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

Reviewed-on: #524

CHANGELOG.md

@@ -16,6 +16,97 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v1.40.0] 2023-03-24
+
+- eive-tmtc: v2.19.4
+- q7s-packasge: v2.1.0
+- Bumped fsfwgen for bugfix: Event translation can deal with duplicate event names now.
+
+## Fixed
+
+- PAPB busy polling now implemented properly with an upper bound of how often the PAPB is allowed
+  to be busy before returning the BUSY returnvalue. Also propagate and check for that case properly.
+  Ideally, this will never be an issue and the PAPB VC interface should never block for a longer
+  period.
+- The `mekfInvalidCounter` now resets on setting the STR to faulty.
+- Improve the SD lock handling. The file handling does not need to be locked as it
+  is only handled by one thread.
+
+## Added
+
+- The event `MEKF_RECOVERY` will be triggered in case the `MEKF` does manage to recover itself.
+- The persistent TM stores now have low priorities and behave like background threads now. This
+  should prevent them from blocking or slowing down the system even during dumps
+  (at least in theory).
+- STR: Fix weird issues on datalink layer data reception which sometimes occur.
+- Syrlinks FDIR: Fully allow FDIR to do more recoveries. Assembly should take care of preventing
+  the switch to go off.
+- Allow dual lane assembly side switches.
+
+## Changed
+
+- Rework FSFW OSALs to properly support regular scheduling (NICE priorities) and real-time
+  scheduling.
+- STR: Move datalink layer to `StrComHandler` completely. DLL is now completely hidden from
+  device handler.
+- STR: Is now scheduled twice in ACS PST.
+- `StrHelper` renamed to `StrComHandler`, is now a `DeviceHandlerIF` directly and does not wrap
+  a separate UART COM interface anymore.
+- TCS: Local pool variables are members now.
+- Syrlinks: Create dedicated COM helper which uses a ring buffer to parse the Syrlinks datalinklayer
+  and should make communication more reliable even on high CPU loads.
+- Syrlinks: Two communication cycles per PST.
+- Fine-tuning of various task priorities.
+- The CSP router now is scheduled with the `SCHED_RR` policy and the same priority as the PCDU
+  handlers as well.
+- Change project structure to be more subsystem centric for ACS and COM.
+
+# [v1.39.1] 2023-03-22
+
+## Fixed
+
+- Bugfix for STR: Some action commands wrongfully declined.
+- STR: No normal command handling while a special request like an image upload is active.
+- RS485 data line was not enabled when the transmitter was switched on.
+
+# [v1.39.0] 2023-03-21
+
+Requires firmware update for new FPGA design where reset line is routed into the software.
+2 relevant PRs:
+ - https://egit.irs.uni-stuttgart.de/eive/q7s-vivado/pulls/53
+ - https://egit.irs.uni-stuttgart.de/eive/q7s-vivado/pulls/54
+
+eive-tmtc: v2.19.3
+
+## Added
+
+- Added NaN and Inf check for the `MEKF`. If these are detected, the `AcsController` will reset
+  the `MEKF` on its own once. This way, there will not be an event spam and operators will have
+  to look into the reason of wrong outputs. To restore the reset ability, an action command has
+  been added.
+- Contingency handling for non-working I2C bus bug. Reboot the system if the I2C is not working.
+
+## Fixed
+
+- Fixed transition for dual power lane assemblies: When going from dual side submode to single side
+  submode, perform logical commanding first, similarly to when going to OFF mode.
+- GPS time is only set to valid if at least one satellite is in view.
+
+## Changed
+
+- Bugfixes for STR mode transitions: Booting to mode ON with submode FIRMWARE now works properly.
+  Furthermore, the submode in the NORMAL mode now should be 0 instead of some ON mode submode.
+- Updated GYR bias values to newest measurements. This also corrects the ADIS values to always
+  consit of just one digit.
+- The CCSDS IP core handler now exposes a parameter to enable the priority select mode
+  for the PTME core. This mode prioritizes virtual channels with a lower index, so for example
+  the virtual channel (VC0) will have the highest priority, while VC3 will have the lowestg
+  priority. This mode will be enabled by default for now, but can be set via the parameter IF with
+  the unique parameter ID 0. The update of this mode requires a PTME reset. Therefore, it will only
+  be performed when the transmitter is off to avoid weird bugs.
+- Connect and handle reset line for the PTME core in the software now.
+- Safe mode controller failure event now only triggers once per minute.
+
 # [v1.38.0] 2023-03-17
 
 eive-tmtc: v2.19.2
@@ -57,8 +148,7 @@ eive-tmtc: v2.19.1
   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.
-- EIVE system: Add boot mode which is also the initial mode. The fallback mode of the boot mode
-  will be the SAFE mode. The boot mode can also be used to switch as many devices as possible OFF.
+
 ## Fixed
 
 - Pointing control of the `AcsController` was still expecting submodes instead of modes.
@@ -84,9 +174,6 @@ eive-tmtc: v2.19.1
   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.
-
-## Changed
-
 - 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

CMakeLists.txt

@@ -10,7 +10,7 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 1)
-set(OBSW_VERSION_MINOR 38)
+set(OBSW_VERSION_MINOR 40)
 set(OBSW_VERSION_REVISION 0)
 
 # 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 278 translations.
+ * @brief    Auto-generated event translation file. Contains 279 translations.
  * @details
- * Generated on: 2023-03-15 10:10:04
+ * Generated on: 2023-03-24 21:09:31
  */
 #include "translateEvents.h"
 
@@ -96,6 +96,7 @@ const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
 const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
+const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
 const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
 const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
@@ -172,7 +173,7 @@ const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL";
 const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED";
 const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
 const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
-const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
+const char *STR_COM_REPLY_TIMEOUT_STRING = "STR_COM_REPLY_TIMEOUT";
 const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR";
 const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
 const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
@@ -208,6 +209,11 @@ const char *TRANSITION_OTHER_SIDE_FAILED_STRING = "TRANSITION_OTHER_SIDE_FAILED"
 const char *NOT_ENOUGH_DEVICES_DUAL_MODE_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE";
 const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
 const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
+const char *TRANSITION_OTHER_SIDE_FAILED_12900_STRING = "TRANSITION_OTHER_SIDE_FAILED_12900";
+const char *NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE_12901";
+const char *POWER_STATE_MACHINE_TIMEOUT_12902_STRING = "POWER_STATE_MACHINE_TIMEOUT_12902";
+const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING =
+    "SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903";
 const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
 const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
 const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";
@@ -260,6 +266,7 @@ 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";
@@ -464,8 +471,10 @@ const char *translateEvents(Event event) {
     case (11203):
       return MEKF_INVALID_INFO_STRING;
     case (11204):
-      return MEKF_INVALID_MODE_VIOLATION_STRING;
+      return MEKF_RECOVERY_STRING;
     case (11205):
+      return MEKF_INVALID_MODE_VIOLATION_STRING;
+    case (11206):
       return SAFE_MODE_CONTROLLER_FAILURE_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
@@ -616,16 +625,16 @@ const char *translateEvents(Event event) {
     case (12510):
       return STR_HELPER_COM_ERROR_STRING;
     case (12511):
-      return STR_HELPER_NO_REPLY_STRING;
-    case (12512):
-      return STR_HELPER_DEC_ERROR_STRING;
+      return STR_COM_REPLY_TIMEOUT_STRING;
     case (12513):
-      return POSITION_MISMATCH_STRING;
+      return STR_HELPER_DEC_ERROR_STRING;
     case (12514):
-      return STR_HELPER_FILE_NOT_EXISTS_STRING;
+      return POSITION_MISMATCH_STRING;
     case (12515):
-      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+      return STR_HELPER_FILE_NOT_EXISTS_STRING;
     case (12516):
+      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+    case (12517):
       return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
     case (12600):
       return MPSOC_FLASH_WRITE_FAILED_STRING;
@@ -687,6 +696,14 @@ const char *translateEvents(Event event) {
       return POWER_STATE_MACHINE_TIMEOUT_STRING;
     case (12803):
       return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
+    case (12900):
+      return TRANSITION_OTHER_SIDE_FAILED_12900_STRING;
+    case (12901):
+      return NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING;
+    case (12902):
+      return POWER_STATE_MACHINE_TIMEOUT_12902_STRING;
+    case (12903):
+      return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING;
     case (13000):
       return CHILDREN_LOST_MODE_STRING;
     case (13100):
@@ -791,6 +808,8 @@ 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: 2023-03-24 21:09:31
  */
 #include "translateObjects.h"
 
@@ -50,7 +50,7 @@ const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER";
 const char *RAD_SENSOR_STRING = "RAD_SENSOR";
 const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
 const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
-const char *STR_HELPER_STRING = "STR_HELPER";
+const char *STR_COM_IF_STRING = "STR_COM_IF";
 const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
 const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
 const char *PTME_CONFIG_STRING = "PTME_CONFIG";
@@ -86,6 +86,7 @@ const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPR
 const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
 const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
 const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
+const char *SYRLINKS_COM_HANDLER_STRING = "SYRLINKS_COM_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *DUMMY_COM_IF_STRING = "DUMMY_COM_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
@@ -171,7 +172,6 @@ const char *LOG_STORE_AND_TM_TASK_STRING = "LOG_STORE_AND_TM_TASK";
 const char *HK_STORE_AND_TM_TASK_STRING = "HK_STORE_AND_TM_TASK";
 const char *CFDP_STORE_AND_TM_TASK_STRING = "CFDP_STORE_AND_TM_TASK";
 const char *DOWNLINK_RAM_STORE_STRING = "DOWNLINK_RAM_STORE";
-const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER";
 const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
@@ -267,7 +267,7 @@ const char *translateObject(object_id_t object) {
     case 0x44330001:
       return PLOC_MEMORY_DUMPER_STRING;
     case 0x44330002:
-      return STR_HELPER_STRING;
+      return STR_COM_IF_STRING;
     case 0x44330003:
       return PLOC_MPSOC_HELPER_STRING;
     case 0x44330004:
@@ -338,6 +338,8 @@ const char *translateObject(object_id_t object) {
       return RTD_15_IC18_IMTQ_STRING;
     case 0x445300A3:
       return SYRLINKS_HANDLER_STRING;
+    case 0x445300A4:
+      return SYRLINKS_COM_HANDLER_STRING;
     case 0x49000001:
       return ARDUINO_COM_IF_STRING;
     case 0x49000002:
@@ -508,8 +510,6 @@ const char *translateObject(object_id_t object) {
       return CFDP_STORE_AND_TM_TASK_STRING;
     case 0x73040004:
       return DOWNLINK_RAM_STORE_STRING;
-    case 0x73500000:
-      return CCSDS_IP_CORE_BRIDGE_STRING;
     case 0x90000003:
       return THERMAL_TEMP_INSERTER_STRING;
     case 0xCAFECAFE:

bsp_q7s/CMakeLists.txt

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

bsp_q7s/OBSWConfig.h.in

@@ -14,7 +14,6 @@
 /*******************************************************************/
 
 #define OBSW_ENABLE_PERIODIC_HK                     0
-#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
 // This switch will cause the SW to command the EIVE system object to safe mode. This will
 // trigger a lot of events, so it can make sense to disable this for debugging purposes
 #define OBSW_COMMAND_SAFE_MODE_AT_STARTUP           1

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/callbacks/rwSpiCallback.cpp

@@ -6,7 +6,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw_hal/linux/UnixFileGuard.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
-#include "mission/devices/RwHandler.h"
+#include "mission/acs/RwHandler.h"
 
 namespace rwSpiCallback {
 

bsp_q7s/comIF/CMakeLists.txt

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

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

@@ -1,15 +1,17 @@
 #include "ObjectFactory.h"
 
 #include <fsfw/subsystem/Subsystem.h>
-#include <linux/devices/AcsBoardPolling.h>
-#include <linux/devices/ImtqPollingTask.h>
-#include <linux/devices/RwPollingTask.h>
-#include <mission/devices/GyrL3gCustomHandler.h>
-#include <mission/devices/MgmLis3CustomHandler.h>
-#include <mission/devices/MgmRm3100CustomHandler.h>
+#include <linux/acs/AcsBoardPolling.h>
+#include <linux/acs/ImtqPollingTask.h>
+#include <linux/acs/RwPollingTask.h>
+#include <linux/acs/startracker/StrComHandler.h>
+#include <linux/com/SyrlinksComHandler.h>
+#include <mission/acs/GyrL3gCustomHandler.h>
+#include <mission/acs/MgmLis3CustomHandler.h>
+#include <mission/acs/MgmRm3100CustomHandler.h>
+#include <mission/system/acs/ImtqAssembly.h>
 #include <mission/system/fdir/StrFdir.h>
 #include <mission/system/objects/CamSwitcher.h>
-#include <mission/system/objects/ImtqAssembly.h>
 #include <mission/system/objects/StrAssembly.h>
 #include <mission/system/objects/SyrlinksAssembly.h>
 #include <mission/tmtc/LiveTmTask.h>
@@ -31,6 +33,7 @@
 #include "eive/definitions.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "linux/ObjectFactory.h"
+#include "linux/acs/startracker/StarTrackerHandler.h"
 #include "linux/boardtest/I2cTestClass.h"
 #include "linux/boardtest/SpiTestClass.h"
 #include "linux/boardtest/UartTestClass.h"
@@ -44,8 +47,6 @@
 #include "linux/devices/ploc/PlocMPSoCHelper.h"
 #include "linux/devices/ploc/PlocMemoryDumper.h"
 #include "linux/devices/ploc/PlocSupervisorHandler.h"
-#include "linux/devices/startracker/StarTrackerHandler.h"
-#include "linux/devices/startracker/StrHelper.h"
 #include "linux/ipcore/AxiPtmeConfig.h"
 #include "linux/ipcore/PapbVcInterface.h"
 #include "linux/ipcore/PdecHandler.h"
@@ -53,16 +54,16 @@
 #include "linux/ipcore/PtmeConfig.h"
 #include "mission/config/configfile.h"
 #include "mission/csp/CspCookie.h"
-#include "mission/system/fdir/AcsBoardFdir.h"
+#include "mission/system/acs/AcsBoardFdir.h"
+#include "mission/system/acs/AcsSubsystem.h"
+#include "mission/system/acs/RwAssembly.h"
+#include "mission/system/acs/SusFdir.h"
+#include "mission/system/acs/acsModeTree.h"
+#include "mission/system/com/SyrlinksFdir.h"
+#include "mission/system/com/comModeTree.h"
 #include "mission/system/fdir/GomspacePowerFdir.h"
 #include "mission/system/fdir/RtdFdir.h"
-#include "mission/system/fdir/SusFdir.h"
-#include "mission/system/fdir/SyrlinksFdir.h"
-#include "mission/system/objects/AcsSubsystem.h"
-#include "mission/system/objects/RwAssembly.h"
 #include "mission/system/objects/TcsBoardAssembly.h"
-#include "mission/system/tree/acsModeTree.h"
-#include "mission/system/tree/comModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
 #include "mission/system/tree/tcsModeTree.h"
 #include "mission/tmtc/tmFilters.h"
@@ -74,13 +75,13 @@ using gpio::Levels;
 #if OBSW_TEST_LIBGPIOD == 1
 #include "linux/boardtest/LibgpiodTest.h"
 #endif
-#include <mission/devices/GyrAdis1650XHandler.h>
-#include <mission/devices/ImtqHandler.h>
+#include <mission/acs/GyrAdis1650XHandler.h>
+#include <mission/acs/ImtqHandler.h>
+#include <mission/acs/rwHelpers.h>
+#include <mission/com/SyrlinksHandler.h>
 #include <mission/devices/PcduHandler.h>
 #include <mission/devices/Pdu1Handler.h>
 #include <mission/devices/Pdu2Handler.h>
-#include <mission/devices/SyrlinksHandler.h>
-#include <mission/devices/devicedefinitions/rwHelpers.h>
 #include <mission/tmtc/VirtualChannelWithQueue.h>
 
 #include <sstream>
@@ -101,6 +102,9 @@ using gpio::Levels;
 #include "fsfw_hal/linux/serial/SerialCookie.h"
 #include "fsfw_hal/linux/spi/SpiComIF.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "mission/acs/RwHandler.h"
+#include "mission/com/CcsdsIpCoreHandler.h"
+#include "mission/com/syrlinksDefs.h"
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/ACUHandler.h"
 #include "mission/devices/BpxBatteryHandler.h"
@@ -109,20 +113,18 @@ using gpio::Levels;
 #include "mission/devices/P60DockHandler.h"
 #include "mission/devices/PayloadPcduHandler.h"
 #include "mission/devices/RadiationSensorHandler.h"
-#include "mission/devices/RwHandler.h"
 #include "mission/devices/SolarArrayDeploymentHandler.h"
 #include "mission/devices/Tmp1075Handler.h"
 #include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
-#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
 #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
-#include "mission/system/objects/AcsBoardAssembly.h"
-#include "mission/tmtc/CcsdsIpCoreHandler.h"
+#include "mission/system/acs/AcsBoardAssembly.h"
 #include "mission/tmtc/TmFunnelHandler.h"
 
 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;
@@ -178,7 +180,7 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
   *gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
 
   /* Communication interfaces */
-  new CspComIF(objects::CSP_COM_IF);
+  new CspComIF(objects::CSP_COM_IF, "CSP_ROUTER", 60);
   *i2cComIF = new I2cComIF(objects::I2C_COM_IF);
   *uartComIF = new SerialComIF(objects::UART_COM_IF);
   *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
@@ -591,16 +593,17 @@ void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitc
 
 void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
   auto* syrlinksUartCookie =
-      new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
+      new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, serial::SYRLINKS_BAUD,
                        syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   syrlinksUartCookie->setParityEven();
 
+  new SyrlinksComHandler(objects::SYRLINKS_COM_HANDLER);
   auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
   syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
   auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
   auto syrlinksHandler =
-      new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
-                          pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
+      new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::SYRLINKS_COM_HANDLER,
+                          syrlinksUartCookie, pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
   syrlinksHandler->setPowerSwitcher(pwrSwitcher);
   syrlinksHandler->connectModeTreeParent(*syrlinksAssy);
 #if OBSW_DEBUG_SYRLINKS == 1
@@ -622,8 +625,8 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
   mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
   gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC");
   auto mpsocCookie =
-      new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
-                       mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+      new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
+                       serial::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   mpsocCookie->setNoFixedSizeReply();
   auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
   auto* mpsocHandler = new PlocMPSoCHandler(
@@ -638,9 +641,9 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
   auto supvGpioCookie = new GpioCookie;
   supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
   gpioComIF->addGpios(supvGpioCookie);
-  auto supervisorCookie =
-      new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV,
-                       uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
+  auto supervisorCookie = new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER,
+                                           q7s::UART_PLOC_SUPERVSIOR_DEV, serial::PLOC_SUPV_BAUD,
+                                           supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
   supervisorCookie->setNoFixedSizeReply();
   auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
   auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
@@ -747,7 +750,13 @@ 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 +780,14 @@ 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,
@@ -922,10 +936,10 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
   auto* strAssy = new StrAssembly(objects::STR_ASSY);
   strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
   auto* starTrackerCookie =
-      new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
+      new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, serial::STAR_TRACKER_BAUD,
                        startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
   starTrackerCookie->setNoFixedSizeReply();
-  StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
+  StrComHandler* strComIF = new StrComHandler(objects::STR_COM_IF);
 
   const char* paramJsonFile = nullptr;
 #ifdef EGSE
@@ -942,8 +956,8 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
   }
   auto strFdir = new StrFdir(objects::STAR_TRACKER);
   auto starTracker =
-      new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
-                             paramJsonFile, strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
+      new StarTrackerHandler(objects::STAR_TRACKER, objects::STR_COM_IF, starTrackerCookie,
+                             paramJsonFile, strComIF, pcdu::PDU1_CH2_STAR_TRACKER_5V);
   starTracker->setPowerSwitcher(pwrSwitcher);
   starTracker->connectModeTreeParent(*strAssy);
   starTracker->setCustomFdir(strFdir);
@@ -953,7 +967,7 @@ 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

@@ -3,14 +3,15 @@
 
 #include <fsfw/returnvalues/returnvalue.h>
 #include <fsfw_hal/linux/spi/SpiComIF.h>
+#include <mission/com/CcsdsIpCoreHandler.h>
 #include <mission/core/GenericFactory.h>
 #include <mission/devices/HeaterHandler.h>
 #include <mission/system/objects/Stack5VHandler.h>
-#include <mission/tmtc/CcsdsIpCoreHandler.h>
 #include <mission/tmtc/CfdpTmFunnel.h>
 #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

@@ -72,8 +72,9 @@ void scheduling::initTasks() {
 #if OBSW_ADD_SA_DEPL == 1
   // Could add this to the core controller but the core controller does so many thing that I would
   // prefer to have the solar array deployment in a seprate task.
-  PeriodicTaskIF* solarArrayDeplTask = factory->createPeriodicTask(
-      "SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* solarArrayDeplTask =
+      factory->createPeriodicTask("SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
@@ -81,7 +82,7 @@ void scheduling::initTasks() {
 #endif
 
   PeriodicTaskIF* coreCtrlTask = factory->createPeriodicTask(
-      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+      "CORE_CTRL", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = coreCtrlTask->addComponent(objects::CORE_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
@@ -89,7 +90,7 @@ void scheduling::initTasks() {
 
   /* TMTC Distribution */
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
-      "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+      "TC_DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc, &RR_SCHEDULING);
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
   result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
@@ -120,7 +121,7 @@ void scheduling::initTasks() {
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
   PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
-      "UDP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+      "UDP_TMTC_POLLING", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("UDP_POLLING", objects::UDP_TMTC_POLLING_TASK);
@@ -128,7 +129,7 @@ void scheduling::initTasks() {
 #endif
 #if OBSW_ADD_TMTC_TCP_SERVER == 1
   PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
-      "TCP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+      "TCP_TMTC_POLLING", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK);
@@ -136,8 +137,9 @@ void scheduling::initTasks() {
 #endif
 #endif
 
-  PeriodicTaskIF* genericSysTask = factory->createPeriodicTask(
-      "SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
+  PeriodicTaskIF* genericSysTask =
+      factory->createPeriodicTask("SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = genericSysTask->addComponent(objects::EIVE_SYSTEM);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("EIVE_SYSTEM", objects::EIVE_SYSTEM);
@@ -171,7 +173,7 @@ void scheduling::initTasks() {
 
   // Runs in IRQ mode, frequency does not really matter
   PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
-      "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+      "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
   result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
@@ -179,50 +181,54 @@ void scheduling::initTasks() {
 
 #endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
   // All the TM store tasks run in permanent loops, frequency does not matter
-  PeriodicTaskIF* liveTmTask =
-      factory->createPeriodicTask("LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+  PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
+      "LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
   result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
   }
   PeriodicTaskIF* logTmTask = factory->createPeriodicTask(
-      "LOG_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+      "LOG_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
   result = logTmTask->addComponent(objects::LOG_STORE_AND_TM_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("LOG_STORE_AND_TM", objects::LOG_STORE_AND_TM_TASK);
   }
-  PeriodicTaskIF* hkTmTask = factory->createPeriodicTask(
-      "HK_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+  PeriodicTaskIF* hkTmTask =
+      factory->createPeriodicTask("HK_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
   result = hkTmTask->addComponent(objects::HK_STORE_AND_TM_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("HK_STORE_AND_TM", objects::HK_STORE_AND_TM_TASK);
   }
   PeriodicTaskIF* cfdpTmTask = factory->createPeriodicTask(
-      "CFDP_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+      "CFDP_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
   result = cfdpTmTask->addComponent(objects::CFDP_STORE_AND_TM_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK);
   }
 
+  // TODO: Use user priorities for this task.
 #if OBSW_ADD_CFDP_COMPONENTS == 1
-  PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
-      "CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* cfdpTask =
+      factory->createPeriodicTask("CFDP_HANDLER", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = cfdpTask->addComponent(objects::CFDP_HANDLER);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
+    scheduling::printAddObjectError("CFDP", objects::CFDP_HANDLER);
   }
 #endif
 
-  PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
-      "GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* gpsTask =
+      factory->createPeriodicTask("GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = gpsTask->addComponent(objects::GPS_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
 
 #if OBSW_ADD_ACS_BOARD == 1
-  PeriodicTaskIF* acsBrdPolling = factory->createPeriodicTask(
-      "ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* acsBrdPolling =
+      factory->createPeriodicTask("ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = acsBrdPolling->addComponent(objects::ACS_BOARD_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("ACS_BOARD_POLLING", objects::ACS_BOARD_POLLING_TASK);
@@ -230,16 +236,18 @@ void scheduling::initTasks() {
 #endif
 
 #if OBSW_ADD_RW == 1
-  PeriodicTaskIF* rwPolling = factory->createPeriodicTask(
-      "RW_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* rwPolling =
+      factory->createPeriodicTask("RW_POLLING_TASK", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = rwPolling->addComponent(objects::RW_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
   }
 #endif
 #if OBSW_ADD_MGT == 1
-  PeriodicTaskIF* imtqPolling = factory->createPeriodicTask(
-      "IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* imtqPolling =
+      factory->createPeriodicTask("IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = imtqPolling->addComponent(objects::IMTQ_POLLING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("IMTQ_POLLING_TASK", objects::IMTQ_POLLING);
@@ -247,16 +255,18 @@ void scheduling::initTasks() {
 #endif
 
 #if OBSW_ADD_SUN_SENSORS == 1
-  PeriodicTaskIF* susPolling = factory->createPeriodicTask(
-      "SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* susPolling =
+      factory->createPeriodicTask("SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = susPolling->addComponent(objects::SUS_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("SUS_POLLING_TASK", objects::SUS_POLLING_TASK);
   }
 #endif
 
-  PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
-      "ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* acsSysTask =
+      factory->createPeriodicTask("ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
@@ -283,7 +293,7 @@ void scheduling::initTasks() {
   }
 
   PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
-      "TCS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
+      "TCS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
   scheduling::scheduleRtdSensors(tcsSystemTask);
   result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
   if (result != returnvalue::OK) {
@@ -306,27 +316,40 @@ void scheduling::initTasks() {
   }
 #endif
 
-#if OBSW_ADD_STAR_TRACKER == 1
-  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
-      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = strHelperTask->addComponent(objects::STR_HELPER);
+#if OBSW_ADD_SYRLINKS == 1
+  PeriodicTaskIF* syrlinksCom = factory->createPeriodicTask(
+      "SYRLINKS_COM", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = syrlinksCom->addComponent(objects::SYRLINKS_COM_HANDLER);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("STR_HELPER", objects::STR_HELPER);
+    scheduling::printAddObjectError("SYRLINKS_COM", objects::SYRLINKS_COM_HANDLER);
+  }
+#endif
+
+#if OBSW_ADD_STAR_TRACKER == 1
+  // Relatively high priority to make sure STR COM works well.
+  PeriodicTaskIF* strHelperTask =
+      factory->createPeriodicTask("STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
+  result = strHelperTask->addComponent(objects::STR_COM_IF);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("STR_HELPER", objects::STR_COM_IF);
   }
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
+  // TODO: Use regular scheduler for this task
 #if OBSW_ADD_PLOC_MPSOC == 1
   PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
-      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+      "PLOC_MPSOC_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
   }
 #endif /* OBSW_ADD_PLOC_MPSOC */
 
+  // TODO: Use regular scheduler for this task
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
-      "PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+      "PLOC_SUPV_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
   result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
@@ -334,7 +357,7 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_PLOC_SUPERVISOR */
 
   PeriodicTaskIF* plTask = factory->createPeriodicTask(
-      "PL_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc, &RR_SCHEDULING);
   plTask->addComponent(objects::CAM_SWITCHER);
   scheduling::addMpsocSupvHandlers(plTask);
   scheduling::scheduleScexDev(plTask);
@@ -401,6 +424,9 @@ void scheduling::initTasks() {
 #if OBSW_ADD_ACS_BOARD == 1
   acsBrdPolling->startTask();
 #endif
+#if OBSW_ADD_SYRLINKS == 1
+  syrlinksCom->startTask();
+#endif
 #if OBSW_ADD_MGT == 1
   imtqPolling->startTask();
 #endif
@@ -455,8 +481,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 #else
   static constexpr float acsPstPeriod = 0.4;
 #endif
-  FixedTimeslotTaskIF* acsTcsPst = factory.createFixedTimeslotTask(
-      "ACS_TCS_PST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
+  FixedTimeslotTaskIF* acsTcsPst =
+      factory.createFixedTimeslotTask("ACS_TCS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                      acsPstPeriod, missedDeadlineFunc, &RR_SCHEDULING);
   result = pst::pstTcsAndAcs(acsTcsPst, cfg);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -470,8 +497,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 
   /* Polling Sequence Table Default */
 #if OBSW_ADD_SPI_TEST_CODE == 0
-  FixedTimeslotTaskIF* syrlinksPst = factory.createFixedTimeslotTask(
-      "SYRLINKS", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+  FixedTimeslotTaskIF* syrlinksPst =
+      factory.createFixedTimeslotTask("SYRLINKS", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5,
+                                      missedDeadlineFunc, &RR_SCHEDULING);
   result = pst::pstSyrlinks(syrlinksPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -485,8 +513,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 #endif
 
 #if OBSW_ADD_I2C_TEST_CODE == 0
-  FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-      "I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.4, missedDeadlineFunc);
+  FixedTimeslotTaskIF* i2cPst =
+      factory.createFixedTimeslotTask("I2C_PS_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.6,
+                                      missedDeadlineFunc, &RR_SCHEDULING);
   result = pst::pstI2cProcessingSystem(i2cPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -499,8 +528,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   }
 #endif
 
-  FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
-      "GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+  FixedTimeslotTaskIF* gomSpacePstTask =
+      factory.createFixedTimeslotTask("GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4,
+                                      0.5, missedDeadlineFunc, &RR_SCHEDULING);
   result = pst::pstGompaceCan(gomSpacePstTask);
   if (result != returnvalue::OK) {
     if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -514,8 +544,9 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
                                 std::vector<PeriodicTaskIF*>& taskVec) {
   ReturnValue_t result = returnvalue::OK;
   /* PUS Services */
-  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
-      "PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  PeriodicTaskIF* pusHighPrio =
+      factory.createPeriodicTask("PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
+                                 missedDeadlineFunc, &RR_SCHEDULING);
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
@@ -526,16 +557,17 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   }
   result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
+    scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER);
   }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
+    scheduling::printAddObjectError("PUS_TIME", objects::PUS_SERVICE_9_TIME_MGMT);
   }
   taskVec.push_back(pusHighPrio);
 
-  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
-      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  PeriodicTaskIF* pusMedPrio =
+      factory.createPeriodicTask("PUS_MED_PRIO", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8,
+                                 missedDeadlineFunc, &RR_SCHEDULING);
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);

bsp_q7s/em/emObjectFactory.cpp

@@ -19,7 +19,7 @@
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "mission/core/GenericFactory.h"
-#include "mission/system/tree/comModeTree.h"
+#include "mission/system/com/comModeTree.h"
 
 void ObjectFactory::produce(void* args) {
   ObjectFactory::setStatics();
@@ -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

@@ -312,7 +312,6 @@ void SdCardManager::resetState() {
 ReturnValue_t SdCardManager::updateSdStatePair() {
   using namespace std;
 
-  MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
   std::error_code e;
   if (not filesystem::exists(SD_STATE_FILE, e)) {
     return STATUS_FILE_NEXISTS;
@@ -362,6 +361,7 @@ void SdCardManager::processSdStatusLine(std::string& line, uint8_t& idx, sd::SdC
           sdStates.second = sd::SdState::ON;
         }
       } else if (word == "off") {
+        MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
         if (currentSd == sd::SdCard::SLOT_0) {
           sdStates.first = sd::SdState::OFF;
         } else {
@@ -371,6 +371,7 @@ void SdCardManager::processSdStatusLine(std::string& line, uint8_t& idx, sd::SdC
     }
 
     if (mountLine) {
+      MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
       if (currentSd == sd::SdCard::SLOT_0) {
         sdStates.first = sd::SdState::MOUNTED;
       } else {
@@ -409,7 +410,6 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
   if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
     return CommandExecutor::COMMAND_PENDING;
   }
-  MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
   // Use q7hw utility and pipe the command output into the state file
   std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
   cmdExecutor.load(updateCmd, true, printCmdOutput);

bsp_q7s/fs/SdCardManager.h

@@ -228,7 +228,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
   MutexIF* prefLock = nullptr;
   MutexIF* defaultLock = nullptr;
   static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
-  static constexpr uint32_t SD_LOCK_TIMEOUT = 250;
+  static constexpr uint32_t SD_LOCK_TIMEOUT = 100;
   static constexpr uint32_t OTHER_TIMEOUT = 20;
   static constexpr char LOCK_CTX[] = "SdCardManager";
 

bsp_q7s/obsw.cpp

@@ -14,8 +14,8 @@
 #include "core/scheduling.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/version.h"
-#include "mission/acsDefs.h"
-#include "mission/comDefs.h"
+#include "mission/acs/defs.h"
+#include "mission/com/defs.h"
 #include "mission/system/tree/system.h"
 #include "q7sConfig.h"
 #include "watchdog/definitions.h"

common/config/devConf.h

@@ -63,7 +63,7 @@ static constexpr dur_millis_t ACS_BOARD_CS_TIMEOUT = 50 * CS_FACTOR;
 
 }  // namespace spi
 
-namespace uart {
+namespace serial {
 
 static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024;
 static constexpr UartBaudRate SYRLINKS_BAUD = UartBaudRate::RATE_38400;
@@ -73,6 +73,6 @@ static constexpr UartBaudRate PLOC_MPSOC_BAUD = UartBaudRate::RATE_115200;
 static constexpr UartBaudRate PLOC_SUPV_BAUD = UartBaudRate::RATE_921600;
 static constexpr UartBaudRate STAR_TRACKER_BAUD = UartBaudRate::RATE_921600;
 
-}  // namespace uart
+}  // namespace serial
 
 #endif /* COMMON_CONFIG_DEVCONF_H_ */

common/config/devices/gpioIds.h

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

common/config/eive/eventSubsystemIds.h

@@ -39,6 +39,7 @@ enum : uint8_t {
   TCS_CONTROLLER = 141,
   COM_SUBSYSTEM = 142,
   PERSISTENT_TM_STORE = 143,
+  SYRLINKS_COM = 144,
   COMMON_SUBSYSTEM_ID_END
 
 };

common/config/eive/objects.h

@@ -62,7 +62,7 @@ enum commonObjects : uint32_t {
   RAD_SENSOR = 0x443200A5,
   PLOC_UPDATER = 0x44330000,
   PLOC_MEMORY_DUMPER = 0x44330001,
-  STR_HELPER = 0x44330002,
+  STR_COM_IF = 0x44330002,
   PLOC_MPSOC_HELPER = 0x44330003,
   AXI_PTME_CONFIG = 0x44330004,
   PTME_CONFIG = 0x44330005,
@@ -123,8 +123,7 @@ enum commonObjects : uint32_t {
   SUS_11_R_LOC_XBYMZB_PT_ZB = 0x44120043,
 
   SYRLINKS_HANDLER = 0x445300A3,
-  // might be obsolete, was not used in Q7S FM SW
-  // CCSDS_IP_CORE_BRIDGE = 0x73500000,
+  SYRLINKS_COM_HANDLER = 0x445300A4,
 
   /* 0x49 ('I') for Communication Interfaces */
   ACS_BOARD_POLLING_TASK = 0x49060004,

dummies/GyroAdisDummy.cpp

@@ -1,6 +1,6 @@
 #include "GyroAdisDummy.h"
 
-#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
+#include <mission/acs/gyroAdisHelpers.h>
 
 GyroAdisDummy::GyroAdisDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie), dataset(this) {}

dummies/GyroAdisDummy.h

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

dummies/ImtqDummy.cpp

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

dummies/RwDummy.cpp

@@ -1,6 +1,6 @@
 #include "RwDummy.h"
 
-#include <mission/devices/devicedefinitions/rwHelpers.h>
+#include <mission/acs/rwHelpers.h>
 
 RwDummy::RwDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}

dummies/SyrlinksDummy.cpp

@@ -1,6 +1,6 @@
 #include "SyrlinksDummy.h"
 
-#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
+#include <mission/com/syrlinksDefs.h>
 
 SyrlinksDummy::SyrlinksDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}

dummies/helpers.cpp

@@ -25,8 +25,8 @@
 #include <dummies/SusDummy.h>
 #include <dummies/SyrlinksDummy.h>
 #include <fsfw_hal/common/gpio/GpioIF.h>
+#include <mission/system/acs/ImtqAssembly.h>
 #include <mission/system/objects/CamSwitcher.h>
-#include <mission/system/objects/ImtqAssembly.h>
 #include <mission/system/objects/StrAssembly.h>
 #include <mission/system/objects/TcsBoardAssembly.h>
 
@@ -35,8 +35,8 @@
 #include "dummies/Tmp1075Dummy.h"
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
-#include "mission/system/tree/acsModeTree.h"
-#include "mission/system/tree/comModeTree.h"
+#include "mission/system/acs/acsModeTree.h"
+#include "mission/system/com/comModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
 #include "mission/system/tree/tcsModeTree.h"
 

generators/bsp_hosted_events.csv

@@ -86,12 +86,13 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 10802;0x2a32;SERIALIZATION_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
 10803;0x2a33;FILESTORE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
 10804;0x2a34;FILENAME_TOO_LARGE_ERROR;LOW;P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name;fsfw/src/fsfw/cfdp/handler/defs.h
-11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;No description;mission/acsDefs.h
-11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;No description;mission/acsDefs.h
-11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acsDefs.h
-11203;0x2bc3;MEKF_INVALID_INFO;INFO;No description;mission/acsDefs.h
-11204;0x2bc4;MEKF_INVALID_MODE_VIOLATION;HIGH;No description;mission/acsDefs.h
-11205;0x2bc5;SAFE_MODE_CONTROLLER_FAILURE;HIGH;No description;mission/acsDefs.h
+11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;No description;mission/acs/defs.h
+11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;No description;mission/acs/defs.h
+11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acs/defs.h
+11203;0x2bc3;MEKF_INVALID_INFO;INFO;No description;mission/acs/defs.h
+11204;0x2bc4;MEKF_RECOVERY;INFO;No description;mission/acs/defs.h
+11205;0x2bc5;MEKF_INVALID_MODE_VIOLATION;HIGH;No description;mission/acs/defs.h
+11206;0x2bc6;SAFE_MODE_CONTROLLER_FAILURE;HIGH;No description;mission/acs/defs.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
@@ -119,18 +120,18 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/devices/ploc/PlocMPSoCHandler.h
 11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/devices/ploc/PlocMPSoCHandler.h
 11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/devices/ploc/PlocMPSoCHandler.h
-11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
-11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
-11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
-11704;0x2db8;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
-11705;0x2db9;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
-11706;0x2dba;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
-11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
-11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/devices/ImtqHandler.h
-11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/devicedefinitions/rwHelpers.h
-11802;0x2e1a;RESET_OCCURED;LOW;No description;mission/devices/devicedefinitions/rwHelpers.h
-11901;0x2e7d;BOOTING_FIRMWARE_FAILED_EVENT;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
-11902;0x2e7e;BOOTING_BOOTLOADER_FAILED_EVENT;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
+11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
+11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
+11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
+11704;0x2db8;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
+11705;0x2db9;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
+11706;0x2dba;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
+11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
+11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/acs/ImtqHandler.h
+11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/acs/rwHelpers.h
+11802;0x2e1a;RESET_OCCURED;LOW;No description;mission/acs/rwHelpers.h
+11901;0x2e7d;BOOTING_FIRMWARE_FAILED_EVENT;LOW;Failed to boot firmware;linux/acs/startracker/StarTrackerHandler.h
+11902;0x2e7e;BOOTING_BOOTLOADER_FAILED_EVENT;LOW;Failed to boot star tracker into bootloader mode;linux/acs/startracker/StarTrackerHandler.h
 12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/devices/ploc/PlocSupervisorHandler.h
 12002;0x2ee2;SUPV_UNKNOWN_TM;LOW;Unhandled event. P1: APID, P2: Service ID;linux/devices/ploc/PlocSupervisorHandler.h
 12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;No description;linux/devices/ploc/PlocSupervisorHandler.h
@@ -155,23 +156,23 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12409;0x3079;WRITE_SYSCALL_ERROR_PDEC;HIGH;No description;linux/ipcore/PdecHandler.h
 12410;0x307a;PDEC_RESET_FAILED;HIGH;Failed to pull PDEC reset to low;linux/ipcore/PdecHandler.h
 12411;0x307b;OPEN_IRQ_FILE_FAILED;HIGH;Failed to open the IRQ uio file;linux/ipcore/PdecHandler.h
-12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h
-12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h
-12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h
-12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrHelper.h
-12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrHelper.h
-12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrHelper.h
-12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrHelper.h
-12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrHelper.h
-12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrHelper.h
-12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
-12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
-12511;0x30df;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;linux/devices/startracker/StrHelper.h
-12512;0x30e0;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrHelper.h
-12513;0x30e1;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrHelper.h
-12514;0x30e2;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrHelper.h
-12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h
-12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h
+12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/acs/startracker/StrComHandler.h
+12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/acs/startracker/StrComHandler.h
+12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/acs/startracker/StrComHandler.h
+12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/acs/startracker/StrComHandler.h
+12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/acs/startracker/StrComHandler.h
+12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/acs/startracker/StrComHandler.h
+12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/acs/startracker/StrComHandler.h
+12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/acs/startracker/StrComHandler.h
+12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/acs/startracker/StrComHandler.h
+12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/acs/startracker/StrComHandler.h
+12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/acs/startracker/StrComHandler.h
+12511;0x30df;STR_COM_REPLY_TIMEOUT;LOW;Star tracker did not send a valid reply for a certain timeout. P1: Position of upload or download packet for which the packet wa sent. P2: Timeout;linux/acs/startracker/StrComHandler.h
+12513;0x30e1;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/acs/startracker/StrComHandler.h
+12514;0x30e2;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/acs/startracker/StrComHandler.h
+12515;0x30e3;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/acs/startracker/StrComHandler.h
+12516;0x30e4;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/acs/startracker/StrComHandler.h
+12517;0x30e5;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/acs/startracker/StrComHandler.h
 12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/devices/ploc/PlocMPSoCHelper.h
 12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/devices/ploc/PlocMPSoCHelper.h
 12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/devices/ploc/PlocMPSoCHelper.h
@@ -198,14 +199,14 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12709;0x31a5;I_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
 12710;0x31a6;U_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
 12711;0x31a7;I_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
-12800;0x3200;TRANSITION_OTHER_SIDE_FAILED;HIGH;No description;mission/system/objects/AcsBoardAssembly.h
-12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;No description;mission/system/objects/AcsBoardAssembly.h
-12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/objects/AcsBoardAssembly.h
-12803;0x3203;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/objects/AcsBoardAssembly.h
-12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;No description;mission/system/objects/SusAssembly.h
-12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;No description;mission/system/objects/SusAssembly.h
-12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/objects/SusAssembly.h
-12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/objects/SusAssembly.h
+12800;0x3200;TRANSITION_OTHER_SIDE_FAILED;HIGH;No description;mission/system/acs/AcsBoardAssembly.h
+12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;No description;mission/system/acs/AcsBoardAssembly.h
+12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/acs/AcsBoardAssembly.h
+12803;0x3203;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/acs/AcsBoardAssembly.h
+12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;No description;mission/system/acs/SusAssembly.h
+12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;No description;mission/system/acs/SusAssembly.h
+12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/acs/SusAssembly.h
+12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/acs/SusAssembly.h
 13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;No description;mission/system/objects/TcsBoardAssembly.h
 13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission/devices/devicedefinitions/GPSDefinitions.h
 13101;0x332d;CANT_GET_FIX;LOW;Could not get fix in maximum allowed time. P1: Maximum allowed time to get a fix after the GPS was switched on.;mission/devices/devicedefinitions/GPSDefinitions.h
@@ -239,9 +240,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13630;0x353e;SUPV_UPDATE_PROGRESS;INFO;Will be triggered every 5 percent of the update progress. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h
 13631;0x353f;HDLC_FRAME_REMOVAL_ERROR;INFO;No description;linux/devices/ploc/PlocSupvUartMan.h
 13632;0x3540;HDLC_CRC_ERROR;INFO;No description;linux/devices/ploc/PlocSupvUartMan.h
-13700;0x3584;FDIR_REACTION_IGNORED;MEDIUM;No description;mission/devices/devicedefinitions/SyrlinksDefinitions.h
-13701;0x3585;TX_ON;INFO;Transmitter is on now. P1: Submode, P2: Current default datarate.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
-13702;0x3586;TX_OFF;INFO;Transmitter is off now.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
+13701;0x3585;TX_ON;INFO;Transmitter is on now. P1: Submode, P2: Current default datarate.;mission/com/syrlinksDefs.h
+13702;0x3586;TX_OFF;INFO;Transmitter is off now.;mission/com/syrlinksDefs.h
 13800;0x35e8;MISSING_PACKET;LOW;No description;mission/devices/devicedefinitions/ScexDefinitions.h
 13801;0x35e9;EXPERIMENT_TIMEDOUT;LOW;No description;mission/devices/devicedefinitions/ScexDefinitions.h
 13802;0x35ea;MULTI_PACKET_COMMAND_DONE;INFO;No description;mission/devices/devicedefinitions/ScexDefinitions.h
@@ -259,6 +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
@@ -266,8 +267,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14104;0x3718;OBC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
 14105;0x3719;HPA_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
 14106;0x371a;PLPCDU_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
-14201;0x3779;TX_TIMER_EXPIRED;INFO;The transmit timer to protect the Syrlinks expired P1: The current timer value;mission/system/objects/ComSubsystem.h
-14202;0x377a;BIT_LOCK_TX_ON;INFO;Transmitter will be turned on due to detection of bitlock;mission/system/objects/ComSubsystem.h
+14201;0x3779;TX_TIMER_EXPIRED;INFO;The transmit timer to protect the Syrlinks expired P1: The current timer value;mission/system/com/ComSubsystem.h
+14202;0x377a;BIT_LOCK_TX_ON;INFO;Transmitter will be turned on due to detection of bitlock;mission/system/com/ComSubsystem.h
 14300;0x37dc;POSSIBLE_FILE_CORRUPTION;LOW;P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp.;mission/persistentTmStoreDefs.h
 14301;0x37dd;FILE_TOO_LARGE;LOW;File in store too large. P1: Detected file size P2: Allowed file size;mission/persistentTmStoreDefs.h
 14302;0x37de;BUSY_DUMPING_EVENT;INFO;No description;mission/persistentTmStoreDefs.h

generators/bsp_hosted_objects.csv

@@ -42,7 +42,7 @@
 0x443200A5;RAD_SENSOR
 0x44330000;PLOC_UPDATER
 0x44330001;PLOC_MEMORY_DUMPER
-0x44330002;STR_HELPER
+0x44330002;STR_COM_IF
 0x44330003;PLOC_MPSOC_HELPER
 0x44330004;AXI_PTME_CONFIG
 0x44330005;PTME_CONFIG
@@ -78,6 +78,7 @@
 0x44420030;RTD_14_IC17_TCS_BOARD
 0x44420031;RTD_15_IC18_IMTQ
 0x445300A3;SYRLINKS_HANDLER
+0x445300A4;SYRLINKS_COM_HANDLER
 0x49000001;ARDUINO_COM_IF
 0x49000002;DUMMY_COM_IF
 0x49010006;SCEX_UART_READER
@@ -163,7 +164,6 @@
 0x73040002;HK_STORE_AND_TM_TASK
 0x73040003;CFDP_STORE_AND_TM_TASK
 0x73040004;DOWNLINK_RAM_STORE
-0x73500000;CCSDS_IP_CORE_BRIDGE
 0x90000003;THERMAL_TEMP_INSERTER
 0xCAFECAFE;DUMMY_INTERFACE
 0xFFFFFFFF;NO_OBJECT

generators/bsp_hosted_returnvalues.csv

@@ -321,6 +321,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x3404;DC_InvalidCookieType;No description;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
 0x3405;DC_NotActive;No description;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
 0x3406;DC_TooMuchData;No description;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3407;DC_Busy;No description;7;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
 0x3601;CFDP_InvalidTlvType;No description;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
 0x3602;CFDP_InvalidDirectiveField;No description;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
 0x3603;CFDP_InvalidPduDatafieldLen;No description;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h
@@ -421,57 +422,61 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4fa3;HEATER_InvalidSwitchNr;No description;163;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa4;HEATER_MainSwitchSetTimeout;No description;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa5;HEATER_CommandAlreadyWaiting;No description;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x50a0;SYRLINKS_CrcFailure;No description;160;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a1;SYRLINKS_UartFraminOrParityErrorAck;No description;161;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a2;SYRLINKS_BadCharacterAck;No description;162;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a3;SYRLINKS_BadParameterValueAck;No description;163;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a4;SYRLINKS_BadEndOfFrameAck;No description;164;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a5;SYRLINKS_UnknownCommandIdAck;No description;165;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a6;SYRLINKS_BadCrcAck;No description;166;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a7;SYRLINKS_ReplyWrongSize;No description;167;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a8;SYRLINKS_MissingStartFrameCharacter;No description;168;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x5100;IMTQ_InvalidCommandCode;No description;0;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
-0x5101;IMTQ_MgmMeasurementLowLevelError;No description;1;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
-0x5102;IMTQ_ActuateCmdLowLevelError;No description;2;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
-0x5103;IMTQ_ParameterMissing;No description;3;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
-0x5104;IMTQ_ParameterInvalid;No description;4;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
-0x5105;IMTQ_CcUnavailable;No description;5;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
-0x5106;IMTQ_InternalProcessingError;No description;6;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
-0x5107;IMTQ_RejectedWithoutReason;No description;7;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
-0x5108;IMTQ_CmdErrUnknown;No description;8;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
-0x51a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;167;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
-0x52b0;RWHA_SpiWriteFailure;No description;176;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
-0x52b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
-0x52b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
-0x52b3;RWHA_InvalidSubstitute;Can be used by the HDLC decoding mechanism to inform about an invalid substitution combination;179;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
-0x52b4;RWHA_MissingEndSign;HDLC decoding mechanism never receives the end sign 0x7E;180;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
-0x52b5;RWHA_NoReply;Reaction wheel only responds with empty frames.;181;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
-0x52b6;RWHA_NoStartMarker;Expected a start marker as first byte;182;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
-0x52b7;RWHA_SpiReadTimeout;Timeout when reading reply;183;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
-0x58a0;SUSS_ErrorUnlockMutex;No description;160;SUS_HANDLER;mission/devices/LegacySusHandler.h
-0x58a1;SUSS_ErrorLockMutex;No description;161;SUS_HANDLER;mission/devices/LegacySusHandler.h
+0x50a0;SYRLINKS_CrcFailure;No description;160;SYRLINKS_HANDLER;mission/com/SyrlinksHandler.h
+0x50a1;SYRLINKS_UartFraminOrParityErrorAck;No description;161;SYRLINKS_HANDLER;mission/com/SyrlinksHandler.h
+0x50a2;SYRLINKS_BadCharacterAck;No description;162;SYRLINKS_HANDLER;mission/com/SyrlinksHandler.h
+0x50a3;SYRLINKS_BadParameterValueAck;No description;163;SYRLINKS_HANDLER;mission/com/SyrlinksHandler.h
+0x50a4;SYRLINKS_BadEndOfFrameAck;No description;164;SYRLINKS_HANDLER;mission/com/SyrlinksHandler.h
+0x50a5;SYRLINKS_UnknownCommandIdAck;No description;165;SYRLINKS_HANDLER;mission/com/SyrlinksHandler.h
+0x50a6;SYRLINKS_BadCrcAck;No description;166;SYRLINKS_HANDLER;mission/com/SyrlinksHandler.h
+0x50a7;SYRLINKS_ReplyWrongSize;No description;167;SYRLINKS_HANDLER;mission/com/SyrlinksHandler.h
+0x50a8;SYRLINKS_MissingStartFrameCharacter;No description;168;SYRLINKS_HANDLER;mission/com/SyrlinksHandler.h
+0x5100;IMTQ_InvalidCommandCode;No description;0;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x5101;IMTQ_MgmMeasurementLowLevelError;No description;1;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x5102;IMTQ_ActuateCmdLowLevelError;No description;2;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x5103;IMTQ_ParameterMissing;No description;3;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x5104;IMTQ_ParameterInvalid;No description;4;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x5105;IMTQ_CcUnavailable;No description;5;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x5106;IMTQ_InternalProcessingError;No description;6;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x5107;IMTQ_RejectedWithoutReason;No description;7;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x5108;IMTQ_CmdErrUnknown;No description;8;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x51a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;167;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x52b0;RWHA_SpiWriteFailure;No description;176;RW_HANDLER;mission/acs/rwHelpers.h
+0x52b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/acs/rwHelpers.h
+0x52b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/acs/rwHelpers.h
+0x52b3;RWHA_InvalidSubstitute;Can be used by the HDLC decoding mechanism to inform about an invalid substitution combination;179;RW_HANDLER;mission/acs/rwHelpers.h
+0x52b4;RWHA_MissingEndSign;HDLC decoding mechanism never receives the end sign 0x7E;180;RW_HANDLER;mission/acs/rwHelpers.h
+0x52b5;RWHA_NoReply;Reaction wheel only responds with empty frames.;181;RW_HANDLER;mission/acs/rwHelpers.h
+0x52b6;RWHA_NoStartMarker;Expected a start marker as first byte;182;RW_HANDLER;mission/acs/rwHelpers.h
+0x52b7;RWHA_SpiReadTimeout;Timeout when reading reply;183;RW_HANDLER;mission/acs/rwHelpers.h
+0x58a0;SUSS_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;SUS_HANDLER;mission/acs/RwHandler.h
+0x58a1;SUSS_InvalidRampTime;Action Message with invalid ramp time was received.;161;SUS_HANDLER;mission/acs/RwHandler.h
+0x58a2;SUSS_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;SUS_HANDLER;mission/acs/RwHandler.h
+0x58a3;SUSS_ExecutionFailed;Command execution failed;163;SUS_HANDLER;mission/acs/RwHandler.h
+0x58a4;SUSS_CrcError;Reaction wheel reply has invalid crc;164;SUS_HANDLER;mission/acs/RwHandler.h
+0x58a5;SUSS_ValueNotRead;No description;165;SUS_HANDLER;mission/acs/RwHandler.h
 0x5d00;GOMS_PacketTooLong;No description;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d01;GOMS_InvalidTableId;No description;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d02;GOMS_InvalidAddress;No description;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d03;GOMS_InvalidParamSize;No description;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d04;GOMS_InvalidPayloadSize;No description;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d05;GOMS_UnknownReplyId;No description;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
+0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/com/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_hosted_subsystems.csv

@@ -59,3 +59,4 @@
 141;TCS_CONTROLLER
 142;COM_SUBSYSTEM
 143;PERSISTENT_TM_STORE
+144;SYRLINKS_COM

generators/bsp_q7s_events.csv

@@ -86,12 +86,13 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 10802;0x2a32;SERIALIZATION_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
 10803;0x2a33;FILESTORE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
 10804;0x2a34;FILENAME_TOO_LARGE_ERROR;LOW;P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name;fsfw/src/fsfw/cfdp/handler/defs.h
-11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;No description;mission/acsDefs.h
-11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;No description;mission/acsDefs.h
-11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acsDefs.h
-11203;0x2bc3;MEKF_INVALID_INFO;INFO;No description;mission/acsDefs.h
-11204;0x2bc4;MEKF_INVALID_MODE_VIOLATION;HIGH;No description;mission/acsDefs.h
-11205;0x2bc5;SAFE_MODE_CONTROLLER_FAILURE;HIGH;No description;mission/acsDefs.h
+11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;No description;mission/acs/defs.h
+11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;No description;mission/acs/defs.h
+11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acs/defs.h
+11203;0x2bc3;MEKF_INVALID_INFO;INFO;No description;mission/acs/defs.h
+11204;0x2bc4;MEKF_RECOVERY;INFO;No description;mission/acs/defs.h
+11205;0x2bc5;MEKF_INVALID_MODE_VIOLATION;HIGH;No description;mission/acs/defs.h
+11206;0x2bc6;SAFE_MODE_CONTROLLER_FAILURE;HIGH;No description;mission/acs/defs.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
@@ -119,18 +120,18 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/devices/ploc/PlocMPSoCHandler.h
 11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/devices/ploc/PlocMPSoCHandler.h
 11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/devices/ploc/PlocMPSoCHandler.h
-11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
-11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
-11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
-11704;0x2db8;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
-11705;0x2db9;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
-11706;0x2dba;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
-11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
-11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/devices/ImtqHandler.h
-11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/devicedefinitions/rwHelpers.h
-11802;0x2e1a;RESET_OCCURED;LOW;No description;mission/devices/devicedefinitions/rwHelpers.h
-11901;0x2e7d;BOOTING_FIRMWARE_FAILED_EVENT;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
-11902;0x2e7e;BOOTING_BOOTLOADER_FAILED_EVENT;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
+11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
+11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
+11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
+11704;0x2db8;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
+11705;0x2db9;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
+11706;0x2dba;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
+11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
+11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/acs/ImtqHandler.h
+11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/acs/rwHelpers.h
+11802;0x2e1a;RESET_OCCURED;LOW;No description;mission/acs/rwHelpers.h
+11901;0x2e7d;BOOTING_FIRMWARE_FAILED_EVENT;LOW;Failed to boot firmware;linux/acs/startracker/StarTrackerHandler.h
+11902;0x2e7e;BOOTING_BOOTLOADER_FAILED_EVENT;LOW;Failed to boot star tracker into bootloader mode;linux/acs/startracker/StarTrackerHandler.h
 12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/devices/ploc/PlocSupervisorHandler.h
 12002;0x2ee2;SUPV_UNKNOWN_TM;LOW;Unhandled event. P1: APID, P2: Service ID;linux/devices/ploc/PlocSupervisorHandler.h
 12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;No description;linux/devices/ploc/PlocSupervisorHandler.h
@@ -155,23 +156,23 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12409;0x3079;WRITE_SYSCALL_ERROR_PDEC;HIGH;No description;linux/ipcore/PdecHandler.h
 12410;0x307a;PDEC_RESET_FAILED;HIGH;Failed to pull PDEC reset to low;linux/ipcore/PdecHandler.h
 12411;0x307b;OPEN_IRQ_FILE_FAILED;HIGH;Failed to open the IRQ uio file;linux/ipcore/PdecHandler.h
-12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h
-12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h
-12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h
-12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrHelper.h
-12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrHelper.h
-12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrHelper.h
-12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrHelper.h
-12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrHelper.h
-12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrHelper.h
-12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
-12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
-12511;0x30df;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;linux/devices/startracker/StrHelper.h
-12512;0x30e0;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrHelper.h
-12513;0x30e1;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrHelper.h
-12514;0x30e2;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrHelper.h
-12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h
-12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h
+12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/acs/startracker/StrComHandler.h
+12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/acs/startracker/StrComHandler.h
+12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/acs/startracker/StrComHandler.h
+12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/acs/startracker/StrComHandler.h
+12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/acs/startracker/StrComHandler.h
+12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/acs/startracker/StrComHandler.h
+12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/acs/startracker/StrComHandler.h
+12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/acs/startracker/StrComHandler.h
+12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/acs/startracker/StrComHandler.h
+12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/acs/startracker/StrComHandler.h
+12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/acs/startracker/StrComHandler.h
+12511;0x30df;STR_COM_REPLY_TIMEOUT;LOW;Star tracker did not send a valid reply for a certain timeout. P1: Position of upload or download packet for which the packet wa sent. P2: Timeout;linux/acs/startracker/StrComHandler.h
+12513;0x30e1;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/acs/startracker/StrComHandler.h
+12514;0x30e2;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/acs/startracker/StrComHandler.h
+12515;0x30e3;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/acs/startracker/StrComHandler.h
+12516;0x30e4;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/acs/startracker/StrComHandler.h
+12517;0x30e5;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/acs/startracker/StrComHandler.h
 12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/devices/ploc/PlocMPSoCHelper.h
 12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/devices/ploc/PlocMPSoCHelper.h
 12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/devices/ploc/PlocMPSoCHelper.h
@@ -198,14 +199,14 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12709;0x31a5;I_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
 12710;0x31a6;U_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
 12711;0x31a7;I_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
-12800;0x3200;TRANSITION_OTHER_SIDE_FAILED;HIGH;No description;mission/system/objects/AcsBoardAssembly.h
-12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;No description;mission/system/objects/AcsBoardAssembly.h
-12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/objects/AcsBoardAssembly.h
-12803;0x3203;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/objects/AcsBoardAssembly.h
-12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;No description;mission/system/objects/SusAssembly.h
-12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;No description;mission/system/objects/SusAssembly.h
-12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/objects/SusAssembly.h
-12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/objects/SusAssembly.h
+12800;0x3200;TRANSITION_OTHER_SIDE_FAILED;HIGH;No description;mission/system/acs/AcsBoardAssembly.h
+12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;No description;mission/system/acs/AcsBoardAssembly.h
+12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/acs/AcsBoardAssembly.h
+12803;0x3203;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/acs/AcsBoardAssembly.h
+12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;No description;mission/system/acs/SusAssembly.h
+12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;No description;mission/system/acs/SusAssembly.h
+12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/acs/SusAssembly.h
+12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/acs/SusAssembly.h
 13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;No description;mission/system/objects/TcsBoardAssembly.h
 13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission/devices/devicedefinitions/GPSDefinitions.h
 13101;0x332d;CANT_GET_FIX;LOW;Could not get fix in maximum allowed time. P1: Maximum allowed time to get a fix after the GPS was switched on.;mission/devices/devicedefinitions/GPSDefinitions.h
@@ -239,9 +240,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13630;0x353e;SUPV_UPDATE_PROGRESS;INFO;Will be triggered every 5 percent of the update progress. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h
 13631;0x353f;HDLC_FRAME_REMOVAL_ERROR;INFO;No description;linux/devices/ploc/PlocSupvUartMan.h
 13632;0x3540;HDLC_CRC_ERROR;INFO;No description;linux/devices/ploc/PlocSupvUartMan.h
-13700;0x3584;FDIR_REACTION_IGNORED;MEDIUM;No description;mission/devices/devicedefinitions/SyrlinksDefinitions.h
-13701;0x3585;TX_ON;INFO;Transmitter is on now. P1: Submode, P2: Current default datarate.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
-13702;0x3586;TX_OFF;INFO;Transmitter is off now.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
+13701;0x3585;TX_ON;INFO;Transmitter is on now. P1: Submode, P2: Current default datarate.;mission/com/syrlinksDefs.h
+13702;0x3586;TX_OFF;INFO;Transmitter is off now.;mission/com/syrlinksDefs.h
 13800;0x35e8;MISSING_PACKET;LOW;No description;mission/devices/devicedefinitions/ScexDefinitions.h
 13801;0x35e9;EXPERIMENT_TIMEDOUT;LOW;No description;mission/devices/devicedefinitions/ScexDefinitions.h
 13802;0x35ea;MULTI_PACKET_COMMAND_DONE;INFO;No description;mission/devices/devicedefinitions/ScexDefinitions.h
@@ -259,6 +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
@@ -266,8 +267,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14104;0x3718;OBC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
 14105;0x3719;HPA_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
 14106;0x371a;PLPCDU_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
-14201;0x3779;TX_TIMER_EXPIRED;INFO;The transmit timer to protect the Syrlinks expired P1: The current timer value;mission/system/objects/ComSubsystem.h
-14202;0x377a;BIT_LOCK_TX_ON;INFO;Transmitter will be turned on due to detection of bitlock;mission/system/objects/ComSubsystem.h
+14201;0x3779;TX_TIMER_EXPIRED;INFO;The transmit timer to protect the Syrlinks expired P1: The current timer value;mission/system/com/ComSubsystem.h
+14202;0x377a;BIT_LOCK_TX_ON;INFO;Transmitter will be turned on due to detection of bitlock;mission/system/com/ComSubsystem.h
 14300;0x37dc;POSSIBLE_FILE_CORRUPTION;LOW;P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp.;mission/persistentTmStoreDefs.h
 14301;0x37dd;FILE_TOO_LARGE;LOW;File in store too large. P1: Detected file size P2: Allowed file size;mission/persistentTmStoreDefs.h
 14302;0x37de;BUSY_DUMPING_EVENT;INFO;No description;mission/persistentTmStoreDefs.h

generators/bsp_q7s_objects.csv

@@ -41,7 +41,7 @@
 0x443200A5;RAD_SENSOR
 0x44330000;PLOC_UPDATER
 0x44330001;PLOC_MEMORY_DUMPER
-0x44330002;STR_HELPER
+0x44330002;STR_COM_IF
 0x44330003;PLOC_MPSOC_HELPER
 0x44330004;AXI_PTME_CONFIG
 0x44330005;PTME_CONFIG
@@ -77,6 +77,7 @@
 0x44420030;RTD_14_IC17_TCS_BOARD
 0x44420031;RTD_15_IC18_IMTQ
 0x445300A3;SYRLINKS_HANDLER
+0x445300A4;SYRLINKS_COM_HANDLER
 0x49000000;ARDUINO_COM_IF
 0x49010005;GPIO_IF
 0x49010006;SCEX_UART_READER
@@ -168,6 +169,5 @@
 0x73040002;HK_STORE_AND_TM_TASK
 0x73040003;CFDP_STORE_AND_TM_TASK
 0x73040004;DOWNLINK_RAM_STORE
-0x73500000;CCSDS_IP_CORE_BRIDGE
 0x90000003;THERMAL_TEMP_INSERTER
 0xFFFFFFFF;NO_OBJECT

generators/bsp_q7s_returnvalues.csv

@@ -321,6 +321,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x3404;DC_InvalidCookieType;No description;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
 0x3405;DC_NotActive;No description;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
 0x3406;DC_TooMuchData;No description;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3407;DC_Busy;No description;7;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
 0x3601;CFDP_InvalidTlvType;No description;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
 0x3602;CFDP_InvalidDirectiveField;No description;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
 0x3603;CFDP_InvalidPduDatafieldLen;No description;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h
@@ -421,60 +422,59 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4fa3;HEATER_InvalidSwitchNr;No description;163;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa4;HEATER_MainSwitchSetTimeout;No description;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa5;HEATER_CommandAlreadyWaiting;No description;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x50a0;SYRLINKS_CrcFailure;No description;160;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a1;SYRLINKS_UartFraminOrParityErrorAck;No description;161;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a2;SYRLINKS_BadCharacterAck;No description;162;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a3;SYRLINKS_BadParameterValueAck;No description;163;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a4;SYRLINKS_BadEndOfFrameAck;No description;164;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a5;SYRLINKS_UnknownCommandIdAck;No description;165;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a6;SYRLINKS_BadCrcAck;No description;166;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a7;SYRLINKS_ReplyWrongSize;No description;167;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x50a8;SYRLINKS_MissingStartFrameCharacter;No description;168;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x5100;IMTQ_InvalidCommandCode;No description;0;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
-0x5101;IMTQ_MgmMeasurementLowLevelError;No description;1;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
-0x5102;IMTQ_ActuateCmdLowLevelError;No description;2;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
-0x5103;IMTQ_ParameterMissing;No description;3;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
-0x5104;IMTQ_ParameterInvalid;No description;4;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
-0x5105;IMTQ_CcUnavailable;No description;5;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
-0x5106;IMTQ_InternalProcessingError;No description;6;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
-0x5107;IMTQ_RejectedWithoutReason;No description;7;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
-0x5108;IMTQ_CmdErrUnknown;No description;8;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
-0x51a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;167;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
-0x52b0;RWHA_SpiWriteFailure;No description;176;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
-0x52b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
-0x52b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
-0x52b3;RWHA_InvalidSubstitute;Can be used by the HDLC decoding mechanism to inform about an invalid substitution combination;179;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
-0x52b4;RWHA_MissingEndSign;HDLC decoding mechanism never receives the end sign 0x7E;180;RW_HANDLER;mission/devices/devicedefinitions/rwHelpers.h
-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
-0x53a3;STRH_InterfaceReqFailed;Status in interface reply signals error;163;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53a4;STRH_PowerReqFailed;Status in power reply signals error;164;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53a5;STRH_SetParamFailed;Status of reply to parameter set command signals error;165;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53a6;STRH_ActionFailed;Status of reply to action command signals error;166;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53a7;STRH_FilePathTooLong;Received invalid path string. Exceeds allowed length;167;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53a8;STRH_FilenameTooLong;Name of file received with command is too long;168;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53a9;STRH_InvalidProgram;Received version reply with invalid program ID;169;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53aa;STRH_ReplyError;Status field reply signals error;170;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53ab;STRH_CommandTooShort;Received command which is too short (some data is missing for proper execution);171;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53ac;STRH_InvalidLength;Received command with invalid length (too few or too many parameters);172;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53ad;STRH_RegionMismatch;Region mismatch between send and received data;173;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53ae;STRH_AddressMismatch;Address mismatch between send and received data;174;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53af;STRH_LengthMismatch;Length field mismatch between send and received data;175;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53b0;STRH_FileNotExists;Specified file does not exist;176;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53b1;STRH_InvalidType;Download blob pixel command has invalid type field;177;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53b2;STRH_InvalidId;Received FPGA action command with invalid ID;178;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-0x53b3;STRH_ReplyTooShort;Received reply is too short;179;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
-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
+0x50a0;SYRLINKS_CrcFailure;No description;160;SYRLINKS_HANDLER;mission/com/SyrlinksHandler.h
+0x50a1;SYRLINKS_UartFraminOrParityErrorAck;No description;161;SYRLINKS_HANDLER;mission/com/SyrlinksHandler.h
+0x50a2;SYRLINKS_BadCharacterAck;No description;162;SYRLINKS_HANDLER;mission/com/SyrlinksHandler.h
+0x50a3;SYRLINKS_BadParameterValueAck;No description;163;SYRLINKS_HANDLER;mission/com/SyrlinksHandler.h
+0x50a4;SYRLINKS_BadEndOfFrameAck;No description;164;SYRLINKS_HANDLER;mission/com/SyrlinksHandler.h
+0x50a5;SYRLINKS_UnknownCommandIdAck;No description;165;SYRLINKS_HANDLER;mission/com/SyrlinksHandler.h
+0x50a6;SYRLINKS_BadCrcAck;No description;166;SYRLINKS_HANDLER;mission/com/SyrlinksHandler.h
+0x50a7;SYRLINKS_ReplyWrongSize;No description;167;SYRLINKS_HANDLER;mission/com/SyrlinksHandler.h
+0x50a8;SYRLINKS_MissingStartFrameCharacter;No description;168;SYRLINKS_HANDLER;mission/com/SyrlinksHandler.h
+0x5100;IMTQ_InvalidCommandCode;No description;0;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x5101;IMTQ_MgmMeasurementLowLevelError;No description;1;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x5102;IMTQ_ActuateCmdLowLevelError;No description;2;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x5103;IMTQ_ParameterMissing;No description;3;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x5104;IMTQ_ParameterInvalid;No description;4;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x5105;IMTQ_CcUnavailable;No description;5;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x5106;IMTQ_InternalProcessingError;No description;6;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x5107;IMTQ_RejectedWithoutReason;No description;7;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x5108;IMTQ_CmdErrUnknown;No description;8;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x51a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;167;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x52b0;RWHA_SpiWriteFailure;No description;176;RW_HANDLER;mission/acs/rwHelpers.h
+0x52b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/acs/rwHelpers.h
+0x52b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/acs/rwHelpers.h
+0x52b3;RWHA_InvalidSubstitute;Can be used by the HDLC decoding mechanism to inform about an invalid substitution combination;179;RW_HANDLER;mission/acs/rwHelpers.h
+0x52b4;RWHA_MissingEndSign;HDLC decoding mechanism never receives the end sign 0x7E;180;RW_HANDLER;mission/acs/rwHelpers.h
+0x52b5;RWHA_NoReply;Reaction wheel only responds with empty frames.;181;RW_HANDLER;mission/acs/rwHelpers.h
+0x52b6;RWHA_NoStartMarker;Expected a start marker as first byte;182;RW_HANDLER;mission/acs/rwHelpers.h
+0x52b7;RWHA_SpiReadTimeout;Timeout when reading reply;183;RW_HANDLER;mission/acs/rwHelpers.h
+0x53a0;STRH_TemperatureReqFailed;Status in temperature reply signals error;160;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53a1;STRH_PingFailed;Ping command failed;161;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53a2;STRH_VersionReqFailed;Status in version reply signals error;162;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53a3;STRH_InterfaceReqFailed;Status in interface reply signals error;163;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53a4;STRH_PowerReqFailed;Status in power reply signals error;164;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53a5;STRH_SetParamFailed;Status of reply to parameter set command signals error;165;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53a6;STRH_ActionFailed;Status of reply to action command signals error;166;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53a7;STRH_FilePathTooLong;Received invalid path string. Exceeds allowed length;167;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53a8;STRH_FilenameTooLong;Name of file received with command is too long;168;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53a9;STRH_InvalidProgram;Received version reply with invalid program ID;169;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53aa;STRH_ReplyError;Status field reply signals error;170;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53ab;STRH_CommandTooShort;Received command which is too short (some data is missing for proper execution);171;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53ac;STRH_InvalidLength;Received command with invalid length (too few or too many parameters);172;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53ad;STRH_RegionMismatch;Region mismatch between send and received data;173;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53ae;STRH_AddressMismatch;Address mismatch between send and received data;174;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53af;STRH_LengthMismatch;Length field mismatch between send and received data;175;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53b0;STRH_FileNotExists;Specified file does not exist;176;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53b1;STRH_InvalidType;Download blob pixel command has invalid type field;177;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53b2;STRH_InvalidId;Received FPGA action command with invalid ID;178;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53b3;STRH_ReplyTooShort;Received reply is too short;179;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53b4;STRH_CrcFailure;Received reply with invalid CRC;180;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53b5;STRH_StrHelperExecuting;Star tracker handler currently executing a command and using the communication interface;181;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53b6;STRH_StartrackerAlreadyBooted;Star tracker is already in firmware mode;182;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53b7;STRH_StartrackerNotRunningFirmware;Star tracker must be in firmware mode to run this command;183;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.h
+0x53b8;STRH_StartrackerNotRunningBootloader;Star tracker must be in bootloader mode to run this command;184;STR_HANDLER;linux/acs/startracker/StarTrackerHandler.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
@@ -487,19 +487,27 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x57a1;PLSPVhLP_ProcessTerminated;Process has been terminated by command;161;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h
 0x57a2;PLSPVhLP_PathNotExists;Received command with invalid pathname;162;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h
 0x57a3;PLSPVhLP_EventBufferReplyInvalidApid;Expected event buffer TM but received space packet with other APID;163;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h
-0x58a0;SUSS_ErrorUnlockMutex;No description;160;SUS_HANDLER;mission/devices/LegacySusHandler.h
-0x58a1;SUSS_ErrorLockMutex;No description;161;SUS_HANDLER;mission/devices/LegacySusHandler.h
+0x58a0;SUSS_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;SUS_HANDLER;mission/acs/RwHandler.h
+0x58a1;SUSS_InvalidRampTime;Action Message with invalid ramp time was received.;161;SUS_HANDLER;mission/acs/RwHandler.h
+0x58a2;SUSS_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;SUS_HANDLER;mission/acs/RwHandler.h
+0x58a3;SUSS_ExecutionFailed;Command execution failed;163;SUS_HANDLER;mission/acs/RwHandler.h
+0x58a4;SUSS_CrcError;Reaction wheel reply has invalid crc;164;SUS_HANDLER;mission/acs/RwHandler.h
+0x58a5;SUSS_ValueNotRead;No description;165;SUS_HANDLER;mission/acs/RwHandler.h
+0x5901;IPCI_NoPacketFound;No description;1;CCSDS_IP_CORE_BRIDGE;linux/com/SyrlinksComHandler.h
 0x59a0;IPCI_PapbBusy;No description;160;CCSDS_IP_CORE_BRIDGE;linux/ipcore/PapbVcInterface.h
 0x5aa0;PTME_UnknownVcId;No description;160;PTME;linux/ipcore/Ptme.h
-0x5ca0;STRHLP_SdNotMounted;SD card specified in path string not mounted;160;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca1;STRHLP_FileNotExists;Specified file does not exist on filesystem;161;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca2;STRHLP_PathNotExists;Specified path does not exist;162;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca3;STRHLP_FileCreationFailed;Failed to create download image or read flash file;163;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca4;STRHLP_RegionMismatch;Region in flash write/read reply does not match expected region;164;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca5;STRHLP_AddressMismatch;Address in flash write/read reply does not match expected address;165;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca6;STRHLP_LengthMismatch;Length in flash write/read reply does not match expected length;166;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca7;STRHLP_StatusError;Status field in reply signals error;167;STR_HELPER;linux/devices/startracker/StrHelper.h
-0x5ca8;STRHLP_InvalidTypeId;Reply has invalid type ID (should be of action reply type);168;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x5c00;STRHLP_NoReplyAvailable;No description;0;STR_HELPER;linux/acs/ImtqPollingTask.h
+0x5c01;STRHLP_SdNotMounted;SD card specified in path string not mounted;1;STR_HELPER;linux/acs/startracker/StrComHandler.h
+0x5c02;STRHLP_FileNotExists;Specified file does not exist on filesystem;2;STR_HELPER;linux/acs/startracker/StrComHandler.h
+0x5c03;STRHLP_PathNotExists;Specified path does not exist;3;STR_HELPER;linux/acs/startracker/StrComHandler.h
+0x5c04;STRHLP_FileCreationFailed;Failed to create download image or read flash file;4;STR_HELPER;linux/acs/startracker/StrComHandler.h
+0x5c05;STRHLP_RegionMismatch;Region in flash write/read reply does not match expected region;5;STR_HELPER;linux/acs/startracker/StrComHandler.h
+0x5c06;STRHLP_AddressMismatch;Address in flash write/read reply does not match expected address;6;STR_HELPER;linux/acs/startracker/StrComHandler.h
+0x5c07;STRHLP_LengthMismatch;Length in flash write/read reply does not match expected length;7;STR_HELPER;linux/acs/startracker/StrComHandler.h
+0x5c08;STRHLP_StatusError;Status field in reply signals error;8;STR_HELPER;linux/acs/startracker/StrComHandler.h
+0x5c09;STRHLP_InvalidTypeId;Reply has invalid type ID (should be of action reply type);9;STR_HELPER;linux/acs/startracker/StrComHandler.h
+0x5c0a;STRHLP_ReceptionTimeout;No description;10;STR_HELPER;linux/acs/startracker/StrComHandler.h
+0x5c0b;STRHLP_DecodingError;No description;11;STR_HELPER;linux/acs/startracker/StrComHandler.h
 0x5d00;GOMS_PacketTooLong;No description;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d01;GOMS_InvalidTableId;No description;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d02;GOMS_InvalidAddress;No description;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
@@ -523,24 +531,23 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x5fac;PDEC_NsNotZeroRetval;No description;172;PDEC_HANDLER;linux/ipcore/PdecHandler.h
 0x5fae;PDEC_InvalidBcCc;No description;174;PDEC_HANDLER;linux/ipcore/PdecHandler.h
 0x5fb0;PDEC_CommandNotImplemented;Received action message with unknown action id;176;PDEC_HANDLER;linux/ipcore/PdecHandler.h
-0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
+0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/com/CcsdsIpCoreHandler.h
 0x61a0;RS_RateNotSupported;The commanded rate is not supported by the current FPGA design;160;RATE_SETTER;linux/ipcore/PtmeConfig.h
 0x61a1;RS_BadBitRate;Bad bitrate has been commanded (e.g. 0);161;RATE_SETTER;linux/ipcore/PtmeConfig.h
 0x61a2;RS_ClkInversionFailed;Failed to invert clock and thus change the time the data is updated with respect to the tx clock;162;RATE_SETTER;linux/ipcore/PtmeConfig.h
 0x61a3;RS_TxManipulatorConfigFailed;Failed to change configuration bit of tx clock manipulator;163;RATE_SETTER;linux/ipcore/PtmeConfig.h
-0x6201;JSONBASE_JsonFileNotExists;Specified json file does not exist;1;ARCSEC_JSON_BASE;linux/devices/startracker/ArcsecJsonParamBase.h
-0x6202;JSONBASE_SetNotExists;Requested set does not exist in json file;2;ARCSEC_JSON_BASE;linux/devices/startracker/ArcsecJsonParamBase.h
-0x6203;JSONBASE_ParamNotExists;Requested parameter does not exist in json file;3;ARCSEC_JSON_BASE;linux/devices/startracker/ArcsecJsonParamBase.h
+0x6201;JSONBASE_JsonFileNotExists;Specified json file does not exist;1;ARCSEC_JSON_BASE;linux/acs/startracker/ArcsecJsonParamBase.h
+0x6202;JSONBASE_SetNotExists;Requested set does not exist in json file;2;ARCSEC_JSON_BASE;linux/acs/startracker/ArcsecJsonParamBase.h
+0x6203;JSONBASE_ParamNotExists;Requested parameter does not exist in json file;3;ARCSEC_JSON_BASE;linux/acs/startracker/ArcsecJsonParamBase.h
 0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NvmParameterBase.h
 0x64a0;FSHLP_SdNotMounted;SD card specified with path string not mounted;160;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
 0x64a1;FSHLP_FileNotExists;Specified file does not exist on filesystem;161;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
 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 +588,9 @@ 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/bsp_q7s_subsystems.csv

@@ -59,3 +59,4 @@
 141;TCS_CONTROLLER
 142;COM_SUBSYSTEM
 143;PERSISTENT_TM_STORE
+144;SYRLINKS_COM

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 278 translations.
+ * @brief    Auto-generated event translation file. Contains 279 translations.
  * @details
- * Generated on: 2023-03-15 10:10:04
+ * Generated on: 2023-03-24 21:09:31
  */
 #include "translateEvents.h"
 
@@ -96,6 +96,7 @@ const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
 const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
+const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
 const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
 const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
@@ -172,7 +173,7 @@ const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL";
 const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED";
 const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
 const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
-const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
+const char *STR_COM_REPLY_TIMEOUT_STRING = "STR_COM_REPLY_TIMEOUT";
 const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR";
 const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
 const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
@@ -208,6 +209,10 @@ const char *TRANSITION_OTHER_SIDE_FAILED_STRING = "TRANSITION_OTHER_SIDE_FAILED"
 const char *NOT_ENOUGH_DEVICES_DUAL_MODE_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE";
 const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
 const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
+const char *TRANSITION_OTHER_SIDE_FAILED_12900_STRING = "TRANSITION_OTHER_SIDE_FAILED_12900";
+const char *NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE_12901";
+const char *POWER_STATE_MACHINE_TIMEOUT_12902_STRING = "POWER_STATE_MACHINE_TIMEOUT_12902";
+const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903";
 const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
 const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
 const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";
@@ -260,6 +265,7 @@ 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";
@@ -464,8 +470,10 @@ const char *translateEvents(Event event) {
     case (11203):
       return MEKF_INVALID_INFO_STRING;
     case (11204):
-      return MEKF_INVALID_MODE_VIOLATION_STRING;
+      return MEKF_RECOVERY_STRING;
     case (11205):
+      return MEKF_INVALID_MODE_VIOLATION_STRING;
+    case (11206):
       return SAFE_MODE_CONTROLLER_FAILURE_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
@@ -616,16 +624,16 @@ const char *translateEvents(Event event) {
     case (12510):
       return STR_HELPER_COM_ERROR_STRING;
     case (12511):
-      return STR_HELPER_NO_REPLY_STRING;
-    case (12512):
-      return STR_HELPER_DEC_ERROR_STRING;
+      return STR_COM_REPLY_TIMEOUT_STRING;
     case (12513):
-      return POSITION_MISMATCH_STRING;
+      return STR_HELPER_DEC_ERROR_STRING;
     case (12514):
-      return STR_HELPER_FILE_NOT_EXISTS_STRING;
+      return POSITION_MISMATCH_STRING;
     case (12515):
-      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+      return STR_HELPER_FILE_NOT_EXISTS_STRING;
     case (12516):
+      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+    case (12517):
       return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
     case (12600):
       return MPSOC_FLASH_WRITE_FAILED_STRING;
@@ -687,6 +695,14 @@ const char *translateEvents(Event event) {
       return POWER_STATE_MACHINE_TIMEOUT_STRING;
     case (12803):
       return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
+    case (12900):
+      return TRANSITION_OTHER_SIDE_FAILED_12900_STRING;
+    case (12901):
+      return NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING;
+    case (12902):
+      return POWER_STATE_MACHINE_TIMEOUT_12902_STRING;
+    case (12903):
+      return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING;
     case (13000):
       return CHILDREN_LOST_MODE_STRING;
     case (13100):
@@ -791,6 +807,8 @@ 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: 2023-03-24 21:09:31
  */
 #include "translateObjects.h"
 
@@ -49,7 +49,7 @@ const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER";
 const char *RAD_SENSOR_STRING = "RAD_SENSOR";
 const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
 const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
-const char *STR_HELPER_STRING = "STR_HELPER";
+const char *STR_COM_IF_STRING = "STR_COM_IF";
 const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
 const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
 const char *PTME_CONFIG_STRING = "PTME_CONFIG";
@@ -85,6 +85,7 @@ const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPR
 const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
 const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
 const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
+const char *SYRLINKS_COM_HANDLER_STRING = "SYRLINKS_COM_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
@@ -176,7 +177,6 @@ const char *LOG_STORE_AND_TM_TASK_STRING = "LOG_STORE_AND_TM_TASK";
 const char *HK_STORE_AND_TM_TASK_STRING = "HK_STORE_AND_TM_TASK";
 const char *CFDP_STORE_AND_TM_TASK_STRING = "CFDP_STORE_AND_TM_TASK";
 const char *DOWNLINK_RAM_STORE_STRING = "DOWNLINK_RAM_STORE";
-const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
@@ -269,7 +269,7 @@ const char *translateObject(object_id_t object) {
     case 0x44330001:
       return PLOC_MEMORY_DUMPER_STRING;
     case 0x44330002:
-      return STR_HELPER_STRING;
+      return STR_COM_IF_STRING;
     case 0x44330003:
       return PLOC_MPSOC_HELPER_STRING;
     case 0x44330004:
@@ -340,6 +340,8 @@ const char *translateObject(object_id_t object) {
       return RTD_15_IC18_IMTQ_STRING;
     case 0x445300A3:
       return SYRLINKS_HANDLER_STRING;
+    case 0x445300A4:
+      return SYRLINKS_COM_HANDLER_STRING;
     case 0x49000000:
       return ARDUINO_COM_IF_STRING;
     case 0x49010005:
@@ -522,8 +524,6 @@ const char *translateObject(object_id_t object) {
       return CFDP_STORE_AND_TM_TASK_STRING;
     case 0x73040004:
       return DOWNLINK_RAM_STORE_STRING;
-    case 0x73500000:
-      return CCSDS_IP_CORE_BRIDGE_STRING;
     case 0x90000003:
       return THERMAL_TEMP_INSERTER_STRING;
     case 0xFFFFFFFF:

generators/requirements.txt

@@ -1,2 +1,2 @@
 colorlog==6.7.0
-git+https://egit.irs.uni-stuttgart.de/fsfw/fsfwgen@v0.3.1#egg=fsfwgen
+git+https://egit.irs.uni-stuttgart.de/fsfw/fsfwgen@v0.3.2#egg=fsfwgen

linux/CMakeLists.txt

@@ -3,6 +3,8 @@ add_subdirectory(callbacks)
 add_subdirectory(boardtest)
 add_subdirectory(devices)
 add_subdirectory(ipcore)
+add_subdirectory(com)
+add_subdirectory(acs)
 
 if(EIVE_ADD_LINUX_FSFWCONFIG)
   add_subdirectory(fsfwconfig)

linux/ObjectFactory.cpp

@@ -8,18 +8,17 @@
 #include <fsfw_hal/linux/serial/SerialCookie.h>
 #include <fsfw_hal/linux/spi/SpiComIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
+#include <linux/acs/SusPolling.h>
 #include <linux/callbacks/gpioCallbacks.h>
 #include <linux/devices/Max31865RtdPolling.h>
-#include <linux/devices/SusPolling.h>
+#include <mission/acs/SusHandler.h>
 #include <mission/controller/AcsController.h>
 #include <mission/core/GenericFactory.h>
-#include <mission/devices/LegacySusHandler.h>
 #include <mission/devices/Max31865EiveHandler.h>
 #include <mission/devices/ScexDeviceHandler.h>
-#include <mission/devices/SusHandler.h>
+#include <mission/system/acs/SusAssembly.h>
+#include <mission/system/acs/SusFdir.h>
 #include <mission/system/fdir/RtdFdir.h>
-#include <mission/system/fdir/SusFdir.h>
-#include <mission/system/objects/SusAssembly.h>
 #include <mission/system/objects/TcsBoardAssembly.h>
 
 #include "OBSWConfig.h"
@@ -27,7 +26,7 @@
 #include "devices/addresses.h"
 #include "devices/gpioIds.h"
 #include "eive/definitions.h"
-#include "mission/system/tree/acsModeTree.h"
+#include "mission/system/acs/acsModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
 #include "mission/system/tree/tcsModeTree.h"
 
@@ -314,7 +313,7 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
 void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,
                                          SdCardMountedIF& mountedIF, bool onImmediately,
                                          std::optional<power::Switch_t> switchId) {
-  auto* cookie = new SerialCookie(objects::SCEX, uartDev, uart::SCEX_BAUD, 4096);
+  auto* cookie = new SerialCookie(objects::SCEX, uartDev, serial::SCEX_BAUD, 4096);
   cookie->setTwoStopBits();
   // cookie->setParityEven();
   auto scexUartReader = new ScexUartReader(objects::SCEX_UART_READER);

linux/ObjectFactory.h

@@ -3,8 +3,8 @@
 #include <fsfw/power/definitions.h>
 #include <fsfw/returnvalues/returnvalue.h>
 #include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
+#include <mission/com/CcsdsIpCoreHandler.h>
 #include <mission/memory/SdCardMountedIF.h>
-#include <mission/tmtc/CcsdsIpCoreHandler.h>
 #include <mission/tmtc/CfdpTmFunnel.h>
 #include <mission/tmtc/PusTmFunnel.h>
 

linux/acs/AcsBoardPolling.cpp

@@ -10,7 +10,7 @@
 #include <fsfw_hal/linux/UnixFileGuard.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
 #include <fsfw_hal/linux/utility.h>
-#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
+#include <mission/acs/gyroAdisHelpers.h>
 #include <sys/ioctl.h>
 
 #include "devices/gpioIds.h"
@@ -221,7 +221,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
       }
     }
     if (state == InternalState::IDLE) {
-      state = InternalState::BUSY;
+      state = InternalState::IS_BUSY;
     }
   }
   semaphore->release();
@@ -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/acs/AcsBoardPolling.h

@@ -7,8 +7,8 @@
 #include <fsfw/tasks/SemaphoreIF.h>
 #include <fsfw_hal/devicehandlers/devicedefinitions/mgmRm3100Helpers.h>
 #include <fsfw_hal/linux/spi/SpiComIF.h>
-#include <mission/devices/devicedefinitions/acsPolling.h>
-#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
+#include <mission/acs/acsBoardPolling.h>
+#include <mission/acs/gyroAdisHelpers.h>
 
 class AcsBoardPolling : public SystemObject,
                         public ExecutableObjectIF,
@@ -20,7 +20,7 @@ class AcsBoardPolling : public SystemObject,
   ReturnValue_t initialize() override;
 
  private:
-  enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
+  enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;
   MutexIF* ipcLock;
   static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
   static constexpr uint32_t LOCK_TIMEOUT = 20;

linux/acs/CMakeLists.txt

@@ -0,0 +1,7 @@
+target_sources(${OBSW_NAME} PUBLIC AcsBoardPolling.cpp ImtqPollingTask.cpp
+                                   RwPollingTask.cpp SusPolling.cpp)
+
+# Dependency on proprietary library
+if(TGT_BSP MATCHES "arm/q7s")
+  add_subdirectory(startracker)
+endif()

linux/acs/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();
@@ -244,7 +245,7 @@ ReturnValue_t ImtqPollingTask::sendMessage(CookieIF* cookie, const uint8_t* send
     if (state != InternalState::IDLE) {
       return returnvalue::FAILED;
     }
-    state = InternalState::BUSY;
+    state = InternalState::IS_BUSY;
   }
   semaphore->release();
 
@@ -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/acs/ImtqPollingTask.h

@@ -4,16 +4,18 @@
 #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"
-#include "mission/devices/devicedefinitions/imtqHelpers.h"
+#include "mission/acs/imtqHelpers.h"
 
 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;
@@ -21,13 +23,14 @@ class ImtqPollingTask : public SystemObject,
  private:
   static constexpr ReturnValue_t NO_REPLY_AVAILABLE = returnvalue::makeCode(2, 0);
 
-  enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
+  enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;
   imtq::RequestType currentRequest = imtq::RequestType::MEASURE_NO_ACTUATION;
 
   SemaphoreIF* semaphore;
   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/acs/RwPollingTask.cpp

@@ -11,7 +11,7 @@
 #include <unistd.h>
 
 #include "devConf.h"
-#include "mission/devices/devicedefinitions/rwHelpers.h"
+#include "mission/acs/rwHelpers.h"
 
 RwPollingTask::RwPollingTask(object_id_t objectId, const char* spiDev, GpioIF& gpioIF)
     : SystemObject(objectId), spiDev(spiDev), gpioIF(gpioIF) {
@@ -147,7 +147,7 @@ ReturnValue_t RwPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendDa
     rwCookie->currentRampTime = rampTime;
     rwCookie->specialRequest = specialRequest;
     if (state == InternalState::IDLE) {
-      state = InternalState::BUSY;
+      state = InternalState::IS_BUSY;
       semaphore->release();
     }
   }

linux/acs/RwPollingTask.h

@@ -9,7 +9,7 @@
 #include <fsfw_hal/linux/spi/SpiComIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
 
-#include "mission/devices/devicedefinitions/rwHelpers.h"
+#include "mission/acs/rwHelpers.h"
 
 class RwCookie : public SpiCookie {
   friend class RwPollingTask;
@@ -41,7 +41,7 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
   ReturnValue_t initialize() override;
 
  private:
-  enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
+  enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;
   SemaphoreIF* semaphore;
   bool debugMode = false;
   bool modeAndSpeedWasSet = false;

linux/acs/SusPolling.cpp

@@ -77,7 +77,7 @@ ReturnValue_t SusPolling::sendMessage(CookieIF* cookie, const uint8_t* sendData,
     susDevs[susIdx].mode = susReq->mode;
   }
   if (state == InternalState::IDLE) {
-    state = InternalState::BUSY;
+    state = InternalState::IS_BUSY;
     semaphore->release();
   }
   return OK;

linux/acs/SusPolling.h

@@ -8,7 +8,7 @@
 #include <fsfw_hal/linux/spi/SpiComIF.h>
 
 #include "devices/addresses.h"
-#include "mission/devices/devicedefinitions/acsPolling.h"
+#include "mission/acs/acsBoardPolling.h"
 
 class SusPolling : public SystemObject, public ExecutableObjectIF, public DeviceCommunicationIF {
  public:
@@ -18,7 +18,7 @@ class SusPolling : public SystemObject, public ExecutableObjectIF, public Device
   ReturnValue_t initialize() override;
 
  private:
-  enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
+  enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;
 
   struct SusDev {
     SpiCookie* cookie = nullptr;

linux/acs/startracker/ArcsecDatalinkLayer.cpp

@@ -0,0 +1,73 @@
+#include "ArcsecDatalinkLayer.h"
+
+ArcsecDatalinkLayer::ArcsecDatalinkLayer() : decodeRingBuf(BUFFER_LENGTHS, true) { slipInit(); }
+
+ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {}
+
+ReturnValue_t ArcsecDatalinkLayer::checkRingBufForFrame(const uint8_t** decodedFrame,
+                                                        size_t& frameLen) {
+  size_t currentLen = decodeRingBuf.getAvailableReadData();
+  if (currentLen == 0) {
+    return DEC_IN_PROGRESS;
+  }
+  decodeRingBuf.readData(rxAnalysisBuffer, currentLen);
+  for (size_t idx = 0; idx < currentLen; idx++) {
+    enum arc_dec_result decResult =
+        arc_transport_decode_body(rxAnalysisBuffer[idx], &slipInfo, decodedRxFrame, &rxFrameSize);
+    switch (decResult) {
+      case ARC_DEC_INPROGRESS: {
+        break;
+      }
+      case ARC_DEC_ERROR_FRAME_SHORT: {
+        decodeRingBuf.deleteData(idx);
+        return REPLY_TOO_SHORT;
+      }
+      case ARC_DEC_ERROR_CHECKSUM:
+        decodeRingBuf.deleteData(idx);
+        return CRC_FAILURE;
+      case ARC_DEC_ASYNC:
+      case ARC_DEC_SYNC: {
+        // Reset length of SLIP struct for next frame
+        slipInfo.length = 0;
+        if (decodedFrame != nullptr) {
+          *decodedFrame = decodedRxFrame;
+        }
+        frameLen = rxFrameSize;
+        decodeRingBuf.deleteData(idx);
+        return returnvalue::OK;
+      }
+      default:
+        sif::debug << "ArcsecDatalinkLayer::decodeFrame: Unknown result code" << std::endl;
+        break;
+        return returnvalue::FAILED;
+    }
+  }
+  decodeRingBuf.deleteData(currentLen);
+  return DEC_IN_PROGRESS;
+}
+
+ReturnValue_t ArcsecDatalinkLayer::feedData(const uint8_t* rawData, size_t rawDataLen) {
+  if (rawDataLen > 4096) {
+    sif::error << "ArcsecDatalinklayer: Can not write more than 4096 bytes to ring buffer"
+               << std::endl;
+    return returnvalue::FAILED;
+  }
+  return decodeRingBuf.writeData(rawData, rawDataLen);
+}
+
+void ArcsecDatalinkLayer::reset() {
+  slipInit();
+  decodeRingBuf.clear();
+}
+
+void ArcsecDatalinkLayer::slipInit() {
+  slip_decode_init(rxBufferArc, sizeof(rxBufferArc), &slipInfo);
+}
+
+void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, size_t length, const uint8_t** txFrame,
+                                      size_t& size) {
+  arc_transport_encode_body(data, length, txEncoded, &size);
+  if (txFrame != nullptr) {
+    *txFrame = txEncoded;
+  }
+}

linux/acs/startracker/ArcsecDatalinkLayer.h

@@ -1,14 +1,14 @@
 #ifndef BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
 #define BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
 
+#include <fsfw/container/SimpleRingBuffer.h>
+#include <fsfw/devicehandlers/CookieIF.h>
+
+#include "arcsec/common/misc.h"
 #include "eive/resultClassIds.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 
-extern "C" {
-#include "common/misc.h"
-}
-
 /**
  * @brief   Helper class to handle the datalinklayer of replies from the star tracker of arcsec.
  */
@@ -25,17 +25,30 @@ class ArcsecDatalinkLayer {
 
   static const uint8_t STATUS_OK = 0;
 
+  static constexpr size_t BUFFER_LENGTHS = 4096;
+
   ArcsecDatalinkLayer();
   virtual ~ArcsecDatalinkLayer();
 
   /**
-   * @brief   Applies decoding to data referenced by rawData pointer
-   *
-   * @param rawData          Pointer to raw data received from star tracker
-   * @param rawDataSize      Size of raw data stream
-   * @param remainingBytes   Number of bytes left
+   * Feed received data to the internal ring buffer.
+   * @param rawData
+   * @param rawDataLen
+   * @return
    */
-  ReturnValue_t decodeFrame(const uint8_t* rawData, size_t rawDataSize, size_t* bytesLeft);
+  ReturnValue_t feedData(const uint8_t* rawData, size_t rawDataLen);
+
+  /**
+   * Runs the arcsec datalink layer decoding algorithm on the data in the ring buffer, decoding
+   * frames in the process.
+   * @param decodedFrame
+   * @param frameLen
+   * @return
+   *   - returnvalue::OK if a frame was found
+   *   - DEC_IN_PROGRESS if frame decoding is in progress
+   *   - Anything else is a decoding error
+   */
+  ReturnValue_t checkRingBufForFrame(const uint8_t** decodedFrame, size_t& frameLen);
 
   /**
    * @brief   SLIP encodes data pointed to by data pointer.
@@ -43,53 +56,31 @@ class ArcsecDatalinkLayer {
    * @param data   Pointer to data to encode
    * @param length Length of buffer to encode
    */
-  void encodeFrame(const uint8_t* data, uint32_t length);
+  void encodeFrame(const uint8_t* data, size_t length, const uint8_t** txFrame, size_t& frameLen);
 
-  /**
-   * @brief    Returns the frame type field of a decoded frame.
-   */
-  uint8_t getReplyFrameType();
-
-  /**
-   * @brief   Returns pointer to reply packet (first entry normally action ID, telemetry ID etc.)
-   */
-  const uint8_t* getReply();
-
-  /**
-   * @brief   Returns size of encoded frame
-   */
-  uint32_t getEncodedLength();
-
-  /**
-   * @brief   Returns pointer to encoded frame
-   */
-  uint8_t* getEncodedFrame();
-
-  /**
-   * @brief   Returns status of reply
-   */
-  uint8_t getStatusField();
-
-  /**
-   * @brief   Returns ID of reply
-   */
-  uint8_t getId();
+  void reset();
 
  private:
   static const uint8_t ID_OFFSET = 1;
   static const uint8_t STATUS_OFFSET = 2;
 
-  // Used by arcsec slip decoding function process received data
-  uint8_t rxBuffer[startracker::MAX_FRAME_SIZE];
+  // User to buffer and analyse data and allow feeding and checking for frames asychronously.
+  SimpleRingBuffer decodeRingBuf;
+  uint8_t rxAnalysisBuffer[BUFFER_LENGTHS];
+
+  // Used by arcsec slip decoding function to process received data. This should only be written
+  // to or read from by arcsec functions!
+  uint8_t rxBufferArc[startracker::MAX_FRAME_SIZE];
   // Decoded frame will be copied to this buffer
-  uint8_t decodedFrame[startracker::MAX_FRAME_SIZE];
+  uint8_t decodedRxFrame[startracker::MAX_FRAME_SIZE];
+  // Size of decoded frame
+  uint32_t rxFrameSize = 0;
+
   // Buffer where encoded frames will be stored. First byte of encoded frame represents type of
   // reply
-  uint8_t encBuffer[startracker::MAX_FRAME_SIZE * 2 + 2];
-  // Size of decoded frame
-  uint32_t decFrameSize = 0;
+  uint8_t txEncoded[startracker::MAX_FRAME_SIZE * 2 + 2];
   // Size of encoded frame
-  uint32_t encFrameSize = 0;
+  uint32_t txFrameSize = 0;
 
   slip_decode_state slipInfo;
 

linux/acs/startracker/ArcsecJsonParamBase.cpp

@@ -1,17 +1,10 @@
 #include "ArcsecJsonParamBase.h"
 
-#include "ArcsecJsonKeys.h"
+#include "arcsecJsonKeys.h"
 
 ArcsecJsonParamBase::ArcsecJsonParamBase(std::string setName) : setName(setName) {}
 
-ReturnValue_t ArcsecJsonParamBase::create(std::string fullname, uint8_t* buffer) {
-  // ReturnValue_t result = returnvalue::OK;
-  //  result = init(fullname);
-  //  if (result != returnvalue::OK) {
-  //    sif::warning << "ArcsecJsonParamBase::create: Failed to init parameter command for set "
-  //                 << setName << std::endl;
-  //    return result;
-  //  }
+ReturnValue_t ArcsecJsonParamBase::create(uint8_t* buffer) {
   ReturnValue_t result = createCommand(buffer);
   if (result != returnvalue::OK) {
     sif::warning << "ArcsecJsonParamBase::create: Failed to create parameter command for set "

linux/acs/startracker/ArcsecJsonParamBase.h

@@ -5,15 +5,12 @@
 #include <fstream>
 #include <nlohmann/json.hpp>
 
+#include "arcsec/common/generated/tmtcstructs.h"
+#include "arcsec/common/genericstructs.h"
 #include "eive/resultClassIds.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 
-extern "C" {
-#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
-#include "thirdparty/arcsec_star_tracker/common/genericstructs.h"
-}
-
 using json = nlohmann::json;
 
 /**
@@ -59,7 +56,7 @@ class ArcsecJsonParamBase {
    *                  parameter set.
    * @param buffer    Pointer to the buffer the command will be written to
    */
-  ReturnValue_t create(std::string fullname, uint8_t* buffer);
+  ReturnValue_t create(uint8_t* buffer);
 
   /**
    * @brief   Returns the size of the parameter command.

linux/acs/startracker/CMakeLists.txt

@@ -0,0 +1,4 @@
+target_sources(
+  ${OBSW_NAME}
+  PRIVATE StarTrackerHandler.cpp strJsonCommands.cpp ArcsecDatalinkLayer.cpp
+          ArcsecJsonParamBase.cpp StrComHandler.cpp helpers.cpp)

linux/acs/startracker/StarTrackerHandler.h

@@ -2,20 +2,19 @@
 #define MISSION_DEVICES_STARTRACKERHANDLER_H_
 
 #include <fsfw/datapool/PoolReadGuard.h>
-#include <linux/devices/startracker/StarTrackerJsonCommands.h>
 
 #include <thread>
 
-#include "ArcsecDatalinkLayer.h"
 #include "ArcsecJsonParamBase.h"
 #include "OBSWConfig.h"
-#include "StrHelper.h"
+#include "StrComHandler.h"
+#include "arcsec/common/SLIP.h"
 #include "devices/powerSwitcherList.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/src/fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/timemanager/Countdown.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
-#include "thirdparty/arcsec_star_tracker/common/SLIP.h"
+#include "strJsonCommands.h"
 
 /**
  * @brief	This is the device handler for the star tracker from arcsec.
@@ -38,7 +37,8 @@ class StarTrackerHandler : public DeviceHandlerBase {
    * 						to high to enable the device.
    */
   StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                     const char* jsonFileStr, StrHelper* strHelper, power::Switch_t powerSwitch);
+                     const char* jsonFileStr, StrComHandler* strHelper,
+                     power::Switch_t powerSwitch);
   virtual ~StarTrackerHandler();
 
   ReturnValue_t initialize() override;
@@ -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;
 
@@ -150,14 +147,14 @@ class StarTrackerHandler : public DeviceHandlerBase {
   static const size_t MAX_PATH_SIZE = 50;
   static const size_t MAX_FILE_NAME = 30;
 
-  static const uint8_t STATUS_OFFSET = 1;
-  static const uint8_t PARAMS_OFFSET = 1;
-  static const uint8_t TICKS_OFFSET = 2;
-  static const uint8_t TIME_OFFSET = 6;
-  static const uint8_t TM_DATA_FIELD_OFFSET = 14;
-  static const uint8_t PARAMETER_ID_OFFSET = 0;
-  static const uint8_t ACTION_ID_OFFSET = 0;
-  static const uint8_t ACTION_DATA_OFFSET = 2;
+  static const uint8_t STATUS_OFFSET = 2;
+  static const uint8_t PARAMS_OFFSET = 2;
+  static const uint8_t TICKS_OFFSET = 3;
+  static const uint8_t TIME_OFFSET = 7;
+  static const uint8_t PARAMETER_ID_OFFSET = 1;
+  static const uint8_t ACTION_ID_OFFSET = 1;
+  static const uint8_t ACTION_DATA_OFFSET = 3;
+
   // Ping request will reply ping with this ID (data field)
   static const uint32_t PING_ID = 0x55;
   static const uint32_t BOOT_REGION_ID = 1;
@@ -185,8 +182,6 @@ class StarTrackerHandler : public DeviceHandlerBase {
 
   MessageQueueIF* eventQueue = nullptr;
 
-  ArcsecDatalinkLayer dataLinkLayer;
-
   startracker::TemperatureSet temperatureSet;
   startracker::VersionSet versionSet;
   startracker::PowerSet powerSet;
@@ -211,7 +206,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
   startracker::DebugCameraSet debugCameraSet;
 
   // Pointer to object responsible for uploading and downloading images to/from the star tracker
-  StrHelper* strHelper = nullptr;
+  StrComHandler* strHelper = nullptr;
 
   uint8_t commandBuffer[startracker::MAX_FRAME_SIZE];
 
@@ -247,14 +242,31 @@ 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 +282,12 @@ 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;
 
@@ -311,10 +308,10 @@ class StarTrackerHandler : public DeviceHandlerBase {
    */
   void slipInit();
 
-  ReturnValue_t scanForActionReply(DeviceCommandId_t* foundId);
-  ReturnValue_t scanForSetParameterReply(DeviceCommandId_t* foundId);
-  ReturnValue_t scanForGetParameterReply(DeviceCommandId_t* foundId);
-  ReturnValue_t scanForTmReply(DeviceCommandId_t* foundId);
+  ReturnValue_t scanForActionReply(uint8_t replyId, DeviceCommandId_t* foundId);
+  ReturnValue_t scanForSetParameterReply(uint8_t replyId, DeviceCommandId_t* foundId);
+  ReturnValue_t scanForGetParameterReply(uint8_t replyId, DeviceCommandId_t* foundId);
+  ReturnValue_t scanForTmReply(uint8_t replyId, DeviceCommandId_t* foundId);
 
   /**
    * @brief   Fills command buffer with data to ping the star tracker
@@ -436,12 +433,13 @@ class StarTrackerHandler : public DeviceHandlerBase {
   /**
    * @brief   Handles action replies with datasets.
    */
-  ReturnValue_t handleActionReplySet(LocalPoolDataSetBase& dataset, size_t size);
+  ReturnValue_t handleActionReplySet(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
+                                     size_t size);
 
   /**
    * @brief   Default function to handle action replies
    */
-  ReturnValue_t handleActionReply();
+  ReturnValue_t handleActionReply(const uint8_t* rawFrame);
 
   /**
    * @brief   Handles reply to upload centroid command
@@ -451,16 +449,17 @@ class StarTrackerHandler : public DeviceHandlerBase {
   /**
    * @brief   Handles reply to checksum command
    */
-  ReturnValue_t handleChecksumReply();
+  ReturnValue_t handleChecksumReply(const uint8_t* rawFrame);
 
   /**
    * @brief   Handles all set parameter replies
    */
-  ReturnValue_t handleSetParamReply();
+  ReturnValue_t handleSetParamReply(const uint8_t* rawFrame);
 
-  ReturnValue_t handlePingReply();
+  ReturnValue_t handlePingReply(const uint8_t* rawFrame);
 
-  ReturnValue_t handleParamRequest(LocalPoolDataSetBase& dataset, size_t size);
+  ReturnValue_t handleParamRequest(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
+                                   size_t size);
 
   /**
    * @brief   Checks the loaded program by means of the version set
@@ -470,7 +469,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
   /**
    * @brief   Handles the startup state machine
    */
-  void handleStartup(const uint8_t* parameterId);
+  void handleStartup(uint8_t parameterId);
 
   /**
    * @brief   Handles telemtry replies and fills the appropriate dataset
@@ -480,7 +479,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
    *
    * @return  returnvalue::OK if successful, otherwise error return value
    */
-  ReturnValue_t handleTm(LocalPoolDataSetBase& dataset, size_t size);
+  ReturnValue_t handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset, size_t size);
 
   /**
    * @brief Checks if star tracker is in valid mode for executing the received command.

linux/acs/startracker/StrComHandler.cpp

@@ -1,6 +1,10 @@
-#include "StrHelper.h"
+#include "StrComHandler.h"
 
+#include <fcntl.h>
 #include <fsfw/filesystem/HasFileSystemIF.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
+#include <unistd.h>
 
 #include <filesystem>
 #include <fstream>
@@ -8,16 +12,22 @@
 #include "OBSWConfig.h"
 #include "eive/definitions.h"
 #include "fsfw/timemanager/Countdown.h"
+#include "helpers.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 #include "mission/utility/Filenaming.h"
 #include "mission/utility/ProgressPrinter.h"
 #include "mission/utility/Timestamp.h"
 
-StrHelper::StrHelper(object_id_t objectId) : SystemObject(objectId) {}
+using namespace returnvalue;
 
-StrHelper::~StrHelper() {}
+StrComHandler::StrComHandler(object_id_t objectId) : SystemObject(objectId) {
+  lock = MutexFactory::instance()->createMutex();
+  semaphore.acquire();
+}
 
-ReturnValue_t StrHelper::initialize() {
+StrComHandler::~StrComHandler() {}
+
+ReturnValue_t StrComHandler::initialize() {
 #ifdef XIPHOS_Q7S
   sdcMan = SdCardManager::instance();
   if (sdcMan == nullptr) {
@@ -28,53 +38,63 @@ ReturnValue_t StrHelper::initialize() {
   return returnvalue::OK;
 }
 
-ReturnValue_t StrHelper::performOperation(uint8_t operationCode) {
+ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
   ReturnValue_t result = returnvalue::OK;
-  semaphore.acquire();
   while (true) {
-    switch (internalState) {
-      case InternalState::IDLE: {
-        semaphore.acquire();
+    lock->lockMutex();
+    state = InternalState::SLEEPING;
+    datalinkLayer.reset();
+    lock->unlockMutex();
+    semaphore.acquire();
+    switch (state) {
+      case InternalState::POLL_ONE_REPLY: {
+        // Stopwatch watch;
+        replyTimeout.setTimeout(200);
+        replyResult = readOneReply(static_cast<uint32_t>(state));
+        {
+          MutexGuard mg(lock);
+          replyWasReceived = true;
+        }
         break;
       }
       case InternalState::UPLOAD_IMAGE: {
+        replyTimeout.setTimeout(200);
         result = performImageUpload();
         if (result == returnvalue::OK) {
           triggerEvent(IMAGE_UPLOAD_SUCCESSFUL);
         } else {
           triggerEvent(IMAGE_UPLOAD_FAILED);
         }
-        internalState = InternalState::IDLE;
         break;
       }
       case InternalState::DOWNLOAD_IMAGE: {
+        replyTimeout.setTimeout(200);
         result = performImageDownload();
         if (result == returnvalue::OK) {
           triggerEvent(IMAGE_DOWNLOAD_SUCCESSFUL);
         } else {
           triggerEvent(IMAGE_DOWNLOAD_FAILED);
         }
-        internalState = InternalState::IDLE;
         break;
       }
       case InternalState::FLASH_READ: {
+        replyTimeout.setTimeout(200);
         result = performFlashRead();
         if (result == returnvalue::OK) {
           triggerEvent(FLASH_READ_SUCCESSFUL);
         } else {
           triggerEvent(FLASH_READ_FAILED);
         }
-        internalState = InternalState::IDLE;
         break;
       }
       case InternalState::FIRMWARE_UPDATE: {
+        replyTimeout.setTimeout(200);
         result = performFirmwareUpdate();
         if (result == returnvalue::OK) {
           triggerEvent(FIRMWARE_UPDATE_SUCCESSFUL);
         } else {
           triggerEvent(FIRMWARE_UPDATE_FAILED);
         }
-        internalState = InternalState::IDLE;
         break;
       }
       default:
@@ -84,18 +104,13 @@ ReturnValue_t StrHelper::performOperation(uint8_t operationCode) {
   }
 }
 
-ReturnValue_t StrHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
-  uartComIF = dynamic_cast<SerialComIF*>(communicationInterface_);
-  if (uartComIF == nullptr) {
-    sif::warning << "StrHelper::initialize: Invalid uart com if" << std::endl;
-    return returnvalue::FAILED;
+ReturnValue_t StrComHandler::startImageUpload(std::string fullname) {
+  {
+    MutexGuard mg(lock);
+    if (state != InternalState::SLEEPING) {
+      return BUSY;
+    }
   }
-  return returnvalue::OK;
-}
-
-void StrHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
-
-ReturnValue_t StrHelper::startImageUpload(std::string fullname) {
 #ifdef XIPHOS_Q7S
   ReturnValue_t result = checkPath(fullname);
   if (result != returnvalue::OK) {
@@ -106,13 +121,22 @@ ReturnValue_t StrHelper::startImageUpload(std::string fullname) {
   if (not std::filesystem::exists(fullname)) {
     return FILE_NOT_EXISTS;
   }
-  internalState = InternalState::UPLOAD_IMAGE;
+  {
+    MutexGuard mg(lock);
+    state = InternalState::UPLOAD_IMAGE;
+  }
   semaphore.release();
   terminate = false;
   return returnvalue::OK;
 }
 
-ReturnValue_t StrHelper::startImageDownload(std::string path) {
+ReturnValue_t StrComHandler::startImageDownload(std::string path) {
+  {
+    MutexGuard mg(lock);
+    if (state != InternalState::SLEEPING) {
+      return BUSY;
+    }
+  }
 #ifdef XIPHOS_Q7S
   ReturnValue_t result = checkPath(path);
   if (result != returnvalue::OK) {
@@ -123,19 +147,30 @@ ReturnValue_t StrHelper::startImageDownload(std::string path) {
     return PATH_NOT_EXISTS;
   }
   downloadImage.path = path;
-  internalState = InternalState::DOWNLOAD_IMAGE;
+  {
+    MutexGuard mg(lock);
+    state = InternalState::DOWNLOAD_IMAGE;
+  }
   terminate = false;
   semaphore.release();
   return returnvalue::OK;
 }
 
-void StrHelper::stopProcess() { terminate = true; }
+void StrComHandler::stopProcess() { terminate = true; }
 
-void StrHelper::setDownloadImageName(std::string filename) { downloadImage.filename = filename; }
+void StrComHandler::setDownloadImageName(std::string filename) {
+  downloadImage.filename = filename;
+}
 
-void StrHelper::setFlashReadFilename(std::string filename) { flashRead.filename = filename; }
+void StrComHandler::setFlashReadFilename(std::string filename) { flashRead.filename = filename; }
 
-ReturnValue_t StrHelper::startFirmwareUpdate(std::string fullname) {
+ReturnValue_t StrComHandler::startFirmwareUpdate(std::string fullname) {
+  {
+    MutexGuard mg(lock);
+    if (state != InternalState::SLEEPING) {
+      return BUSY;
+    }
+  }
 #ifdef XIPHOS_Q7S
   ReturnValue_t result = checkPath(fullname);
   if (result != returnvalue::OK) {
@@ -148,13 +183,23 @@ ReturnValue_t StrHelper::startFirmwareUpdate(std::string fullname) {
   }
   flashWrite.firstRegion = static_cast<uint8_t>(startracker::FirmwareRegions::FIRST);
   flashWrite.lastRegion = static_cast<uint8_t>(startracker::FirmwareRegions::LAST);
-  internalState = InternalState::FIRMWARE_UPDATE;
+  {
+    MutexGuard mg(lock);
+    state = InternalState::FIRMWARE_UPDATE;
+  }
   semaphore.release();
   terminate = false;
   return returnvalue::OK;
 }
 
-ReturnValue_t StrHelper::startFlashRead(std::string path, uint8_t startRegion, uint32_t length) {
+ReturnValue_t StrComHandler::startFlashRead(std::string path, uint8_t startRegion,
+                                            uint32_t length) {
+  {
+    MutexGuard mg(lock);
+    if (state != InternalState::SLEEPING) {
+      return BUSY;
+    }
+  }
 #ifdef XIPHOS_Q7S
   ReturnValue_t result = checkPath(path);
   if (result != returnvalue::OK) {
@@ -167,17 +212,20 @@ ReturnValue_t StrHelper::startFlashRead(std::string path, uint8_t startRegion, u
   }
   flashRead.startRegion = startRegion;
   flashRead.size = length;
-  internalState = InternalState::FLASH_READ;
+  {
+    MutexGuard mg(lock);
+    state = InternalState::FLASH_READ;
+  }
   semaphore.release();
   terminate = false;
   return returnvalue::OK;
 }
 
-void StrHelper::disableTimestamping() { timestamping = false; }
+void StrComHandler::disableTimestamping() { timestamping = false; }
 
-void StrHelper::enableTimestamping() { timestamping = true; }
+void StrComHandler::enableTimestamping() { timestamping = true; }
 
-ReturnValue_t StrHelper::performImageDownload() {
+ReturnValue_t StrComHandler::performImageDownload() {
 #ifdef XIPHOS_Q7S
   if (not sdcMan->getActiveSdCard()) {
     return HasFileSystemIF::FILESYSTEM_INACTIVE;
@@ -190,6 +238,7 @@ ReturnValue_t StrHelper::performImageDownload() {
   struct DownloadActionRequest downloadReq;
   uint32_t size = 0;
   uint32_t retries = 0;
+  size_t replySize = 0;
   std::string image = Filenaming::generateAbsoluteFilename(downloadImage.path,
                                                            downloadImage.filename, timestamping);
   std::ofstream file(image, std::ios_base::out);
@@ -202,21 +251,21 @@ ReturnValue_t StrHelper::performImageDownload() {
       file.close();
       return returnvalue::OK;
     }
-    arc_pack_download_action_req(&downloadReq, commandBuffer, &size);
+    arc_pack_download_action_req(&downloadReq, cmdBuf.data(), &size);
     result = sendAndRead(size, downloadReq.position);
     if (result != returnvalue::OK) {
       if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
-        uartComIF->flushUartRxBuffer(comCookie);
+        serial::flushRxBuf(serialPort);
         retries++;
         continue;
       }
       file.close();
       return result;
     }
-    result = checkActionReply();
+    result = checkActionReply(replySize);
     if (result != returnvalue::OK) {
       if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
-        uartComIF->flushUartRxBuffer(comCookie);
+        serial::flushRxBuf(serialPort);
         retries++;
         continue;
       }
@@ -226,15 +275,14 @@ ReturnValue_t StrHelper::performImageDownload() {
     result = checkReplyPosition(downloadReq.position);
     if (result != returnvalue::OK) {
       if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
-        uartComIF->flushUartRxBuffer(comCookie);
+        serial::flushRxBuf(serialPort);
         retries++;
         continue;
       }
       file.close();
       return result;
     }
-    file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + IMAGE_DATA_OFFSET),
-               CHUNK_SIZE);
+    file.write(reinterpret_cast<const char*>(replyPtr + IMAGE_DATA_OFFSET), CHUNK_SIZE);
 #if OBSW_DEBUG_STARTRACKER == 1
     progressPrinter.print(downloadReq.position);
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */
@@ -245,7 +293,7 @@ ReturnValue_t StrHelper::performImageDownload() {
   return returnvalue::OK;
 }
 
-ReturnValue_t StrHelper::performImageUpload() {
+ReturnValue_t StrComHandler::performImageUpload() {
   ReturnValue_t result = returnvalue::OK;
   uint32_t size = 0;
   uint32_t imageSize = 0;
@@ -258,11 +306,14 @@ ReturnValue_t StrHelper::performImageUpload() {
 #endif
   std::memset(&uploadReq.data, 0, sizeof(uploadReq.data));
   if (not std::filesystem::exists(uploadImage.uploadFile)) {
-    triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
-    internalState = InternalState::IDLE;
+    triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(state));
     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
@@ -272,26 +323,29 @@ ReturnValue_t StrHelper::performImageUpload() {
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */
   while ((uploadReq.position + 1) * SIZE_IMAGE_PART < imageSize) {
     if (terminate) {
-      file.close();
       return returnvalue::OK;
     }
     file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
     file.read(reinterpret_cast<char*>(uploadReq.data), SIZE_IMAGE_PART);
-    arc_pack_upload_action_req(&uploadReq, commandBuffer, &size);
+    arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size);
     result = sendAndRead(size, uploadReq.position);
     if (result != returnvalue::OK) {
-      file.close();
       return returnvalue::FAILED;
     }
-    result = checkActionReply();
+    result = checkActionReply(replyLen);
     if (result != returnvalue::OK) {
-      file.close();
       return result;
     }
 #if OBSW_DEBUG_STARTRACKER == 1
     progressPrinter.print((uploadReq.position + 1) * SIZE_IMAGE_PART);
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */
     uploadReq.position++;
+
+    // This does a bit of delaying roughly every second
+    if (uploadReq.position % 50 == 0) {
+      // Some grace time for other tasks
+      TaskFactory::delayTask(2);
+    }
   }
   std::memset(uploadReq.data, 0, sizeof(uploadReq.data));
   uint32_t remainder = imageSize - uploadReq.position * SIZE_IMAGE_PART;
@@ -299,12 +353,12 @@ ReturnValue_t StrHelper::performImageUpload() {
   file.read(reinterpret_cast<char*>(uploadReq.data), remainder);
   file.close();
   uploadReq.position++;
-  arc_pack_upload_action_req(&uploadReq, commandBuffer, &size);
+  arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size);
   result = sendAndRead(size, uploadReq.position);
   if (result != returnvalue::OK) {
     return returnvalue::FAILED;
   }
-  result = checkActionReply();
+  result = checkActionReply(replyLen);
   if (result != returnvalue::OK) {
     return result;
   }
@@ -314,7 +368,7 @@ ReturnValue_t StrHelper::performImageUpload() {
   return returnvalue::OK;
 }
 
-ReturnValue_t StrHelper::performFirmwareUpdate() {
+ReturnValue_t StrComHandler::performFirmwareUpdate() {
   using namespace startracker;
   ReturnValue_t result = returnvalue::OK;
   result = unlockAndEraseRegions(static_cast<uint32_t>(startracker::FirmwareRegions::FIRST),
@@ -326,7 +380,7 @@ ReturnValue_t StrHelper::performFirmwareUpdate() {
   return result;
 }
 
-ReturnValue_t StrHelper::performFlashWrite() {
+ReturnValue_t StrComHandler::performFlashWrite() {
 #ifdef XIPHOS_Q7S
   if (not sdcMan->getActiveSdCard()) {
     return HasFileSystemIF::FILESYSTEM_INACTIVE;
@@ -336,13 +390,16 @@ ReturnValue_t StrHelper::performFlashWrite() {
   uint32_t size = 0;
   uint32_t bytesWritten = 0;
   uint32_t fileSize = 0;
+
   struct WriteActionRequest req;
   if (not std::filesystem::exists(flashWrite.fullname)) {
-    triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
-    internalState = InternalState::IDLE;
+    triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(state));
     return returnvalue::FAILED;
   }
   std::ifstream file(flashWrite.fullname, std::ifstream::binary);
+  if (file.bad()) {
+    return returnvalue::FAILED;
+  }
   file.seekg(0, file.end);
   fileSize = file.tellg();
   if (fileSize > FLASH_REGION_SIZE * (flashWrite.lastRegion - flashWrite.firstRegion)) {
@@ -358,7 +415,6 @@ ReturnValue_t StrHelper::performFlashWrite() {
   req.length = CHUNK_SIZE;
   for (uint32_t idx = 0; idx < fileChunks; idx++) {
     if (terminate) {
-      file.close();
       return returnvalue::OK;
     }
     file.seekg(idx * CHUNK_SIZE, file.beg);
@@ -368,21 +424,23 @@ ReturnValue_t StrHelper::performFlashWrite() {
       bytesWritten = 0;
     }
     req.address = bytesWritten;
-    arc_pack_write_action_req(&req, commandBuffer, &size);
+    arc_pack_write_action_req(&req, cmdBuf.data(), &size);
     result = sendAndRead(size, req.address);
     if (result != returnvalue::OK) {
-      file.close();
       return result;
     }
-    result = checkActionReply();
+    result = checkActionReply(replyLen);
     if (result != returnvalue::OK) {
-      file.close();
       return result;
     }
     bytesWritten += CHUNK_SIZE;
 #if OBSW_DEBUG_STARTRACKER == 1
     progressPrinter.print(idx * CHUNK_SIZE);
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */
+    if (idx % 50 == 0) {
+      // Some grace time for other tasks
+      TaskFactory::delayTask(2);
+    }
   }
   uint32_t remainingBytes = fileSize - fileChunks * CHUNK_SIZE;
   file.seekg((fileChunks - 1) * CHUNK_SIZE, file.beg);
@@ -395,12 +453,12 @@ ReturnValue_t StrHelper::performFlashWrite() {
   req.address = bytesWritten;
   req.length = remainingBytes;
   bytesWritten += remainingBytes;
-  arc_pack_write_action_req(&req, commandBuffer, &size);
+  arc_pack_write_action_req(&req, cmdBuf.data(), &size);
   result = sendAndRead(size, req.address);
   if (result != returnvalue::OK) {
     return result;
   }
-  result = checkActionReply();
+  result = checkActionReply(replyLen);
   if (result != returnvalue::OK) {
     return result;
   }
@@ -410,7 +468,7 @@ ReturnValue_t StrHelper::performFlashWrite() {
   return returnvalue::OK;
 }
 
-ReturnValue_t StrHelper::performFlashRead() {
+ReturnValue_t StrComHandler::performFlashRead() {
 #ifdef XIPHOS_Q7S
   if (not sdcMan->getActiveSdCard()) {
     return HasFileSystemIF::FILESYSTEM_INACTIVE;
@@ -442,29 +500,28 @@ ReturnValue_t StrHelper::performFlashRead() {
     } else {
       req.length = CHUNK_SIZE;
     }
-    arc_pack_read_action_req(&req, commandBuffer, &size);
+    arc_pack_read_action_req(&req, cmdBuf.data(), &size);
     result = sendAndRead(size, req.address);
     if (result != returnvalue::OK) {
       if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
-        uartComIF->flushUartRxBuffer(comCookie);
+        serial::flushRxBuf(serialPort);
         retries++;
         continue;
       }
       file.close();
       return result;
     }
-    result = checkActionReply();
+    result = checkActionReply(replyLen);
     if (result != returnvalue::OK) {
       if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
-        uartComIF->flushUartRxBuffer(comCookie);
+        serial::flushRxBuf(serialPort);
         retries++;
         continue;
       }
       file.close();
       return result;
     }
-    file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + FLASH_READ_DATA_OFFSET),
-               req.length);
+    file.write(reinterpret_cast<const char*>(replyPtr + FLASH_READ_DATA_OFFSET), req.length);
     bytesRead += req.length;
     req.address += req.length;
     if (req.address >= FLASH_REGION_SIZE) {
@@ -480,70 +537,29 @@ ReturnValue_t StrHelper::performFlashRead() {
   return returnvalue::OK;
 }
 
-ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter, uint32_t delayMs) {
+ReturnValue_t StrComHandler::sendAndRead(size_t size, uint32_t failParameter) {
   ReturnValue_t result = returnvalue::OK;
-  ReturnValue_t decResult = returnvalue::OK;
-  size_t receivedDataLen = 0;
-  uint8_t* receivedData = nullptr;
-  size_t bytesLeft = 0;
-  uint32_t missedReplies = 0;
-  datalinkLayer.encodeFrame(commandBuffer, size);
-  result = uartComIF->sendMessage(comCookie, datalinkLayer.getEncodedFrame(),
-                                  datalinkLayer.getEncodedLength());
-  if (result != returnvalue::OK) {
+
+  const uint8_t* sendData;
+  size_t txFrameLen = 0;
+  datalinkLayer.encodeFrame(cmdBuf.data(), size, &sendData, txFrameLen);
+  int writeResult = write(serialPort, sendData, txFrameLen);
+  if (writeResult < 0) {
     sif::warning << "StrHelper::sendAndRead: Failed to send packet" << std::endl;
-    triggerEvent(STR_HELPER_SENDING_PACKET_FAILED, result, parameter);
+    triggerEvent(STR_HELPER_SENDING_PACKET_FAILED, result, failParameter);
     return returnvalue::FAILED;
   }
-  decResult = ArcsecDatalinkLayer::DEC_IN_PROGRESS;
-  while (decResult == ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
-    Countdown delay(delayMs);
-    delay.resetTimer();
-    while (delay.isBusy()) {
-    }
-    result = uartComIF->requestReceiveMessage(comCookie, startracker::MAX_FRAME_SIZE * 2 + 2);
-    if (result != returnvalue::OK) {
-      sif::warning << "StrHelper::sendAndRead: Failed to request reply" << std::endl;
-      triggerEvent(STR_HELPER_REQUESTING_MSG_FAILED, result, parameter);
-      return returnvalue::FAILED;
-    }
-    result = uartComIF->readReceivedMessage(comCookie, &receivedData, &receivedDataLen);
-    if (result != returnvalue::OK) {
-      sif::warning << "StrHelper::sendAndRead: Failed to read received message" << std::endl;
-      triggerEvent(STR_HELPER_READING_REPLY_FAILED, result, parameter);
-      return returnvalue::FAILED;
-    }
-    if (receivedDataLen == 0 && missedReplies < MAX_POLLS) {
-      missedReplies++;
-      continue;
-    } else if ((receivedDataLen == 0) && (missedReplies >= MAX_POLLS)) {
-      triggerEvent(STR_HELPER_NO_REPLY, parameter);
-      return returnvalue::FAILED;
-    } else {
-      missedReplies = 0;
-    }
-    decResult = datalinkLayer.decodeFrame(receivedData, receivedDataLen, &bytesLeft);
-    if (bytesLeft != 0) {
-      // This should never happen
-      sif::warning << "StrHelper::sendAndRead: Bytes left after decoding" << std::endl;
-      triggerEvent(STR_HELPER_COM_ERROR, result, parameter);
-      return returnvalue::FAILED;
-    }
-  }
-  if (decResult != returnvalue::OK) {
-    triggerEvent(STR_HELPER_DEC_ERROR, decResult, parameter);
-    return returnvalue::FAILED;
-  }
-  return returnvalue::OK;
+
+  return readOneReply(failParameter);
 }
 
-ReturnValue_t StrHelper::checkActionReply() {
-  uint8_t type = datalinkLayer.getReplyFrameType();
+ReturnValue_t StrComHandler::checkActionReply(size_t replySize) {
+  uint8_t type = str::getReplyFrameType(replyPtr);
   if (type != TMTC_ACTIONREPLY) {
     sif::warning << "StrHelper::checkActionReply: Received reply with invalid type ID" << std::endl;
     return INVALID_TYPE_ID;
   }
-  uint8_t status = datalinkLayer.getStatusField();
+  uint8_t status = str::getStatusField(replyPtr);
   if (status != ArcsecDatalinkLayer::STATUS_OK) {
     sif::warning << "StrHelper::checkActionReply: Status failure: "
                  << static_cast<unsigned int>(status) << std::endl;
@@ -552,9 +568,9 @@ ReturnValue_t StrHelper::checkActionReply() {
   return returnvalue::OK;
 }
 
-ReturnValue_t StrHelper::checkReplyPosition(uint32_t expectedPosition) {
+ReturnValue_t StrComHandler::checkReplyPosition(uint32_t expectedPosition) {
   uint32_t receivedPosition = 0;
-  std::memcpy(&receivedPosition, datalinkLayer.getReply() + POS_OFFSET, sizeof(receivedPosition));
+  std::memcpy(&receivedPosition, replyPtr + POS_OFFSET, sizeof(receivedPosition));
   if (receivedPosition != expectedPosition) {
     triggerEvent(POSITION_MISMATCH, receivedPosition);
     return returnvalue::FAILED;
@@ -563,7 +579,7 @@ ReturnValue_t StrHelper::checkReplyPosition(uint32_t expectedPosition) {
 }
 
 #ifdef XIPHOS_Q7S
-ReturnValue_t StrHelper::checkPath(std::string name) {
+ReturnValue_t StrComHandler::checkPath(std::string name) {
   if (name.substr(0, sizeof(config::SD_0_MOUNT_POINT)) == std::string(config::SD_0_MOUNT_POINT)) {
     if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
       sif::warning << "StrHelper::checkPath: SD card 0 not mounted" << std::endl;
@@ -580,7 +596,112 @@ ReturnValue_t StrHelper::checkPath(std::string name) {
 }
 #endif
 
-ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) {
+ReturnValue_t StrComHandler::initializeInterface(CookieIF* cookie) {
+  if (cookie == nullptr) {
+    return returnvalue::FAILED;
+  }
+  SerialCookie* serCookie = dynamic_cast<SerialCookie*>(cookie);
+  if (serCookie == nullptr) {
+    return DeviceCommunicationIF::INVALID_COOKIE_TYPE;
+  }
+  // comCookie = serCookie;
+  std::string devname = serCookie->getDeviceFile();
+  /* Get file descriptor */
+  serialPort = open(devname.c_str(), O_RDWR);
+  if (serialPort < 0) {
+    sif::warning << "StrComHandler: open call failed with error [" << errno << ", "
+                 << strerror(errno) << std::endl;
+    return returnvalue::FAILED;
+  }
+  // Setting up UART parameters
+  tty.c_cflag &= ~PARENB;  // Clear parity bit
+  serial::setStopbits(tty, serCookie->getStopBits());
+  serial::setBitsPerWord(tty, BitsPerWord::BITS_8);
+  tty.c_cflag &= ~CRTSCTS;  // Disable RTS/CTS hardware flow control
+  serial::enableRead(tty);
+  serial::ignoreCtrlLines(tty);
+
+  // Use non-canonical mode and clear echo flag
+  tty.c_lflag &= ~(ICANON | ECHO);
+
+  // Non-blocking mode, use polling
+  tty.c_cc[VTIME] = 0;
+  tty.c_cc[VMIN] = 0;
+
+  serial::setBaudrate(tty, serCookie->getBaudrate());
+  if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
+    sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error ["
+                 << errno << ", " << strerror(errno) << std::endl;
+  }
+  // Flush received and unread data
+  tcflush(serialPort, TCIOFLUSH);
+  return returnvalue::OK;
+}
+
+ReturnValue_t StrComHandler::sendMessage(CookieIF* cookie, const uint8_t* sendData,
+                                         size_t sendLen) {
+  {
+    MutexGuard mg(lock);
+    if (state != InternalState::SLEEPING) {
+      return BUSY;
+    }
+  }
+  serial::flushRxBuf(serialPort);
+
+  const uint8_t* txFrame;
+  size_t frameLen;
+  datalinkLayer.encodeFrame(sendData, sendLen, &txFrame, frameLen);
+  ssize_t bytesWritten = write(serialPort, txFrame, frameLen);
+  if (bytesWritten != static_cast<ssize_t>(frameLen)) {
+    sif::warning << "StrComHandler: Sending packet failed" << std::endl;
+    return returnvalue::FAILED;
+  }
+  // Hacky, but the alternatives look bleak. The raw data contains the information we need
+  // and there are not too many special cases.
+  if (sendData[0] == TMTC_ACTIONREQ) {
+    // 1 is a firmware boot request and 7 is a reboot request. For both, no reply is expected.
+    if (sendData[1] == 7 or sendData[1] == 1) {
+      return returnvalue::OK;
+    }
+  }
+  {
+    MutexGuard mg(lock);
+    state = InternalState::POLL_ONE_REPLY;
+  }
+  // Unlock task to perform reply reading.
+  semaphore.release();
+  return returnvalue::OK;
+}
+
+ReturnValue_t StrComHandler::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
+
+ReturnValue_t StrComHandler::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
+  // Consider it a configuration error if the task is not done with a command -> reply cycle
+  // in time.
+  bool replyWasReceived = false;
+  {
+    MutexGuard mg(lock);
+    if (state != InternalState::SLEEPING) {
+      return BUSY;
+    }
+    replyWasReceived = this->replyWasReceived;
+  }
+  if (not replyWasReceived) {
+    *size = 0;
+    return returnvalue::OK;
+  }
+  if (replyResult == returnvalue::OK) {
+    *buffer = const_cast<uint8_t*>(replyPtr);
+    *size = replyLen;
+  }
+  return replyResult;
+}
+
+ReturnValue_t StrComHandler::unlockAndEraseRegions(uint32_t from, uint32_t to) {
   ReturnValue_t result = returnvalue::OK;
 #if OBSW_DEBUG_STARTRACKER == 1
   ProgressPrinter progressPrinter("Unlock and erase", to - from);
@@ -591,17 +712,20 @@ ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) {
   for (uint32_t idx = from; idx <= to; idx++) {
     unlockReq.region = idx;
     unlockReq.code = startracker::region_secrets::secret[idx];
-    arc_pack_unlock_action_req(&unlockReq, commandBuffer, &size);
-    sendAndRead(size, unlockReq.region);
-    result = checkActionReply();
+    arc_pack_unlock_action_req(&unlockReq, cmdBuf.data(), &size);
+    result = sendAndRead(size, unlockReq.region);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = checkActionReply(replyLen);
     if (result != returnvalue::OK) {
       sif::warning << "StrHelper::unlockAndEraseRegions: Failed to unlock region with id "
                    << static_cast<unsigned int>(unlockReq.region) << std::endl;
       return result;
     }
     eraseReq.region = idx;
-    arc_pack_erase_action_req(&eraseReq, commandBuffer, &size);
-    result = sendAndRead(size, eraseReq.region, FLASH_ERASE_DELAY);
+    arc_pack_erase_action_req(&eraseReq, cmdBuf.data(), &size);
+    result = sendAndRead(size, eraseReq.region);
     if (result != returnvalue::OK) {
       sif::warning << "StrHelper::unlockAndEraseRegions: Failed to erase region with id "
                    << static_cast<unsigned int>(eraseReq.region) << std::endl;
@@ -613,3 +737,48 @@ ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) {
   }
   return result;
 }
+
+ReturnValue_t StrComHandler::handleSerialReception() {
+  ssize_t bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
+                           static_cast<unsigned int>(recBuf.size()));
+  if (bytesRead == 0) {
+    return NO_SERIAL_DATA_READ;
+  } else if (bytesRead < 0) {
+    sif::warning << "StrComHandler: read call failed with error [" << errno << ", "
+                 << strerror(errno) << "]" << std::endl;
+    return FAILED;
+  } else if (bytesRead >= static_cast<int>(recBuf.size())) {
+    sif::error << "StrComHandler: Receive buffer too small for " << bytesRead << " bytes"
+               << std::endl;
+    return FAILED;
+  } else if (bytesRead > 0) {
+    // sif::info << "Received " << bytesRead << " bytes from the STR" << std::endl;
+    // arrayprinter::print(recBuf.data(), bytesRead);
+    datalinkLayer.feedData(recBuf.data(), bytesRead);
+  }
+  return OK;
+}
+
+ReturnValue_t StrComHandler::readOneReply(uint32_t failParameter) {
+  ReturnValue_t result;
+  uint32_t nextDelayMs = 1;
+  replyTimeout.resetTimer();
+  while (true) {
+    handleSerialReception();
+    result = datalinkLayer.checkRingBufForFrame(&replyPtr, replyLen);
+    if (result == returnvalue::OK) {
+      return returnvalue::OK;
+    } else if (result != ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
+      triggerEvent(STR_HELPER_DEC_ERROR, result, failParameter);
+      return DECODING_ERROR;
+    }
+    if (replyTimeout.hasTimedOut()) {
+      triggerEvent(STR_COM_REPLY_TIMEOUT, failParameter, replyTimeout.getTimeoutMs());
+      return RECEPTION_TIMEOUT;
+    }
+    TaskFactory::delayTask(nextDelayMs);
+    if (nextDelayMs < 32) {
+      nextDelayMs *= 2;
+    }
+  }
+}

linux/acs/startracker/StrComHandler.h

@@ -10,6 +10,8 @@
 #include "bsp_q7s/fs/SdCardManager.h"
 #endif
 
+#include "arcsec/client/generated/actionreq.h"
+#include "arcsec/common/generated/tmtcstructs.h"
 #include "fsfw/devicehandlers/CookieIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/osal/linux/BinarySemaphore.h"
@@ -17,18 +19,36 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw_hal/linux/serial/SerialComIF.h"
 
-extern "C" {
-#include "thirdparty/arcsec_star_tracker/client/generated/actionreq.h"
-#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
-}
-
 /**
  * @brief   Helper class for the star tracker handler to accelerate large data transfers.
  *
  * @author  J. Meier
  */
-class StrHelper : public SystemObject, public ExecutableObjectIF {
+class StrComHandler : public SystemObject, public DeviceCommunicationIF, public ExecutableObjectIF {
  public:
+  static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
+
+  //! [EXPORT] : [COMMENT] SD card specified in path string not mounted
+  static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(1);
+  //! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
+  static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(2);
+  //! [EXPORT] : [COMMENT] Specified path does not exist
+  static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(3);
+  //! [EXPORT] : [COMMENT] Failed to create download image or read flash file
+  static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(4);
+  //! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region
+  static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(5);
+  //! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address
+  static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(6);
+  //! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length
+  static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(7);
+  //! [EXPORT] : [COMMENT] Status field in reply signals error
+  static const ReturnValue_t STATUS_ERROR = MAKE_RETURN_CODE(8);
+  //! [EXPORT] : [COMMENT] Reply has invalid type ID (should be of action reply type)
+  static const ReturnValue_t INVALID_TYPE_ID = MAKE_RETURN_CODE(9);
+  static const ReturnValue_t RECEPTION_TIMEOUT = MAKE_RETURN_CODE(10);
+  static const ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(11);
+
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HELPER;
 
   //! [EXPORT] : [COMMENT] Image upload failed
@@ -57,39 +77,36 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {
   //! P1: Return code of failed communication interface read call
   //! P1: Upload/download position for which the read call failed
   static const Event STR_HELPER_COM_ERROR = MAKE_EVENT(10, severity::LOW);
-  //! [EXPORT] : [COMMENT] Star tracker did not send replies (maybe device is powered off)
-  //! P1: Position of upload or download packet for which no reply was sent
-  static const Event STR_HELPER_NO_REPLY = MAKE_EVENT(11, severity::LOW);
+  //! [EXPORT] : [COMMENT] Star tracker did not send a valid reply for a certain timeout.
+  //! P1: Position of upload or download packet for which the packet wa sent. P2: Timeout
+  static const Event STR_COM_REPLY_TIMEOUT = MAKE_EVENT(11, severity::LOW);
   //! [EXPORT] : [COMMENT] Error during decoding of received reply occurred
-  // P1: Return value of decoding function
-  // P2: Position of upload/download packet, or address of flash write/read request
-  static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(12, severity::LOW);
+  //! P1: Return value of decoding function
+  //! P2: Position of upload/download packet, or address of flash write/read request
+  static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(13, severity::LOW);
   //! [EXPORT] : [COMMENT] Position mismatch
   //! P1: The expected position and thus the position for which the image upload/download failed
-  static const Event POSITION_MISMATCH = MAKE_EVENT(13, severity::LOW);
+  static const Event POSITION_MISMATCH = MAKE_EVENT(14, severity::LOW);
   //! [EXPORT] : [COMMENT] Specified file does not exist
   //! P1: Internal state of str helper
-  static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(14, severity::LOW);
+  static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(15, severity::LOW);
   //! [EXPORT] : [COMMENT] Sending packet to star tracker failed
   //! P1: Return code of communication interface sendMessage function
   //! P2: Position of upload/download packet, or address of flash write/read request for which
   //! sending failed
-  static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(15, severity::LOW);
+  static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(16, severity::LOW);
   //! [EXPORT] : [COMMENT] Communication interface requesting reply failed
   //! P1: Return code of failed request
   //! P1: Upload/download position, or address of flash write/read request for which transmission
   //! failed
-  static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(16, severity::LOW);
+  static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(17, severity::LOW);
 
-  StrHelper(object_id_t objectId);
-  virtual ~StrHelper();
+  StrComHandler(object_id_t objectId);
+  virtual ~StrComHandler();
 
   ReturnValue_t initialize() override;
   ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
-  ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
-  void setComCookie(CookieIF* comCookie_);
-
   /**
    * @brief   Starts sequence to upload image to star tracker
    *
@@ -148,26 +165,8 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {
   void enableTimestamping();
 
  private:
-  static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
-
-  //! [EXPORT] : [COMMENT] SD card specified in path string not mounted
-  static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA0);
-  //! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
-  static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA1);
-  //! [EXPORT] : [COMMENT] Specified path does not exist
-  static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(0xA2);
-  //! [EXPORT] : [COMMENT] Failed to create download image or read flash file
-  static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(0xA3);
-  //! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region
-  static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xA4);
-  //! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address
-  static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xA5);
-  //! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length
-  static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(0xA6);
-  //! [EXPORT] : [COMMENT] Status field in reply signals error
-  static const ReturnValue_t STATUS_ERROR = MAKE_RETURN_CODE(0xA7);
-  //! [EXPORT] : [COMMENT] Reply has invalid type ID (should be of action reply type)
-  static const ReturnValue_t INVALID_TYPE_ID = MAKE_RETURN_CODE(0xA8);
+  //! [EXPORT] : [SKIP]
+  static constexpr ReturnValue_t NO_SERIAL_DATA_READ = MAKE_RETURN_CODE(128);
 
   // Size of one image part which can be sent per action request
   static const size_t SIZE_IMAGE_PART = 1024;
@@ -179,25 +178,34 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {
 
   static const uint32_t MAX_POLLS = 10000;
 
-  static const uint8_t ACTION_DATA_OFFSET = 2;
-  static const uint8_t POS_OFFSET = 2;
-  static const uint8_t IMAGE_DATA_OFFSET = 5;
-  static const uint8_t FLASH_READ_DATA_OFFSET = 8;
-  static const uint8_t REGION_OFFSET = 2;
-  static const uint8_t ADDRESS_OFFSET = 3;
-  static const uint8_t LENGTH_OFFSET = 7;
+  static const uint8_t ACTION_DATA_OFFSET = 3;
+  static const uint8_t POS_OFFSET = 3;
+  static const uint8_t IMAGE_DATA_OFFSET = 6;
+  static const uint8_t FLASH_READ_DATA_OFFSET = 9;
+  static const uint8_t REGION_OFFSET = 3;
+  static const uint8_t ADDRESS_OFFSET = 4;
   static const size_t CHUNK_SIZE = 1024;
   static const size_t CONFIG_MAX_DOWNLOAD_RETRIES = 3;
   static const uint32_t FLASH_ERASE_DELAY = 500;
 
-  enum class InternalState { IDLE, UPLOAD_IMAGE, DOWNLOAD_IMAGE, FLASH_READ, FIRMWARE_UPDATE };
+  enum class InternalState {
+    SLEEPING,
+    POLL_ONE_REPLY,
+    UPLOAD_IMAGE,
+    DOWNLOAD_IMAGE,
+    FLASH_READ,
+    FIRMWARE_UPDATE
+  };
 
-  InternalState internalState = InternalState::IDLE;
+  InternalState state = InternalState::SLEEPING;
 
   ArcsecDatalinkLayer datalinkLayer;
 
+  MutexIF *lock;
   BinarySemaphore semaphore;
 
+  Countdown replyTimeout = Countdown(20);
+
   struct UploadImage {
     // Name including absolute path of image to upload
     std::string uploadFile;
@@ -238,10 +246,16 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {
   FlashRead flashRead;
 
 #ifdef XIPHOS_Q7S
-  SdCardManager* sdcMan = nullptr;
+  SdCardManager *sdcMan = nullptr;
 #endif
 
-  uint8_t commandBuffer[startracker::MAX_FRAME_SIZE];
+  std::array<uint8_t, startracker::MAX_FRAME_SIZE> cmdBuf{};
+  std::array<uint8_t, 4096> recBuf{};
+
+  bool replyWasReceived = false;
+  const uint8_t *replyPtr = nullptr;
+  size_t replyLen = 0;
+  ReturnValue_t replyResult = returnvalue::OK;
 
   bool terminate = false;
 
@@ -251,17 +265,20 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {
   bool timestamping = true;
 #endif
 
-  /**
-   * UART communication object responsible for low level access of star tracker
-   * Must be set by star tracker handler
-   */
-  SerialComIF* uartComIF = nullptr;
-  // Communication cookie. Must be set by the star tracker handler
-  CookieIF* comCookie = nullptr;
+  int serialPort = 0;
+  struct termios tty = {};
 
   // Queue id of raw data receiver
   MessageQueueId_t rawDataReceiver = MessageQueueIF::NO_QUEUE;
 
+  ReturnValue_t initializeInterface(CookieIF *cookie) override;
+  ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
+
+  ReturnValue_t handleSerialReception();
+
   /**
    * @brief   Performs image uploading
    */
@@ -302,21 +319,23 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {
   /**
    * @brief   Sends packet to the star tracker and reads reply by using the communication
    *          interface
-   *
+   * @details
+   * The reply frame is stored in the data link layer helper. A pointer to the start of the frame
+   * is assigned to the @replyPtr member of this class. The frame length will be assigned to
+   * the @replyLen member.
    * @param size        Size of data beforehand written to the commandBuffer
    * @param parameter   Parameter 2 of trigger event function
-   * @param delayMs     Delay in milliseconds between send and receive call
    *
    * @return  returnvalue::OK if successful, otherwise returnvalue::FAILED
    */
-  ReturnValue_t sendAndRead(size_t size, uint32_t parameter, uint32_t delayMs = 0);
+  ReturnValue_t sendAndRead(size_t size, uint32_t parameter);
 
   /**
    * @brief   Checks the header (type id and status fields) of the action reply
    *
    * @return  returnvalue::OK if reply confirms success of packet transfer, otherwise REUTRN_FAILED
    */
-  ReturnValue_t checkActionReply();
+  ReturnValue_t checkActionReply(size_t replySize);
 
   /**
    * @brief   Checks the position field in a star tracker upload/download reply.
@@ -345,6 +364,15 @@ class StrHelper : public SystemObject, public ExecutableObjectIF {
    *
    */
   ReturnValue_t unlockAndEraseRegions(uint32_t from, uint32_t to);
+
+  /**
+   * The reply frame is stored in the data link layer helper. A pointer to the start of the frame
+   * is assigned to the @replyPtr member of this class. The frame length will be assigned to
+   * the @replyLen member.
+   * @param failParameter
+   * @return
+   */
+  ReturnValue_t readOneReply(uint32_t failParameter);
 };
 
 #endif /* BSP_Q7S_DEVICES_STRHELPER_H_ */

linux/acs/startracker/helpers.cpp

@@ -0,0 +1,7 @@
+#include "helpers.h"
+
+uint8_t str::getReplyFrameType(const uint8_t* rawFrame) { return rawFrame[0]; }
+
+uint8_t str::getId(const uint8_t* rawFrame) { return rawFrame[1]; }
+
+uint8_t str::getStatusField(const uint8_t* rawFrame) { return rawFrame[2]; }

linux/acs/startracker/helpers.h

@@ -0,0 +1,17 @@
+#ifndef LINUX_DEVICES_STARTRACKER_HELPERS_H_
+#define LINUX_DEVICES_STARTRACKER_HELPERS_H_
+
+#include "arcsec/common/genericstructs.h"
+
+namespace str {
+
+/**
+ * @brief    Returns the frame type field of a decoded frame.
+ */
+uint8_t getReplyFrameType(const uint8_t* rawFrame);
+uint8_t getId(const uint8_t* rawFrame);
+uint8_t getStatusField(const uint8_t* rawFrame);
+
+}  // namespace str
+
+#endif /* LINUX_DEVICES_STARTRACKER_HELPERS_H_ */

linux/acs/startracker/strJsonCommands.cpp

@@ -1,6 +1,6 @@
-#include "StarTrackerJsonCommands.h"
+#include "strJsonCommands.h"
 
-#include "ArcsecJsonKeys.h"
+#include "arcsecJsonKeys.h"
 
 Limits::Limits() : ArcsecJsonParamBase(arcseckeys::LIMITS) {}
 

linux/com/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(${OBSW_NAME} PUBLIC SyrlinksComHandler.cpp)

linux/com/SyrlinksComHandler.cpp

@@ -0,0 +1,209 @@
+#include "SyrlinksComHandler.h"
+
+#include <fcntl.h>
+#include <fsfw/ipc/MutexGuard.h>
+#include <fsfw/tasks/SemaphoreFactory.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
+#include <fsfw_hal/linux/serial/SerialCookie.h>
+#include <fsfw_hal/linux/serial/helper.h>
+#include <unistd.h>
+
+using namespace returnvalue;
+
+SyrlinksComHandler::SyrlinksComHandler(object_id_t objectId)
+    : SystemObject(objectId), ringBuf(2048, true) {
+  lock = MutexFactory::instance()->createMutex();
+  semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
+  semaphore->acquire();
+}
+
+ReturnValue_t SyrlinksComHandler::performOperation(uint8_t opCode) {
+  while (true) {
+    lock->lockMutex();
+    state = State::SLEEPING;
+    lock->unlockMutex();
+    semaphore->acquire();
+    // Stopwatch watch;
+    readOneReply();
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksComHandler::initializeInterface(CookieIF *cookie) {
+  if (cookie == nullptr) {
+    return returnvalue::FAILED;
+  }
+  SerialCookie *serCookie = dynamic_cast<SerialCookie *>(cookie);
+  if (serCookie == nullptr) {
+    return DeviceCommunicationIF::INVALID_COOKIE_TYPE;
+  }
+  // comCookie = serCookie;
+  std::string devname = serCookie->getDeviceFile();
+  /* Get file descriptor */
+  serialPort = open(devname.c_str(), O_RDWR);
+  if (serialPort < 0) {
+    sif::warning << "SyrlinksComHandler: open call failed with error [" << errno << ", "
+                 << strerror(errno) << std::endl;
+    return returnvalue::FAILED;
+  }
+  // Setting up UART parameters
+  serial::setStopbits(tty, serCookie->getStopBits());
+  serial::setParity(tty, serCookie->getParity());
+  serial::setBitsPerWord(tty, BitsPerWord::BITS_8);
+  tty.c_cflag &= ~CRTSCTS;  // Disable RTS/CTS hardware flow control
+  serial::enableRead(tty);
+  serial::ignoreCtrlLines(tty);
+
+  // Use non-canonical mode and clear echo flag
+  tty.c_lflag &= ~(ICANON | ECHO);
+
+  // Non-blocking mode, use polling
+  tty.c_cc[VTIME] = 0;
+  tty.c_cc[VMIN] = 0;
+
+  serial::setBaudrate(tty, serCookie->getBaudrate());
+  if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
+    sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error ["
+                 << errno << ", " << strerror(errno) << std::endl;
+  }
+  // Flush received and unread data
+  tcflush(serialPort, TCIOFLUSH);
+  return returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksComHandler::sendMessage(CookieIF *cookie, const uint8_t *sendData,
+                                              size_t sendLen) {
+  {
+    MutexGuard mg(lock);
+    if (state != State::SLEEPING) {
+      return BUSY;
+    }
+  }
+  serial::flushRxBuf(serialPort);
+
+  ssize_t writtenBytes = write(serialPort, sendData, sendLen);
+  if (writtenBytes != static_cast<ssize_t>(sendLen)) {
+    sif::warning << "StrComHandler: Sending packet failed" << std::endl;
+    return returnvalue::FAILED;
+  }
+  {
+    MutexGuard mg(lock);
+    state = State::ACTIVE;
+  }
+  semaphore->release();
+  return returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksComHandler::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; }
+
+ReturnValue_t SyrlinksComHandler::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksComHandler::handleSerialReception() {
+  ssize_t bytesRead = read(serialPort, reinterpret_cast<void *>(recBuf.data()),
+                           static_cast<unsigned int>(recBuf.size()));
+  if (bytesRead == 0) {
+    return NO_SERIAL_DATA_READ;
+  } else if (bytesRead < 0) {
+    sif::warning << "SyrlinksComHandler: read call failed with error [" << errno << ", "
+                 << strerror(errno) << "]" << std::endl;
+    return FAILED;
+  } else if (bytesRead >= static_cast<int>(recBuf.size())) {
+    sif::error << "SyrlinksComHandler: Receive buffer too small for " << bytesRead << " bytes"
+               << std::endl;
+    return FAILED;
+  } else if (bytesRead > 0) {
+    // sif::debug << "Received " << bytesRead << " bytes from the Syrlinks" << std::endl;
+    // arrayprinter::print(recBuf.data(), bytesRead);
+    ringBuf.writeData(recBuf.data(), bytesRead);
+  }
+  return OK;
+}
+
+ReturnValue_t SyrlinksComHandler::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+                                                      size_t *size) {
+  MutexGuard mg(lock);
+  if (replyResult != returnvalue::OK) {
+    ReturnValue_t tmp = replyResult;
+    replyResult = returnvalue::OK;
+    return tmp;
+  }
+  if (replyLen == 0) {
+    *size = 0;
+    return returnvalue::OK;
+  }
+  *buffer = ipcBuf.data();
+  *size = replyLen;
+  replyLen = 0;
+  return returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksComHandler::readOneReply() {
+  ReturnValue_t result;
+  uint32_t nextDelayMs = 1;
+  replyTimeout.resetTimer();
+  while (true) {
+    handleSerialReception();
+    result = tryReadingOneSyrlinksReply();
+    if (result == returnvalue::OK) {
+      return returnvalue::OK;
+    }
+    if (replyTimeout.hasTimedOut()) {
+      {
+        MutexGuard mg(lock);
+        replyResult = DeviceCommunicationIF::NO_REPLY_RECEIVED;
+      }
+      return returnvalue::FAILED;
+    }
+    TaskFactory::delayTask(nextDelayMs);
+    if (nextDelayMs < 32) {
+      nextDelayMs *= 2;
+    }
+  }
+}
+ReturnValue_t SyrlinksComHandler::tryReadingOneSyrlinksReply() {
+  size_t bytesToRead = ringBuf.getAvailableReadData();
+  if (bytesToRead == 0) {
+    return NO_PACKET_FOUND;
+  }
+  bool startMarkerFound = false;
+  size_t startIdx = 0;
+  ringBuf.readData(recBuf.data(), bytesToRead);
+  for (size_t idx = 0; idx < bytesToRead; idx++) {
+    if (recBuf[idx] == START_MARKER) {
+      if (startMarkerFound) {
+        // Probably lost a packet. Discard broken packet.
+        sif::warning << "SyrlinksComHandler: Detected 2 consecutive start markers" << std::endl;
+        ringBuf.deleteData(idx);
+      } else {
+        startMarkerFound = true;
+        startIdx = idx;
+      }
+    }
+    if (recBuf[idx] == END_MARKER) {
+      if (startMarkerFound) {
+        {
+          MutexGuard mg(lock);
+          replyLen = idx - startIdx + 1;
+        }
+        // Copy detected packet to IPC buffer so it can be passed back to the device handler.
+        if (replyLen > ipcBuf.size()) {
+          sif::error << "SyrlinksComHandler: Detected reply too large" << std::endl;
+          ringBuf.deleteData(idx);
+          return returnvalue::FAILED;
+        }
+        // sif::debug << "Detected Syrlinks reply with length " << replyLen << std::endl;
+        std::memcpy(ipcBuf.data(), recBuf.data() + startIdx, replyLen);
+        ringBuf.deleteData(idx + 1);
+        return returnvalue::OK;
+      } else {
+        // Probably lost a packet. Discard broken packet.
+        sif::warning << "SyrlinksComHandler: Detected 2 consecutive end markers" << std::endl;
+        ringBuf.deleteData(idx + 1);
+      }
+    }
+  }
+  return NO_PACKET_FOUND;
+}

linux/com/SyrlinksComHandler.h

@@ -0,0 +1,52 @@
+#ifndef LINUX_DEVICES_SYRLINKSCOMHANDLER_H_
+#define LINUX_DEVICES_SYRLINKSCOMHANDLER_H_
+
+#include <fsfw/container/SimpleRingBuffer.h>
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/tasks/SemaphoreIF.h>
+#include <termios.h>
+
+class SyrlinksComHandler : public DeviceCommunicationIF,
+                           public ExecutableObjectIF,
+                           public SystemObject {
+ public:
+  SyrlinksComHandler(object_id_t objectId);
+
+ private:
+  static constexpr char START_MARKER = '<';
+  static constexpr char END_MARKER = '>';
+
+  //! [EXPORT] : [SKIP]
+  static constexpr ReturnValue_t NO_SERIAL_DATA_READ = returnvalue::makeCode(2, 0);
+  static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(2, 1);
+
+  enum class State { SLEEPING, ACTIVE } state = State::SLEEPING;
+
+  MutexIF *lock;
+  SemaphoreIF *semaphore;
+  int serialPort = 0;
+  struct termios tty {};
+  Countdown replyTimeout = Countdown(2000);
+  std::array<uint8_t, 2048> recBuf{};
+  SimpleRingBuffer ringBuf;
+  std::array<uint8_t, 1024> ipcBuf{};
+  size_t replyLen = 0;
+  ReturnValue_t replyResult = returnvalue::OK;
+
+  ReturnValue_t handleSerialReception();
+
+  ReturnValue_t performOperation(uint8_t opCode) override;
+
+  ReturnValue_t initializeInterface(CookieIF *cookie) override;
+  ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
+
+  ReturnValue_t readOneReply();
+  ReturnValue_t tryReadingOneSyrlinksReply();
+};
+
+#endif /* LINUX_DEVICES_SYRLINKSCOMHANDLER_H_ */

linux/csp/CspComIF.cpp

@@ -14,7 +14,10 @@
 
 using namespace GOMSPACE;
 
-CspComIF::CspComIF(object_id_t objectId) : SystemObject(objectId) {}
+CspComIF::CspComIF(object_id_t objectId, const char* routeTaskName, uint32_t routerRealTimePriority)
+    : SystemObject(objectId),
+      routerRealTimePriority(routerRealTimePriority),
+      routerTaskName(routeTaskName) {}
 
 CspComIF::~CspComIF() {}
 
@@ -57,10 +60,8 @@ ReturnValue_t CspComIF::initializeInterface(CookieIF* cookie) {
     }
 
     /* Start the route task */
-    unsigned int task_stack_size = 500;
-    unsigned int priority = 0;
-    result = csp_route_start_task(task_stack_size, priority);
-    if (result != CSP_ERR_NONE) {
+    result = startRouterTask();
+    if (result != returnvalue::OK) {
       sif::error << "Failed to start csp route task" << std::endl;
       return returnvalue::FAILED;
     }
@@ -343,3 +344,55 @@ void CspComIF::initiatePingRequest(uint8_t cspAddress, uint16_t querySize) {
   memcpy(replyBuffer, &replyTime, sizeof(replyTime));
   iter->second.replyLen = sizeof(replyTime);
 }
+
+ReturnValue_t CspComIF::startRouterTask() {
+  pthread_attr_t attr;
+  int res = pthread_attr_init(&attr);
+  if (res) {
+    return returnvalue::FAILED;
+  }
+
+  pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
+
+  res = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
+  if (res != 0) {
+    return returnvalue::FAILED;
+  }
+
+  // Set scheduling policy to SCHED_RR
+  res = pthread_attr_setschedpolicy(&attr, SCHED_RR);
+  if (res) {
+    pthread_attr_destroy(&attr);
+    return returnvalue::FAILED;
+  }
+
+  struct sched_param sched_param;
+  sched_param.sched_priority = routerRealTimePriority;
+  res = pthread_attr_setschedparam(&attr, &sched_param);
+  if (res) {
+    pthread_attr_destroy(&attr);
+    return returnvalue::FAILED;
+  }
+
+  res = pthread_create(&routerTaskHandle, &attr, routerWorkWrapper, NULL);
+  if (res) {
+    pthread_attr_destroy(&attr);
+    return returnvalue::FAILED;
+  }
+
+  res = pthread_setname_np(routerTaskHandle, routerTaskName);
+  if (res) {
+    pthread_attr_destroy(&attr);
+    return returnvalue::FAILED;
+  }
+  pthread_attr_destroy(&attr);
+  return returnvalue::OK;
+}
+
+void* CspComIF::routerWorkWrapper(void* args) {
+  /* Here there be routing */
+  while (1) {
+    csp_route_work(FIFO_TIMEOUT);
+  }
+  return nullptr;
+}

linux/csp/CspComIF.h

@@ -2,9 +2,11 @@
 #define LINUX_CSP_CSPCOMIF_H_
 
 #include <csp/csp.h>
+#include <csp/csp_autoconfig.h>
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/returnvalues/returnvalue.h>
+#include <pthread.h>
 
 #include <unordered_map>
 #include <vector>
@@ -17,7 +19,7 @@
  */
 class CspComIF : public DeviceCommunicationIF, public SystemObject {
  public:
-  CspComIF(object_id_t objectId);
+  CspComIF(object_id_t objectId, const char *routeTaskName, uint32_t routerRealTimePriority);
   virtual ~CspComIF();
 
   ReturnValue_t initializeInterface(CookieIF *cookie) override;
@@ -27,6 +29,13 @@ class CspComIF : public DeviceCommunicationIF, public SystemObject {
   ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **readData, size_t *readLen) override;
 
  private:
+#ifdef CSP_USE_RDP
+  //! If RDP is enabled, the router needs to awake some times to check timeouts
+  static constexpr uint32_t FIFO_TIMEOUT = 100;
+#else
+  //! If no RDP, the router can sleep untill data arrives
+  static constexpr uint32_t FIFO_TIMEOUT = CSP_MAX_DELAY;
+#endif
   /**
    * @brief	This function initiates the CSP transfer.
    *
@@ -56,6 +65,10 @@ class CspComIF : public DeviceCommunicationIF, public SystemObject {
   /* This is the CSP address of the OBC. */
   node_t cspOwnAddress = 1;
 
+  pthread_t routerTaskHandle{};
+  uint32_t routerRealTimePriority = 0;
+  const char *routerTaskName;
+
   /* Interface struct for csp protocol stack */
   csp_iface_t csp_if;
   char canInterface[5] = "can0";
@@ -72,6 +85,9 @@ class CspComIF : public DeviceCommunicationIF, public SystemObject {
    * @brief	This function initiates the ping request.
    */
   void initiatePingRequest(uint8_t cspAddress, uint16_t querySize);
+
+  ReturnValue_t startRouterTask();
+  static void *routerWorkWrapper(void *args);
 };
 
 #endif /* LINUX_CSP_CSPCOMIF_H_ */

linux/devices/CMakeLists.txt

@@ -2,20 +2,7 @@ if(EIVE_BUILD_GPSD_GPS_HANDLER)
   target_sources(${OBSW_NAME} PRIVATE GpsHyperionLinuxController.cpp)
 endif()
 
-target_sources(
-  ${OBSW_NAME}
-  PRIVATE Max31865RtdPolling.cpp
-          ScexUartReader.cpp
-          ImtqPollingTask.cpp
-          SusPolling.cpp
-          ScexDleParser.cpp
-          ScexHelper.cpp
-          RwPollingTask.cpp
-          AcsBoardPolling.cpp)
+target_sources(${OBSW_NAME} PRIVATE Max31865RtdPolling.cpp ScexUartReader.cpp
+                                    ScexDleParser.cpp ScexHelper.cpp)
 
 add_subdirectory(ploc)
-
-# Dependency on proprietary library
-if(TGT_BSP MATCHES "arm/q7s")
-  add_subdirectory(startracker)
-endif()

linux/devices/GpsHyperionLinuxController.cpp

@@ -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/ScexUartReader.cpp

@@ -98,11 +98,11 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
   }
   // Setting up UART parameters
   tty.c_cflag &= ~PARENB;  // Clear parity bit
-  uart::setStopbits(tty, uartCookie->getStopBits());
-  uart::setBitsPerWord(tty, BitsPerWord::BITS_8);
+  serial::setStopbits(tty, uartCookie->getStopBits());
+  serial::setBitsPerWord(tty, BitsPerWord::BITS_8);
   tty.c_cflag &= ~CRTSCTS;  // Disable RTS/CTS hardware flow control
-  uart::enableRead(tty);
-  uart::ignoreCtrlLines(tty);
+  serial::enableRead(tty);
+  serial::ignoreCtrlLines(tty);
 
   // Use non-canonical mode and clear echo flag
   tty.c_lflag &= ~(ICANON | ECHO);
@@ -111,7 +111,7 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
   tty.c_cc[VTIME] = 0;
   tty.c_cc[VMIN] = 0;
 
-  uart::setBaudrate(tty, uartCookie->getBaudrate());
+  serial::setBaudrate(tty, uartCookie->getBaudrate());
   if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
     sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error ["
                  << errno << ", " << strerror(errno) << std::endl;
@@ -148,8 +148,7 @@ ReturnValue_t ScexUartReader::sendMessage(CookieIF *cookie, const uint8_t *sendD
   }
   size_t bytesWritten = write(serialPort, cmdbuf.data(), encodedLen);
   if (bytesWritten != encodedLen) {
-    sif::warning << "ScexUartReader::sendMessage: Sending ping command to solar experiment failed"
-                 << std::endl;
+    sif::warning << "ScexUartReader::sendMessage: Sending command failed" << std::endl;
     return FAILED;
   }
 

linux/devices/ploc/PlocSupvUartMan.cpp

@@ -58,12 +58,12 @@ ReturnValue_t PlocSupvUartManager::initializeInterface(CookieIF* cookie) {
   }
   // Setting up UART parameters
   tty.c_cflag &= ~PARENB;  // Clear parity bit
-  uart::setParity(tty, uartCookie->getParity());
-  uart::setStopbits(tty, uartCookie->getStopBits());
-  uart::setBitsPerWord(tty, BitsPerWord::BITS_8);
+  serial::setParity(tty, uartCookie->getParity());
+  serial::setStopbits(tty, uartCookie->getStopBits());
+  serial::setBitsPerWord(tty, BitsPerWord::BITS_8);
   tty.c_cflag &= ~CRTSCTS;  // Disable RTS/CTS hardware flow control
-  uart::enableRead(tty);
-  uart::ignoreCtrlLines(tty);
+  serial::enableRead(tty);
+  serial::ignoreCtrlLines(tty);
 
   // Use non-canonical mode and clear echo flag
   tty.c_lflag &= ~(ICANON | ECHO);
@@ -72,7 +72,7 @@ ReturnValue_t PlocSupvUartManager::initializeInterface(CookieIF* cookie) {
   tty.c_cc[VTIME] = 2;
   tty.c_cc[VMIN] = 0;
 
-  uart::setBaudrate(tty, uartCookie->getBaudrate());
+  serial::setBaudrate(tty, uartCookie->getBaudrate());
   if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
     sif::warning << "PlocSupvUartManager::initializeInterface: tcsetattr call failed with error ["
                  << errno << ", " << strerror(errno) << std::endl;

linux/devices/ploc/PlocSupvUartMan.h

@@ -246,9 +246,9 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
   std::array<uint8_t, 2048> recBuf = {};
   std::array<uint8_t, 2048> encodedBuf = {};
   std::array<uint8_t, 1200> decodedBuf = {};
-  std::array<uint8_t, 1200> ipcBuffer = {};
   SimpleRingBuffer decodedRingBuf;
   FIFO<size_t, MAX_STORED_DECODED_PACKETS> decodedQueue;
+  std::array<uint8_t, 1200> ipcBuffer = {};
   SimpleRingBuffer ipcRingBuf;
   FIFO<size_t, MAX_STORED_DECODED_PACKETS> ipcQueue;
 

linux/devices/startracker/ArcsecDatalinkLayer.cpp

@@ -1,62 +0,0 @@
-#include "ArcsecDatalinkLayer.h"
-
-ArcsecDatalinkLayer::ArcsecDatalinkLayer() { slipInit(); }
-
-ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {}
-
-void ArcsecDatalinkLayer::slipInit() {
-  slipInfo.buffer = rxBuffer;
-  slipInfo.maxlength = startracker::MAX_FRAME_SIZE;
-  slipInfo.length = 0;
-  slipInfo.unescape_next = 0;
-  slipInfo.prev_state = SLIP_COMPLETE;
-}
-
-ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t rawDataSize,
-                                               size_t* bytesLeft) {
-  size_t bytePos = 0;
-  for (bytePos = 0; bytePos < rawDataSize; bytePos++) {
-    enum arc_dec_result decResult =
-        arc_transport_decode_body(*(rawData + bytePos), &slipInfo, decodedFrame, &decFrameSize);
-    *bytesLeft = rawDataSize - bytePos - 1;
-    switch (decResult) {
-      case ARC_DEC_INPROGRESS: {
-        if (bytePos == rawDataSize - 1) {
-          return DEC_IN_PROGRESS;
-        }
-        continue;
-      }
-      case ARC_DEC_ERROR_FRAME_SHORT:
-        return REPLY_TOO_SHORT;
-      case ARC_DEC_ERROR_CHECKSUM:
-        return CRC_FAILURE;
-      case ARC_DEC_ASYNC:
-      case ARC_DEC_SYNC: {
-        // Reset length of SLIP struct for next frame
-        slipInfo.length = 0;
-        return returnvalue::OK;
-      }
-      default:
-        sif::debug << "ArcsecDatalinkLayer::decodeFrame: Unknown result code" << std::endl;
-        break;
-        return returnvalue::FAILED;
-    }
-  }
-  return returnvalue::FAILED;
-}
-
-uint8_t ArcsecDatalinkLayer::getReplyFrameType() { return decodedFrame[0]; }
-
-const uint8_t* ArcsecDatalinkLayer::getReply() { return &decodedFrame[1]; }
-
-void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, uint32_t length) {
-  arc_transport_encode_body(data, length, encBuffer, &encFrameSize);
-}
-
-uint8_t* ArcsecDatalinkLayer::getEncodedFrame() { return encBuffer; }
-
-uint32_t ArcsecDatalinkLayer::getEncodedLength() { return encFrameSize; }
-
-uint8_t ArcsecDatalinkLayer::getStatusField() { return *(decodedFrame + STATUS_OFFSET); }
-
-uint8_t ArcsecDatalinkLayer::getId() { return *(decodedFrame + ID_OFFSET); }

linux/devices/startracker/CMakeLists.txt

@@ -1,4 +0,0 @@
-target_sources(
-  ${OBSW_NAME}
-  PRIVATE StarTrackerHandler.cpp StarTrackerJsonCommands.cpp
-          ArcsecDatalinkLayer.cpp ArcsecJsonParamBase.cpp StrHelper.cpp)

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 278 translations.
+ * @brief    Auto-generated event translation file. Contains 279 translations.
  * @details
- * Generated on: 2023-03-15 10:10:04
+ * Generated on: 2023-03-24 21:09:31
  */
 #include "translateEvents.h"
 
@@ -96,6 +96,7 @@ const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
 const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
+const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
 const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
 const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
@@ -172,7 +173,7 @@ const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL";
 const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED";
 const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
 const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
-const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
+const char *STR_COM_REPLY_TIMEOUT_STRING = "STR_COM_REPLY_TIMEOUT";
 const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR";
 const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
 const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
@@ -208,6 +209,11 @@ const char *TRANSITION_OTHER_SIDE_FAILED_STRING = "TRANSITION_OTHER_SIDE_FAILED"
 const char *NOT_ENOUGH_DEVICES_DUAL_MODE_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE";
 const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
 const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
+const char *TRANSITION_OTHER_SIDE_FAILED_12900_STRING = "TRANSITION_OTHER_SIDE_FAILED_12900";
+const char *NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE_12901";
+const char *POWER_STATE_MACHINE_TIMEOUT_12902_STRING = "POWER_STATE_MACHINE_TIMEOUT_12902";
+const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING =
+    "SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903";
 const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
 const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
 const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";
@@ -260,6 +266,7 @@ 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";
@@ -464,8 +471,10 @@ const char *translateEvents(Event event) {
     case (11203):
       return MEKF_INVALID_INFO_STRING;
     case (11204):
-      return MEKF_INVALID_MODE_VIOLATION_STRING;
+      return MEKF_RECOVERY_STRING;
     case (11205):
+      return MEKF_INVALID_MODE_VIOLATION_STRING;
+    case (11206):
       return SAFE_MODE_CONTROLLER_FAILURE_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
@@ -616,16 +625,16 @@ const char *translateEvents(Event event) {
     case (12510):
       return STR_HELPER_COM_ERROR_STRING;
     case (12511):
-      return STR_HELPER_NO_REPLY_STRING;
-    case (12512):
-      return STR_HELPER_DEC_ERROR_STRING;
+      return STR_COM_REPLY_TIMEOUT_STRING;
     case (12513):
-      return POSITION_MISMATCH_STRING;
+      return STR_HELPER_DEC_ERROR_STRING;
     case (12514):
-      return STR_HELPER_FILE_NOT_EXISTS_STRING;
+      return POSITION_MISMATCH_STRING;
     case (12515):
-      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+      return STR_HELPER_FILE_NOT_EXISTS_STRING;
     case (12516):
+      return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+    case (12517):
       return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
     case (12600):
       return MPSOC_FLASH_WRITE_FAILED_STRING;
@@ -687,6 +696,14 @@ const char *translateEvents(Event event) {
       return POWER_STATE_MACHINE_TIMEOUT_STRING;
     case (12803):
       return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
+    case (12900):
+      return TRANSITION_OTHER_SIDE_FAILED_12900_STRING;
+    case (12901):
+      return NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING;
+    case (12902):
+      return POWER_STATE_MACHINE_TIMEOUT_12902_STRING;
+    case (12903):
+      return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING;
     case (13000):
       return CHILDREN_LOST_MODE_STRING;
     case (13100):
@@ -791,6 +808,8 @@ 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: 2023-03-24 21:09:31
  */
 #include "translateObjects.h"
 
@@ -49,7 +49,7 @@ const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER";
 const char *RAD_SENSOR_STRING = "RAD_SENSOR";
 const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
 const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
-const char *STR_HELPER_STRING = "STR_HELPER";
+const char *STR_COM_IF_STRING = "STR_COM_IF";
 const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
 const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
 const char *PTME_CONFIG_STRING = "PTME_CONFIG";
@@ -85,6 +85,7 @@ const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPR
 const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
 const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
 const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
+const char *SYRLINKS_COM_HANDLER_STRING = "SYRLINKS_COM_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
@@ -176,7 +177,6 @@ const char *LOG_STORE_AND_TM_TASK_STRING = "LOG_STORE_AND_TM_TASK";
 const char *HK_STORE_AND_TM_TASK_STRING = "HK_STORE_AND_TM_TASK";
 const char *CFDP_STORE_AND_TM_TASK_STRING = "CFDP_STORE_AND_TM_TASK";
 const char *DOWNLINK_RAM_STORE_STRING = "DOWNLINK_RAM_STORE";
-const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
@@ -269,7 +269,7 @@ const char *translateObject(object_id_t object) {
     case 0x44330001:
       return PLOC_MEMORY_DUMPER_STRING;
     case 0x44330002:
-      return STR_HELPER_STRING;
+      return STR_COM_IF_STRING;
     case 0x44330003:
       return PLOC_MPSOC_HELPER_STRING;
     case 0x44330004:
@@ -340,6 +340,8 @@ const char *translateObject(object_id_t object) {
       return RTD_15_IC18_IMTQ_STRING;
     case 0x445300A3:
       return SYRLINKS_HANDLER_STRING;
+    case 0x445300A4:
+      return SYRLINKS_COM_HANDLER_STRING;
     case 0x49000000:
       return ARDUINO_COM_IF_STRING;
     case 0x49010005:
@@ -522,8 +524,6 @@ const char *translateObject(object_id_t object) {
       return CFDP_STORE_AND_TM_TASK_STRING;
     case 0x73040004:
       return DOWNLINK_RAM_STORE_STRING;
-    case 0x73500000:
-      return CCSDS_IP_CORE_BRIDGE_STRING;
     case 0x90000003:
       return THERMAL_TEMP_INSERTER_STRING;
     case 0xFFFFFFFF:

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/PapbVcInterface.cpp

@@ -1,5 +1,6 @@
 #include <fsfw_hal/linux/uio/UioMapper.h>
 #include <linux/ipcore/PapbVcInterface.h>
+#include <unistd.h>
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
@@ -15,47 +16,67 @@ PapbVcInterface::~PapbVcInterface() {}
 
 ReturnValue_t PapbVcInterface::initialize() {
   UioMapper uioMapper(uioFile, mapNum);
-  return uioMapper.getMappedAdress(&vcBaseReg, UioMapper::Permissions::WRITE_ONLY);
+  uint32_t* baseReg;
+  ReturnValue_t result = uioMapper.getMappedAdress(&baseReg, UioMapper::Permissions::WRITE_ONLY);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  vcBaseReg = baseReg;
+  return returnvalue::OK;
 }
 
 ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
-  if (pollPapbBusySignal() == returnvalue::OK) {
+  if (pollPapbBusySignal(0, 0) == returnvalue::OK) {
     startPacketTransfer();
+  } else {
+    return DirectTmSinkIF::IS_BUSY;
   }
   for (size_t idx = 0; idx < size; idx++) {
-    if (pollPapbBusySignal() == returnvalue::OK) {
-      *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(*(data + idx));
+    if (pollPapbBusySignal(10, 10) == returnvalue::OK) {
+      *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[idx]);
     } else {
-      sif::warning << "PapbVcInterface::write: Only written " << idx << " of " << size << " data"
-                   << std::endl;
+      abortPacketTransfer();
       return returnvalue::FAILED;
     }
   }
-  if (pollPapbBusySignal() == returnvalue::OK) {
-    endPacketTransfer();
+  if (pollPapbBusySignal(10, 10) == returnvalue::OK) {
+    completePacketTransfer();
+  } else {
+    abortPacketTransfer();
+    return returnvalue::FAILED;
   }
   return returnvalue::OK;
 }
 
 void PapbVcInterface::startPacketTransfer() { *vcBaseReg = CONFIG_START; }
 
-void PapbVcInterface::endPacketTransfer() { *vcBaseReg = CONFIG_END; }
+void PapbVcInterface::completePacketTransfer() { *vcBaseReg = CONFIG_END; }
 
-ReturnValue_t PapbVcInterface::pollPapbBusySignal() const {
+ReturnValue_t PapbVcInterface::pollPapbBusySignal(uint32_t maxPollRetries,
+                                                  uint32_t retryDelayUs) const {
   gpio::Levels papbBusyState = gpio::Levels::LOW;
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result;
+  uint32_t busyIdx = 0;
 
-  /** Check if PAPB interface is ready to receive data */
-  result = gpioComIF->readGpio(papbBusyId, papbBusyState);
-  if (result != returnvalue::OK) {
-    sif::warning << "PapbVcInterface::pollPapbBusySignal: Failed to read papb busy signal"
-                 << std::endl;
-    return returnvalue::FAILED;
-  }
-  if (papbBusyState == gpio::Levels::LOW) {
-    return PAPB_BUSY;
-  }
+  while (true) {
+    /** Check if PAPB interface is ready to receive data */
+    result = gpioComIF->readGpio(papbBusyId, papbBusyState);
+    if (result != returnvalue::OK) {
+      sif::warning << "PapbVcInterface::pollPapbBusySignal: Failed to read papb busy signal"
+                   << std::endl;
+      return returnvalue::FAILED;
+    }
+    if (papbBusyState == gpio::Levels::HIGH) {
+      return returnvalue::OK;
+    }
 
+    busyIdx++;
+    if (busyIdx >= maxPollRetries) {
+      return PAPB_BUSY;
+    }
+
+    usleep(retryDelayUs);
+  }
   return returnvalue::OK;
 }
 
@@ -79,7 +100,9 @@ void PapbVcInterface::isVcInterfaceBufferEmpty() {
   return;
 }
 
-bool PapbVcInterface::isBusy() const { return pollPapbBusySignal() == PAPB_BUSY; }
+bool PapbVcInterface::isBusy() const { return pollPapbBusySignal(0, 0) == PAPB_BUSY; }
+
+void PapbVcInterface::cancelTransfer() { abortPacketTransfer(); }
 
 ReturnValue_t PapbVcInterface::sendTestFrame() {
   /** Size of one complete transfer frame data field amounts to 1105 bytes */
@@ -97,3 +120,5 @@ ReturnValue_t PapbVcInterface::sendTestFrame() {
 
   return returnvalue::OK;
 }
+
+void PapbVcInterface::abortPacketTransfer() { *vcBaseReg = CONFIG_ABORT; }

linux/ipcore/PapbVcInterface.h

@@ -41,6 +41,8 @@ class PapbVcInterface : public VirtualChannelIF {
    */
   ReturnValue_t write(const uint8_t* data, size_t size) override;
 
+  void cancelTransfer() override;
+
   ReturnValue_t initialize() override;
 
  private:
@@ -51,16 +53,21 @@ class PapbVcInterface : public VirtualChannelIF {
   /**
    * Configuration bits:
    * bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00
-   * bit[2]: Set this bit to 1 to abort a transfered packet
+   * bit[2]: Set this bit to 1 to abort a transferred packet
    * bit[3]: Signals to VcInterface the start of a new telemetry packet
    */
-  static const uint32_t CONFIG_START = 0x8;
+  static constexpr uint32_t CONFIG_START = 0b00001000;
+
+  /**
+   * Abort a transferred packet.
+   */
+  static constexpr uint32_t CONFIG_ABORT = 0b00000100;
 
   /**
    * Writing this word to the VcInterface base address signals to the virtual channel interface
    * that a complete tm packet has been transferred.
    */
-  static const uint32_t CONFIG_END = 0x0;
+  static constexpr uint32_t CONFIG_END = 0x0;
 
   /**
    * Writing to this offset within the memory space of a virtual channel will insert data for
@@ -79,7 +86,7 @@ class PapbVcInterface : public VirtualChannelIF {
   std::string uioFile;
   int mapNum = 0;
 
-  uint32_t* vcBaseReg = nullptr;
+  volatile uint32_t* vcBaseReg = nullptr;
 
   uint32_t vcOffset = 0;
 
@@ -89,11 +96,13 @@ class PapbVcInterface : public VirtualChannelIF {
    */
   void startPacketTransfer();
 
+  void abortPacketTransfer();
+
   /**
    * @brief   This function sends the config byte to the virtual channel interface of the PTME
    *          IP Core to signal the end of a  packet transfer.
    */
-  void endPacketTransfer();
+  void completePacketTransfer();
 
   /**
    * @brief   This function reads the papb busy signal indicating whether the virtual channel
@@ -102,7 +111,7 @@ class PapbVcInterface : public VirtualChannelIF {
    *
    * @return  returnvalue::OK when ready to receive data else PAPB_BUSY.
    */
-  ReturnValue_t pollPapbBusySignal() const;
+  ReturnValue_t pollPapbBusySignal(uint32_t maxPollRetries, uint32_t retryDelayUs) const;
 
   /**
    * @brief   This function can be used for debugging to check whether there are packets in

linux/ipcore/Ptme.cpp

@@ -20,7 +20,6 @@ ReturnValue_t Ptme::initialize() {
 }
 
 ReturnValue_t Ptme::writeToVc(uint8_t vcId, const uint8_t* data, size_t size) {
-  ReturnValue_t result = returnvalue::OK;
   VcInterfaceMapIter vcInterfaceMapIter = vcInterfaceMap.find(vcId);
   if (vcInterfaceMapIter == vcInterfaceMap.end()) {
     sif::warning << "Ptme::writeToVc: No virtual channel interface found for the virtual "
@@ -28,8 +27,7 @@ ReturnValue_t Ptme::writeToVc(uint8_t vcId, const uint8_t* data, size_t size) {
                  << static_cast<unsigned int>(vcId) << std::endl;
     return UNKNOWN_VC_ID;
   }
-  result = vcInterfaceMapIter->second->write(data, size);
-  return result;
+  return vcInterfaceMapIter->second->write(data, size);
 }
 
 void Ptme::addVcInterface(VcId_t vcId, VirtualChannelIF* vc) {
@@ -62,3 +60,11 @@ bool Ptme::isBusy(uint8_t vcId) const {
   }
   return vcInterfaceMapIter->second->isBusy();
 }
+
+void Ptme::cancelTransfer(uint8_t vcId) {
+  VcInterfaceMapIter vcInterfaceMapIter = vcInterfaceMap.find(vcId);
+  if (vcInterfaceMapIter == vcInterfaceMap.end()) {
+    return;
+  }
+  return vcInterfaceMapIter->second->cancelTransfer();
+}

linux/ipcore/Ptme.h

@@ -36,6 +36,7 @@ class Ptme : public PtmeIF, public SystemObject {
   ReturnValue_t initialize() override;
   ReturnValue_t writeToVc(uint8_t vcId, const uint8_t* data, size_t size) override;
   bool isBusy(uint8_t vcId) const override;
+  void cancelTransfer(uint8_t vcId) override;
 
   /**
    * @brief   This function adds the reference to a virtual channel interface to the vcInterface

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;
 

linux/ipcore/PtmeIF.h

@@ -23,6 +23,7 @@ class PtmeIF {
    */
   virtual ReturnValue_t writeToVc(uint8_t vcId, const uint8_t* data, size_t size) = 0;
   virtual bool isBusy(uint8_t vcId) const = 0;
+  virtual void cancelTransfer(uint8_t vcId) = 0;
 };
 
 #endif /* LINUX_OBC_PTMEIF_H_ */

linux/ipcore/VirtualChannelIF.h

@@ -18,6 +18,7 @@ class VirtualChannelIF : public DirectTmSinkIF {
   virtual ~VirtualChannelIF(){};
 
   virtual ReturnValue_t initialize() = 0;
+  virtual void cancelTransfer() = 0;
 };
 
 #endif /* LINUX_OBC_VCINTERFACEIF_H_ */

linux/scheduling.cpp

@@ -8,6 +8,9 @@
 #include "ObjectFactory.h"
 #include "eive/objects.h"
 
+PosixThreadArgs scheduling::RR_SCHEDULING = {.policy = SchedulingPolicy::RR};
+PosixThreadArgs scheduling::NORMAL_SCHEDULING;
+
 void scheduling::scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask) {
   using namespace scheduling;
   ReturnValue_t result = returnvalue::OK;
@@ -18,8 +21,9 @@ void scheduling::scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexR
 #endif
 
   result = returnvalue::OK;
-  scexReaderTask = factory.createPeriodicTask(
-      "SCEX_UART_READER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  scexReaderTask =
+      factory.createPeriodicTask("SCEX_UART_READER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0,
+                                 missedDeadlineFunc, &NORMAL_SCHEDULING);
   result = scexReaderTask->addComponent(objects::SCEX_UART_READER);
   if (result != returnvalue::OK) {
     printAddObjectError("SCEX_UART_READER", objects::SCEX_UART_READER);

linux/scheduling.h

@@ -1,8 +1,13 @@
 #pragma once
 
+#include <fsfw/osal/linux/PosixThread.h>
 #include <fsfw/tasks/TaskFactory.h>
 
 namespace scheduling {
+
+extern PosixThreadArgs RR_SCHEDULING;
+extern PosixThreadArgs NORMAL_SCHEDULING;
+
 void scheduleScexDev(PeriodicTaskIF*& scexDevHandler);
 void scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask);
 void addMpsocSupvHandlers(PeriodicTaskIF* task);

mission/CMakeLists.txt

@@ -5,9 +5,10 @@ add_subdirectory(utility)
 add_subdirectory(memory)
 add_subdirectory(tmtc)
 add_subdirectory(system)
+add_subdirectory(com)
+add_subdirectory(acs)
 add_subdirectory(csp)
 add_subdirectory(cfdp)
 add_subdirectory(config)
 
-target_sources(${LIB_EIVE_MISSION} PRIVATE acsDefs.cpp payloadDefs.cpp
-                                           trace.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE payloadDefs.cpp trace.cpp)

mission/acs/CMakeLists.txt

@@ -0,0 +1,13 @@
+target_sources(
+  ${LIB_EIVE_MISSION}
+  PRIVATE GyrAdis1650XHandler.cpp
+          GyrL3gCustomHandler.cpp
+          ImtqHandler.cpp
+          MgmLis3CustomHandler.cpp
+          MgmRm3100CustomHandler.cpp
+          RwHandler.cpp
+          SusHandler.cpp
+          gyroAdisHelpers.cpp
+          imtqHelpers.cpp
+          rwHelpers.cpp
+          defs.cpp)

mission/acs/GyrAdis1650XHandler.cpp

@@ -1,8 +1,8 @@
-#include "mission/devices/GyrAdis1650XHandler.h"
+#include "GyrAdis1650XHandler.h"
 
 #include "fsfw/action/HasActionsIF.h"
 #include "fsfw/datapool/PoolReadGuard.h"
-#include "mission/devices/devicedefinitions/acsPolling.h"
+#include "mission/acs/acsBoardPolling.h"
 
 GyrAdis1650XHandler::GyrAdis1650XHandler(object_id_t objectId, object_id_t deviceCommunication,
                                          CookieIF *comCookie, adis1650x::Type type)
@@ -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/acs/GyrAdis1650XHandler.h

@@ -1,8 +1,8 @@
 #ifndef MISSION_DEVICES_GYROADIS16507HANDLER_H_
 #define MISSION_DEVICES_GYROADIS16507HANDLER_H_
 
-#include <mission/devices/devicedefinitions/acsPolling.h>
-#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
+#include <mission/acs/acsBoardPolling.h>
+#include <mission/acs/gyroAdisHelpers.h>
 
 #include "FSFWConfig.h"
 #include "OBSWConfig.h"

mission/acs/GyrL3gCustomHandler.cpp

@@ -1,10 +1,10 @@
 
-#include <mission/devices/GyrL3gCustomHandler.h>
+#include <mission/acs/GyrL3gCustomHandler.h>
+#include <mission/acs/acsBoardPolling.h>
 
 #include <cmath>
 
 #include "fsfw/datapool/PoolReadGuard.h"
-#include "mission/devices/devicedefinitions/acsPolling.h"
 
 GyrL3gCustomHandler::GyrL3gCustomHandler(object_id_t objectId, object_id_t deviceCommunication,
                                          CookieIF *comCookie, uint32_t transitionDelayMs)

mission/acs/GyrL3gCustomHandler.h

@@ -4,7 +4,7 @@
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
-#include <mission/devices/devicedefinitions/acsPolling.h>
+#include <mission/acs/acsBoardPolling.h>
 
 /**
  * @brief 	Device Handler for the L3GD20H gyroscope sensor