriorityFromParam();
 };
 
 #endif /* CCSDSHANDLER_H_ */