bump eive-tmtc, compile fix

Reviewed-on: #581

CHANGELOG.md

@@ -16,6 +16,52 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v1.44.0] 2023-04-07
+
+- eive-tmtc: v2.22.0
+
+## Added
+
+- Special I2C recovery handling. If the I2C bus is unavailable for whatever reason, the EIVE
+  system component will power-cycle all I2C devices by first going to the OFF/BOOT mode, then
+  power-cycling the 3V3 stack and rebooting the battery, and finally going back to safe mode.
+  If this does not restore the bus, a full reboot will be performed. This special sequence can
+  be commanded as well.
+
+## Fixed
+
+- RW Assembly: Correctly transition back to off when more than 1 devices is OFF. Also do this
+  when this was due to two devices being marked faulty.
+- RW dummy and STR dummy components: Set/Update modes correctly.
+- RW handlers: Bugfix for TM set retrieval and special request handling in general where the CRC
+  check always failed for special request. Also removed an unnecessary delay for special requests.
+- RW handlers: Polling is now disabled for RWs which are off.
+
+## Changed
+
+- RW shutdown now waits for the speed to be near 0 or for a OFF transition countdown to be expired
+  before going to off.
+
+# [v1.43.2] 2023-04-05
+
+## Changed
+
+- Adapted HK data rates to new table for LEOP SAFE mode.
+- GPS controller HK is now generated periodically as well.
+- Better mode combination checks for assembly components. This includes:
+  - IMTQ assembly
+  - Syrlinks assembly
+  - Dual Lane Assembly
+- RWs are no longer commanded by the ACS Controller during safe mode. Instead the RW speed command
+  is set to 0 as part or the `doShutDown` of the RW handler.
+
+## Fixed
+
+- Dual lane assemblies: Fix handling when health states are overwritten. Also add better handling
+  when some devices are permanent faulty and some are only faulty. In that case, only the faulty
+  devices will be restored.
+- ACS dual lane assembly: Gyro 3 helper mode was assigned to the Gyro 2 mode.
+
 # [v1.43.1] 2023-04-04
 
 ## Fixed

CMakeLists.txt

@@ -10,8 +10,8 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 1)
-set(OBSW_VERSION_MINOR 43)
-set(OBSW_VERSION_REVISION 1)
+set(OBSW_VERSION_MINOR 44)
+set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)
 

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 284 translations.
+ * @brief    Auto-generated event translation file. Contains 285 translations.
  * @details
- * Generated on: 2023-04-04 13:59:07
+ * Generated on: 2023-04-07 17:42:57
  */
 #include "translateEvents.h"
 
@@ -266,7 +266,8 @@ const char *VERSION_INFO_STRING = "VERSION_INFO";
 const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
 const char *REBOOT_COUNTER_STRING = "REBOOT_COUNTER";
 const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
-const char *I2C_UNAVAILABLE_REBOOT_STRING = "I2C_UNAVAILABLE_REBOOT";
+const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
+const char *I2C_REBOOT_STRING = "I2C_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";
@@ -815,7 +816,9 @@ const char *translateEvents(Event event) {
     case (14008):
       return INDIVIDUAL_BOOT_COUNTS_STRING;
     case (14010):
-      return I2C_UNAVAILABLE_REBOOT_STRING;
+      return TRYING_I2C_RECOVERY_STRING;
+    case (14011):
+      return I2C_REBOOT_STRING;
     case (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 171 translations.
- * Generated on: 2023-04-04 13:59:07
+ * Generated on: 2023-04-07 17:42:57
  */
 #include "translateObjects.h"
 

bsp_q7s/callbacks/rwSpiCallback.cpp

@@ -252,7 +252,7 @@ ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpi
   fd = open(devname.c_str(), flags);
   if (fd < 0) {
     sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
-    return SpiComIF::OPENING_FILE_FAILED;
+    return spi::OPENING_FILE_FAILED;
   }
 
   // Pull SPI CS low. For now, no support for active high given

bsp_q7s/core/CoreController.cpp

@@ -9,6 +9,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/timemanager/Stopwatch.h"
 #include "fsfw/version.h"
+#include "mission/sysDefs.h"
 #include "watchdog/definitions.h"
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
 #include "fsfw/osal/common/UdpTmTcBridge.h"
@@ -31,8 +32,7 @@
 xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
 xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
 
-CoreController::CoreController(object_id_t objectId, const std::atomic_uint16_t &i2cErrors,
-                               bool enableHkSet)
+CoreController::CoreController(object_id_t objectId, bool enableHkSet)
     : ExtendedControllerBase(objectId, 5),
       enableHkSet(enableHkSet),
       cmdExecutor(4096),
@@ -40,8 +40,7 @@ CoreController::CoreController(object_id_t objectId, const std::atomic_uint16_t
       cmdRepliesSizes(128),
       opDivider5(5),
       opDivider10(10),
-      hkSet(this),
-      i2cErrors(i2cErrors) {
+      hkSet(this) {
   cmdExecutor.setRingBuffer(&cmdReplyBuf, &cmdRepliesSizes);
   try {
     sdcMan = SdCardManager::instance();
@@ -110,17 +109,12 @@ void CoreController::performControlOperation() {
   sdStateMachine();
   performMountedSdCardOperations();
   readHkData();
-  if (i2cErrors >= 5) {
-    bool protOpPerformed = false;
-    triggerEvent(I2C_UNAVAILABLE_REBOOT);
-    gracefulShutdownTasks(CURRENT_CHIP, CURRENT_COPY, protOpPerformed);
-    std::system("xsc_boot_copy -r");
-  }
+
   if (shellCmdIsExecuting) {
     bool replyReceived = false;
     // TODO: We could read the data in the ring buffer and send it as an action data reply.
     if (cmdExecutor.check(replyReceived) == CommandExecutor::EXECUTION_FINISHED) {
-      actionHelper.finish(true, successRecipient, EXECUTE_SHELL_CMD);
+      actionHelper.finish(true, successRecipient, core::EXECUTE_SHELL_CMD);
       shellCmdIsExecuting = false;
       cmdReplyBuf.clear();
       while (not cmdRepliesSizes.empty()) {
@@ -138,7 +132,7 @@ ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &local
   localDataPoolMap.emplace(core::TEMPERATURE, &tempPoolEntry);
   localDataPoolMap.emplace(core::PS_VOLTAGE, &psVoltageEntry);
   localDataPoolMap.emplace(core::PL_VOLTAGE, &plVoltageEntry);
-  poolManager.subscribeForRegularPeriodicPacket({hkSet.getSid(), enableHkSet, 12.0});
+  poolManager.subscribeForRegularPeriodicPacket({hkSet.getSid(), enableHkSet, 60.0});
   return returnvalue::OK;
 }
 
@@ -163,7 +157,7 @@ ReturnValue_t CoreController::initialize() {
 
   sdStateMachine();
 
-  triggerEvent(REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
+  triggerEvent(core::REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
   EventManagerIF *eventManager =
       ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
   if (eventManager == nullptr or eventQueue == nullptr) {
@@ -202,6 +196,7 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
 
 ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                             const uint8_t *data, size_t size) {
+  using namespace core;
   switch (actionId) {
     case (ANNOUNCE_VERSION): {
       uint32_t p1 = (common::OBSW_VERSION_MAJOR << 24) | (common::OBSW_VERSION_MINOR << 16) |
@@ -1324,7 +1319,7 @@ ReturnValue_t CoreController::performSdCardCheck() {
     someSdCardActive = true;
   }
   if (not someSdCardActive and remountAttemptFlag) {
-    triggerEvent(NO_SD_CARD_ACTIVE);
+    triggerEvent(core::NO_SD_CARD_ACTIVE);
     initSdCardBlocking();
     remountAttemptFlag = false;
   }
@@ -1378,7 +1373,7 @@ void CoreController::performRebootFileHandling(bool recreateFile) {
   if (rebootFile.bootFlag) {
     // Trigger event to inform ground that a reboot was triggered
     uint32_t p1 = rebootFile.lastChip << 16 | rebootFile.lastCopy;
-    triggerEvent(REBOOT_MECHANISM_TRIGGERED, p1, 0);
+    triggerEvent(core::REBOOT_MECHANISM_TRIGGERED, p1, 0);
     // Clear the boot flag
     rebootFile.bootFlag = false;
   }
@@ -2047,8 +2042,9 @@ void CoreController::announceBootCounts() {
       rebootFile.img00Cnt + rebootFile.img01Cnt + rebootFile.img10Cnt + rebootFile.img11Cnt;
   uint32_t individualBootCountsP1 = (rebootFile.img00Cnt << 16) | rebootFile.img01Cnt;
   uint32_t individualBootCountsP2 = (rebootFile.img10Cnt << 16) | rebootFile.img11Cnt;
-  triggerEvent(INDIVIDUAL_BOOT_COUNTS, individualBootCountsP1, individualBootCountsP2);
-  triggerEvent(REBOOT_COUNTER, (totalBootCount >> 32) & 0xffffffff, totalBootCount & 0xffffffff);
+  triggerEvent(core::INDIVIDUAL_BOOT_COUNTS, individualBootCountsP1, individualBootCountsP2);
+  triggerEvent(core::REBOOT_COUNTER, (totalBootCount >> 32) & 0xffffffff,
+               totalBootCount & 0xffffffff);
 }
 
 bool CoreController::isNumber(const std::string &s) {

bsp_q7s/core/CoreController.h

@@ -78,64 +78,7 @@ class CoreController : public ExtendedControllerBase {
   static constexpr dur_millis_t INIT_SD_CARD_CHECK_TIMEOUT = 5000;
   static constexpr dur_millis_t DEFAULT_SD_CARD_CHECK_TIMEOUT = 60000;
 
-  static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
-  static constexpr ActionId_t ANNOUNCE_VERSION = 1;
-  static constexpr ActionId_t ANNOUNCE_CURRENT_IMAGE = 2;
-  static constexpr ActionId_t ANNOUNCE_BOOT_COUNTS = 3;
-  static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
-  static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
-  static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
-  static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
-
-  static constexpr ActionId_t OBSW_UPDATE_FROM_SD_0 = 10;
-  static constexpr ActionId_t OBSW_UPDATE_FROM_SD_1 = 11;
-  static constexpr ActionId_t OBSW_UPDATE_FROM_TMP = 12;
-
-  static constexpr ActionId_t SWITCH_TO_SD_0 = 16;
-  static constexpr ActionId_t SWITCH_TO_SD_1 = 17;
-  static constexpr ActionId_t SWITCH_TO_BOTH_SD_CARDS = 18;
-
-  //! Reboot using the xsc_boot_copy command
-  static constexpr ActionId_t XSC_REBOOT_OBC = 32;
-  static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
-  //! Reboot using the reboot command
-  static constexpr ActionId_t REBOOT_OBC = 34;
-
-  static constexpr ActionId_t EXECUTE_SHELL_CMD = 40;
-
-  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
-
-  static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
-  //! [EXPORT] : [COMMENT]  Software reboot occurred. Can also be a systemd reboot.
-  //! P1: Current Chip, P2: Current Copy
-  static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::LOW);
-  //! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
-  //! P1: First 16 bits: Last Chip, Last 16 bits: Last Copy,
-  //! P2: Each byte is the respective reboot count for the slots
-  static constexpr Event REBOOT_MECHANISM_TRIGGERED =
-      event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
-  //! Trying to find a way how to determine that the reboot came from ProASIC3 or PCDU..
-  static constexpr Event REBOOT_HW = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
-  //! [EXPORT] : [COMMENT] No SD card was active. Core controller will attempt to re-initialize
-  //! a SD card.
-  static constexpr Event NO_SD_CARD_ACTIVE = event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
-  //! [EXPORT] : [COMMENT]
-  //! P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash
-  //! P2: First four letters of Git SHA is the last byte of P1 is set.
-  static constexpr Event VERSION_INFO = event::makeEvent(SUBSYSTEM_ID, 5, severity::INFO);
-  //! [EXPORT] : [COMMENT] P1: Current Chip, P2: Current Copy
-  static constexpr Event CURRENT_IMAGE_INFO = event::makeEvent(SUBSYSTEM_ID, 6, severity::INFO);
-  //! [EXPORT] : [COMMENT] Total reboot counter, which is the sum of the boot count of all
-  //! individual images.
-  static constexpr Event REBOOT_COUNTER = event::makeEvent(SUBSYSTEM_ID, 7, severity::INFO);
-  //! [EXPORT] : [COMMENT] Get the boot count of the individual images.
-  //! P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1.
-  //! P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.
-  static constexpr Event INDIVIDUAL_BOOT_COUNTS = event::makeEvent(SUBSYSTEM_ID, 8, severity::INFO);
-  static constexpr Event I2C_UNAVAILABLE_REBOOT =
-      event::makeEvent(SUBSYSTEM_ID, 10, severity::MEDIUM);
-
-  CoreController(object_id_t objectId, const std::atomic_uint16_t& i2cErrors, bool enableHkSet);
+  CoreController(object_id_t objectId, bool enableHkSet);
   virtual ~CoreController();
 
   ReturnValue_t initialize() override;
@@ -266,7 +209,6 @@ class CoreController : public ExtendedControllerBase {
   PoolEntry<float> plVoltageEntry = PoolEntry<float>(0.0);
 
   core::HkSet hkSet;
-  const std::atomic_uint16_t& i2cErrors;
 
 #if OBSW_SD_CARD_MUST_BE_ON == 1
   bool remountAttemptFlag = true;

bsp_q7s/core/ObjectFactory.cpp

@@ -360,7 +360,8 @@ void ObjectFactory::createAcsBoardGpios(GpioCookie& cookie) {
 }
 
 void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF,
-                                             SerialComIF* uartComIF, PowerSwitchIF& pwrSwitcher) {
+                                             SerialComIF* uartComIF, PowerSwitchIF& pwrSwitcher,
+                                             bool enableHkSets) {
   using namespace gpio;
   GpioCookie* gpioCookieAcsBoard = new GpioCookie();
   createAcsBoardGpios(*gpioCookieAcsBoard);
@@ -514,8 +515,8 @@ void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF*
 #endif
   RESET_ARGS_GNSS.gpioComIF = gpioComIF;
   RESET_ARGS_GNSS.waitPeriodMs = 100;
-  auto gpsCtrl =
-      new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
+  auto gpsCtrl = new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT,
+                                                enableHkSets, debugGps);
   gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
 
   ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyChildren, gpsCtrl, gpioComIF);

bsp_q7s/core/ObjectFactory.h

@@ -23,7 +23,6 @@ class HealthTableIF;
 class AcsBoardAssembly;
 class GpioIF;
 
-extern std::atomic_uint16_t I2C_FATAL_ERRORS;
 extern std::atomic_bool PTME_LOCKED;
 
 namespace ObjectFactory {
@@ -62,7 +61,7 @@ void createTmpComponents();
 ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
 void createAcsBoardGpios(GpioCookie& cookie);
 void createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
-                              PowerSwitchIF& pwrSwitcher);
+                              PowerSwitchIF& pwrSwitcher, bool enableHkSets);
 void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
                             HeaterHandler*& heaterHandler);
 void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets);

bsp_q7s/core/scheduling.cpp

@@ -237,7 +237,7 @@ void scheduling::initTasks() {
 
 #if OBSW_ADD_RW == 1
   PeriodicTaskIF* rwPolling =
-      factory->createPeriodicTask("RW_POLLING_TASK", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+      factory->createPeriodicTask("RW_POLLING_TASK", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
                                   0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = rwPolling->addComponent(objects::RW_POLLING_TASK);
   if (result != returnvalue::OK) {

bsp_q7s/em/emObjectFactory.cpp

@@ -5,7 +5,7 @@
 #include <fsfw/power/DummyPowerSwitcher.h>
 #include <fsfw_hal/common/gpio/GpioCookie.h>
 #include <mission/power/gsDefs.h>
-#include <mission/system/tree/system.h>
+#include <mission/system/systemTree.h>
 #include <mission/utility/DummySdCardManager.h>
 
 #include "OBSWConfig.h"
@@ -71,7 +71,7 @@ void ObjectFactory::produce(void* args) {
 
   dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF);
 
-  new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS, enableHkSets);
+  new CoreController(objects::CORE_CONTROLLER, enableHkSets);
 
   // Regular FM code, does not work for EM if the hardware is not connected
   // createPcduComponents(gpioComIF, &pwrSwitcher);

bsp_q7s/fmObjectFactory.cpp

@@ -2,6 +2,7 @@
 #include <fsfw/storagemanager/LocalPool.h>
 #include <fsfw/storagemanager/PoolManager.h>
 #include <mission/power/gsDefs.h>
+#include <mission/system/EiveSystem.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
@@ -13,7 +14,7 @@
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "mission/genericFactory.h"
-#include "mission/system/tree/system.h"
+#include "mission/system/systemTree.h"
 #include "mission/tmtc/tmFilters.h"
 
 void ObjectFactory::produce(void* args) {
@@ -43,8 +44,10 @@ void ObjectFactory::produce(void* args) {
   q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
   gpioCallbacks::disableAllDecoder(gpioComIF);
 
-  new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS, enableHkSets);
+  new CoreController(objects::CORE_CONTROLLER, enableHkSets);
   createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
+  satsystem::EIVE_SYSTEM.setI2cRecoveryParams(pwrSwitcher);
+
   auto* stackHandler = new Stack5VHandler(*pwrSwitcher);
 
 #if OBSW_ADD_RAD_SENSORS == 1
@@ -55,7 +58,7 @@ void ObjectFactory::produce(void* args) {
 #endif
 
 #if OBSW_ADD_ACS_BOARD == 1
-  createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher);
+  createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true);
 #endif
   HeaterHandler* heaterHandler;
   createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);

bsp_q7s/obsw.cpp

@@ -16,7 +16,7 @@
 #include "fsfw/version.h"
 #include "mission/acs/defs.h"
 #include "mission/com/defs.h"
-#include "mission/system/tree/system.h"
+#include "mission/system/systemTree.h"
 #include "q7sConfig.h"
 #include "watchdog/definitions.h"
 

dummies/BpxDummy.cpp

@@ -37,19 +37,19 @@ uint32_t BpxDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return
 
 ReturnValue_t BpxDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                 LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_1, &battTemp1);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_2, &battTemp2);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_3, &battTemp3);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_4, &battTemp4);
-  localDataPoolMap.emplace(BpxBattery::CHARGE_CURRENT, &chargeCurrent);
-  localDataPoolMap.emplace(BpxBattery::DISCHARGE_CURRENT, &dischargeCurrent);
-  localDataPoolMap.emplace(BpxBattery::HEATER_CURRENT, &heaterCurrent);
-  localDataPoolMap.emplace(BpxBattery::BATT_VOLTAGE, &battVolt);
-  localDataPoolMap.emplace(BpxBattery::REBOOT_COUNTER, &rebootCounter);
-  localDataPoolMap.emplace(BpxBattery::BOOTCAUSE, &bootCause);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_1, &battTemp1);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_2, &battTemp2);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_3, &battTemp3);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_4, &battTemp4);
+  localDataPoolMap.emplace(bpxBat::CHARGE_CURRENT, &chargeCurrent);
+  localDataPoolMap.emplace(bpxBat::DISCHARGE_CURRENT, &dischargeCurrent);
+  localDataPoolMap.emplace(bpxBat::HEATER_CURRENT, &heaterCurrent);
+  localDataPoolMap.emplace(bpxBat::BATT_VOLTAGE, &battVolt);
+  localDataPoolMap.emplace(bpxBat::REBOOT_COUNTER, &rebootCounter);
+  localDataPoolMap.emplace(bpxBat::BOOTCAUSE, &bootCause);
 
-  localDataPoolMap.emplace(BpxBattery::BATTERY_HEATER_MODE, &battheatMode);
-  localDataPoolMap.emplace(BpxBattery::BATTHEAT_LOW_LIMIT, &battheatLow);
-  localDataPoolMap.emplace(BpxBattery::BATTHEAT_HIGH_LIMIT, &battheatHigh);
+  localDataPoolMap.emplace(bpxBat::BATTERY_HEATER_MODE, &battheatMode);
+  localDataPoolMap.emplace(bpxBat::BATTHEAT_LOW_LIMIT, &battheatLow);
+  localDataPoolMap.emplace(bpxBat::BATTHEAT_HIGH_LIMIT, &battheatHigh);
   return returnvalue::OK;
 }

dummies/RwDummy.cpp

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

dummies/StarTrackerDummy.cpp

@@ -7,9 +7,9 @@ StarTrackerDummy::StarTrackerDummy(object_id_t objectId, object_id_t comif, Cook
 
 StarTrackerDummy::~StarTrackerDummy() {}
 
-void StarTrackerDummy::doStartUp() {}
+void StarTrackerDummy::doStartUp() { setMode(MODE_ON); }
 
-void StarTrackerDummy::doShutDown() {}
+void StarTrackerDummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
 
 ReturnValue_t StarTrackerDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;

generators/bsp_hosted_events.csv

@@ -101,8 +101,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;No description;mission/tcs/HeaterHandler.h
 11402;0x2c8a;HEATER_WENT_ON;INFO;No description;mission/tcs/HeaterHandler.h
 11403;0x2c8b;HEATER_WENT_OFF;INFO;No description;mission/tcs/HeaterHandler.h
-11404;0x2c8c;SWITCH_ALREADY_ON;LOW;No description;mission/tcs/HeaterHandler.h
-11405;0x2c8d;SWITCH_ALREADY_OFF;LOW;No description;mission/tcs/HeaterHandler.h
+11404;0x2c8c;SWITCH_ALREADY_ON;INFO;No description;mission/tcs/HeaterHandler.h
+11405;0x2c8d;SWITCH_ALREADY_OFF;INFO;No description;mission/tcs/HeaterHandler.h
 11406;0x2c8e;MAIN_SWITCH_TIMEOUT;MEDIUM;No description;mission/tcs/HeaterHandler.h
 11407;0x2c8f;FAULTY_HEATER_WAS_ON;LOW;No description;mission/tcs/HeaterHandler.h
 11500;0x2cec;BURN_PHASE_START;INFO;P1: Burn duration in milliseconds, P2: Dry run flag;mission/SolarArrayDeploymentHandler.h
@@ -251,16 +251,17 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13903;0x364f;INSERT_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13904;0x3650;WRITE_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13905;0x3651;READ_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
-14000;0x36b0;ALLOC_FAILURE;MEDIUM;No description;bsp_q7s/core/CoreController.h
-14001;0x36b1;REBOOT_SW;LOW; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
-14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
-14003;0x36b3;REBOOT_HW;MEDIUM;No description;bsp_q7s/core/CoreController.h
-14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
-14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;bsp_q7s/core/CoreController.h
-14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
-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
+14000;0x36b0;ALLOC_FAILURE;MEDIUM;No description;mission/sysDefs.h
+14001;0x36b1;REBOOT_SW;LOW; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;mission/sysDefs.h
+14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;mission/sysDefs.h
+14003;0x36b3;REBOOT_HW;MEDIUM;No description;mission/sysDefs.h
+14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;mission/sysDefs.h
+14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;mission/sysDefs.h
+14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;mission/sysDefs.h
+14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;mission/sysDefs.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.;mission/sysDefs.h
+14010;0x36ba;TRYING_I2C_RECOVERY;MEDIUM;I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C devices.;mission/sysDefs.h
+14011;0x36bb;I2C_REBOOT;MEDIUM;I2C is unavailable. Recovery did not work, performing full reboot.;mission/sysDefs.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

generators/bsp_hosted_returnvalues.csv

@@ -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_NoPacketFound;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x3f02;DLEE_PossiblePacketLoss;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x3f01;DLEE_StreamTooShort;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
+0x3f02;DLEE_DecodingError;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
 0x4201;PUS11_InvalidTypeTimeWindow;No description;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4202;PUS11_InvalidTimeWindow;No description;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4203;PUS11_TimeshiftingNotPossible;No description;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
@@ -402,9 +402,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4406;UXOS_PcloseCallError;No description;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
+0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4503;HSPI_Timeout;No description;3;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4504;HSPI_Busy;No description;4;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4505;HSPI_GenericError;No description;5;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.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

generators/bsp_q7s_events.csv

@@ -101,8 +101,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;No description;mission/tcs/HeaterHandler.h
 11402;0x2c8a;HEATER_WENT_ON;INFO;No description;mission/tcs/HeaterHandler.h
 11403;0x2c8b;HEATER_WENT_OFF;INFO;No description;mission/tcs/HeaterHandler.h
-11404;0x2c8c;SWITCH_ALREADY_ON;LOW;No description;mission/tcs/HeaterHandler.h
-11405;0x2c8d;SWITCH_ALREADY_OFF;LOW;No description;mission/tcs/HeaterHandler.h
+11404;0x2c8c;SWITCH_ALREADY_ON;INFO;No description;mission/tcs/HeaterHandler.h
+11405;0x2c8d;SWITCH_ALREADY_OFF;INFO;No description;mission/tcs/HeaterHandler.h
 11406;0x2c8e;MAIN_SWITCH_TIMEOUT;MEDIUM;No description;mission/tcs/HeaterHandler.h
 11407;0x2c8f;FAULTY_HEATER_WAS_ON;LOW;No description;mission/tcs/HeaterHandler.h
 11500;0x2cec;BURN_PHASE_START;INFO;P1: Burn duration in milliseconds, P2: Dry run flag;mission/SolarArrayDeploymentHandler.h
@@ -251,16 +251,17 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13903;0x364f;INSERT_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13904;0x3650;WRITE_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13905;0x3651;READ_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
-14000;0x36b0;ALLOC_FAILURE;MEDIUM;No description;bsp_q7s/core/CoreController.h
-14001;0x36b1;REBOOT_SW;LOW; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
-14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
-14003;0x36b3;REBOOT_HW;MEDIUM;No description;bsp_q7s/core/CoreController.h
-14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
-14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;bsp_q7s/core/CoreController.h
-14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
-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
+14000;0x36b0;ALLOC_FAILURE;MEDIUM;No description;mission/sysDefs.h
+14001;0x36b1;REBOOT_SW;LOW; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;mission/sysDefs.h
+14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;mission/sysDefs.h
+14003;0x36b3;REBOOT_HW;MEDIUM;No description;mission/sysDefs.h
+14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;mission/sysDefs.h
+14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;mission/sysDefs.h
+14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;mission/sysDefs.h
+14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;mission/sysDefs.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.;mission/sysDefs.h
+14010;0x36ba;TRYING_I2C_RECOVERY;MEDIUM;I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C devices.;mission/sysDefs.h
+14011;0x36bb;I2C_REBOOT;MEDIUM;I2C is unavailable. Recovery did not work, performing full reboot.;mission/sysDefs.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

generators/bsp_q7s_returnvalues.csv

@@ -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_NoPacketFound;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x3f02;DLEE_PossiblePacketLoss;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x3f01;DLEE_StreamTooShort;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
+0x3f02;DLEE_DecodingError;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
 0x4201;PUS11_InvalidTypeTimeWindow;No description;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4202;PUS11_InvalidTimeWindow;No description;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4203;PUS11_TimeshiftingNotPossible;No description;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
@@ -402,9 +402,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4406;UXOS_PcloseCallError;No description;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
+0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4503;HSPI_Timeout;No description;3;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4504;HSPI_Busy;No description;4;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4505;HSPI_GenericError;No description;5;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.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
@@ -493,8 +496,6 @@ 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
 0x5c01;STRHLP_SdNotMounted;SD card specified in path string not mounted;1;STR_HELPER;linux/acs/StrComHandler.h
@@ -542,7 +543,6 @@ 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

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 284 translations.
+ * @brief    Auto-generated event translation file. Contains 285 translations.
  * @details
- * Generated on: 2023-04-04 13:59:07
+ * Generated on: 2023-04-07 17:42:57
  */
 #include "translateEvents.h"
 
@@ -266,7 +266,8 @@ const char *VERSION_INFO_STRING = "VERSION_INFO";
 const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
 const char *REBOOT_COUNTER_STRING = "REBOOT_COUNTER";
 const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
-const char *I2C_UNAVAILABLE_REBOOT_STRING = "I2C_UNAVAILABLE_REBOOT";
+const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
+const char *I2C_REBOOT_STRING = "I2C_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";
@@ -815,7 +816,9 @@ const char *translateEvents(Event event) {
     case (14008):
       return INDIVIDUAL_BOOT_COUNTS_STRING;
     case (14010):
-      return I2C_UNAVAILABLE_REBOOT_STRING;
+      return TRYING_I2C_RECOVERY_STRING;
+    case (14011):
+      return I2C_REBOOT_STRING;
     case (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-04-04 13:59:07
+ * Generated on: 2023-04-07 17:42:57
  */
 #include "translateObjects.h"
 

linux/acs/AcsBoardPolling.cpp

@@ -373,7 +373,7 @@ ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen
   std::string device = spiComIF.getSpiDev();
   UnixFileGuard fileHelper(device, fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
   if (fileHelper.getOpenResult() != returnvalue::OK) {
-    return SpiComIF::OPENING_FILE_FAILED;
+    return spi::OPENING_FILE_FAILED;
   }
   spi::SpiModes spiMode = spi::SpiModes::MODE_0;
   uint32_t spiSpeed = 0;
@@ -416,7 +416,7 @@ ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen
     retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie.getTransferStructHandle());
     if (retval < 0) {
       utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
-      result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
+      result = spi::FULL_DUPLEX_TRANSFER_FAILED;
     }
 #if FSFW_HAL_SPI_WIRETAPPING == 1
     comIf->performSpiWiretapping(cookie);

linux/acs/GpsHyperionLinuxController.cpp

@@ -18,8 +18,11 @@
 #include <ctime>
 
 GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
-                                                       bool debugHyperionGps)
-    : ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(debugHyperionGps) {}
+                                                       bool enableHkSets, bool debugHyperionGps)
+    : ExtendedControllerBase(objectId),
+      gpsSet(this),
+      enableHkSets(enableHkSets),
+      debugHyperionGps(debugHyperionGps) {}
 
 GpsHyperionLinuxController::~GpsHyperionLinuxController() {
   gps_stream(&gps, WATCH_DISABLE, nullptr);
@@ -86,7 +89,7 @@ ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(
   localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
   localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
   localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
-  poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), false, 30.0});
+  poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), enableHkSets, 30.0});
   return returnvalue::OK;
 }
 

linux/acs/GpsHyperionLinuxController.h

@@ -29,7 +29,7 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
 
   enum ReadModes { SHM = 0, SOCKET = 1 };
 
-  GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
+  GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId, bool enableHkSets,
                              bool debugHyperionGps = false);
   virtual ~GpsHyperionLinuxController();
 
@@ -58,6 +58,7 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
  private:
   GpsPrimaryDataset gpsSet;
   gps_data_t gps = {};
+  bool enableHkSets = false;
   const char* currentClientBuf = nullptr;
   ReadModes readMode = ReadModes::SOCKET;
   Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);

linux/acs/ImtqPollingTask.h

@@ -22,6 +22,7 @@ class ImtqPollingTask : public SystemObject,
   ReturnValue_t initialize() override;
 
  private:
+  //! [EXPORT] : [SKIP]
   static constexpr ReturnValue_t NO_REPLY_AVAILABLE = returnvalue::makeCode(2, 0);
 
   enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;

linux/acs/RwPollingTask.cpp

@@ -11,6 +11,7 @@
 #include <unistd.h>
 
 #include "devConf.h"
+#include "mission/acs/defs.h"
 #include "mission/acs/rwHelpers.h"
 
 RwPollingTask::RwPollingTask(object_id_t objectId, const char* spiDev, GpioIF& gpioIF)
@@ -35,6 +36,7 @@ ReturnValue_t RwPollingTask::performOperation(uint8_t operationCode) {
     semaphore->acquire();
     // This loop takes 50 ms on a debug build.
     // Stopwatch watch;
+    // Give all device handlers some time to submit requests.
     TaskFactory::delayTask(5);
     int fd = 0;
     for (auto& skip : skipCommandingForRw) {
@@ -45,13 +47,24 @@ ReturnValue_t RwPollingTask::performOperation(uint8_t operationCode) {
     if (result != returnvalue::OK) {
       continue;
     }
+    acs::SimpleSensorMode currentMode;
+    rws::SpecialRwRequest specialRequest;
+
     for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
-      if (rwCookies[idx]->specialRequest == rws::SpecialRwRequest::RESET_MCU) {
+      {
+        MutexGuard mg(ipcLock);
+        currentMode = rwRequests[idx].mode;
+        specialRequest = rwRequests[idx].specialRequest;
+        skipSetSpeedReply[idx] = rwRequests[idx].setSpeed;
+      }
+      if (currentMode == acs::SimpleSensorMode::OFF) {
+        skipCommandingForRw[idx] = true;
+      } else if (specialRequest == rws::SpecialRwRequest::RESET_MCU) {
         prepareSimpleCommand(rws::RESET_MCU);
         // No point in commanding that specific RW for the cycle.
         skipCommandingForRw[idx] = true;
         writeOneRwCmd(idx, fd);
-      } else if (rwCookies[idx]->setSpeed) {
+      } else if (skipSetSpeedReply[idx]) {
         prepareSetSpeedCmd(idx);
         if (writeOneRwCmd(idx, fd) != returnvalue::OK) {
           continue;
@@ -121,31 +134,14 @@ ReturnValue_t RwPollingTask::initializeInterface(CookieIF* cookie) {
 
 ReturnValue_t RwPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendData,
                                          size_t sendLen) {
-  if (sendData == nullptr or sendLen < 8) {
+  if (sendData == nullptr or sendLen != sizeof(rws::RwRequest)) {
     return DeviceHandlerIF::INVALID_DATA;
   }
-  int32_t speed = 0;
-  uint16_t rampTime = 0;
-  const uint8_t* currentBuf = sendData;
-  bool setSpeed = currentBuf[0];
-  currentBuf += 1;
-  sendLen -= 1;
-  SerializeAdapter::deSerialize(&speed, &currentBuf, &sendLen, SerializeIF::Endianness::MACHINE);
-  SerializeAdapter::deSerialize(&rampTime, &currentBuf, &sendLen, SerializeIF::Endianness::MACHINE);
-  rws::SpecialRwRequest specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
-  if (sendLen == 8 and sendData[7] < static_cast<uint8_t>(rws::SpecialRwRequest::NUM_REQUESTS)) {
-    specialRequest = static_cast<rws::SpecialRwRequest>(sendData[7]);
-  }
-  RwCookie* rwCookie = dynamic_cast<RwCookie*>(cookie);
-  if (rwCookie == nullptr) {
-    return returnvalue::FAILED;
-  }
+  const rws::RwRequest* rwRequest = reinterpret_cast<const rws::RwRequest*>(sendData);
+  uint8_t rwIdx = rwRequest->rwIdx;
   {
     MutexGuard mg(ipcLock);
-    rwCookie->setSpeed = setSpeed;
-    rwCookie->currentRwSpeed = speed;
-    rwCookie->currentRampTime = rampTime;
-    rwCookie->specialRequest = specialRequest;
+    std::memcpy(&rwRequests[rwIdx], rwRequest, sizeof(rws::RwRequest));
     if (state == InternalState::IDLE) {
       state = InternalState::IS_BUSY;
       semaphore->release();
@@ -202,7 +198,7 @@ ReturnValue_t RwPollingTask::openSpi(int flags, int& fd) {
   fd = open(spiDev, flags);
   if (fd < 0) {
     sif::error << "RwPollingTask::openSpi: Failed to open device file" << std::endl;
-    return SpiComIF::OPENING_FILE_FAILED;
+    return spi::OPENING_FILE_FAILED;
   }
 
   return returnvalue::OK;
@@ -332,7 +328,7 @@ ReturnValue_t RwPollingTask::writeOneRwCmd(uint8_t rwIdx, int fd) {
 ReturnValue_t RwPollingTask::readAllRws(DeviceCommandId_t id) {
   // SPI dev will be opened in readNextReply on demand.
   for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
-    if (((id == rws::SET_SPEED) and !rwCookies[idx]->setSpeed) or skipCommandingForRw[idx]) {
+    if (((id == rws::SET_SPEED) and !skipSetSpeedReply[idx]) or skipCommandingForRw[idx]) {
       continue;
     }
     uint8_t* replyBuf;
@@ -395,7 +391,7 @@ void RwPollingTask::fillSpecialRequestArray() {
       specialRequestIds[idx] = DeviceHandlerIF::NO_COMMAND_ID;
       continue;
     }
-    switch (rwCookies[idx]->specialRequest) {
+    switch (rwRequests[idx].specialRequest) {
       case (rws::SpecialRwRequest::GET_TM): {
         specialRequestIds[idx] = rws::GET_TM;
         break;
@@ -426,14 +422,14 @@ void RwPollingTask::handleSpecialRequests() {
     writeOneRwCmd(idx, fd);
   }
   closeSpi(fd);
-  usleep(rws::SPI_REPLY_DELAY);
   for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
     if (specialRequestIds[idx] == DeviceHandlerIF::NO_COMMAND_ID) {
       continue;
     }
     uint8_t* replyBuf;
     size_t maxReadLen = idAndIdxToReadBuffer(specialRequestIds[idx], idx, &replyBuf);
-    result = readNextReply(*rwCookies[idx], replyBuf, maxReadLen);
+    // Skip first byte for actual read buffer: Valid byte
+    result = readNextReply(*rwCookies[idx], replyBuf + 1, maxReadLen);
     if (result == returnvalue::OK) {
       // The first byte is always a flag which shows whether the value was read
       // properly at least once.
@@ -455,17 +451,12 @@ void RwPollingTask::setAllReadFlagsFalse() {
   }
 }
 
-// This closes the SPI
-void RwPollingTask::closeSpi(int fd) {
-  // This will perform the function to close the SPI
-  close(fd);
-  // The SPI is now closed.
-}
+void RwPollingTask::closeSpi(int fd) { close(fd); }
 
 ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
   gpioId_t gpioId = rwCookie.getChipSelectPin();
   if (spiLock == nullptr) {
-    sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
+    sif::warning << "RwPollingTask: Mutex or GPIO interface invalid" << std::endl;
     return returnvalue::FAILED;
   }
   // Add datalinklayer like specified in the datasheet.
@@ -473,7 +464,7 @@ ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
   rws::encodeHdlc(writeBuffer.data(), writeLen, encodedBuffer.data(), lenToSend);
   pullCsLow(gpioId, gpioIF);
   if (write(fd, encodedBuffer.data(), lenToSend) != static_cast<ssize_t>(lenToSend)) {
-    sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
+    sif::error << "RwPollingTask: Write failed!" << std::endl;
     pullCsHigh(gpioId, gpioIF);
     return rws::SPI_WRITE_FAILURE;
   }
@@ -484,7 +475,7 @@ ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
 ReturnValue_t RwPollingTask::pullCsLow(gpioId_t gpioId, GpioIF& gpioIF) {
   ReturnValue_t result = spiLock->lockMutex(TIMEOUT_TYPE, TIMEOUT_MS);
   if (result != returnvalue::OK) {
-    sif::debug << "RwPollingTask::pullCsLow: Failed to lock mutex" << std::endl;
+    sif::warning << "RwPollingTask::pullCsLow: Failed to lock mutex" << std::endl;
     return result;
   }
   // Pull SPI CS low. For now, no support for active high given
@@ -525,8 +516,8 @@ ReturnValue_t RwPollingTask::prepareSetSpeedCmd(uint8_t rwIdx) {
   uint16_t rampTimeToSet = 10;
   {
     MutexGuard mg(ipcLock);
-    speedToSet = rwCookies[rwIdx]->currentRwSpeed;
-    rampTimeToSet = rwCookies[rwIdx]->currentRampTime;
+    speedToSet = rwRequests[rwIdx].currentRwSpeed;
+    rampTimeToSet = rwRequests[rwIdx].currentRampTime;
   }
   size_t serLen = 1;
   SerializeAdapter::serialize(&speedToSet, &serPtr, &serLen, writeBuffer.size(),

linux/acs/RwPollingTask.h

@@ -8,6 +8,7 @@
 #include <fsfw_hal/common/gpio/GpioIF.h>
 #include <fsfw_hal/linux/spi/SpiComIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
+#include <mission/acs/defs.h>
 
 #include "mission/acs/rwHelpers.h"
 
@@ -26,10 +27,6 @@ class RwCookie : public SpiCookie {
   std::array<uint8_t, REPLY_BUF_LEN> replyBuf{};
   std::array<uint8_t, REPLY_BUF_LEN> exchangeBuf{};
   MutexIF* bufLock;
-  bool setSpeed = true;
-  int32_t currentRwSpeed = 0;
-  uint16_t currentRampTime = 0;
-  rws::SpecialRwRequest specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
   uint8_t rwIdx;
 };
 
@@ -50,8 +47,10 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
   const char* spiDev;
   GpioIF& gpioIF;
   std::array<bool, 4> skipCommandingForRw;
+  std::array<bool, 4> skipSetSpeedReply;
   std::array<DeviceCommandId_t, 4> specialRequestIds;
   std::array<RwCookie*, 4> rwCookies;
+  std::array<rws::RwRequest, 4> rwRequests{};
   std::array<uint8_t, rws::MAX_CMD_SIZE> writeBuffer;
   std::array<uint8_t, rws::MAX_CMD_SIZE * 2> encodedBuffer;
 

linux/boardtest/I2cTestClass.cpp

@@ -37,7 +37,7 @@ void I2cTestClass::battInit() {
   if (ioctl(bpxInfo.fd, I2C_SLAVE, bpxInfo.addr) < 0) {
     sif::error << "Failed to acquire bus access and/or talk to slave" << std::endl;
   }
-  cmdBuf[0] = BpxBattery::PORT_PING;
+  cmdBuf[0] = bpxBat::PORT_PING;
   cmdBuf[1] = 0x42;
   sendLen = 2;
   ReturnValue_t result = i2cWrite(bpxInfo.fd, cmdBuf.data(), sendLen);
@@ -66,7 +66,7 @@ void I2cTestClass::battPeriodic() {
   if (ioctl(bpxInfo.fd, I2C_SLAVE, bpxInfo.addr) < 0) {
     sif::error << "Failed to acquire bus access and/or talk to slave" << std::endl;
   }
-  cmdBuf[0] = BpxBattery::PORT_GET_HK;
+  cmdBuf[0] = bpxBat::PORT_GET_HK;
   sendLen = 1;
   ReturnValue_t result = i2cWrite(bpxInfo.fd, cmdBuf.data(), sendLen);
   if (result != returnvalue::OK) {

linux/com/SyrlinksComHandler.h

@@ -20,6 +20,7 @@ class SyrlinksComHandler : public DeviceCommunicationIF,
 
   //! [EXPORT] : [SKIP]
   static constexpr ReturnValue_t NO_SERIAL_DATA_READ = returnvalue::makeCode(2, 0);
+  //! [EXPORT] : [SKIP]
   static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(2, 1);
 
   enum class State { SLEEPING, ACTIVE } state = State::SLEEPING;

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 284 translations.
+ * @brief    Auto-generated event translation file. Contains 285 translations.
  * @details
- * Generated on: 2023-04-04 13:59:07
+ * Generated on: 2023-04-07 17:42:57
  */
 #include "translateEvents.h"
 
@@ -266,7 +266,8 @@ const char *VERSION_INFO_STRING = "VERSION_INFO";
 const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
 const char *REBOOT_COUNTER_STRING = "REBOOT_COUNTER";
 const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
-const char *I2C_UNAVAILABLE_REBOOT_STRING = "I2C_UNAVAILABLE_REBOOT";
+const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
+const char *I2C_REBOOT_STRING = "I2C_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";
@@ -815,7 +816,9 @@ const char *translateEvents(Event event) {
     case (14008):
       return INDIVIDUAL_BOOT_COUNTS_STRING;
     case (14010):
-      return I2C_UNAVAILABLE_REBOOT_STRING;
+      return TRYING_I2C_RECOVERY_STRING;
+    case (14011):
+      return I2C_REBOOT_STRING;
     case (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-04-04 13:59:07
+ * Generated on: 2023-04-07 17:42:57
  */
 #include "translateObjects.h"
 

linux/payload/ScexHelper.h

@@ -10,6 +10,7 @@
 
 class ScexHelper : public SerializeIF {
  public:
+  //! [EXPORT] : [SKIP]
   static const ReturnValue_t INVALID_CRC = returnvalue::makeCode(0, 2);
 
   ScexHelper();

mission/acs/ImtqHandler.cpp

@@ -795,9 +795,9 @@ ReturnValue_t ImtqHandler::initializeLocalDataPool(localpool::DataPool& localDat
   localDataPoolMap.emplace(imtq::FINA_NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
 
   poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 12.0));
+      subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 30.0));
   poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 12.0));
+      subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 30.0));
   poolManager.subscribeForDiagPeriodicPacket(
       subdp::DiagnosticsHkPeriodicParams(rawMtmNoTorque.getSid(), false, 10.0));
   poolManager.subscribeForDiagPeriodicPacket(

mission/acs/RwHandler.cpp

@@ -4,6 +4,7 @@
 #include <fsfw/globalfunctions/CRC.h>
 #include <fsfw/globalfunctions/arrayprinter.h>
 #include <fsfw_hal/common/gpio/GpioIF.h>
+#include <mission/acs/defs.h>
 
 #include "OBSWConfig.h"
 
@@ -23,40 +24,52 @@ RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCooki
   if (gpioComIF == nullptr) {
     sif::error << "RwHandler: Invalid gpio communication interface" << std::endl;
   }
+  currentRequest.rwIdx = rwIdx;
 }
+
 RwHandler::~RwHandler() {}
 
 void RwHandler::doStartUp() {
   internalState = InternalState::DEFAULT;
 
   if (gpioComIF->pullHigh(enableGpio) != returnvalue::OK) {
-    sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high";
+    sif::error << "RW Handler " << rwIdx << ": Failed to pull ENABLE pin high for startup";
   }
+  currentRequest.mode = acs::SimpleSensorMode::NORMAL;
   updatePeriodicReply(true, rws::REPLY_ID);
   statusSet.setReportingEnabled(true);
   setMode(_MODE_TO_ON);
 }
 
 void RwHandler::doShutDown() {
-  if (gpioComIF->pullLow(enableGpio) != returnvalue::OK) {
-    sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to low";
+  if (internalState != InternalState::SHUTDOWN) {
+    internalState = InternalState::SHUTDOWN;
+    shutdownState = ShutdownState::SET_SPEED_ZERO;
+    offTransitionCountdown.resetTimer();
   }
-  internalState = InternalState::DEFAULT;
-  updatePeriodicReply(false, rws::REPLY_ID);
-  {
-    PoolReadGuard pg(&statusSet);
-    statusSet.currSpeed = 0.0;
-    statusSet.referenceSpeed = 0.0;
-    statusSet.state = 0;
-    statusSet.setValidity(false, true);
-    statusSet.setReportingEnabled(false);
+  if ((internalState == InternalState::SHUTDOWN) and
+      (shutdownState == ShutdownState::DONE or offTransitionCountdown.hasTimedOut())) {
+    if (gpioComIF->pullLow(enableGpio) != returnvalue::OK) {
+      sif::error << "RW Handler " << rwIdx << ": Failed to pull ENABLE pin low for shutdown";
+    }
+    updatePeriodicReply(false, rws::REPLY_ID);
+    {
+      PoolReadGuard pg(&statusSet);
+      statusSet.currSpeed = 0.0;
+      statusSet.referenceSpeed = 0.0;
+      statusSet.state = 0;
+      statusSet.setValidity(false, true);
+      statusSet.setReportingEnabled(false);
+    }
+    {
+      PoolReadGuard pg(&tmDataset);
+      tmDataset.setValidity(false, true);
+    }
+    internalState = InternalState::DEFAULT;
+    shutdownState = ShutdownState::NONE;
+    // The power switch is handled by the assembly, so we can go off here directly.
+    setMode(MODE_OFF);
   }
-  {
-    PoolReadGuard pg(&tmDataset);
-    tmDataset.setValidity(false, true);
-  }
-  // The power switch is handled by the assembly, so we can go off here directly.
-  setMode(MODE_OFF);
 }
 
 ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
@@ -73,6 +86,20 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
 }
 
 ReturnValue_t RwHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  if (internalState == InternalState::SHUTDOWN) {
+    if (shutdownState == ShutdownState::SET_SPEED_ZERO) {
+      {
+        PoolReadGuard pg(&rwSpeedActuationSet);
+        rwSpeedActuationSet.setRwSpeed(0, 10);
+      }
+      *id = rws::REQUEST_ID;
+      return buildCommandFromCommand(*id, nullptr, 0);
+    } else if (shutdownState == ShutdownState::STOP_POLLING) {
+      currentRequest.mode = acs::SimpleSensorMode::OFF;
+      *id = rws::REQUEST_ID;
+      return buildCommandFromCommand(*id, nullptr, 0);
+    }
+  }
   return NOTHING_TO_SEND;
 }
 
@@ -115,32 +142,36 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
         return result;
       }
       // set speed flag.
-      commandBuffer[0] = true;
-      rawPacketLen = 1;
-      uint8_t* currentCmdBuf = commandBuffer + 1;
-      rwSpeedActuationSet.serialize(&currentCmdBuf, &rawPacketLen, sizeof(commandBuffer),
-                                    SerializeIF::Endianness::MACHINE);
-      commandBuffer[rawPacketLen++] = static_cast<uint8_t>(rws::SpecialRwRequest::REQUEST_NONE);
-      rawPacket = commandBuffer;
+      currentRequest.setSpeed = true;
+      rwSpeedActuationSet.getRwSpeed(currentRequest.currentRwSpeed, currentRequest.currentRampTime);
+      currentRequest.specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
+      rawPacket = reinterpret_cast<uint8_t*>(&currentRequest);
+      rawPacketLen = sizeof(rws::RwRequest);
       return returnvalue::OK;
     }
     case (rws::RESET_MCU): {
-      commandBuffer[0] = false;
-      commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::RESET_MCU);
+      currentRequest.setSpeed = false;
+      currentRequest.specialRequest = rws::SpecialRwRequest::RESET_MCU;
       internalState = InternalState::RESET_MCU;
+      rawPacket = reinterpret_cast<uint8_t*>(&currentRequest);
+      rawPacketLen = sizeof(rws::RwRequest);
       return returnvalue::OK;
     }
 
     case (rws::INIT_RW_CONTROLLER): {
-      commandBuffer[0] = false;
-      commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::INIT_RW_CONTROLLER);
+      currentRequest.setSpeed = false;
+      currentRequest.specialRequest = rws::SpecialRwRequest::INIT_RW_CONTROLLER;
       internalState = InternalState::INIT_RW_CONTROLLER;
+      rawPacket = reinterpret_cast<uint8_t*>(&currentRequest);
+      rawPacketLen = sizeof(rws::RwRequest);
       return returnvalue::OK;
     }
     case (rws::GET_TM): {
-      commandBuffer[0] = false;
-      commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::GET_TM);
+      currentRequest.setSpeed = false;
+      currentRequest.specialRequest = rws::SpecialRwRequest::GET_TM;
       internalState = InternalState::GET_TM;
+      rawPacket = reinterpret_cast<uint8_t*>(&currentRequest);
+      rawPacketLen = sizeof(rws::RwRequest);
       return returnvalue::OK;
     }
     default:
@@ -168,6 +199,9 @@ ReturnValue_t RwHandler::scanForReply(const uint8_t* start, size_t remainingSize
     *foundLen = remainingSize;
     *foundId = rws::REPLY_ID;
   }
+  if (internalState == InternalState::SHUTDOWN and shutdownState == ShutdownState::STOP_POLLING) {
+    shutdownState = ShutdownState::DONE;
+  }
   return returnvalue::OK;
 }
 
@@ -377,6 +411,12 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
 
   statusSet.setValidity(true, true);
 
+  if (internalState == InternalState::SHUTDOWN and std::abs(tmDataset.rwCurrSpeed.value) <= 2 and
+      shutdownState == ShutdownState::SET_SPEED_ZERO) {
+    // Finish transition to off.
+    shutdownState = ShutdownState::STOP_POLLING;
+  }
+
   if (statusSet.state == rws::STATE_ERROR) {
     // Trigger FDIR reaction, first recovery, then faulty if it doesnt fix the issue.
     triggerEvent(DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT, statusSet.state.value, 0);

mission/acs/RwHandler.h

@@ -75,6 +75,8 @@ class RwHandler : public DeviceHandlerBase {
   GpioIF* gpioComIF = nullptr;
   gpioId_t enableGpio = gpio::NO_GPIO;
   bool debugMode = false;
+  Countdown offTransitionCountdown = Countdown(5000);
+  rws::RwRequest currentRequest;
 
   rws::StatusSet statusSet;
   rws::LastResetSatus lastResetStatusSet;
@@ -87,27 +89,16 @@ class RwHandler : public DeviceHandlerBase {
   PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>({0});
   PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>({10});
 
-  enum class InternalState {
-    DEFAULT,
-    GET_TM,
-    INIT_RW_CONTROLLER,
-    RESET_MCU,
-    // GET_RESET_STATUS,
-    // CLEAR_RESET_STATUS,
-    // READ_TEMPERATURE,
-    // SET_SPEED,
-    // GET_RW_SATUS
-  };
+  enum class InternalState { DEFAULT, GET_TM, INIT_RW_CONTROLLER, RESET_MCU, SHUTDOWN };
+  enum class ShutdownState {
+    NONE,
+    SET_SPEED_ZERO,
+    STOP_POLLING,
+    DONE,
+  } shutdownState = ShutdownState::NONE;
 
   InternalState internalState = InternalState::DEFAULT;
 
-  /**
-   * @brief   This function can be used to build commands which do not contain any data apart
-   *          from the command id and the CRC.
-   * @param commandId The command id of the command to build.
-   */
-  // void prepareSimpleCommand(DeviceCommandId_t id);
-
   /**
    * @brief   This function checks if the receiced speed and ramp time to set are in a valid
    *          range.
@@ -115,13 +106,6 @@ class RwHandler : public DeviceHandlerBase {
    */
   ReturnValue_t checkSpeedAndRampTime();
 
-  /**
-   * @brief   This function prepares the set speed command from the dataSet received with
-   *          an action message or set in the software.
-   * @return  returnvalue::OK if successful, otherwise error code.
-   */
-  // ReturnValue_t prepareSetSpeedCmd();
-
   /**
    * @brief   This function writes the last reset status retrieved with the get last reset status
    *          command into the reset status dataset.

mission/acs/rwHelpers.h

@@ -4,6 +4,7 @@
 #include <fsfw/datapoollocal/LocalPoolVariable.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <mission/acs/defs.h>
 
 #include "eive/resultClassIds.h"
 #include "events/subsystemIdRanges.h"
@@ -36,6 +37,15 @@ enum class SpecialRwRequest : uint8_t {
   NUM_REQUESTS
 };
 
+struct RwRequest {
+  acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
+  bool setSpeed = true;
+  int32_t currentRwSpeed = 0;
+  uint16_t currentRampTime = 0;
+  rws::SpecialRwRequest specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
+  uint8_t rwIdx = 0;
+};
+
 static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
 
 static const ReturnValue_t SPI_WRITE_FAILURE = MAKE_RETURN_CODE(0xB0);

mission/acs/str/StarTrackerHandler.cpp

@@ -277,7 +277,7 @@ void StarTrackerHandler::performOperationHook() {
   }
 }
 
-Submode_t StarTrackerHandler::getInitialSubmode() { return SUBMODE_BOOTLOADER; }
+Submode_t StarTrackerHandler::getInitialSubmode() { return startracker::SUBMODE_BOOTLOADER; }
 
 ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
   if (strHelperHandlingSpecialRequest) {
@@ -705,7 +705,7 @@ ReturnValue_t StarTrackerHandler::isModeCombinationValid(Mode_t mode, Submode_t
         return INVALID_SUBMODE;
       }
     case MODE_ON:
-      if (submode == SUBMODE_BOOTLOADER || submode == SUBMODE_FIRMWARE) {
+      if (submode == startracker::SUBMODE_BOOTLOADER || submode == startracker::SUBMODE_FIRMWARE) {
         return returnvalue::OK;
       } else {
         return INVALID_SUBMODE;
@@ -736,6 +736,7 @@ void StarTrackerHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
 }
 
 void StarTrackerHandler::doOnTransition(Submode_t subModeFrom) {
+  using namespace startracker;
   uint8_t dhbSubmode = getSubmode();
   // We hide that the transition to submode firmware actually goes through the submode bootloader.
   // This is because the startracker always starts in bootloader mode but we want to allow direct
@@ -762,6 +763,7 @@ void StarTrackerHandler::doOnTransition(Submode_t subModeFrom) {
 }
 
 void StarTrackerHandler::doNormalTransition(Mode_t modeFrom, Submode_t subModeFrom) {
+  using namespace startracker;
   if (subModeFrom == SUBMODE_FIRMWARE) {
     setMode(MODE_NORMAL);
   } else if (subModeFrom == SUBMODE_BOOTLOADER) {
@@ -787,7 +789,7 @@ void StarTrackerHandler::bootFirmware(Mode_t toMode) {
       if (toMode == MODE_NORMAL) {
         setMode(toMode, 0);
       } else {
-        setMode(toMode, SUBMODE_FIRMWARE);
+        setMode(toMode, startracker::SUBMODE_FIRMWARE);
       }
       sif::info << "STR: Firmware boot success" << std::endl;
       internalState = InternalState::IDLE;

mission/acs/str/StarTrackerHandler.h

@@ -54,9 +54,6 @@ class StarTrackerHandler : public DeviceHandlerBase {
 
   Submode_t getInitialSubmode() override;
 
-  static const Submode_t SUBMODE_BOOTLOADER = 1;
-  static const Submode_t SUBMODE_FIRMWARE = 2;
-
  protected:
   void doStartUp() override;
   void doShutDown() override;

mission/acs/str/strHelpers.h

@@ -11,6 +11,9 @@
 
 namespace startracker {
 
+static const Submode_t SUBMODE_BOOTLOADER = 1;
+static const Submode_t SUBMODE_FIRMWARE = 2;
+
 /**
  * @brief    Returns the frame type field of a decoded frame.
  */

mission/com/PersistentLogTmStoreTask.cpp

@@ -45,6 +45,10 @@ ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) {
       // TODO: Might not be necessary
       sif::debug << "VC busy, delaying" << std::endl;
       TaskFactory::delayTask(10);
+    } else {
+      // TODO: Would be best to remove this, but not delaying here can lead to evil issues.
+      // Polling the PAPB of the PTME core too often leads to scheuduling issues.
+      TaskFactory::delayTask(2);
     }
   }
 }

mission/com/PersistentSingleTmStoreTask.cpp

@@ -29,6 +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.
+      // Polling the PAPB of the PTME core too often leads to scheuduling issues.
       TaskFactory::delayTask(2);
     }
   }

mission/com/SyrlinksHandler.cpp

@@ -664,7 +664,7 @@ ReturnValue_t SyrlinksHandler::initializeLocalDataPool(localpool::DataPool& loca
   poolManager.subscribeForDiagPeriodicPacket(
       subdp::DiagnosticsHkPeriodicParams(rxDataset.getSid(), enableHkSets, 60.0));
   poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(temperatureSet.getSid(), enableHkSets, 60.0));
+      subdp::RegularHkPeriodicParams(temperatureSet.getSid(), enableHkSets, 120.0));
   return returnvalue::OK;
 }
 

mission/controller/AcsController.cpp

@@ -221,9 +221,8 @@ void AcsController::performSafe() {
 
   updateCtrlValData(errAng);
   updateActuatorCmdData(cmdDipolMtqs);
-  // commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
-  //                  acsParameters.magnetorquesParameter.torqueDuration, 0, 0, 0, 0,
-  //                  acsParameters.rwHandlingParameters.rampTime);
+  //  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
+  //                   acsParameters.magnetorquerParameter.torqueDuration);
 }
 
 void AcsController::performDetumble() {
@@ -472,6 +471,18 @@ void AcsController::performPointingCtrl() {
   //                   acsParameters.rwHandlingParameters.rampTime);
 }
 
+ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
+                                              uint16_t dipoleTorqueDuration) {
+  {
+    PoolReadGuard pg(&dipoleSet);
+    MutexGuard mg(torquer::lazyLock(), torquer::LOCK_TYPE, torquer::LOCK_TIMEOUT,
+                  torquer::LOCK_CTX);
+    torquer::NEW_ACTUATION_FLAG = true;
+    dipoleSet.setDipoles(xDipole, yDipole, zDipole, dipoleTorqueDuration);
+  }
+  return returnvalue::OK;
+}
+
 ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
                                               uint16_t dipoleTorqueDuration, int32_t rw1Speed,
                                               int32_t rw2Speed, int32_t rw3Speed, int32_t rw4Speed,
@@ -565,7 +576,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3VecRaw);
   localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmVecRaw);
   localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_ACT_STATUS, &imtqCalActStatus);
-  poolManager.subscribeForRegularPeriodicPacket({mgmDataRaw.getSid(), false, 5.0});
+  poolManager.subscribeForRegularPeriodicPacket({mgmDataRaw.getSid(), false, 10.0});
   // MGM Processed
   localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_VEC, &mgm0VecProc);
   localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_VEC, &mgm1VecProc);
@@ -575,7 +586,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT, &mgmVecTot);
   localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT_DERIVATIVE, &mgmVecTotDer);
   localDataPoolMap.emplace(acsctrl::PoolIds::MAG_IGRF_MODEL, &magIgrf);
-  poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), enableHkSets, 12.0});
+  poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), enableHkSets, 10.0});
   // SUS Raw
   localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, &sus0ValRaw);
   localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_N_LOC_XBYFZM_PT_XB, &sus1ValRaw);
@@ -589,7 +600,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   localDataPoolMap.emplace(acsctrl::PoolIds::SUS_9_R_LOC_XBYBZB_PT_YF, &sus9ValRaw);
   localDataPoolMap.emplace(acsctrl::PoolIds::SUS_10_N_LOC_XMYBZF_PT_ZF, &sus10ValRaw);
   localDataPoolMap.emplace(acsctrl::PoolIds::SUS_11_R_LOC_XBYMZB_PT_ZB, &sus11ValRaw);
-  poolManager.subscribeForRegularPeriodicPacket({susDataRaw.getSid(), false, 5.0});
+  poolManager.subscribeForRegularPeriodicPacket({susDataRaw.getSid(), false, 10.0});
   // SUS Processed
   localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_VEC, &sus0VecProc);
   localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_VEC, &sus1VecProc);
@@ -606,43 +617,43 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT, &susVecTot);
   localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT_DERIVATIVE, &susVecTotDer);
   localDataPoolMap.emplace(acsctrl::PoolIds::SUN_IJK_MODEL, &sunIjk);
-  poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), enableHkSets, 12.0});
+  poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), enableHkSets, 10.0});
   // GYR Raw
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_ADIS, &gyr0VecRaw);
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_L3, &gyr1VecRaw);
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_ADIS, &gyr2VecRaw);
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_L3, &gyr3VecRaw);
-  poolManager.subscribeForDiagPeriodicPacket({gyrDataRaw.getSid(), false, 5.0});
+  poolManager.subscribeForDiagPeriodicPacket({gyrDataRaw.getSid(), false, 10.0});
   // GYR Processed
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_VEC, &gyr0VecProc);
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_VEC, &gyr1VecProc);
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_VEC, &gyr2VecProc);
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_VEC, &gyr3VecProc);
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_VEC_TOT, &gyrVecTot);
-  poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), enableHkSets, 12.0});
+  poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), enableHkSets, 10.0});
   // GPS Processed
   localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
   localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
   localDataPoolMap.emplace(acsctrl::PoolIds::ALTITUDE, &altitude);
   localDataPoolMap.emplace(acsctrl::PoolIds::GPS_POSITION, &gpsPosition);
   localDataPoolMap.emplace(acsctrl::PoolIds::GPS_VELOCITY, &gpsVelocity);
-  poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 12.0});
+  poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 30.0});
   // MEKF
   localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
   localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf);
   localDataPoolMap.emplace(acsctrl::PoolIds::MEKF_STATUS, &mekfStatus);
-  poolManager.subscribeForDiagPeriodicPacket({mekfData.getSid(), enableHkSets, 12.0});
+  poolManager.subscribeForDiagPeriodicPacket({mekfData.getSid(), enableHkSets, 10.0});
   // Ctrl Values
   localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
   localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat);
   localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_ANG, &errAng);
   localDataPoolMap.emplace(acsctrl::PoolIds::TGT_ROT_RATE, &tgtRotRate);
-  poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), enableHkSets, 12.0});
+  poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), enableHkSets, 10.0});
   // Actuator CMD
   localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_TORQUE, &rwTargetTorque);
   localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_SPEED, &rwTargetSpeed);
   localDataPoolMap.emplace(acsctrl::PoolIds::MTQ_TARGET_DIPOLE, &mtqTargetDipole);
-  poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 12.0});
+  poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 10.0});
   return returnvalue::OK;
 }
 

mission/controller/AcsController.h

@@ -105,6 +105,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void modeChanged(Mode_t mode, Submode_t submode);
   void announceMode(bool recursive);
 
+  ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
+                                 uint16_t dipoleTorqueDuration);
   ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
                                  uint16_t dipoleTorqueDuration, int32_t rw1Speed, int32_t rw2Speed,
                                  int32_t rw3Speed, int32_t rw4Speed, uint16_t rampTime);

mission/controller/ThermalController.cpp

@@ -260,13 +260,13 @@ ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& lo
   enableHkSets = true;
 #endif
   poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(sensorTemperatures.getSid(), enableHkSets, 60.0));
+      subdp::RegularHkPeriodicParams(sensorTemperatures.getSid(), enableHkSets, 120.0));
   poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(susTemperatures.getSid(), enableHkSets, 60.0));
+      subdp::RegularHkPeriodicParams(susTemperatures.getSid(), enableHkSets, 240.0));
   poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(deviceTemperatures.getSid(), enableHkSets, 60.0));
+      subdp::RegularHkPeriodicParams(deviceTemperatures.getSid(), enableHkSets, 120.0));
   poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(heaterInfo.getSid(), enableHkSets, 30.0));
+      subdp::DiagnosticsHkPeriodicParams(heaterInfo.getSid(), enableHkSets, 120.0));
 
   return returnvalue::OK;
 }

mission/controller/ThermalController.h

@@ -182,14 +182,10 @@ class ThermalController : public ExtendedControllerBase {
   susMax1227::SusDataset susSet11;
 
   lp_var_t<float> tempQ7s = lp_var_t<float>(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE);
-  lp_var_t<int16_t> battTemp1 =
-      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_1);
-  lp_var_t<int16_t> battTemp2 =
-      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_2);
-  lp_var_t<int16_t> battTemp3 =
-      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_3);
-  lp_var_t<int16_t> battTemp4 =
-      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_4);
+  lp_var_t<int16_t> battTemp1 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_1);
+  lp_var_t<int16_t> battTemp2 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_2);
+  lp_var_t<int16_t> battTemp3 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_3);
+  lp_var_t<int16_t> battTemp4 = lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, bpxBat::BATT_TEMP_4);
   lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, rws::TEMPERATURE_C);
   lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, rws::TEMPERATURE_C);
   lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, rws::TEMPERATURE_C);

mission/payload/PayloadPcduHandler.cpp

@@ -726,7 +726,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   int fileDescriptor = 0;
   UnixFileGuard fileHelper(comIf->getSpiDev(), fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
   if (fileHelper.getOpenResult() != returnvalue::OK) {
-    return SpiComIF::OPENING_FILE_FAILED;
+    return spi::OPENING_FILE_FAILED;
   }
   spi::SpiModes spiMode = spi::SpiModes::MODE_0;
   uint32_t spiSpeed = 0;
@@ -782,7 +782,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie->getTransferStructHandle());
   if (retval < 0) {
     utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
-    result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
+    result = spi::FULL_DUPLEX_TRANSFER_FAILED;
   }
 #if FSFW_HAL_SPI_WIRETAPPING == 1
   comIf->performSpiWiretapping(cookie);
@@ -804,7 +804,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie->getTransferStructHandle());
   if (retval < 0) {
     utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
-    result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
+    result = spi::FULL_DUPLEX_TRANSFER_FAILED;
   }
 #if FSFW_HAL_SPI_WIRETAPPING == 1
   comIf->performSpiWiretapping(cookie);

mission/power/AcuHandler.cpp

@@ -149,9 +149,9 @@ ReturnValue_t ACUHandler::initializeLocalDataPool(localpool::DataPool &localData
   localDataPoolMap.emplace(pool::ACU_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
 
   poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 20.0));
+      subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 30.0));
   poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 3000.0));
+      subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 6000.0));
   return returnvalue::OK;
 }
 

mission/power/BpxBatteryHandler.cpp

@@ -27,54 +27,56 @@ void BpxBatteryHandler::doStartUp() {
 void BpxBatteryHandler::doShutDown() {
   // Perform a COM check on reboot
   state = States::CHECK_COM;
+  setMode(MODE_OFF);
 }
 
 ReturnValue_t BpxBatteryHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
-  *id = BpxBattery::GET_HK;
+  *id = bpxBat::GET_HK;
   return buildCommandFromCommand(*id, nullptr, 0);
 }
 
 ReturnValue_t BpxBatteryHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
   if (state == States::CHECK_COM) {
-    *id = BpxBattery::PING;
+    *id = bpxBat::PING;
     return buildCommandFromCommand(*id, nullptr, 0);
   }
   return returnvalue::OK;
 }
 
 void BpxBatteryHandler::fillCommandAndReplyMap() {
-  using namespace BpxBattery;
+  using namespace bpxBat;
   insertInCommandAndReplyMap(GET_HK, 1, &hkSet, GET_HK_REPLY_LEN);
-  insertInCommandAndReplyMap(BpxBattery::PING, 1, nullptr, PING_REPLY_LEN);
-  insertInCommandAndReplyMap(BpxBattery::REBOOT, 1, nullptr, 0);
-  insertInCommandAndReplyMap(BpxBattery::RESET_COUNTERS, 1, nullptr, EMPTY_REPLY_LEN);
-  insertInCommandAndReplyMap(BpxBattery::CONFIG_CMD, 1, nullptr, EMPTY_REPLY_LEN);
-  insertInCommandAndReplyMap(BpxBattery::CONFIG_GET, 1, &cfgSet, CONFIG_GET_REPLY_LEN);
+  insertInCommandAndReplyMap(bpxBat::PING, 1, nullptr, PING_REPLY_LEN);
+  insertInCommandAndReplyMap(bpxBat::REBOOT, 1, nullptr, 0);
+  insertInCommandAndReplyMap(bpxBat::RESET_COUNTERS, 1, nullptr, EMPTY_REPLY_LEN);
+  insertInCommandAndReplyMap(bpxBat::CONFIG_CMD, 1, nullptr, EMPTY_REPLY_LEN);
+  insertInCommandAndReplyMap(bpxBat::CONFIG_GET, 1, &cfgSet, CONFIG_GET_REPLY_LEN);
 }
 
 ReturnValue_t BpxBatteryHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                          const uint8_t* commandData,
                                                          size_t commandDataLen) {
   switch (deviceCommand) {
-    case (BpxBattery::GET_HK): {
-      cmdBuf[0] = BpxBattery::PORT_GET_HK;
+    case (bpxBat::GET_HK): {
+      cmdBuf[0] = bpxBat::PORT_GET_HK;
       this->rawPacketLen = 1;
       break;
     }
-    case (BpxBattery::PING): {
+    case (bpxBat::PING): {
       if (commandDataLen == 1 and commandData != nullptr) {
         sentPingByte = commandData[0];
       } else {
-        sentPingByte = BpxBattery::DEFAULT_PING_SENT_BYTE;
+        sentPingByte = bpxBat::DEFAULT_PING_SENT_BYTE;
       }
 
-      cmdBuf[0] = BpxBattery::PORT_PING;
+      cmdBuf[0] = bpxBat::PORT_PING;
       cmdBuf[1] = sentPingByte;
       this->rawPacketLen = 2;
       break;
     }
-    case (BpxBattery::REBOOT): {
-      cmdBuf[0] = BpxBattery::PORT_REBOOT;
+    case (bpxBat::REBOOT): {
+      sif::info << "BPX BATT: Executing reboot command" << std::endl;
+      cmdBuf[0] = bpxBat::PORT_REBOOT;
       cmdBuf[1] = 0x80;
       cmdBuf[2] = 0x07;
       cmdBuf[3] = 0x80;
@@ -85,26 +87,26 @@ ReturnValue_t BpxBatteryHandler::buildCommandFromCommand(DeviceCommandId_t devic
       triggerEvent(DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT);
       break;
     }
-    case (BpxBattery::RESET_COUNTERS): {
-      cmdBuf[0] = BpxBattery::PORT_RESET_COUNTERS;
-      cmdBuf[1] = BpxBattery::RESET_COUNTERS_MAGIC_VALUE;
+    case (bpxBat::RESET_COUNTERS): {
+      cmdBuf[0] = bpxBat::PORT_RESET_COUNTERS;
+      cmdBuf[1] = bpxBat::RESET_COUNTERS_MAGIC_VALUE;
       this->rawPacketLen = 2;
       break;
     }
-    case (BpxBattery::CONFIG_CMD): {
-      cmdBuf[0] = BpxBattery::PORT_CONFIG_CMD;
+    case (bpxBat::CONFIG_CMD): {
+      cmdBuf[0] = bpxBat::PORT_CONFIG_CMD;
       // Needs to be set to 0x01 according to datasheet
       cmdBuf[1] = 0x01;
       this->rawPacketLen = 2;
       break;
     }
-    case (BpxBattery::CONFIG_GET): {
-      cmdBuf[0] = BpxBattery::PORT_CONFIG_GET;
+    case (bpxBat::CONFIG_GET): {
+      cmdBuf[0] = bpxBat::PORT_CONFIG_GET;
       this->rawPacketLen = 1;
       break;
     }
-    case (BpxBattery::CONFIG_SET): {
-      cmdBuf[0] = BpxBattery::PORT_CONFIG_SET;
+    case (bpxBat::CONFIG_SET): {
+      cmdBuf[0] = bpxBat::PORT_CONFIG_SET;
       if (commandDataLen != 3) {
         return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
       }
@@ -114,8 +116,8 @@ ReturnValue_t BpxBatteryHandler::buildCommandFromCommand(DeviceCommandId_t devic
       this->rawPacketLen = 4;
       break;
     }
-    case (BpxBattery::MAN_HEAT_ON): {
-      cmdBuf[0] = BpxBattery::PORT_MAN_HEAT_ON;
+    case (bpxBat::MAN_HEAT_ON): {
+      cmdBuf[0] = bpxBat::PORT_MAN_HEAT_ON;
       if (commandDataLen != 2) {
         return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
       }
@@ -125,8 +127,8 @@ ReturnValue_t BpxBatteryHandler::buildCommandFromCommand(DeviceCommandId_t devic
       this->rawPacketLen = 3;
       break;
     }
-    case (BpxBattery::MAN_HEAT_OFF): {
-      cmdBuf[0] = BpxBattery::PORT_MAN_HEAT_OFF;
+    case (bpxBat::MAN_HEAT_OFF): {
+      cmdBuf[0] = bpxBat::PORT_MAN_HEAT_OFF;
       this->rawPacketLen = 1;
       break;
     }
@@ -142,35 +144,35 @@ ReturnValue_t BpxBatteryHandler::buildCommandFromCommand(DeviceCommandId_t devic
 
 ReturnValue_t BpxBatteryHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                               DeviceCommandId_t* foundId, size_t* foundLen) {
-  using namespace BpxBattery;
+  using namespace bpxBat;
   switch (lastCmd) {
-    case (BpxBattery::GET_HK): {
+    case (bpxBat::GET_HK): {
       if (remainingSize != GET_HK_REPLY_LEN) {
         return DeviceHandlerIF::LENGTH_MISSMATCH;
       }
       break;
     }
-    case (BpxBattery::PING):
-    case (BpxBattery::MAN_HEAT_ON):
-    case (BpxBattery::MAN_HEAT_OFF): {
+    case (bpxBat::PING):
+    case (bpxBat::MAN_HEAT_ON):
+    case (bpxBat::MAN_HEAT_OFF): {
       if (remainingSize != PING_REPLY_LEN) {
         return DeviceHandlerIF::LENGTH_MISSMATCH;
       }
       break;
     }
-    case (BpxBattery::REBOOT): {
+    case (bpxBat::REBOOT): {
       // Ignore
       break;
     }
-    case (BpxBattery::RESET_COUNTERS):
-    case (BpxBattery::CONFIG_CMD):
-    case (BpxBattery::CONFIG_SET): {
+    case (bpxBat::RESET_COUNTERS):
+    case (bpxBat::CONFIG_CMD):
+    case (bpxBat::CONFIG_SET): {
       if (remainingSize != EMPTY_REPLY_LEN) {
         return DeviceHandlerIF::LENGTH_MISSMATCH;
       }
       break;
     }
-    case (BpxBattery::CONFIG_GET): {
+    case (bpxBat::CONFIG_GET): {
       if (remainingSize != CONFIG_GET_REPLY_LEN) {
         return DeviceHandlerIF::LENGTH_MISSMATCH;
       }
@@ -187,11 +189,11 @@ ReturnValue_t BpxBatteryHandler::scanForReply(const uint8_t* start, size_t remai
 }
 
 ReturnValue_t BpxBatteryHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
-  if (id != BpxBattery::REBOOT and packet[1] != 0) {
+  if (id != bpxBat::REBOOT and packet[1] != 0) {
     return DeviceHandlerIF::DEVICE_REPORTED_ERROR;
   }
   switch (id) {
-    case (BpxBattery::GET_HK): {
+    case (bpxBat::GET_HK): {
       PoolReadGuard rg(&hkSet);
       ReturnValue_t result = hkSet.parseRawHk(packet + 2, 21);
       hkSet.setValidity(true, true);
@@ -213,7 +215,7 @@ ReturnValue_t BpxBatteryHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       }
       break;
     }
-    case (BpxBattery::PING): {
+    case (bpxBat::PING): {
       if (packet[2] != sentPingByte) {
         return DeviceHandlerIF::INVALID_DATA;
       }
@@ -222,19 +224,19 @@ ReturnValue_t BpxBatteryHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       }
       break;
     }
-    case (BpxBattery::RESET_COUNTERS):
-    case (BpxBattery::CONFIG_CMD):
-    case (BpxBattery::CONFIG_SET): {
+    case (bpxBat::RESET_COUNTERS):
+    case (bpxBat::CONFIG_CMD):
+    case (bpxBat::CONFIG_SET): {
       break;
     }
-    case (BpxBattery::MAN_HEAT_ON):
-    case (BpxBattery::MAN_HEAT_OFF): {
+    case (bpxBat::MAN_HEAT_ON):
+    case (bpxBat::MAN_HEAT_OFF): {
       if (packet[2] != 0x01) {
         return DeviceHandlerIF::DEVICE_DID_NOT_EXECUTE;
       }
       break;
     }
-    case (BpxBattery::CONFIG_GET): {
+    case (bpxBat::CONFIG_GET): {
       PoolReadGuard rg(&cfgSet);
       ReturnValue_t result = cfgSet.parseRawHk(packet + 2, 3);
       if (result != returnvalue::OK) {
@@ -243,7 +245,7 @@ ReturnValue_t BpxBatteryHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       cfgSet.setValidity(true, true);
       break;
     }
-    case (BpxBattery::REBOOT): {
+    case (bpxBat::REBOOT): {
       break;
     }
     default: {
@@ -257,20 +259,20 @@ uint32_t BpxBatteryHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo)
 
 ReturnValue_t BpxBatteryHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                          LocalDataPoolManager& poolManager) {
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_1, &battTemp1);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_2, &battTemp2);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_3, &battTemp3);
-  localDataPoolMap.emplace(BpxBattery::BATT_TEMP_4, &battTemp4);
-  localDataPoolMap.emplace(BpxBattery::CHARGE_CURRENT, &chargeCurrent);
-  localDataPoolMap.emplace(BpxBattery::DISCHARGE_CURRENT, &dischargeCurrent);
-  localDataPoolMap.emplace(BpxBattery::HEATER_CURRENT, &heaterCurrent);
-  localDataPoolMap.emplace(BpxBattery::BATT_VOLTAGE, &battVolt);
-  localDataPoolMap.emplace(BpxBattery::REBOOT_COUNTER, &rebootCounter);
-  localDataPoolMap.emplace(BpxBattery::BOOTCAUSE, &bootCause);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_1, &battTemp1);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_2, &battTemp2);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_3, &battTemp3);
+  localDataPoolMap.emplace(bpxBat::BATT_TEMP_4, &battTemp4);
+  localDataPoolMap.emplace(bpxBat::CHARGE_CURRENT, &chargeCurrent);
+  localDataPoolMap.emplace(bpxBat::DISCHARGE_CURRENT, &dischargeCurrent);
+  localDataPoolMap.emplace(bpxBat::HEATER_CURRENT, &heaterCurrent);
+  localDataPoolMap.emplace(bpxBat::BATT_VOLTAGE, &battVolt);
+  localDataPoolMap.emplace(bpxBat::REBOOT_COUNTER, &rebootCounter);
+  localDataPoolMap.emplace(bpxBat::BOOTCAUSE, &bootCause);
 
-  localDataPoolMap.emplace(BpxBattery::BATTERY_HEATER_MODE, &battheatMode);
-  localDataPoolMap.emplace(BpxBattery::BATTHEAT_LOW_LIMIT, &battheatLow);
-  localDataPoolMap.emplace(BpxBattery::BATTHEAT_HIGH_LIMIT, &battheatHigh);
+  localDataPoolMap.emplace(bpxBat::BATTERY_HEATER_MODE, &battheatMode);
+  localDataPoolMap.emplace(bpxBat::BATTHEAT_LOW_LIMIT, &battheatLow);
+  localDataPoolMap.emplace(bpxBat::BATTHEAT_HIGH_LIMIT, &battheatHigh);
 
   poolManager.subscribeForRegularPeriodicPacket(
       subdp::RegularHkPeriodicParams(hkSet.getSid(), enableHkSets, 20.0));

mission/power/BpxBatteryHandler.h

@@ -25,7 +25,7 @@ class BpxBatteryHandler : public DeviceHandlerBase {
   bool commandExecuted = false;
   bool debugMode = false;
   bool goToNormalModeImmediately = false;
-  uint8_t sentPingByte = BpxBattery::DEFAULT_PING_SENT_BYTE;
+  uint8_t sentPingByte = bpxBat::DEFAULT_PING_SENT_BYTE;
 #if OBSW_THREAD_TRACING == 1
   uint32_t opCounter = 0;
 #endif

mission/power/P60DockHandler.cpp

@@ -166,9 +166,9 @@ ReturnValue_t P60DockHandler::initializeLocalDataPool(localpool::DataPool &local
   localDataPoolMap.emplace(pool::P60DOCK_ANT6_DEPL, new PoolEntry<int8_t>({0}));
   localDataPoolMap.emplace(pool::P60DOCK_AR6_DEPL, new PoolEntry<int8_t>({0}));
   poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 20.0));
+      subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 30.0));
   poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 3000.0));
+      subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 6000.0));
   return returnvalue::OK;
 }
 

mission/power/Pdu1Handler.cpp

@@ -90,9 +90,9 @@ ReturnValue_t Pdu1Handler::initializeLocalDataPool(localpool::DataPool &localDat
                                                    LocalDataPoolManager &poolManager) {
   initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU1);
   poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 20.0));
+      subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 30.0));
   poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 3000.0));
+      subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 6000.0));
   return returnvalue::OK;
 }
 

mission/power/Pdu2Handler.cpp

@@ -49,9 +49,9 @@ ReturnValue_t Pdu2Handler::initializeLocalDataPool(localpool::DataPool &localDat
                                                    LocalDataPoolManager &poolManager) {
   initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU2);
   poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 10.0));
+      subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 30.0));
   poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 30.0));
+      subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 6000.0));
   return returnvalue::OK;
 }
 

mission/power/bpxBattDefs.h

@@ -8,7 +8,7 @@
 
 #include "fsfw/devicehandlers/DeviceHandlerIF.h"
 
-namespace BpxBattery {
+namespace bpxBat {
 
 enum LocalPoolIds {
   CHARGE_CURRENT = 0,
@@ -114,18 +114,18 @@ class BpxHkDeserializer : public SerialLinkedListAdapter<SerializeIF> {
   }
 };
 
-};  // namespace BpxBattery
+};  // namespace bpxBat
 
 /**
  * @brief   BPX HK data holder
  */
-class BpxBatteryHk : public StaticLocalDataSet<BpxBattery::HK_ENTRIES> {
+class BpxBatteryHk : public StaticLocalDataSet<bpxBat::HK_ENTRIES> {
  public:
   /**
    * Constructor for data users
    * @param gyroId
    */
-  BpxBatteryHk(object_id_t bpxId) : StaticLocalDataSet(sid_t(bpxId, BpxBattery::HK_SET_ID)) {
+  BpxBatteryHk(object_id_t bpxId) : StaticLocalDataSet(sid_t(bpxId, bpxBat::HK_SET_ID)) {
     setAllVariablesReadOnly();
   }
 
@@ -176,28 +176,25 @@ class BpxBatteryHk : public StaticLocalDataSet<BpxBattery::HK_ENTRIES> {
   }
 
   //! Charge current in mA
-  lp_var_t<uint16_t> chargeCurrent =
-      lp_var_t<uint16_t>(sid.objectId, BpxBattery::CHARGE_CURRENT, this);
+  lp_var_t<uint16_t> chargeCurrent = lp_var_t<uint16_t>(sid.objectId, bpxBat::CHARGE_CURRENT, this);
   //! Discharge current in mA
   lp_var_t<uint16_t> dischargeCurrent =
-      lp_var_t<uint16_t>(sid.objectId, BpxBattery::DISCHARGE_CURRENT, this);
+      lp_var_t<uint16_t>(sid.objectId, bpxBat::DISCHARGE_CURRENT, this);
   //! Heater current in mA
-  lp_var_t<uint16_t> heaterCurrent =
-      lp_var_t<uint16_t>(sid.objectId, BpxBattery::HEATER_CURRENT, this);
+  lp_var_t<uint16_t> heaterCurrent = lp_var_t<uint16_t>(sid.objectId, bpxBat::HEATER_CURRENT, this);
 
   //! Battery voltage in mV
-  lp_var_t<uint16_t> battVoltage = lp_var_t<uint16_t>(sid.objectId, BpxBattery::BATT_VOLTAGE, this);
+  lp_var_t<uint16_t> battVoltage = lp_var_t<uint16_t>(sid.objectId, bpxBat::BATT_VOLTAGE, this);
   //! Battery temperature 1 in degC
-  lp_var_t<int16_t> battTemp1 = lp_var_t<int16_t>(sid.objectId, BpxBattery::BATT_TEMP_1, this);
+  lp_var_t<int16_t> battTemp1 = lp_var_t<int16_t>(sid.objectId, bpxBat::BATT_TEMP_1, this);
   //! Battery temperature 2 in degC
-  lp_var_t<int16_t> battTemp2 = lp_var_t<int16_t>(sid.objectId, BpxBattery::BATT_TEMP_2, this);
+  lp_var_t<int16_t> battTemp2 = lp_var_t<int16_t>(sid.objectId, bpxBat::BATT_TEMP_2, this);
   //! Battery temperature 3 in degC
-  lp_var_t<int16_t> battTemp3 = lp_var_t<int16_t>(sid.objectId, BpxBattery::BATT_TEMP_3, this);
+  lp_var_t<int16_t> battTemp3 = lp_var_t<int16_t>(sid.objectId, bpxBat::BATT_TEMP_3, this);
   //! Battery temperature 4 in degC
-  lp_var_t<int16_t> battTemp4 = lp_var_t<int16_t>(sid.objectId, BpxBattery::BATT_TEMP_4, this);
-  lp_var_t<uint32_t> rebootCounter =
-      lp_var_t<uint32_t>(sid.objectId, BpxBattery::REBOOT_COUNTER, this);
-  lp_var_t<uint8_t> bootcause = lp_var_t<uint8_t>(sid.objectId, BpxBattery::BOOTCAUSE, this);
+  lp_var_t<int16_t> battTemp4 = lp_var_t<int16_t>(sid.objectId, bpxBat::BATT_TEMP_4, this);
+  lp_var_t<uint32_t> rebootCounter = lp_var_t<uint32_t>(sid.objectId, bpxBat::REBOOT_COUNTER, this);
+  lp_var_t<uint8_t> bootcause = lp_var_t<uint8_t>(sid.objectId, bpxBat::BOOTCAUSE, this);
 
  private:
   friend class BpxBatteryHandler;
@@ -205,16 +202,16 @@ class BpxBatteryHk : public StaticLocalDataSet<BpxBattery::HK_ENTRIES> {
    * Constructor for data creator
    * @param hkOwner
    */
-  BpxBatteryHk(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, BpxBattery::HK_SET_ID) {}
+  BpxBatteryHk(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, bpxBat::HK_SET_ID) {}
 };
 
-class BpxBatteryCfg : public StaticLocalDataSet<BpxBattery::CFG_ENTRIES> {
+class BpxBatteryCfg : public StaticLocalDataSet<bpxBat::CFG_ENTRIES> {
  public:
   /**
    * Constructor for data users
    * @param gyroId
    */
-  BpxBatteryCfg(object_id_t bpxId) : StaticLocalDataSet(sid_t(bpxId, BpxBattery::CFG_SET_ID)) {
+  BpxBatteryCfg(object_id_t bpxId) : StaticLocalDataSet(sid_t(bpxId, bpxBat::CFG_SET_ID)) {
     setAllVariablesReadOnly();
   }
 
@@ -230,13 +227,12 @@ class BpxBatteryCfg : public StaticLocalDataSet<BpxBattery::CFG_ENTRIES> {
 
   //! Mode for battheater [0=OFF,1=Auto]
   lp_var_t<uint8_t> battheatermode =
-      lp_var_t<uint8_t>(sid.objectId, BpxBattery::BATTERY_HEATER_MODE, this);
+      lp_var_t<uint8_t>(sid.objectId, bpxBat::BATTERY_HEATER_MODE, this);
   //! Turn heater on at [degC]
-  lp_var_t<int8_t> battheaterLow =
-      lp_var_t<int8_t>(sid.objectId, BpxBattery::BATTHEAT_LOW_LIMIT, this);
+  lp_var_t<int8_t> battheaterLow = lp_var_t<int8_t>(sid.objectId, bpxBat::BATTHEAT_LOW_LIMIT, this);
   //! Turn heater off at [degC]
   lp_var_t<int8_t> battheaterHigh =
-      lp_var_t<int8_t>(sid.objectId, BpxBattery::BATTHEAT_HIGH_LIMIT, this);
+      lp_var_t<int8_t>(sid.objectId, bpxBat::BATTHEAT_HIGH_LIMIT, this);
 
  private:
   friend class BpxBatteryHandler;
@@ -244,8 +240,7 @@ class BpxBatteryCfg : public StaticLocalDataSet<BpxBattery::CFG_ENTRIES> {
    * Constructor for data creator
    * @param hkOwner
    */
-  BpxBatteryCfg(HasLocalDataPoolIF* hkOwner)
-      : StaticLocalDataSet(hkOwner, BpxBattery::CFG_SET_ID) {}
+  BpxBatteryCfg(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, bpxBat::CFG_SET_ID) {}
 };
 
 #endif /* MISSION_POWER_BPXBATTDEFS_H_ */

mission/sysDefs.h

@@ -1,12 +1,79 @@
 #ifndef MISSION_SYSDEFS_H_
 #define MISSION_SYSDEFS_H_
 
+#include <atomic>
+
 #include "acs/defs.h"
 
+extern std::atomic_uint16_t I2C_FATAL_ERRORS;
+
 namespace satsystem {
 
 enum Mode : Mode_t { BOOT = 5, SAFE = acs::AcsMode::SAFE, PTG_IDLE = acs::AcsMode::PTG_IDLE };
 
 }
 
+namespace core {
+static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
+static constexpr ActionId_t ANNOUNCE_VERSION = 1;
+static constexpr ActionId_t ANNOUNCE_CURRENT_IMAGE = 2;
+static constexpr ActionId_t ANNOUNCE_BOOT_COUNTS = 3;
+static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
+static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
+static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
+static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
+
+static constexpr ActionId_t OBSW_UPDATE_FROM_SD_0 = 10;
+static constexpr ActionId_t OBSW_UPDATE_FROM_SD_1 = 11;
+static constexpr ActionId_t OBSW_UPDATE_FROM_TMP = 12;
+
+static constexpr ActionId_t SWITCH_TO_SD_0 = 16;
+static constexpr ActionId_t SWITCH_TO_SD_1 = 17;
+static constexpr ActionId_t SWITCH_TO_BOTH_SD_CARDS = 18;
+
+//! Reboot using the xsc_boot_copy command
+static constexpr ActionId_t XSC_REBOOT_OBC = 32;
+static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
+//! Reboot using the reboot command
+static constexpr ActionId_t REBOOT_OBC = 34;
+
+static constexpr ActionId_t EXECUTE_SHELL_CMD = 40;
+
+static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
+
+static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+//! [EXPORT] : [COMMENT]  Software reboot occurred. Can also be a systemd reboot.
+//! P1: Current Chip, P2: Current Copy
+static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::LOW);
+//! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
+//! P1: First 16 bits: Last Chip, Last 16 bits: Last Copy,
+//! P2: Each byte is the respective reboot count for the slots
+static constexpr Event REBOOT_MECHANISM_TRIGGERED =
+    event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
+//! Trying to find a way how to determine that the reboot came from ProASIC3 or PCDU..
+static constexpr Event REBOOT_HW = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
+//! [EXPORT] : [COMMENT] No SD card was active. Core controller will attempt to re-initialize
+//! a SD card.
+static constexpr Event NO_SD_CARD_ACTIVE = event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
+//! [EXPORT] : [COMMENT]
+//! P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash
+//! P2: First four letters of Git SHA is the last byte of P1 is set.
+static constexpr Event VERSION_INFO = event::makeEvent(SUBSYSTEM_ID, 5, severity::INFO);
+//! [EXPORT] : [COMMENT] P1: Current Chip, P2: Current Copy
+static constexpr Event CURRENT_IMAGE_INFO = event::makeEvent(SUBSYSTEM_ID, 6, severity::INFO);
+//! [EXPORT] : [COMMENT] Total reboot counter, which is the sum of the boot count of all
+//! individual images.
+static constexpr Event REBOOT_COUNTER = event::makeEvent(SUBSYSTEM_ID, 7, severity::INFO);
+//! [EXPORT] : [COMMENT] Get the boot count of the individual images.
+//! P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1.
+//! P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.
+static constexpr Event INDIVIDUAL_BOOT_COUNTS = event::makeEvent(SUBSYSTEM_ID, 8, severity::INFO);
+//! [EXPORT] : [COMMENT] I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C
+//! devices.
+static constexpr Event TRYING_I2C_RECOVERY = event::makeEvent(SUBSYSTEM_ID, 10, severity::MEDIUM);
+//! [EXPORT] : [COMMENT] I2C is unavailable. Recovery did not work, performing full reboot.
+static constexpr Event I2C_REBOOT = event::makeEvent(SUBSYSTEM_ID, 11, severity::MEDIUM);
+
+}  // namespace core
+
 #endif /* MISSION_SYSDEFS_H_ */

mission/system/CMakeLists.txt

@@ -5,4 +5,6 @@ add_subdirectory(com)
 add_subdirectory(fdir)
 add_subdirectory(power)
 
-target_sources(${LIB_EIVE_MISSION} PRIVATE DualLanePowerStateMachine.cpp)
+target_sources(
+  ${LIB_EIVE_MISSION} PRIVATE systemTree.cpp DualLanePowerStateMachine.cpp
+                              EiveSystem.cpp treeUtil.cpp)

mission/system/EiveSystem.cpp

@@ -0,0 +1,278 @@
+#include "EiveSystem.h"
+
+#include <eive/objects.h>
+#include <fsfw/events/EventManager.h>
+#include <fsfw/ipc/QueueFactory.h>
+#include <fsfw/power/PowerSwitchIF.h>
+#include <mission/acs/defs.h>
+#include <mission/com/defs.h>
+#include <mission/controller/tcsDefs.h>
+
+#include "mission/power/bpxBattDefs.h"
+#include "mission/power/defs.h"
+#include "mission/sysDefs.h"
+
+EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
+                       uint32_t maxNumberOfTables, std::atomic_uint16_t& i2cErrors)
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables),
+      actionHelper(this, commandQueue),
+      i2cErrors(i2cErrors) {
+  auto mqArgs = MqArgs(SubsystemBase::getObjectId(), static_cast<void*>(this));
+  eventQueue =
+      QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+}
+
+void EiveSystem::announceMode(bool recursive) {
+  const char* modeStr = "UNKNOWN";
+  switch (mode) {
+    case (satsystem::Mode::BOOT): {
+      modeStr = "OFF/BOOT";
+      break;
+    }
+    case (satsystem::Mode::SAFE): {
+      modeStr = "SAFE";
+      break;
+    }
+    case (satsystem::Mode::PTG_IDLE): {
+      modeStr = "POINTING IDLE";
+      break;
+    }
+    case (acs::AcsMode::PTG_INERTIAL): {
+      modeStr = "POINTING INERTIAL";
+      break;
+    }
+    case (acs::AcsMode::PTG_TARGET): {
+      modeStr = "POINTING TARGET";
+      break;
+    }
+    case (acs::AcsMode::PTG_TARGET_GS): {
+      modeStr = "POINTING TARGET GS";
+      break;
+    }
+  }
+  sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl;
+  return Subsystem::announceMode(recursive);
+}
+
+void EiveSystem::performChildOperation() {
+  Subsystem::performChildOperation();
+  handleEventMessages();
+  if (not isInTransition and performSafeRecovery) {
+    commandSelfToSafe();
+    performSafeRecovery = false;
+    return;
+  }
+  i2cRecoveryLogic();
+}
+
+ReturnValue_t EiveSystem::initialize() {
+  if (powerSwitcher == nullptr) {
+    return ObjectManager::CHILD_INIT_FAILED;
+  }
+  ReturnValue_t result = actionHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  auto* bpxDest = ObjectManager::instance()->get<HasActionsIF>(objects::BPX_BATT_HANDLER);
+  if (bpxDest == nullptr) {
+    return ObjectManager::CHILD_INIT_FAILED;
+  }
+  bpxBattQueueId = bpxDest->getCommandQueue();
+
+  auto* coreCtrl = ObjectManager::instance()->get<HasActionsIF>(objects::CORE_CONTROLLER);
+  if (coreCtrl == nullptr) {
+    return ObjectManager::CHILD_INIT_FAILED;
+  }
+  coreCtrlQueueId = coreCtrl->getCommandQueue();
+
+  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;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  result = manager->registerListener(eventQueue->getId());
+  if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "AcsSubsystem::registerListener: Failed to register as "
+                    "listener"
+                 << std::endl;
+#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));
+
+  // manager->subscribeToEvent(eventQueue->getId(), event::getEventId(CoreController::))
+  return Subsystem::initialize();
+}
+
+void EiveSystem::handleEventMessages() {
+  EventMessage 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 << "EiveSystem: Did not subscribe to event " << event.getEvent() << std::endl;
+        break;
+    }
+  }
+}
+
+MessageQueueId_t EiveSystem::getCommandQueue() const { return Subsystem::getCommandQueue(); }
+
+ReturnValue_t EiveSystem::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                                        const uint8_t* data, size_t size) {
+  switch (actionId) {
+    case (EXECUTE_I2C_REBOOT): {
+      triggerEvent(core::TRYING_I2C_RECOVERY);
+      performI2cReboot = true;
+      i2cRebootState = I2cRebootState::SYSTEM_MODE_BOOT;
+      this->actionCommandedBy = commandedBy;
+      return returnvalue::OK;
+    }
+    default: {
+      return HasActionsIF::INVALID_ACTION_ID;
+    }
+  }
+  return returnvalue::OK;
+}
+
+void EiveSystem::setI2cRecoveryParams(PowerSwitchIF* pwrSwitcher) {
+  this->powerSwitcher = pwrSwitcher;
+}
+
+void EiveSystem::i2cRecoveryLogic() {
+  ReturnValue_t result;
+  if (not performI2cReboot) {
+    // If a recovery worked, need to reset these flags and the error count after some time.
+    if (i2cRecoveryClearCountdown.hasTimedOut()) {
+      i2cErrors = 0;
+      alreadyTriedI2cRecovery = false;
+      i2cRebootHandlingCountdown.resetTimer();
+    }
+    // If an I2C recovery is not ongoing and the I2C error counter is above a threshold, try
+    // recovery or reboot if recovery was already attempted.
+    if (i2cErrors >= 5) {
+      if (not alreadyTriedI2cRecovery) {
+        // Try recovery.
+        executeAction(EXECUTE_I2C_REBOOT, MessageQueueIF::NO_QUEUE, nullptr, 0);
+      } else {
+        // We already tried an I2C recovery but the bus is still broken.
+        // Send full reboot request to core controller.
+        CommandMessage msg;
+        ActionMessage::setCommand(&msg, core::REBOOT_OBC, store_address_t());
+        result = commandQueue->sendMessage(coreCtrlQueueId, &msg);
+      }
+    }
+  }
+  if (not isInTransition and performI2cReboot) {
+    switch (i2cRebootState) {
+      case (I2cRebootState::NONE): {
+        break;
+      }
+      case (I2cRebootState::SYSTEM_MODE_BOOT): {
+        startTransition(satsystem::Mode::BOOT, 0);
+        i2cRebootState = I2cRebootState::SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT;
+        i2cRebootHandlingCountdown.resetTimer();
+        break;
+      }
+      case (I2cRebootState::SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT): {
+        if (mode == satsystem::Mode::BOOT) {
+          result = powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
+                                                    PowerSwitchIF::SWITCH_OFF);
+          if (result != returnvalue::OK) {
+            actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
+            commonI2cRecoverySequenceFinish();
+            return;
+          }
+          CommandMessage msg;
+          store_address_t dummy{};
+          ActionMessage::setCommand(&msg, bpxBat::REBOOT, dummy);
+          result = commandQueue->sendMessage(bpxBattQueueId, &msg);
+          if (result != returnvalue::OK) {
+            actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
+            commonI2cRecoverySequenceFinish();
+            return;
+          }
+          i2cRebootState = I2cRebootState::WAIT_CYCLE;
+        }
+        break;
+      }
+      case (I2cRebootState::WAIT_CYCLE): {
+        i2cRebootState = I2cRebootState::SWITCH_3V3_STACK_ON;
+        break;
+      }
+      case (I2cRebootState::SWITCH_3V3_STACK_ON): {
+        result = powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
+                                                  PowerSwitchIF::SWITCH_ON);
+        if (result != returnvalue::OK) {
+          actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
+          commonI2cRecoverySequenceFinish();
+          return;
+        }
+        i2cRebootState = I2cRebootState::SYSTEM_MODE_SAFE;
+        break;
+      }
+      case (I2cRebootState::SYSTEM_MODE_SAFE): {
+        if (powerSwitcher->getSwitchState(power::Switches::P60_DOCK_3V3_STACK) ==
+            PowerSwitchIF::SWITCH_ON) {
+          // This should always be accepted
+          commonI2cRecoverySequenceFinish();
+          actionHelper.finish(true, actionCommandedBy, EXECUTE_I2C_REBOOT);
+        }
+        break;
+      }
+      default: {
+        sif::error << "EiveSystem: Unexpected I2C reboot state" << std::endl;
+        break;
+      }
+    }
+    // Timeout handling for the internal procedure.
+    if (i2cRebootState != I2cRebootState::NONE and i2cRebootHandlingCountdown.hasTimedOut()) {
+      actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, returnvalue::FAILED);
+      // Command stack back on in any case.
+      powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
+                                       PowerSwitchIF::SWITCH_ON);
+      commonI2cRecoverySequenceFinish();
+    }
+  }
+}
+
+void EiveSystem::commandSelfToSafe() { startTransition(satsystem::Mode::SAFE, 0); }
+
+void EiveSystem::commonI2cRecoverySequenceFinish() {
+  alreadyTriedI2cRecovery = true;
+  performI2cReboot = false;
+  i2cRebootState = I2cRebootState::NONE;
+  // Reset this counter and the recovery clear countdown. If I2C devices are still problematic,
+  // we will get a full reboot next time this count goes above 5.
+  i2cErrors = 0;
+  i2cRecoveryClearCountdown.resetTimer();
+  // This should always be accepted
+  commandSelfToSafe();
+}
+
+ReturnValue_t EiveSystem::handleCommandMessage(CommandMessage* message) {
+  if (message->getMessageType() == messagetypes::ACTION) {
+    return actionHelper.handleActionMessage(message);
+  }
+  return Subsystem::handleCommandMessage(message);
+}

mission/system/EiveSystem.h

@@ -0,0 +1,60 @@
+#ifndef MISSION_SYSTEM_EIVESYSTEM_H_
+#define MISSION_SYSTEM_EIVESYSTEM_H_
+
+#include <fsfw/action/HasActionsIF.h>
+#include <fsfw/power/PowerSwitchIF.h>
+#include <fsfw/subsystem/Subsystem.h>
+
+#include <atomic>
+
+class EiveSystem : public Subsystem, public HasActionsIF {
+ public:
+  static constexpr ActionId_t EXECUTE_I2C_REBOOT = 10;
+
+  EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables,
+             std::atomic_uint16_t& i2cErrors);
+
+  void setI2cRecoveryParams(PowerSwitchIF* pwrSwitcher);
+
+  [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
+
+ private:
+  enum class I2cRebootState {
+    NONE,
+    SYSTEM_MODE_BOOT,
+    SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT,
+    WAIT_CYCLE,
+    SWITCH_3V3_STACK_ON,
+    SYSTEM_MODE_SAFE
+  } i2cRebootState = I2cRebootState::NONE;
+
+  MessageQueueIF* eventQueue = nullptr;
+  bool performSafeRecovery = false;
+  bool performI2cReboot = false;
+  bool alreadyTriedI2cRecovery = false;
+
+  ActionHelper actionHelper;
+  PowerSwitchIF* powerSwitcher = nullptr;
+  std::atomic_uint16_t& i2cErrors;
+
+  MessageQueueId_t bpxBattQueueId = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t coreCtrlQueueId = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t actionCommandedBy = MessageQueueIF::NO_QUEUE;
+  Countdown i2cRebootHandlingCountdown = Countdown(10000);
+  //  After 1 minute, clear the flag to avoid full reboots on I2C issues.
+  Countdown i2cRecoveryClearCountdown = Countdown(60000);
+  ReturnValue_t initialize() override;
+  void performChildOperation() override;
+  void announceMode(bool recursive) override;
+
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size) override;
+  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
+
+  void i2cRecoveryLogic();
+  void handleEventMessages();
+  void commandSelfToSafe();
+  void commonI2cRecoverySequenceFinish();
+};
+
+#endif /* MISSION_SYSTEM_EIVESYSTEM_H_ */

mission/system/acs/AcsBoardAssembly.cpp

@@ -57,8 +57,8 @@ ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
   modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
   if (recoveryState == RecoveryState::RECOVERY_IDLE) {
     result = checkAndHandleHealthStates(mode, submode);
-    if (result == NEED_TO_CHANGE_HEALTH) {
-      return returnvalue::OK;
+    if (result != returnvalue::OK) {
+      return result;
     }
   }
   if (recoveryState != RecoveryState::RECOVERY_STARTED) {
@@ -238,7 +238,7 @@ void AcsBoardAssembly::refreshHelperModes() {
     helper.gyro0SideAMode = childrenMap.at(helper.gyro0AdisIdSideA).mode;
     helper.gyro1SideAMode = childrenMap.at(helper.gyro1L3gIdSideA).mode;
     helper.gyro2SideBMode = childrenMap.at(helper.gyro2AdisIdSideB).mode;
-    helper.gyro3SideBMode = childrenMap.at(helper.gyro2AdisIdSideB).mode;
+    helper.gyro3SideBMode = childrenMap.at(helper.gyro3L3gIdSideB).mode;
     helper.mgm0SideAMode = childrenMap.at(helper.mgm0Lis3IdSideA).mode;
     helper.mgm1SideAMode = childrenMap.at(helper.mgm1Rm3100IdSideA).mode;
     helper.mgm2SideBMode = childrenMap.at(helper.mgm2Lis3IdSideB).mode;
@@ -256,22 +256,57 @@ ReturnValue_t AcsBoardAssembly::initialize() {
   return AssemblyBase::initialize();
 }
 
-ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
-                                                           Submode_t deviceSubmode) {
+ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t commandedMode,
+                                                           Submode_t commandedSubmode) {
   using namespace returnvalue;
   ReturnValue_t status = returnvalue::OK;
+  bool healthNeedsToBeOverwritten = false;
   auto checkAcsBoardSensorGroup = [&](object_id_t o0, object_id_t o1, object_id_t o2,
                                       object_id_t o3) {
     HealthState h0 = healthHelper.healthTable->getHealth(o0);
     HealthState h1 = healthHelper.healthTable->getHealth(o1);
     HealthState h2 = healthHelper.healthTable->getHealth(o2);
     HealthState h3 = healthHelper.healthTable->getHealth(o3);
+    // All device are faulty or permanent faulty, but this is a safe mode assembly, so we need
+    // to restore the devices.
     if ((h0 == FAULTY or h0 == PERMANENT_FAULTY) and (h1 == FAULTY or h1 == PERMANENT_FAULTY) and
         (h2 == FAULTY or h2 == PERMANENT_FAULTY) and (h3 == FAULTY or h3 == PERMANENT_FAULTY)) {
-      overwriteDeviceHealth(o0, h0);
-      overwriteDeviceHealth(o1, h1);
-      overwriteDeviceHealth(o2, h2);
-      overwriteDeviceHealth(o3, h3);
+      uint8_t numPermFaulty = 0;
+      if (h0 == PERMANENT_FAULTY) {
+        numPermFaulty++;
+      }
+      if (h1 == PERMANENT_FAULTY) {
+        numPermFaulty++;
+      }
+      if (h2 == PERMANENT_FAULTY) {
+        numPermFaulty++;
+      }
+      if (h3 == PERMANENT_FAULTY) {
+        numPermFaulty++;
+      }
+      if (numPermFaulty < 4) {
+        // Some are faulty and some are permanent faulty, so only set faulty ones to
+        // EXTERNAL_CONTROL.
+        if (h0 == FAULTY) {
+          overwriteDeviceHealth(o0, h0);
+        }
+        if (h1 == FAULTY) {
+          overwriteDeviceHealth(o1, h1);
+        }
+        if (h2 == FAULTY) {
+          overwriteDeviceHealth(o2, h2);
+        }
+        if (h3 == FAULTY) {
+          overwriteDeviceHealth(o3, h3);
+        }
+      } else {
+        // All permanent faulty, so set all to EXTERNAL_CONTROL
+        overwriteDeviceHealth(o0, h0);
+        overwriteDeviceHealth(o1, h1);
+        overwriteDeviceHealth(o2, h2);
+        overwriteDeviceHealth(o3, h3);
+      }
+      healthNeedsToBeOverwritten = true;
     }
     if (h0 == EXTERNAL_CONTROL or h1 == EXTERNAL_CONTROL or h2 == EXTERNAL_CONTROL or
         h3 == EXTERNAL_CONTROL) {
@@ -285,6 +320,7 @@ ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
   if (healthHelper.healthTable->getHealth(helper.healthDevGps0) == PERMANENT_FAULTY and
       healthHelper.healthTable->getHealth(helper.healthDevGps1) == FAULTY) {
     overwriteDeviceHealth(helper.healthDevGps1, FAULTY);
+    healthNeedsToBeOverwritten = true;
   } else if (healthHelper.healthTable->getHealth(helper.healthDevGps1) == PERMANENT_FAULTY and
              healthHelper.healthTable->getHealth(helper.healthDevGps0) == FAULTY) {
     overwriteDeviceHealth(helper.healthDevGps0, FAULTY);
@@ -294,14 +330,24 @@ ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
                           healthHelper.healthTable->getHealth(helper.healthDevGps0));
     overwriteDeviceHealth(helper.healthDevGps1,
                           healthHelper.healthTable->getHealth(helper.healthDevGps1));
+    healthNeedsToBeOverwritten = true;
   }
 
-  if (deviceSubmode == duallane::DUAL_MODE) {
+  if (commandedSubmode == duallane::DUAL_MODE) {
     checkAcsBoardSensorGroup(helper.mgm0Lis3IdSideA, helper.mgm1Rm3100IdSideA,
                              helper.mgm2Lis3IdSideB, helper.mgm3Rm3100IdSideB);
     checkAcsBoardSensorGroup(helper.gyro0AdisIdSideA, helper.gyro1L3gIdSideA,
+
                              helper.gyro2AdisIdSideB, helper.gyro3L3gIdSideB);
   }
+  if (healthNeedsToBeOverwritten) {
+    // If we are overwriting the health states, we are already in a transition to dual mode,
+    // and we would like that transition to complete. The default behaviour is to go back to the
+    // old mode. We force our behaviour by overwriting the internal modes.
+    mode = commandedMode;
+    submode = commandedSubmode;
+    return NEED_TO_CHANGE_HEALTH;
+  }
   return status;
 }
 

mission/system/acs/DualLaneAssemblyBase.cpp

@@ -36,6 +36,8 @@ void DualLaneAssemblyBase::performChildOperation() {
 void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
   using namespace duallane;
   pwrStateMachine.reset();
+  dualToSingleSideTransition = false;
+  sideSwitchState = SideSwitchState::NONE;
 
   if (mode != MODE_OFF) {
     // Special exception: A transition from dual side to single mode must be handled like
@@ -112,8 +114,11 @@ ReturnValue_t DualLaneAssemblyBase::pwrStateMachineWrapper() {
 
 ReturnValue_t DualLaneAssemblyBase::isModeCombinationValid(Mode_t mode, Submode_t submode) {
   using namespace duallane;
-  if (submode != A_SIDE and submode != B_SIDE and submode != DUAL_MODE) {
-    return returnvalue::FAILED;
+  if (mode != MODE_OFF and (submode != A_SIDE and submode != B_SIDE and submode != DUAL_MODE)) {
+    return HasModesIF::INVALID_SUBMODE;
+  }
+  if (mode == MODE_OFF and submode != SUBMODE_NONE) {
+    return HasModesIF::INVALID_SUBMODE;
   }
   return returnvalue::OK;
 }

mission/system/acs/DualLaneAssemblyBase.h

@@ -70,7 +70,8 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
    * @param submode
    */
   virtual ReturnValue_t pwrStateMachineWrapper();
-  virtual ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+
   /**
    * Custom recovery implementation to ensure that the power lines are commanded off for a
    * recovery.

mission/system/acs/ImtqAssembly.cpp

@@ -18,7 +18,7 @@ ReturnValue_t ImtqAssembly::commandChildren(Mode_t mode, Submode_t submode) {
   if (recoveryState == RECOVERY_IDLE) {
     ReturnValue_t result = checkAndHandleHealthState(mode, submode);
     if (result == NEED_TO_CHANGE_HEALTH) {
-      return OK;
+      return result;
     }
   }
   HybridIterator<ModeListEntry> iter(commandTable.begin(), commandTable.end());
@@ -35,9 +35,12 @@ ReturnValue_t ImtqAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wa
 
 ReturnValue_t ImtqAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
   if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_OFF) {
+    if (submode != SUBMODE_NONE) {
+      return HasModesIF::INVALID_SUBMODE;
+    }
     return returnvalue::OK;
   }
-  return returnvalue::FAILED;
+  return HasModesIF::INVALID_MODE;
 }
 
 ReturnValue_t ImtqAssembly::checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode) {

mission/system/acs/RwAssembly.cpp

@@ -56,12 +56,12 @@ ReturnValue_t RwAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t want
       }
     }
   } catch (const std::out_of_range& e) {
-    sif::error << "RwAssembly: Invalid children map: " << e.what() << std::endl;
+    sif::error << "RW ASSY: Invalid children map: " << e.what() << std::endl;
   }
   if (devsInCorrectMode < 3) {
     if (warningSwitch) {
-      sif::warning << "RwAssembly::checkChildrenStateOn: Only " << devsInCorrectMode
-                   << " devices in correct mode" << std::endl;
+      sif::warning << "RW ASSY: Only " << devsInCorrectMode << " devices in correct mode"
+                   << std::endl;
       warningSwitch = false;
     }
     return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
@@ -106,46 +106,18 @@ void RwAssembly::handleModeReached() {
   }
 }
 
-void RwAssembly::handleChildrenLostMode(ReturnValue_t result) {
-  AssemblyBase::handleChildrenLostMode(result);
-}
-
 ReturnValue_t RwAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
   ReturnValue_t result = returnvalue::OK;
-  bool needsSecondStep = false;
-  Mode_t devMode = 0;
   object_id_t objId = 0;
   try {
     for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
-      devMode = childrenMap.at(helper.rwIds[idx]).mode;
-      objId = helper.rwIds[idx];
-      if (mode == devMode) {
+      if (isUseable(objId, mode)) {
         modeTable[idx].setMode(mode);
-      } else if (mode == DeviceHandlerIF::MODE_NORMAL) {
-        if (isUseable(objId, devMode)) {
-          if (devMode == MODE_ON) {
-            modeTable[idx].setMode(mode);
-            modeTable[idx].setSubmode(SUBMODE_NONE);
-          } else {
-            modeTable[idx].setMode(MODE_ON);
-            modeTable[idx].setSubmode(SUBMODE_NONE);
-            if (internalState != STATE_SECOND_STEP) {
-              needsSecondStep = true;
-            }
-          }
-        }
-      } else if (mode == MODE_ON) {
-        if (isUseable(objId, devMode)) {
-          modeTable[idx].setMode(MODE_ON);
-          modeTable[idx].setSubmode(SUBMODE_NONE);
-        }
+        modeTable[idx].setSubmode(submode);
       }
     }
   } catch (const std::out_of_range& e) {
-    sif::error << "TcsBoardAssembly: Invalid children map: " << e.what() << std::endl;
-  }
-  if (needsSecondStep) {
-    result = NEED_SECOND_STEP;
+    sif::error << "RW ASSY: Invalid children map: " << e.what() << std::endl;
   }
   return result;
 }
@@ -172,15 +144,3 @@ ReturnValue_t RwAssembly::initialize() {
   }
   return AssemblyBase::initialize();
 }
-
-void RwAssembly::handleModeTransitionFailed(ReturnValue_t result) {
-  if (targetMode == MODE_OFF) {
-    AssemblyBase::handleModeTransitionFailed(result);
-  } else {
-    if (modeTransitionFailedSwitch) {
-      // To avoid transitioning back to off
-      triggerEvent(MODE_TRANSITION_FAILED, result);
-      modeTransitionFailedSwitch = false;
-    }
-  }
-}

mission/system/acs/RwAssembly.h

@@ -41,11 +41,6 @@ class RwAssembly : public AssemblyBase {
   ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
   void startTransition(Mode_t mode, Submode_t submode) override;
   void handleModeReached() override;
-
-  // These two overrides prevent a transition of the whole assembly back to off just because
-  // some devices are not working
-  void handleChildrenLostMode(ReturnValue_t result) override;
-  void handleModeTransitionFailed(ReturnValue_t result) override;
 };
 
 #endif /* MISSION_SYSTEM_RWASS_H_ */

mission/system/acs/StrAssembly.cpp

@@ -2,6 +2,8 @@
 
 #include <eive/objects.h>
 
+#include "mission/acs/str/strHelpers.h"
+
 StrAssembly::StrAssembly(object_id_t objectId) : AssemblyBase(objectId) {
   ModeListEntry entry;
   entry.setObject(objects::STAR_TRACKER);
@@ -31,5 +33,12 @@ ReturnValue_t StrAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wan
 }
 
 ReturnValue_t StrAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
+  if ((mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_OFF) and submode != SUBMODE_NONE) {
+    return HasModesIF::INVALID_SUBMODE;
+  }
+  if (mode == MODE_ON and
+      (submode != startracker::SUBMODE_BOOTLOADER and submode != startracker::SUBMODE_FIRMWARE)) {
+    return HasModesIF::INVALID_SUBMODE;
+  }
   return returnvalue::OK;
 }

mission/system/acs/SusAssembly.cpp

@@ -26,8 +26,8 @@ ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) {
   }
   if (recoveryState == RecoveryState::RECOVERY_IDLE) {
     result = checkAndHandleHealthStates(mode, submode);
-    if (result == NEED_TO_CHANGE_HEALTH) {
-      return returnvalue::OK;
+    if (result != returnvalue::OK) {
+      return result;
     }
   }
   if (recoveryState != RecoveryState::RECOVERY_STARTED) {
@@ -47,26 +47,9 @@ ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submod
   bool needsSecondStep = false;
   handleSideSwitchStates(submode, needsSecondStep);
   auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, uint8_t tableIdx) {
-    if (mode == devMode) {
+    if (isModeCommandable(objectId, devMode)) {
       modeTable[tableIdx].setMode(mode);
-    } else if (mode == DeviceHandlerIF::MODE_NORMAL) {
-      if (isUseable(objectId, devMode)) {
-        if (devMode == MODE_ON) {
-          modeTable[tableIdx].setMode(mode);
-          modeTable[tableIdx].setSubmode(SUBMODE_NONE);
-        } else {
-          modeTable[tableIdx].setMode(MODE_ON);
-          modeTable[tableIdx].setSubmode(SUBMODE_NONE);
-          if (internalState != STATE_SECOND_STEP) {
-            needsSecondStep = true;
-          }
-        }
-      }
-    } else if (mode == MODE_ON) {
-      if (isUseable(objectId, devMode)) {
-        modeTable[tableIdx].setMode(MODE_ON);
-        modeTable[tableIdx].setSubmode(SUBMODE_NONE);
-      }
+      modeTable[tableIdx].setSubmode(SUBMODE_NONE);
     }
   };
   switch (submode) {
@@ -134,38 +117,31 @@ ReturnValue_t SusAssembly::initialize() {
   return AssemblyBase::initialize();
 }
 
-bool SusAssembly::isUseable(object_id_t object, Mode_t mode) {
-  if (healthHelper.healthTable->isFaulty(object)) {
-    return false;
-  }
-
-  // Check if device is already in target mode
-  if (childrenMap[object].mode == mode) {
-    return true;
-  }
-
-  if (healthHelper.healthTable->isCommandable(object)) {
-    return true;
-  }
-  return false;
-}
-
 void SusAssembly::refreshHelperModes() {
   for (uint8_t idx = 0; idx < helper.susModes.size(); idx++) {
     helper.susModes[idx] = childrenMap[helper.susIds[idx]].mode;
   }
 }
 
-ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode) {
+ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t commandedMode,
+                                                      Submode_t commandedSubmode) {
   using namespace returnvalue;
   ReturnValue_t status = returnvalue::OK;
+  bool needsHealthOverwritten = false;
   auto checkSusGroup = [&](object_id_t devNom, object_id_t devRed) {
     HealthState healthNom = healthHelper.healthTable->getHealth(devNom);
     HealthState healthRed = healthHelper.healthTable->getHealth(devRed);
-    if ((healthNom == FAULTY or healthNom == PERMANENT_FAULTY) and
-        (healthRed == FAULTY or healthRed == PERMANENT_FAULTY)) {
+    if (healthNom == PERMANENT_FAULTY and healthRed == FAULTY) {
+      overwriteDeviceHealth(devRed, healthRed);
+      needsHealthOverwritten = true;
+    } else if (healthNom == FAULTY and healthRed == PERMANENT_FAULTY) {
+      overwriteDeviceHealth(devNom, healthNom);
+      needsHealthOverwritten = true;
+    } else if ((healthNom == FAULTY or healthNom == PERMANENT_FAULTY) and
+               (healthRed == FAULTY or healthRed == PERMANENT_FAULTY)) {
       overwriteDeviceHealth(devNom, healthNom);
       overwriteDeviceHealth(devRed, healthRed);
+      needsHealthOverwritten = true;
     }
   };
   auto checkHealthForOneDev = [&](object_id_t dev) {
@@ -174,7 +150,7 @@ ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t deviceMode, Submode
       modeHelper.setForced(true);
     }
   };
-  if (deviceSubmode == duallane::DUAL_MODE) {
+  if (commandedSubmode == duallane::DUAL_MODE) {
     uint8_t idx = 0;
     for (idx = 0; idx < 6; idx++) {
       checkSusGroup(helper.susIds[idx], helper.susIds[idx + 6]);
@@ -184,5 +160,12 @@ ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t deviceMode, Submode
       checkHealthForOneDev(helper.susIds[idx]);
     }
   }
+  if (needsHealthOverwritten) {
+    mode = commandedMode;
+    submode = commandedSubmode;
+    // We need second step instead of NEED_TO_CHANGE_HEALTH because we do not want recovery
+    // handling.
+    return NEED_TO_CHANGE_HEALTH;
+  }
   return status;
 }

mission/system/acs/SusAssembly.h

@@ -56,13 +56,6 @@ class SusAssembly : public DualLaneAssemblyBase {
   ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
   ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
 
-  /**
-   * Check whether it makes sense to send mode commands to the device
-   * @param object
-   * @param mode
-   * @return
-   */
-  bool isUseable(object_id_t object, Mode_t mode);
   void powerStateMachine(Mode_t mode, Submode_t submode);
   ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
   void refreshHelperModes();

mission/system/acs/acsModeTree.cpp

@@ -11,7 +11,7 @@
 #include "eive/objects.h"
 #include "mission/acs/defs.h"
 #include "mission/power/defs.h"
-#include "mission/system/tree/util.h"
+#include "mission/system/treeUtil.h"
 
 AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
 

mission/system/com/ComSubsystem.cpp

@@ -228,3 +228,27 @@ bool ComSubsystem::isTxMode(Mode_t mode) {
   }
   return false;
 }
+
+void ComSubsystem::announceMode(bool recursive) {
+  const char *modeStr = "UNKNOWN";
+  switch (mode) {
+    case (com::RX_ONLY): {
+      modeStr = "RX_ONLY";
+      break;
+    }
+    case (com::RX_AND_TX_LOW_DATARATE): {
+      modeStr = "RX_AND_TX_LOW_DATARATE";
+      break;
+    }
+    case (com::RX_AND_TX_HIGH_DATARATE): {
+      modeStr = "RX_AND_TX_HIGH_DATARATE";
+      break;
+    }
+    case (com::RX_AND_TX_DEFAULT_DATARATE): {
+      modeStr = "RX_AND_TX_DEFAULT_DATARATE";
+      break;
+    }
+  }
+  sif::info << "COM subsystem is now in " << modeStr << " mode" << std::endl;
+  return Subsystem::announceMode(recursive);
+}

mission/system/com/ComSubsystem.h

@@ -47,6 +47,7 @@ class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
   ReturnValue_t initialize() override;
 
   void startTransition(Mode_t mode, Submode_t submode) override;
+  void announceMode(bool recursive) override;
 
   void readEventQueue();
   void handleEventMessage(EventMessage *eventMessage);

mission/system/com/SyrlinksAssembly.cpp

@@ -1,6 +1,7 @@
 #include "SyrlinksAssembly.h"
 
 #include <eive/objects.h>
+#include <mission/com/defs.h>
 
 using namespace returnvalue;
 
@@ -19,7 +20,7 @@ ReturnValue_t SyrlinksAssembly::commandChildren(Mode_t mode, Submode_t submode)
   if (recoveryState == RECOVERY_IDLE) {
     ReturnValue_t result = checkAndHandleHealthState(mode, submode);
     if (result == NEED_TO_CHANGE_HEALTH) {
-      return OK;
+      return result;
     }
   }
   executeTable(iter);
@@ -34,10 +35,16 @@ ReturnValue_t SyrlinksAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
 }
 
 ReturnValue_t SyrlinksAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
-  if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_OFF) {
+  if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL) {
+    if (submode >= com::Submode::NUM_SUBMODES or submode < com::Submode::RX_ONLY) {
+      return HasModesIF::INVALID_SUBMODE;
+    }
     return returnvalue::OK;
   }
-  return returnvalue::FAILED;
+  if (mode == MODE_OFF and submode != SUBMODE_NONE) {
+    return HasModesIF::INVALID_SUBMODE;
+  }
+  return returnvalue::OK;
 }
 
 ReturnValue_t SyrlinksAssembly::checkAndHandleHealthState(Mode_t deviceMode,

mission/system/com/comModeTree.cpp

@@ -6,7 +6,7 @@
 
 #include "eive/objects.h"
 #include "mission/com/defs.h"
-#include "mission/system/tree/util.h"
+#include "mission/system/treeUtil.h"
 
 const auto check = subsystem::checkInsert;
 

mission/system/objects/CMakeLists.txt

@@ -1,9 +1,4 @@
 target_sources(
   ${LIB_EIVE_MISSION}
-  PRIVATE EiveSystem.cpp
-          CamSwitcher.cpp
-          TcsSubsystem.cpp
-          PayloadSubsystem.cpp
-          Stack5VHandler.cpp
-          PowerStateMachineBase.cpp
-          TcsBoardAssembly.cpp)
+  PRIVATE CamSwitcher.cpp TcsSubsystem.cpp PayloadSubsystem.cpp
+          Stack5VHandler.cpp PowerStateMachineBase.cpp TcsBoardAssembly.cpp)

mission/system/objects/EiveSystem.cpp

@@ -1,111 +0,0 @@
-#include "EiveSystem.h"
-
-#include <eive/objects.h>
-#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(SubsystemBase::getObjectId(), static_cast<void*>(this));
-  eventQueue =
-      QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
-}
-
-void EiveSystem::announceMode(bool recursive) {
-  const char* modeStr = "UNKNOWN";
-  switch (mode) {
-    case (satsystem::Mode::BOOT): {
-      modeStr = "OFF/BOOT";
-      break;
-    }
-    case (satsystem::Mode::SAFE): {
-      modeStr = "SAFE";
-      break;
-    }
-    case (satsystem::Mode::PTG_IDLE): {
-      modeStr = "POINTING IDLE";
-      break;
-    }
-    case (acs::AcsMode::PTG_INERTIAL): {
-      modeStr = "POINTING INERTIAL";
-      break;
-    }
-    case (acs::AcsMode::PTG_TARGET): {
-      modeStr = "POINTING TARGET";
-      break;
-    }
-    case (acs::AcsMode::PTG_TARGET_GS): {
-      modeStr = "POINTING TARGET GS";
-      break;
-    }
-  }
-  sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl;
-  return Subsystem::announceMode(recursive);
-}
-
-void EiveSystem::performChildOperation() {
-  Subsystem::performChildOperation();
-  handleEventMessages();
-  if (not isInTransition and performSafeRecovery) {
-    commandSelfToSafe();
-    performSafeRecovery = false;
-  }
-}
-
-ReturnValue_t EiveSystem::initialize() {
-  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;
-#endif
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-  ReturnValue_t result = manager->registerListener(eventQueue->getId());
-  if (result != returnvalue::OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "AcsSubsystem::registerListener: Failed to register as "
-                    "listener"
-                 << std::endl;
-#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 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 << "EiveSystem: Did not subscribe to event " << event.getEvent() << std::endl;
-        break;
-    }
-  }
-}
-
-void EiveSystem::commandSelfToSafe() { startTransition(satsystem::Mode::SAFE, 0); }

mission/system/objects/EiveSystem.h

@@ -1,21 +0,0 @@
-#ifndef MISSION_SYSTEM_EIVESYSTEM_H_
-#define MISSION_SYSTEM_EIVESYSTEM_H_
-
-#include <fsfw/subsystem/Subsystem.h>
-
-class EiveSystem : public Subsystem {
- public:
-  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();
-  void commandSelfToSafe();
-};
-
-#endif /* MISSION_SYSTEM_EIVESYSTEM_H_ */

mission/system/objects/PowerStateMachineBase.cpp

@@ -1,5 +1,7 @@
 #include "PowerStateMachineBase.h"
 
+#include "fsfw/serviceinterface.h"
+
 PowerStateMachineBase::PowerStateMachineBase(PowerSwitchIF *pwrSwitcher, dur_millis_t checkTimeout)
     : pwrSwitcher(pwrSwitcher), checkTimeout(checkTimeout) {}
 

mission/system/systemTree.cpp

@@ -1,4 +1,4 @@
-#include "system.h"
+#include "systemTree.h"
 
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/subsystem/Subsystem.h>
@@ -6,12 +6,14 @@
 #include <mission/sysDefs.h>
 #include <mission/system/com/comModeTree.h>
 
+#include <atomic>
+
 #include "eive/objects.h"
 #include "mission/com/defs.h"
 #include "mission/system/acs/acsModeTree.h"
-#include "payloadModeTree.h"
-#include "tcsModeTree.h"
-#include "util.h"
+#include "mission/system/tree/payloadModeTree.h"
+#include "mission/system/tree/tcsModeTree.h"
+#include "treeUtil.h"
 
 namespace {
 // Alias for checker function
@@ -41,7 +43,7 @@ void satsystem::init() {
   EIVE_SYSTEM.setInitialMode(satsystem::Mode::BOOT, 0);
 }
 
-EiveSystem satsystem::EIVE_SYSTEM = EiveSystem(objects::EIVE_SYSTEM, 12, 24);
+EiveSystem satsystem::EIVE_SYSTEM = EiveSystem(objects::EIVE_SYSTEM, 12, 24, I2C_FATAL_ERRORS);
 
 auto EIVE_SEQUENCE_BOOT = std::make_pair(satsystem::Mode::BOOT, FixedArrayList<ModeListEntry, 5>());
 auto EIVE_TABLE_BOOT_TGT =

mission/system/systemTree.h

@@ -1,7 +1,7 @@
 #ifndef MISSION_SYSTEM_TREE_SYSTEM_H_
 #define MISSION_SYSTEM_TREE_SYSTEM_H_
 
-#include <mission/system/objects/EiveSystem.h>
+#include <mission/system/EiveSystem.h>
 
 namespace satsystem {
 

mission/system/tree/CMakeLists.txt

@@ -1,2 +1 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp tcsModeTree.cpp
-                                           system.cpp util.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp tcsModeTree.cpp)

mission/system/tree/payloadModeTree.cpp

@@ -10,7 +10,7 @@
 #include "eive/objects.h"
 #include "mission/power/defs.h"
 #include "mission/system/objects/PayloadSubsystem.h"
-#include "util.h"
+#include "mission/system/treeUtil.h"
 
 namespace {
 void initOffSequence(Subsystem& ss, ModeListEntry& eh);

mission/system/tree/tcsModeTree.cpp

@@ -3,7 +3,7 @@
 #include "eive/objects.h"
 #include "fsfw/devicehandlers/DeviceHandlerIF.h"
 #include "fsfw/subsystem/Subsystem.h"
-#include "mission/system/tree/util.h"
+#include "mission/system/treeUtil.h"
 
 TcsSubsystem satsystem::tcs::SUBSYSTEM(objects::TCS_SUBSYSTEM, 12, 24);
 

mission/system/treeUtil.cpp

@@ -1,4 +1,4 @@
-#include "util.h"
+#include "treeUtil.h"
 
 #include "fsfw/container/FixedMap.h"
 #include "fsfw/serviceinterface.h"

mission/tcs/HeaterHandler.cpp

@@ -331,7 +331,6 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
       }
     }
   } else {
-    sif::info << "HeaterHandler::handleSwitchOffCommand: Switch already off" << std::endl;
     triggerEvent(SWITCH_ALREADY_OFF, heaterIdx);
   }
   if (heater.replyQueue != NO_COMMANDER) {

mission/tcs/HeaterHandler.h

@@ -101,8 +101,8 @@ class HeaterHandler : public ExecutableObjectIF,
   static constexpr Event GPIO_PULL_LOW_FAILED = MAKE_EVENT(1, severity::LOW);
   static constexpr Event HEATER_WENT_ON = event::makeEvent(SUBSYSTEM_ID, 2, severity::INFO);
   static constexpr Event HEATER_WENT_OFF = event::makeEvent(SUBSYSTEM_ID, 3, severity::INFO);
-  static constexpr Event SWITCH_ALREADY_ON = MAKE_EVENT(4, severity::LOW);
-  static constexpr Event SWITCH_ALREADY_OFF = MAKE_EVENT(5, severity::LOW);
+  static constexpr Event SWITCH_ALREADY_ON = MAKE_EVENT(4, severity::INFO);
+  static constexpr Event SWITCH_ALREADY_OFF = MAKE_EVENT(5, severity::INFO);
   static constexpr Event MAIN_SWITCH_TIMEOUT = MAKE_EVENT(6, severity::MEDIUM);
   //! A faulty heater was one. The SW will autonomously attempt to shut it down. P1: Heater Index
   static constexpr Event FAULTY_HEATER_WAS_ON = event::makeEvent(SUBSYSTEM_ID, 7, severity::LOW);