finally works

Reviewed-on: #560

.idea/cmake.xml

@@ -2,7 +2,6 @@
 <project version="4">
   <component name="CMakeSharedSettings">
     <configurations>
-      <configuration PROFILE_NAME="Debug" ENABLED="true" CONFIG_NAME="Debug" NO_GENERATOR="true" />
       <configuration PROFILE_NAME="Debug Q7S" ENABLED="true" CONFIG_NAME="Debug" TOOLCHAIN_NAME="Q7S" GENERATION_OPTIONS="-DTGT_BSP=&quot;arm/q7s&quot;" NO_GENERATOR="true">
         <ADDITIONAL_GENERATION_ENVIRONMENT>
           <envs>

CHANGELOG.md

@@ -16,10 +16,38 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v1.43.0] 2023-04-04
+
+- q7s-package: v2.4.0
+- eive-tmtc: v2.21.0
+
+## Added
+
+- Version of thermal controller which performs basic control tasks.
+- PCDU handler can now command switch of the 3V3 stack (switch ID 19)
+- Set STR dev to OFF in assembly when it is faulty.
+- STR: Reset data link layer and flush RX for regular commands and before performing special
+  commands to ensure consistent start state
+
+## Fixed
+
+- PTME was not reset after configuration changes.
+- GPS health devices: ACS board assembly not reacts to health changes.
+- STR COM helper: Reset reply size after returning a reply
+
+## Changed
+
+- Poll threshold configuration of the PTME IP core is now configurable via a parameter command
+  and is set to 0b010 (4 polls) instead of 0b001 (1 poll) per default.
+- EIVE system fallback and COM system fallback: Perform general subsystem handling first, then
+  event reception, and finally any new transition handling.
+- IMTQ MGM integration time lowered to 6 ms. This relaxes scheduling requirements a bit.
+- PCDU handler switcher HK set now has additional 3V3 switcher state HK.
+
 # [v1.42.0] 2023-04-01
 
-eive-tmtc: v2.20.1
-q7s-package: v2.3.0
+- eive-tmtc: v2.20.1
+- q7s-package: v2.3.0
 
 ## Changed
 
@@ -51,8 +79,8 @@ q7s-package: v2.3.0
 
 # [v1.41.0] 2023-03-28
 
-eive-tmtc: v2.20.0
-q7s-package: v2.2.0
+- eive-tmtc: v2.20.0
+- q7s-package: v2.2.0
 
 ## Fixed
 

CMakeLists.txt

@@ -10,7 +10,7 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 1)
-set(OBSW_VERSION_MINOR 42)
+set(OBSW_VERSION_MINOR 43)
 set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)
@@ -113,7 +113,7 @@ set(OBSW_ADD_TCS_CTRL
     1
     CACHE STRING "Add TCS controllers")
 set(OBSW_ADD_HEATERS
-    ${INIT_VAL}
+    1
     CACHE STRING "Add TCS heaters")
 set(OBSW_ADD_PLOC_SUPERVISOR
     ${INIT_VAL}

bsp_hosted/ObjectFactory.cpp

@@ -11,6 +11,7 @@
 #include "../mission/utility/DummySdCardManager.h"
 #include "OBSWConfig.h"
 #include "fsfw/platform.h"
+#include "fsfw/power/PowerSwitchIF.h"
 #include "fsfw_tests/integration/task/TestTask.h"
 
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
@@ -67,6 +68,12 @@ void ObjectFactory::produce(void* args) {
 
   auto* dummyGpioIF = new DummyGpioIF();
   auto* dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
+  std::vector<ReturnValue_t> switcherList;
+  auto initVal = PowerSwitchIF::SWITCH_OFF;
+  for (unsigned i = 0; i < 18; i++) {
+    switcherList.emplace_back(initVal);
+  }
+  dummySwitcher->setInitialSwitcherList(switcherList);
 #ifdef PLATFORM_UNIX
   new SerialComIF(objects::UART_COM_IF);
 #if OBSW_ADD_PLOC_MPSOC == 1

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 284 translations.
  * @details
- * Generated on: 2023-04-01 15:26:43
+ * Generated on: 2023-04-04 13:59:07
  */
 #include "translateEvents.h"
 
@@ -209,13 +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 *DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY_STRING =
-    "DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY";
+const char *DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY_STRING = "DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY";
 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 *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";
@@ -272,10 +270,10 @@ const char *I2C_UNAVAILABLE_REBOOT_STRING = "I2C_UNAVAILABLE_REBOOT";
 const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
 const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
 const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
-const char *PLOC_OVERHEATING_STRING = "PLOC_OVERHEATING";
 const char *OBC_OVERHEATING_STRING = "OBC_OVERHEATING";
-const char *HPA_OVERHEATING_STRING = "HPA_OVERHEATING";
-const char *PLPCDU_OVERHEATING_STRING = "PLPCDU_OVERHEATING";
+const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
+const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
+const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
 const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
 const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
 const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@@ -824,14 +822,14 @@ const char *translateEvents(Event event) {
       return NO_HEALTHY_HEATER_AVAILABLE_STRING;
     case (14102):
       return SYRLINKS_OVERHEATING_STRING;
-    case (14103):
-      return PLOC_OVERHEATING_STRING;
     case (14104):
       return OBC_OVERHEATING_STRING;
     case (14105):
-      return HPA_OVERHEATING_STRING;
+      return CAMERA_OVERHEATING_STRING;
     case (14106):
-      return PLPCDU_OVERHEATING_STRING;
+      return PCDU_SYSTEM_OVERHEATING_STRING;
+    case (14107):
+      return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
     case (14201):
       return TX_TIMER_EXPIRED_STRING;
     case (14202):

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 171 translations.
- * Generated on: 2023-04-01 15:26:43
+ * Generated on: 2023-04-04 13:59:07
  */
 #include "translateObjects.h"
 

bsp_hosted/scheduling.cpp

@@ -156,6 +156,10 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
   }
+  result = thermalTask->addComponent(objects::HEATER_HANDLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
+  }
 
   FixedTimeslotTaskIF* pstTask = factory->createFixedTimeslotTask(
       "DUMMY_PST", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
@@ -193,7 +197,8 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 
   PeriodicTaskIF* dummyTask = factory->createPeriodicTask(
-      "DUMMY_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+      "DUMMY_TASK", 35, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  dummyTask->addComponent(objects::THERMAL_TEMP_INSERTER);
   scheduling::scheduleTmpTempSensors(dummyTask);
   scheduling::scheduleRtdSensors(dummyTask);
   dummyTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);

bsp_q7s/core/ObjectFactory.cpp

@@ -518,8 +518,6 @@ void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF*
       new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
   gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
 
-  new HealthDevice(objects::GPS_0_HEALTH_DEV, objects::ACS_BOARD_ASS);
-  new HealthDevice(objects::GPS_1_HEALTH_DEV, objects::ACS_BOARD_ASS);
   ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyChildren, gpsCtrl, gpioComIF);
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }
@@ -592,7 +590,7 @@ void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitc
   }
 
   new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, gpioIF, pwrSwitcher,
-                                  pcdu::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
+                                  power::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
                                   gpioIds::DEPLSA1, gpioIds::DEPLSA2, *SdCardManager::instance());
 }
 
@@ -608,7 +606,7 @@ void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
   auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
   auto syrlinksHandler =
       new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::SYRLINKS_COM_HANDLER,
-                          syrlinksUartCookie, pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
+                          syrlinksUartCookie, power::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
   syrlinksHandler->setPowerSwitcher(pwrSwitcher);
   syrlinksHandler->connectModeTreeParent(*syrlinksAssy);
 #if OBSW_DEBUG_SYRLINKS == 1
@@ -620,7 +618,7 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
   using namespace gpio;
   std::stringstream consumer;
   auto* camSwitcher =
-      new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, pcdu::PDU2_CH8_PAYLOAD_CAMERA);
+      new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, power::PDU2_CH8_PAYLOAD_CAMERA);
   camSwitcher->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 #if OBSW_ADD_PLOC_MPSOC == 1
   consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
@@ -653,7 +651,7 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
   auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
   auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
                                                 Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
-                                                pcdu::PDU1_CH6_PLOC_12V, *supvHelper);
+                                                power::PDU1_CH6_PLOC_12V, *supvHelper);
   supvHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
   static_cast<void>(consumer);
@@ -730,7 +728,7 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
     rws[idx] = rwHandler;
   }
 
-  createRwAssy(*pwrSwitcher, pcdu::Switches::PDU2_CH2_RW_5V, rws, rwIds);
+  createRwAssy(*pwrSwitcher, power::Switches::PDU2_CH2_RW_5V, rws, rwIds);
 #endif /* OBSW_ADD_RW == 1 */
 }
 
@@ -968,7 +966,7 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
   auto strFdir = new StrFdir(objects::STAR_TRACKER);
   auto starTracker =
       new StarTrackerHandler(objects::STAR_TRACKER, objects::STR_COM_IF, starTrackerCookie,
-                             paramJsonFile, strComIF, pcdu::PDU1_CH2_STAR_TRACKER_5V);
+                             paramJsonFile, strComIF, power::PDU1_CH2_STAR_TRACKER_5V);
   starTracker->setPowerSwitcher(pwrSwitcher);
   starTracker->connectModeTreeParent(*strAssy);
   starTracker->setCustomFdir(strFdir);
@@ -981,7 +979,7 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enable
   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, enableHkSets);
+                                     power::Switches::PDU1_CH3_MGT_5V, enableHkSets);
   imtqHandler->enableThermalModule(ThermalStateCfg());
   imtqHandler->setPowerSwitcher(pwrSwitcher);
   imtqHandler->connectModeTreeParent(*imtqAssy);

bsp_q7s/em/emObjectFactory.cpp

@@ -137,8 +137,8 @@ void ObjectFactory::produce(void* args) {
                        pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
 #endif
   createAcsController(true, enableHkSets);
-  HeaterHandler* heaterHandler = nullptr;
-  ObjectFactory::createGenericHeaterComponents(*gpioComIF, *pwrSwitcher, heaterHandler);
+  HeaterHandler* heaterHandler;
+  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
   createThermalController(*heaterHandler);
   satsystem::init();
 }

bsp_q7s/fmObjectFactory.cpp

@@ -97,7 +97,7 @@ void ObjectFactory::produce(void* args) {
 
 #if OBSW_ADD_SCEX_DEVICE == 1
   createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
-                       pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
+                       power::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
 #endif
   /* Test Task */
 #if OBSW_ADD_TEST_CODE == 1

dummies/GyroAdisDummy.cpp

@@ -46,7 +46,7 @@ ReturnValue_t GyroAdisDummy::initializeLocalDataPool(localpool::DataPool &localD
   localDataPoolMap.emplace(adis1650x::ACCELERATION_X, new PoolEntry<double>({0.0}));
   localDataPoolMap.emplace(adis1650x::ACCELERATION_Y, new PoolEntry<double>({0.0}));
   localDataPoolMap.emplace(adis1650x::ACCELERATION_Z, new PoolEntry<double>({0.0}));
-  localDataPoolMap.emplace(adis1650x::TEMPERATURE, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(adis1650x::TEMPERATURE, new PoolEntry<float>({10.0}, true));
 
   return returnvalue::OK;
 }

dummies/Max31865Dummy.cpp

@@ -1,5 +1,7 @@
 #include "Max31865Dummy.h"
 
+#include "fsfw/datapool/PoolReadGuard.h"
+
 using namespace returnvalue;
 
 Max31865Dummy::Max31865Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
@@ -28,15 +30,20 @@ ReturnValue_t Max31865Dummy::initializeLocalDataPool(localpool::DataPool &localD
                                                      LocalDataPoolManager &poolManager) {
   using namespace MAX31865;
   localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::RTD_VALUE), new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::TEMPERATURE_C), new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::TEMPERATURE_C),
+                           new PoolEntry<float>({10.0}, true));
   localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::LAST_FAULT_BYTE),
                            new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::FAULT_BYTE), new PoolEntry<uint8_t>({0}));
   return OK;
 }
 
-void Max31865Dummy::setTemperature(float temperature) {
-  set.temperatureCelcius.value = temperature;
+void Max31865Dummy::setTemperature(float temperature, bool valid) {
+  PoolReadGuard pg(&set);
+  if (pg.getReadResult() == returnvalue::OK) {
+    set.temperatureCelcius.value = temperature;
+    set.setValidity(valid, true);
+  }
 }
 
 LocalPoolDataSetBase *Max31865Dummy::getDataSetHandle(sid_t sid) { return &set; }

dummies/Max31865Dummy.h

@@ -10,7 +10,7 @@ class Max31865Dummy : public DeviceHandlerBase {
   Max31865Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
   Max31865Dummy(object_id_t objectId, CookieIF *comCookie);
 
-  void setTemperature(float temperature);
+  void setTemperature(float temperature, bool setValid);
 
  private:
   MAX31865::PrimarySet set;

dummies/MgmLIS3MDLDummy.cpp

@@ -40,7 +40,7 @@ uint32_t MgmLIS3MDLDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
 
 ReturnValue_t MgmLIS3MDLDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                        LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(mgmLis3::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(mgmLis3::TEMPERATURE_CELCIUS, new PoolEntry<float>({10.0}, true));
   localDataPoolMap.emplace(mgmLis3::FIELD_STRENGTHS,
                            new PoolEntry<float>({1.02, 0.56, -0.78}, true));
   return returnvalue::OK;

dummies/P60DockDummy.cpp

@@ -2,6 +2,8 @@
 
 #include <mission/power/gsDefs.h>
 
+#include "fsfw/datapool/PoolReadGuard.h"
+
 P60DockDummy::P60DockDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
 

dummies/P60DockDummy.h

@@ -3,6 +3,8 @@
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 
+#include "mission/power/gsDefs.h"
+
 class P60DockDummy : public DeviceHandlerBase {
  public:
   static const DeviceCommandId_t SIMPLE_COMMAND = 1;
@@ -15,6 +17,8 @@ class P60DockDummy : public DeviceHandlerBase {
   virtual ~P60DockDummy();
 
  protected:
+  lp_var_t<float> temp1 = lp_var_t<float>(this, P60Dock::pool::P60DOCK_TEMPERATURE_1);
+  lp_var_t<float> temp2 = lp_var_t<float>(this, P60Dock::pool::P60DOCK_TEMPERATURE_2);
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;

dummies/PlocMpsocDummy.h

@@ -2,6 +2,8 @@
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 
+#include "mission/power/defs.h"
+
 class PlocMpsocDummy : public DeviceHandlerBase {
  public:
   static const DeviceCommandId_t SIMPLE_COMMAND = 1;

dummies/PlocSupervisorDummy.cpp

@@ -1,8 +1,10 @@
 #include "PlocSupervisorDummy.h"
 
 PlocSupervisorDummy::PlocSupervisorDummy(object_id_t objectId, object_id_t comif,
-                                         CookieIF *comCookie)
-    : DeviceHandlerBase(objectId, comif, comCookie) {}
+                                         CookieIF *comCookie, PowerSwitchIF &pwrSwitcher)
+    : DeviceHandlerBase(objectId, comif, comCookie) {
+  setPowerSwitcher(&pwrSwitcher);
+}
 
 PlocSupervisorDummy::~PlocSupervisorDummy() {}
 
@@ -42,3 +44,10 @@ ReturnValue_t PlocSupervisorDummy::initializeLocalDataPool(localpool::DataPool &
                                                            LocalDataPoolManager &poolManager) {
   return returnvalue::OK;
 }
+
+ReturnValue_t PlocSupervisorDummy::getSwitches(const uint8_t **switches,
+                                               uint8_t *numberOfSwitches) {
+  *numberOfSwitches = 1;
+  *switches = reinterpret_cast<const uint8_t *>(&switchId);
+  return returnvalue::OK;
+}

dummies/PlocSupervisorDummy.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <mission/power/defs.h>
 
 class PlocSupervisorDummy : public DeviceHandlerBase {
  public:
@@ -10,10 +11,13 @@ class PlocSupervisorDummy : public DeviceHandlerBase {
   static const uint8_t SIMPLE_COMMAND_DATA = 1;
   static const uint8_t PERIODIC_REPLY_DATA = 2;
 
-  PlocSupervisorDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  PlocSupervisorDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
+                      PowerSwitchIF &pwrSwitcher);
   virtual ~PlocSupervisorDummy();
 
  protected:
+  const power::Switches switchId = power::Switches::PDU1_CH6_PLOC_12V;
+
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
@@ -27,4 +31,5 @@ class PlocSupervisorDummy : public DeviceHandlerBase {
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                         LocalDataPoolManager &poolManager) override;
+  ReturnValue_t getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) override;
 };

dummies/StarTrackerDummy.cpp

@@ -40,7 +40,7 @@ uint32_t StarTrackerDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo)
 
 ReturnValue_t StarTrackerDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                         LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(startracker::MCU_TEMPERATURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(startracker::MCU_TEMPERATURE, new PoolEntry<float>({10.0}, true));
 
   localDataPoolMap.emplace(startracker::TICKS_SOLUTION_SET, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(startracker::TIME_SOLUTION_SET, new PoolEntry<uint64_t>({0}));

dummies/SyrlinksDummy.cpp

@@ -40,7 +40,7 @@ uint32_t SyrlinksDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { r
 
 ReturnValue_t SyrlinksDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                      LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(syrlinks::TEMP_BASEBAND_BOARD, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(syrlinks::TEMP_POWER_AMPLIFIER, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(syrlinks::TEMP_BASEBAND_BOARD, new PoolEntry<float>({10}, true));
+  localDataPoolMap.emplace(syrlinks::TEMP_POWER_AMPLIFIER, new PoolEntry<float>({10}, true));
   return returnvalue::OK;
 }

dummies/TemperatureSensorInserter.cpp

@@ -9,7 +9,7 @@
 TemperatureSensorInserter::TemperatureSensorInserter(object_id_t objectId,
                                                      Max31865DummyMap tempSensorDummies_,
                                                      Tmp1075DummyMap tempTmpSensorDummies_)
-    : SystemObject(objects::THERMAL_TEMP_INSERTER),
+    : SystemObject(objectId),
       max31865DummyMap(std::move(tempSensorDummies_)),
       tmp1075DummyMap(std::move(tempTmpSensorDummies_)) {}
 
@@ -22,6 +22,32 @@ ReturnValue_t TemperatureSensorInserter::initialize() {
 }
 
 ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
+  // TODO: deviceSensors
+  if (not tempsWereInitialized) {
+    for (auto& rtdDummy : max31865DummyMap) {
+      rtdDummy.second->setTemperature(10, true);
+    }
+    for (auto& tmpDummy : tmp1075DummyMap) {
+      tmpDummy.second->setTemperature(10, true);
+    }
+    tempsWereInitialized = true;
+  }
+
+  if (cycles == 10) {
+    max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(-100, true);
+    max31865DummyMap[objects::RTD_11_IC14_MPA]->setTemperature(-100, true);
+  }
+
+  if (cycles == 35) {
+    max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(0, true);
+    max31865DummyMap[objects::RTD_11_IC14_MPA]->setTemperature(0, true);
+    max31865DummyMap[objects::RTD_2_IC5_4K_CAMERA]->setTemperature(-100, true);
+  }
+  if (cycles == 60) {
+    max31865DummyMap[objects::RTD_9_IC12_HPA]->setTemperature(-100, true);
+    max31865DummyMap[objects::RTD_11_IC14_MPA]->setTemperature(0, true);
+  }
+
   /*
   ReturnValue_t result = max31865PlocHeatspreaderSet.read();
   if (result != returnvalue::OK) {
@@ -36,5 +62,7 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
   }
   max31865PlocHeatspreaderSet.commit();
   */
+  cycles++;
   return returnvalue::OK;
 }
+ReturnValue_t TemperatureSensorInserter::initializeAfterTaskCreation() { return returnvalue::OK; }

dummies/TemperatureSensorInserter.h

@@ -14,6 +14,7 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
                                      Tmp1075DummyMap tempTmpSensorDummies_);
 
   ReturnValue_t initialize() override;
+  ReturnValue_t initializeAfterTaskCreation() override;
 
  protected:
   ReturnValue_t performOperation(uint8_t opCode) override;
@@ -23,6 +24,8 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
   Tmp1075DummyMap tmp1075DummyMap;
   enum TestCase { NONE = 0, COOL_SYRLINKS = 1 };
   int iteration = 0;
+  uint32_t cycles = 0;
+  bool tempsWereInitialized = false;
   bool performTest = false;
   TestCase testCase = TestCase::NONE;
 

dummies/Tmp1075Dummy.cpp

@@ -1,5 +1,6 @@
 #include "Tmp1075Dummy.h"
 
+#include <fsfw/datapool/PoolReadGuard.h>
 #include <mission/tcs/Tmp1075Definitions.h>
 
 using namespace returnvalue;
@@ -26,11 +27,16 @@ ReturnValue_t Tmp1075Dummy::scanForReply(const uint8_t *start, size_t len,
 ReturnValue_t Tmp1075Dummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
   return 0;
 }
+void Tmp1075Dummy::setTemperature(float temperature, bool valid) {
+  PoolReadGuard pg(&set);
+  set.temperatureCelcius.value = temperature;
+  set.setValidity(valid, true);
+}
 void Tmp1075Dummy::fillCommandAndReplyMap() {}
 uint32_t Tmp1075Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 1000; }
 ReturnValue_t Tmp1075Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                     LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(TMP1075::TEMPERATURE_C_TMP1075, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(TMP1075::TEMPERATURE_C_TMP1075, new PoolEntry<float>({10.0}, true));
   return OK;
 }
 LocalPoolDataSetBase *Tmp1075Dummy::getDataSetHandle(sid_t sid) { return &set; }

dummies/Tmp1075Dummy.h

@@ -8,6 +8,7 @@
 class Tmp1075Dummy : public DeviceHandlerBase {
  public:
   Tmp1075Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  void setTemperature(float temperature, bool setValid);
 
  private:
   TMP1075::Tmp1075Dataset set;

dummies/helperFactory.cpp

@@ -57,7 +57,7 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
   rws[1] = new RwDummy(objects::RW2, objects::DUMMY_COM_IF, comCookieDummy);
   rws[2] = new RwDummy(objects::RW3, objects::DUMMY_COM_IF, comCookieDummy);
   rws[3] = new RwDummy(objects::RW4, objects::DUMMY_COM_IF, comCookieDummy);
-  ObjectFactory::createRwAssy(pwrSwitcher, pcdu::Switches::PDU2_CH2_RW_5V, rws, rwIds);
+  ObjectFactory::createRwAssy(pwrSwitcher, power::Switches::PDU2_CH2_RW_5V, rws, rwIds);
   new SaDeplDummy(objects::SOLAR_ARRAY_DEPL_HANDLER);
   auto* strAssy = new StrAssembly(objects::STR_ASSY);
   strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
@@ -99,8 +99,6 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
         new GyroAdisDummy(objects::GYRO_2_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     assemblyDhbs[7] =
         new GyroL3GD20Dummy(objects::GYRO_3_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-    new HealthDevice(objects::GPS_0_HEALTH_DEV, objects::ACS_BOARD_ASS);
-    new HealthDevice(objects::GPS_1_HEALTH_DEV, objects::ACS_BOARD_ASS);
     auto* gpsCtrl = new GpsCtrlDummy(objects::GPS_CONTROLLER);
     ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyDhbs, gpsCtrl, gpioIF);
   }
@@ -213,7 +211,7 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
     }
   }
   auto* camSwitcher =
-      new CamSwitcher(objects::CAM_SWITCHER, pwrSwitcher, pcdu::Switches::PDU2_CH8_PAYLOAD_CAMERA);
+      new CamSwitcher(objects::CAM_SWITCHER, pwrSwitcher, power::Switches::PDU2_CH8_PAYLOAD_CAMERA);
   camSwitcher->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
   auto* scexDummy = new ScexDummy(objects::SCEX, objects::DUMMY_COM_IF, comCookieDummy);
   scexDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
@@ -224,8 +222,8 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
     auto* plocMpsocDummy =
         new PlocMpsocDummy(objects::PLOC_MPSOC_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     plocMpsocDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
-    auto* plocSupervisorDummy = new PlocSupervisorDummy(objects::PLOC_SUPERVISOR_HANDLER,
-                                                        objects::DUMMY_COM_IF, comCookieDummy);
+    auto* plocSupervisorDummy = new PlocSupervisorDummy(
+        objects::PLOC_SUPERVISOR_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, pwrSwitcher);
     plocSupervisorDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
   }
 }

generators/bsp_hosted_events.csv

@@ -261,13 +261,13 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 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
-14103;0x3717;PLOC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
-14104;0x3718;OBC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
-14105;0x3719;HPA_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
-14106;0x371a;PLPCDU_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
+14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/tcsDefs.h
+14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/tcsDefs.h
+14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
+14104;0x3718;OBC_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
+14105;0x3719;CAMERA_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
+14106;0x371a;PCDU_SYSTEM_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
+14107;0x371b;HEATER_NOT_OFF_FOR_OFF_MODE;MEDIUM;No description;mission/controller/tcsDefs.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

generators/bsp_hosted_returnvalues.csv

@@ -190,8 +190,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x2207;TMF_AllDeleted;No description;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
 0x2208;TMF_InvalidData;No description;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
 0x2209;TMF_NotReady;No description;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2401;MT_NoPacketFound;No description;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x2402;MT_PossiblePacketLoss;No description;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x2401;MT_TooDetailedRequest;No description;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x2402;MT_TooGeneralRequest;No description;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
 0x2403;MT_NoMatch;No description;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
 0x2404;MT_Full;No description;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
 0x2405;MT_NewNodeCreated;No description;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
@@ -371,8 +371,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x3e03;HKM_PeriodicHelperInvalid;No description;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
 0x3e04;HKM_PoolobjectNotFound;No description;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
 0x3e05;HKM_DatasetNotFound;No description;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3f01;DLEE_StreamTooShort;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
-0x3f02;DLEE_DecodingError;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
+0x3f01;DLEE_NoPacketFound;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x3f02;DLEE_PossiblePacketLoss;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
 0x4201;PUS11_InvalidTypeTimeWindow;No description;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4202;PUS11_InvalidTimeWindow;No description;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4203;PUS11_TimeshiftingNotPossible;No description;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
@@ -402,9 +402,9 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4406;UXOS_PcloseCallError;No description;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4500;HSPI_HalTimeoutRetval;No description;0;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
-0x4501;HSPI_HalBusyRetval;No description;1;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
-0x4502;HSPI_HalErrorRetval;No description;2;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
+0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
+0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
 0x4601;HURT_UartReadFailure;No description;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
 0x4602;HURT_UartReadSizeMissmatch;No description;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
 0x4603;HURT_UartRxBufferTooSmall;No description;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
@@ -440,7 +440,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 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
+0x5109;IMTQ_StartupCfgError;No description;9;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x510a;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.;10;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

generators/bsp_q7s_events.csv

@@ -261,13 +261,13 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 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
-14103;0x3717;PLOC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
-14104;0x3718;OBC_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
-14105;0x3719;HPA_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
-14106;0x371a;PLPCDU_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h
+14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/tcsDefs.h
+14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/tcsDefs.h
+14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
+14104;0x3718;OBC_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
+14105;0x3719;CAMERA_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
+14106;0x371a;PCDU_SYSTEM_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
+14107;0x371b;HEATER_NOT_OFF_FOR_OFF_MODE;MEDIUM;No description;mission/controller/tcsDefs.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

generators/bsp_q7s_returnvalues.csv

@@ -190,8 +190,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x2207;TMF_AllDeleted;No description;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
 0x2208;TMF_InvalidData;No description;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
 0x2209;TMF_NotReady;No description;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2401;MT_NoPacketFound;No description;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x2402;MT_PossiblePacketLoss;No description;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x2401;MT_TooDetailedRequest;No description;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x2402;MT_TooGeneralRequest;No description;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
 0x2403;MT_NoMatch;No description;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
 0x2404;MT_Full;No description;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
 0x2405;MT_NewNodeCreated;No description;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
@@ -371,8 +371,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x3e03;HKM_PeriodicHelperInvalid;No description;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
 0x3e04;HKM_PoolobjectNotFound;No description;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
 0x3e05;HKM_DatasetNotFound;No description;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3f01;DLEE_StreamTooShort;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
-0x3f02;DLEE_DecodingError;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
+0x3f01;DLEE_NoPacketFound;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x3f02;DLEE_PossiblePacketLoss;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
 0x4201;PUS11_InvalidTypeTimeWindow;No description;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4202;PUS11_InvalidTimeWindow;No description;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4203;PUS11_TimeshiftingNotPossible;No description;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
@@ -402,9 +402,9 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4406;UXOS_PcloseCallError;No description;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4500;HSPI_HalTimeoutRetval;No description;0;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
-0x4501;HSPI_HalBusyRetval;No description;1;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
-0x4502;HSPI_HalErrorRetval;No description;2;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
+0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
+0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
 0x4601;HURT_UartReadFailure;No description;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
 0x4602;HURT_UartReadSizeMissmatch;No description;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
 0x4603;HURT_UartRxBufferTooSmall;No description;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
@@ -440,7 +440,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 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
+0x5109;IMTQ_StartupCfgError;No description;9;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x510a;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.;10;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
@@ -492,9 +493,10 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 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
+0x5900;IPCI_NoReplyAvailable;No description;0;CCSDS_IP_CORE_BRIDGE;linux/acs/ImtqPollingTask.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
-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/StrComHandler.h
 0x5c02;STRHLP_FileNotExists;Specified file does not exist on filesystem;2;STR_HELPER;linux/acs/StrComHandler.h
 0x5c03;STRHLP_PathNotExists;Specified path does not exist;3;STR_HELPER;linux/acs/StrComHandler.h
@@ -540,13 +542,13 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 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
+0x6502;PLMPHLP_InvalidCrc;No description;2;PLOC_MPSOC_HELPER;linux/payload/ScexHelper.h
 0x65a0;PLMPHLP_FileClosedAccidentally;File accidentally close;160;PLOC_MPSOC_HELPER;linux/payload/PlocMpsocHelper.h
 0x66a0;SADPL_CommandNotSupported;No description;160;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 0x66a1;SADPL_DeploymentAlreadyExecuting;No description;161;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 0x66a2;SADPL_MainSwitchTimeoutFailure;No description;162;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 0x66a3;SADPL_SwitchingDeplSa1Failed;No description;163;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 0x66a4;SADPL_SwitchingDeplSa2Failed;No description;164;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
-0x6702;MPSOCRTVIF_InvalidCrc;No description;2;MPSOC_RETURN_VALUES_IF;linux/payload/ScexHelper.h
 0x67a0;MPSOCRTVIF_CrcFailure;Space Packet received from PLOC has invalid CRC;160;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
 0x67a1;MPSOCRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC;161;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
 0x67a2;MPSOCRTVIF_ReceivedExeFailure;Received execution failure reply from PLOC;162;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
@@ -557,7 +559,6 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x67a7;MPSOCRTVIF_MpsocFilenameTooLong;Filename of MPSoC file is to long (max. 256 bytes);167;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
 0x67a8;MPSOCRTVIF_InvalidParameter;Command has invalid parameter;168;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
 0x67a9;MPSOCRTVIF_NameTooLong;Received command has file string with invalid length;169;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
-0x6801;SPVRTVIF_NoPacketFound;No description;1;SUPV_RETURN_VALUES_IF;linux/com/SyrlinksComHandler.h
 0x68a0;SPVRTVIF_CrcFailure;Space Packet received from PLOC supervisor has invalid CRC;160;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
 0x68a1;SPVRTVIF_InvalidServiceId;No description;161;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
 0x68a2;SPVRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC supervisor;162;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 284 translations.
  * @details
- * Generated on: 2023-04-01 15:26:43
+ * Generated on: 2023-04-04 13:59:07
  */
 #include "translateEvents.h"
 
@@ -270,10 +270,10 @@ const char *I2C_UNAVAILABLE_REBOOT_STRING = "I2C_UNAVAILABLE_REBOOT";
 const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
 const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
 const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
-const char *PLOC_OVERHEATING_STRING = "PLOC_OVERHEATING";
 const char *OBC_OVERHEATING_STRING = "OBC_OVERHEATING";
-const char *HPA_OVERHEATING_STRING = "HPA_OVERHEATING";
-const char *PLPCDU_OVERHEATING_STRING = "PLPCDU_OVERHEATING";
+const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
+const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
+const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
 const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
 const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
 const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@@ -822,14 +822,14 @@ const char *translateEvents(Event event) {
       return NO_HEALTHY_HEATER_AVAILABLE_STRING;
     case (14102):
       return SYRLINKS_OVERHEATING_STRING;
-    case (14103):
-      return PLOC_OVERHEATING_STRING;
     case (14104):
       return OBC_OVERHEATING_STRING;
     case (14105):
-      return HPA_OVERHEATING_STRING;
+      return CAMERA_OVERHEATING_STRING;
     case (14106):
-      return PLPCDU_OVERHEATING_STRING;
+      return PCDU_SYSTEM_OVERHEATING_STRING;
+    case (14107):
+      return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
     case (14201):
       return TX_TIMER_EXPIRED_STRING;
     case (14202):

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-04-01 15:26:43
+ * Generated on: 2023-04-04 13:59:07
  */
 #include "translateObjects.h"
 

linux/acs/ImtqPollingTask.cpp

@@ -27,7 +27,7 @@ ReturnValue_t ImtqPollingTask::performOperation(uint8_t operationCode) {
 
     comStatus = returnvalue::OK;
     // Stopwatch watch;
-    switch (currentRequest) {
+    switch (currentRequest.requestType) {
       case imtq::RequestType::MEASURE_NO_ACTUATION: {
         // Measured to take 24 ms for debug and release builds.
         // Stopwatch watch;
@@ -51,6 +51,30 @@ void ImtqPollingTask::handleMeasureStep() {
   uint8_t* replyPtr;
   ImtqRepliesDefault replies(replyBuf.data());
   // If some startup handling is added later, set configured after it was done once.
+  if (performStartup) {
+    // Set integration time for the MGM.
+    cmdBuf[0] = imtq::CC::SET_PARAM;
+    size_t dummy = 0;
+    SerializeAdapter::serialize(&imtq::param::INTEGRATION_TIME_SELECT, cmdBuf.data() + 1, &dummy,
+                                cmdBuf.size(), SerializeIF::Endianness::LITTLE);
+    cmdBuf[3] = currentRequest.integrationTimeSel;
+    cmdLen = 4;
+    ReturnValue_t result = performI2cFullRequest(replyBuf.data(), 5);
+    if (result != returnvalue::OK) {
+      comStatus = imtq::STARTUP_CFG_ERROR;
+    }
+    if (replyBuf[0] != imtq::CC::SET_PARAM) {
+      sif::error << "ImtqPollingTask: First byte of reply not equal to sent CC" << std::endl;
+      comStatus = imtq::STARTUP_CFG_ERROR;
+    }
+    if (replyBuf[4] != currentRequest.integrationTimeSel) {
+      sif::error << "ImtqPollingTask: Integration time configuration failed" << std::endl;
+      comStatus = imtq::STARTUP_CFG_ERROR;
+    }
+    currentIntegrationTimeMs =
+        imtq::integrationTimeFromSelectValue(currentRequest.integrationTimeSel);
+    performStartup = false;
+  }
   replies.setConfigured();
 
   // Can be used later to verify correct timing (e.g. all data has been read)
@@ -73,7 +97,7 @@ void ImtqPollingTask::handleMeasureStep() {
     return;
   }
 
-  if (specialRequest != imtq::SpecialRequest::NONE) {
+  if (currentRequest.specialRequest != imtq::SpecialRequest::NONE) {
     auto executeSelfTest = [&](imtq::selfTest::Axis axis) {
       cmdBuf[0] = imtq::CC::SELF_TEST_CMD;
       cmdBuf[1] = axis;
@@ -81,7 +105,7 @@ void ImtqPollingTask::handleMeasureStep() {
     };
     // If a self-test is already ongoing, ignore the request.
     if (replies.getSystemState()[2] != static_cast<uint8_t>(imtq::mode::SELF_TEST)) {
-      switch (specialRequest) {
+      switch (currentRequest.specialRequest) {
         case (imtq::SpecialRequest::DO_SELF_TEST_POS_X): {
           executeSelfTest(imtq::selfTest::Axis::X_POSITIVE);
           break;
@@ -234,18 +258,21 @@ ReturnValue_t ImtqPollingTask::initializeInterface(CookieIF* cookie) {
 ReturnValue_t ImtqPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendData,
                                            size_t sendLen) {
   const auto* imtqReq = reinterpret_cast<const imtq::Request*>(sendData);
+  if (sendLen != sizeof(imtq::Request)) {
+    return returnvalue::FAILED;
+  }
   {
     MutexGuard mg(ipcLock);
-    if (imtqReq->request == imtq::RequestType::ACTUATE) {
-      std::memcpy(dipoles, imtqReq->dipoles, sizeof(dipoles));
-      torqueDuration = imtqReq->torqueDuration;
-    }
-    currentRequest = imtqReq->request;
-    specialRequest = imtqReq->specialRequest;
     if (state != InternalState::IDLE) {
       return returnvalue::FAILED;
     }
     state = InternalState::IS_BUSY;
+    if (currentRequest.mode != imtqReq->mode) {
+      if (imtqReq->mode == acs::SimpleSensorMode::NORMAL) {
+        performStartup = true;
+      }
+    }
+    std::memcpy(&currentRequest, imtqReq, sendLen);
   }
   semaphore->release();
 
@@ -345,10 +372,10 @@ void ImtqPollingTask::buildDipoleCommand() {
   uint8_t* serPtr = cmdBuf.data() + 1;
   size_t serLen = 0;
   for (uint8_t idx = 0; idx < 3; idx++) {
-    SerializeAdapter::serialize(&dipoles[idx], &serPtr, &serLen, cmdBuf.size(),
+    SerializeAdapter::serialize(&currentRequest.dipoles[idx], &serPtr, &serLen, cmdBuf.size(),
                                 SerializeIF::Endianness::LITTLE);
   }
-  SerializeAdapter::serialize(&torqueDuration, &serPtr, &serLen, cmdBuf.size(),
+  SerializeAdapter::serialize(&currentRequest.torqueDuration, &serPtr, &serLen, cmdBuf.size(),
                               SerializeIF::Endianness::LITTLE);
   // sif::debug << "Dipole X: " << dipoles[0] << std::endl;
   // sif::debug << "Torqeu Dur: " << torqueDuration << std::endl;
@@ -357,22 +384,28 @@ void ImtqPollingTask::buildDipoleCommand() {
 
 ReturnValue_t ImtqPollingTask::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
                                                    size_t* size) {
-  imtq::RequestType currentRequest;
+  imtq::Request currentRequest;
   {
     MutexGuard mg(ipcLock);
-    currentRequest = this->currentRequest;
+    std::memcpy(&currentRequest, &this->currentRequest, sizeof(currentRequest));
   }
 
   size_t replyLen = 0;
-  MutexGuard mg(bufLock);
-  if (currentRequest == imtq::RequestType::MEASURE_NO_ACTUATION) {
-    replyLen = getExchangeBufLen(specialRequest);
-    memcpy(exchangeBuf.data(), replyBuf.data(), replyLen);
-  } else if (currentRequest == imtq::RequestType::ACTUATE) {
-    replyLen = ImtqRepliesWithTorque::BASE_LEN;
-    memcpy(exchangeBuf.data(), replyBufActuation.data(), replyLen);
-  } else {
-    *size = 0;
+  {
+    MutexGuard mg(bufLock);
+    if (currentRequest.requestType == imtq::RequestType::MEASURE_NO_ACTUATION) {
+      replyLen = getExchangeBufLen(currentRequest.specialRequest);
+      memcpy(exchangeBuf.data(), replyBuf.data(), replyLen);
+    } else if (currentRequest.requestType == imtq::RequestType::ACTUATE) {
+      replyLen = ImtqRepliesWithTorque::BASE_LEN;
+      memcpy(exchangeBuf.data(), replyBufActuation.data(), replyLen);
+    } else {
+      *size = 0;
+    }
+  }
+  {
+    MutexGuard mg(ipcLock);
+    this->currentRequest.requestType = imtq::RequestType::DO_NOTHING;
   }
   *buffer = exchangeBuf.data();
   *size = replyLen;
@@ -417,6 +450,7 @@ void ImtqPollingTask::clearReadFlagsWithTorque(ImtqRepliesWithTorque& replies) {
 ReturnValue_t ImtqPollingTask::performI2cFullRequest(uint8_t* reply, size_t replyLen) {
   int fd = 0;
   if (cmdLen == 0 or reply == nullptr) {
+    sif::error << "ImtqPollingTask: Command lenght is zero or reply PTR is invalid" << std::endl;
     return returnvalue::FAILED;
   }
 

linux/acs/ImtqPollingTask.h

@@ -3,6 +3,7 @@
 
 #include <fsfw/tasks/SemaphoreIF.h>
 #include <fsfw_hal/linux/i2c/I2cCookie.h>
+#include <mission/acs/acsBoardPolling.h>
 
 #include <atomic>
 
@@ -24,7 +25,6 @@ class ImtqPollingTask : public SystemObject,
   static constexpr ReturnValue_t NO_REPLY_AVAILABLE = returnvalue::makeCode(2, 0);
 
   enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;
-  imtq::RequestType currentRequest = imtq::RequestType::MEASURE_NO_ACTUATION;
 
   SemaphoreIF* semaphore;
   ReturnValue_t comStatus = returnvalue::OK;
@@ -38,10 +38,9 @@ class ImtqPollingTask : public SystemObject,
   // Required in addition to integration time, otherwise old data might be read.
   static constexpr uint32_t MGM_READ_BUFFER_TIME_MS = 6;
   bool ignoreNextActuateRequest = false;
+  bool performStartup = false;
 
-  imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE;
-  int16_t dipoles[3] = {};
-  uint16_t torqueDuration = 0;
+  imtq::Request currentRequest{};
 
   std::array<uint8_t, 32> cmdBuf;
   std::array<uint8_t, 524> replyBuf;

linux/acs/StrComHandler.cpp

@@ -42,7 +42,6 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
   while (true) {
     lock->lockMutex();
     state = InternalState::SLEEPING;
-    datalinkLayer.reset();
     lock->unlockMutex();
     semaphore.acquire();
     switch (state) {
@@ -58,6 +57,7 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
       }
       case InternalState::UPLOAD_IMAGE: {
         replyTimeout.setTimeout(200);
+        resetReplyHandlingState();
         result = performImageUpload();
         if (result == returnvalue::OK) {
           triggerEvent(IMAGE_UPLOAD_SUCCESSFUL);
@@ -68,6 +68,7 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
       }
       case InternalState::DOWNLOAD_IMAGE: {
         replyTimeout.setTimeout(200);
+        resetReplyHandlingState();
         result = performImageDownload();
         if (result == returnvalue::OK) {
           triggerEvent(IMAGE_DOWNLOAD_SUCCESSFUL);
@@ -78,6 +79,7 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
       }
       case InternalState::FLASH_READ: {
         replyTimeout.setTimeout(200);
+        resetReplyHandlingState();
         result = performFlashRead();
         if (result == returnvalue::OK) {
           triggerEvent(FLASH_READ_SUCCESSFUL);
@@ -88,6 +90,7 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
       }
       case InternalState::FIRMWARE_UPDATE: {
         replyTimeout.setTimeout(200);
+        resetReplyHandlingState();
         result = performFirmwareUpdate();
         if (result == returnvalue::OK) {
           triggerEvent(FIRMWARE_UPDATE_SUCCESSFUL);
@@ -645,7 +648,8 @@ ReturnValue_t StrComHandler::sendMessage(CookieIF* cookie, const uint8_t* sendDa
       return BUSY;
     }
   }
-  serial::flushRxBuf(serialPort);
+  // Ensure consistent state.
+  resetReplyHandlingState();
 
   const uint8_t* txFrame;
   size_t frameLen;
@@ -697,6 +701,7 @@ ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buf
     *buffer = const_cast<uint8_t*>(replyPtr);
     *size = replyLen;
   }
+  replyLen = 0;
   return replyResult;
 }
 
@@ -781,3 +786,8 @@ ReturnValue_t StrComHandler::readOneReply(uint32_t failParameter) {
     }
   }
 }
+
+void StrComHandler::resetReplyHandlingState() {
+  serial::flushRxBuf(serialPort);
+  datalinkLayer.reset();
+}

linux/acs/StrComHandler.h

@@ -374,6 +374,8 @@ class StrComHandler : public SystemObject, public DeviceCommunicationIF, public
    * @return
    */
   ReturnValue_t readOneReply(uint32_t failParameter);
+
+  void resetReplyHandlingState();
 };
 
 #endif /* BSP_Q7S_DEVICES_STRHELPER_H_ */

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 284 translations.
  * @details
- * Generated on: 2023-04-01 15:26:43
+ * Generated on: 2023-04-04 13:59:07
  */
 #include "translateEvents.h"
 
@@ -209,13 +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 *DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY_STRING =
-    "DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY";
+const char *DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY_STRING = "DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY";
 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 *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";
@@ -272,10 +270,10 @@ const char *I2C_UNAVAILABLE_REBOOT_STRING = "I2C_UNAVAILABLE_REBOOT";
 const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
 const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
 const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
-const char *PLOC_OVERHEATING_STRING = "PLOC_OVERHEATING";
 const char *OBC_OVERHEATING_STRING = "OBC_OVERHEATING";
-const char *HPA_OVERHEATING_STRING = "HPA_OVERHEATING";
-const char *PLPCDU_OVERHEATING_STRING = "PLPCDU_OVERHEATING";
+const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
+const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
+const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
 const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
 const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
 const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@@ -824,14 +822,14 @@ const char *translateEvents(Event event) {
       return NO_HEALTHY_HEATER_AVAILABLE_STRING;
     case (14102):
       return SYRLINKS_OVERHEATING_STRING;
-    case (14103):
-      return PLOC_OVERHEATING_STRING;
     case (14104):
       return OBC_OVERHEATING_STRING;
     case (14105):
-      return HPA_OVERHEATING_STRING;
+      return CAMERA_OVERHEATING_STRING;
     case (14106):
-      return PLPCDU_OVERHEATING_STRING;
+      return PCDU_SYSTEM_OVERHEATING_STRING;
+    case (14107):
+      return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
     case (14201):
       return TX_TIMER_EXPIRED_STRING;
     case (14202):

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-04-01 15:26:43
+ * Generated on: 2023-04-04 13:59:07
  */
 #include "translateObjects.h"
 

linux/ipcore/AxiPtmeConfig.cpp

@@ -1,5 +1,7 @@
 #include "AxiPtmeConfig.h"
 
+#include <fsfw/ipc/MutexGuard.h>
+
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw_hal/linux/uio/UioMapper.h"
 
@@ -39,97 +41,59 @@ ReturnValue_t AxiPtmeConfig::writeCaduRateReg(uint8_t rateVal) {
   return returnvalue::OK;
 }
 
-ReturnValue_t AxiPtmeConfig::enableTxclockManipulator() {
-  ReturnValue_t result = writeBit(COMMON_CONFIG_REG, true, BitPos::EN_TX_CLK_MANIPULATOR);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
+void AxiPtmeConfig::enableTxclockManipulator() {
+  writeBit(COMMON_CONFIG_REG, true, BitPos::EN_TX_CLK_MANIPULATOR);
 }
 
-ReturnValue_t AxiPtmeConfig::disableTxclockManipulator() {
-  ReturnValue_t result = writeBit(COMMON_CONFIG_REG, false, BitPos::EN_TX_CLK_MANIPULATOR);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
+void AxiPtmeConfig::disableTxclockManipulator() {
+  writeBit(COMMON_CONFIG_REG, false, BitPos::EN_TX_CLK_MANIPULATOR);
 }
 
-ReturnValue_t AxiPtmeConfig::enableTxclockInversion() {
-  ReturnValue_t result = writeBit(COMMON_CONFIG_REG, true, BitPos::INVERT_CLOCK);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
+void AxiPtmeConfig::enableTxclockInversion() {
+  writeBit(COMMON_CONFIG_REG, true, BitPos::INVERT_CLOCK);
 }
 
-ReturnValue_t AxiPtmeConfig::disableTxclockInversion() {
-  ReturnValue_t result = writeBit(COMMON_CONFIG_REG, false, BitPos::INVERT_CLOCK);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
+void AxiPtmeConfig::disableTxclockInversion() {
+  writeBit(COMMON_CONFIG_REG, false, BitPos::INVERT_CLOCK);
 }
 
-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;
+void AxiPtmeConfig::enableBatPriorityBit() {
+  writeBit(COMMON_CONFIG_REG, true, BitPos::EN_BAT_PRIORITY);
 }
 
-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;
+void AxiPtmeConfig::disableBatPriorityBit() {
+  writeBit(COMMON_CONFIG_REG, false, BitPos::EN_BAT_PRIORITY);
 }
 
-ReturnValue_t AxiPtmeConfig::writeReg(uint32_t regOffset, uint32_t writeVal) {
-  ReturnValue_t result = returnvalue::OK;
-  result = mutex->lockMutex(timeoutType, mutexTimeout);
-  if (result != returnvalue::OK) {
-    sif::warning << "AxiPtmeConfig::readReg: Failed to lock mutex" << std::endl;
-    return returnvalue::FAILED;
-  }
+void AxiPtmeConfig::writeReg(uint32_t regOffset, uint32_t writeVal) {
+  MutexGuard mg(mutex, timeoutType, mutexTimeout);
   *(baseAddress + regOffset / ADRESS_DIVIDER) = writeVal;
-  result = mutex->unlockMutex();
-  if (result != returnvalue::OK) {
-    sif::warning << "AxiPtmeConfig::readReg: Failed to unlock mutex" << std::endl;
-    return returnvalue::FAILED;
-  }
-  return returnvalue::OK;
 }
 
-ReturnValue_t AxiPtmeConfig::readReg(uint32_t regOffset, uint32_t* readVal) {
-  ReturnValue_t result = returnvalue::OK;
-  result = mutex->lockMutex(timeoutType, mutexTimeout);
-  if (result != returnvalue::OK) {
-    sif::warning << "AxiPtmeConfig::readReg: Failed to lock mutex" << std::endl;
-    return returnvalue::FAILED;
-  }
-  *readVal = *(baseAddress + regOffset / ADRESS_DIVIDER);
-  result = mutex->unlockMutex();
-  if (result != returnvalue::OK) {
-    sif::warning << "AxiPtmeConfig::readReg: Failed to unlock mutex" << std::endl;
-    return returnvalue::FAILED;
-  }
-  return returnvalue::OK;
+uint32_t AxiPtmeConfig::readReg(uint32_t regOffset) {
+  MutexGuard mg(mutex, timeoutType, mutexTimeout);
+  return *(baseAddress + regOffset / ADRESS_DIVIDER);
 }
 
-ReturnValue_t AxiPtmeConfig::writeBit(uint32_t regOffset, bool bitVal, BitPos bitPos) {
-  uint32_t readVal = 0;
-  ReturnValue_t result = readReg(regOffset, &readVal);
-  if (result != returnvalue::OK) {
-    return result;
-  }
+void AxiPtmeConfig::writePollThreshold(AxiPtmeConfig::IdlePollThreshold pollThreshold) {
+  uint32_t regVal = readCommonCfgReg();
+  // Clear bits first
+  regVal &= ~(0b111 << 3);
+  regVal |= (static_cast<uint8_t>(pollThreshold) << 3);
+  writeCommonCfgReg(regVal);
+}
+
+AxiPtmeConfig::IdlePollThreshold AxiPtmeConfig::readPollThreshold() {
+  uint32_t regVal = readCommonCfgReg();
+  return static_cast<AxiPtmeConfig::IdlePollThreshold>((regVal >> 3) & 0b111);
+}
+
+void AxiPtmeConfig::writeCommonCfgReg(uint32_t value) { writeReg(COMMON_CONFIG_REG, value); }
+uint32_t AxiPtmeConfig::readCommonCfgReg() { return readReg(COMMON_CONFIG_REG); }
+
+void AxiPtmeConfig::writeBit(uint32_t regOffset, bool bitVal, BitPos bitPos) {
+  uint32_t readVal = readReg(regOffset);
   uint32_t writeVal =
       (readVal & ~(1 << static_cast<uint32_t>(bitPos))) | bitVal << static_cast<uint32_t>(bitPos);
-  result = writeReg(regOffset, writeVal);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
+  writeReg(regOffset, writeVal);
 }

linux/ipcore/AxiPtmeConfig.h

@@ -14,6 +14,16 @@
  */
 class AxiPtmeConfig : public SystemObject {
  public:
+  enum IdlePollThreshold : uint8_t {
+    ALWAYS = 0b000,
+    POLL_1 = 0b001,
+    POLL_4 = 0b010,
+    POLL_16 = 0b011,
+    POLL_64 = 0b100,
+    POLL_256 = 0b101,
+    POLL_1024 = 0b110,
+    NEVER = 0b111
+  };
   /**
    * @brief   Constructor
    * @param axiUio    Device file of UIO belonging to the AXI configuration interface.
@@ -40,8 +50,8 @@ class AxiPtmeConfig : public SystemObject {
    *            Default: Enables TX clock manipulator
    *
    */
-  ReturnValue_t enableTxclockManipulator();
-  ReturnValue_t disableTxclockManipulator();
+  void enableTxclockManipulator();
+  void disableTxclockManipulator();
 
   /**
    * @brief The next to functions control whether data will be updated on the rising or falling edge
@@ -51,11 +61,14 @@ class AxiPtmeConfig : public SystemObject {
    *        Disable clock inversion. Data updated on rising edge.
    *        Default: Inversion is disabled
    */
-  ReturnValue_t enableTxclockInversion();
-  ReturnValue_t disableTxclockInversion();
+  void enableTxclockInversion();
+  void disableTxclockInversion();
 
-  ReturnValue_t enableBatPriorityBit();
-  ReturnValue_t disableBatPriorityBit();
+  void enableBatPriorityBit();
+  void disableBatPriorityBit();
+
+  void writePollThreshold(IdlePollThreshold pollThreshold);
+  IdlePollThreshold readPollThreshold();
 
  private:
   // Address of register storing the bitrate configuration parameter
@@ -80,7 +93,7 @@ class AxiPtmeConfig : public SystemObject {
    *
    * @param writeVal    Value to write
    */
-  ReturnValue_t writeReg(uint32_t regOffset, uint32_t writeVal);
+  void writeReg(uint32_t regOffset, uint32_t writeVal);
 
   /**
    * @brief Reads value from configuration register
@@ -88,7 +101,10 @@ class AxiPtmeConfig : public SystemObject {
    * @param regOffset   Offset of register from base address to read from
    * Qparam readVal     Pointer to variable where read value will be written to
    */
-  ReturnValue_t readReg(uint32_t regOffset, uint32_t* readVal);
+  uint32_t readReg(uint32_t regOffset);
+
+  uint32_t readCommonCfgReg();
+  void writeCommonCfgReg(uint32_t value);
 
   /**
    * @brief Sets one bit in a register
@@ -99,7 +115,7 @@ class AxiPtmeConfig : public SystemObject {
    *
    * @return             returnvalue::OK if successful, otherwise returnvalue::FAILED
    */
-  ReturnValue_t writeBit(uint32_t regOffset, bool bitVal, BitPos bitPos);
+  void writeBit(uint32_t regOffset, bool bitVal, BitPos bitPos);
 };
 
 #endif /* LINUX_OBC_AXIPTMECONFIG_H_ */

linux/ipcore/PtmeConfig.cpp

@@ -26,33 +26,30 @@ ReturnValue_t PtmeConfig::setRate(uint32_t bitRate) {
   return axiPtmeConfig->writeCaduRateReg(static_cast<uint8_t>(rateVal));
 }
 
-ReturnValue_t PtmeConfig::invertTxClock(bool invert) {
-  ReturnValue_t result = returnvalue::OK;
+void PtmeConfig::invertTxClock(bool invert) {
   if (invert) {
-    result = axiPtmeConfig->enableTxclockInversion();
+    axiPtmeConfig->enableTxclockInversion();
   } else {
-    result = axiPtmeConfig->disableTxclockInversion();
+    axiPtmeConfig->disableTxclockInversion();
   }
-  if (result != returnvalue::OK) {
-    return CLK_INVERSION_FAILED;
-  }
-  return result;
 }
 
-ReturnValue_t PtmeConfig::configTxManipulator(bool enable) {
-  ReturnValue_t result = returnvalue::OK;
+void PtmeConfig::configTxManipulator(bool enable) {
   if (enable) {
-    result = axiPtmeConfig->enableTxclockManipulator();
+    axiPtmeConfig->enableTxclockManipulator();
   } else {
-    result = axiPtmeConfig->disableTxclockManipulator();
+    axiPtmeConfig->disableTxclockManipulator();
   }
-  return result;
 }
 
-ReturnValue_t PtmeConfig::enableBatPriorityBit(bool enable) {
+void PtmeConfig::enableBatPriorityBit(bool enable) {
   if (enable) {
-    return axiPtmeConfig->enableBatPriorityBit();
+    axiPtmeConfig->enableBatPriorityBit();
   } else {
-    return axiPtmeConfig->disableBatPriorityBit();
+    axiPtmeConfig->disableBatPriorityBit();
   }
 }
+
+void PtmeConfig::setPollThreshold(AxiPtmeConfig::IdlePollThreshold pollThreshold) {
+  axiPtmeConfig->writePollThreshold(pollThreshold);
+}

linux/ipcore/PtmeConfig.h

@@ -43,7 +43,7 @@ class PtmeConfig : public SystemObject {
    *
    * @return        REUTRN_OK if successful, otherwise error return value
    */
-  ReturnValue_t invertTxClock(bool invert);
+  void invertTxClock(bool invert);
 
   /**
    * @brief Controls the tx clock manipulator of the PTME wrapper component
@@ -53,7 +53,7 @@ class PtmeConfig : public SystemObject {
    *
    * @return        REUTRN_OK if successful, otherwise error return value
    */
-  ReturnValue_t configTxManipulator(bool enable);
+  void configTxManipulator(bool enable);
 
   /**
    * Enable the bat priority bit in the PTME wrapper component.
@@ -62,7 +62,9 @@ class PtmeConfig : public SystemObject {
    * @param enable
    * @return
    */
-  ReturnValue_t enableBatPriorityBit(bool enable);
+  void enableBatPriorityBit(bool enable);
+
+  void setPollThreshold(AxiPtmeConfig::IdlePollThreshold pollThreshold);
 
  private:
   static const uint8_t INTERFACE_ID = CLASS_ID::RATE_SETTER;

mission/SolarArrayDeploymentHandler.cpp

@@ -17,7 +17,7 @@ static constexpr bool DEBUG_MODE = true;
 SolarArrayDeploymentHandler::SolarArrayDeploymentHandler(object_id_t setObjectId_,
                                                          GpioIF& gpioInterface,
                                                          PowerSwitchIF& mainLineSwitcher_,
-                                                         pcdu::Switches mainLineSwitch_,
+                                                         power::Switches mainLineSwitch_,
                                                          gpioId_t deplSA1, gpioId_t deplSA2,
                                                          SdCardMountedIF& sdcMountedIF)
     : SystemObject(setObjectId_),

mission/SolarArrayDeploymentHandler.h

@@ -107,7 +107,7 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
    * @param burnTimeMs  Time duration the power will be applied to the burn wires.
    */
   SolarArrayDeploymentHandler(object_id_t setObjectId, GpioIF& gpio,
-                              PowerSwitchIF& mainLineSwitcher, pcdu::Switches mainLineSwitch,
+                              PowerSwitchIF& mainLineSwitcher, power::Switches mainLineSwitch,
                               gpioId_t deplSA1, gpioId_t deplSA2, SdCardMountedIF& sdcMountedIF);
 
   virtual ~SolarArrayDeploymentHandler();

mission/acs/ImtqHandler.cpp

@@ -151,19 +151,25 @@ void ImtqHandler::doStartUp() {
 }
 
 void ImtqHandler::doShutDown() {
-  updatePeriodicReply(false, imtq::cmdIds::REPLY_NO_TORQUE);
-  updatePeriodicReply(false, imtq::cmdIds::REPLY_WITH_TORQUE);
-  specialRequestActive = false;
-  firstReplyCycle = true;
-  internalState = InternalState::NONE;
-  commandExecuted = false;
-  statusSet.setValidity(false, true);
-  rawMtmNoTorque.setValidity(false, true);
-  rawMtmWithTorque.setValidity(false, true);
-  hkDatasetNoTorque.setValidity(false, true);
-  hkDatasetWithTorque.setValidity(false, true);
-  calMtmMeasurementSet.setValidity(false, true);
-  setMode(_MODE_POWER_DOWN);
+  if (internalState != InternalState::SHUTDOWN) {
+    commandExecuted = false;
+    internalState = InternalState::SHUTDOWN;
+  }
+  if (internalState == InternalState::SHUTDOWN and commandExecuted) {
+    updatePeriodicReply(false, imtq::cmdIds::REPLY_NO_TORQUE);
+    updatePeriodicReply(false, imtq::cmdIds::REPLY_WITH_TORQUE);
+    specialRequestActive = false;
+    firstReplyCycle = true;
+    internalState = InternalState::NONE;
+    commandExecuted = false;
+    statusSet.setValidity(false, true);
+    rawMtmNoTorque.setValidity(false, true);
+    rawMtmWithTorque.setValidity(false, true);
+    hkDatasetNoTorque.setValidity(false, true);
+    hkDatasetWithTorque.setValidity(false, true);
+    calMtmMeasurementSet.setValidity(false, true);
+    setMode(_MODE_POWER_DOWN);
+  }
 }
 
 ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
@@ -178,7 +184,7 @@ ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
     }
     default: {
       *id = imtq::cmdIds::REQUEST;
-      request.request = imtq::RequestType::DO_NOTHING;
+      request.requestType = imtq::RequestType::DO_NOTHING;
       request.specialRequest = imtq::SpecialRequest::NONE;
       expectedReply = DeviceHandlerIF::NO_COMMAND_ID;
       rawPacket = reinterpret_cast<uint8_t*>(&request);
@@ -190,7 +196,7 @@ ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
 }
 
 ReturnValue_t ImtqHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
-  if (internalState == InternalState::STARTUP) {
+  if (internalState == InternalState::STARTUP or internalState == InternalState::SHUTDOWN) {
     *id = imtq::cmdIds::REQUEST;
     return buildCommandFromCommand(*id, nullptr, 0);
   }
@@ -201,7 +207,7 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
                                                    const uint8_t* commandData,
                                                    size_t commandDataLen) {
   auto genericSpecialRequest = [&](imtq::SpecialRequest specialRequest) {
-    request.request = imtq::RequestType::MEASURE_NO_ACTUATION;
+    request.requestType = imtq::RequestType::MEASURE_NO_ACTUATION;
     request.specialRequest = specialRequest;
     expectedReply = imtq::cmdIds::REPLY_NO_TORQUE;
     specialRequestActive = true;
@@ -238,9 +244,16 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
       return returnvalue::OK;
     }
     case (imtq::cmdIds::REQUEST): {
-      request.request = imtq::RequestType::MEASURE_NO_ACTUATION;
+      request.requestType = imtq::RequestType::MEASURE_NO_ACTUATION;
       request.specialRequest = imtq::SpecialRequest::NONE;
+      // 6 ms integration time instead of 10 ms.
+      request.integrationTimeSel = 2;
       expectedReply = imtq::cmdIds::REPLY_NO_TORQUE;
+      if (internalState == InternalState::SHUTDOWN) {
+        request.mode = acs::SimpleSensorMode::OFF;
+      } else {
+        request.mode = acs::SimpleSensorMode::NORMAL;
+      }
       rawPacket = reinterpret_cast<uint8_t*>(&request);
       rawPacketLen = sizeof(imtq::Request);
       return returnvalue::OK;
@@ -267,7 +280,7 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
       }
 
       expectedReply = imtq::cmdIds::REPLY_WITH_TORQUE;
-      request.request = imtq::RequestType::ACTUATE;
+      request.requestType = imtq::RequestType::ACTUATE;
       request.specialRequest = imtq::SpecialRequest::NONE;
       std::memcpy(request.dipoles, dipoleSet.dipoles.value, sizeof(request.dipoles));
       request.torqueDuration = dipoleSet.currentTorqueDurationMs.value;
@@ -309,6 +322,9 @@ ReturnValue_t ImtqHandler::scanForReply(const uint8_t* start, size_t remainingSi
   if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON or getMode() == _MODE_POWER_DOWN) {
     return IGNORE_FULL_PACKET;
   }
+  if (internalState == InternalState::SHUTDOWN) {
+    commandExecuted = true;
+  }
   if (remainingSize > 0) {
     *foundLen = remainingSize;
     *foundId = expectedReply;

mission/acs/acsBoardPolling.h

@@ -1,13 +1,13 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_
 
+#include <mission/acs/defs.h>
+
 #include "fsfw/thermal/tcsDefinitions.h"
 #include "gyroAdisHelpers.h"
 
 namespace acs {
 
-enum SimpleSensorMode { NORMAL = 0, OFF = 1 };
-
 struct Adis1650XRequest {
   SimpleSensorMode mode;
   adis1650x::Type type;

mission/acs/defs.h

@@ -6,6 +6,8 @@
 
 namespace acs {
 
+enum class SimpleSensorMode { NORMAL = 0, OFF = 1 };
+
 // These modes are the submodes of the ACS controller and the modes of the ACS subsystem.
 enum AcsMode : Mode_t {
   OFF = HasModesIF::MODE_OFF,

mission/acs/imtqHelpers.cpp

@@ -1,5 +1,26 @@
 #include "imtqHelpers.h"
 
+uint16_t imtq::integrationTimeFromSelectValue(uint8_t value) {
+  switch (value) {
+    case (0):
+      return 2;
+    case (1):
+      return 3;
+    case (2):
+      return 6;
+    case (3):
+      return 10;
+    case (4):
+      return 20;
+    case (5):
+      return 40;
+    case (6):
+      return 80;
+    default:
+      return 10;
+  }
+}
+
 size_t imtq::getReplySize(CC::CC cc, size_t* optSecondSize) {
   switch (cc) {
     // Software reset is a bit special and can also cause a I2C NAK because

mission/acs/imtqHelpers.h

@@ -5,6 +5,7 @@
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <mission/acs/defs.h>
 
 class ImtqHandler;
 
@@ -13,6 +14,8 @@ class ImtqHandler;
 
 namespace imtq {
 
+uint16_t integrationTimeFromSelectValue(uint8_t value);
+
 enum class RequestType : uint8_t { MEASURE_NO_ACTUATION, ACTUATE, DO_NOTHING };
 
 enum class SpecialRequest : uint8_t {
@@ -27,7 +30,8 @@ enum class SpecialRequest : uint8_t {
 };
 
 struct Request {
-  imtq::RequestType request = imtq::RequestType::MEASURE_NO_ACTUATION;
+  acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
+  imtq::RequestType requestType = imtq::RequestType::MEASURE_NO_ACTUATION;
   imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE;
   uint8_t integrationTimeSel = 3;
   int16_t dipoles[3]{};
@@ -57,9 +61,10 @@ static const ReturnValue_t CC_UNAVAILABLE = MAKE_RETURN_CODE(5);
 static const ReturnValue_t INTERNAL_PROCESSING_ERROR = MAKE_RETURN_CODE(6);
 static const ReturnValue_t REJECTED_WITHOUT_REASON = MAKE_RETURN_CODE(7);
 static const ReturnValue_t CMD_ERR_UNKNOWN = MAKE_RETURN_CODE(8);
+static constexpr ReturnValue_t STARTUP_CFG_ERROR = MAKE_RETURN_CODE(9);
 //! [EXPORT] : [COMMENT] The status reply to a self test command was received but no self test
 //! command has been sent. This should normally never happen.
-static const ReturnValue_t UNEXPECTED_SELF_TEST_REPLY = MAKE_RETURN_CODE(0xA7);
+static const ReturnValue_t UNEXPECTED_SELF_TEST_REPLY = MAKE_RETURN_CODE(10);
 
 namespace cmdIds {
 
@@ -162,6 +167,13 @@ enum CC : uint8_t {
 
 }  // namespace CC
 
+namespace param {
+
+static constexpr uint16_t SEL_MTM = 0x2002;
+static constexpr uint16_t INTEGRATION_TIME_SELECT = 0x2003;
+
+}  // namespace param
+
 size_t getReplySize(CC::CC cc, size_t* optSecondSize = nullptr);
 
 namespace mode {

mission/acs/str/StarTrackerHandler.cpp

@@ -56,6 +56,49 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
 
 StarTrackerHandler::~StarTrackerHandler() {}
 
+void StarTrackerHandler::doStartUp() {
+  switch (startupState) {
+    case StartupState::IDLE:
+      startupState = StartupState::CHECK_PROGRAM;
+      return;
+    case StartupState::BOOT_BOOTLOADER:
+      // This step is required in case the star tracker is already in firmware mode to harmonize
+      // the device handler's submode to the star tracker's mode
+      return;
+    case StartupState::DONE:
+      if (jcfgCountdown.isBusy()) {
+        startupState = StartupState::WAIT_JCFG;
+        return;
+      }
+      startupState = StartupState::IDLE;
+      break;
+    case StartupState::WAIT_JCFG: {
+      if (jcfgCountdown.hasTimedOut()) {
+        startupState = StartupState::IDLE;
+        break;
+      }
+      return;
+    }
+    default:
+      return;
+  }
+  solutionSet.setReportingEnabled(true);
+  startupState = StartupState::DONE;
+  internalState = InternalState::IDLE;
+  setMode(_MODE_TO_ON);
+}
+
+void StarTrackerHandler::doShutDown() {
+  // If the star tracker is shutdown also stop all running processes in the image loader task
+  strHelper->stopProcess();
+  internalState = InternalState::IDLE;
+  startupState = StartupState::IDLE;
+  bootState = FwBootState::NONE;
+  solutionSet.setReportingEnabled(false);
+  reinitNextSetParam = false;
+  setMode(_MODE_POWER_DOWN);
+}
+
 ReturnValue_t StarTrackerHandler::initialize() {
   ReturnValue_t result = returnvalue::OK;
   result = DeviceHandlerBase::initialize();
@@ -236,49 +279,6 @@ void StarTrackerHandler::performOperationHook() {
 
 Submode_t StarTrackerHandler::getInitialSubmode() { return SUBMODE_BOOTLOADER; }
 
-void StarTrackerHandler::doStartUp() {
-  switch (startupState) {
-    case StartupState::IDLE:
-      startupState = StartupState::CHECK_PROGRAM;
-      return;
-    case StartupState::BOOT_BOOTLOADER:
-      // This step is required in case the star tracker is already in firmware mode to harmonize
-      // the device handler's submode to the star tracker's mode
-      return;
-    case StartupState::DONE:
-      if (jcfgCountdown.isBusy()) {
-        startupState = StartupState::WAIT_JCFG;
-        return;
-      }
-      startupState = StartupState::IDLE;
-      break;
-    case StartupState::WAIT_JCFG: {
-      if (jcfgCountdown.hasTimedOut()) {
-        startupState = StartupState::IDLE;
-        break;
-      }
-      return;
-    }
-    default:
-      return;
-  }
-  solutionSet.setReportingEnabled(true);
-  startupState = StartupState::DONE;
-  internalState = InternalState::IDLE;
-  setMode(_MODE_TO_ON);
-}
-
-void StarTrackerHandler::doShutDown() {
-  // If the star tracker is shutdown also stop all running processes in the image loader task
-  strHelper->stopProcess();
-  internalState = InternalState::IDLE;
-  startupState = StartupState::IDLE;
-  bootState = FwBootState::NONE;
-  solutionSet.setReportingEnabled(false);
-  reinitNextSetParam = false;
-  setMode(_MODE_POWER_DOWN);
-}
-
 ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
   if (strHelperHandlingSpecialRequest) {
     return NOTHING_TO_SEND;
@@ -831,7 +831,6 @@ void StarTrackerHandler::bootBootloader() {
 ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                                DeviceCommandId_t* foundId, size_t* foundLen) {
   ReturnValue_t result = returnvalue::OK;
-  size_t bytesLeft = 0;
 
   if (remainingSize == 0) {
     *foundLen = remainingSize;
@@ -845,24 +844,24 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t rema
 
   switch (startracker::getReplyFrameType(start)) {
     case TMTC_ACTIONREPLY: {
-      *foundLen = remainingSize - bytesLeft;
-      result = scanForActionReply(startracker::getId(start), foundId);
+      *foundLen = remainingSize;
+      return scanForActionReply(startracker::getId(start), foundId);
       break;
     }
     case TMTC_SETPARAMREPLY: {
-      *foundLen = remainingSize - bytesLeft;
-      result = scanForSetParameterReply(startracker::getId(start), foundId);
+      *foundLen = remainingSize;
+      return scanForSetParameterReply(startracker::getId(start), foundId);
       break;
     }
     case TMTC_PARAMREPLY: {
-      *foundLen = remainingSize - bytesLeft;
-      result = scanForGetParameterReply(startracker::getId(start), foundId);
+      *foundLen = remainingSize;
+      return scanForGetParameterReply(startracker::getId(start), foundId);
       break;
     }
     case TMTC_TELEMETRYREPLYA:
     case TMTC_TELEMETRYREPLY: {
-      *foundLen = remainingSize - bytesLeft;
-      result = scanForTmReply(startracker::getId(start), foundId);
+      *foundLen = remainingSize;
+      return scanForTmReply(startracker::getId(start), foundId);
       break;
     }
     default: {
@@ -870,9 +869,6 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t rema
       result = returnvalue::FAILED;
     }
   }
-
-  remainingSize = bytesLeft;
-
   return result;
 }
 

mission/com/CcsdsIpCoreHandler.cpp

@@ -75,11 +75,9 @@ ReturnValue_t CcsdsIpCoreHandler::initialize() {
   }
 
   // This also pulls the PTME out of reset state.
-  if (batPriorityParam == 0) {
-    disablePrioritySelectMode();
-  } else {
-    enablePrioritySelectMode();
-  }
+  updateBatPriorityFromParam();
+  ptmeConfig.setPollThreshold(
+      static_cast<AxiPtmeConfig::IdlePollThreshold>(params.pollThresholdParam));
   resetPtme();
   ptmeLocked = false;
 
@@ -123,7 +121,10 @@ ReturnValue_t CcsdsIpCoreHandler::getParameter(uint8_t domainId, uint8_t uniqueI
                                                ParameterWrapper* parameterWrapper,
                                                const ParameterWrapper* newValues,
                                                uint16_t startAtIndex) {
-  if ((domainId == 0) and (uniqueIdentifier == ParamId::BAT_PRIORITY)) {
+  if (domainId != 0) {
+    return HasParametersIF::INVALID_DOMAIN_ID;
+  }
+  if (uniqueIdentifier == ParamId::BAT_PRIORITY) {
     uint8_t newVal = 0;
     ReturnValue_t result = newValues->getElement(&newVal);
     if (result != returnvalue::OK) {
@@ -132,8 +133,8 @@ ReturnValue_t CcsdsIpCoreHandler::getParameter(uint8_t domainId, uint8_t uniqueI
     if (newVal > 1) {
       return HasParametersIF::INVALID_VALUE;
     }
-    parameterWrapper->set(batPriorityParam);
-    if (newVal != batPriorityParam) {
+    parameterWrapper->set(params.batPriorityParam);
+    if (newVal != params.batPriorityParam) {
       // This ensures that the BAT priority is updated at some point when an update of the PTME is
       // allowed
       updateContext.updateBatPrio = true;
@@ -144,6 +145,23 @@ ReturnValue_t CcsdsIpCoreHandler::getParameter(uint8_t domainId, uint8_t uniqueI
       }
     }
     return returnvalue::OK;
+  } else if (uniqueIdentifier == ParamId::POLL_THRESHOLD) {
+    uint8_t newVal = 0;
+    ReturnValue_t result = newValues->getElement(&newVal);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    if (newVal > static_cast<uint8_t>(AxiPtmeConfig::NEVER)) {
+      return HasParametersIF::INVALID_VALUE;
+    }
+    parameterWrapper->set(newVal);
+    if (newVal != params.pollThresholdParam) {
+      updateContext.updatePollThreshold = true;
+      if (mode == MODE_OFF) {
+        initPtmeUpdateAfterXCycles();
+      }
+    }
+    return returnvalue::OK;
   }
   return HasParametersIF::INVALID_IDENTIFIER_ID;
 }
@@ -161,24 +179,31 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu
   switch (actionId) {
     case ARBITRARY_RATE: {
       uint32_t bitrate = 0;
-      SerializeAdapter::deSerialize(&bitrate, &data, &size, SerializeIF::Endianness::BIG);
-      result = ptmeConfig.setRate(bitrate);
+      result = SerializeAdapter::deSerialize(&bitrate, &data, &size, SerializeIF::Endianness::BIG);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      ptmeConfig.setRate(bitrate);
+      updateContext.updateClockRate = true;
+      if (mode == MODE_OFF) {
+        initPtmeUpdateAfterXCycles();
+      }
       break;
     }
     case ENABLE_TX_CLK_MANIPULATOR: {
-      result = ptmeConfig.configTxManipulator(true);
+      ptmeConfig.configTxManipulator(true);
       break;
     }
     case DISABLE_TX_CLK_MANIPULATOR: {
-      result = ptmeConfig.configTxManipulator(false);
+      ptmeConfig.configTxManipulator(false);
       break;
     }
     case UPDATE_ON_RISING_EDGE: {
-      result = ptmeConfig.invertTxClock(false);
+      ptmeConfig.invertTxClock(false);
       break;
     }
     case UPDATE_ON_FALLING_EDGE: {
-      result = ptmeConfig.invertTxClock(true);
+      ptmeConfig.invertTxClock(true);
       break;
     }
     default:
@@ -271,7 +296,7 @@ void CcsdsIpCoreHandler::enablePrioritySelectMode() { ptmeConfig.enableBatPriori
 void CcsdsIpCoreHandler::disablePrioritySelectMode() { ptmeConfig.enableBatPriorityBit(false); }
 
 void CcsdsIpCoreHandler::updateBatPriorityFromParam() {
-  if (batPriorityParam == 0) {
+  if (params.batPriorityParam == 0) {
     disablePrioritySelectMode();
   } else {
     enablePrioritySelectMode();
@@ -290,9 +315,17 @@ void CcsdsIpCoreHandler::performPtmeUpdateWhenApplicable() {
     return;
   }
   if (updateContext.ptmeUpdateCycleCount >= 2) {
+    bool doResetPtme = false;
     if (updateContext.updateBatPrio) {
       updateBatPriorityFromParam();
       updateContext.updateBatPrio = false;
+      doResetPtme = true;
+    }
+    if (updateContext.updatePollThreshold) {
+      ptmeConfig.setPollThreshold(
+          static_cast<AxiPtmeConfig::IdlePollThreshold>(params.pollThresholdParam));
+      updateContext.updatePollThreshold = false;
+      doResetPtme = true;
     }
     ReturnValue_t result = returnvalue::OK;
     if (updateContext.updateClockRate) {
@@ -312,10 +345,7 @@ void CcsdsIpCoreHandler::performPtmeUpdateWhenApplicable() {
         sif::error << "CcsdsIpCoreHandler: Setting datarate failed" << std::endl;
       }
       updateContext.updateClockRate = false;
-    }
-    bool doResetPtme = true;
-    if (not updateContext.updateBatPrio and not updateContext.updateClockRate) {
-      doResetPtme = false;
+      doResetPtme = true;
     }
     finishPtmeUpdateAfterXCycles(doResetPtme);
     return;

mission/com/CcsdsIpCoreHandler.h

@@ -60,7 +60,7 @@ class CcsdsIpCoreHandler : public SystemObject,
                            public ReceivesParameterMessagesIF,
                            public HasActionsIF {
  public:
-  enum ParamId : uint8_t { BAT_PRIORITY = 0 };
+  enum ParamId : uint8_t { BAT_PRIORITY = 0, POLL_THRESHOLD = 1 };
 
   static const bool LINK_UP = true;
   static const bool LINK_DOWN = false;
@@ -156,12 +156,17 @@ class CcsdsIpCoreHandler : public SystemObject,
 
   PtmeConfig& ptmeConfig;
   PtmeGpios ptmeGpios;
-  // BAT priority bit on by default to enable priority selection mode for the PTME.
-  uint8_t batPriorityParam = 0;
+  struct Parameters {
+    // BAT priority bit on by default to enable priority selection mode for the PTME.
+    uint8_t batPriorityParam = 0;
+    uint8_t pollThresholdParam = static_cast<uint8_t>(AxiPtmeConfig::IdlePollThreshold::POLL_4);
+
+  } params;
 
   struct UpdateContext {
     bool updateBatPrio = false;
     bool updateClockRate = false;
+    bool updatePollThreshold = false;
     bool enableTransmitAfterPtmeUpdate = false;
     uint8_t ptmeUpdateCycleCount = 0;
     bool performPtmeUpdateAfterXCycles = false;

mission/com/PersistentSingleTmStoreTask.cpp

@@ -29,7 +29,7 @@ ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
       TaskFactory::delayTask(10);
     } else {
       // TODO: Would be best to remove this, but not delaying here can lead to evil issues.
-      TaskFactory::delayTask(10);
+      TaskFactory::delayTask(2);
     }
   }
 }

mission/controller/ThermalController.h

@@ -13,7 +13,7 @@
 #include <mission/acs/str/strHelpers.h>
 #include <mission/acs/susMax1227Helpers.h>
 #include <mission/com/syrlinksDefs.h>
-#include <mission/controller/controllerdefinitions/ThermalControllerDefinitions.h>
+#include <mission/controller/tcsDefs.h>
 #include <mission/payload/payloadPcduDefinitions.h>
 #include <mission/power/bpxBattDefs.h>
 #include <mission/power/gsDefs.h>
@@ -45,6 +45,48 @@ struct TempLimits {
   float nopUpperLimit;
 };
 
+struct ThermalState {
+  uint8_t errorCounter;
+  bool heating;
+  uint32_t heaterStartTime;
+};
+
+struct HeaterState {
+  bool switchTransition;
+  HeaterHandler::SwitchState target;
+  uint8_t heaterSwitchControlCycles;
+};
+
+using HeaterSwitchStates = std::array<HeaterHandler::SwitchState, heater::NUMBER_OF_SWITCHES>;
+
+enum ThermalComponents : uint8_t {
+  NONE = 0,
+  ACS_BOARD = 1,
+  MGT = 2,
+  RW = 3,
+  STR = 4,
+  IF_BOARD = 5,
+  TCS_BOARD = 6,
+  OBC = 7,
+  OBCIF_BOARD = 8,
+  SBAND_TRANSCEIVER = 9,
+  PCDUP60_BOARD = 10,
+  PCDUACU = 11,
+  PCDUPDU = 12,
+  PLPCDU_BOARD = 13,
+  PLOCMISSION_BOARD = 14,
+  PLOCPROCESSING_BOARD = 15,
+  DAC = 16,
+  CAMERA = 17,
+  DRO = 18,
+  X8 = 19,
+  HPA = 20,
+  TX = 21,
+  MPA = 22,
+  SCEX_BOARD = 23,
+  NUM_ENTRIES
+};
+
 class ThermalController : public ExtendedControllerBase {
  public:
   static const uint16_t INVALID_TEMPERATURE = 999;
@@ -55,7 +97,19 @@ class ThermalController : public ExtendedControllerBase {
   ReturnValue_t initialize() override;
 
  protected:
-  void performThermalModuleCtrl();
+  struct HeaterContext {
+   public:
+    HeaterContext(heater::Switchers switchNr, heater::Switchers redundantSwitchNr,
+                  const TempLimits& tempLimit)
+        : switchNr(switchNr), redSwitchNr(redundantSwitchNr), tempLimit(tempLimit) {}
+    bool doHeaterHandling = true;
+    heater::Switchers switchNr;
+    HeaterHandler::SwitchState switchState = HeaterHandler::SwitchState::OFF;
+    heater::Switchers redSwitchNr;
+    const TempLimits& tempLimit;
+  };
+
+  void performThermalModuleCtrl(const HeaterSwitchStates& heaterSwitchStates);
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
   void performControlOperation() override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -67,16 +121,7 @@ class ThermalController : public ExtendedControllerBase {
                                  uint32_t* msToReachTheMode) override;
 
  private:
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_CONTROLLER;
-  static constexpr Event NO_VALID_SENSOR_TEMPERATURE = MAKE_EVENT(0, severity::MEDIUM);
-  static constexpr Event NO_HEALTHY_HEATER_AVAILABLE = MAKE_EVENT(1, severity::MEDIUM);
-  static constexpr Event SYRLINKS_OVERHEATING = MAKE_EVENT(2, severity::HIGH);
-  static constexpr Event PLOC_OVERHEATING = MAKE_EVENT(3, severity::HIGH);
-  static constexpr Event OBC_OVERHEATING = MAKE_EVENT(4, severity::HIGH);
-  static constexpr Event HPA_OVERHEATING = MAKE_EVENT(5, severity::HIGH);
-  static constexpr Event PLPCDU_OVERHEATING = MAKE_EVENT(6, severity::HIGH);
-
-  static const uint32_t DELAY = 500;
+  static const uint32_t INIT_DELAY = 1500;
 
   static const uint32_t TEMP_OFFSET = 5;
 
@@ -96,22 +141,22 @@ class ThermalController : public ExtendedControllerBase {
   DeviceHandlerThermalSet imtqThermalSet;
 
   // Temperature Sensors
-  MAX31865::PrimarySet max31865Set0;
-  MAX31865::PrimarySet max31865Set1;
-  MAX31865::PrimarySet max31865Set2;
-  MAX31865::PrimarySet max31865Set3;
-  MAX31865::PrimarySet max31865Set4;
-  MAX31865::PrimarySet max31865Set5;
-  MAX31865::PrimarySet max31865Set6;
-  MAX31865::PrimarySet max31865Set7;
-  MAX31865::PrimarySet max31865Set8;
-  MAX31865::PrimarySet max31865Set9;
-  MAX31865::PrimarySet max31865Set10;
-  MAX31865::PrimarySet max31865Set11;
-  MAX31865::PrimarySet max31865Set12;
-  MAX31865::PrimarySet max31865Set13;
-  MAX31865::PrimarySet max31865Set14;
-  MAX31865::PrimarySet max31865Set15;
+  MAX31865::PrimarySet maxSet0PlocHspd;
+  MAX31865::PrimarySet maxSet1PlocMissionBrd;
+  MAX31865::PrimarySet maxSet2PlCam;
+  MAX31865::PrimarySet maxSet3DacHspd;
+  MAX31865::PrimarySet maxSet4Str;
+  MAX31865::PrimarySet maxSet5Rw1MxMy;
+  MAX31865::PrimarySet maxSet6Dro;
+  MAX31865::PrimarySet maxSet7Scex;
+  MAX31865::PrimarySet maxSet8X8;
+  MAX31865::PrimarySet maxSet9Hpa;
+  MAX31865::PrimarySet maxSet10EbandTx;
+  MAX31865::PrimarySet maxSet11Mpa;
+  MAX31865::PrimarySet maxSet31865Set12;
+  MAX31865::PrimarySet maxSet13PlPcduHspd;
+  MAX31865::PrimarySet maxSet14TcsBrd;
+  MAX31865::PrimarySet maxSet15Imtq;
 
   TMP1075::Tmp1075Dataset tmp1075SetTcs0;
   TMP1075::Tmp1075Dataset tmp1075SetTcs1;
@@ -191,18 +236,38 @@ class ThermalController : public ExtendedControllerBase {
   TempLimits dacLimits = TempLimits(-65.0, -40.0, 113.0, 118.0, 150.0);
   TempLimits cameraLimits = TempLimits(-40.0, -30.0, 60.0, 65.0, 85.0);
   TempLimits droLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
-  TempLimits x8Limits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
-  TempLimits hpaLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
-  TempLimits txLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
-  TempLimits mpaLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
+  TempLimits x8Limits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
+  TempLimits hpaLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
+  TempLimits txLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
+  TempLimits mpaLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
   TempLimits scexBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 150.0);
 
   double sensorTemp = INVALID_TEMPERATURE;
+  ThermalComponents thermalComponent = NONE;
   bool redSwitchNrInUse = false;
+  MessageQueueId_t camId = MessageQueueIF::NO_QUEUE;
   bool componentAboveCutOffLimit = false;
+  bool componentAboveUpperLimit = false;
+  Event overHeatEventToTrigger;
+  bool eBandTooHotFlag = false;
+  bool camTooHotOneShotFlag = false;
+  bool scexTooHotFlag = false;
+  bool plocTooHotFlag = false;
+  bool pcduSystemTooHotFlag = false;
+  bool syrlinksTooHotFlag = false;
+  bool obcTooHotFlag = false;
+  bool strTooHotFlag = false;
+  bool rwTooHotFlag = false;
 
-  // Initial delay to make sure all pool variables have been initialized their owners
-  Countdown initialCountdown = Countdown(DELAY);
+  bool transitionToOff = false;
+  uint32_t transitionToOffCycles = 0;
+  uint32_t cycles = 0;
+  std::array<ThermalState, 30> thermalStates{};
+  std::array<HeaterState, 7> heaterStates{};
+
+  // Initial delay to make sure all pool variables have been initialized their owners.
+  // Also, wait for system initialization to complete.
+  Countdown initialCountdown = Countdown(INIT_DELAY);
 
 #if OBSW_THREAD_TRACING == 1
   uint32_t opCounter = 0;
@@ -221,14 +286,18 @@ class ThermalController : public ExtendedControllerBase {
 
   static constexpr dur_millis_t MUTEX_TIMEOUT = 50;
 
+  void startTransition(Mode_t mode, Submode_t submode) override;
+
   void resetSensorsArray();
   void copySensors();
   void copySus();
   void copyDevices();
 
-  void ctrlComponentTemperature(heater::Switchers switchNr, heater::Switchers redSwitchNr,
-                                TempLimits& tempLimit);
-  void ctrlHeater(heater::Switchers switchNr, heater::Switchers redSwitchNr, TempLimits& tempLimit);
+  void ctrlComponentTemperature(HeaterContext& heaterContext);
+  void checkLimitsAndCtrlHeater(HeaterContext& heaterContext);
+  bool heaterCtrlCheckUpperLimits(HeaterContext& heaterContext);
+  void heaterCtrlTempTooHighHandler(HeaterContext& heaterContext, const char* whatLimit);
+
   bool chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr);
   bool selectAndReadSensorTemp();
 
@@ -255,6 +324,11 @@ class ThermalController : public ExtendedControllerBase {
   void ctrlTx();
   void ctrlMpa();
   void ctrlScexBoard();
+  void heaterTransitionControl(const HeaterSwitchStates& currentHeaterStates);
+  void setMode(Mode_t mode);
+  uint32_t tempFloatToU32() const;
+  bool tooHotHandler(object_id_t object, bool& oneShotFlag);
+  void tooHotHandlerWhichClearsOneShotFlag(object_id_t object, bool& oneShotFlag);
 };
 
 #endif /* MISSION_CONTROLLER_THERMALCONTROLLER_H_ */

mission/controller/tcsDefs.h

@@ -5,9 +5,19 @@
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 
 #include "devices/heaterSwitcherList.h"
+#include "eive/eventSubsystemIds.h"
 
 namespace tcsCtrl {
 
+static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_CONTROLLER;
+static constexpr Event NO_VALID_SENSOR_TEMPERATURE = MAKE_EVENT(0, severity::MEDIUM);
+static constexpr Event NO_HEALTHY_HEATER_AVAILABLE = MAKE_EVENT(1, severity::MEDIUM);
+static constexpr Event SYRLINKS_OVERHEATING = MAKE_EVENT(2, severity::HIGH);
+static constexpr Event OBC_OVERHEATING = MAKE_EVENT(4, severity::HIGH);
+static constexpr Event CAMERA_OVERHEATING = MAKE_EVENT(5, severity::HIGH);
+static constexpr Event PCDU_SYSTEM_OVERHEATING = MAKE_EVENT(6, severity::HIGH);
+static constexpr Event HEATER_NOT_OFF_FOR_OFF_MODE = MAKE_EVENT(7, severity::MEDIUM);
+
 enum SetId : uint32_t {
   SENSOR_TEMPERATURES = 0,
   DEVICE_TEMPERATURES = 1,
@@ -93,34 +103,33 @@ static const uint8_t ENTRIES_SUS_TEMPERATURE_SET = 12;
  */
 class SensorTemperatures : public StaticLocalDataSet<ENTRIES_SENSOR_TEMPERATURE_SET> {
  public:
-  SensorTemperatures(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SENSOR_TEMPERATURES) {}
+  explicit SensorTemperatures(HasLocalDataPoolIF* owner)
+      : StaticLocalDataSet(owner, SENSOR_TEMPERATURES) {}
 
-  SensorTemperatures(object_id_t objectId)
+  explicit SensorTemperatures(object_id_t objectId)
       : StaticLocalDataSet(sid_t(objectId, SENSOR_TEMPERATURES)) {}
 
-  lp_var_t<float> sensor_ploc_heatspreader =
+  lp_var_t<float> plocHeatspreader =
       lp_var_t<float>(sid.objectId, PoolIds::SENSOR_PLOC_HEATSPREADER, this);
-  lp_var_t<float> sensor_ploc_missionboard =
+  lp_var_t<float> plocMissionboard =
       lp_var_t<float>(sid.objectId, PoolIds::SENSOR_PLOC_MISSIONBOARD, this);
-  lp_var_t<float> sensor_4k_camera = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_4K_CAMERA, this);
-  lp_var_t<float> sensor_dac_heatspreader =
+  lp_var_t<float> payload4kCamera = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_4K_CAMERA, this);
+  lp_var_t<float> dacHeatspreader =
       lp_var_t<float>(sid.objectId, PoolIds::SENSOR_DAC_HEATSPREADER, this);
-  lp_var_t<float> sensor_startracker =
-      lp_var_t<float>(sid.objectId, PoolIds::SENSOR_STARTRACKER, this);
-  lp_var_t<float> sensor_rw1 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_RW1, this);
-  lp_var_t<float> sensor_scex = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_SCEX, this);
-  lp_var_t<float> sensor_tx_modul = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TX_MODUL, this);
+  lp_var_t<float> startracker = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_STARTRACKER, this);
+  lp_var_t<float> rw1 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_RW1, this);
+  lp_var_t<float> scex = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_SCEX, this);
+  lp_var_t<float> eBandTx = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TX_MODUL, this);
   // E-Band module
-  lp_var_t<float> sensor_dro = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_DRO, this);
-  lp_var_t<float> sensor_mpa = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_MPA, this);
-  lp_var_t<float> sensor_x8 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_X8, this);
-  lp_var_t<float> sensor_hpa = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_HPA, this);
-  lp_var_t<float> sensor_acu = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_ACU, this);
-  lp_var_t<float> sensor_plpcdu_heatspreader =
+  lp_var_t<float> dro = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_DRO, this);
+  lp_var_t<float> mpa = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_MPA, this);
+  lp_var_t<float> x8 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_X8, this);
+  lp_var_t<float> hpa = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_HPA, this);
+  lp_var_t<float> acu = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_ACU, this);
+  lp_var_t<float> plpcduHeatspreader =
       lp_var_t<float>(sid.objectId, PoolIds::SENSOR_PLPCDU_HEATSPREADER, this);
-  lp_var_t<float> sensor_tcs_board = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TCS_BOARD, this);
-  lp_var_t<float> sensor_magnettorquer =
-      lp_var_t<float>(sid.objectId, PoolIds::SENSOR_MAGNETTORQUER, this);
+  lp_var_t<float> tcsBoard = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TCS_BOARD, this);
+  lp_var_t<float> mgt = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_MAGNETTORQUER, this);
   lp_var_t<float> tmp1075Tcs0 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TMP1075_TCS_0, this);
   lp_var_t<float> tmp1075Tcs1 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TMP1075_TCS_1, this);
   lp_var_t<float> tmp1075PlPcdu0 =
@@ -137,9 +146,10 @@ class SensorTemperatures : public StaticLocalDataSet<ENTRIES_SENSOR_TEMPERATURE_
  */
 class DeviceTemperatures : public StaticLocalDataSet<ENTRIES_DEVICE_TEMPERATURE_SET> {
  public:
-  DeviceTemperatures(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, DEVICE_TEMPERATURES) {}
+  explicit DeviceTemperatures(HasLocalDataPoolIF* owner)
+      : StaticLocalDataSet(owner, DEVICE_TEMPERATURES) {}
 
-  DeviceTemperatures(object_id_t objectId)
+  explicit DeviceTemperatures(object_id_t objectId)
       : StaticLocalDataSet(sid_t(objectId, DEVICE_TEMPERATURES)) {}
 
   lp_var_t<float> q7s = lp_var_t<float>(sid.objectId, PoolIds::TEMP_Q7S, this);
@@ -178,9 +188,11 @@ class DeviceTemperatures : public StaticLocalDataSet<ENTRIES_DEVICE_TEMPERATURE_
  */
 class SusTemperatures : public StaticLocalDataSet<ENTRIES_SUS_TEMPERATURE_SET> {
  public:
-  SusTemperatures(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SUS_TEMPERATURES) {}
+  explicit SusTemperatures(HasLocalDataPoolIF* owner)
+      : StaticLocalDataSet(owner, SUS_TEMPERATURES) {}
 
-  SusTemperatures(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, SUS_TEMPERATURES)) {}
+  explicit SusTemperatures(object_id_t objectId)
+      : StaticLocalDataSet(sid_t(objectId, SUS_TEMPERATURES)) {}
 
   lp_var_t<float> sus_0_n_loc_xfyfzm_pt_xf =
       lp_var_t<float>(sid.objectId, PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, this);

mission/genericFactory.cpp

@@ -295,7 +295,7 @@ void ObjectFactory::createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF&
       {new HealthDevice(objects::HEATER_7_SYRLINKS, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_7},
   }});
   heaterHandler = new HeaterHandler(objects::HEATER_HANDLER, &gpioIF, helper, &pwrSwitcher,
-                                    pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
+                                    power::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
   heaterHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
 }
 
@@ -359,13 +359,17 @@ void ObjectFactory::createAcsBoardAssy(PowerSwitchIF& pwrSwitcher,
     }
   }
   gpsCtrl->connectModeTreeParent(*acsAss);
+  auto* gps0HealthDev = new HealthDevice(objects::GPS_0_HEALTH_DEV, acsAss->getCommandQueue());
+  auto* gps1HealthDev = new HealthDevice(objects::GPS_1_HEALTH_DEV, acsAss->getCommandQueue());
+  acsAss->registerChild(objects::GPS_0_HEALTH_DEV, gps0HealthDev->getCommandQueue());
+  acsAss->registerChild(objects::GPS_1_HEALTH_DEV, gps1HealthDev->getCommandQueue());
   acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 }
 
 TcsBoardAssembly* ObjectFactory::createTcsBoardAssy(PowerSwitchIF& pwrSwitcher) {
   TcsBoardHelper helper(RTD_INFOS);
   auto* tcsBoardAss = new TcsBoardAssembly(objects::TCS_BOARD_ASS, &pwrSwitcher,
-                                           pcdu::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
+                                           power::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
   tcsBoardAss->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
   return tcsBoardAss;
 }

mission/genericFactory.h

@@ -2,6 +2,7 @@
 #define MISSION_CORE_GENERICFACTORY_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <fsfw/devicehandlers/HealthDevice.h>
 #include <mission/memory/SdCardMountedIF.h>
 #include <mission/persistentTmStoreDefs.h>
 #include <mission/tcs/Max31865Definitions.h>

mission/power/PcduHandler.cpp

@@ -28,25 +28,35 @@ ReturnValue_t PcduHandler::performOperation(uint8_t counter) {
   if (counter == DeviceHandlerIF::PERFORM_OPERATION) {
     readCommandQueue();
   }
-  uint8_t switchState = 0;
+  uint8_t switchState5V = 0;
+  uint8_t switchState3V3 = 0;
   {
     PoolReadGuard pg(&p60CoreHk.outputEnables);
     if (pg.getReadResult() == returnvalue::OK) {
-      switchState = p60CoreHk.outputEnables.value[10];
+      switchState5V = p60CoreHk.outputEnables.value[P60Dock::hk::STACK_5V];
+      switchState3V3 = p60CoreHk.outputEnables.value[P60Dock::hk::STACK_3V3];
     } else {
       return returnvalue::OK;
     }
   }
   {
-    PoolReadGuard pg(&switcherSet.p60Dock5VStack);
+    PoolReadGuard pg(&switcherSet);
     if (pg.getReadResult() == returnvalue::OK) {
-      if (switcherSet.p60Dock5VStack.value != switchState) {
-        triggerEvent(power::SWITCH_HAS_CHANGED, switchState, pcdu::Switches::P60_DOCK_5V_STACK);
+      if (switcherSet.p60Dock5VStack.value != switchState5V) {
+        triggerEvent(power::SWITCH_HAS_CHANGED, switchState5V, power::Switches::P60_DOCK_5V_STACK);
         MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
-        switchStates[pcdu::P60_DOCK_5V_STACK] = switchState;
+        switchStates[power::P60_DOCK_5V_STACK] = switchState5V;
+      }
+      if (switcherSet.p60Dock3V3Stack.value != switchState3V3) {
+        triggerEvent(power::SWITCH_HAS_CHANGED, switchState3V3,
+                     power::Switches::P60_DOCK_3V3_STACK);
+        MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+        switchStates[power::P60_DOCK_3V3_STACK] = switchState3V3;
       }
       switcherSet.p60Dock5VStack.setValid(true);
-      switcherSet.p60Dock5VStack.value = switchState;
+      switcherSet.p60Dock5VStack.value = switchState5V;
+      switcherSet.p60Dock3V3Stack.setValid(true);
+      switcherSet.p60Dock3V3Stack.value = switchState3V3;
     }
   }
   return returnvalue::OK;
@@ -103,7 +113,7 @@ ReturnValue_t PcduHandler::initialize() {
 void PcduHandler::initializeSwitchStates() {
   using namespace pcdu;
   try {
-    for (uint8_t idx = 0; idx < NUMBER_OF_SWITCHES; idx++) {
+    for (uint8_t idx = 0; idx < power::NUMBER_OF_SWITCHES; idx++) {
       if (idx < PDU::CHANNELS_LEN) {
         switchStates[idx] = INIT_SWITCHES_PDU1.at(idx);
       } else if (idx < PDU::CHANNELS_LEN * 2) {
@@ -181,22 +191,23 @@ void PcduHandler::updatePdu2SwitchStates() {
     }
     switcherSet.pdu2Switches.setValid(true);
     MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
-    checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH0_Q7S, pdu2CoreHk.outputEnables[Channels::Q7S]);
+    checkAndUpdatePduSwitch(pdu, power::PDU2_CH0_Q7S, pdu2CoreHk.outputEnables[Channels::Q7S]);
 
-    checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
+    checkAndUpdatePduSwitch(pdu, power::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
                             pdu2CoreHk.outputEnables[Channels::PAYLOAD_PCDU_CH1]);
-    checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH2_RW_5V, pdu2CoreHk.outputEnables[Channels::RW]);
-    checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V,
+    checkAndUpdatePduSwitch(pdu, power::Switches::PDU2_CH2_RW_5V,
+                            pdu2CoreHk.outputEnables[Channels::RW]);
+    checkAndUpdatePduSwitch(pdu, power::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V,
                             pdu2CoreHk.outputEnables[Channels::TCS_HEATER_IN]);
-    checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH4_SUS_REDUNDANT_3V3,
+    checkAndUpdatePduSwitch(pdu, power::Switches::PDU2_CH4_SUS_REDUNDANT_3V3,
                             pdu2CoreHk.outputEnables[Channels::SUS_REDUNDANT]);
-    checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
+    checkAndUpdatePduSwitch(pdu, power::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
                             pdu2CoreHk.outputEnables[Channels::DEPY_MECHANISM]);
-    checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8,
+    checkAndUpdatePduSwitch(pdu, power::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8,
                             pdu2CoreHk.outputEnables[Channels::PAYLOAD_PCDU_CH6]);
-    checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3,
+    checkAndUpdatePduSwitch(pdu, power::Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3,
                             pdu2CoreHk.outputEnables[Channels::ACS_B_SIDE]);
-    checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH8_PAYLOAD_CAMERA,
+    checkAndUpdatePduSwitch(pdu, power::Switches::PDU2_CH8_PAYLOAD_CAMERA,
                             pdu2CoreHk.outputEnables[Channels::PAYLOAD_CAMERA]);
     if (firstSwitchInfoPdu2) {
       firstSwitchInfoPdu2 = false;
@@ -218,23 +229,23 @@ void PcduHandler::updatePdu1SwitchStates() {
     }
     switcherSet.pdu1Switches.setValid(true);
     MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
-    checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH0_TCS_BOARD_3V3,
+    checkAndUpdatePduSwitch(pdu, power::Switches::PDU1_CH0_TCS_BOARD_3V3,
                             pdu1CoreHk.outputEnables[Channels::TCS_BOARD_3V3]);
-    checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH1_SYRLINKS_12V,
+    checkAndUpdatePduSwitch(pdu, power::Switches::PDU1_CH1_SYRLINKS_12V,
                             pdu1CoreHk.outputEnables[Channels::SYRLINKS]);
-    checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH2_STAR_TRACKER_5V,
+    checkAndUpdatePduSwitch(pdu, power::Switches::PDU1_CH2_STAR_TRACKER_5V,
                             pdu1CoreHk.outputEnables[Channels::STR]);
-    checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH3_MGT_5V,
+    checkAndUpdatePduSwitch(pdu, power::Switches::PDU1_CH3_MGT_5V,
                             pdu1CoreHk.outputEnables[Channels::MGT]);
-    checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH4_SUS_NOMINAL_3V3,
+    checkAndUpdatePduSwitch(pdu, power::Switches::PDU1_CH4_SUS_NOMINAL_3V3,
                             pdu1CoreHk.outputEnables[Channels::SUS_NOMINAL]);
-    checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH5_SOLAR_CELL_EXP_5V,
+    checkAndUpdatePduSwitch(pdu, power::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V,
                             pdu1CoreHk.outputEnables[Channels::SOL_CELL_EXPERIMENT]);
-    checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH6_PLOC_12V,
+    checkAndUpdatePduSwitch(pdu, power::Switches::PDU1_CH6_PLOC_12V,
                             pdu1CoreHk.outputEnables[Channels::PLOC]);
-    checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH7_ACS_A_SIDE_3V3,
+    checkAndUpdatePduSwitch(pdu, power::Switches::PDU1_CH7_ACS_A_SIDE_3V3,
                             pdu1CoreHk.outputEnables[Channels::ACS_A_SIDE]);
-    checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH8_UNOCCUPIED,
+    checkAndUpdatePduSwitch(pdu, power::Switches::PDU1_CH8_UNOCCUPIED,
                             pdu1CoreHk.outputEnables[Channels::UNUSED]);
     if (firstSwitchInfoPdu1) {
       firstSwitchInfoPdu1 = false;
@@ -255,103 +266,108 @@ ReturnValue_t PcduHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO
   GomspaceDeviceHandler* module = nullptr;
 
   switch (switchNr) {
-    case pcdu::PDU1_CH0_TCS_BOARD_3V3: {
+    case power::PDU1_CH0_TCS_BOARD_3V3: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_TCS_BOARD_3V3;
       module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
-    case pcdu::PDU1_CH1_SYRLINKS_12V: {
+    case power::PDU1_CH1_SYRLINKS_12V: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_SYRLINKS;
       module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
-    case pcdu::PDU1_CH2_STAR_TRACKER_5V: {
+    case power::PDU1_CH2_STAR_TRACKER_5V: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_STAR_TRACKER;
       module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
-    case pcdu::PDU1_CH3_MGT_5V: {
+    case power::PDU1_CH3_MGT_5V: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_MGT;
       module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
-    case pcdu::PDU1_CH4_SUS_NOMINAL_3V3: {
+    case power::PDU1_CH4_SUS_NOMINAL_3V3: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL;
       module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
-    case pcdu::PDU1_CH5_SOLAR_CELL_EXP_5V: {
+    case power::PDU1_CH5_SOLAR_CELL_EXP_5V: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP;
       module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
-    case pcdu::PDU1_CH6_PLOC_12V: {
+    case power::PDU1_CH6_PLOC_12V: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_PLOC;
       module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
-    case pcdu::PDU1_CH7_ACS_A_SIDE_3V3: {
+    case power::PDU1_CH7_ACS_A_SIDE_3V3: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A;
       module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
-    case pcdu::PDU1_CH8_UNOCCUPIED: {
+    case power::PDU1_CH8_UNOCCUPIED: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_CHANNEL8;
       module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
     // This is a dangerous command. Reject/Igore it for now
-    case pcdu::PDU2_CH0_Q7S: {
+    case power::PDU2_CH0_Q7S: {
       return returnvalue::FAILED;
       // memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_Q7S;
       // pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       // break;
     }
-    case pcdu::PDU2_CH1_PL_PCDU_BATT_0_14V8: {
+    case power::PDU2_CH1_PL_PCDU_BATT_0_14V8: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH1;
       module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
-    case pcdu::PDU2_CH2_RW_5V: {
+    case power::PDU2_CH2_RW_5V: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_RW;
       module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
-    case pcdu::PDU2_CH3_TCS_BOARD_HEATER_IN_8V: {
+    case power::PDU2_CH3_TCS_BOARD_HEATER_IN_8V: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN;
       module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
-    case pcdu::PDU2_CH4_SUS_REDUNDANT_3V3: {
+    case power::PDU2_CH4_SUS_REDUNDANT_3V3: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_SUS_REDUNDANT;
       module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
-    case pcdu::PDU2_CH5_DEPLOYMENT_MECHANISM_8V: {
+    case power::PDU2_CH5_DEPLOYMENT_MECHANISM_8V: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM;
       module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
-    case pcdu::PDU2_CH6_PL_PCDU_BATT_1_14V8: {
+    case power::PDU2_CH6_PL_PCDU_BATT_1_14V8: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6;
       module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
-    case pcdu::PDU2_CH7_ACS_BOARD_SIDE_B_3V3: {
+    case power::PDU2_CH7_ACS_BOARD_SIDE_B_3V3: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_B;
       module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
-    case pcdu::PDU2_CH8_PAYLOAD_CAMERA: {
+    case power::PDU2_CH8_PAYLOAD_CAMERA: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA;
       module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
-    case pcdu::P60_DOCK_5V_STACK: {
+    case power::P60_DOCK_5V_STACK: {
       memoryAddress = P60Dock::CONFIG_ADDRESS_OUT_EN_5V_STACK;
       module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::P60DOCK_HANDLER);
       break;
     }
+    case power::P60_DOCK_3V3_STACK: {
+      memoryAddress = P60Dock::CONFIG_ADDRESS_OUT_EN_3V3_STACK;
+      module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::P60DOCK_HANDLER);
+      break;
+    }
 
     default: {
       sif::error << "PCDUHandler::sendSwitchCommand: Invalid switch number " << std::endl;
@@ -399,7 +415,7 @@ ReturnValue_t PcduHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO
 ReturnValue_t PcduHandler::sendFuseOnCommand(uint8_t fuseNr) { return returnvalue::OK; }
 
 ReturnValue_t PcduHandler::getSwitchState(uint8_t switchNr) const {
-  if (switchNr >= pcdu::NUMBER_OF_SWITCHES) {
+  if (switchNr >= power::NUMBER_OF_SWITCHES) {
     sif::debug << "PCDUHandler::getSwitchState: Invalid switch number" << std::endl;
     return returnvalue::FAILED;
   }
@@ -429,7 +445,8 @@ ReturnValue_t PcduHandler::initializeLocalDataPool(localpool::DataPool& localDat
   using namespace pcdu;
   localDataPoolMap.emplace(PoolIds::PDU1_SWITCHES, &pdu1Switches);
   localDataPoolMap.emplace(PoolIds::PDU2_SWITCHES, &pdu2Switches);
-  localDataPoolMap.emplace(PoolIds::P60DOCK_SWITCHES, &p60Dock5VSwitch);
+  localDataPoolMap.emplace(PoolIds::P60DOCK_5V, &p60Dock5VSwitch);
+  localDataPoolMap.emplace(PoolIds::P60DOCK_3V3, &p60Dock3V3Switch);
   poolManager.subscribeForDiagPeriodicPacket(
       subdp::DiagnosticsHkPeriodicParams(switcherSet.getSid(), false, 5.0));
   return returnvalue::OK;
@@ -459,7 +476,7 @@ LocalPoolDataSetBase* PcduHandler::getDataSetHandle(sid_t sid) {
   }
 }
 
-void PcduHandler::checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx,
+void PcduHandler::checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, power::Switches switchIdx,
                                           uint8_t setValue) {
   using namespace pcdu;
   if (switchStates[switchIdx] != setValue) {

mission/power/PcduHandler.h

@@ -80,6 +80,7 @@ class PcduHandler : public PowerSwitchIF,
   PoolEntry<uint8_t> pdu2Switches =
       PoolEntry<uint8_t>(pcdu::INIT_SWITCHES_PDU2.data(), pcdu::INIT_SWITCHES_PDU2.size());
   PoolEntry<uint8_t> p60Dock5VSwitch = PoolEntry<uint8_t>();
+  PoolEntry<uint8_t> p60Dock3V3Switch = PoolEntry<uint8_t>();
 
   /** The timeStamp of the current pdu2HkTableDataset */
   CCSDSTime::CDS_short timeStampPdu2HkDataset;
@@ -88,7 +89,7 @@ class PcduHandler : public PowerSwitchIF,
   CCSDSTime::CDS_short timeStampPdu1HkDataset;
 
   uint8_t SWITCH_STATE_UNKNOWN = 2;
-  uint8_t switchStates[pcdu::NUMBER_OF_SWITCHES];
+  uint8_t switchStates[power::NUMBER_OF_SWITCHES];
   /**
    * Pointer to the IPCStore.
    * This caches the pointer received from the objectManager in the constructor.
@@ -137,7 +138,7 @@ class PcduHandler : public PowerSwitchIF,
    */
   void updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset,
                             CCSDSTime::CDS_short* datasetTimeStamp);
-  void checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx, uint8_t setValue);
+  void checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, power::Switches switchIdx, uint8_t setValue);
 };
 
 #endif /* MISSION_POWER_PCDUHANDLER_H_ */

mission/power/defs.h

@@ -3,11 +3,39 @@
 
 #include <fsfw/events/Event.h>
 #include <fsfw/modes/ModeMessage.h>
+#include <fsfw/power/definitions.h>
 
 #include "eive/eventSubsystemIds.h"
 
 namespace power {
 
+/* Switches are uint8_t datatype and go from 0 to 255 */
+enum Switches : power::Switch_t {
+  PDU1_CH0_TCS_BOARD_3V3,
+  PDU1_CH1_SYRLINKS_12V,
+  PDU1_CH2_STAR_TRACKER_5V,
+  PDU1_CH3_MGT_5V,
+  PDU1_CH4_SUS_NOMINAL_3V3,
+  PDU1_CH5_SOLAR_CELL_EXP_5V,
+  PDU1_CH6_PLOC_12V,
+  PDU1_CH7_ACS_A_SIDE_3V3,
+  PDU1_CH8_UNOCCUPIED,
+
+  PDU2_CH0_Q7S,
+  PDU2_CH1_PL_PCDU_BATT_0_14V8,
+  PDU2_CH2_RW_5V,
+  PDU2_CH3_TCS_BOARD_HEATER_IN_8V,
+  PDU2_CH4_SUS_REDUNDANT_3V3,
+  PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
+  PDU2_CH6_PL_PCDU_BATT_1_14V8,
+  PDU2_CH7_ACS_BOARD_SIDE_B_3V3,
+  PDU2_CH8_PAYLOAD_CAMERA,
+
+  P60_DOCK_5V_STACK,
+  P60_DOCK_3V3_STACK,
+  NUMBER_OF_SWITCHES
+};
+
 static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_HANDLER;
 //! [EXPORT] : [COMMENT] Indicates that a FSFW object requested setting a switch
 //! P1: 1 if on was requested, 0 for off | P2: Switch Index

mission/power/gsDefs.h

@@ -11,6 +11,7 @@
 
 #include "devices/powerSwitcherList.h"
 #include "fsfw/platform.h"
+#include "mission/power/defs.h"
 
 namespace GOMSPACE {
 
@@ -108,6 +109,7 @@ enum class SetIds : uint32_t { CORE = 1, AUX = 2, CONFIG = 3 };
 
 namespace P60Dock {
 
+static const uint16_t CONFIG_ADDRESS_OUT_EN_3V3_STACK = 0x71;
 static const uint16_t CONFIG_ADDRESS_OUT_EN_5V_STACK = 0x72;
 
 namespace pool {
@@ -713,33 +715,7 @@ class AuxHk : public StaticLocalDataSet<12> {
 
 namespace pcdu {
 
-enum PoolIds : uint32_t { PDU1_SWITCHES, PDU2_SWITCHES, P60DOCK_SWITCHES };
-
-/* Switches are uint8_t datatype and go from 0 to 255 */
-enum Switches : power::Switch_t {
-  PDU1_CH0_TCS_BOARD_3V3,
-  PDU1_CH1_SYRLINKS_12V,
-  PDU1_CH2_STAR_TRACKER_5V,
-  PDU1_CH3_MGT_5V,
-  PDU1_CH4_SUS_NOMINAL_3V3,
-  PDU1_CH5_SOLAR_CELL_EXP_5V,
-  PDU1_CH6_PLOC_12V,
-  PDU1_CH7_ACS_A_SIDE_3V3,
-  PDU1_CH8_UNOCCUPIED,
-
-  PDU2_CH0_Q7S,
-  PDU2_CH1_PL_PCDU_BATT_0_14V8,
-  PDU2_CH2_RW_5V,
-  PDU2_CH3_TCS_BOARD_HEATER_IN_8V,
-  PDU2_CH4_SUS_REDUNDANT_3V3,
-  PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
-  PDU2_CH6_PL_PCDU_BATT_1_14V8,
-  PDU2_CH7_ACS_BOARD_SIDE_B_3V3,
-  PDU2_CH8_PAYLOAD_CAMERA,
-
-  P60_DOCK_5V_STACK,
-  NUMBER_OF_SWITCHES
-};
+enum PoolIds : uint32_t { PDU1_SWITCHES, PDU2_SWITCHES, P60DOCK_5V, P60DOCK_3V3 };
 
 static const uint8_t ON = 1;
 static const uint8_t OFF = 0;
@@ -760,7 +736,7 @@ const std::array<uint8_t, PDU::CHANNELS_LEN> INIT_SWITCHES_PDU2 = {ON,  OFF, OFF
 
 static constexpr uint32_t SWITCHER_SET_ID = 0;
 
-class SwitcherStates : public StaticLocalDataSet<NUMBER_OF_SWITCHES> {
+class SwitcherStates : public StaticLocalDataSet<power::NUMBER_OF_SWITCHES> {
  public:
   SwitcherStates(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SWITCHER_SET_ID) {}
 
@@ -770,7 +746,8 @@ class SwitcherStates : public StaticLocalDataSet<NUMBER_OF_SWITCHES> {
       lp_vec_t<uint8_t, PDU::CHANNELS_LEN>(sid.objectId, PDU1_SWITCHES, this);
   lp_vec_t<uint8_t, PDU::CHANNELS_LEN> pdu2Switches =
       lp_vec_t<uint8_t, PDU::CHANNELS_LEN>(sid.objectId, PDU2_SWITCHES, this);
-  lp_var_t<uint8_t> p60Dock5VStack = lp_var_t<uint8_t>(sid.objectId, P60DOCK_SWITCHES, this);
+  lp_var_t<uint8_t> p60Dock5VStack = lp_var_t<uint8_t>(sid.objectId, P60DOCK_5V, this);
+  lp_var_t<uint8_t> p60Dock3V3Stack = lp_var_t<uint8_t>(sid.objectId, P60DOCK_3V3, this);
 };
 
 }  // namespace pcdu

mission/system/acs/AcsBoardAssembly.cpp

@@ -77,16 +77,14 @@ ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
   if (wantedSubmode == A_SIDE) {
     if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
         (helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or
-        (helper.gpsMode != MODE_ON) or
-        (healthHelper.healthTable->getHealth(helper.healthDevGps0) == FAULTY)) {
+        (helper.gpsMode != MODE_ON) or gps0HealthDevFaulty()) {
       return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
     }
     return returnvalue::OK;
   } else if (wantedSubmode == B_SIDE) {
     if ((helper.gyro2SideBMode != wantedMode and helper.gyro3SideBMode != wantedMode) or
         (helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
-        (helper.gpsMode != MODE_ON) or
-        (healthHelper.healthTable->getHealth(helper.healthDevGps1) == FAULTY)) {
+        (helper.gpsMode != MODE_ON) or gps1HealthDevFaulty()) {
       return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
     }
     return returnvalue::OK;
@@ -121,7 +119,8 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
       modeTable[tableIdx].setSubmode(SUBMODE_NONE);
     }
   };
-  bool gpsUsable = isModeCommandable(helper.gpsId, helper.gpsMode);
+
+  bool gpsUsable = isGpsUsable(submode);
   auto gpsCmd = [&](bool gnss0NReset, bool gnss1NReset, uint8_t gnssSelect) {
     if (gpsUsable) {
       if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL) {
@@ -296,15 +295,13 @@ void AcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
   // Special handling to account for GPS devices being faulty. If the GPS device on the other
   // side is marked faulty, directly to to dual side.
   if (submode == Submodes::A_SIDE) {
-    if (healthHelper.healthTable->getHealth(helper.healthDevGps1) == FAULTY or
-        healthHelper.healthTable->getHealth(helper.healthDevGps1) == PERMANENT_FAULTY) {
+    if (gps0HealthDevFaulty()) {
       triggerEvent(DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY, submode, 0);
       startTransition(mode, Submodes::DUAL_MODE);
       return;
     }
   } else if (submode == Submodes::B_SIDE) {
-    if (healthHelper.healthTable->getHealth(helper.healthDevGps0) == FAULTY or
-        healthHelper.healthTable->getHealth(helper.healthDevGps0) == PERMANENT_FAULTY) {
+    if (gps1HealthDevFaulty()) {
       triggerEvent(DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY, submode, 0);
       startTransition(mode, Submodes::DUAL_MODE);
       return;
@@ -312,3 +309,38 @@ void AcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
   }
   DualLaneAssemblyBase::handleChildrenLostMode(result);
 }
+
+bool AcsBoardAssembly::gps0HealthDevFaulty() const {
+  auto health = healthHelper.healthTable->getHealth(helper.healthDevGps0);
+  if (health == FAULTY or health == PERMANENT_FAULTY) {
+    return true;
+  }
+  return false;
+}
+
+bool AcsBoardAssembly::gps1HealthDevFaulty() const {
+  auto health = healthHelper.healthTable->getHealth(helper.healthDevGps1);
+  if (health == FAULTY or health == PERMANENT_FAULTY) {
+    return true;
+  }
+  return false;
+}
+
+bool AcsBoardAssembly::isGpsUsable(uint8_t targetSubmode) const {
+  if (targetSubmode == duallane::A_SIDE and
+      healthHelper.healthTable->isFaulty(helper.healthDevGps0)) {
+    // Causes a OFF command to be sent, which triggers a side switch or a switch to dual side.
+    return false;
+  }
+  if (targetSubmode == duallane::B_SIDE and
+      healthHelper.healthTable->isFaulty(helper.healthDevGps1)) {
+    // Causes a OFF command to be sent, which triggers a side switch or a switch to dual side.
+    return false;
+  }
+  auto gpsIter = childrenMap.find(helper.gpsId);
+  // Check if device is already in target mode
+  if (gpsIter != childrenMap.end() and gpsIter->second.mode == mode) {
+    return true;
+  }
+  return true;
+}

mission/system/acs/AcsBoardAssembly.h

@@ -21,7 +21,9 @@ struct AcsBoardHelper {
         gyro1L3gIdSideA(gyro1Id),
         gyro2AdisIdSideB(gyro2Id),
         gyro3L3gIdSideB(gyro3Id),
-        gpsId(gpsId) {}
+        gpsId(gpsId),
+        healthDevGps0(gps0HealthDev),
+        healthDevGps1(gps1HealthDev) {}
 
   object_id_t mgm0Lis3IdSideA = objects::NO_OBJECT;
   object_id_t mgm1Rm3100IdSideA = objects::NO_OBJECT;
@@ -113,8 +115,8 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {
   void selectGpsInDualMode(duallane::Submodes side);
 
  private:
-  static constexpr pcdu::Switches SWITCH_A = pcdu::Switches::PDU1_CH7_ACS_A_SIDE_3V3;
-  static constexpr pcdu::Switches SWITCH_B = pcdu::Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3;
+  static constexpr power::Switches SWITCH_A = power::Switches::PDU1_CH7_ACS_A_SIDE_3V3;
+  static constexpr power::Switches SWITCH_B = power::Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3;
 
   AcsBoardHelper helper;
   GpioIF* gpioIF = nullptr;
@@ -133,6 +135,9 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {
   ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
   ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode);
   void refreshHelperModes();
+  bool gps0HealthDevFaulty() const;
+  bool gps1HealthDevFaulty() const;
+  bool isGpsUsable(uint8_t targetSubmode) const;
 };
 
 #endif /* MISSION_SYSTEM_ACSBOARDASSEMBLY_H_ */

mission/system/acs/DualLaneAssemblyBase.cpp

@@ -5,7 +5,7 @@
 #include "OBSWConfig.h"
 
 DualLaneAssemblyBase::DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
-                                           pcdu::Switches switch1, pcdu::Switches switch2,
+                                           power::Switches switch1, power::Switches switch2,
                                            Event pwrTimeoutEvent, Event sideSwitchNotAllowedEvent,
                                            Event transitionOtherSideFailedEvent)
     : AssemblyBase(objectId, 20),
@@ -74,7 +74,7 @@ bool DualLaneAssemblyBase::isModeCommandable(object_id_t object, Mode_t mode) {
     return true;
   }
   // Check for external control health state is done by base class.
-  return false;
+  return true;
 }
 
 ReturnValue_t DualLaneAssemblyBase::pwrStateMachineWrapper() {

mission/system/acs/DualLaneAssemblyBase.h

@@ -18,8 +18,8 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
   static constexpr UniqueEventId_t POWER_STATE_MACHINE_TIMEOUT_ID = 2;
   static constexpr UniqueEventId_t SIDE_SWITCH_TRANSITION_NOT_ALLOWED_ID = 3;
 
-  DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher, pcdu::Switches switch1,
-                       pcdu::Switches switch2, Event pwrSwitchTimeoutEvent,
+  DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switches switch1,
+                       power::Switches switch2, Event pwrSwitchTimeoutEvent,
                        Event sideSwitchNotAllowedEvent, Event transitionOtherSideFailedEvent);
 
  protected:

mission/system/acs/StrAssembly.cpp

@@ -11,8 +11,13 @@ StrAssembly::StrAssembly(object_id_t objectId) : AssemblyBase(objectId) {
 }
 
 ReturnValue_t StrAssembly::commandChildren(Mode_t mode, Submode_t submode) {
-  commandTable[0].setMode(mode);
+  // To ensure consistent state.
+  commandTable[0].setMode(MODE_OFF);
   commandTable[0].setSubmode(submode);
+  if (healthHelper.healthTable->getHealth(objects::STAR_TRACKER) != FAULTY) {
+    commandTable[0].setMode(mode);
+    commandTable[0].setSubmode(submode);
+  }
   HybridIterator<ModeListEntry> iter(commandTable.begin(), commandTable.end());
   executeTable(iter);
   return returnvalue::OK;

mission/system/acs/SusAssembly.h

@@ -44,8 +44,8 @@ class SusAssembly : public DualLaneAssemblyBase {
 
  private:
   enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE;
-  static constexpr pcdu::Switches SWITCH_NOM = pcdu::Switches::PDU1_CH4_SUS_NOMINAL_3V3;
-  static constexpr pcdu::Switches SWITCH_RED = pcdu::Switches::PDU2_CH4_SUS_REDUNDANT_3V3;
+  static constexpr power::Switches SWITCH_NOM = power::Switches::PDU1_CH4_SUS_NOMINAL_3V3;
+  static constexpr power::Switches SWITCH_RED = power::Switches::PDU2_CH4_SUS_REDUNDANT_3V3;
   FixedArrayList<ModeListEntry, NUMBER_SUN_SENSORS> modeTable;
 
   SusAssHelper helper;

mission/system/com/ComSubsystem.cpp

@@ -1,5 +1,6 @@
 #include "ComSubsystem.h"
 
+#include <fsfw/events/Event.h>
 #include <fsfw/events/EventManagerIF.h>
 #include <fsfw/ipc/MutexGuard.h>
 #include <fsfw/ipc/QueueFactory.h>
@@ -7,6 +8,7 @@
 #include <linux/ipcore/PdecHandler.h>
 #include <mission/com/defs.h>
 #include <mission/config/comCfg.h>
+#include <mission/controller/tcsDefs.h>
 
 #include <utility>
 
@@ -21,7 +23,13 @@ ComSubsystem::ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequence
 }
 
 void ComSubsystem::performChildOperation() {
+  Subsystem::performChildOperation();
   readEventQueue();
+  if (performRecoveryToRxOnly and not isInTransition) {
+    startRxOnlyRecovery(true);
+    // To avoid immediately enabling TX after falling back.
+    rememberBitLock = false;
+  }
   // Execute default rate sequence after transition has been completed
   if (rememberBitLock and not isInTransition) {
     startRxAndTxLowRateSeq();
@@ -30,8 +38,6 @@ void ComSubsystem::performChildOperation() {
   if (countdownActive) {
     checkTransmitterCountdown();
   }
-
-  Subsystem::performChildOperation();
 }
 
 MessageQueueId_t ComSubsystem::getCommandQueue() const { return Subsystem::getCommandQueue(); }
@@ -93,7 +99,11 @@ ReturnValue_t ComSubsystem::initialize() {
                     "listener"
                  << std::endl;
 #endif
-    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  result = manager->subscribeToEvent(eventQueue->getId(),
+                                     event::getEventId(tcsCtrl::SYRLINKS_OVERHEATING));
+  if (result != returnvalue::OK) {
+    return ObjectManager::CHILD_INIT_FAILED;
   }
   result = manager->subscribeToEventRange(eventQueue->getId(),
                                           event::getEventId(PdecHandler::CARRIER_LOCK),
@@ -144,6 +154,19 @@ void ComSubsystem::readEventQueue() {
 void ComSubsystem::handleEventMessage(EventMessage *eventMessage) {
   Event event = eventMessage->getEvent();
   switch (event) {
+    case tcsCtrl::SYRLINKS_OVERHEATING: {
+      // This event overrides the bit lock.
+      rememberBitLock = false;
+      if (mode == com::RX_ONLY) {
+        return;
+      }
+      if (isInTransition) {
+        performRecoveryToRxOnly = true;
+        return;
+      }
+      startRxOnlyRecovery(true);
+      break;
+    }
     case PdecHandler::BIT_LOCK_PDEC: {
       handleBitLockEvent();
       break;
@@ -191,6 +214,12 @@ void ComSubsystem::checkTransmitterCountdown() {
   }
 }
 
+void ComSubsystem::startRxOnlyRecovery(bool forced) {
+  modeHelper.setForced(forced);
+  startTransition(com::RX_ONLY, 0);
+  performRecoveryToRxOnly = false;
+}
+
 bool ComSubsystem::isTxMode(Mode_t mode) {
   if ((mode == com::Submode::RX_AND_TX_DEFAULT_DATARATE) ||
       (mode == com::Submode::RX_AND_TX_LOW_DATARATE) ||

mission/system/com/ComSubsystem.h

@@ -57,6 +57,7 @@ class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
    * @brief	Enables transmitter in low rate mode
    */
   void startRxAndTxLowRateSeq();
+  void startRxOnlyRecovery(bool forced);
 
   /**
    * @brief	Returns true if mode is a mode where the transmitter is on
@@ -73,6 +74,7 @@ class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
   MessageQueueIF *eventQueue = nullptr;
 
   bool enableTxWhenCarrierLock = false;
+  bool performRecoveryToRxOnly = false;
 
   // Countdown will be started as soon as the transmitter was enabled
   Countdown transmitterCountdown;

mission/system/objects/CamSwitcher.cpp

@@ -3,3 +3,8 @@
 CamSwitcher::CamSwitcher(object_id_t objectId, PowerSwitchIF &pwrSwitcher,
                          power::Switch_t pwrSwitch)
     : PowerSwitcherComponent(objectId, &pwrSwitcher, pwrSwitch) {}
+void CamSwitcher::performFaultyOperation() {
+  if (not switcher.active() and switcher.getState() != PowerSwitcher::SWITCH_IS_OFF) {
+    switcher.turnOff();
+  }
+}

mission/system/objects/CamSwitcher.h

@@ -8,6 +8,7 @@ class CamSwitcher : public PowerSwitcherComponent {
   CamSwitcher(object_id_t objectId, PowerSwitchIF &pwrSwitcher, power::Switch_t pwrSwitch);
 
  private:
+  void performFaultyOperation() override;
 };
 
 #endif /* MISSION_SYSTEM_OBJECTS_CAMSWITCHER_H_ */

mission/system/objects/EiveSystem.cpp

@@ -4,11 +4,15 @@
 #include <fsfw/events/EventManager.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <mission/acs/defs.h>
+#include <mission/com/defs.h>
+#include <mission/controller/tcsDefs.h>
+
+#include "mission/sysDefs.h"
 
 EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
                        uint32_t maxNumberOfTables)
     : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {
-  auto mqArgs = MqArgs(getObjectId(), static_cast<void*>(this));
+  auto mqArgs = MqArgs(SubsystemBase::getObjectId(), static_cast<void*>(this));
   eventQueue =
       QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
 }
@@ -16,15 +20,15 @@ EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
 void EiveSystem::announceMode(bool recursive) {
   const char* modeStr = "UNKNOWN";
   switch (mode) {
-    case (acs::AcsMode::OFF): {
-      modeStr = "OFF";
+    case (satsystem::Mode::BOOT): {
+      modeStr = "OFF/BOOT";
       break;
     }
-    case (acs::AcsMode::SAFE): {
+    case (satsystem::Mode::SAFE): {
       modeStr = "SAFE";
       break;
     }
-    case (acs::AcsMode::PTG_IDLE): {
+    case (satsystem::Mode::PTG_IDLE): {
       modeStr = "POINTING IDLE";
       break;
     }
@@ -46,12 +50,16 @@ void EiveSystem::announceMode(bool recursive) {
 }
 
 void EiveSystem::performChildOperation() {
+  Subsystem::performChildOperation();
   handleEventMessages();
-  return Subsystem::performChildOperation();
+  if (not isInTransition and performSafeRecovery) {
+    commandSelfToSafe();
+    performSafeRecovery = false;
+  }
 }
 
 ReturnValue_t EiveSystem::initialize() {
-  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
   if (manager == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
@@ -67,21 +75,37 @@ ReturnValue_t EiveSystem::initialize() {
 #endif
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
+  manager->subscribeToEvent(eventQueue->getId(),
+                            event::getEventId(tcsCtrl::PCDU_SYSTEM_OVERHEATING));
+  manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::OBC_OVERHEATING));
+
   return Subsystem::initialize();
 }
 
 void EiveSystem::handleEventMessages() {
   EventMessage event;
-  for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
-       result = eventQueue->receiveMessage(&event)) {
+  for (ReturnValue_t status = eventQueue->receiveMessage(&event); status == returnvalue::OK;
+       status = eventQueue->receiveMessage(&event)) {
     switch (event.getMessageId()) {
       case EventMessage::EVENT_MESSAGE:
+        switch (event.getEvent()) {
+          case tcsCtrl::OBC_OVERHEATING:
+          case tcsCtrl::PCDU_SYSTEM_OVERHEATING: {
+            if (isInTransition) {
+              performSafeRecovery = true;
+              return;
+            }
+
+            commandSelfToSafe();
+            break;
+          }
+        }
         break;
       default:
-        sif::debug << "AcsSubsystem::performChildOperation: Did not subscribe "
-                      "to this event message"
-                   << std::endl;
+        sif::debug << "EiveSystem: Did not subscribe to event " << event.getEvent() << std::endl;
         break;
     }
   }
 }
+
+void EiveSystem::commandSelfToSafe() { startTransition(satsystem::Mode::SAFE, 0); }

mission/system/objects/EiveSystem.h

@@ -8,12 +8,14 @@ class EiveSystem : public Subsystem {
   EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
 
  private:
+  MessageQueueIF* eventQueue = nullptr;
+  bool performSafeRecovery = false;
+
   ReturnValue_t initialize() override;
   void performChildOperation() override;
   void announceMode(bool recursive) override;
   void handleEventMessages();
-
-  MessageQueueIF* eventQueue = nullptr;
+  void commandSelfToSafe();
 };
 
 #endif /* MISSION_SYSTEM_EIVESYSTEM_H_ */

mission/system/objects/Stack5VHandler.h

@@ -31,7 +31,7 @@ class Stack5VHandler {
   HandlerState handlerState = HandlerState::IDLE;
   bool radSensorIsOn = false;
   bool plPcduIsOn = false;
-  pcdu::Switches stackSwitch = pcdu::Switches::P60_DOCK_5V_STACK;
+  power::Switches stackSwitch = power::Switches::P60_DOCK_5V_STACK;
 
   bool updateInternalStates();
 };

mission/tcs/HeaterHandler.cpp

@@ -38,7 +38,7 @@ HeaterHandler::HeaterHandler(object_id_t setObjectId_, GpioIF* gpioInterface_, H
       cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
-HeaterHandler::~HeaterHandler() {}
+HeaterHandler::~HeaterHandler() = default;
 
 ReturnValue_t HeaterHandler::performOperation(uint8_t operationCode) {
   try {
@@ -259,7 +259,7 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
   // Check state of main line switch
   ReturnValue_t mainSwitchState = mainLineSwitcher->getSwitchState(mainLineSwitch);
   if (mainSwitchState == PowerSwitchIF::SWITCH_ON) {
-    if (checkSwitchState(heaterIdx) == SwitchState::OFF) {
+    if (getSwitchState(heaterIdx) == SwitchState::OFF) {
       gpioId_t gpioId = heater.gpioId;
       result = gpioInterface->pullHigh(gpioId);
       if (result != returnvalue::OK) {
@@ -292,12 +292,13 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
   } else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF && heater.waitMainSwitchOn) {
     // Just waiting for the main switch being set on
     return;
-  } else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF) {
+  } else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF or
+             mainSwitchState == PowerSwitchIF::SWITCH_UNKNOWN) {
     mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON);
     heater.mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
     heater.waitMainSwitchOn = true;
   } else {
-    sif::debug << "HeaterHandler::handleSwitchHandling: Failed to get state of"
+    sif::debug << "HeaterHandler::handleSwitchOnCommand: Failed to get state of"
                << " main line switch" << std::endl;
     if (heater.replyQueue != commandQueue->getId()) {
       actionHelper.finish(false, heater.replyQueue, heater.action, mainSwitchState);
@@ -310,7 +311,7 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
   ReturnValue_t result = returnvalue::OK;
   auto& heater = heaterVec.at(heaterIdx);
   // Check whether switch is already off
-  if (checkSwitchState(heaterIdx)) {
+  if (getSwitchState(heaterIdx)) {
     gpioId_t gpioId = heater.gpioId;
     result = gpioInterface->pullLow(gpioId);
     if (result != returnvalue::OK) {
@@ -344,7 +345,7 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
   heater.cmdActive = false;
 }
 
-HeaterHandler::SwitchState HeaterHandler::checkSwitchState(heater::Switchers switchNr) const {
+HeaterHandler::SwitchState HeaterHandler::getSwitchState(heater::Switchers switchNr) const {
   MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
   return heaterVec.at(switchNr).switchState;
 }
@@ -428,7 +429,7 @@ ReturnValue_t HeaterHandler::getSwitchState(uint8_t switchNr) const {
   if (switchNr > 7) {
     return returnvalue::FAILED;
   }
-  if (checkSwitchState(static_cast<heater::Switchers>(switchNr)) == SwitchState::ON) {
+  if (getSwitchState(static_cast<heater::Switchers>(switchNr)) == SwitchState::ON) {
     return PowerSwitchIF::SWITCH_ON;
   }
   return PowerSwitchIF::SWITCH_OFF;

mission/tcs/HeaterHandler.h

@@ -174,7 +174,7 @@ class HeaterHandler : public ExecutableObjectIF,
    * @brief   Returns the state of a switch (ON - true, or OFF - false).
    * @param switchNr  The number of the switch to check.
    */
-  SwitchState checkSwitchState(heater::Switchers switchNr) const;
+  SwitchState getSwitchState(heater::Switchers switchNr) const;
 
   /**
    * @brief	This function runs commands waiting for execution.

scripts/auto-formatter.sh

@@ -30,14 +30,15 @@ else
 fi
 
 cpp_format="clang-format"
-file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
+file_selectors="( -iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp )"
+file_excludes="( -not -iname translateObjects.cpp -not -iname translateEvents.cpp )"
 if command -v ${cpp_format} &> /dev/null; then
   for dir in ${folder_list[@]}; do
     echo "Auto-formatting C/C++ files in ${dir} recursively"
-    find ${dir} ${file_selectors} | xargs ${cpp_format} --style=file -i
+    find ${dir} ${file_excludes} -and ${file_selectors} | xargs ${cpp_format} --style=file -i
   done
   find ./unittest ${file_selectors} -o -type d -name build -prune | \
-	xargs clang-format --style=file -i
+	xargs ${cpp_format} --style=file -i
 else
   echo "No ${cpp_format} tool found, not formatting C++/C files"
 fi

unittest/controller/testThermalController.cpp

@@ -4,6 +4,7 @@
 #include <fsfw/tasks/PeriodicTaskIF.h>
 #include <fsfw/tasks/TaskFactory.h>
 #include <mission/controller/ThermalController.h>
+#include <mission/system/objects/CamSwitcher.h>
 
 #include <catch2/catch_test_macros.hpp>
 
@@ -19,7 +20,8 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
   TemperatureSensorInserter::Tmp1075DummyMap map1;
   new TemperatureSensorInserter(objects::THERMAL_TEMP_INSERTER, map0, map1);
   auto dummyGpioIF = new DummyGpioIF();
-  auto dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
+  auto* dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
+  new CamSwitcher(objects::CAM_SWITCHER, *dummySwitcher, power::Switches::PDU2_CH8_PAYLOAD_CAMERA);
   // TODO: Create dummy heater handler
   HeaterHandler* heaterHandler = nullptr;
   // new ThermalController(objects::THERMAL_CONTROLLER);