Merge pull request 'v6.1.0' (#740) from prep_v6.1.0 into main

Reviewed-on: #740

CHANGELOG.md

@@ -16,7 +16,208 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
-# [v4.0.0] to be released
+# [v6.1.0] 2023-07-13
+
+- `eive-tmtc`: v5.2.0
+
+## Changed
+
+- TCS: Remove OBC IF board thermal module, which is exactly identical to OBC module and therefore
+  obsolete.
+- Swapped PL and PS I2C, BPX battery and MGT are connected to PS I2C now for firmware versions
+  equal or above v4. However, this software version is compatible to both v3 and v4 of the firmware.
+- The firmware version variables are global statics inititalized early during the program
+  runtime now. This makes it possible to check the firmware version earlier.
+- The TCS controller will now always command heaters OFF when being blind for thermal
+  components (no sensors available), irrespective of current switch state.
+- Make OBSW compatible to prospective FW version v5.0.0, where the Q7 I2C devices were
+  moved to a PL I2C block and the TMP sensor devices were moved to the PS I2C0.
+- Made `Xadc` code a little bit more robust against errors.
+
+## Fixed
+
+- TMP1075: Set dataset invalid on shutdown explicitely
+- Small fixes for TMP1075 FDIR: Use strange and missed reply counters.
+- TCS controller: Last heater (S-band heater) was skipped for transition completion
+  checks.
+- TCS controller: A helper member to track the elapsed heater control cycles was not reset
+  properly, which could lead to switch transitions being completed immediately. This can
+  lead to weird bugs like heaters being commanded ON twice and can potentially lead to
+  other bugs.
+- TMP1075: Devices did not go to OFF mode when being set faulty.
+- Update PL PCDU 1 in TCS mode tree on the EM.
+- TMP1075: Possibly ignored health commands.
+- Bugfix in FSFW where certain packet types could only be sent with source data fields with a
+  maximum size of 255 bytes.
+- TCS CTRL: Limit number of heater handler messages sent in case there are not sensors available
+  anymore.
+- Fix to allow adding real STR device for EM.
+
+# Added
+
+- Two events for heaters being commanded ON and OFF by the TCS controller
+- Upper limit for burn time of TCS heaters. Currently set to 1 hour for each heater.
+  This mechanism will only track the burn time for heaters which were commanded by the
+  TCS controller.
+- TCS controller is now observable by introducing a new HK dataset which exposes some internal
+  fields related to TCS control.
+
+# [v6.0.0] 2023-07-02
+
+- `q7s-package` version v3.2.0
+- Important bugfixes for PTME. See `q7s-package` CHANGELOG.
+
+## Changed
+
+- Added back PTME busy bit polling. This is necessary due to changes to the AXI APB interface
+  to the PTME core.
+
+## Fixed
+
+- For the live channel (VC0), telemetry was still only dumped if the transmitter is active.
+  Please note that this fix will lead to crashes for FW versions below v3.2.
+  However, it might not be an issue for the oldest firmware on the satellite (v2.5.1).
+
+# [v5.2.0] 2023-07-02
+
+## Fixed
+
+- The firmware information event was not triggered even when possible because of an ordering
+  bug in the initializer function.
+- Empty dumps (no TM in time range) will now correctly be completed immediately
+
+## Changed
+
+- PTME was always reset on submode changes. The reset will now only be performed if the actual data
+  rate changes.
+- Add back ACS board code for the EM. Now that the radiation sensor was removed, the image switching
+  issue has disappeared and adding back the ACS board is worth it for the GPS timekeeping.
+
+# [v5.1.0] 2023-06-28
+
+- `eive-tmtc` version v5.1.0
+
+## Changed
+
+- Persistent TM store dumps are now performed in chronological order.
+- Increase Syrlinks RX HK rate to 5.0 seconds during a pass.
+- Various robustness improvements for the heater handler. The heater handler will now only
+  process the command queue if it is not busy with switch commanding which reduces the amount
+  of possible bugs.
+- The heater handler is only able to process messages stricly sequentially now but is scheduled
+  twice in a 0.5 second slot so something like a consecutive heater ON or OFF command can still
+  be handled relatively quickly.
+
+## Added
+
+- Sequence counters for PUS and CFDP packets are now stored persistently across graceful reboots.
+- The PUS packet message type counter will now be incremented properly for each PUS service.
+- Internal error reporter set is now enabled by default and generated every 120 seconds.
+
+# [v5.0.0] 2023-06-26
+
+v3.3.1 and all following version will now be moved to v5.0.0 with the additional changes listed
+here. This was done because the firmware update (v4.0.0) is not working right now and it is not
+known when and how it will be fixed. Because of that, all updates to make the SW work with the new
+firmware, which are limited to a few files will be moved to a dev branch so regular development
+compatible to the old firmware can continue.
+
+TLDR: This version is compatible to the old firmware and some changes which only work with the new
+firmware have been reverted.
+
+## Changed
+
+- Added `sync` syscall in graceful shutdown handler
+- Graceful shutdown is now performed by the reboot watchdog
+- There is now a separate file for the total reboot counter. The reboot watchdog has its own local
+  counters to determine whether a reboot is necessary.
+
+# [v4.0.1] 2023-06-24
+
+## Fixed
+
+- `PusLiveDemux` packet demultiplexing bugfix where the demultiplexing did not work when there was
+  only one destination available.
+
+# [v4.0.0] 2023-06-22
+
+- `eive-tmtc` version v5.0.0
+- `q7s-package` version v3.1.1
+
+## Fixed
+
+- Important bugfixes for PTME. See `q7s-package` CHANGELOG.
+- TCS fixes: Set temperature values to invalid value for MAX31865 RTD handler, SUS handler
+  and STR handler. Also set dataset to invakid for RTD handler.
+- Fixed H parameter in SUS converter from 1 mm to 2.5 mm.
+
+## Changed
+
+- Removed PTME busy/ready signals. Those were not used anyway because register reads are used now.
+- APB bus access busy checking is not done anymore as this is performed by the bus itself now.
+- Core controller will now announce version and image information event in addition to reboot
+  event in the `inititalize` function.
+- Core controller will now try to request and announce the firmware version in addition to the
+  OBSW version as well.
+- Added core controller action to read reboot mechansm information
+- GNSS reset pin will now only be asserted for 5 ms instead of 100 ms.
+
+## Added
+
+- Added PL I2C reset pin. It is not used/connected for now but could be used for FDIR procedures to
+  restore the PL I2C.
+- Core controller now announces firmware version as well when requesting a version info event
+
+# [v3.3.1] 2023-06-22
+
+## Fixed
+
+- `PusLiveDemux` packet demultiplexing bugfix where the demultiplexing did not work when there was
+  only one destination available.
+
+## Fixed
+
+- Fixed H parameter in SUS converter from 1 mm to 2.5 mm.
+
+# [v3.3.0] 2023-06-21
+
+Like v3.2.0 but without the custom FM changes related to VC0.
+
+# [v3.2.0] 2023-06-21
+
+## Fixed
+
+- Fix sun vector calculation
+- SUS total vector was not reset to being a zero vector during eclipse due to a wrong memcpy
+  length.
+
+## Changed
+
+- Reverted all changes related to VC0 handling to avoid FM bug possibly related to FPGA bug.
+
+# [v3.1.1] 2023-06-14
+
+## Fixed
+
+- TMP1075 bugfix where negative temperatures could not be measured because of a two's-complement
+  conversion bug.
+
+# [v3.1.0] 2023-06-14
+
+- `eive-tmtc` version v4.1.0
+
+## Fixed
+
+- TCS heater switch enumeration naming was old/wrong and was not updated in sync with the object ID
+  update. This lead to the TCS controller commanding the wrong heaters.
+
+## Changed
+
+- Increase number of allowed parallel HK commands to 16
+
+## Added
+
+- Added `CONFIG_SET`, `MAN_HEATER_ON` and `MAN_HEATER_OFF` support for the BPX battery handler
 
 # [v3.0.0] 2023-06-11
 

CMakeLists.txt

@@ -9,8 +9,8 @@
 # ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
-set(OBSW_VERSION_MAJOR 3)
-set(OBSW_VERSION_MINOR 0)
+set(OBSW_VERSION_MAJOR 6)
+set(OBSW_VERSION_MINOR 1)
 set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)
@@ -105,7 +105,7 @@ set(OBSW_ADD_THERMAL_TEMP_INSERTER
     ${OBSW_Q7S_EM}
     CACHE STRING "Add thermal sensor temperature inserter")
 set(OBSW_ADD_ACS_BOARD
-    ${INIT_VAL}
+    1
     CACHE STRING "Add ACS board module")
 set(OBSW_ADD_GPS_CTRL
     ${INIT_VAL}
@@ -150,7 +150,7 @@ set(OBSW_ADD_SYRLINKS
     1
     CACHE STRING "Add Syrlinks module")
 set(OBSW_ADD_TMP_DEVICES
-    ${INIT_VAL}
+    1
     CACHE STRING "Add TMP devices")
 set(OBSW_ADD_GOMSPACE_PCDU
     1

README.md

@@ -964,6 +964,12 @@ used by other software components to read the current chip and copy.
 This is a configuration scripts which runs after the Network Time Protocol has run. This script
 currently sets the static IP address `192.168.133.10` and starts the `can` interface.
 
+## Initial boot delay
+
+You can create a file named `boot_delays_secs.txt` inside the home folder to delay the OBSW boot
+for 6 seconds if the file is empty of for the number of seconds specified inside the file. This
+can be helpful if something inside the OBSW leads to an immediate crash of the OBC.
+
 ## PCDU
 
 Connect to serial console of P60 Dock

bsp_hosted/ObjectFactory.cpp

@@ -68,7 +68,7 @@ void ObjectFactory::produce(void* args) {
 #endif
   auto sdcMan = new DummySdCardManager("/tmp");
   ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel, *sdcMan, &ipcStore,
-                                       &tmStore, persistentStores, 120);
+                                       &tmStore, persistentStores, 120, enableHkSets);
 
   new TmFunnelHandler(objects::LIVE_TM_TASK, *pusFunnel, *cfdpFunnel);
   auto* dummyGpioIF = new DummyGpioIF();
@@ -113,7 +113,7 @@ void ObjectFactory::produce(void* args) {
   if (heaterHandler == nullptr) {
     sif::error << "HeaterHandler could not be created" << std::endl;
   } else {
-    ObjectFactory::createThermalController(*heaterHandler);
+    ObjectFactory::createThermalController(*heaterHandler, true);
   }
   new TestTask(objects::TEST_TASK);
 }

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 295 translations.
+ * @brief    Auto-generated event translation file. Contains 299 translations.
  * @details
- * Generated on: 2023-05-17 17:15:34
+ * Generated on: 2023-07-07 12:06:06
  */
 #include "translateEvents.h"
 
@@ -277,6 +277,7 @@ const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
 const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
 const char *I2C_REBOOT_STRING = "I2C_REBOOT";
 const char *PDEC_REBOOT_STRING = "PDEC_REBOOT";
+const char *FIRMWARE_INFO_STRING = "FIRMWARE_INFO";
 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";
@@ -285,6 +286,9 @@ const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
 const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
 const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
 const char *MGT_OVERHEATING_STRING = "MGT_OVERHEATING";
+const char *TCS_SWITCHING_HEATER_ON_STRING = "TCS_SWITCHING_HEATER_ON";
+const char *TCS_SWITCHING_HEATER_OFF_STRING = "TCS_SWITCHING_HEATER_OFF";
+const char *TCS_HEATER_MAX_BURN_TIME_REACHED_STRING = "TCS_HEATER_MAX_BURN_TIME_REACHED";
 const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
 const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
 const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@@ -847,6 +851,8 @@ const char *translateEvents(Event event) {
       return I2C_REBOOT_STRING;
     case (14012):
       return PDEC_REBOOT_STRING;
+    case (14013):
+      return FIRMWARE_INFO_STRING;
     case (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):
@@ -863,6 +869,12 @@ const char *translateEvents(Event event) {
       return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
     case (14108):
       return MGT_OVERHEATING_STRING;
+    case (14109):
+      return TCS_SWITCHING_HEATER_ON_STRING;
+    case (14110):
+      return TCS_SWITCHING_HEATER_OFF_STRING;
+    case (14111):
+      return TCS_HEATER_MAX_BURN_TIME_REACHED_STRING;
     case (14201):
       return TX_TIMER_EXPIRED_STRING;
     case (14202):

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 171 translations.
- * Generated on: 2023-05-17 17:15:34
+ * Generated on: 2023-07-07 12:06:06
  */
 #include "translateObjects.h"
 

bsp_q7s/CMakeLists.txt

@@ -7,7 +7,8 @@ target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC ${LIB_FSFW_NAME})
 target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
 add_subdirectory(simple)
 
-target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp)
+target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp scheduling.cpp
+                                   objectFactory.cpp)
 
 add_subdirectory(boardtest)
 

bsp_q7s/boardconfig/busConf.h

@@ -12,6 +12,9 @@ static constexpr char SPI_RW_DEV[] = "/dev/spi_rw";
 static constexpr char I2C_PL_EIVE[] = "/dev/i2c_pl";
 //! I2C bus using the I2C peripheral of the ARM processing system (PS)
 static constexpr char I2C_PS_EIVE[] = "/dev/i2c_ps";
+//! I2C bus using the first I2C peripheral of the ARM processing system (PS).
+//! Named like this because it is used by default for the Q7 devices.
+static constexpr char I2C_Q7_EIVE[] = "/dev/i2c_q7";
 
 static constexpr char UART_GNSS_DEV[] = "/dev/gps0";
 static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul_plmpsoc";
@@ -23,6 +26,7 @@ static constexpr char UART_SCEX_DEV[] = "/dev/scex";
 static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio_pdec_regs";
 static constexpr char UIO_PTME[] = "/dev/uio_ptme";
 static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio_pdec_cfg_mem";
+static constexpr char UIO_SYS_ROM[] = "/dev/uio_sys_rom";
 static constexpr char UIO_PDEC_RAM[] = "/dev/uio_pdec_ram";
 static constexpr char UIO_PDEC_IRQ[] = "/dev/uio_pdec_irq";
 static constexpr int MAP_ID_PTME_CONFIG = 3;
@@ -57,6 +61,7 @@ static constexpr char GYRO_0_ENABLE[] = "enable_gyro_0";
 static constexpr char GYRO_2_ENABLE[] = "enable_gyro_2";
 static constexpr char GNSS_SELECT[] = "gnss_mux_select";
 static constexpr char GNSS_MUX_SELECT[] = "gnss_mux_select";
+static constexpr char PL_I2C_ARESETN[] = "pl_i2c_aresetn";
 
 static constexpr char HEATER_0[] = "heater0";
 static constexpr char HEATER_1[] = "heater1";
@@ -82,14 +87,12 @@ static constexpr char EN_RW_4[] = "enable_rw_4";
 
 static constexpr char RAD_SENSOR_CHIP_SELECT[] = "rad_sensor_chip_select";
 static constexpr char ENABLE_RADFET[] = "enable_radfet";
-static constexpr char PAPB_BUSY_SIGNAL_VC0[] = "papb_busy_signal_vc0";
+
 static constexpr char PAPB_EMPTY_SIGNAL_VC0[] = "papb_empty_signal_vc0";
-static constexpr char PAPB_BUSY_SIGNAL_VC1[] = "papb_busy_signal_vc1";
 static constexpr char PAPB_EMPTY_SIGNAL_VC1[] = "papb_empty_signal_vc1";
-static constexpr char PAPB_BUSY_SIGNAL_VC2[] = "papb_busy_signal_vc2";
 static constexpr char PAPB_EMPTY_SIGNAL_VC2[] = "papb_empty_signal_vc2";
-static constexpr char PAPB_BUSY_SIGNAL_VC3[] = "papb_busy_signal_vc3";
 static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3";
+
 static constexpr char PTME_RESETN[] = "ptme_resetn";
 
 static constexpr char RS485_EN_TX_CLOCK[] = "tx_clock_enable_ltc2872";

bsp_q7s/core/CMakeLists.txt

@@ -1,4 +1 @@
-target_sources(${OBSW_NAME} PRIVATE CoreController.cpp scheduling.cpp
-                                    ObjectFactory.cpp WatchdogHandler.cpp)
-
-target_sources(${SIMPLE_OBSW_NAME} PRIVATE scheduling.cpp)
+target_sources(${OBSW_NAME} PRIVATE CoreController.cpp WatchdogHandler.cpp)

bsp_q7s/core/CoreController.cpp

@@ -4,6 +4,7 @@
 #include <fsfw/filesystem/HasFileSystemIF.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/tasks/TaskFactory.h>
+#include <fsfw_hal/linux/uio/UioMapper.h>
 
 #include "commonConfig.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
@@ -22,6 +23,7 @@
 #include <algorithm>
 #include <filesystem>
 
+#include "bsp_q7s/boardconfig/busConf.h"
 #include "bsp_q7s/fs/SdCardManager.h"
 #include "bsp_q7s/memory/scratchApi.h"
 #include "bsp_q7s/xadc/Xadc.h"
@@ -168,7 +170,6 @@ ReturnValue_t CoreController::initialize() {
 
   sdStateMachine();
 
-  triggerEvent(core::REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
   EventManagerIF *eventManager =
       ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
   if (eventManager == nullptr or eventQueue == nullptr) {
@@ -185,7 +186,11 @@ ReturnValue_t CoreController::initialize() {
   if (result != returnvalue::OK) {
     sif::warning << "Subscribing for GPS GPS_FIX_CHANGE event failed" << std::endl;
   }
-  return returnvalue::OK;
+  triggerEvent(core::REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
+  announceCurrentImageInfo();
+  announceVersionInfo();
+
+  return result;
 }
 
 ReturnValue_t CoreController::initializeAfterTaskCreation() {
@@ -210,19 +215,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
   using namespace core;
   switch (actionId) {
     case (ANNOUNCE_VERSION): {
-      uint32_t p1 = (common::OBSW_VERSION_MAJOR << 24) | (common::OBSW_VERSION_MINOR << 16) |
-                    (common::OBSW_VERSION_REVISION << 8);
-      uint32_t p2 = 0;
-      if (strcmp("", common::OBSW_VERSION_CST_GIT_SHA1) != 0) {
-        p1 |= 1;
-        auto shaAsStr = std::string(common::OBSW_VERSION_CST_GIT_SHA1);
-        size_t posDash = shaAsStr.find("-");
-        auto gitHash = shaAsStr.substr(posDash + 2, 4);
-        // Only copy first 4 letters of git hash
-        memcpy(&p2, gitHash.c_str(), 4);
-      }
-
-      triggerEvent(VERSION_INFO, p1, p2);
+      announceVersionInfo();
       return HasActionsIF::EXECUTION_FINISHED;
     }
     case (ANNOUNCE_BOOT_COUNTS): {
@@ -230,7 +223,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       return HasActionsIF::EXECUTION_FINISHED;
     }
     case (ANNOUNCE_CURRENT_IMAGE): {
-      triggerEvent(CURRENT_IMAGE_INFO, CURRENT_CHIP, CURRENT_COPY);
+      announceCurrentImageInfo();
       return HasActionsIF::EXECUTION_FINISHED;
     }
     case (LIST_DIRECTORY_INTO_FILE): {
@@ -246,6 +239,9 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
         return result;
       }
       std::ostringstream oss("cp ", std::ostringstream::ate);
+      if (parser.isForceOptSet()) {
+        oss << "-f ";
+      }
       if (parser.isRecursiveOptSet()) {
         oss << "-r ";
       }
@@ -318,28 +314,38 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       if (size < 1) {
         return HasActionsIF::INVALID_PARAMETERS;
       }
-      std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_FILE;
-      // Disable the reboot file mechanism
-      parseRebootFile(path, rebootFile);
+      std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_WATCHDOG_FILE;
+      parseRebootWatchdogFile(path, rebootWatchdogFile);
       if (data[0] == 0) {
-        rebootFile.enabled = false;
-        rewriteRebootFile(rebootFile);
+        rebootWatchdogFile.enabled = false;
+        rewriteRebootWatchdogFile(rebootWatchdogFile);
       } else if (data[0] == 1) {
-        rebootFile.enabled = true;
-        rewriteRebootFile(rebootFile);
+        rebootWatchdogFile.enabled = true;
+        rewriteRebootWatchdogFile(rebootWatchdogFile);
       } else {
         return HasActionsIF::INVALID_PARAMETERS;
       }
       return HasActionsIF::EXECUTION_FINISHED;
     }
+    case (READ_REBOOT_MECHANISM_INFO): {
+      std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_WATCHDOG_FILE;
+      parseRebootWatchdogFile(path, rebootWatchdogFile);
+      RebootWatchdogPacket packet(rebootWatchdogFile);
+      ReturnValue_t result = actionHelper.reportData(commandedBy, actionId, &packet);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
     case (RESET_REBOOT_COUNTERS): {
       if (size == 0) {
-        resetRebootCount(xsc::ALL_CHIP, xsc::ALL_COPY);
+        resetRebootWatchdogCounters(xsc::ALL_CHIP, xsc::ALL_COPY);
       } else if (size == 2) {
         if (data[0] > 1 or data[1] > 1) {
           return HasActionsIF::INVALID_PARAMETERS;
         }
-        resetRebootCount(static_cast<xsc::Chip>(data[0]), static_cast<xsc::Copy>(data[1]));
+        resetRebootWatchdogCounters(static_cast<xsc::Chip>(data[0]),
+                                    static_cast<xsc::Copy>(data[1]));
       }
       return HasActionsIF::EXECUTION_FINISHED;
     }
@@ -434,11 +440,11 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       if (size < 1) {
         return HasActionsIF::INVALID_PARAMETERS;
       }
-      std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_FILE;
+      std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_WATCHDOG_FILE;
       // Disable the reboot file mechanism
-      parseRebootFile(path, rebootFile);
-      rebootFile.maxCount = data[0];
-      rewriteRebootFile(rebootFile);
+      parseRebootWatchdogFile(path, rebootWatchdogFile);
+      rebootWatchdogFile.maxCount = data[0];
+      rewriteRebootWatchdogFile(rebootWatchdogFile);
       return HasActionsIF::EXECUTION_FINISHED;
     }
     case (XSC_REBOOT_OBC): {
@@ -1196,45 +1202,7 @@ ReturnValue_t CoreController::actionXscReboot(const uint8_t *data, size_t size)
   auto tgtChip = static_cast<xsc::Chip>(data[1]);
   auto tgtCopy = static_cast<xsc::Copy>(data[2]);
 
-  // This function can not really fail
-  gracefulShutdownTasks(tgtChip, tgtCopy, protOpPerformed);
-
-  switch (tgtChip) {
-    case (xsc::Chip::CHIP_0): {
-      switch (tgtCopy) {
-        case (xsc::Copy::COPY_0): {
-          xsc_boot_copy(XSC_LIBNOR_CHIP_0, XSC_LIBNOR_COPY_NOMINAL);
-          break;
-        }
-        case (xsc::Copy::COPY_1): {
-          xsc_boot_copy(XSC_LIBNOR_CHIP_0, XSC_LIBNOR_COPY_GOLD);
-          break;
-        }
-        default: {
-          break;
-        }
-      }
-      break;
-    }
-    case (xsc::Chip::CHIP_1): {
-      switch (tgtCopy) {
-        case (xsc::Copy::COPY_0): {
-          xsc_boot_copy(XSC_LIBNOR_CHIP_1, XSC_LIBNOR_COPY_NOMINAL);
-          break;
-        }
-        case (xsc::Copy::COPY_1): {
-          xsc_boot_copy(XSC_LIBNOR_CHIP_1, XSC_LIBNOR_COPY_GOLD);
-          break;
-        }
-        default: {
-          break;
-        }
-      }
-      break;
-    }
-    default:
-      break;
-  }
+  performGracefulShutdown(tgtChip, tgtCopy);
   return returnvalue::FAILED;
 }
 
@@ -1247,14 +1215,23 @@ ReturnValue_t CoreController::actionReboot(const uint8_t *data, size_t size) {
 
 ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy,
                                                     bool &protOpPerformed) {
+  // Store both sequence counters persistently.
+  core::SAVE_CFDP_SEQUENCE_COUNT = true;
+  core::SAVE_PUS_SEQUENCE_COUNT = true;
+
   sdcMan->setBlocking(true);
   sdcMan->markUnusable();
   // Wait two seconds to ensure no one uses the SD cards
   TaskFactory::delayTask(2000);
+
+  // Ensure that all writes/reads do finish.
+  sync();
+
   // Attempt graceful shutdown by unmounting and switching off SD cards
   sdcMan->switchOffSdCard(sd::SdCard::SLOT_0);
   sdcMan->switchOffSdCard(sd::SdCard::SLOT_1);
-  // If any boot copies are unprotected
+  // If any boot copies are unprotected.
+  // Actually this function only ensures that reboots to the own image are protected..
   ReturnValue_t result = setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
                                                protOpPerformed, false);
   if (result == returnvalue::OK and protOpPerformed) {
@@ -1543,7 +1520,8 @@ void CoreController::performMountedSdCardOperations() {
       if (not timeFileInitDone) {
         initClockFromTimeFile();
       }
-      performRebootFileHandling(false);
+      performRebootWatchdogHandling(false);
+      performRebootCountersHandling(false);
     }
     backupTimeFileHandler();
   };
@@ -1615,118 +1593,127 @@ ReturnValue_t CoreController::performSdCardCheck() {
   return returnvalue::OK;
 }
 
-void CoreController::performRebootFileHandling(bool recreateFile) {
+void CoreController::performRebootWatchdogHandling(bool recreateFile) {
   using namespace std;
-  std::string path = currMntPrefix + REBOOT_FILE;
+  std::string path = currMntPrefix + REBOOT_WATCHDOG_FILE;
+  std::string legacyPath = currMntPrefix + LEGACY_REBOOT_WATCHDOG_FILE;
   std::error_code e;
+  // TODO: Remove at some point in the future.
+  if (std::filesystem::exists(legacyPath, e)) {
+    // Old file might still exist, so copy it to new path
+    std::filesystem::copy(legacyPath, path, std::filesystem::copy_options::overwrite_existing, e);
+    if (e) {
+      sif::error << "File copy has failed: " << e.message() << std::endl;
+    }
+  }
   if (not std::filesystem::exists(path, e) or recreateFile) {
 #if OBSW_VERBOSE_LEVEL >= 1
-    sif::info << "CoreController::performRebootFileHandling: Recreating reboot file" << std::endl;
+    sif::info << "CoreController::performRebootFileHandling: Recreating reboot watchdog file"
+              << std::endl;
 #endif
-    rebootFile.enabled = false;
-    rebootFile.img00Cnt = 0;
-    rebootFile.img01Cnt = 0;
-    rebootFile.img10Cnt = 0;
-    rebootFile.img11Cnt = 0;
-    rebootFile.lastChip = xsc::Chip::CHIP_0;
-    rebootFile.lastCopy = xsc::Copy::COPY_0;
-    rebootFile.img00Lock = false;
-    rebootFile.img01Lock = false;
-    rebootFile.img10Lock = false;
-    rebootFile.img11Lock = false;
-    rebootFile.mechanismNextChip = xsc::Chip::NO_CHIP;
-    rebootFile.mechanismNextCopy = xsc::Copy::NO_COPY;
-    rebootFile.bootFlag = false;
-    rewriteRebootFile(rebootFile);
+    rebootWatchdogFile.enabled = false;
+    rebootWatchdogFile.img00Cnt = 0;
+    rebootWatchdogFile.img01Cnt = 0;
+    rebootWatchdogFile.img10Cnt = 0;
+    rebootWatchdogFile.img11Cnt = 0;
+    rebootWatchdogFile.lastChip = xsc::Chip::CHIP_0;
+    rebootWatchdogFile.lastCopy = xsc::Copy::COPY_0;
+    rebootWatchdogFile.img00Lock = false;
+    rebootWatchdogFile.img01Lock = false;
+    rebootWatchdogFile.img10Lock = false;
+    rebootWatchdogFile.img11Lock = false;
+    rebootWatchdogFile.mechanismNextChip = xsc::Chip::NO_CHIP;
+    rebootWatchdogFile.mechanismNextCopy = xsc::Copy::NO_COPY;
+    rebootWatchdogFile.bootFlag = false;
+    rewriteRebootWatchdogFile(rebootWatchdogFile);
   } else {
-    if (not parseRebootFile(path, rebootFile)) {
-      performRebootFileHandling(true);
+    if (not parseRebootWatchdogFile(path, rebootWatchdogFile)) {
+      performRebootWatchdogHandling(true);
+      return;
     }
   }
 
   if (CURRENT_CHIP == xsc::CHIP_0) {
     if (CURRENT_COPY == xsc::COPY_0) {
-      rebootFile.img00Cnt++;
+      rebootWatchdogFile.img00Cnt++;
     } else {
-      rebootFile.img01Cnt++;
+      rebootWatchdogFile.img01Cnt++;
     }
   } else {
     if (CURRENT_COPY == xsc::COPY_0) {
-      rebootFile.img10Cnt++;
+      rebootWatchdogFile.img10Cnt++;
     } else {
-      rebootFile.img11Cnt++;
+      rebootWatchdogFile.img11Cnt++;
     }
   }
 
-  if (rebootFile.bootFlag) {
+  if (rebootWatchdogFile.bootFlag) {
     // Trigger event to inform ground that a reboot was triggered
-    uint32_t p1 = rebootFile.lastChip << 16 | rebootFile.lastCopy;
+    uint32_t p1 = rebootWatchdogFile.lastChip << 16 | rebootWatchdogFile.lastCopy;
     triggerEvent(core::REBOOT_MECHANISM_TRIGGERED, p1, 0);
     // Clear the boot flag
-    rebootFile.bootFlag = false;
+    rebootWatchdogFile.bootFlag = false;
   }
 
-  announceBootCounts();
-
-  if (rebootFile.mechanismNextChip != xsc::NO_CHIP and
-      rebootFile.mechanismNextCopy != xsc::NO_COPY) {
-    if (CURRENT_CHIP != rebootFile.mechanismNextChip or
-        CURRENT_COPY != rebootFile.mechanismNextCopy) {
-      std::string infoString = std::to_string(rebootFile.mechanismNextChip) + " " +
-                               std::to_string(rebootFile.mechanismNextCopy);
+  if (rebootWatchdogFile.mechanismNextChip != xsc::NO_CHIP and
+      rebootWatchdogFile.mechanismNextCopy != xsc::NO_COPY) {
+    if (CURRENT_CHIP != rebootWatchdogFile.mechanismNextChip or
+        CURRENT_COPY != rebootWatchdogFile.mechanismNextCopy) {
+      std::string infoString = std::to_string(rebootWatchdogFile.mechanismNextChip) + " " +
+                               std::to_string(rebootWatchdogFile.mechanismNextCopy);
       sif::warning << "CoreController::performRebootFileHandling: Expected to be on image "
                    << infoString << " but currently on other image. Locking " << infoString
                    << std::endl;
       // Firmware or other component might be corrupt and we are on another image then the target
       // image specified by the mechanism. We can't really trust the target image anymore.
       // Lock it for now
-      if (rebootFile.mechanismNextChip == xsc::CHIP_0) {
-        if (rebootFile.mechanismNextCopy == xsc::COPY_0) {
-          rebootFile.img00Lock = true;
+      if (rebootWatchdogFile.mechanismNextChip == xsc::CHIP_0) {
+        if (rebootWatchdogFile.mechanismNextCopy == xsc::COPY_0) {
+          rebootWatchdogFile.img00Lock = true;
         } else {
-          rebootFile.img01Lock = true;
+          rebootWatchdogFile.img01Lock = true;
         }
       } else {
-        if (rebootFile.mechanismNextCopy == xsc::COPY_0) {
-          rebootFile.img10Lock = true;
+        if (rebootWatchdogFile.mechanismNextCopy == xsc::COPY_0) {
+          rebootWatchdogFile.img10Lock = true;
         } else {
-          rebootFile.img11Lock = true;
+          rebootWatchdogFile.img11Lock = true;
         }
       }
     }
   }
 
-  rebootFile.lastChip = CURRENT_CHIP;
-  rebootFile.lastCopy = CURRENT_COPY;
+  rebootWatchdogFile.lastChip = CURRENT_CHIP;
+  rebootWatchdogFile.lastCopy = CURRENT_COPY;
   // Only reboot if the reboot functionality is enabled.
   // The handler will still increment the boot counts
-  if (rebootFile.enabled and (*rebootFile.relevantBootCnt >= rebootFile.maxCount)) {
+  if (rebootWatchdogFile.enabled and
+      (*rebootWatchdogFile.relevantBootCnt >= rebootWatchdogFile.maxCount)) {
     // Reboot to other image
     bool doReboot = false;
     xsc::Chip tgtChip = xsc::NO_CHIP;
     xsc::Copy tgtCopy = xsc::NO_COPY;
-    determineAndExecuteReboot(rebootFile, doReboot, tgtChip, tgtCopy);
+    rebootWatchdogAlgorithm(rebootWatchdogFile, doReboot, tgtChip, tgtCopy);
     if (doReboot) {
-      rebootFile.bootFlag = true;
+      rebootWatchdogFile.bootFlag = true;
 #if OBSW_VERBOSE_LEVEL >= 1
       sif::info << "Boot counter for image " << CURRENT_CHIP << " " << CURRENT_COPY
                 << " too high. Rebooting to " << tgtChip << " " << tgtCopy << std::endl;
 #endif
-      rebootFile.mechanismNextChip = tgtChip;
-      rebootFile.mechanismNextCopy = tgtCopy;
-      rewriteRebootFile(rebootFile);
-      xsc_boot_copy(static_cast<xsc_libnor_chip_t>(tgtChip),
-                    static_cast<xsc_libnor_copy_t>(tgtCopy));
+      rebootWatchdogFile.mechanismNextChip = tgtChip;
+      rebootWatchdogFile.mechanismNextCopy = tgtCopy;
+      rewriteRebootWatchdogFile(rebootWatchdogFile);
+      performGracefulShutdown(tgtChip, tgtCopy);
     }
   } else {
-    rebootFile.mechanismNextChip = xsc::NO_CHIP;
-    rebootFile.mechanismNextCopy = xsc::NO_COPY;
+    rebootWatchdogFile.mechanismNextChip = xsc::NO_CHIP;
+    rebootWatchdogFile.mechanismNextCopy = xsc::NO_COPY;
   }
-  rewriteRebootFile(rebootFile);
+  rewriteRebootWatchdogFile(rebootWatchdogFile);
 }
 
-void CoreController::determineAndExecuteReboot(RebootFile &rf, bool &needsReboot,
-                                               xsc::Chip &tgtChip, xsc::Copy &tgtCopy) {
+void CoreController::rebootWatchdogAlgorithm(RebootWatchdogFile &rf, bool &needsReboot,
+                                             xsc::Chip &tgtChip, xsc::Copy &tgtCopy) {
   tgtChip = xsc::CHIP_0;
   tgtCopy = xsc::COPY_0;
   needsReboot = false;
@@ -1814,7 +1801,7 @@ void CoreController::determineAndExecuteReboot(RebootFile &rf, bool &needsReboot
   }
 }
 
-bool CoreController::parseRebootFile(std::string path, RebootFile &rf) {
+bool CoreController::parseRebootWatchdogFile(std::string path, RebootWatchdogFile &rf) {
   using namespace std;
   std::string selfMatch;
   if (CURRENT_CHIP == xsc::CHIP_0) {
@@ -1996,68 +1983,174 @@ bool CoreController::parseRebootFile(std::string path, RebootFile &rf) {
   return true;
 }
 
-void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
-  std::string path = currMntPrefix + REBOOT_FILE;
-  // Disable the reboot file mechanism
-  parseRebootFile(path, rebootFile);
+bool CoreController::parseRebootCountersFile(std::string path, RebootCountersFile &rf) {
+  using namespace std;
+  ifstream file(path);
+  string word;
+  string line;
+  uint8_t lineIdx = 0;
+  while (std::getline(file, line)) {
+    istringstream iss(line);
+    switch (lineIdx) {
+      case 0: {
+        iss >> word;
+        if (word.find("img00:") == string::npos) {
+          return false;
+        }
+        iss >> rf.img00Cnt;
+
+        break;
+      }
+      case 1: {
+        iss >> word;
+        if (word.find("img01:") == string::npos) {
+          return false;
+        }
+        iss >> rf.img01Cnt;
+
+        break;
+      }
+      case 2: {
+        iss >> word;
+        if (word.find("img10:") == string::npos) {
+          return false;
+        }
+        iss >> rf.img10Cnt;
+
+        break;
+      }
+      case 3: {
+        iss >> word;
+        if (word.find("img11:") == string::npos) {
+          return false;
+        }
+        iss >> rf.img11Cnt;
+        break;
+      }
+    }
+    lineIdx++;
+  }
+  return true;
+}
+
+void CoreController::resetRebootWatchdogCounters(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
+  std::string path = currMntPrefix + REBOOT_WATCHDOG_FILE;
+  parseRebootWatchdogFile(path, rebootWatchdogFile);
   if (tgtChip == xsc::ALL_CHIP and tgtCopy == xsc::ALL_COPY) {
-    rebootFile.img00Cnt = 0;
-    rebootFile.img01Cnt = 0;
-    rebootFile.img10Cnt = 0;
-    rebootFile.img11Cnt = 0;
+    rebootWatchdogFile.img00Cnt = 0;
+    rebootWatchdogFile.img01Cnt = 0;
+    rebootWatchdogFile.img10Cnt = 0;
+    rebootWatchdogFile.img11Cnt = 0;
   } else {
     if (tgtChip == xsc::CHIP_0) {
       if (tgtCopy == xsc::COPY_0) {
-        rebootFile.img00Cnt = 0;
+        rebootWatchdogFile.img00Cnt = 0;
       } else {
-        rebootFile.img01Cnt = 0;
+        rebootWatchdogFile.img01Cnt = 0;
       }
     } else {
       if (tgtCopy == xsc::COPY_0) {
-        rebootFile.img10Cnt = 0;
+        rebootWatchdogFile.img10Cnt = 0;
       } else {
-        rebootFile.img11Cnt = 0;
+        rebootWatchdogFile.img11Cnt = 0;
       }
     }
   }
-  rewriteRebootFile(rebootFile);
+  rewriteRebootWatchdogFile(rebootWatchdogFile);
 }
 
-void CoreController::rewriteRebootFile(RebootFile file) {
-  std::string path = currMntPrefix + REBOOT_FILE;
+void CoreController::performRebootCountersHandling(bool recreateFile) {
+  std::string path = currMntPrefix + REBOOT_COUNTERS_FILE;
+  std::error_code e;
+  if (not std::filesystem::exists(path, e) or recreateFile) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "CoreController::performRebootFileHandling: Recreating reboot counters file"
+              << std::endl;
+#endif
+    rebootCountersFile.img00Cnt = 0;
+    rebootCountersFile.img01Cnt = 0;
+    rebootCountersFile.img10Cnt = 0;
+    rebootCountersFile.img11Cnt = 0;
+    rewriteRebootCountersFile(rebootCountersFile);
+  } else {
+    if (not parseRebootCountersFile(path, rebootCountersFile)) {
+      performRebootCountersHandling(true);
+      return;
+    }
+  }
+
+  if (CURRENT_CHIP == xsc::CHIP_0) {
+    if (CURRENT_COPY == xsc::COPY_0) {
+      rebootCountersFile.img00Cnt++;
+    } else {
+      rebootCountersFile.img01Cnt++;
+    }
+  } else {
+    if (CURRENT_COPY == xsc::COPY_0) {
+      rebootCountersFile.img10Cnt++;
+    } else {
+      rebootCountersFile.img11Cnt++;
+    }
+  }
+  announceBootCounts();
+  rewriteRebootCountersFile(rebootCountersFile);
+}
+void CoreController::rewriteRebootWatchdogFile(RebootWatchdogFile file) {
+  using namespace std::filesystem;
+  std::string path = currMntPrefix + REBOOT_WATCHDOG_FILE;
+  std::string legacyPath = currMntPrefix + LEGACY_REBOOT_WATCHDOG_FILE;
+  {
+    std::ofstream rebootFile(path);
+    if (rebootFile.is_open()) {
+      // Initiate reboot file first. Reboot handling will be on on initialization
+      rebootFile << "on: " << file.enabled << "\nmaxcnt: " << file.maxCount
+                 << "\nimg00: " << file.img00Cnt << "\nimg01: " << file.img01Cnt
+                 << "\nimg10: " << file.img10Cnt << "\nimg11: " << file.img11Cnt
+                 << "\nimg00lock: " << file.img00Lock << "\nimg01lock: " << file.img01Lock
+                 << "\nimg10lock: " << file.img10Lock << "\nimg11lock: " << file.img11Lock
+                 << "\nbootflag: " << file.bootFlag << "\nlast: " << static_cast<int>(file.lastChip)
+                 << " " << static_cast<int>(file.lastCopy)
+                 << "\nnext: " << static_cast<int>(file.mechanismNextChip) << " "
+                 << static_cast<int>(file.mechanismNextCopy) << "\n";
+    }
+  }
+  std::error_code e;
+  // TODO: Remove at some point in the future when all images have been updated.
+  if (std::filesystem::exists(legacyPath)) {
+    // Keep those two files in sync
+    std::filesystem::copy(path, legacyPath, std::filesystem::copy_options::overwrite_existing, e);
+    if (e) {
+      sif::error << "File copy has failed: " << e.message() << std::endl;
+    }
+  }
+}
+
+void CoreController::rewriteRebootCountersFile(RebootCountersFile file) {
+  std::string path = currMntPrefix + REBOOT_COUNTERS_FILE;
   std::ofstream rebootFile(path);
   if (rebootFile.is_open()) {
-    // Initiate reboot file first. Reboot handling will be on on initialization
-    rebootFile << "on: " << file.enabled << "\nmaxcnt: " << file.maxCount
-               << "\nimg00: " << file.img00Cnt << "\nimg01: " << file.img01Cnt
-               << "\nimg10: " << file.img10Cnt << "\nimg11: " << file.img11Cnt
-               << "\nimg00lock: " << file.img00Lock << "\nimg01lock: " << file.img01Lock
-               << "\nimg10lock: " << file.img10Lock << "\nimg11lock: " << file.img11Lock
-               << "\nbootflag: " << file.bootFlag << "\nlast: " << static_cast<int>(file.lastChip)
-               << " " << static_cast<int>(file.lastCopy)
-               << "\nnext: " << static_cast<int>(file.mechanismNextChip) << " "
-               << static_cast<int>(file.mechanismNextCopy) << "\n";
+    rebootFile << "img00: " << file.img00Cnt << "\nimg01: " << file.img01Cnt
+               << "\nimg10: " << file.img10Cnt << "\nimg11: " << file.img11Cnt << "\n";
   }
 }
 
 void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy) {
-  std::string path = currMntPrefix + REBOOT_FILE;
-  // Disable the reboot file mechanism
-  parseRebootFile(path, rebootFile);
+  std::string path = currMntPrefix + REBOOT_WATCHDOG_FILE;
+  parseRebootWatchdogFile(path, rebootWatchdogFile);
   if (tgtChip == xsc::CHIP_0) {
     if (tgtCopy == xsc::COPY_0) {
-      rebootFile.img00Lock = lock;
+      rebootWatchdogFile.img00Lock = lock;
     } else {
-      rebootFile.img01Lock = lock;
+      rebootWatchdogFile.img01Lock = lock;
     }
   } else {
     if (tgtCopy == xsc::COPY_0) {
-      rebootFile.img10Lock = lock;
+      rebootWatchdogFile.img10Lock = lock;
     } else {
-      rebootFile.img11Lock = lock;
+      rebootWatchdogFile.img11Lock = lock;
     }
   }
-  rewriteRebootFile(rebootFile);
+  rewriteRebootWatchdogFile(rebootWatchdogFile);
 }
 
 ReturnValue_t CoreController::backupTimeFileHandler() {
@@ -2344,10 +2437,12 @@ bool CoreController::startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mo
 }
 
 void CoreController::announceBootCounts() {
-  uint64_t totalBootCount =
-      rebootFile.img00Cnt + rebootFile.img01Cnt + rebootFile.img10Cnt + rebootFile.img11Cnt;
-  uint32_t individualBootCountsP1 = (rebootFile.img00Cnt << 16) | rebootFile.img01Cnt;
-  uint32_t individualBootCountsP2 = (rebootFile.img10Cnt << 16) | rebootFile.img11Cnt;
+  uint64_t totalBootCount = rebootCountersFile.img00Cnt + rebootCountersFile.img01Cnt +
+                            rebootCountersFile.img10Cnt + rebootCountersFile.img11Cnt;
+  uint32_t individualBootCountsP1 =
+      (rebootCountersFile.img00Cnt << 16) | rebootCountersFile.img01Cnt;
+  uint32_t individualBootCountsP2 =
+      (rebootCountersFile.img10Cnt << 16) | rebootCountersFile.img11Cnt;
   triggerEvent(core::INDIVIDUAL_BOOT_COUNTS, individualBootCountsP1, individualBootCountsP2);
   triggerEvent(core::REBOOT_COUNTER, (totalBootCount >> 32) & 0xffffffff,
                totalBootCount & 0xffffffff);
@@ -2405,6 +2500,76 @@ void CoreController::dirListingDumpHandler() {
   }
 }
 
+void CoreController::announceVersionInfo() {
+  using namespace core;
+  uint32_t p1 = (common::OBSW_VERSION_MAJOR << 24) | (common::OBSW_VERSION_MINOR << 16) |
+                (common::OBSW_VERSION_REVISION << 8);
+  uint32_t p2 = 0;
+  if (strcmp("", common::OBSW_VERSION_CST_GIT_SHA1) != 0) {
+    p1 |= 1;
+    auto shaAsStr = std::string(common::OBSW_VERSION_CST_GIT_SHA1);
+    size_t posDash = shaAsStr.find("-");
+    auto gitHash = shaAsStr.substr(posDash + 2, 4);
+    // Only copy first 4 letters of git hash
+    memcpy(&p2, gitHash.c_str(), 4);
+  }
+
+  triggerEvent(VERSION_INFO, p1, p2);
+  p1 = (core::FW_VERSION_MAJOR << 24) | (core::FW_VERSION_MINOR << 16) |
+       (core::FW_VERSION_REVISION << 8) | (core::FW_VERSION_HAS_SHA);
+  std::memcpy(&p2, core::FW_VERSION_GIT_SHA, 4);
+  triggerEvent(FIRMWARE_INFO, p1, p2);
+}
+
+void CoreController::announceCurrentImageInfo() {
+  using namespace core;
+  triggerEvent(CURRENT_IMAGE_INFO, CURRENT_CHIP, CURRENT_COPY);
+}
+
+ReturnValue_t CoreController::performGracefulShutdown(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
+  bool protOpPerformed = false;
+  // This function can not really fail
+  gracefulShutdownTasks(tgtChip, tgtCopy, protOpPerformed);
+
+  switch (tgtChip) {
+    case (xsc::Chip::CHIP_0): {
+      switch (tgtCopy) {
+        case (xsc::Copy::COPY_0): {
+          xsc_boot_copy(XSC_LIBNOR_CHIP_0, XSC_LIBNOR_COPY_NOMINAL);
+          break;
+        }
+        case (xsc::Copy::COPY_1): {
+          xsc_boot_copy(XSC_LIBNOR_CHIP_0, XSC_LIBNOR_COPY_GOLD);
+          break;
+        }
+        default: {
+          break;
+        }
+      }
+      break;
+    }
+    case (xsc::Chip::CHIP_1): {
+      switch (tgtCopy) {
+        case (xsc::Copy::COPY_0): {
+          xsc_boot_copy(XSC_LIBNOR_CHIP_1, XSC_LIBNOR_COPY_NOMINAL);
+          break;
+        }
+        case (xsc::Copy::COPY_1): {
+          xsc_boot_copy(XSC_LIBNOR_CHIP_1, XSC_LIBNOR_COPY_GOLD);
+          break;
+        }
+        default: {
+          break;
+        }
+      }
+      break;
+    }
+    default:
+      break;
+  }
+  return returnvalue::OK;
+}
+
 bool CoreController::isNumber(const std::string &s) {
   return !s.empty() && std::find_if(s.begin(), s.end(),
                                     [](unsigned char c) { return !std::isdigit(c); }) == s.end();

bsp_q7s/core/CoreController.h

@@ -1,11 +1,13 @@
 #ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
 #define BSP_Q7S_CORE_CORECONTROLLER_H_
 
+#include <bsp_q7s/core/defs.h>
 #include <fsfw/container/DynamicFIFO.h>
 #include <fsfw/container/SimpleRingBuffer.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #include <fsfw/parameters/ParameterHelper.h>
 #include <fsfw/parameters/ReceivesParameterMessagesIF.h>
+#include <fsfw_hal/linux/uio/UioMapper.h>
 #include <libxiphos.h>
 #include <mission/acs/archive/GPSDefinitions.h>
 #include <mission/utility/trace.h>
@@ -13,7 +15,6 @@
 #include <atomic>
 #include <cstddef>
 
-#include "CoreDefinitions.h"
 #include "OBSWConfig.h"
 #include "bsp_q7s/fs/SdCardManager.h"
 #include "events/subsystemIdRanges.h"
@@ -23,7 +24,7 @@
 class Timer;
 class SdCardManager;
 
-struct RebootFile {
+struct RebootWatchdogFile {
   static constexpr uint8_t DEFAULT_MAX_BOOT_CNT = 10;
 
   bool enabled = true;
@@ -44,6 +45,93 @@ struct RebootFile {
   xsc::Copy mechanismNextCopy = xsc::Copy::NO_COPY;
 };
 
+class RebootWatchdogPacket : public SerialLinkedListAdapter<SerializeIF> {
+ public:
+  RebootWatchdogPacket(RebootWatchdogFile& rf) {
+    enabled = rf.enabled;
+    maxCount = rf.maxCount;
+    img00Count = rf.img00Cnt;
+    img01Count = rf.img01Cnt;
+    img10Count = rf.img10Cnt;
+    img11Count = rf.img11Cnt;
+    img00Lock = rf.img00Lock;
+    img01Lock = rf.img01Lock;
+    img10Lock = rf.img10Lock;
+    img11Lock = rf.img11Lock;
+    lastChip = static_cast<uint8_t>(rf.lastChip);
+    lastCopy = static_cast<uint8_t>(rf.lastCopy);
+    nextChip = static_cast<uint8_t>(rf.mechanismNextChip);
+    nextCopy = static_cast<uint8_t>(rf.mechanismNextCopy);
+    setLinks();
+  }
+
+ private:
+  void setLinks() {
+    setStart(&enabled);
+    enabled.setNext(&maxCount);
+    maxCount.setNext(&img00Count);
+    img00Count.setNext(&img01Count);
+    img01Count.setNext(&img10Count);
+    img10Count.setNext(&img11Count);
+    img11Count.setNext(&img00Lock);
+    img00Lock.setNext(&img01Lock);
+    img01Lock.setNext(&img10Lock);
+    img10Lock.setNext(&img11Lock);
+    img11Lock.setNext(&lastChip);
+    lastChip.setNext(&lastCopy);
+    lastCopy.setNext(&nextChip);
+    nextChip.setNext(&nextCopy);
+    setLast(&nextCopy);
+  }
+
+  SerializeElement<uint8_t> enabled = false;
+  SerializeElement<uint32_t> maxCount = 0;
+  SerializeElement<uint32_t> img00Count = 0;
+  SerializeElement<uint32_t> img01Count = 0;
+  SerializeElement<uint32_t> img10Count = 0;
+  SerializeElement<uint32_t> img11Count = 0;
+  SerializeElement<uint8_t> img00Lock = false;
+  SerializeElement<uint8_t> img01Lock = false;
+  SerializeElement<uint8_t> img10Lock = false;
+  SerializeElement<uint8_t> img11Lock = false;
+  SerializeElement<uint8_t> lastChip = 0;
+  SerializeElement<uint8_t> lastCopy = 0;
+  SerializeElement<uint8_t> nextChip = 0;
+  SerializeElement<uint8_t> nextCopy = 0;
+};
+
+struct RebootCountersFile {
+  // 16 bit values so all boot counters fit into one event.
+  uint16_t img00Cnt = 0;
+  uint16_t img01Cnt = 0;
+  uint16_t img10Cnt = 0;
+  uint16_t img11Cnt = 0;
+};
+
+class RebootCountersPacket : public SerialLinkedListAdapter<SerializeIF> {
+  RebootCountersPacket(RebootCountersFile& rf) {
+    img00Count = rf.img00Cnt;
+    img01Count = rf.img01Cnt;
+    img10Count = rf.img10Cnt;
+    img11Count = rf.img11Cnt;
+    setLinks();
+  }
+
+ private:
+  void setLinks() {
+    setStart(&img00Count);
+    img00Count.setNext(&img01Count);
+    img01Count.setNext(&img10Count);
+    img10Count.setNext(&img11Count);
+    setLast(&img11Count);
+  }
+
+  SerializeElement<uint16_t> img00Count = 0;
+  SerializeElement<uint16_t> img01Count = 0;
+  SerializeElement<uint16_t> img10Count = 0;
+  SerializeElement<uint16_t> img11Count = 0;
+};
+
 class CoreController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
  public:
   enum ParamId : uint8_t { PREF_SD = 0, NUM_IDS };
@@ -57,10 +145,15 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
 
   const std::string VERSION_FILE =
       "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::VERSION_FILE_NAME);
-  const std::string REBOOT_FILE =
-      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_FILE_NAME);
+  const std::string LEGACY_REBOOT_WATCHDOG_FILE =
+      "/" + std::string(core::CONF_FOLDER) + "/" +
+      std::string(core::LEGACY_REBOOT_WATCHDOG_FILE_NAME);
+  const std::string REBOOT_WATCHDOG_FILE =
+      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_WATCHDOG_FILE_NAME);
   const std::string BACKUP_TIME_FILE =
       "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::TIME_FILE_NAME);
+  const std::string REBOOT_COUNTERS_FILE =
+      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_COUNTER_FILE_NAME);
 
   static constexpr char CHIP_0_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-nom-rootfs";
   static constexpr char CHIP_0_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-gold-rootfs";
@@ -142,6 +235,7 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
 
   static constexpr bool BLOCKING_SD_INIT = false;
 
+  uint32_t* mappedSysRomAddr = nullptr;
   SdCardManager* sdcMan = nullptr;
   MessageQueueIF* eventQueue = nullptr;
 
@@ -191,7 +285,8 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
   std::array<uint8_t, 1024> dirListingBuf{};
   DirListingDumpContext dumpContext{};
 
-  RebootFile rebootFile = {};
+  RebootWatchdogFile rebootWatchdogFile = {};
+  RebootCountersFile rebootCountersFile = {};
 
   CommandExecutor cmdExecutor;
   SimpleRingBuffer cmdReplyBuf;
@@ -261,12 +356,14 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
   void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
   void executeNextExternalSdCommand();
   void checkExternalSdCommandStatus();
-  void performRebootFileHandling(bool recreateFile);
+  void performRebootWatchdogHandling(bool recreateFile);
+  void performRebootCountersHandling(bool recreateFile);
 
   ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
                                             const uint8_t* data, size_t size);
   ReturnValue_t actionListDirectoryDumpDirectly(ActionId_t actionId, MessageQueueId_t commandedBy,
                                                 const uint8_t* data, size_t size);
+  ReturnValue_t performGracefulShutdown(xsc::Chip targetChip, xsc::Copy targetCopy);
 
   ReturnValue_t actionListDirectoryCommonCommandCreator(const uint8_t* data, size_t size,
                                                         std::ostringstream& oss);
@@ -280,13 +377,17 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
   int handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
                                 bool& protOperationPerformed, bool selfChip, bool selfCopy,
                                 bool allChips, bool allCopies, uint8_t arrIdx);
-  void determineAndExecuteReboot(RebootFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
-                                 xsc::Copy& tgtCopy);
-  void resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy);
+  void rebootWatchdogAlgorithm(RebootWatchdogFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
+                               xsc::Copy& tgtCopy);
+  void resetRebootWatchdogCounters(xsc::Chip tgtChip, xsc::Copy tgtCopy);
   void setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy);
-  bool parseRebootFile(std::string path, RebootFile& file);
-  void rewriteRebootFile(RebootFile file);
+  bool parseRebootWatchdogFile(std::string path, RebootWatchdogFile& file);
+  bool parseRebootCountersFile(std::string path, RebootCountersFile& file);
+  void rewriteRebootWatchdogFile(RebootWatchdogFile file);
+  void rewriteRebootCountersFile(RebootCountersFile file);
   void announceBootCounts();
+  void announceVersionInfo();
+  void announceCurrentImageInfo();
   void readHkData();
   void dirListingDumpHandler();
   bool isNumber(const std::string& s);

bsp_q7s/core/defs.h

@@ -1,10 +1,16 @@
-#ifndef BSP_Q7S_CORE_COREDEFINITIONS_H_
-#define BSP_Q7S_CORE_COREDEFINITIONS_H_
+#ifndef BSP_Q7S_CORE_DEFS_H_
+#define BSP_Q7S_CORE_DEFS_H_
 
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 
 namespace core {
 
+extern uint8_t FW_VERSION_MAJOR;
+extern uint8_t FW_VERSION_MINOR;
+extern uint8_t FW_VERSION_REVISION;
+extern bool FW_VERSION_HAS_SHA;
+extern char FW_VERSION_GIT_SHA[4];
+
 static const uint8_t HK_SET_ENTRIES = 3;
 static const uint32_t HK_SET_ID = 5;
 
@@ -36,4 +42,4 @@ class HkSet : public StaticLocalDataSet<HK_SET_ENTRIES> {
 
 }  // namespace core
 
-#endif /* BSP_Q7S_CORE_COREDEFINITIONS_H_ */
+#endif /* BSP_Q7S_CORE_DEFS_H_ */

bsp_q7s/em/emObjectFactory.cpp

@@ -1,4 +1,5 @@
 #include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
+#include <bsp_q7s/objectFactory.h>
 #include <dummies/ComCookieDummy.h>
 #include <dummies/PcduHandlerDummy.h>
 #include <fsfw/health/HealthTableIF.h>
@@ -10,8 +11,8 @@
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
-#include "bsp_q7s/core/ObjectFactory.h"
 #include "busConf.h"
+#include "common/config/devices/addresses.h"
 #include "devConf.h"
 #include "dummies/helperFactory.h"
 #include "eive/objects.h"
@@ -35,18 +36,20 @@ void ObjectFactory::produce(void* args) {
 #endif
 
   PersistentTmStores stores;
+  readFirmwareVersion();
   ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
-                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores,
-                                       200);
+                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
+                                       enableHkSets);
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   SerialComIF* uartComIF = nullptr;
   SpiComIF* spiMainComIF = nullptr;
   I2cComIF* i2cComIF = nullptr;
   createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
-  /* Adding gpios for chip select decoding to the gpioComIf */
+  // Adding GPIOs for chip select decoding and initializing them.
   q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
   gpioCallbacks::disableAllDecoder(gpioComIF);
+  createPlI2cResetGpio(gpioComIF);
 
   // Hardware is usually not connected to EM, so we need to create dummies which replace lower
   // level components.
@@ -59,11 +62,29 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
   dummyCfg.addPlocDummies = false;
 #endif
+#if OBSW_ADD_TMP_DEVICES == 1
+  std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd = {{
+      {objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
+      {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
+      {objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
+  }};
+  createTmpComponents(tmpDevsToAdd);
+  dummy::Tmp1075Cfg tmpCfg{};
+  tmpCfg.addTcsBrd0 = true;
+  tmpCfg.addTcsBrd1 = true;
+  tmpCfg.addPlPcdu0 = false;
+  tmpCfg.addPlPcdu1 = false;
+  tmpCfg.addIfBrd = false;
+  dummyCfg.tmp1075Cfg = tmpCfg;
+#endif
 #if OBSW_ADD_GOMSPACE_PCDU == 1
   dummyCfg.addPowerDummies = false;
   // The ACU broke.
   dummyCfg.addOnlyAcuDummy = true;
 #endif
+#if OBSW_ADD_STAR_TRACKER == 1
+  dummyCfg.addStrDummy = false;
+#endif
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
   dummyCfg.addBpxBattDummy = false;
 #endif
@@ -83,24 +104,10 @@ void ObjectFactory::produce(void* args) {
 
   new CoreController(objects::CORE_CONTROLLER, enableHkSets);
 
-  // Regular FM code, does not work for EM if the hardware is not connected
-  // createPcduComponents(gpioComIF, &pwrSwitcher);
-  // createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
-  // createSyrlinksComponents(pwrSwitcher);
-  // createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
-  // createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
-  // createTmpComponents();
-  // createSolarArrayDeploymentComponents();
-  // createPayloadComponents(gpioComIF);
-  // createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
-
-  // TODO: Careful! Switching this on somehow messes with the communication with the ProASIC
-  //       and will cause xsc_boot_copy commands to always boot to 0 0
-  // createRadSensorComponent(gpioComIF);
+  // Initialize chip select to avoid SPI bus issues.
+  createRadSensorChipSelect(gpioComIF);
 
 #if OBSW_ADD_ACS_BOARD == 1
-  // Still initialize chip select to avoid SPI bus issues.
-  createRadSensorChipSelect(gpioComIF);
   createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true,
                            adis1650x::Type::ADIS16507);
 #else
@@ -110,8 +117,12 @@ void ObjectFactory::produce(void* args) {
   gpioChecker(gpioComIF->addGpios(acsBoardGpios), "ACS Board");
 #endif
 
+  const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
+  if (core::FW_VERSION_MAJOR >= 4) {
+    battAndImtqI2cDev = q7s::I2C_PS_EIVE;
+  }
 #if OBSW_ADD_MGT == 1
-  createImtqComponents(pwrSwitcher, enableHkSets);
+  createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
 #endif
 
 #if OBSW_ADD_SYRLINKS == 1
@@ -123,7 +134,7 @@ void ObjectFactory::produce(void* args) {
 #endif
 
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
-  createBpxBatteryComponent(enableHkSets);
+  createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
 #endif
 
 #if OBSW_ADD_STAR_TRACKER == 1
@@ -155,6 +166,6 @@ void ObjectFactory::produce(void* args) {
   createAcsController(true, enableHkSets);
   HeaterHandler* heaterHandler;
   createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
-  createThermalController(*heaterHandler);
-  satsystem::init();
+  createThermalController(*heaterHandler, true);
+  satsystem::init(true);
 }

bsp_q7s/fmObjectFactory.cpp

@@ -1,4 +1,5 @@
 #include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
+#include <bsp_q7s/objectFactory.h>
 #include <devices/gpioIds.h>
 #include <fsfw/storagemanager/LocalPool.h>
 #include <fsfw/storagemanager/PoolManager.h>
@@ -7,9 +8,9 @@
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
-#include "bsp_q7s/core/ObjectFactory.h"
 #include "busConf.h"
 #include "devConf.h"
+#include "devices/addresses.h"
 #include "eive/objects.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "linux/ObjectFactory.h"
@@ -32,9 +33,10 @@ void ObjectFactory::produce(void* args) {
 #endif
 
   PersistentTmStores stores;
+  readFirmwareVersion();
   ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
-                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores,
-                                       200);
+                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
+                                       true);
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   SerialComIF* uartComIF = nullptr;
@@ -45,6 +47,7 @@ void ObjectFactory::produce(void* args) {
   /* Adding gpios for chip select decoding to the gpioComIf */
   q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
   gpioCallbacks::disableAllDecoder(gpioComIF);
+  createPlI2cResetGpio(gpioComIF);
 
   new CoreController(objects::CORE_CONTROLLER, enableHkSets);
   createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
@@ -66,7 +69,16 @@ void ObjectFactory::produce(void* args) {
   HeaterHandler* heaterHandler;
   createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
 #if OBSW_ADD_TMP_DEVICES == 1
-  createTmpComponents();
+  std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd = {{
+      {objects::TMP1075_HANDLER_TCS_0, addresses::TMP1075_TCS_0},
+      {objects::TMP1075_HANDLER_TCS_1, addresses::TMP1075_TCS_1},
+      {objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
+      // damaged
+      // {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
+      {objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
+  }};
+
+  createTmpComponents(tmpDevsToAdd);
 #endif
   createSolarArrayDeploymentComponents(*pwrSwitcher, *gpioComIF);
   createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
@@ -76,13 +88,17 @@ void ObjectFactory::produce(void* args) {
   createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
   createPayloadComponents(gpioComIF, *pwrSwitcher);
 
+  const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
+  if (core::FW_VERSION_MAJOR >= 4) {
+    battAndImtqI2cDev = q7s::I2C_PS_EIVE;
+  }
 #if OBSW_ADD_MGT == 1
-  createImtqComponents(pwrSwitcher, enableHkSets);
+  createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
 #endif
   createReactionWheelComponents(gpioComIF, pwrSwitcher);
 
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
-  createBpxBatteryComponent(enableHkSets);
+  createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
 #endif
 
 #if OBSW_ADD_STAR_TRACKER == 1
@@ -112,7 +128,7 @@ void ObjectFactory::produce(void* args) {
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 
   createMiscComponents();
-  createThermalController(*heaterHandler);
+  createThermalController(*heaterHandler, false);
   createAcsController(true, enableHkSets);
-  satsystem::init();
+  satsystem::init(false);
 }

bsp_q7s/objectFactory.cpp

@@ -1,7 +1,9 @@
-#include "ObjectFactory.h"
+#include "objectFactory.h"
 
 #include <fsfw/devicehandlers/HealthDevice.h>
 #include <fsfw/subsystem/Subsystem.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw_hal/linux/uio/UioMapper.h>
 #include <linux/acs/AcsBoardPolling.h>
 #include <linux/acs/GpsHyperionLinuxController.h>
 #include <linux/acs/ImtqPollingTask.h>
@@ -31,6 +33,9 @@
 #include <mission/system/objects/CamSwitcher.h>
 #include <mission/system/tcs/TmpDevFdir.h>
 
+#include <cstdint>
+#include <cstring>
+
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
 #include "bsp_q7s/callbacks/gnssCallback.h"
@@ -99,6 +104,7 @@
 
 #include <sstream>
 
+#include "bsp_q7s/core/defs.h"
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
 #include "fsfw/tmtcpacket/pus/tm.h"
 #include "fsfw/tmtcservices/CommandingServiceBase.h"
@@ -129,6 +135,11 @@ ResetArgs RESET_ARGS_GNSS;
 std::atomic_bool LINK_STATE = CcsdsIpCoreHandler::LINK_DOWN;
 std::atomic_bool PTME_LOCKED = false;
 std::atomic_uint16_t I2C_FATAL_ERRORS = 0;
+uint8_t core::FW_VERSION_MAJOR = 0;
+uint8_t core::FW_VERSION_MINOR = 0;
+uint8_t core::FW_VERSION_REVISION = 0;
+bool core::FW_VERSION_HAS_SHA = false;
+char core::FW_VERSION_GIT_SHA[4] = {};
 
 void Factory::setStaticFrameworkObjectIds() {
   PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
@@ -150,28 +161,23 @@ void Factory::setStaticFrameworkObjectIds() {
 
 void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
 
-void ObjectFactory::createTmpComponents() {
-  std::vector<std::pair<object_id_t, address_t>> tmpDevIds = {{
-      {objects::TMP1075_HANDLER_TCS_0, addresses::TMP1075_TCS_0},
-      {objects::TMP1075_HANDLER_TCS_1, addresses::TMP1075_TCS_1},
-      {objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
-      // damaged
-      // {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
-      {objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
-  }};
+void ObjectFactory::createTmpComponents(
+    std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd) {
+  const char* tmpI2cDev = q7s::I2C_PS_EIVE;
+  if (core::FW_VERSION_MAJOR == 4) {
+    tmpI2cDev = q7s::I2C_PL_EIVE;
+  } else if (core::FW_VERSION_MAJOR >= 5) {
+    tmpI2cDev = q7s::I2C_Q7_EIVE;
+  }
   std::vector<I2cCookie*> tmpDevCookies;
 
-  for (size_t idx = 0; idx < tmpDevIds.size(); idx++) {
+  for (size_t idx = 0; idx < tmpDevsToAdd.size(); idx++) {
     tmpDevCookies.push_back(
-        new I2cCookie(tmpDevIds[idx].second, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_PS_EIVE));
+        new I2cCookie(tmpDevsToAdd[idx].second, TMP1075::MAX_REPLY_LENGTH, tmpI2cDev));
     auto* tmpDevHandler =
-        new Tmp1075Handler(tmpDevIds[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
-    tmpDevHandler->setCustomFdir(new TmpDevFdir(tmpDevIds[idx].first));
+        new Tmp1075Handler(tmpDevsToAdd[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
+    tmpDevHandler->setCustomFdir(new TmpDevFdir(tmpDevsToAdd[idx].first));
     tmpDevHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
-    // TODO: Remove this after TCS subsystem was added
-    // These devices are connected to the 3V3 stack and should be powered permanently. Therefore,
-    // we set them to normal mode immediately here.
-    tmpDevHandler->setModeNormal();
   }
 }
 
@@ -505,7 +511,7 @@ void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF*
   debugGps = true;
 #endif
   RESET_ARGS_GNSS.gpioComIF = gpioComIF;
-  RESET_ARGS_GNSS.waitPeriodMs = 100;
+  RESET_ARGS_GNSS.waitPeriodMs = 5;
   auto gpsCtrl = new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT,
                                                 enableHkSets, debugGps);
   gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
@@ -730,20 +736,12 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
   // GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
   GpioCookie* gpioCookiePtmeIp = new GpioCookie;
   GpiodRegularByLineName* gpio = nullptr;
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, "PAPB VC0");
-  gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, "PAPB VC0");
   gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, "PAPB VC1");
-  gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC1, "PAPB VC1");
   gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, "PAPB VC2");
-  gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, "PAPB VC2");
   gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, "PAPB VC3");
-  gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, "PAPB VC3");
   gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PTME_RESETN, "PTME RESETN",
@@ -752,18 +750,14 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
   gpioChecker(args.gpioComIF.addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
 
   // Creating virtual channel interfaces
-  VirtualChannelIF* vc0 =
-      new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY,
-                          q7s::UIO_PTME, q7s::uiomapids::PTME_VC0);
-  VirtualChannelIF* vc1 =
-      new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY,
-                          q7s::UIO_PTME, q7s::uiomapids::PTME_VC1);
-  VirtualChannelIF* vc2 =
-      new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY,
-                          q7s::UIO_PTME, q7s::uiomapids::PTME_VC2);
-  VirtualChannelIF* vc3 =
-      new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY,
-                          q7s::UIO_PTME, q7s::uiomapids::PTME_VC3);
+  VirtualChannelIF* vc0 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_EMPTY,
+                                              q7s::UIO_PTME, q7s::uiomapids::PTME_VC0);
+  VirtualChannelIF* vc1 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_EMPTY,
+                                              q7s::UIO_PTME, q7s::uiomapids::PTME_VC1);
+  VirtualChannelIF* vc2 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_EMPTY,
+                                              q7s::UIO_PTME, q7s::uiomapids::PTME_VC2);
+  VirtualChannelIF* vc3 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_EMPTY,
+                                              q7s::UIO_PTME, q7s::uiomapids::PTME_VC3);
   // Creating ptme object and adding virtual channel interfaces
   Ptme* ptme = new Ptme(objects::PTME);
   ptme->addVcInterface(ccsds::VC0, vc0);
@@ -943,16 +937,7 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
   starTrackerCookie->setNoFixedSizeReply();
   StrComHandler* strComIF = new StrComHandler(objects::STR_COM_IF);
 
-  const char* paramJsonFile = nullptr;
-#ifdef EGSE
-  paramJsonFile = "/home/pi/arcsec/json/flight-config.json";
-#else
-#if OBSW_STAR_TRACKER_GROUND_CONFIG == 1
-  paramJsonFile = "/mnt/sd0/startracker/ground-config.json";
-#else
-  paramJsonFile = "/mnt/sd0/startracker/flight-config.json";
-#endif
-#endif
+  const char* paramJsonFile = "/mnt/sd0/startracker/flight-config.json";
   if (paramJsonFile == nullptr) {
     sif::error << "No valid Star Tracker parameter JSON file" << std::endl;
   }
@@ -965,12 +950,13 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
   starTracker->setCustomFdir(strFdir);
 }
 
-void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets) {
+void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets,
+                                         const char* i2cDev) {
   auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
   imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 
   new ImtqPollingTask(objects::IMTQ_POLLING, I2C_FATAL_ERRORS);
-  I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
+  I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, i2cDev);
   auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::IMTQ_POLLING, imtqI2cCookie,
                                      power::Switches::PDU1_CH3_MGT_5V, enableHkSets);
   imtqHandler->enableThermalModule(ThermalStateCfg());
@@ -986,8 +972,8 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enable
 #endif
 }
 
-void ObjectFactory::createBpxBatteryComponent(bool enableHkSets) {
-  I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_PL_EIVE);
+void ObjectFactory::createBpxBatteryComponent(bool enableHkSets, const char* i2cDev) {
+  I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, i2cDev);
   BpxBatteryHandler* bpxHandler = new BpxBatteryHandler(
       objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie, enableHkSets);
   bpxHandler->setStartUpImmediately();
@@ -1025,3 +1011,50 @@ void ObjectFactory::createRadSensorChipSelect(LinuxLibgpioIF* gpioIF) {
   gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
   gpioChecker(gpioIF->addGpios(gpioCookieRadSensor), "RAD sensor");
 }
+
+void ObjectFactory::createPlI2cResetGpio(LinuxLibgpioIF* gpioIF) {
+  using namespace gpio;
+  if (common::OBSW_VERSION_MAJOR >= 6 or common::OBSW_VERSION_MAJOR == 4) {
+    if (gpioIF == nullptr) {
+      return;
+    }
+    GpioCookie* gpioI2cResetnCookie = new GpioCookie;
+    GpiodRegularByLineName* gpioI2cResetn = new GpiodRegularByLineName(
+        q7s::gpioNames::PL_I2C_ARESETN, "PL_I2C_ARESETN", Direction::OUT, Levels::HIGH);
+    gpioI2cResetnCookie->addGpio(gpioIds::PL_I2C_ARESETN, gpioI2cResetn);
+    gpioChecker(gpioIF->addGpios(gpioI2cResetnCookie), "PL I2C ARESETN");
+    // Reset I2C explicitely again.
+    gpioIF->pullLow(gpioIds::PL_I2C_ARESETN);
+    TaskFactory::delayTask(1);
+    gpioIF->pullHigh(gpioIds::PL_I2C_ARESETN);
+  }
+}
+
+ReturnValue_t ObjectFactory::readFirmwareVersion() {
+  uint32_t* mappedSysRomAddr = nullptr;
+  // The SYS ROM FPGA block is only available in those versions.
+  if (not(common::OBSW_VERSION_MAJOR >= 6) or (common::OBSW_VERSION_MAJOR == 4)) {
+    return returnvalue::OK;
+  }
+  // This has to come before the version announce because it might be required for retrieving
+  // the firmware version.
+  UioMapper sysRomMapper(q7s::UIO_SYS_ROM);
+  ReturnValue_t result =
+      sysRomMapper.getMappedAdress(&mappedSysRomAddr, UioMapper::Permissions::READ_ONLY);
+  if (result != returnvalue::OK) {
+    sif::error << "Getting mapped SYS ROM UIO address failed" << std::endl;
+    return returnvalue::FAILED;
+  }
+  if (mappedSysRomAddr != nullptr) {
+    uint32_t firstEntry = *(reinterpret_cast<uint32_t*>(mappedSysRomAddr));
+    uint32_t secondEntry = *(reinterpret_cast<uint32_t*>(mappedSysRomAddr) + 1);
+    core::FW_VERSION_MAJOR = (firstEntry >> 24) & 0xff;
+    core::FW_VERSION_MINOR = (firstEntry >> 16) & 0xff;
+    core::FW_VERSION_REVISION = (firstEntry >> 8) & 0xff;
+    bool hasGitSha = (firstEntry & 0x0b1);
+    if (hasGitSha) {
+      std::memcpy(core::FW_VERSION_GIT_SHA, &secondEntry, 4);
+    }
+  }
+  return returnvalue::OK;
+}

bsp_q7s/objectFactory.h

@@ -58,7 +58,7 @@ void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher
                           bool enableHkSets);
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
                             PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
-void createTmpComponents();
+void createTmpComponents(std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd);
 void createRadSensorChipSelect(LinuxLibgpioIF* gpioIF);
 ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
 void createAcsBoardGpios(GpioCookie& cookie);
@@ -67,17 +67,19 @@ void createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF, Ser
                               adis1650x::Type adisType);
 void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
                             HeaterHandler*& heaterHandler);
-void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets);
-void createBpxBatteryComponent(bool enableHkSets);
+void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets, const char* i2cDev);
+void createBpxBatteryComponent(bool enableHkSets, const char* i2cDev);
 void createStrComponents(PowerSwitchIF* pwrSwitcher);
 void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gpioIF);
 void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
 void createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitcher);
 void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
 ReturnValue_t createCcsdsComponents(CcsdsComponentArgs& args);
+ReturnValue_t readFirmwareVersion();
 void createMiscComponents();
 
 void createTestComponents(LinuxLibgpioIF* gpioComIF);
+void createPlI2cResetGpio(LinuxLibgpioIF* gpioComIF);
 
 void testAcsBrdAss(AcsBoardAssembly* assAss);
 

bsp_q7s/obsw.cpp

@@ -11,13 +11,13 @@
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/WatchdogHandler.h"
 #include "commonConfig.h"
-#include "core/scheduling.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/version.h"
 #include "mission/acs/defs.h"
 #include "mission/com/defs.h"
 #include "mission/system/systemTree.h"
 #include "q7sConfig.h"
+#include "scheduling.h"
 #include "watchdog/definitions.h"
 
 static constexpr int OBSW_ALREADY_RUNNING = -2;

bsp_q7s/scheduling.cpp

@@ -9,7 +9,6 @@
 #include <vector>
 
 #include "OBSWConfig.h"
-#include "bsp_q7s/core/ObjectFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/platform.h"
@@ -21,6 +20,8 @@
 #include "mission/pollingSeqTables.h"
 #include "mission/scheduling.h"
 #include "mission/utility/InitMission.h"
+#include "objectFactory.h"
+#include "q7sConfig.h"
 
 /* This is configured for linux without CR */
 #ifdef PLATFORM_UNIX
@@ -324,6 +325,10 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
   }
+  result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
+  }
 
 #if OBSW_ADD_SYRLINKS == 1
   PeriodicTaskIF* syrlinksCom = factory->createPeriodicTask(
@@ -527,7 +532,15 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   FixedTimeslotTaskIF* i2cPst =
       factory.createFixedTimeslotTask("I2C_PS_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.6,
                                       missedDeadlineFunc, &RR_SCHEDULING);
-  result = pst::pstI2cProcessingSystem(i2cPst);
+  pst::TmpSchedConfig tmpSchedConf;
+#if OBSW_Q7S_EM == 1
+  tmpSchedConf.scheduleTmpDev0 = true;
+  tmpSchedConf.scheduleTmpDev1 = true;
+  tmpSchedConf.schedulePlPcduDev0 = true;
+  tmpSchedConf.schedulePlPcduDev1 = true;
+  tmpSchedConf.scheduleIfBoardDev = true;
+#endif
+  result = pst::pstI2c(tmpSchedConf, i2cPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
       sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl;

bsp_q7s/xadc/Xadc.cpp

@@ -129,7 +129,7 @@ ReturnValue_t Xadc::readValFromFile(const char* filename, T& val) {
     sif::warning << "Xadc::readValFromFile: Failed to open file " << filename << std::endl;
     return returnvalue::FAILED;
   }
-  char valstring[MAX_STR_LENGTH] = "";
+  char valstring[MAX_STR_LENGTH]{};
   char* returnVal = fgets(valstring, MAX_STR_LENGTH, fp);
   if (returnVal == nullptr) {
     sif::warning << "Xadc::readValFromFile: Failed to read string from file " << filename
@@ -139,6 +139,11 @@ ReturnValue_t Xadc::readValFromFile(const char* filename, T& val) {
   }
   std::istringstream valSstream(valstring);
   valSstream >> val;
+  if (valSstream.bad()) {
+    sif::warning << "Xadc: Conversion of value to target type failed" << std::endl;
+    fclose(fp);
+    return returnvalue::FAILED;
+  }
   fclose(fp);
   return returnvalue::OK;
 }

common/config/devices/gpioIds.h

@@ -77,6 +77,8 @@ enum gpioId_t {
   CS_RAD_SENSOR,
   ENABLE_RADFET,
 
+  PL_I2C_ARESETN,
+
   PAPB_BUSY_N,
   PAPB_EMPTY,
 
@@ -93,15 +95,10 @@ enum gpioId_t {
   EN_RW_CS,
 
   SPI_MUX,
-
   VC0_PAPB_EMPTY,
-  VC0_PAPB_BUSY,
   VC1_PAPB_EMPTY,
-  VC1_PAPB_BUSY,
   VC2_PAPB_EMPTY,
-  VC2_PAPB_BUSY,
   VC3_PAPB_EMPTY,
-  VC3_PAPB_BUSY,
   PTME_RESETN,
 
   PDEC_RESET,

common/config/eive/definitions.h

@@ -11,6 +11,8 @@ static constexpr char SD_1_MOUNT_POINT[] = "/mnt/sd1";
 static constexpr char OBSW_UPDATE_ARCHIVE_FILE_NAME[] = "eive-sw-update.tar.xz";
 static constexpr char STRIPPED_OBSW_BINARY_FILE_NAME[] = "eive-obsw-stripped";
 static constexpr char OBSW_VERSION_FILE_NAME[] = "obsw_version.txt";
+static constexpr char PUS_SEQUENCE_COUNT_FILE[] = "pus-sequence-count.txt";
+static constexpr char CFDP_SEQUENCE_COUNT_FILE[] = "cfdp-sequence-count.txt";
 
 static constexpr char OBSW_PATH[] = "/usr/bin/eive-obsw";
 static constexpr char OBSW_VERSION_FILE_PATH[] = "/usr/share/eive-obsw/obsw_version.txt";

dummies/CoreControllerDummy.cpp

@@ -1,6 +1,6 @@
 #include "CoreControllerDummy.h"
 
-#include <bsp_q7s/core/CoreDefinitions.h>
+#include <bsp_q7s/core/defs.h>
 #include <objects/systemObjectList.h>
 
 #include <cmath>

dummies/ImtqDummy.cpp

@@ -5,14 +5,19 @@
 ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
                      power::Switch_t pwrSwitcher, bool enableHkSets)
     : DeviceHandlerBase(objectId, comif, comCookie),
-      setNoTorque(this),
-      setWithTorque(this),
       enableHkSets(enableHkSets),
+      statusSet(this),
+      dipoleSet(*this),
+      rawMtmNoTorque(this),
+      hkDatasetNoTorque(this),
+      rawMtmWithTorque(this),
+      hkDatasetWithTorque(this),
+      calMtmMeasurementSet(this),
       switcher(pwrSwitcher) {}
 
 ImtqDummy::~ImtqDummy() = default;
 
-void ImtqDummy::doStartUp() { setMode(MODE_NORMAL); }
+void ImtqDummy::doStartUp() { setMode(MODE_ON); }
 
 void ImtqDummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
 
@@ -79,17 +84,37 @@ ReturnValue_t ImtqDummy::initializeLocalDataPool(localpool::DataPool &localDataP
   localDataPoolMap.emplace(imtq::MCU_TEMPERATURE_WT, new PoolEntry<int16_t>({0}));
 
   poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(setNoTorque.getSid(), enableHkSets, 30.0));
+      subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 30.0));
   poolManager.subscribeForDiagPeriodicPacket(
-      subdp::DiagnosticsHkPeriodicParams(setWithTorque.getSid(), enableHkSets, 30.0));
+      subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 30.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(rawMtmNoTorque.getSid(), false, 10.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(rawMtmWithTorque.getSid(), false, 10.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(calMtmMeasurementSet.getSid(), false, 10.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(statusSet.getSid(), false, 10.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(dipoleSet.getSid(), false, 10.0));
   return DeviceHandlerBase::initializeLocalDataPool(localDataPoolMap, poolManager);
 }
 
 LocalPoolDataSetBase *ImtqDummy::getDataSetHandle(sid_t sid) {
-  if (sid == setNoTorque.getSid()) {
-    return &setNoTorque;
-  } else if (sid == setWithTorque.getSid()) {
-    return &setWithTorque;
+  if (sid == hkDatasetNoTorque.getSid()) {
+    return &hkDatasetNoTorque;
+  } else if (sid == dipoleSet.getSid()) {
+    return &dipoleSet;
+  } else if (sid == statusSet.getSid()) {
+    return &statusSet;
+  } else if (sid == hkDatasetWithTorque.getSid()) {
+    return &hkDatasetWithTorque;
+  } else if (sid == rawMtmWithTorque.getSid()) {
+    return &rawMtmWithTorque;
+  } else if (sid == calMtmMeasurementSet.getSid()) {
+    return &calMtmMeasurementSet;
+  } else if (sid == rawMtmNoTorque.getSid()) {
+    return &rawMtmNoTorque;
   }
   return nullptr;
 }

dummies/ImtqDummy.h

@@ -18,11 +18,18 @@ class ImtqDummy : public DeviceHandlerBase {
   ~ImtqDummy() override;
 
  protected:
-  ReturnValue_t getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) override;
-  imtq::HkDatasetNoTorque setNoTorque;
-  imtq::HkDatasetWithTorque setWithTorque;
   bool enableHkSets;
 
+  imtq::StatusDataset statusSet;
+  imtq::DipoleActuationSet dipoleSet;
+  imtq::RawMtmMeasurementNoTorque rawMtmNoTorque;
+  imtq::HkDatasetNoTorque hkDatasetNoTorque;
+
+  imtq::RawMtmMeasurementWithTorque rawMtmWithTorque;
+  imtq::HkDatasetWithTorque hkDatasetWithTorque;
+
+  imtq::CalibratedMtmMeasurementSet calMtmMeasurementSet;
+
   PoolEntry<uint8_t> statusMode = PoolEntry<uint8_t>({0});
   PoolEntry<uint8_t> statusError = PoolEntry<uint8_t>({0});
   PoolEntry<uint8_t> statusConfig = PoolEntry<uint8_t>({0});
@@ -42,6 +49,8 @@ class ImtqDummy : public DeviceHandlerBase {
 
   power::Switch_t switcher = power::NO_SWITCH;
 
+  ReturnValue_t getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) override;
+
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;

dummies/Max31865Dummy.cpp

@@ -7,15 +7,21 @@ using namespace returnvalue;
 Max31865Dummy::Max31865Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie), set(this, EiveMax31855::EXCHANGE_SET_ID) {}
 void Max31865Dummy::doStartUp() { setMode(MODE_ON); }
-void Max31865Dummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
+void Max31865Dummy::doShutDown() {
+  PoolReadGuard pg(&set);
+  set.setValidity(false, true);
+  setMode(MODE_OFF);
+}
 ReturnValue_t Max31865Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;
 }
-ReturnValue_t Max31865Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) { return OK; }
+ReturnValue_t Max31865Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
 ReturnValue_t Max31865Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                      const uint8_t *commandData,
                                                      size_t commandDataLen) {
-  return 0;
+  return NOTHING_TO_SEND;
 }
 ReturnValue_t Max31865Dummy::scanForReply(const uint8_t *start, size_t len,
                                           DeviceCommandId_t *foundId, size_t *foundLen) {

dummies/RwDummy.cpp

@@ -3,13 +3,24 @@
 #include <mission/acs/rwHelpers.h>
 
 RwDummy::RwDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
-    : DeviceHandlerBase(objectId, comif, comCookie) {}
+    : DeviceHandlerBase(objectId, comif, comCookie),
+
+      statusSet(this),
+      lastResetStatusSet(this),
+      tmDataset(this),
+      rwSpeedActuationSet(*this) {}
 
 RwDummy::~RwDummy() {}
 
-void RwDummy::doStartUp() { setMode(MODE_ON); }
+void RwDummy::doStartUp() {
+  statusSet.setReportingEnabled(true);
+  setMode(MODE_ON);
+}
 
-void RwDummy::doShutDown() { setMode(MODE_OFF); }
+void RwDummy::doShutDown() {
+  statusSet.setReportingEnabled(false);
+  setMode(MODE_OFF);
+}
 
 ReturnValue_t RwDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
 
@@ -74,5 +85,11 @@ ReturnValue_t RwDummy::initializeLocalDataPool(localpool::DataPool &localDataPoo
   localDataPoolMap.emplace(rws::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(rws::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(rws::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 12.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(tmDataset.getSid(), false, 30.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(lastResetStatusSet.getSid(), false, 30.0));
   return returnvalue::OK;
 }

dummies/RwDummy.h

@@ -2,6 +2,7 @@
 #define DUMMIES_RWDUMMY_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <mission/acs/rwHelpers.h>
 
 class RwDummy : public DeviceHandlerBase {
  public:
@@ -15,6 +16,11 @@ class RwDummy : public DeviceHandlerBase {
   virtual ~RwDummy();
 
  protected:
+  rws::StatusSet statusSet;
+  rws::LastResetSatus lastResetStatusSet;
+  rws::TmDataset tmDataset;
+  rws::RwSpeedActuationSet rwSpeedActuationSet;
+
   PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>({0});
   PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>({10});
 

dummies/TemperatureSensorInserter.cpp

@@ -7,9 +7,9 @@
 #include <cstdlib>
 #include <utility>
 
-TemperatureSensorInserter::TemperatureSensorInserter(object_id_t objectId,
-                                                     Max31865DummyMap tempSensorDummies_,
-                                                     Tmp1075DummyMap tempTmpSensorDummies_)
+TemperatureSensorInserter::TemperatureSensorInserter(
+    object_id_t objectId, Max31865DummyMap tempSensorDummies_,
+    std::optional<Tmp1075DummyMap> tempTmpSensorDummies_)
     : SystemObject(objectId),
       max31865DummyMap(std::move(tempSensorDummies_)),
       tmp1075DummyMap(std::move(tempTmpSensorDummies_)) {}
@@ -25,8 +25,10 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
     for (auto& rtdDummy : max31865DummyMap) {
       rtdDummy.second->setTemperature(10, true);
     }
-    for (auto& tmpDummy : tmp1075DummyMap) {
-      tmpDummy.second->setTemperature(10, true);
+    if (tmp1075DummyMap.has_value()) {
+      for (auto& tmpDummy : tmp1075DummyMap.value()) {
+        tmpDummy.second->setTemperature(10, true);
+      }
     }
     tempsWereInitialized = true;
   }
@@ -96,6 +98,25 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
       }
       break;
     }
+    case (TestCase::COLD_PLOC_CONSECUTIVE): {
+      if (cycles == 15) {
+        sif::debug << "Setting cold PLOC temperature" << std::endl;
+        max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(-15, true);
+      }
+      if (cycles == 30) {
+        sif::debug << "Setting warmer PLOC temperature" << std::endl;
+        max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(0, true);
+      }
+      if (cycles == 45) {
+        sif::debug << "Setting cold PLOC temperature again" << std::endl;
+        max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(-15, true);
+      }
+      if (cycles == 60) {
+        sif::debug << "Setting warmer PLOC temperature again" << std::endl;
+        max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(0, true);
+      }
+      break;
+    }
     case (TestCase::COLD_CAMERA): {
       if (cycles == 15) {
         sif::debug << "Setting cold CAM temperature" << std::endl;
@@ -105,6 +126,21 @@ ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
         sif::debug << "Setting CAM temperature back to normal" << std::endl;
         max31865DummyMap[objects::RTD_2_IC5_4K_CAMERA]->setTemperature(0, true);
       }
+      break;
+    }
+    case (TestCase::COLD_PLOC_STAYS_COLD): {
+      if (cycles == 15) {
+        sif::debug << "Setting cold PLOC temperature" << std::endl;
+        max31865DummyMap[objects::RTD_0_IC3_PLOC_HEATSPREADER]->setTemperature(-40, true);
+      }
+      break;
+    }
+    case (TestCase::COLD_CAMERA_STAYS_COLD): {
+      if (cycles == 15) {
+        sif::debug << "Setting cold PLOC temperature" << std::endl;
+        max31865DummyMap[objects::RTD_2_IC5_4K_CAMERA]->setTemperature(-40, true);
+      }
+      break;
     }
   }
   cycles++;

dummies/TemperatureSensorInserter.h

@@ -12,7 +12,7 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
   using Max31865DummyMap = std::map<object_id_t, Max31865Dummy*>;
   using Tmp1075DummyMap = std::map<object_id_t, Tmp1075Dummy*>;
   explicit TemperatureSensorInserter(object_id_t objectId, Max31865DummyMap tempSensorDummies_,
-                                     Tmp1075DummyMap tempTmpSensorDummies_);
+                                     std::optional<Tmp1075DummyMap> tempTmpSensorDummies_);
 
   ReturnValue_t initialize() override;
   ReturnValue_t initializeAfterTaskCreation() override;
@@ -22,7 +22,7 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
 
  private:
   Max31865DummyMap max31865DummyMap;
-  Tmp1075DummyMap tmp1075DummyMap;
+  std::optional<Tmp1075DummyMap> tmp1075DummyMap;
 
   enum TestCase {
     NONE = 0,
@@ -32,6 +32,9 @@ class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject
     COLD_STR = 4,
     COLD_STR_CONSECUTIVE = 5,
     COLD_CAMERA = 6,
+    COLD_PLOC_CONSECUTIVE = 7,
+    COLD_PLOC_STAYS_COLD = 8,
+    COLD_CAMERA_STAYS_COLD = 9
   };
   int iteration = 0;
   uint32_t cycles = 0;

dummies/Tmp1075Dummy.cpp

@@ -8,35 +8,57 @@ using namespace returnvalue;
 Tmp1075Dummy::Tmp1075Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie), set(this) {}
 
-void Tmp1075Dummy::doStartUp() { setMode(MODE_NORMAL); }
-void Tmp1075Dummy::doShutDown() { setMode(MODE_OFF); }
+void Tmp1075Dummy::doStartUp() { setMode(MODE_ON); }
+void Tmp1075Dummy::doShutDown() {
+  PoolReadGuard pg(&set);
+  set.setValidity(false, true);
+  setMode(MODE_OFF);
+}
 
 ReturnValue_t Tmp1075Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   return NOTHING_TO_SEND;
 }
-ReturnValue_t Tmp1075Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) { return OK; }
+
+ReturnValue_t Tmp1075Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
 ReturnValue_t Tmp1075Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                     const uint8_t *commandData,
                                                     size_t commandDataLen) {
-  return 0;
+  return NOTHING_TO_SEND;
 }
+
 ReturnValue_t Tmp1075Dummy::scanForReply(const uint8_t *start, size_t len,
                                          DeviceCommandId_t *foundId, size_t *foundLen) {
   return 0;
 }
+
 ReturnValue_t Tmp1075Dummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
   return 0;
 }
+
 void Tmp1075Dummy::setTemperature(float temperature, bool valid) {
   PoolReadGuard pg(&set);
   set.temperatureCelcius.value = temperature;
   set.setValidity(valid, true);
 }
+
 void Tmp1075Dummy::fillCommandAndReplyMap() {}
+
 uint32_t Tmp1075Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 1000; }
+
 ReturnValue_t Tmp1075Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                     LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(TMP1075::TEMPERATURE_C_TMP1075, new PoolEntry<float>({10.0}, true));
   return OK;
 }
+
+ReturnValue_t Tmp1075Dummy::setHealth(HealthState health) {
+  if (health == FAULTY or health == PERMANENT_FAULTY) {
+    setMode(_MODE_SHUT_DOWN);
+  }
+  return DeviceHandlerBase::setHealth(health);
+}
+
 LocalPoolDataSetBase *Tmp1075Dummy::getDataSetHandle(sid_t sid) { return &set; }

dummies/Tmp1075Dummy.h

@@ -26,6 +26,7 @@ class Tmp1075Dummy : public DeviceHandlerBase {
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                         LocalDataPoolManager &poolManager) override;
+  ReturnValue_t setHealth(HealthState health) override;
 
  protected:
   LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;

dummies/helperFactory.cpp

@@ -63,11 +63,14 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
   rws[3] = new RwDummy(objects::RW4, objects::DUMMY_COM_IF, comCookieDummy);
   ObjectFactory::createRwAssy(pwrSwitcher, power::Switches::PDU2_CH2_RW_5V, rws, rwIds);
   new SaDeplDummy(objects::SOLAR_ARRAY_DEPL_HANDLER);
-  auto* strAssy = new StrAssembly(objects::STR_ASSY);
-  strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
-  auto* strDummy =
-      new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
-  strDummy->connectModeTreeParent(*strAssy);
+
+  if (cfg.addStrDummy) {
+    auto* strAssy = new StrAssembly(objects::STR_ASSY);
+    strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
+    auto* strDummy =
+        new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
+    strDummy->connectModeTreeParent(*strAssy);
+  }
   if (cfg.addSyrlinksDummies) {
     auto* syrlinksDummy =
         new SyrlinksDummy(objects::SYRLINKS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
@@ -191,25 +194,36 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
         objects::RTD_15_IC18_IMTQ,
         new Max31865Dummy(objects::RTD_15_IC18_IMTQ, objects::DUMMY_COM_IF, comCookieDummy));
 
-    std::map<object_id_t, Tmp1075Dummy*> tmpSensorDummies;
-    tmpSensorDummies.emplace(
-        objects::TMP1075_HANDLER_TCS_0,
-        new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_0, objects::DUMMY_COM_IF, comCookieDummy));
-    tmpSensorDummies.emplace(
-        objects::TMP1075_HANDLER_TCS_1,
-        new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_1, objects::DUMMY_COM_IF, comCookieDummy));
-    tmpSensorDummies.emplace(
-        objects::TMP1075_HANDLER_PLPCDU_0,
-        new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0, objects::DUMMY_COM_IF, comCookieDummy));
-    // damaged.
-    //        tmpSensorDummies.emplace(
-    //            objects::TMP1075_HANDLER_PLPCDU_1,
-    //            new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1, objects::DUMMY_COM_IF,
-    //            comCookieDummy));
-    tmpSensorDummies.emplace(
-        objects::TMP1075_HANDLER_IF_BOARD,
-        new Tmp1075Dummy(objects::TMP1075_HANDLER_IF_BOARD, objects::DUMMY_COM_IF, comCookieDummy));
-
+    std::optional<TemperatureSensorInserter::Tmp1075DummyMap> tmpSensorDummies;
+    if (cfg.addTmpDummies) {
+      TemperatureSensorInserter::Tmp1075DummyMap tmpDummyMap;
+      if (cfg.tmp1075Cfg.addTcsBrd0) {
+        tmpDummyMap.emplace(objects::TMP1075_HANDLER_TCS_0,
+                            new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_0, objects::DUMMY_COM_IF,
+                                             comCookieDummy));
+      }
+      if (cfg.tmp1075Cfg.addTcsBrd1) {
+        tmpDummyMap.emplace(objects::TMP1075_HANDLER_TCS_1,
+                            new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_1, objects::DUMMY_COM_IF,
+                                             comCookieDummy));
+      }
+      if (cfg.tmp1075Cfg.addPlPcdu0) {
+        tmpDummyMap.emplace(objects::TMP1075_HANDLER_PLPCDU_0,
+                            new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0,
+                                             objects::DUMMY_COM_IF, comCookieDummy));
+      }
+      if (cfg.tmp1075Cfg.addPlPcdu1) {
+        tmpDummyMap.emplace(objects::TMP1075_HANDLER_PLPCDU_1,
+                            new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1,
+                                             objects::DUMMY_COM_IF, comCookieDummy));
+      }
+      if (cfg.tmp1075Cfg.addIfBrd) {
+        tmpDummyMap.emplace(objects::TMP1075_HANDLER_IF_BOARD,
+                            new Tmp1075Dummy(objects::TMP1075_HANDLER_IF_BOARD,
+                                             objects::DUMMY_COM_IF, comCookieDummy));
+      }
+      tmpSensorDummies = std::move(tmpDummyMap);
+    }
     new TemperatureSensorInserter(objects::THERMAL_TEMP_INSERTER, rtdSensorDummies,
                                   tmpSensorDummies);
     TcsBoardAssembly* tcsBoardAssy =
@@ -217,8 +231,10 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
     for (auto& rtd : rtdSensorDummies) {
       rtd.second->connectModeTreeParent(*tcsBoardAssy);
     }
-    for (auto& tmp : tmpSensorDummies) {
-      tmp.second->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
+    if (tmpSensorDummies.has_value()) {
+      for (auto& tmp : tmpSensorDummies.value()) {
+        tmp.second->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
+      }
     }
   }
   if (cfg.addCamSwitcherDummy) {

dummies/helperFactory.h

@@ -6,6 +6,14 @@ class GpioIF;
 
 namespace dummy {
 
+struct Tmp1075Cfg {
+  bool addTcsBrd0 = true;
+  bool addTcsBrd1 = true;
+  bool addPlPcdu0 = true;
+  bool addPlPcdu1 = true;
+  bool addIfBrd = true;
+};
+
 // Default values targeted towards EM.
 struct DummyCfg {
   bool addCoreCtrlCfg = true;
@@ -19,6 +27,9 @@ struct DummyCfg {
   bool addTempSensorDummies = true;
   bool addRtdComIFDummy = true;
   bool addPlocDummies = true;
+  bool addStrDummy = true;
+  bool addTmpDummies = true;
+  Tmp1075Cfg tmp1075Cfg;
   bool addCamSwitcherDummy = false;
 };
 

generators/bsp_hosted_events.csv

@@ -271,6 +271,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14010;0x36ba;TRYING_I2C_RECOVERY;HIGH;I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C devices.;mission/sysDefs.h
 14011;0x36bb;I2C_REBOOT;HIGH;I2C is unavailable. Recovery did not work, performing full reboot.;mission/sysDefs.h
 14012;0x36bc;PDEC_REBOOT;HIGH;PDEC recovery through reset was not possible, performing full reboot.;mission/sysDefs.h
+14013;0x36bd;FIRMWARE_INFO;INFO;Version information of the firmware (not OBSW). 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
 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
@@ -279,6 +280,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14106;0x371a;PCDU_SYSTEM_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
 14107;0x371b;HEATER_NOT_OFF_FOR_OFF_MODE;MEDIUM;No description;mission/controller/tcsDefs.h
 14108;0x371c;MGT_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
+14109;0x371d;TCS_SWITCHING_HEATER_ON;INFO;P1: Module index. P2: Heater index;mission/controller/tcsDefs.h
+14110;0x371e;TCS_SWITCHING_HEATER_OFF;INFO;P1: Module index. P2: Heater index;mission/controller/tcsDefs.h
+14111;0x371f;TCS_HEATER_MAX_BURN_TIME_REACHED;MEDIUM;P1: Heater index. P2: Maximum burn time for heater.;mission/controller/tcsDefs.h
 14201;0x3779;TX_TIMER_EXPIRED;INFO;The transmit timer to protect the Syrlinks expired P1: The current timer value;mission/system/com/ComSubsystem.h
 14202;0x377a;BIT_LOCK_TX_ON;INFO;Transmitter will be turned on due to detection of bitlock;mission/system/com/ComSubsystem.h
 14300;0x37dc;POSSIBLE_FILE_CORRUPTION;LOW;P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp.;mission/persistentTmStoreDefs.h

generators/bsp_q7s_events.csv

@@ -271,6 +271,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14010;0x36ba;TRYING_I2C_RECOVERY;HIGH;I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C devices.;mission/sysDefs.h
 14011;0x36bb;I2C_REBOOT;HIGH;I2C is unavailable. Recovery did not work, performing full reboot.;mission/sysDefs.h
 14012;0x36bc;PDEC_REBOOT;HIGH;PDEC recovery through reset was not possible, performing full reboot.;mission/sysDefs.h
+14013;0x36bd;FIRMWARE_INFO;INFO;Version information of the firmware (not OBSW). 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
 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
@@ -279,6 +280,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14106;0x371a;PCDU_SYSTEM_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
 14107;0x371b;HEATER_NOT_OFF_FOR_OFF_MODE;MEDIUM;No description;mission/controller/tcsDefs.h
 14108;0x371c;MGT_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
+14109;0x371d;TCS_SWITCHING_HEATER_ON;INFO;P1: Module index. P2: Heater index;mission/controller/tcsDefs.h
+14110;0x371e;TCS_SWITCHING_HEATER_OFF;INFO;P1: Module index. P2: Heater index;mission/controller/tcsDefs.h
+14111;0x371f;TCS_HEATER_MAX_BURN_TIME_REACHED;MEDIUM;P1: Heater index. P2: Maximum burn time for heater.;mission/controller/tcsDefs.h
 14201;0x3779;TX_TIMER_EXPIRED;INFO;The transmit timer to protect the Syrlinks expired P1: The current timer value;mission/system/com/ComSubsystem.h
 14202;0x377a;BIT_LOCK_TX_ON;INFO;Transmitter will be turned on due to detection of bitlock;mission/system/com/ComSubsystem.h
 14300;0x37dc;POSSIBLE_FILE_CORRUPTION;LOW;P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp.;mission/persistentTmStoreDefs.h

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 295 translations.
+ * @brief    Auto-generated event translation file. Contains 299 translations.
  * @details
- * Generated on: 2023-05-17 17:15:34
+ * Generated on: 2023-07-07 12:06:06
  */
 #include "translateEvents.h"
 
@@ -277,6 +277,7 @@ const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
 const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
 const char *I2C_REBOOT_STRING = "I2C_REBOOT";
 const char *PDEC_REBOOT_STRING = "PDEC_REBOOT";
+const char *FIRMWARE_INFO_STRING = "FIRMWARE_INFO";
 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";
@@ -285,6 +286,9 @@ const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
 const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
 const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
 const char *MGT_OVERHEATING_STRING = "MGT_OVERHEATING";
+const char *TCS_SWITCHING_HEATER_ON_STRING = "TCS_SWITCHING_HEATER_ON";
+const char *TCS_SWITCHING_HEATER_OFF_STRING = "TCS_SWITCHING_HEATER_OFF";
+const char *TCS_HEATER_MAX_BURN_TIME_REACHED_STRING = "TCS_HEATER_MAX_BURN_TIME_REACHED";
 const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
 const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
 const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@@ -847,6 +851,8 @@ const char *translateEvents(Event event) {
       return I2C_REBOOT_STRING;
     case (14012):
       return PDEC_REBOOT_STRING;
+    case (14013):
+      return FIRMWARE_INFO_STRING;
     case (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):
@@ -863,6 +869,12 @@ const char *translateEvents(Event event) {
       return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
     case (14108):
       return MGT_OVERHEATING_STRING;
+    case (14109):
+      return TCS_SWITCHING_HEATER_ON_STRING;
+    case (14110):
+      return TCS_SWITCHING_HEATER_OFF_STRING;
+    case (14111):
+      return TCS_HEATER_MAX_BURN_TIME_REACHED_STRING;
     case (14201):
       return TX_TIMER_EXPIRED_STRING;
     case (14202):

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-05-17 17:15:34
+ * Generated on: 2023-07-07 12:06:06
  */
 #include "translateObjects.h"
 

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 295 translations.
+ * @brief    Auto-generated event translation file. Contains 299 translations.
  * @details
- * Generated on: 2023-05-17 17:15:34
+ * Generated on: 2023-07-07 12:06:06
  */
 #include "translateEvents.h"
 
@@ -277,6 +277,7 @@ const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
 const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
 const char *I2C_REBOOT_STRING = "I2C_REBOOT";
 const char *PDEC_REBOOT_STRING = "PDEC_REBOOT";
+const char *FIRMWARE_INFO_STRING = "FIRMWARE_INFO";
 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";
@@ -285,6 +286,9 @@ const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
 const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
 const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
 const char *MGT_OVERHEATING_STRING = "MGT_OVERHEATING";
+const char *TCS_SWITCHING_HEATER_ON_STRING = "TCS_SWITCHING_HEATER_ON";
+const char *TCS_SWITCHING_HEATER_OFF_STRING = "TCS_SWITCHING_HEATER_OFF";
+const char *TCS_HEATER_MAX_BURN_TIME_REACHED_STRING = "TCS_HEATER_MAX_BURN_TIME_REACHED";
 const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
 const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
 const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@@ -847,6 +851,8 @@ const char *translateEvents(Event event) {
       return I2C_REBOOT_STRING;
     case (14012):
       return PDEC_REBOOT_STRING;
+    case (14013):
+      return FIRMWARE_INFO_STRING;
     case (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):
@@ -863,6 +869,12 @@ const char *translateEvents(Event event) {
       return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
     case (14108):
       return MGT_OVERHEATING_STRING;
+    case (14109):
+      return TCS_SWITCHING_HEATER_ON_STRING;
+    case (14110):
+      return TCS_SWITCHING_HEATER_OFF_STRING;
+    case (14111):
+      return TCS_HEATER_MAX_BURN_TIME_REACHED_STRING;
     case (14201):
       return TX_TIMER_EXPIRED_STRING;
     case (14202):

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-05-17 17:15:34
+ * Generated on: 2023-07-07 12:06:06
  */
 #include "translateObjects.h"
 

linux/ipcore/AxiPtmeConfig.cpp

@@ -16,9 +16,9 @@ AxiPtmeConfig::AxiPtmeConfig(object_id_t objectId, std::string axiUio, int mapNu
 AxiPtmeConfig::~AxiPtmeConfig() {}
 
 ReturnValue_t AxiPtmeConfig::initialize() {
-  ReturnValue_t result = returnvalue::OK;
   UioMapper uioMapper(axiUio, mapNum);
-  result = uioMapper.getMappedAdress(&baseAddress, UioMapper::Permissions::READ_WRITE);
+  ReturnValue_t result =
+      uioMapper.getMappedAdress(&baseAddress, UioMapper::Permissions::READ_WRITE);
   if (result != returnvalue::OK) {
     return result;
   }
@@ -26,8 +26,7 @@ ReturnValue_t AxiPtmeConfig::initialize() {
 }
 
 ReturnValue_t AxiPtmeConfig::writeCaduRateReg(uint8_t rateVal) {
-  ReturnValue_t result = returnvalue::OK;
-  result = mutex->lockMutex(timeoutType, mutexTimeout);
+  ReturnValue_t result = mutex->lockMutex(timeoutType, mutexTimeout);
   if (result != returnvalue::OK) {
     sif::warning << "AxiPtmeConfig::writeCaduRateReg: Failed to lock mutex" << std::endl;
     return returnvalue::FAILED;
@@ -41,6 +40,11 @@ ReturnValue_t AxiPtmeConfig::writeCaduRateReg(uint8_t rateVal) {
   return returnvalue::OK;
 }
 
+uint8_t AxiPtmeConfig::readCaduRateReg() {
+  MutexGuard mg(mutex);
+  return static_cast<uint8_t>(*(baseAddress + CADU_BITRATE_REG));
+}
+
 void AxiPtmeConfig::enableTxclockManipulator() {
   writeBit(COMMON_CONFIG_REG, true, BitPos::EN_TX_CLK_MANIPULATOR);
 }

linux/ipcore/AxiPtmeConfig.h

@@ -38,6 +38,7 @@ class AxiPtmeConfig : public SystemObject {
    *        frequency of the clock connected to the bit clock input of PTME.
    */
   ReturnValue_t writeCaduRateReg(uint8_t rateVal);
+  uint8_t readCaduRateReg();
 
   /**
    * @brief Next to functions control the tx clock manipulator component

linux/ipcore/PapbVcInterface.cpp

@@ -7,20 +7,16 @@
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId,
-                                 gpioId_t papbEmptyId, std::string uioFile, int mapNum)
-    : gpioComIF(gpioComIF),
-      papbBusyId(papbBusyId),
-      papbEmptyId(papbEmptyId),
-      uioFile(std::move(uioFile)),
-      mapNum(mapNum) {}
+PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbEmptyId,
+                                 std::string uioFile, int mapNum)
+    : gpioComIF(gpioComIF), papbEmptyId(papbEmptyId), uioFile(std::move(uioFile)), mapNum(mapNum) {}
 
 PapbVcInterface::~PapbVcInterface() {}
 
 ReturnValue_t PapbVcInterface::initialize() {
   UioMapper uioMapper(uioFile, mapNum);
   ReturnValue_t result = uioMapper.getMappedAdress(const_cast<uint32_t**>(&vcBaseReg),
-                                                   UioMapper::Permissions::WRITE_ONLY);
+                                                   UioMapper::Permissions::READ_WRITE);
   if (result != returnvalue::OK) {
     return result;
   }
@@ -32,63 +28,27 @@ ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
   if (size < 4) {
     return returnvalue::FAILED;
   }
-  if (pollInterfaceReadiness(0, true) == returnvalue::OK) {
+  if (pollReadyForPacket()) {
     startPacketTransfer(ByteWidthCfg::ONE);
   } else {
     return DirectTmSinkIF::IS_BUSY;
   }
-  // TODO: This should work but does not.. :(
-  //  size_t idx = 0;
-  //  while (idx < size) {
-  //
-  //    nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
-  //    if ((size - idx) < 4) {
-  //      *vcBaseReg = CONFIG_DATA_INPUT | (size - idx - 1);
-  //      usleep(1);
-  //    }
-  //    if (pollPapbBusySignal(2) == returnvalue::OK) {
-  //      //      vcBaseReg + DATA_REG_OFFSET + 3 = static_cast<uint8_t>(data + idx);
-  //      //      vcBaseReg + DATA_REG_OFFSET + 2 = static_cast<uint8_t>(data + idx + 1);
-  //      //      vcBaseReg + DATA_REG_OFFSET + 1 = static_cast<uint8_t>(data + idx + 2);
-  //      //      vcBaseReg + DATA_REG_OFFSET = static_cast<uint8_t>(data + idx + 3);
-  //
-  //      // std::memcpy((vcBaseReg + DATA_REG_OFFSET), data + idx , nextWriteSize);
-  //      *(vcBaseReg + DATA_REG_OFFSET) = *reinterpret_cast<const uint32_t*>(data + idx);
-  //      //uint8_t* byteReg = reinterpret_cast<uint8_t*>(vcBaseReg + DATA_REG_OFFSET);
-  //
-  //      //byteReg[0] = data[idx];
-  //      //byteReg[1] = data[idx];
-  //    } else {
-  //      abortPacketTransfer();
-  //      return returnvalue::FAILED;
-  //    }
-  //    // TODO: Change this after the bugfix. Right now, the PAPB ignores the content of the byte
-  //    // width configuration.5
-  //    // It's okay to increment by a larger amount for the last segment here, loop will be over
-  //    // in any case.
-  //    idx += 4;
-  //  }
-  for (size_t idx = 0; idx < size; idx++) {
-    // This delay is super-important, DO NOT REMOVE!
-    // Polling the GPIO or the config register too often messes up the scheduler.
-    // TODO: Maybe this should not be done like this. It would be better if there was a custom
-    // FPGA module which can accept packets and then takes care of dumping that packet into
-    // the PTME. DMA would be an ideal solution for this.
-    nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
-    if (pollInterfaceReadiness(2, false) == returnvalue::OK) {
-      *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[idx]);
-    } else {
-      abortPacketTransfer();
-      return returnvalue::FAILED;
-    }
-  }
-  nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
-  if (pollInterfaceReadiness(2, false) == returnvalue::OK) {
-    completePacketTransfer();
-  } else {
+  if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
     abortPacketTransfer();
     return returnvalue::FAILED;
   }
+  for (size_t idx = 0; idx < size; idx++) {
+    if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
+      abortPacketTransfer();
+      return returnvalue::FAILED;
+    }
+    *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[idx]);
+  }
+  if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
+    abortPacketTransfer();
+    return returnvalue::FAILED;
+  }
+  completePacketTransfer();
   return returnvalue::OK;
 }
 
@@ -98,63 +58,49 @@ void PapbVcInterface::startPacketTransfer(ByteWidthCfg initWidth) {
 
 void PapbVcInterface::completePacketTransfer() { *vcBaseReg = CONFIG_END; }
 
-ReturnValue_t PapbVcInterface::pollInterfaceReadiness(uint32_t maxPollRetries,
-                                                      bool checkReadyState) const {
-  uint32_t busyIdx = 0;
-  nextDelay.tv_nsec = FIRST_DELAY_PAPB_POLLING_NS;
-
-  while (true) {
-    // Check if PAPB interface is ready to receive data. Use the configuration register for this.
-    // Bit 5, see PTME ptme_001_01-0-7-r2 Table 31.
-    uint32_t reg = *vcBaseReg;
-    bool busy = (reg >> 5) & 0b1;
-    bool ready = (reg >> 6) & 0b1;
-    if (not busy) {
-      return returnvalue::OK;
-    }
-    if (checkReadyState and not ready) {
-      return PAPB_BUSY;
-    }
-
-    busyIdx++;
-    if (busyIdx >= maxPollRetries) {
-      return PAPB_BUSY;
-    }
-
-    // Ignore signal handling here for now.
-    nanosleep(&nextDelay, &remDelay);
-    // Adaptive delay.
-    if (nextDelay.tv_nsec * 2 <= MAX_DELAY_PAPB_POLLING_NS) {
-      nextDelay.tv_nsec *= 2;
-    }
-  }
-  return returnvalue::OK;
+bool PapbVcInterface::pollReadyForPacket() const {
+  //  Check if PAPB interface is ready to receive data. Use the configuration register for this.
+  //  Bit 5, see PTME ptme_001_01-0-7-r2 Table 31.
+  uint32_t reg = *vcBaseReg;
+  return (reg >> 6) & 0b1;
 }
 
-void PapbVcInterface::isVcInterfaceBufferEmpty() {
+bool PapbVcInterface::isVcInterfaceBufferEmpty() {
   ReturnValue_t result = returnvalue::OK;
   gpio::Levels papbEmptyState = gpio::Levels::HIGH;
 
   result = gpioComIF->readGpio(papbEmptyId, papbEmptyState);
 
   if (result != returnvalue::OK) {
-    sif::warning << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
-                 << std::endl;
-    return;
+    sif::error << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
+               << std::endl;
+    return true;
   }
 
   if (papbEmptyState == gpio::Levels::HIGH) {
-    sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is empty" << std::endl;
-  } else {
-    sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is not empty" << std::endl;
+    return true;
   }
-  return;
+  return false;
 }
 
-bool PapbVcInterface::isBusy() const { return pollInterfaceReadiness(0, true) == PAPB_BUSY; }
+bool PapbVcInterface::isBusy() const { return not pollReadyForPacket(); }
 
 void PapbVcInterface::cancelTransfer() { abortPacketTransfer(); }
 
+inline bool PapbVcInterface::pollReadyForOctet(uint32_t maxCycles) const {
+  uint32_t reg;
+  uint32_t idx = 0;
+  while (idx < maxCycles) {
+    reg = *vcBaseReg;
+    // Busy bit.
+    if (not((reg >> 5) & 0b1)) {
+      return true;
+    }
+    idx++;
+  }
+  return false;
+}
+
 ReturnValue_t PapbVcInterface::sendTestFrame() {
   /** Size of one complete transfer frame data field amounts to 1105 bytes */
   uint8_t testPacket[1105];

linux/ipcore/PapbVcInterface.h

@@ -30,8 +30,7 @@ class PapbVcInterface : public VirtualChannelIF {
    * @param uioFile       UIO file providing access to the PAPB bus
    * @param mapNum        Map number of UIO map associated with this virtual channel
    */
-  PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId, gpioId_t papbEmptyId,
-                  std::string uioFile, int mapNum);
+  PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbEmptyId, std::string uioFile, int mapNum);
   virtual ~PapbVcInterface();
 
   bool isBusy() const override;
@@ -81,11 +80,9 @@ class PapbVcInterface : public VirtualChannelIF {
 
   static constexpr long int FIRST_DELAY_PAPB_POLLING_NS = 10;
   static constexpr long int MAX_DELAY_PAPB_POLLING_NS = 40;
+  static constexpr uint32_t MAX_BUSY_POLLS = 1000;
 
   LinuxLibgpioIF* gpioComIF = nullptr;
-
-  /** Pulled to low when virtual channel not ready to receive data */
-  gpioId_t papbBusyId = gpio::NO_GPIO;
   /** High when external buffer memory of virtual channel is empty */
   gpioId_t papbEmptyId = gpio::NO_GPIO;
 
@@ -120,13 +117,15 @@ class PapbVcInterface : public VirtualChannelIF {
    *
    * @return  returnvalue::OK when ready to receive data else PAPB_BUSY.
    */
-  inline ReturnValue_t pollInterfaceReadiness(uint32_t maxPollRetries, bool checkReadyState) const;
+  inline bool pollReadyForPacket() const;
+
+  inline bool pollReadyForOctet(uint32_t maxCycles) const;
 
   /**
    * @brief   This function can be used for debugging to check whether there are packets in
    *          the packet buffer of the virtual channel or not.
    */
-  void isVcInterfaceBufferEmpty();
+  bool isVcInterfaceBufferEmpty();
 
   /**
    * @brief   This function sends a complete telemetry transfer frame data field (1105 bytes)

linux/ipcore/PtmeConfig.cpp

@@ -26,6 +26,11 @@ ReturnValue_t PtmeConfig::setRate(uint32_t bitRate) {
   return axiPtmeConfig->writeCaduRateReg(static_cast<uint8_t>(rateVal));
 }
 
+uint32_t PtmeConfig::getRate() {
+  uint8_t rateReg = axiPtmeConfig->readCaduRateReg();
+  return (BIT_CLK_FREQ / (rateReg + 1));
+}
+
 void PtmeConfig::invertTxClock(bool invert) {
   if (invert) {
     axiPtmeConfig->enableTxclockInversion();

linux/ipcore/PtmeConfig.h

@@ -32,6 +32,7 @@ class PtmeConfig : public SystemObject {
    *          of the CADU clock due to the convolutional code added by the s-Band transceiver.
    */
   ReturnValue_t setRate(uint32_t bitRate);
+  uint32_t getRate();
 
   /**
    * @brief Will change the time the tx data signal is updated with respect to the tx clock

misc/eclipse/.cproject

@@ -57,7 +57,8 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="unittest/rebootLogic|thirdparty/json|cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="thirdparty/json/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -119,7 +120,8 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="unittest/rebootLogic|thirdparty/json|cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="thirdparty/json/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -187,7 +189,8 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
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 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="cmake-build-debug/_deps/etl-src/uml|cmake-build-debug/_deps/etl-src/test|cmake-build-debug/_deps/etl-src/temp|cmake-build-debug/_deps/etl-src/support|cmake-build-debug/_deps/etl-src/subprojects|cmake-build-debug/_deps/etl-src/scripts|cmake-build-debug/_deps/etl-src/images|cmake-build-debug/_deps/etl-src/examples|cmake-build-debug/_deps/etl-src/cmake|cmake-build-debug/_deps/etl-src/arduino|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="unittest/rebootLogic|thirdparty/json|cmake-build-debug-q7s-em/_deps/etl-src|cmake-build-debug/_deps/etl-src/uml|cmake-build-debug/_deps/etl-src/test|cmake-build-debug/_deps/etl-src/temp|cmake-build-debug/_deps/etl-src/support|cmake-build-debug/_deps/etl-src/subprojects|cmake-build-debug/_deps/etl-src/scripts|cmake-build-debug/_deps/etl-src/images|cmake-build-debug/_deps/etl-src/examples|cmake-build-debug/_deps/etl-src/cmake|cmake-build-debug/_deps/etl-src/arduino|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="thirdparty/json/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -1172,7 +1182,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561" name="eive-q7s-debug-em" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
+				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561" name="eive-q7s-debug-em" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.dockerdpath=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=unix:///var/run/docker.sock,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null" parent="org.eclipse.cdt.build.core.emptycfg">
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561." name="/" resourcePath="">
 						<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1640701365" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.564607779" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
@@ -1317,7 +1327,9 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="cmake-build-debug-q7s|cmake-build-release-q7s-em|build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="unittest/rebootLogic|thirdparty/json|cmake-build-debug-q7s-em/_deps/etl-src|cmake-build-debug-q7s|cmake-build-release-q7s-em|build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="cmake-build-debug-q7s-em/_deps/etl-src/include"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="thirdparty/json/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -1386,7 +1398,8 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="cmake-build-debug/_deps/etl-src/uml|cmake-build-debug/_deps/etl-src/test|cmake-build-debug/_deps/etl-src/temp|cmake-build-debug/_deps/etl-src/support|cmake-build-debug/_deps/etl-src/subprojects|cmake-build-debug/_deps/etl-src/scripts|cmake-build-debug/_deps/etl-src/images|cmake-build-debug/_deps/etl-src/examples|cmake-build-debug/_deps/etl-src/cmake|cmake-build-debug/_deps/etl-src/arduino|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="unittest/rebootLogic|thirdparty/json|cmake-build-debug-q7s-em/_deps/etl-src|cmake-build-debug/_deps/etl-src/uml|cmake-build-debug/_deps/etl-src/test|cmake-build-debug/_deps/etl-src/temp|cmake-build-debug/_deps/etl-src/support|cmake-build-debug/_deps/etl-src/subprojects|cmake-build-debug/_deps/etl-src/scripts|cmake-build-debug/_deps/etl-src/images|cmake-build-debug/_deps/etl-src/examples|cmake-build-debug/_deps/etl-src/cmake|cmake-build-debug/_deps/etl-src/arduino|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="thirdparty/json/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>

mission/acs/SusHandler.cpp

@@ -30,6 +30,7 @@ void SusHandler::doStartUp() {
 void SusHandler::doShutDown() {
   if (internalState != InternalState::SHUTDOWN) {
     PoolReadGuard pg(&dataset);
+    dataset.tempC = thermal::INVALID_TEMPERATURE;
     dataset.setValidity(false, true);
     internalState = InternalState::SHUTDOWN;
     commandExecuted = false;

mission/acs/str/StarTrackerHandler.cpp

@@ -18,6 +18,7 @@ extern "C" {
 
 #include "OBSWConfig.h"
 #include "eive/definitions.h"
+#include "fsfw/thermal/tcsDefinitions.h"
 
 std::atomic_bool JCFG_DONE(false);
 
@@ -106,11 +107,14 @@ void StarTrackerHandler::doShutDown() {
     solutionSet.caliQx.value = 0.0;
     solutionSet.caliQy.value = 0.0;
     solutionSet.caliQz.value = 0.0;
-    solutionSet.isTrustWorthy = 0;
+    solutionSet.isTrustWorthy.value = 0;
     solutionSet.setValidity(false, true);
   }
   {
     PoolReadGuard pg(&temperatureSet);
+    temperatureSet.fpgaTemperature = thermal::INVALID_TEMPERATURE;
+    temperatureSet.cmosTemperature = thermal::INVALID_TEMPERATURE;
+    temperatureSet.mcuTemperature = thermal::INVALID_TEMPERATURE;
     temperatureSet.setValidity(false, true);
   }
   reinitNextSetParam = false;

mission/cfdp/CfdpHandler.cpp

@@ -93,7 +93,8 @@ ReturnValue_t CfdpHandler::handleCfdpPacket(TmTcMessage& msg) {
       return INVALID_PDU_FORMAT;
     }
     if (not FileDirectiveReader::checkFileDirective(pduDataField[0])) {
-      sif::error << "CfdpHandler: Invalid PDU directive field " << pduDataField[0] << std::endl;
+      sif::error << "CfdpHandler: Invalid PDU directive field " << static_cast<int>(pduDataField[0])
+                 << std::endl;
       return INVALID_DIRECTIVE_FIELD;
     }
     auto directive = static_cast<FileDirective>(pduDataField[0]);

mission/com/CcsdsIpCoreHandler.cpp

@@ -246,7 +246,13 @@ ReturnValue_t CcsdsIpCoreHandler::checkModeCommand(Mode_t mode, Submode_t submod
 void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
   triggerEvent(CHANGING_MODE, mode, submode);
   if (mode == HasModesIF::MODE_ON) {
-    if (this->submode != submode) {
+    uint32_t currentRate = ptmeConfig.getRate();
+    // Check whether the rate actually changes.
+    if ((this->submode != submode) and
+        (((submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW) and
+           (currentRate != RATE_100KBPS))) or
+         ((submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH) and
+           (currentRate != RATE_500KBPS))))) {
       initPtmeUpdateAfterXCycles();
       updateContext.enableTransmitAfterPtmeUpdate = true;
       updateContext.updateClockRate = true;

mission/com/LiveTmTask.cpp

@@ -19,13 +19,8 @@ LiveTmTask::LiveTmTask(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunne
 ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
   readCommandQueue();
   while (true) {
-    bool performWriteOp = true;
-    if (mode == MODE_OFF or ptmeLocked) {
-      performWriteOp = false;
-    }
-
     // The funnel tasks are scheduled here directly as well.
-    ReturnValue_t result = channel.handleNextTm(performWriteOp);
+    ReturnValue_t result = channel.handleNextTm(!ptmeLocked);
     if (result == DirectTmSinkIF::IS_BUSY) {
       sif::error << "Lost live TM, PAPB busy" << std::endl;
     }

mission/com/PersistentLogTmStoreTask.cpp

@@ -42,13 +42,7 @@ ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) {
     if (not someonesBusy) {
       TaskFactory::delayTask(100);
     } else if (vcBusyDuringDump) {
-      // 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

@@ -24,13 +24,7 @@ ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
     if (not busy) {
       TaskFactory::delayTask(100);
     } else if (dumpContext.vcBusyDuringDump) {
-      sif::debug << "VC busy, delaying" << std::endl;
-      // TODO: Might not be necessary
       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

@@ -773,11 +773,13 @@ void SyrlinksHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
   auto txStandbyHandler = [&]() {
     txDataset.setReportingEnabled(false);
     poolManager.changeCollectionInterval(temperatureSet.getSid(), 60.0);
+    poolManager.changeCollectionInterval(rxDataset.getSid(), 60.0);
     transState = TransitionState::SET_TX_STANDBY;
     internalState = InternalState::TX_TRANSITION;
   };
   auto txOnHandler = [&](TransitionState tgtTransitionState) {
     txDataset.setReportingEnabled(true);
+    poolManager.changeCollectionInterval(rxDataset.getSid(), 5.0);
     poolManager.changeCollectionInterval(txDataset.getSid(), 10.0);
     poolManager.changeCollectionInterval(temperatureSet.getSid(), 5.0);
     transState = tgtTransitionState;

mission/com/TmStoreTaskBase.cpp

@@ -45,13 +45,19 @@ bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store,
   } else {
     Command_t execCmd;
     // Handle TC requests, for example deletion or retrieval requests.
+    // TODO: Not really clean here.. would be better if the executed command is returns as an
+    // enumeration.
     result = store.handleCommandQueue(ipcStore, execCmd);
-    if (result == returnvalue::OK) {
-      if (execCmd == TmStoreMessage::DOWNLINK_STORE_CONTENT_TIME) {
+    if (execCmd == TmStoreMessage::DOWNLINK_STORE_CONTENT_TIME) {
+      if (result == PersistentTmStore::DUMP_DONE) {
+        dumpDoneHandler(store, dumpContext);
+      } else if (result == returnvalue::OK) {
         cancelDumpCd.resetTimer();
         tmSinkBusyCd.resetTimer();
         dumpContext.reset();
       }
+    }
+    if (execCmd != CommandMessageIF::CMD_NONE) {
       tcRequestReceived = true;
     }
   }
@@ -119,21 +125,13 @@ ReturnValue_t TmStoreTaskBase::performDump(PersistentTmStoreWithTmQueue& store,
                                            DumpContext& dumpContext, bool& dumpPerformed) {
   size_t dumpedLen = 0;
 
-  auto dumpDoneHandler = [&]() {
-    uint32_t startTime;
-    uint32_t endTime;
-    store.getStartAndEndTimeCurrentOrLastDump(startTime, endTime);
-    triggerEvent(dumpContext.eventIfDone, dumpContext.numberOfDumpedPackets,
-                 dumpContext.dumpedBytes);
-    dumpContext.reset();
-  };
   // Dump the next packet into the PTME.
   dumpContext.ptmeBusyCounter = 0;
   tmSinkBusyCd.resetTimer();
   ReturnValue_t result = store.getNextDumpPacket(tmReader, fileHasSwapped);
   if (fileHasSwapped and result == PersistentTmStore::DUMP_DONE) {
     // This can happen if a file is corrupted and the next file swap completes the dump.
-    dumpDoneHandler();
+    dumpDoneHandler(store, dumpContext);
     return returnvalue::OK;
   } else if (result != returnvalue::OK) {
     sif::error << "PersistentTmStore: Getting next dump packet failed" << std::endl;
@@ -157,7 +155,7 @@ ReturnValue_t TmStoreTaskBase::performDump(PersistentTmStoreWithTmQueue& store,
     }
   }
   if (result == PersistentTmStore::DUMP_DONE) {
-    dumpDoneHandler();
+    dumpDoneHandler(store, dumpContext);
   }
   return returnvalue::OK;
 }
@@ -198,6 +196,14 @@ ReturnValue_t TmStoreTaskBase::connectModeTreeParent(HasModeTreeChildrenIF& pare
   return modetree::connectModeTreeParent(parent, *this, nullptr, modeHelper);
 }
 
+void TmStoreTaskBase::dumpDoneHandler(PersistentTmStore& store, DumpContext& dumpContext) {
+  uint32_t startTime;
+  uint32_t endTime;
+  store.getStartAndEndTimeCurrentOrLastDump(startTime, endTime);
+  triggerEvent(dumpContext.eventIfDone, dumpContext.numberOfDumpedPackets, dumpContext.dumpedBytes);
+  dumpContext.reset();
+}
+
 ModeTreeChildIF& TmStoreTaskBase::getModeTreeChildIF() { return *this; }
 
 void TmStoreTaskBase::readCommandQueue(void) {

mission/com/TmStoreTaskBase.h

@@ -96,6 +96,8 @@ class TmStoreTaskBase : public SystemObject,
 
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                  uint32_t* msToReachTheMode) override;
+  void dumpDoneHandler(PersistentTmStore& store, DumpContext& dumpContext);
+
   void announceMode(bool recursive) override;
   object_id_t getObjectId() const override;
   const HasHealthIF* getOptHealthIF() const override;

mission/controller/ThermalController.h

@@ -1,7 +1,7 @@
 #ifndef MISSION_CONTROLLER_THERMALCONTROLLER_H_
 #define MISSION_CONTROLLER_THERMALCONTROLLER_H_
 
-#include <bsp_q7s/core/CoreDefinitions.h>
+#include <bsp_q7s/core/defs.h>
 #include <fsfw/controller/ExtendedControllerBase.h>
 #include <fsfw/devicehandlers/DeviceHandlerThermalSet.h>
 #include <fsfw/timemanager/Countdown.h>
@@ -24,74 +24,7 @@
 
 #include <atomic>
 #include <list>
-
-/**
- * NOP Limit: Hard limit for device, usually from datasheet. Device damage is possible lif NOP limit
- * is exceeded.
- * OP Limit: Soft limit. Device should be switched off or TCS controller should take action if the
- * limit is exceeded to avoid reaching NOP limit
- */
-struct TempLimits {
-  TempLimits(float nopLowerLimit, float opLowerLimit, float cutOffLimit, float opUpperLimit,
-             float nopUpperLimit)
-      : opLowerLimit(opLowerLimit),
-        opUpperLimit(opUpperLimit),
-        cutOffLimit(cutOffLimit),
-        nopLowerLimit(nopLowerLimit),
-        nopUpperLimit(nopUpperLimit) {}
-  float opLowerLimit;
-  float opUpperLimit;
-  float cutOffLimit;
-  float nopLowerLimit;
-  float nopUpperLimit;
-};
-
-struct ThermalState {
-  uint8_t errorCounter;
-  // Is heating on for that thermal module?
-  bool heating = false;
-  heater::Switch heaterSwitch = heater::Switch::NUMBER_OF_SWITCHES;
-  // Heater start time and end times as UNIX seconds. Please note that these times will be updated
-  // when a switch command is sent, with no guarantess that the heater actually went on.
-  uint32_t heaterStartTime = 0;
-  uint32_t heaterEndTime = 0;
-};
-
-struct HeaterState {
-  bool switchTransition;
-  HeaterHandler::SwitchState target;
-  uint8_t heaterSwitchControlCycles;
-};
-
-using HeaterSwitchStates = std::array<HeaterHandler::SwitchState, heater::NUMBER_OF_SWITCHES>;
-
-enum ThermalComponents : uint8_t {
-  NONE = 0,
-  ACS_BOARD = 1,
-  MGT = 2,
-  RW = 3,
-  STR = 4,
-  IF_BOARD = 5,
-  TCS_BOARD = 6,
-  OBC = 7,
-  OBCIF_BOARD = 8,
-  SBAND_TRANSCEIVER = 9,
-  PCDUP60_BOARD = 10,
-  PCDUACU = 11,
-  PCDUPDU = 12,
-  PLPCDU_BOARD = 13,
-  PLOCMISSION_BOARD = 14,
-  PLOCPROCESSING_BOARD = 15,
-  DAC = 16,
-  CAMERA = 17,
-  DRO = 18,
-  X8 = 19,
-  HPA = 20,
-  TX = 21,
-  MPA = 22,
-  SCEX_BOARD = 23,
-  NUM_ENTRIES
-};
+#include <optional>
 
 class ThermalController : public ExtendedControllerBase {
  public:
@@ -102,8 +35,28 @@ class ThermalController : public ExtendedControllerBase {
   static constexpr int16_t SANITY_LIMIT_LOWER_TEMP = -80;
   static constexpr int16_t SANITY_LIMIT_UPPER_TEMP = 160;
 
+  // 1 hour
+  static constexpr uint32_t DEFAULT_MAX_HEATER_ON_DURATION_MS = 60 * 60 * 1000;
+  static constexpr uint32_t MAX_HEATER_ON_DURATIONS_MS[8] = {// PLOC PROC board
+                                                             DEFAULT_MAX_HEATER_ON_DURATION_MS,
+                                                             // PCDU PDU
+                                                             DEFAULT_MAX_HEATER_ON_DURATION_MS,
+                                                             // ACS Board
+                                                             DEFAULT_MAX_HEATER_ON_DURATION_MS,
+                                                             // OBC Board
+                                                             DEFAULT_MAX_HEATER_ON_DURATION_MS,
+                                                             // Camera
+                                                             DEFAULT_MAX_HEATER_ON_DURATION_MS,
+                                                             // STR
+                                                             DEFAULT_MAX_HEATER_ON_DURATION_MS,
+                                                             // DRO
+                                                             DEFAULT_MAX_HEATER_ON_DURATION_MS,
+                                                             // S-Band
+                                                             DEFAULT_MAX_HEATER_ON_DURATION_MS};
+
   ThermalController(object_id_t objectId, HeaterHandler& heater,
-                    const std::atomic_bool& tcsBoardShortUnavailable);
+                    const std::atomic_bool& tcsBoardShortUnavailable, bool pollPcdu1Tmp);
+  virtual ~ThermalController();
 
   ReturnValue_t initialize() override;
 
@@ -111,16 +64,16 @@ class ThermalController : public ExtendedControllerBase {
   struct HeaterContext {
    public:
     HeaterContext(heater::Switch switchNr, heater::Switch redundantSwitchNr,
-                  const TempLimits& tempLimit)
+                  const tcsCtrl::TempLimits& tempLimit)
         : switchNr(switchNr), redSwitchNr(redundantSwitchNr), tempLimit(tempLimit) {}
     bool doHeaterHandling = true;
     heater::Switch switchNr;
-    HeaterHandler::SwitchState switchState = HeaterHandler::SwitchState::OFF;
+    heater::SwitchState switchState = heater::SwitchState::OFF;
     heater::Switch redSwitchNr;
-    const TempLimits& tempLimit;
+    const tcsCtrl::TempLimits& tempLimit;
   };
 
-  void performThermalModuleCtrl(const HeaterSwitchStates& heaterSwitchStates);
+  void performThermalModuleCtrl(const tcsCtrl::HeaterSwitchStates& heaterSwitchStates);
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
   void performControlOperation() override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -142,12 +95,12 @@ class ThermalController : public ExtendedControllerBase {
 
   HeaterHandler& heaterHandler;
 
+  bool pollPcdu1Tmp;
   tcsCtrl::SensorTemperatures sensorTemperatures;
   tcsCtrl::SusTemperatures susTemperatures;
   tcsCtrl::DeviceTemperatures deviceTemperatures;
   tcsCtrl::HeaterInfo heaterInfo;
-  lp_vec_t<int16_t, 9> currentVecPdu2 =
-      lp_vec_t<int16_t, 9>(gp_id_t(objects::PDU2_HANDLER, PDU::pool::PDU_CURRENTS));
+  tcsCtrl::TcsCtrlInfo tcsCtrlInfo;
 
   DeviceHandlerThermalSet imtqThermalSet;
 
@@ -173,7 +126,7 @@ class ThermalController : public ExtendedControllerBase {
   TMP1075::Tmp1075Dataset tmp1075SetTcs1;
   TMP1075::Tmp1075Dataset tmp1075SetPlPcdu0;
   // damaged
-  // TMP1075::Tmp1075Dataset tmp1075SetPlPcdu1;
+  TMP1075::Tmp1075Dataset* tmp1075SetPlPcdu1;
   TMP1075::Tmp1075Dataset tmp1075SetIfBoard;
 
   // SUS
@@ -227,57 +180,67 @@ class ThermalController : public ExtendedControllerBase {
   lp_var_t<float> tempMgm2 =
       lp_var_t<float>(objects::MGM_2_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
   lp_var_t<float> tempAdcPayloadPcdu = lp_var_t<float>(objects::PLPCDU_HANDLER, plpcdu::TEMP);
+  lp_vec_t<int16_t, 9> currentVecPdu2 =
+      lp_vec_t<int16_t, 9>(gp_id_t(objects::PDU2_HANDLER, PDU::pool::PDU_CURRENTS));
 
   // TempLimits
-  TempLimits acsBoardLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
-  TempLimits mgtLimits = TempLimits(-40.0, -40.0, 65.0, 70.0, 70.0);
-  TempLimits rwLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
-  TempLimits strLimits = TempLimits(-30.0, -20.0, 65.0, 70.0, 80.0);
-  TempLimits ifBoardLimits = TempLimits(-65.0, -40.0, 80.0, 85.0, 150.0);
-  TempLimits tcsBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 130.0);
-  TempLimits obcLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
-  TempLimits obcIfBoardLimits = TempLimits(-65.0, -40.0, 80.0, 85.0, 125.0);
-  TempLimits sBandTransceiverLimits = TempLimits(-40.0, -25.0, 35.0, 40.0, 65.0);
-  TempLimits pcduP60BoardLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
-  TempLimits pcduAcuLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
-  TempLimits pcduPduLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
-  TempLimits plPcduBoardLimits = TempLimits(-55.0, -40.0, 80.0, 85.0, 125.0);
-  TempLimits plocMissionBoardLimits = TempLimits(-30.0, -10.0, 40.0, 45.0, 60);
-  TempLimits plocProcessingBoardLimits = TempLimits(-30.0, -10.0, 40.0, 45.0, 60.0);
-  TempLimits dacLimits = TempLimits(-65.0, -40.0, 113.0, 118.0, 150.0);
-  TempLimits cameraLimits = TempLimits(-40.0, -30.0, 60.0, 65.0, 85.0);
-  TempLimits droLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
-  TempLimits x8Limits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
-  TempLimits hpaLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
-  TempLimits txLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
-  TempLimits mpaLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
-  TempLimits scexBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 150.0);
+  tcsCtrl::TempLimits acsBoardLimits = tcsCtrl::TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
+  tcsCtrl::TempLimits mgtLimits = tcsCtrl::TempLimits(-40.0, -40.0, 65.0, 70.0, 70.0);
+  tcsCtrl::TempLimits rwLimits = tcsCtrl::TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
+  tcsCtrl::TempLimits strLimits = tcsCtrl::TempLimits(-30.0, -20.0, 65.0, 70.0, 80.0);
+  tcsCtrl::TempLimits ifBoardLimits = tcsCtrl::TempLimits(-65.0, -40.0, 80.0, 85.0, 150.0);
+  tcsCtrl::TempLimits tcsBoardLimits = tcsCtrl::TempLimits(-60.0, -40.0, 80.0, 85.0, 130.0);
+  tcsCtrl::TempLimits obcLimits = tcsCtrl::TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
+  tcsCtrl::TempLimits obcIfBoardLimits = tcsCtrl::TempLimits(-65.0, -40.0, 80.0, 85.0, 125.0);
+  tcsCtrl::TempLimits sBandTransceiverLimits = tcsCtrl::TempLimits(-40.0, -25.0, 35.0, 40.0, 65.0);
+  tcsCtrl::TempLimits pcduP60BoardLimits = tcsCtrl::TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
+  tcsCtrl::TempLimits pcduAcuLimits = tcsCtrl::TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
+  tcsCtrl::TempLimits pcduPduLimits = tcsCtrl::TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
+  tcsCtrl::TempLimits plPcduBoardLimits = tcsCtrl::TempLimits(-55.0, -40.0, 80.0, 85.0, 125.0);
+  tcsCtrl::TempLimits plocMissionBoardLimits = tcsCtrl::TempLimits(-30.0, -10.0, 40.0, 45.0, 60);
+  tcsCtrl::TempLimits plocProcessingBoardLimits =
+      tcsCtrl::TempLimits(-30.0, -10.0, 40.0, 45.0, 60.0);
+  tcsCtrl::TempLimits dacLimits = tcsCtrl::TempLimits(-65.0, -40.0, 113.0, 118.0, 150.0);
+  tcsCtrl::TempLimits cameraLimits = tcsCtrl::TempLimits(-40.0, -30.0, 60.0, 65.0, 85.0);
+  tcsCtrl::TempLimits droLimits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
+  tcsCtrl::TempLimits x8Limits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
+  tcsCtrl::TempLimits hpaLimits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
+  tcsCtrl::TempLimits txLimits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
+  tcsCtrl::TempLimits mpaLimits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
+  tcsCtrl::TempLimits scexBoardLimits = tcsCtrl::TempLimits(-60.0, -40.0, 80.0, 85.0, 150.0);
+
+  struct CtrlContext {
+    double sensorTemp = INVALID_TEMPERATURE;
+    uint8_t currentSensorIndex = 0;
+    tcsCtrl::ThermalComponents thermalComponent = tcsCtrl::NONE;
+    bool redSwitchNrInUse = false;
+    bool componentAboveCutOffLimit = false;
+    bool componentAboveUpperLimit = false;
+    Event overHeatEventToTrigger;
+  } ctrlCtx;
 
-  double sensorTemp = INVALID_TEMPERATURE;
-  ThermalComponents thermalComponent = NONE;
-  bool redSwitchNrInUse = false;
   MessageQueueId_t camId = MessageQueueIF::NO_QUEUE;
-  bool componentAboveCutOffLimit = false;
-  bool componentAboveUpperLimit = false;
-  Event overHeatEventToTrigger;
-  bool eBandTooHotFlag = false;
-  bool camTooHotOneShotFlag = false;
-  bool scexTooHotFlag = false;
-  bool plocTooHotFlag = false;
-  bool pcduSystemTooHotFlag = false;
-  bool syrlinksTooHotFlag = false;
-  bool obcTooHotFlag = false;
-  bool mgtTooHotFlag = false;
-  bool strTooHotFlag = false;
-  bool rwTooHotFlag = false;
+
+  struct TooHotFlags {
+    bool eBandTooHotFlag = false;
+    bool camTooHotOneShotFlag = false;
+    bool scexTooHotFlag = false;
+    bool plocTooHotFlag = false;
+    bool pcduSystemTooHotFlag = false;
+    bool syrlinksTooHotFlag = false;
+    bool obcTooHotFlag = false;
+    bool mgtTooHotFlag = false;
+    bool strTooHotFlag = false;
+    bool rwTooHotFlag = false;
+  } tooHotFlags;
 
   bool transitionWhenHeatersOff = false;
   uint32_t transitionWhenHeatersOffCycles = 0;
   Mode_t targetMode = MODE_OFF;
   Submode_t targetSubmode = SUBMODE_NONE;
   uint32_t cycles = 0;
-  std::array<ThermalState, ThermalComponents::NUM_ENTRIES> thermalStates{};
-  std::array<HeaterState, heater::NUMBER_OF_SWITCHES> heaterStates{};
+  std::array<tcsCtrl::ThermalState, tcsCtrl::NUM_THERMAL_COMPONENTS> thermalStates{};
+  std::array<tcsCtrl::HeaterState, heater::NUMBER_OF_SWITCHES> heaterStates{};
 
   // Initial delay to make sure all pool variables have been initialized their owners.
   // Also, wait for system initialization to complete.
@@ -298,6 +261,12 @@ class ThermalController : public ExtendedControllerBase {
   PoolEntry<uint8_t> heaterSwitchStates = PoolEntry<uint8_t>(heater::NUMBER_OF_SWITCHES);
   PoolEntry<int16_t> heaterCurrent = PoolEntry<int16_t>();
 
+  PoolEntry<uint8_t> tcsCtrlHeaterOn = PoolEntry<uint8_t>(tcsCtrl::NUM_THERMAL_COMPONENTS);
+  PoolEntry<uint8_t> tcsCtrlSensorIdx = PoolEntry<uint8_t>(tcsCtrl::NUM_THERMAL_COMPONENTS);
+  PoolEntry<uint8_t> tcsCtrlHeaterIdx = PoolEntry<uint8_t>(tcsCtrl::NUM_THERMAL_COMPONENTS);
+  PoolEntry<uint32_t> tcsCtrlStartTimes = PoolEntry<uint32_t>(tcsCtrl::NUM_THERMAL_COMPONENTS);
+  PoolEntry<uint32_t> tcsCtrlEndTimes = PoolEntry<uint32_t>(tcsCtrl::NUM_THERMAL_COMPONENTS);
+
   static constexpr dur_millis_t MUTEX_TIMEOUT = 50;
 
   void startTransition(Mode_t mode, Submode_t submode) override;
@@ -319,8 +288,8 @@ class ThermalController : public ExtendedControllerBase {
   bool selectAndReadSensorTemp(HeaterContext& htrCtx);
 
   void heaterSwitchHelperAllOff();
-  void heaterSwitchHelper(heater::Switch switchNr, HeaterHandler::SwitchState state,
-                          unsigned componentIdx);
+  void heaterSwitchHelper(heater::Switch switchNr, heater::SwitchState state,
+                          std::optional<unsigned> componentIdx);
 
   void ctrlAcsBoard();
   void ctrlMgt();
@@ -329,7 +298,6 @@ class ThermalController : public ExtendedControllerBase {
   void ctrlIfBoard();
   void ctrlTcsBoard();
   void ctrlObc();
-  void ctrlObcIfBoard();
   void ctrlSBandTransceiver();
   void ctrlPcduP60Board();
   void ctrlPcduAcu();
@@ -345,7 +313,22 @@ class ThermalController : public ExtendedControllerBase {
   void ctrlTx();
   void ctrlMpa();
   void ctrlScexBoard();
-  void heaterTransitionControl(const HeaterSwitchStates& currentHeaterStates);
+
+  /**
+   * The transition of heaters might take some time. As long as a transition is
+   * going on, the TCS controller works in a reduced form. This function takes care
+   * of tracking transition and capturing their completion.
+   * @param currentHeaterStates
+   */
+  void heaterTransitionControl(const tcsCtrl::HeaterSwitchStates& currentHeaterStates);
+  /**
+   * Control tasks to prevent heaters being on for prolonged periods. Ideally, this
+   * should never happen, but this task prevents bugs from causing heaters to stay on
+   * for a long time, which draws a lot of power.
+   * @param currentHeaterStates
+   */
+  void heaterMaxDurationControl(const tcsCtrl::HeaterSwitchStates& currentHeaterStates);
+  void crossCheckHeaterStateOfComponentsWhenHeaterGoesOff(heater::Switch switchIdx);
   void setMode(Mode_t mode, Submode_t submode);
   uint32_t tempFloatToU32() const;
   bool tooHotHandler(object_id_t object, bool& oneShotFlag);

mission/controller/acs/AcsParameters.cpp

@@ -221,6 +221,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x23:
           parameterWrapper->setMatrix(susHandlingParameters.sus11coeffBeta);
           break;
+        case 0x24:
+          parameterWrapper->set(susHandlingParameters.susBrightnessThreshold);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }

mission/controller/acs/AcsParameters.h

@@ -766,6 +766,7 @@ class AcsParameters : public HasParametersIF {
         {116.975421945286, -5.53022680362263, -5.61081660666997, 0.109754904982136,
          0.167666815691513, 0.163137400730063, -0.000609874123906977, -0.00205336098697513,
          -0.000889232196185857, -0.00168429567131815}};
+    float susBrightnessThreshold = 0.7;
   } susHandlingParameters;
 
   struct GyrHandlingParameters {

mission/controller/acs/SensorProcessing.cpp

@@ -30,10 +30,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
   // ------------------------------------------------
   double magIgrfModel[3] = {0.0, 0.0, 0.0};
   if (gpsValid) {
-    // Should be existing class object which will be called and modified here.
     Igrf13Model igrf13;
-    // So the line above should not be done here. Update: Can be done here as long updated coffs
-    //		stored in acsParameters ?
     igrf13.schmidtNormalization();
     igrf13.updateCoeffGH(timeOfMgmMeasurement);
     // maybe put a condition here, to only update after a full day, this
@@ -45,14 +42,13 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
     {
       PoolReadGuard pg(mgmDataProcessed);
       if (pg.getReadResult() == returnvalue::OK) {
-        float zeroVec[3] = {0.0, 0.0, 0.0};
-        std::memcpy(mgmDataProcessed->mgm0vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm1vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm2vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm3vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm4vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgmVecTot.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm0vec.value, ZERO_VEC_F, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm1vec.value, ZERO_VEC_F, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm2vec.value, ZERO_VEC_F, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm3vec.value, ZERO_VEC_F, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm4vec.value, ZERO_VEC_F, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgmVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
+        std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, ZERO_VEC_D, 3 * sizeof(double));
         mgmDataProcessed->setValidity(false, true);
         std::memcpy(mgmDataProcessed->magIgrfModel.value, magIgrfModel, 3 * sizeof(double));
         mgmDataProcessed->magIgrfModel.setValid(gpsValid);
@@ -210,63 +206,68 @@ void SensorProcessing::processSus(
   sunIjkModel[0] = cos(eclipticLongitude);
   sunIjkModel[1] = sin(eclipticLongitude) * cos(epsilon);
   sunIjkModel[2] = sin(eclipticLongitude) * sin(epsilon);
+
+  uint64_t susBrightness[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
   if (sus0valid) {
-    sus0valid = susConverter.checkSunSensorData(sus0Value);
+    susBrightness[0] = susConverter.checkSunSensorData(sus0Value);
   }
   if (sus1valid) {
-    sus1valid = susConverter.checkSunSensorData(sus1Value);
+    susBrightness[1] = susConverter.checkSunSensorData(sus1Value);
   }
   if (sus2valid) {
-    sus2valid = susConverter.checkSunSensorData(sus2Value);
+    susBrightness[2] = susConverter.checkSunSensorData(sus2Value);
   }
   if (sus3valid) {
-    sus3valid = susConverter.checkSunSensorData(sus3Value);
+    susBrightness[3] = susConverter.checkSunSensorData(sus3Value);
   }
   if (sus4valid) {
-    sus4valid = susConverter.checkSunSensorData(sus4Value);
+    susBrightness[4] = susConverter.checkSunSensorData(sus4Value);
   }
   if (sus5valid) {
-    sus5valid = susConverter.checkSunSensorData(sus5Value);
+    susBrightness[5] = susConverter.checkSunSensorData(sus5Value);
   }
   if (sus6valid) {
-    sus6valid = susConverter.checkSunSensorData(sus6Value);
+    susBrightness[6] = susConverter.checkSunSensorData(sus6Value);
   }
   if (sus7valid) {
-    sus7valid = susConverter.checkSunSensorData(sus7Value);
+    susBrightness[7] = susConverter.checkSunSensorData(sus7Value);
   }
   if (sus8valid) {
-    sus8valid = susConverter.checkSunSensorData(sus8Value);
+    susBrightness[8] = susConverter.checkSunSensorData(sus8Value);
   }
   if (sus9valid) {
-    sus9valid = susConverter.checkSunSensorData(sus9Value);
+    susBrightness[9] = susConverter.checkSunSensorData(sus9Value);
   }
   if (sus10valid) {
-    sus10valid = susConverter.checkSunSensorData(sus10Value);
+    susBrightness[10] = susConverter.checkSunSensorData(sus10Value);
   }
   if (sus11valid) {
-    sus11valid = susConverter.checkSunSensorData(sus11Value);
+    susBrightness[11] = susConverter.checkSunSensorData(sus11Value);
   }
 
-  if (!sus0valid && !sus1valid && !sus2valid && !sus3valid && !sus4valid && !sus5valid &&
-      !sus6valid && !sus7valid && !sus8valid && !sus9valid && !sus10valid && !sus11valid) {
+  bool susValid[12] = {sus0valid, sus1valid, sus2valid, sus3valid, sus4valid,  sus5valid,
+                       sus6valid, sus7valid, sus8valid, sus9valid, sus10valid, sus11valid};
+  bool allInvalid =
+      susConverter.checkValidity(susValid, susBrightness, susParameters->susBrightnessThreshold);
+
+  if (allInvalid) {
     {
       PoolReadGuard pg(susDataProcessed);
       if (pg.getReadResult() == returnvalue::OK) {
-        float zeroVec[3] = {0.0, 0.0, 0.0};
-        std::memcpy(susDataProcessed->sus0vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus1vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus2vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus3vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus4vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus5vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus6vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus7vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus8vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus9vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus10vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus11vec.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->susVecTot.value, zeroVec, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->susVecTotDerivative.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus0vec.value, ZERO_VEC_F, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus1vec.value, ZERO_VEC_F, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus2vec.value, ZERO_VEC_F, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus3vec.value, ZERO_VEC_F, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus4vec.value, ZERO_VEC_F, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus5vec.value, ZERO_VEC_F, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus6vec.value, ZERO_VEC_F, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus7vec.value, ZERO_VEC_F, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus8vec.value, ZERO_VEC_F, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus9vec.value, ZERO_VEC_F, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus10vec.value, ZERO_VEC_F, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus11vec.value, ZERO_VEC_F, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->susVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
+        std::memcpy(susDataProcessed->susVecTotDerivative.value, ZERO_VEC_D, 3 * sizeof(double));
         susDataProcessed->setValidity(false, true);
         std::memcpy(susDataProcessed->sunIjkModel.value, sunIjkModel, 3 * sizeof(double));
         susDataProcessed->sunIjkModel.setValid(true);
@@ -274,118 +275,78 @@ void SensorProcessing::processSus(
     }
     return;
   }
-  // WARNING: NOT TRANSFORMED IN BODY FRAME YET
-  // Transformation into Geomtry Frame
-  float sus0VecBody[3] = {0, 0, 0}, sus1VecBody[3] = {0, 0, 0}, sus2VecBody[3] = {0, 0, 0},
-        sus3VecBody[3] = {0, 0, 0}, sus4VecBody[3] = {0, 0, 0}, sus5VecBody[3] = {0, 0, 0},
-        sus6VecBody[3] = {0, 0, 0}, sus7VecBody[3] = {0, 0, 0}, sus8VecBody[3] = {0, 0, 0},
-        sus9VecBody[3] = {0, 0, 0}, sus10VecBody[3] = {0, 0, 0}, sus11VecBody[3] = {0, 0, 0};
 
-  if (sus0valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus0orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus0Value, susParameters->sus0coeffAlpha,
-                                             susParameters->sus0coeffBeta),
-        sus0VecBody, 3, 3, 1);
-  }
-  if (sus1valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus1orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus1Value, susParameters->sus1coeffAlpha,
-                                             susParameters->sus1coeffBeta),
-        sus1VecBody, 3, 3, 1);
-  }
-  if (sus2valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus2orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus2Value, susParameters->sus2coeffAlpha,
-                                             susParameters->sus2coeffBeta),
-        sus2VecBody, 3, 3, 1);
-  }
-  if (sus3valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus3orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus3Value, susParameters->sus3coeffAlpha,
-                                             susParameters->sus3coeffBeta),
-        sus3VecBody, 3, 3, 1);
-  }
-  if (sus4valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus4orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus4Value, susParameters->sus4coeffAlpha,
-                                             susParameters->sus4coeffBeta),
-        sus4VecBody, 3, 3, 1);
-  }
-  if (sus5valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus5orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus5Value, susParameters->sus5coeffAlpha,
-                                             susParameters->sus5coeffBeta),
-        sus5VecBody, 3, 3, 1);
-  }
-  if (sus6valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus6orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus6Value, susParameters->sus6coeffAlpha,
-                                             susParameters->sus6coeffBeta),
-        sus6VecBody, 3, 3, 1);
-  }
-  if (sus7valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus7orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus7Value, susParameters->sus7coeffAlpha,
-                                             susParameters->sus7coeffBeta),
-        sus7VecBody, 3, 3, 1);
-  }
-  if (sus8valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus8orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus8Value, susParameters->sus8coeffAlpha,
-                                             susParameters->sus8coeffBeta),
-        sus8VecBody, 3, 3, 1);
-  }
-  if (sus9valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus9orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus9Value, susParameters->sus9coeffAlpha,
-                                             susParameters->sus9coeffBeta),
-        sus9VecBody, 3, 3, 1);
-  }
-  if (sus10valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus10orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus10Value, susParameters->sus10coeffAlpha,
-                                             susParameters->sus10coeffBeta),
-        sus10VecBody, 3, 3, 1);
-  }
-  if (sus11valid) {
-    MatrixOperations<float>::multiply(
-        susParameters->sus11orientationMatrix[0],
-        susConverter.getSunVectorSensorFrame(sus11Value, susParameters->sus11coeffAlpha,
-                                             susParameters->sus11coeffBeta),
-        sus11VecBody, 3, 3, 1);
-  }
+  float susVecSensor[12][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0},
+                               {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  float susVecBody[12][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0},
+                             {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
 
-  /* ------ Mean Value: susDirEst ------ */
-  bool validIds[12] = {sus0valid, sus1valid, sus2valid, sus3valid, sus4valid,  sus5valid,
-                       sus6valid, sus7valid, sus8valid, sus9valid, sus10valid, sus11valid};
-  float susVecBody[3][12] = {{sus0VecBody[0], sus1VecBody[0], sus2VecBody[0], sus3VecBody[0],
-                              sus4VecBody[0], sus5VecBody[0], sus6VecBody[0], sus7VecBody[0],
-                              sus8VecBody[0], sus9VecBody[0], sus10VecBody[0], sus11VecBody[0]},
-                             {sus0VecBody[1], sus1VecBody[1], sus2VecBody[1], sus3VecBody[1],
-                              sus4VecBody[1], sus5VecBody[1], sus6VecBody[1], sus7VecBody[1],
-                              sus8VecBody[1], sus9VecBody[1], sus10VecBody[1], sus11VecBody[1]},
-                             {sus0VecBody[2], sus1VecBody[2], sus2VecBody[2], sus3VecBody[2],
-                              sus4VecBody[2], sus5VecBody[2], sus6VecBody[2], sus7VecBody[2],
-                              sus8VecBody[2], sus9VecBody[2], sus10VecBody[2], sus11VecBody[2]}};
+  if (susValid[0]) {
+    susConverter.calculateSunVector(susVecSensor[0], sus0Value);
+    MatrixOperations<float>::multiply(susParameters->sus0orientationMatrix[0], susVecSensor[0],
+                                      susVecBody[0], 3, 3, 1);
+  }
+  if (susValid[1]) {
+    susConverter.calculateSunVector(susVecSensor[1], sus1Value);
+    MatrixOperations<float>::multiply(susParameters->sus1orientationMatrix[0], susVecSensor[1],
+                                      susVecBody[1], 3, 3, 1);
+  }
+  if (susValid[2]) {
+    susConverter.calculateSunVector(susVecSensor[2], sus2Value);
+    MatrixOperations<float>::multiply(susParameters->sus2orientationMatrix[0], susVecSensor[2],
+                                      susVecBody[2], 3, 3, 1);
+  }
+  if (susValid[3]) {
+    susConverter.calculateSunVector(susVecSensor[3], sus3Value);
+    MatrixOperations<float>::multiply(susParameters->sus3orientationMatrix[0], susVecSensor[3],
+                                      susVecBody[3], 3, 3, 1);
+  }
+  if (susValid[4]) {
+    susConverter.calculateSunVector(susVecSensor[4], sus4Value);
+    MatrixOperations<float>::multiply(susParameters->sus4orientationMatrix[0], susVecSensor[4],
+                                      susVecBody[4], 3, 3, 1);
+  }
+  if (susValid[5]) {
+    susConverter.calculateSunVector(susVecSensor[5], sus5Value);
+    MatrixOperations<float>::multiply(susParameters->sus5orientationMatrix[0], susVecSensor[5],
+                                      susVecBody[5], 3, 3, 1);
+  }
+  if (susValid[6]) {
+    susConverter.calculateSunVector(susVecSensor[6], sus6Value);
+    MatrixOperations<float>::multiply(susParameters->sus6orientationMatrix[0], susVecSensor[6],
+                                      susVecBody[6], 3, 3, 1);
+  }
+  if (susValid[7]) {
+    susConverter.calculateSunVector(susVecSensor[7], sus7Value);
+    MatrixOperations<float>::multiply(susParameters->sus7orientationMatrix[0], susVecSensor[7],
+                                      susVecBody[7], 3, 3, 1);
+  }
+  if (susValid[8]) {
+    susConverter.calculateSunVector(susVecSensor[8], sus8Value);
+    MatrixOperations<float>::multiply(susParameters->sus8orientationMatrix[0], susVecSensor[8],
+                                      susVecBody[8], 3, 3, 1);
+  }
+  if (susValid[9]) {
+    susConverter.calculateSunVector(susVecSensor[9], sus9Value);
+    MatrixOperations<float>::multiply(susParameters->sus9orientationMatrix[0], susVecSensor[9],
+                                      susVecBody[9], 3, 3, 1);
+  }
+  if (susValid[10]) {
+    susConverter.calculateSunVector(susVecSensor[10], sus10Value);
+    MatrixOperations<float>::multiply(susParameters->sus10orientationMatrix[0], susVecSensor[10],
+                                      susVecBody[10], 3, 3, 1);
+  }
+  if (susValid[11]) {
+    susConverter.calculateSunVector(susVecSensor[11], sus11Value);
+    MatrixOperations<float>::multiply(susParameters->sus11orientationMatrix[0], susVecSensor[11],
+                                      susVecBody[11], 3, 3, 1);
+  }
 
   double susMeanValue[3] = {0, 0, 0};
   for (uint8_t i = 0; i < 12; i++) {
-    if (validIds[i]) {
-      susMeanValue[0] += susVecBody[0][i];
-      susMeanValue[1] += susVecBody[1][i];
-      susMeanValue[2] += susVecBody[2][i];
-    }
+    susMeanValue[0] += susVecBody[i][0];
+    susMeanValue[1] += susVecBody[i][1];
+    susMeanValue[2] += susVecBody[i][2];
   }
   double susVecTot[3] = {0.0, 0.0, 0.0};
   VectorOperations<double>::normalize(susMeanValue, susVecTot, 3);
@@ -406,29 +367,29 @@ void SensorProcessing::processSus(
   {
     PoolReadGuard pg(susDataProcessed);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(susDataProcessed->sus0vec.value, sus0VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus0vec.value, susVecBody[0], 3 * sizeof(float));
       susDataProcessed->sus0vec.setValid(sus0valid);
-      std::memcpy(susDataProcessed->sus1vec.value, sus1VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus1vec.value, susVecBody[1], 3 * sizeof(float));
       susDataProcessed->sus1vec.setValid(sus1valid);
-      std::memcpy(susDataProcessed->sus2vec.value, sus2VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus2vec.value, susVecBody[2], 3 * sizeof(float));
       susDataProcessed->sus2vec.setValid(sus2valid);
-      std::memcpy(susDataProcessed->sus3vec.value, sus3VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus3vec.value, susVecBody[3], 3 * sizeof(float));
       susDataProcessed->sus3vec.setValid(sus3valid);
-      std::memcpy(susDataProcessed->sus4vec.value, sus4VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus4vec.value, susVecBody[4], 3 * sizeof(float));
       susDataProcessed->sus4vec.setValid(sus4valid);
-      std::memcpy(susDataProcessed->sus5vec.value, sus5VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus5vec.value, susVecBody[5], 3 * sizeof(float));
       susDataProcessed->sus5vec.setValid(sus5valid);
-      std::memcpy(susDataProcessed->sus6vec.value, sus6VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus6vec.value, susVecBody[6], 3 * sizeof(float));
       susDataProcessed->sus6vec.setValid(sus6valid);
-      std::memcpy(susDataProcessed->sus7vec.value, sus7VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus7vec.value, susVecBody[7], 3 * sizeof(float));
       susDataProcessed->sus7vec.setValid(sus7valid);
-      std::memcpy(susDataProcessed->sus8vec.value, sus8VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus8vec.value, susVecBody[8], 3 * sizeof(float));
       susDataProcessed->sus8vec.setValid(sus8valid);
-      std::memcpy(susDataProcessed->sus9vec.value, sus9VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus9vec.value, susVecBody[9], 3 * sizeof(float));
       susDataProcessed->sus9vec.setValid(sus9valid);
-      std::memcpy(susDataProcessed->sus10vec.value, sus10VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus10vec.value, susVecBody[10], 3 * sizeof(float));
       susDataProcessed->sus10vec.setValid(sus10valid);
-      std::memcpy(susDataProcessed->sus11vec.value, sus11VecBody, 3 * sizeof(float));
+      std::memcpy(susDataProcessed->sus11vec.value, susVecBody[11], 3 * sizeof(float));
       susDataProcessed->sus11vec.setValid(sus11valid);
       std::memcpy(susDataProcessed->susVecTot.value, susVecTot, 3 * sizeof(double));
       susDataProcessed->susVecTot.setValid(true);
@@ -459,12 +420,11 @@ void SensorProcessing::processGyr(
     {
       PoolReadGuard pg(gyrDataProcessed);
       if (pg.getReadResult() == returnvalue::OK) {
-        double zeroVector[3] = {0.0, 0.0, 0.0};
-        std::memcpy(gyrDataProcessed->gyr0vec.value, zeroVector, 3 * sizeof(double));
-        std::memcpy(gyrDataProcessed->gyr1vec.value, zeroVector, 3 * sizeof(double));
-        std::memcpy(gyrDataProcessed->gyr2vec.value, zeroVector, 3 * sizeof(double));
-        std::memcpy(gyrDataProcessed->gyr3vec.value, zeroVector, 3 * sizeof(double));
-        std::memcpy(gyrDataProcessed->gyrVecTot.value, zeroVector, 3 * sizeof(double));
+        std::memcpy(gyrDataProcessed->gyr0vec.value, ZERO_VEC_D, 3 * sizeof(double));
+        std::memcpy(gyrDataProcessed->gyr1vec.value, ZERO_VEC_D, 3 * sizeof(double));
+        std::memcpy(gyrDataProcessed->gyr2vec.value, ZERO_VEC_D, 3 * sizeof(double));
+        std::memcpy(gyrDataProcessed->gyr3vec.value, ZERO_VEC_D, 3 * sizeof(double));
+        std::memcpy(gyrDataProcessed->gyrVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
         gyrDataProcessed->setValidity(false, true);
       }
     }

mission/controller/acs/SensorProcessing.h

@@ -23,6 +23,9 @@ class SensorProcessing {
                acsctrl::GpsDataProcessed *gpsDataProcessed,
                const AcsParameters *acsParameters);  // Will call protected functions
  private:
+  static constexpr float ZERO_VEC_F[3] = {0, 0, 0};
+  static constexpr double ZERO_VEC_D[3] = {0, 0, 0};
+
  protected:
   // short description needed for every function
   void processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value, bool mgm1valid,

mission/controller/acs/SusConverter.cpp

@@ -1,121 +1,64 @@
 #include "SusConverter.h"
 
-#include <fsfw/datapoollocal/LocalPoolVariable.h>
-#include <fsfw/datapoollocal/LocalPoolVector.h>
-#include <fsfw/globalfunctions/math/VectorOperations.h>
 #include <math.h>
 
-#include <iostream>
-
-bool SusConverter::checkSunSensorData(const uint16_t susChannel[6]) {
-  if (susChannel[0] <= susChannelValueCheckLow || susChannel[0] > susChannelValueCheckHigh ||
+uint64_t SusConverter::checkSunSensorData(const uint16_t susChannel[6]) {
+  if (susChannel[0] <= SUS_CHANNEL_VALUE_LOW || susChannel[0] > SUS_CHANNEL_VALUE_HIGH ||
       susChannel[0] > susChannel[GNDREF]) {
-    return false;
+    return 0;
   }
-  if (susChannel[1] <= susChannelValueCheckLow || susChannel[1] > susChannelValueCheckHigh ||
+  if (susChannel[1] <= SUS_CHANNEL_VALUE_LOW || susChannel[1] > SUS_CHANNEL_VALUE_HIGH ||
       susChannel[1] > susChannel[GNDREF]) {
-    return false;
+    return 0;
   };
-  if (susChannel[2] <= susChannelValueCheckLow || susChannel[2] > susChannelValueCheckHigh ||
+  if (susChannel[2] <= SUS_CHANNEL_VALUE_LOW || susChannel[2] > SUS_CHANNEL_VALUE_HIGH ||
       susChannel[2] > susChannel[GNDREF]) {
-    return false;
+    return 0;
   };
-  if (susChannel[3] <= susChannelValueCheckLow || susChannel[3] > susChannelValueCheckHigh ||
+  if (susChannel[3] <= SUS_CHANNEL_VALUE_LOW || susChannel[3] > SUS_CHANNEL_VALUE_HIGH ||
       susChannel[3] > susChannel[GNDREF]) {
-    return false;
+    return 0;
   };
 
-  susChannelValueSum =
+  uint64_t susChannelValueSum =
       4 * susChannel[GNDREF] - (susChannel[0] + susChannel[1] + susChannel[2] + susChannel[3]);
-  if ((susChannelValueSum < susChannelValueSumHigh) &&
-      (susChannelValueSum > susChannelValueSumLow)) {
-    return false;
+  if (susChannelValueSum < SUS_ALBEDO_CHECK) {
+    return 0;
   };
-  return true;
+  return susChannelValueSum;
 }
 
-void SusConverter::calcAngle(const uint16_t susChannel[6]) {
-  float xout, yout;
-  float s = 0.03;  // s=[mm] gap between diodes
-  uint8_t d = 5;   // d=[mm] edge length of the quadratic aperture
-  uint8_t h = 1;   // h=[mm] distance between diodes and aperture
-  int ch0, ch1, ch2, ch3;
+bool SusConverter::checkValidity(bool* susValid, const uint64_t brightness[12],
+                                 const float threshold) {
+  uint8_t maxBrightness = 0;
+  VectorOperations<uint64_t>::maxValue(brightness, 12, &maxBrightness);
+  if (brightness[maxBrightness] == 0) {
+    return true;
+  }
+  for (uint8_t idx = 0; idx < 12; idx++) {
+    if ((idx != maxBrightness) and (brightness[idx] < threshold * brightness[maxBrightness])) {
+      susValid[idx] = false;
+      continue;
+    }
+    susValid[idx] = true;
+  }
+  return false;
+}
+
+void SusConverter::calculateSunVector(float* sunVectorSensorFrame, const uint16_t susChannel[6]) {
   // Substract measurement values from GNDREF zero current threshold
-  ch0 = susChannel[GNDREF] - susChannel[0];
-  ch1 = susChannel[GNDREF] - susChannel[1];
-  ch2 = susChannel[GNDREF] - susChannel[2];
-  ch3 = susChannel[GNDREF] - susChannel[3];
+  float ch0 = susChannel[GNDREF] - susChannel[0];
+  float ch1 = susChannel[GNDREF] - susChannel[1];
+  float ch2 = susChannel[GNDREF] - susChannel[2];
+  float ch3 = susChannel[GNDREF] - susChannel[3];
 
   // Calculation of x and y
-  xout = ((d - s) / 2) * (ch2 - ch3 - ch0 + ch1) / (ch0 + ch1 + ch2 + ch3);  //[mm]
-  yout = ((d - s) / 2) * (ch2 + ch3 - ch0 - ch1) / (ch0 + ch1 + ch2 + ch3);  //[mm]
+  float xout = ((D - S) / 2) * (ch2 - ch3 - ch0 + ch1) / (ch0 + ch1 + ch2 + ch3);  //[mm]
+  float yout = ((D - S) / 2) * (ch2 + ch3 - ch0 - ch1) / (ch0 + ch1 + ch2 + ch3);  //[mm]
 
   // Calculation of the angles
-  alphaBetaRaw[0] = atan2(xout, h) * (180 / M_PI);  //[°]
-  alphaBetaRaw[1] = atan2(yout, h) * (180 / M_PI);  //[°]
-}
-
-void SusConverter::calibration(const float coeffAlpha[9][10], const float coeffBeta[9][10]) {
-  uint8_t index, k, l;
-
-  // while loop iterates above all calibration cells to use the different calibration functions in
-  // each cell
-  k = 0;
-  while (k < 3) {
-    k++;
-    l = 0;
-    while (l < 3) {
-      l++;
-      // if-condition to check in which cell the data point has to be
-      if ((alphaBetaRaw[0] > ((completeCellWidth * ((k - 1) / 3.)) - halfCellWidth) &&
-           alphaBetaRaw[0] < ((completeCellWidth * (k / 3.)) - halfCellWidth)) &&
-          (alphaBetaRaw[1] > ((completeCellWidth * ((l - 1) / 3.)) - halfCellWidth) &&
-           alphaBetaRaw[1] < ((completeCellWidth * (l / 3.)) - halfCellWidth))) {
-        index = (3 * (k - 1) + l) - 1;  // calculate the index of the datapoint for the right cell
-        alphaBetaCalibrated[0] =
-            coeffAlpha[index][0] + coeffAlpha[index][1] * alphaBetaRaw[0] +
-            coeffAlpha[index][2] * alphaBetaRaw[1] +
-            coeffAlpha[index][3] * alphaBetaRaw[0] * alphaBetaRaw[0] +
-            coeffAlpha[index][4] * alphaBetaRaw[0] * alphaBetaRaw[1] +
-            coeffAlpha[index][5] * alphaBetaRaw[1] * alphaBetaRaw[1] +
-            coeffAlpha[index][6] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[0] +
-            coeffAlpha[index][7] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[1] +
-            coeffAlpha[index][8] * alphaBetaRaw[0] * alphaBetaRaw[1] * alphaBetaRaw[1] +
-            coeffAlpha[index][9] * alphaBetaRaw[1] * alphaBetaRaw[1] * alphaBetaRaw[1];  //[°]
-        alphaBetaCalibrated[1] =
-            coeffBeta[index][0] + coeffBeta[index][1] * alphaBetaRaw[0] +
-            coeffBeta[index][2] * alphaBetaRaw[1] +
-            coeffBeta[index][3] * alphaBetaRaw[0] * alphaBetaRaw[0] +
-            coeffBeta[index][4] * alphaBetaRaw[0] * alphaBetaRaw[1] +
-            coeffBeta[index][5] * alphaBetaRaw[1] * alphaBetaRaw[1] +
-            coeffBeta[index][6] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[0] +
-            coeffBeta[index][7] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[1] +
-            coeffBeta[index][8] * alphaBetaRaw[0] * alphaBetaRaw[1] * alphaBetaRaw[1] +
-            coeffBeta[index][9] * alphaBetaRaw[1] * alphaBetaRaw[1] * alphaBetaRaw[1];  //[°]
-      }
-    }
-  }
-}
-
-float* SusConverter::calculateSunVector() {
-  // Calculate the normalized Sun Vector
-  sunVectorSensorFrame[0] = -(tan(alphaBetaCalibrated[0] * (M_PI / 180)) /
-                              (sqrt((powf(tan(alphaBetaCalibrated[0] * (M_PI / 180)), 2)) +
-                                    powf(tan((alphaBetaCalibrated[1] * (M_PI / 180))), 2) + (1))));
-  sunVectorSensorFrame[1] = -(tan(alphaBetaCalibrated[1] * (M_PI / 180)) /
-                              (sqrt(powf((tan(alphaBetaCalibrated[0] * (M_PI / 180))), 2) +
-                                    powf(tan((alphaBetaCalibrated[1] * (M_PI / 180))), 2) + (1))));
-  sunVectorSensorFrame[2] =
-      -(-1 / (sqrt(powf((tan(alphaBetaCalibrated[0] * (M_PI / 180))), 2) +
-                   powf((tan(alphaBetaCalibrated[1] * (M_PI / 180))), 2) + (1))));
-
-  return sunVectorSensorFrame;
-}
-
-float* SusConverter::getSunVectorSensorFrame(const uint16_t susChannel[6],
-                                             const float coeffAlpha[9][10],
-                                             const float coeffBeta[9][10]) {
-  calcAngle(susChannel);
-  calibration(coeffAlpha, coeffBeta);
-  return calculateSunVector();
+  sunVectorSensorFrame[0] = -xout;
+  sunVectorSensorFrame[1] = -yout;
+  sunVectorSensorFrame[2] = H;
+  VectorOperations<float>::normalize(sunVectorSensorFrame, sunVectorSensorFrame, 3);
 }

mission/controller/acs/SusConverter.h

@@ -1,8 +1,4 @@
-#ifndef MISSION_CONTROLLER_ACS_SUSCONVERTER_H_
-#define MISSION_CONTROLLER_ACS_SUSCONVERTER_H_
-
-#include <fsfw/datapoollocal/LocalPoolVector.h>
-#include <stdint.h>
+#include <fsfw/globalfunctions/math/VectorOperations.h>
 
 #include "AcsParameters.h"
 
@@ -10,41 +6,26 @@ class SusConverter {
  public:
   SusConverter() {}
 
-  bool checkSunSensorData(const uint16_t susChannel[6]);
-
-  void calcAngle(const uint16_t susChannel[6]);
-  void calibration(const float coeffAlpha[9][10], const float coeffBeta[9][10]);
-  float* calculateSunVector();
-
-  float* getSunVectorSensorFrame(const uint16_t susChannel[6], const float coeffAlpha[9][10],
-                                 const float coeffBeta[9][10]);
+  uint64_t checkSunSensorData(const uint16_t susChannel[6]);
+  bool checkValidity(bool* susValid, const uint64_t brightness[12], const float threshold);
+  void calculateSunVector(float* sunVectorSensorFrame, const uint16_t susChannel[6]);
 
  private:
-  float alphaBetaRaw[2];          //[°]
-  float alphaBetaCalibrated[2];   //[°]
-  float sunVectorSensorFrame[3];  //[-]
-
-  bool validFlag[12] = {returnvalue::OK, returnvalue::OK, returnvalue::OK, returnvalue::OK,
-                        returnvalue::OK, returnvalue::OK, returnvalue::OK, returnvalue::OK,
-                        returnvalue::OK, returnvalue::OK, returnvalue::OK, returnvalue::OK};
-
   static const uint8_t GNDREF = 4;
-  uint16_t susChannelValueCheckHigh =
-      4096;  //=2^12[Bit]high borderline for the channel values of one sun sensor for validity Check
-  uint8_t susChannelValueCheckLow =
-      0;  //[Bit]low borderline for the channel values of one sun sensor for validity Check
-  uint16_t susChannelValueSumHigh =
-      100;  // 4096[Bit]high borderline for check if the sun sensor is illuminated by the sun or by
-            // the reflection of sunlight from the moon/earth
-  uint8_t susChannelValueSumLow =
-      0;  //[Bit]low borderline for check if the sun sensor is illuminated
-          // by the sun or by the reflection of sunlight from the moon/earth
-  uint8_t completeCellWidth = 140,
-          halfCellWidth = 70;  //[°] Width of the calibration cells --> necessary for checking in
-                               // which cell a data point should be
-  uint16_t susChannelValueSum = 0;
+  // =2^12[Bit]high borderline for the channel values of one sun sensor for validity Check
+  static constexpr uint16_t SUS_CHANNEL_VALUE_HIGH = 4096;
+  // [Bit]low borderline for the channel values of one sun sensor for validity Check
+  static constexpr uint8_t SUS_CHANNEL_VALUE_LOW = 0;
+  // 4096[Bit]high borderline for check if the sun sensor is illuminated by the sun or by the
+  // reflection of sunlight from the moon/earth
+  static constexpr uint16_t SUS_ALBEDO_CHECK = 1000;
+  // [Bit]low borderline for check if the sun sensor is illuminated by the sun or by the  reflection
+  // of sunlight from the moon/earth
+  static constexpr uint8_t SUS_CHANNEL_SUM_LOW = 0;
+
+  static constexpr float S = 0.03;  // S=[mm] gap between diodes
+  static constexpr float D = 5;     // D=[mm] edge length of the quadratic aperture
+  static constexpr float H = 2.5;   // H=[mm] distance between diodes and aperture
 
   AcsParameters acsParameters;
 };
-
-#endif /* MISSION_CONTROLLER_ACS_SUSCONVERTER_H_ */

mission/controller/tcsDefs.h

@@ -9,6 +9,85 @@
 
 namespace tcsCtrl {
 
+/**
+ * NOP Limit: Hard limit for device, usually from datasheet. Device damage is possible lif NOP limit
+ * is exceeded.
+ * OP Limit: Soft limit. Device should be switched off or TCS controller should take action if the
+ * limit is exceeded to avoid reaching NOP limit
+ */
+struct TempLimits {
+  TempLimits(float nopLowerLimit, float opLowerLimit, float cutOffLimit, float opUpperLimit,
+             float nopUpperLimit)
+      : opLowerLimit(opLowerLimit),
+        opUpperLimit(opUpperLimit),
+        cutOffLimit(cutOffLimit),
+        nopLowerLimit(nopLowerLimit),
+        nopUpperLimit(nopUpperLimit) {}
+  float opLowerLimit;
+  float opUpperLimit;
+  float cutOffLimit;
+  float nopLowerLimit;
+  float nopUpperLimit;
+};
+
+/**
+ * Abstraction for the state of a single thermal component
+ */
+struct ThermalState {
+  uint8_t noSensorAvailableCounter;
+  // Which sensor is used for this component?
+  uint8_t sensorIndex = 0;
+  // Is heating on for that thermal module?
+  bool heating = false;
+  // Which switch is being used for heating the component
+  heater::Switch heaterSwitch = heater::Switch::HEATER_NONE;
+  // Heater start time and end times as UNIX seconds. Please note that these times will be updated
+  // when a switch command is sent, with no guarantess that the heater actually went on.
+  uint32_t heaterStartTime = 0;
+  uint32_t heaterEndTime = 0;
+};
+
+/**
+ * Abstraction for the state of a single heater.
+ */
+struct HeaterState {
+  bool switchTransition = false;
+  heater::SwitchState target = heater::SwitchState::OFF;
+  uint8_t heaterSwitchControlCycles = 0;
+  bool trackHeaterMaxBurnTime = false;
+  Countdown heaterOnMaxBurnTime;
+};
+
+using HeaterSwitchStates = std::array<heater::SwitchState, heater::NUMBER_OF_SWITCHES>;
+
+enum ThermalComponents : uint8_t {
+  NONE = 0,
+  ACS_BOARD = 1,
+  MGT = 2,
+  RW = 3,
+  STR = 4,
+  IF_BOARD = 5,
+  TCS_BOARD = 6,
+  OBC = 7,
+  LEGACY_OBCIF_BOARD = 8,
+  SBAND_TRANSCEIVER = 9,
+  PCDUP60_BOARD = 10,
+  PCDUACU = 11,
+  PCDUPDU = 12,
+  PLPCDU_BOARD = 13,
+  PLOCMISSION_BOARD = 14,
+  PLOCPROCESSING_BOARD = 15,
+  DAC = 16,
+  CAMERA = 17,
+  DRO = 18,
+  X8 = 19,
+  HPA = 20,
+  TX = 21,
+  MPA = 22,
+  SCEX_BOARD = 23,
+  NUM_THERMAL_COMPONENTS
+};
+
 static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_CONTROLLER;
 static constexpr Event NO_VALID_SENSOR_TEMPERATURE = MAKE_EVENT(0, severity::MEDIUM);
 static constexpr Event NO_HEALTHY_HEATER_AVAILABLE = MAKE_EVENT(1, severity::MEDIUM);
@@ -18,6 +97,12 @@ static constexpr Event CAMERA_OVERHEATING = MAKE_EVENT(5, severity::HIGH);
 static constexpr Event PCDU_SYSTEM_OVERHEATING = MAKE_EVENT(6, severity::HIGH);
 static constexpr Event HEATER_NOT_OFF_FOR_OFF_MODE = MAKE_EVENT(7, severity::MEDIUM);
 static constexpr Event MGT_OVERHEATING = MAKE_EVENT(8, severity::HIGH);
+//! [EXPORT] : [COMMENT] P1: Module index. P2: Heater index
+static constexpr Event TCS_SWITCHING_HEATER_ON = MAKE_EVENT(9, severity::INFO);
+//! [EXPORT] : [COMMENT] P1: Module index. P2: Heater index
+static constexpr Event TCS_SWITCHING_HEATER_OFF = MAKE_EVENT(10, severity::INFO);
+//! [EXPORT] : [COMMENT] P1: Heater index. P2: Maximum burn time for heater.
+static constexpr Event TCS_HEATER_MAX_BURN_TIME_REACHED = MAKE_EVENT(11, severity::MEDIUM);
 
 enum SetId : uint32_t {
   SENSOR_TEMPERATURES = 0,
@@ -25,6 +110,7 @@ enum SetId : uint32_t {
   SUS_TEMPERATURES = 2,
   COMPONENT_TEMPERATURES = 3,
   HEATER_SET = 4,
+  TCS_CTRL_INFO = 5
 };
 
 enum PoolIds : lp_id_t {
@@ -92,7 +178,13 @@ enum PoolIds : lp_id_t {
   TEMP_ADC_PAYLOAD_PCDU,
 
   HEATER_SWITCH_LIST,
-  HEATER_CURRENT
+  HEATER_CURRENT,
+
+  HEATER_ON_FOR_COMPONENT_VEC,
+  SENSOR_USED_FOR_TCS_CTRL,
+  HEATER_IDX_USED_FOR_TCS_CTRL,
+  HEATER_START_TIME,
+  HEATER_END_TIME
 };
 
 static const uint8_t ENTRIES_SENSOR_TEMPERATURE_SET = 25;
@@ -232,6 +324,29 @@ class HeaterInfo : public StaticLocalDataSet<3> {
   lp_var_t<int16_t> heaterCurrent = lp_var_t<int16_t>(sid.objectId, PoolIds::HEATER_CURRENT, this);
 };
 
+class TcsCtrlInfo : public StaticLocalDataSet<6> {
+ public:
+  explicit TcsCtrlInfo(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TCS_CTRL_INFO) {}
+
+  explicit TcsCtrlInfo(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TCS_CTRL_INFO)) {}
+
+  lp_vec_t<uint8_t, tcsCtrl::NUM_THERMAL_COMPONENTS> heatingOnVec =
+      lp_vec_t<uint8_t, tcsCtrl::NUM_THERMAL_COMPONENTS>(
+          sid.objectId, PoolIds::HEATER_ON_FOR_COMPONENT_VEC, this);
+  lp_vec_t<uint8_t, tcsCtrl::NUM_THERMAL_COMPONENTS> sensorIdxUsedForTcsCtrl =
+      lp_vec_t<uint8_t, tcsCtrl::NUM_THERMAL_COMPONENTS>(sid.objectId,
+                                                         PoolIds::SENSOR_USED_FOR_TCS_CTRL, this);
+  lp_vec_t<uint8_t, tcsCtrl::NUM_THERMAL_COMPONENTS> heaterSwitchIdx =
+      lp_vec_t<uint8_t, tcsCtrl::NUM_THERMAL_COMPONENTS>(
+          sid.objectId, PoolIds::HEATER_IDX_USED_FOR_TCS_CTRL, this);
+  lp_vec_t<uint32_t, tcsCtrl::NUM_THERMAL_COMPONENTS> heaterStartTimes =
+      lp_vec_t<uint32_t, tcsCtrl::NUM_THERMAL_COMPONENTS>(sid.objectId, PoolIds::HEATER_START_TIME,
+                                                          this);
+  lp_vec_t<uint32_t, tcsCtrl::NUM_THERMAL_COMPONENTS> heaterEndTimes =
+      lp_vec_t<uint32_t, tcsCtrl::NUM_THERMAL_COMPONENTS>(sid.objectId, PoolIds::HEATER_END_TIME,
+                                                          this);
+};
+
 }  // namespace tcsCtrl
 
 #endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_THERMALCONTROLLERDEFINITIONS_H_ */

mission/genericFactory.cpp

@@ -91,19 +91,21 @@ EiveFaultHandler EIVE_FAULT_HANDLER;
 }  // namespace cfdp
 
 std::atomic_bool tcs::TCS_BOARD_SHORTLY_UNAVAILABLE = false;
+std::atomic_bool core::SAVE_PUS_SEQUENCE_COUNT = false;
+std::atomic_bool core::SAVE_CFDP_SEQUENCE_COUNT = false;
 
 void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFunnel** pusFunnel,
                                           CfdpTmFunnel** cfdpFunnel, SdCardMountedIF& sdcMan,
                                           StorageManagerIF** ipcStore, StorageManagerIF** tmStore,
                                           PersistentTmStores& stores,
-                                          uint32_t eventManagerQueueDepth) {
+                                          uint32_t eventManagerQueueDepth, bool enableHkSets) {
   // Framework objects
   new EventManager(objects::EVENT_MANAGER, eventManagerQueueDepth);
   auto healthTable = new HealthTable(objects::HEALTH_TABLE);
   if (healthTable_ != nullptr) {
     *healthTable_ = healthTable;
   }
-  new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
+  new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER, 5, enableHkSets, 120);
   new VerificationReporter();
   auto* timeStamper = new CdsShortTimeStamper(objects::TIME_STAMPER);
   StorageManagerIF* tcStore;
@@ -155,9 +157,11 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
   new PusDistributor(config::EIVE_PUS_APID, objects::PUS_PACKET_DISTRIBUTOR, ccsdsDistrib);
 
   PusTmFunnel::FunnelCfg pusFunnelCfg(objects::PUS_TM_FUNNEL, "PusTmFunnel", **tmStore, **ipcStore,
-                                      config::MAX_PUS_FUNNEL_QUEUE_DEPTH);
+                                      config::MAX_PUS_FUNNEL_QUEUE_DEPTH, sdcMan,
+                                      config::PUS_SEQUENCE_COUNT_FILE,
+                                      core::SAVE_PUS_SEQUENCE_COUNT);
   // The PUS funnel routes all live TM to the live destinations and to the TM stores.
-  *pusFunnel = new PusTmFunnel(pusFunnelCfg, *ramToFileStore, *timeStamper, sdcMan);
+  *pusFunnel = new PusTmFunnel(pusFunnelCfg, *ramToFileStore, *timeStamper);
 
   // MISC store and PUS funnel to MISC store routing
   {
@@ -216,7 +220,9 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
                                       stores.cfdpStore->getReportReceptionQueue(0));
   }
   PusTmFunnel::FunnelCfg cfdpFunnelCfg(objects::CFDP_TM_FUNNEL, "CfdpTmFunnel", **tmStore,
-                                       **ipcStore, config::MAX_CFDP_FUNNEL_QUEUE_DEPTH);
+                                       **ipcStore, config::MAX_CFDP_FUNNEL_QUEUE_DEPTH, sdcMan,
+                                       config::CFDP_SEQUENCE_COUNT_FILE,
+                                       core::SAVE_CFDP_SEQUENCE_COUNT);
   *cfdpFunnel = new CfdpTmFunnel(cfdpFunnelCfg, stores.cfdpStore->getReportReceptionQueue(0),
                                  *ramToFileStore, config::EIVE_CFDP_APID);
 
@@ -238,7 +244,7 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
   new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS, config::EIVE_PUS_APID,
                            pus::PUS_SERVICE_2, 3, 10);
   new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, config::EIVE_PUS_APID,
-                           pus::PUS_SERVICE_3, config::HK_SERVICE_QUEUE_DEPTH);
+                           pus::PUS_SERVICE_3, config::HK_SERVICE_QUEUE_DEPTH, 16);
   new Service5EventReporting(
       PsbParams(objects::PUS_SERVICE_5_EVENT_REPORTING, config::EIVE_PUS_APID, pus::PUS_SERVICE_5),
       80, 160);
@@ -305,9 +311,9 @@ void ObjectFactory::createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF&
   heaterHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
 }
 
-void ObjectFactory::createThermalController(HeaterHandler& heaterHandler) {
+void ObjectFactory::createThermalController(HeaterHandler& heaterHandler, bool pollPlPcduTmp1) {
   auto* tcsCtrl = new ThermalController(objects::THERMAL_CONTROLLER, heaterHandler,
-                                        tcs::TCS_BOARD_SHORTLY_UNAVAILABLE);
+                                        tcs::TCS_BOARD_SHORTLY_UNAVAILABLE, pollPlPcduTmp1);
   tcsCtrl->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
 }
 void ObjectFactory::createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch,

mission/genericFactory.h

@@ -45,11 +45,12 @@ namespace ObjectFactory {
 void produceGenericObjects(HealthTableIF** healthTable, PusTmFunnel** pusFunnel,
                            CfdpTmFunnel** cfdpFunnel, SdCardMountedIF& sdcMan,
                            StorageManagerIF** ipcStore, StorageManagerIF** tmStore,
-                           PersistentTmStores& stores, uint32_t eventManagerQueueDepth);
+                           PersistentTmStores& stores, uint32_t eventManagerQueueDepth,
+                           bool enableHkSets);
 void createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF& pwrSwitcher,
                                    HeaterHandler*& heaterHandler);
 
-void createThermalController(HeaterHandler& heaterHandler);
+void createThermalController(HeaterHandler& heaterHandler, bool pollPlPcduTmp1);
 void createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch,
                   std::array<DeviceHandlerBase*, 4> rws, std::array<object_id_t, 4> rwIds);
 void createSusAssy(PowerSwitchIF& pwrSwitcher, std::array<DeviceHandlerBase*, 12> suses);

mission/pollingSeqTables.cpp

@@ -39,56 +39,67 @@ ReturnValue_t pst::pstSyrlinks(FixedTimeslotTaskIF *thisSequence) {
 
 // I don't think this needs to be in a PST because linux takes care of bus serialization, but
 // keep it like this for now, it works
-ReturnValue_t pst::pstI2cProcessingSystem(FixedTimeslotTaskIF *thisSequence) {
+ReturnValue_t pst::pstI2c(TmpSchedConfig schedConf, FixedTimeslotTaskIF *thisSequence) {
   // Length of a communication cycle
   uint32_t length = thisSequence->getPeriodMs();
   static_cast<void>(length);
 
-  // These are actually part of another bus, but this works, so keep it like this for now
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.2,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.2, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.3, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.3, DeviceHandlerIF::GET_READ);
+  if (schedConf.scheduleTmpDev0) {
+    thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.1, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.1, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.1, DeviceHandlerIF::GET_READ);
+  }
 
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.5, DeviceHandlerIF::GET_READ);
+  if (schedConf.scheduleTmpDev1) {
+    thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.2,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.2,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.2, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.3, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.3, DeviceHandlerIF::GET_READ);
+  }
 
-  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6,
-                        DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.6,
-                        DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.7,
-                        DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.7, DeviceHandlerIF::GET_READ);
-  // damaged
-  /*
-  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
-                        DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
-                        DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
-                        DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4, DeviceHandlerIF::GET_READ);
-  */
-  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
-                        DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
-                        DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.9,
-                        DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.9, DeviceHandlerIF::GET_READ);
+  if (schedConf.schedulePlPcduDev0) {
+    thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.5,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.5,
+                          DeviceHandlerIF::GET_READ);
+  }
+  if (schedConf.schedulePlPcduDev1) {
+    thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.6,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.6,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.6,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.7,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.7,
+                          DeviceHandlerIF::GET_READ);
+  }
+
+  if (schedConf.scheduleIfBoardDev) {
+    thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.8,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.9,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.9,
+                          DeviceHandlerIF::GET_READ);
+  }
   static_cast<void>(length);
   return thisSequence->checkSequence();
 }

mission/pollingSeqTables.h

@@ -39,6 +39,16 @@ struct AcsPstCfg {
   bool scheduleStr = true;
 };
 
+// Default config is for FM.
+struct TmpSchedConfig {
+  bool scheduleTmpDev0 = true;
+  bool scheduleTmpDev1 = true;
+  bool schedulePlPcduDev0 = true;
+  // damaged on FM
+  bool schedulePlPcduDev1 = false;
+  bool scheduleIfBoardDev = true;
+};
+
 /**
  * @brief	This function creates the PST for all gomspace devices.
  * @details
@@ -51,7 +61,7 @@ ReturnValue_t pstSyrlinks(FixedTimeslotTaskIF* thisSequence);
 
 ReturnValue_t pstTcsAndAcs(FixedTimeslotTaskIF* thisSequence, AcsPstCfg cfg);
 
-ReturnValue_t pstI2cProcessingSystem(FixedTimeslotTaskIF* thisSequence);
+ReturnValue_t pstI2c(TmpSchedConfig schedConf, FixedTimeslotTaskIF* thisSequence);
 
 /**
  * Generic test PST

mission/power/BpxBatteryHandler.cpp

@@ -1,4 +1,5 @@
 #include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/globalfunctions/arrayprinter.h>
 #include <mission/power/BpxBatteryHandler.h>
 
 BpxBatteryHandler::BpxBatteryHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
@@ -51,6 +52,9 @@ void BpxBatteryHandler::fillCommandAndReplyMap() {
   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);
+  insertInCommandAndReplyMap(bpxBat::CONFIG_SET, 1, nullptr, EMPTY_REPLY_LEN);
+  insertInCommandAndReplyMap(bpxBat::MAN_HEAT_ON, 1, nullptr, MAN_HEAT_REPLY_LEN);
+  insertInCommandAndReplyMap(bpxBat::MAN_HEAT_OFF, 1, nullptr, MAN_HEAT_REPLY_LEN);
 }
 
 ReturnValue_t BpxBatteryHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
@@ -155,7 +159,7 @@ ReturnValue_t BpxBatteryHandler::scanForReply(const uint8_t* start, size_t remai
     case (bpxBat::PING):
     case (bpxBat::MAN_HEAT_ON):
     case (bpxBat::MAN_HEAT_OFF): {
-      if (remainingSize != PING_REPLY_LEN) {
+      if (remainingSize != MAN_HEAT_REPLY_LEN) {
         return DeviceHandlerIF::LENGTH_MISSMATCH;
       }
       break;

mission/power/P60DockHandler.cpp

@@ -66,7 +66,7 @@ void P60DockHandler::parseHkTableReply(const uint8_t *packet) {
   }
   coreHk.battMode = newBattMode;
 
-  auxHk.heaterOn = *(packet + 0x57);
+  auxHk.heaterForBp4PackOn = *(packet + 0x57);
   auxHk.converter5VStatus = *(packet + 0x58);
 
   for (uint8_t idx = 0; idx < hk::CHNLS_LEN; idx++) {
@@ -111,6 +111,8 @@ void P60DockHandler::parseHkTableReply(const uint8_t *packet) {
   }
   coreHk.setValidity(true, true);
   auxHk.setValidity(true, true);
+  // No BP4 pack, no this is always invalid.
+  auxHk.heaterForBp4PackOn.setValid(false);
 }
 
 ReturnValue_t P60DockHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,

mission/power/bpxBattDefs.h

@@ -48,6 +48,7 @@ static constexpr uint32_t CFG_SET_ID = CONFIG_GET;
 static constexpr size_t GET_HK_REPLY_LEN = 23;
 static constexpr size_t PING_REPLY_LEN = 3;
 static constexpr size_t EMPTY_REPLY_LEN = 2;
+static constexpr size_t MAN_HEAT_REPLY_LEN = 3;
 static constexpr size_t CONFIG_GET_REPLY_LEN = 5;
 
 static constexpr uint8_t PORT_PING = 1;
@@ -219,6 +220,7 @@ class BpxBatteryCfg : public StaticLocalDataSet<bpxBat::CFG_ENTRIES> {
     if (size < 3) {
       return SerializeIF::STREAM_TOO_SHORT;
     }
+
     battheatermode.value = data[0];
     battheaterLow.value = data[1];
     battheaterHigh.value = data[2];

mission/power/gsDefs.h

@@ -260,7 +260,8 @@ class HkTableDataset : public StaticLocalDataSet<32> {
   lp_var_t<uint16_t> resetcause = lp_var_t<uint16_t>(sid.objectId, pool::P60DOCK_RESETCAUSE, this);
 
   /** Battery heater control only possible on BP4 packs */
-  lp_var_t<uint8_t> heaterOn = lp_var_t<uint8_t>(sid.objectId, pool::P60DOCK_HEATER_ON, this);
+  lp_var_t<uint8_t> heaterForBp4PackOn =
+      lp_var_t<uint8_t>(sid.objectId, pool::P60DOCK_HEATER_ON, this);
   lp_var_t<uint8_t> converter5VStatus =
       lp_var_t<uint8_t>(sid.objectId, pool::P60DOCK_CONV_5V_ENABLE_STATUS, this);
 

mission/sysDefs.h

@@ -34,6 +34,9 @@ enum Copy : int { COPY_0, COPY_1, NO_COPY, SELF_COPY, ALL_COPY };
 
 namespace core {
 
+extern std::atomic_bool SAVE_PUS_SEQUENCE_COUNT;
+extern std::atomic_bool SAVE_CFDP_SEQUENCE_COUNT;
+
 // TODO: Support for status? Or maybe some command to quickly get information whether a unit
 // is running.
 enum SystemctlCmd : uint8_t { START = 0, STOP = 1, RESTART = 2, NUM_CMDS = 3 };
@@ -41,9 +44,13 @@ enum SystemctlCmd : uint8_t { START = 0, STOP = 1, RESTART = 2, NUM_CMDS = 3 };
 static constexpr char CONF_FOLDER[] = "conf";
 
 static constexpr char VERSION_FILE_NAME[] = "version.txt";
-static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
+static constexpr char LEGACY_REBOOT_WATCHDOG_FILE_NAME[] = "reboot.txt";
+static constexpr char REBOOT_WATCHDOG_FILE_NAME[] = "reboot_watchdog.txt";
+static constexpr char REBOOT_COUNTER_FILE_NAME[] = "reboot_counters.txt";
 static constexpr char TIME_FILE_NAME[] = "time_backup.txt";
 
+static constexpr uint32_t SYS_ROM_BASE_ADDR = 0x80000000;
+
 static constexpr ActionId_t ANNOUNCE_VERSION = 1;
 static constexpr ActionId_t ANNOUNCE_CURRENT_IMAGE = 2;
 static constexpr ActionId_t ANNOUNCE_BOOT_COUNTS = 3;
@@ -51,6 +58,7 @@ 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 READ_REBOOT_MECHANISM_INFO = 9;
 
 static constexpr ActionId_t OBSW_UPDATE_FROM_SD_0 = 10;
 static constexpr ActionId_t OBSW_UPDATE_FROM_SD_1 = 11;
@@ -113,6 +121,10 @@ static constexpr Event TRYING_I2C_RECOVERY = event::makeEvent(SUBSYSTEM_ID, 10,
 static constexpr Event I2C_REBOOT = event::makeEvent(SUBSYSTEM_ID, 11, severity::HIGH);
 //! [EXPORT] : [COMMENT] PDEC recovery through reset was not possible, performing full reboot.
 static constexpr Event PDEC_REBOOT = event::makeEvent(SUBSYSTEM_ID, 12, severity::HIGH);
+//! [EXPORT] : [COMMENT] Version information of the firmware (not OBSW).
+//! 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 FIRMWARE_INFO = event::makeEvent(SUBSYSTEM_ID, 13, severity::INFO);
 
 class ListDirectoryCmdBase {
  public:  // TODO: Packet definition for clean deserialization
@@ -242,19 +254,22 @@ class CpHelperParser {
   CpHelperParser(const uint8_t* data, size_t maxLen) : data(data), maxLen(maxLen) {}
 
   ReturnValue_t parse() {
-    if (maxLen < 1) {
+    if (maxLen < 2) {
       return SerializeIF::STREAM_TOO_SHORT;
     }
     recursiveOpt = data[0];
-    return parseDestTargetString(data + 1, maxLen - 1, destTgt);
+    forceOpt = data[1];
+    return parseDestTargetString(data + 2, maxLen - 2, destTgt);
   }
   const SourceTargetPair& destTgtPair() const { return destTgt; }
   bool isRecursiveOptSet() const { return recursiveOpt; }
+  bool isForceOptSet() const { return forceOpt; }
 
  private:
   const uint8_t* data;
   size_t maxLen;
   bool recursiveOpt = false;
+  bool forceOpt = false;
   SourceTargetPair destTgt;
 };
 

mission/system/systemTree.cpp

@@ -31,12 +31,12 @@ void buildPtgInertialSequence(Subsystem& ss, ModeListEntry& eh);
 static const auto OFF = HasModesIF::MODE_OFF;
 static const auto NML = DeviceHandlerIF::MODE_NORMAL;
 
-void satsystem::init() {
+void satsystem::init(bool commandPlPcdu1) {
   auto& acsSubsystem = acs::init();
   acsSubsystem.connectModeTreeParent(EIVE_SYSTEM);
   auto& payloadSubsystem = payload::init();
   payloadSubsystem.connectModeTreeParent(EIVE_SYSTEM);
-  auto& tcsSubsystem = tcs::init();
+  auto& tcsSubsystem = tcs::init(commandPlPcdu1);
   tcsSubsystem.connectModeTreeParent(EIVE_SYSTEM);
   auto& comSubsystem = com::init();
   comSubsystem.connectModeTreeParent(EIVE_SYSTEM);

mission/system/systemTree.h

@@ -5,7 +5,7 @@
 
 namespace satsystem {
 
-void init();
+void init(bool commandPlPcdu1);
 
 extern EiveSystem EIVE_SYSTEM;
 

mission/system/tcs/TmpDevFdir.cpp

@@ -20,7 +20,7 @@ ReturnValue_t TmpDevFdir::eventReceived(EventMessage* event) {
       // We'll try a recovery as long as defined in MAX_REBOOT.
       // Might cause some AssemblyBase cycles, so keep number low.
       // Ignored for TMP device, no way to power cycle it without going to OFF/BOOT mode.
-      // handleRecovery(event->getEvent());
+      setFaulty(event->getEvent());
       break;
     case DeviceHandlerIF::DEVICE_INTERPRETING_REPLY_FAILED:
     case DeviceHandlerIF::DEVICE_READING_REPLY_FAILED:
@@ -28,8 +28,10 @@ ReturnValue_t TmpDevFdir::eventReceived(EventMessage* event) {
     case DeviceHandlerIF::DEVICE_UNKNOWN_REPLY:  // Some DH's generate generic reply-ids.
     case DeviceHandlerIF::DEVICE_BUILDING_COMMAND_FAILED:
       // These faults all mean that there were stupid replies from a device.
-      // With now way to do a recovery, set the device to faulty immediately.
-      setFaulty(event->getEvent());
+      // With no way to do a recovery, set the device to faulty instead of trying a recovery.
+      if (strangeReplyCount.incrementAndCheck()) {
+        setFaulty(event->getEvent());
+      }
       break;
     case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
     case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
@@ -40,7 +42,9 @@ ReturnValue_t TmpDevFdir::eventReceived(EventMessage* event) {
         break;
       }
       // else
-      setFaulty(event->getEvent());
+      if (missedReplyCount.incrementAndCheck()) {
+        setFaulty(event->getEvent());
+      }
       break;
     case StorageManagerIF::GET_DATA_FAILED:
     case StorageManagerIF::STORE_DATA_FAILED:

mission/system/tcs/tcsModeTree.cpp

@@ -10,8 +10,8 @@ TcsSubsystem satsystem::tcs::SUBSYSTEM(objects::TCS_SUBSYSTEM, 12, 24);
 namespace {
 // Alias for checker function
 const auto check = subsystem::checkInsert;
-void buildOffSequence(Subsystem& ss, ModeListEntry& eh);
-void buildNormalSequence(Subsystem& ss, ModeListEntry& eh);
+void buildOffSequence(Subsystem& ss, ModeListEntry& eh, bool commandPlPcdu1);
+void buildNormalSequence(Subsystem& ss, ModeListEntry& eh, bool commandPlPcdu1);
 }  // namespace
 
 static const auto OFF = HasModesIF::MODE_OFF;
@@ -27,17 +27,17 @@ auto TCS_TABLE_NORMAL_TGT = std::make_pair((NML << 24) | 1, FixedArrayList<ModeL
 auto TCS_TABLE_NORMAL_TRANS_0 = std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 7>());
 auto TCS_TABLE_NORMAL_TRANS_1 = std::make_pair((NML << 24) | 3, FixedArrayList<ModeListEntry, 2>());
 
-Subsystem& satsystem::tcs::init() {
+Subsystem& satsystem::tcs::init(bool commandPlPcdu1) {
   ModeListEntry entry;
-  buildOffSequence(SUBSYSTEM, entry);
-  buildNormalSequence(SUBSYSTEM, entry);
+  buildOffSequence(SUBSYSTEM, entry, commandPlPcdu1);
+  buildNormalSequence(SUBSYSTEM, entry, commandPlPcdu1);
   SUBSYSTEM.setInitialMode(OFF);
   return SUBSYSTEM;
 }
 
 namespace {
 
-void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
+void buildOffSequence(Subsystem& ss, ModeListEntry& eh, bool commandPlPcdu1) {
   std::string context = "satsystem::tcs::buildOffSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
@@ -67,7 +67,9 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::TMP1075_HANDLER_TCS_0, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
   iht(objects::TMP1075_HANDLER_TCS_1, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
   iht(objects::TMP1075_HANDLER_PLPCDU_0, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
-  // TMP PL PCDU 1 is damaged
+  if (commandPlPcdu1) {
+    iht(objects::TMP1075_HANDLER_PLPCDU_1, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
+  }
   iht(objects::TMP1075_HANDLER_IF_BOARD, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
   check(ss.addTable(TableEntry(TCS_TABLE_OFF_TRANS_1.first, &TCS_TABLE_OFF_TRANS_1.second)), ctxc);
 
@@ -79,7 +81,7 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 }
 
-void buildNormalSequence(Subsystem& ss, ModeListEntry& eh) {
+void buildNormalSequence(Subsystem& ss, ModeListEntry& eh, bool commandPlPcdu1) {
   std::string context = "satsystem::tcs::buildNormalSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
@@ -105,7 +107,9 @@ void buildNormalSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::TMP1075_HANDLER_TCS_0, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
   iht(objects::TMP1075_HANDLER_TCS_1, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
   iht(objects::TMP1075_HANDLER_PLPCDU_0, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
-  // TMP PL PCDU 1 is damaged
+  if (commandPlPcdu1) {
+    iht(objects::TMP1075_HANDLER_PLPCDU_1, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
+  }
   iht(objects::TMP1075_HANDLER_IF_BOARD, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
   check(ss.addTable(TableEntry(TCS_TABLE_NORMAL_TRANS_0.first, &TCS_TABLE_NORMAL_TRANS_0.second)),
         ctxc);

mission/system/tcs/tcsModeTree.h

@@ -7,7 +7,7 @@ namespace satsystem {
 namespace tcs {
 
 extern TcsSubsystem SUBSYSTEM;
-Subsystem& init();
+Subsystem& init(bool commandPlPcdu1);
 
 }  // namespace tcs
 }  // namespace satsystem

mission/tcs/HeaterHandler.cpp

@@ -51,9 +51,13 @@ ReturnValue_t HeaterHandler::performOperation(uint8_t operationCode) {
       if (mainLineSwitcher->getSwitchState(mainLineSwitch) == SWITCH_OFF) {
         waitForSwitchOff = false;
         mode = MODE_OFF;
+        busyWithSwitchCommanding = false;
         modeHelper.modeChanged(mode, submode);
       }
     }
+    if (busyWithSwitchCommanding and heaterCmdBusyCd.hasTimedOut()) {
+      busyWithSwitchCommanding = false;
+    }
   } catch (const std::out_of_range& e) {
     sif::warning << "HeaterHandler::performOperation: "
                     "Out of range error | "
@@ -93,7 +97,7 @@ ReturnValue_t HeaterHandler::initialize() {
 
 ReturnValue_t HeaterHandler::initializeHeaterMap() {
   for (power::Switch_t switchNr = 0; switchNr < heater::NUMBER_OF_SWITCHES; switchNr++) {
-    heaterVec.push_back(HeaterWrapper(helper.heaters[switchNr], SwitchState::OFF));
+    heaterVec.push_back(HeaterWrapper(helper.heaters[switchNr], heater::SwitchState::OFF));
   }
   return returnvalue::OK;
 }
@@ -101,23 +105,23 @@ ReturnValue_t HeaterHandler::initializeHeaterMap() {
 void HeaterHandler::readCommandQueue() {
   ReturnValue_t result = returnvalue::OK;
   CommandMessage command;
-  do {
+  if (not busyWithSwitchCommanding) {
     result = commandQueue->receiveMessage(&command);
     if (result == MessageQueueIF::EMPTY) {
-      break;
+      return;
     } else if (result != returnvalue::OK) {
       sif::warning << "HeaterHandler::readCommandQueue: Message reception error" << std::endl;
-      break;
-    }
-    result = actionHelper.handleActionMessage(&command);
-    if (result == returnvalue::OK) {
-      continue;
+      return;
     }
     result = modeHelper.handleModeCommand(&command);
     if (result == returnvalue::OK) {
-      continue;
+      return;
     }
-  } while (result == returnvalue::OK);
+    result = actionHelper.handleActionMessage(&command);
+    if (result == returnvalue::OK) {
+      return;
+    }
+  }
 }
 
 ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
@@ -167,6 +171,8 @@ ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, MessageQueueId_t
   heater.action = action;
   heater.cmdActive = true;
   heater.replyQueue = commandedBy;
+  busyWithSwitchCommanding = true;
+  heaterCmdBusyCd.resetTimer();
   return returnvalue::OK;
 }
 
@@ -208,7 +214,7 @@ ReturnValue_t HeaterHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t o
 void HeaterHandler::handleSwitchHandling() {
   for (uint8_t idx = 0; idx < heater::NUMBER_OF_SWITCHES; idx++) {
     auto health = heaterVec[idx].healthDevice->getHealth();
-    if (heaterVec[idx].switchState == SwitchState::ON) {
+    if (heaterVec[idx].switchState == heater::SwitchState::ON) {
       // If a heater is still on but the device was marked faulty by the operator, the SW
       // will shut down the heater
       if (health == HasHealthIF::FAULTY or health == HasHealthIF::PERMANENT_FAULTY) {
@@ -249,6 +255,7 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switch heaterIdx) {
     sif::error << "HeaterHandler::handleSwitchOnCommand: Main switch setting on timeout"
                << std::endl;
     heater.cmdActive = false;
+    busyWithSwitchCommanding = false;
     heater.waitMainSwitchOn = false;
     if (heater.replyQueue != commandQueue->getId()) {
       actionHelper.finish(false, heater.replyQueue, heater.action, MAIN_SWITCH_SET_TIMEOUT);
@@ -259,27 +266,25 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switch heaterIdx) {
   // Check state of main line switch
   ReturnValue_t mainSwitchState = mainLineSwitcher->getSwitchState(mainLineSwitch);
   if (mainSwitchState == PowerSwitchIF::SWITCH_ON) {
-    if (getSwitchState(heaterIdx) == SwitchState::OFF) {
-      gpioId_t gpioId = heater.gpioId;
-      result = gpioInterface->pullHigh(gpioId);
-      if (result != returnvalue::OK) {
-        sif::error << "HeaterHandler::handleSwitchOnCommand: Failed to pull gpio with id " << gpioId
-                   << " high" << std::endl;
-        triggerEvent(GPIO_PULL_HIGH_FAILED, result);
-      } else {
-        triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
-        EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
-                                     MODE_ON, 0);
-        {
-          MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
-          heater.switchState = ON;
-        }
-      }
-    } else {
-      triggerEvent(SWITCH_ALREADY_ON, heaterIdx);
+    gpioId_t gpioId = heater.gpioId;
+    result = gpioInterface->pullHigh(gpioId);
+    if (result != returnvalue::OK) {
+      sif::error << "HeaterHandler::handleSwitchOnCommand: Failed to pull GPIO with ID " << gpioId
+                 << " high" << std::endl;
+      triggerEvent(GPIO_PULL_HIGH_FAILED, result);
+    }
+    if (result == returnvalue::OK) {
+      triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
+      {
+        MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+        heater.switchState = heater::SwitchState::ON;
+      }
+      EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
+                                   MODE_ON, 0);
+      busyWithSwitchCommanding = false;
+      mode = HasModesIF::MODE_ON;
+      modeHelper.modeChanged(mode, submode);
     }
-    mode = HasModesIF::MODE_ON;
-    modeHelper.modeChanged(mode, submode);
     // There is no need to send action finish replies if the sender was the
     // HeaterHandler itself
     if (heater.replyQueue != commandQueue->getId()) {
@@ -312,30 +317,33 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switch heaterIdx) {
 void HeaterHandler::handleSwitchOffCommand(heater::Switch heaterIdx) {
   ReturnValue_t result = returnvalue::OK;
   auto& heater = heaterVec.at(heaterIdx);
-  // Check whether switch is already off
-  if (getSwitchState(heaterIdx)) {
-    gpioId_t gpioId = heater.gpioId;
-    result = gpioInterface->pullLow(gpioId);
-    if (result != returnvalue::OK) {
-      sif::error << "HeaterHandler::handleSwitchOffCommand: Failed to pull gpio with id" << gpioId
-                 << " low" << std::endl;
-      triggerEvent(GPIO_PULL_LOW_FAILED, result);
-    } else {
+  gpioId_t gpioId = heater.gpioId;
+  result = gpioInterface->pullLow(gpioId);
+  if (result != returnvalue::OK) {
+    sif::error << "HeaterHandler::handleSwitchOffCommand: Failed to pull gpio with id" << gpioId
+               << " low" << std::endl;
+    triggerEvent(GPIO_PULL_LOW_FAILED, result);
+  }
+  if (result == returnvalue::OK) {
+    // Check whether switch is already off
+    if (getSwitchState(heaterIdx) == heater::SwitchState::ON) {
       {
         MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
-        heater.switchState = OFF;
+        heater.switchState = heater::SwitchState::OFF;
       }
       triggerEvent(HEATER_WENT_OFF, heaterIdx, 0);
-      EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
-                                   MODE_OFF, 0);
-      // When all switches are off, also main line switch will be turned off
-      if (allSwitchesOff()) {
-        mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
-        waitForSwitchOff = true;
-      }
+    } else {
+      triggerEvent(SWITCH_ALREADY_OFF, heaterIdx);
+    }
+    EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
+                                 MODE_OFF, 0);
+    // When all switches are off, also main line switch will be turned off
+    if (allSwitchesOff()) {
+      mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
+      waitForSwitchOff = true;
+    } else {
+      busyWithSwitchCommanding = false;
     }
-  } else {
-    triggerEvent(SWITCH_ALREADY_OFF, heaterIdx);
   }
   if (heater.replyQueue != NO_COMMANDER) {
     // Report back switch command reply if necessary
@@ -348,15 +356,15 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switch heaterIdx) {
   heater.cmdActive = false;
 }
 
-HeaterHandler::SwitchState HeaterHandler::getSwitchState(heater::Switch switchNr) const {
+heater::SwitchState HeaterHandler::getSwitchState(heater::Switch switchNr) const {
   MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
   return heaterVec.at(switchNr).switchState;
 }
 
-ReturnValue_t HeaterHandler::switchHeater(heater::Switch heater, SwitchState switchState) {
-  if (switchState == SwitchState::ON) {
+ReturnValue_t HeaterHandler::switchHeater(heater::Switch heater, heater::SwitchState switchState) {
+  if (switchState == heater::SwitchState::ON) {
     return sendSwitchCommand(heater, PowerSwitchIF::SWITCH_ON);
-  } else if (switchState == SwitchState::OFF) {
+  } else if (switchState == heater::SwitchState::OFF) {
     return sendSwitchCommand(heater, PowerSwitchIF::SWITCH_OFF);
   }
   return returnvalue::FAILED;
@@ -365,10 +373,10 @@ ReturnValue_t HeaterHandler::switchHeater(heater::Switch heater, SwitchState swi
 void HeaterHandler::announceMode(bool recursive) {
   triggerEvent(MODE_INFO, mode, submode);
 
-  std::array<SwitchState, 8> states;
+  std::array<heater::SwitchState, 8> states;
   getAllSwitchStates(states);
   for (unsigned idx = 0; idx < helper.heaters.size(); idx++) {
-    if (states[idx] == ON) {
+    if (states[idx] == heater::SwitchState::ON) {
       EventManagerIF::triggerEvent(helper.heaters[idx].first->getObjectId(), MODE_INFO, MODE_ON, 0);
     } else {
       EventManagerIF::triggerEvent(helper.heaters[idx].first->getObjectId(), MODE_INFO, MODE_OFF,
@@ -397,7 +405,7 @@ ModeTreeChildIF& HeaterHandler::getModeTreeChildIF() { return *this; }
 
 object_id_t HeaterHandler::getObjectId() const { return SystemObject::getObjectId(); }
 
-ReturnValue_t HeaterHandler::getAllSwitchStates(std::array<SwitchState, 8>& statesBuf) {
+ReturnValue_t HeaterHandler::getAllSwitchStates(std::array<heater::SwitchState, 8>& statesBuf) {
   {
     MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     if (mg.getLockResult() != returnvalue::OK) {
@@ -411,13 +419,13 @@ ReturnValue_t HeaterHandler::getAllSwitchStates(std::array<SwitchState, 8>& stat
 }
 
 bool HeaterHandler::allSwitchesOff() {
-  bool allSwitchesOrd = false;
   MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
-  /* Or all switches. As soon one switch is on, allSwitchesOrd will be true */
   for (power::Switch_t switchNr = 0; switchNr < heater::NUMBER_OF_SWITCHES; switchNr++) {
-    allSwitchesOrd = allSwitchesOrd || heaterVec.at(switchNr).switchState;
+    if (heaterVec.at(switchNr).switchState == heater::SwitchState::ON) {
+      return false;
+    }
   }
-  return !allSwitchesOrd;
+  return true;
 }
 
 MessageQueueId_t HeaterHandler::getCommandQueue() const { return commandQueue->getId(); }
@@ -432,7 +440,7 @@ ReturnValue_t HeaterHandler::getSwitchState(uint8_t switchNr) const {
   if (switchNr > 7) {
     return returnvalue::FAILED;
   }
-  if (getSwitchState(static_cast<heater::Switch>(switchNr)) == SwitchState::ON) {
+  if (getSwitchState(static_cast<heater::Switch>(switchNr)) == heater::SwitchState::ON) {
     return PowerSwitchIF::SWITCH_ON;
   }
   return PowerSwitchIF::SWITCH_OFF;

mission/tcs/HeaterHandler.h

@@ -60,7 +60,6 @@ class HeaterHandler : public ExecutableObjectIF,
   static const ReturnValue_t COMMAND_ALREADY_WAITING = MAKE_RETURN_CODE(0xA5);
 
   enum CmdSourceParam : uint8_t { INTERNAL = 0, EXTERNAL = 1 };
-  enum SwitchState : uint8_t { ON = 1, OFF = 0 };
 
   /** Device command IDs */
   static const DeviceCommandId_t SWITCH_HEATER = 0x0;
@@ -69,14 +68,14 @@ class HeaterHandler : public ExecutableObjectIF,
                 PowerSwitchIF* mainLineSwitcherObjectId, power::Switch_t mainLineSwitch);
 
   ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
-  ReturnValue_t getAllSwitchStates(std::array<SwitchState, 8>& statesBuf);
+  ReturnValue_t getAllSwitchStates(std::array<heater::SwitchState, 8>& statesBuf);
 
   virtual ~HeaterHandler();
 
  protected:
   enum SwitchAction : uint8_t { SET_SWITCH_OFF, SET_SWITCH_ON, NONE };
 
-  ReturnValue_t switchHeater(heater::Switch heater, SwitchState switchState);
+  ReturnValue_t switchHeater(heater::Switch heater, heater::SwitchState switchState);
   HasHealthIF::HealthState getHealth(heater::Switch heater);
 
   ReturnValue_t performOperation(uint8_t operationCode = 0) override;
@@ -121,14 +120,14 @@ class HeaterHandler : public ExecutableObjectIF,
    * @param mainSwitchCountdown   Sets timeout to wait for main switch being set on.
    */
   struct HeaterWrapper {
-    HeaterWrapper(HeaterPair pair, SwitchState initState)
+    HeaterWrapper(HeaterPair pair, heater::SwitchState initState)
         : healthDevice(pair.first), gpioId(pair.second), switchState(initState) {}
     HealthDevice* healthDevice = nullptr;
     gpioId_t gpioId = gpio::NO_GPIO;
     SwitchAction action = SwitchAction::NONE;
     MessageQueueId_t replyQueue = MessageQueueIF::NO_QUEUE;
     bool cmdActive = false;
-    SwitchState switchState = SwitchState::OFF;
+    heater::SwitchState switchState = heater::SwitchState::OFF;
     bool waitMainSwitchOn = false;
     Countdown mainSwitchCountdown;
   };
@@ -148,6 +147,7 @@ class HeaterHandler : public ExecutableObjectIF,
   /** Size of command queue */
   size_t cmdQueueSize = 20;
   bool waitForSwitchOff = true;
+  bool busyWithSwitchCommanding = false;
 
   GpioIF* gpioInterface = nullptr;
 
@@ -163,6 +163,7 @@ class HeaterHandler : public ExecutableObjectIF,
   power::Switch_t mainLineSwitch;
 
   ActionHelper actionHelper;
+  Countdown heaterCmdBusyCd = Countdown(2000);
 
   StorageManagerIF* ipcStore = nullptr;
 
@@ -175,7 +176,7 @@ class HeaterHandler : public ExecutableObjectIF,
    * @brief   Returns the state of a switch (ON - true, or OFF - false).
    * @param switchNr  The number of the switch to check.
    */
-  SwitchState getSwitchState(heater::Switch switchNr) const;
+  heater::SwitchState getSwitchState(heater::Switch switchNr) const;
 
   /**
    * @brief	This function runs commands waiting for execution.

mission/tcs/Max31865EiveHandler.cpp

@@ -37,6 +37,8 @@ void Max31865EiveHandler::doShutDown() {
     transitionOk = false;
   }
   if (state == InternalState::INACTIVE and transitionOk) {
+    sensorDataset.temperatureCelcius = thermal::INVALID_TEMPERATURE;
+    sensorDataset.setValidity(false, true);
     updatePeriodicReply(false, EiveMax31855::RtdCommands::EXCHANGE_SET_ID);
     setMode(MODE_OFF);
   }

mission/tcs/Tmp1075Handler.cpp

@@ -1,4 +1,5 @@
 #include <OBSWConfig.h>
+#include <fsfw/datapool/PoolReadGuard.h>
 #include <mission/tcs/Tmp1075Definitions.h>
 #include <mission/tcs/Tmp1075Handler.h>
 
@@ -11,14 +12,12 @@ Tmp1075Handler::Tmp1075Handler(object_id_t objectId, object_id_t comIF, CookieIF
 
 Tmp1075Handler::~Tmp1075Handler() {}
 
-void Tmp1075Handler::doStartUp() {
-  if (getMode() == _MODE_START_UP) {
-    setMode(MODE_ON);
-  }
-}
+void Tmp1075Handler::doStartUp() { setMode(MODE_ON); }
 
 void Tmp1075Handler::doShutDown() {
   communicationStep = CommunicationStep::START_ADC_CONVERSION;
+  PoolReadGuard pg(&dataset);
+  dataset.setValidity(false, true);
   setMode(_MODE_POWER_DOWN);
 }
 
@@ -86,8 +85,11 @@ ReturnValue_t Tmp1075Handler::scanForReply(const uint8_t *start, size_t remainin
 ReturnValue_t Tmp1075Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
   switch (id) {
     case TMP1075::GET_TEMP: {
-      int16_t tempValueRaw = 0;
-      tempValueRaw = packet[0] << 4 | packet[1] >> 4;
+      // Convert 12 bit MSB first raw temperature to 16 bit first.
+      int16_t tempValueRaw = static_cast<uint16_t>((packet[0] << 8) | packet[1]) >> 4;
+      // Sign extension to 16 bits: If the sign bit is set, fill up with ones on the left.
+      tempValueRaw = (packet[0] & 0x80) ? (tempValueRaw | 0xF000) : tempValueRaw;
+      // 0.0625 is the sensor sensitivity.
       float tempValue = ((static_cast<float>(tempValueRaw)) * 0.0625);
 #if OBSW_DEBUG_TMP1075 == 1
       sif::info << "Tmp1075 with object id: 0x" << std::hex << getObjectId()
@@ -131,12 +133,14 @@ ReturnValue_t Tmp1075Handler::initializeLocalDataPool(localpool::DataPool &local
   return returnvalue::OK;
 }
 
-void Tmp1075Handler::setModeNormal() { setMode(_MODE_TO_NORMAL); }
-
 ReturnValue_t Tmp1075Handler::setHealth(HealthState health) {
   if (health != FAULTY and health != PERMANENT_FAULTY and health != HEALTHY and
       health != EXTERNAL_CONTROL) {
     return returnvalue::FAILED;
   }
-  return returnvalue::OK;
+  // Required because we do not have an assembly.
+  if (health == FAULTY or health == PERMANENT_FAULTY) {
+    setMode(_MODE_SHUT_DOWN);
+  }
+  return DeviceHandlerBase::setHealth(health);
 }

mission/tcs/Tmp1075Handler.h

@@ -20,8 +20,6 @@ class Tmp1075Handler : public DeviceHandlerBase {
   Tmp1075Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie);
   virtual ~Tmp1075Handler();
 
-  void setModeNormal();
-
  protected:
   void doStartUp() override;
   void doShutDown() override;

mission/tcs/defs.h

@@ -4,18 +4,23 @@
 #include <cstdint>
 
 namespace heater {
+
 enum Switch : uint8_t {
-  HEATER_0_OBC_BRD,
-  HEATER_1_PLOC_PROC_BRD,
+  HEATER_0_PLOC_PROC_BRD,
+  HEATER_1_PCDU_PDU,
   HEATER_2_ACS_BRD,
-  HEATER_3_PCDU_PDU,
+  HEATER_3_OBC_BRD,
   HEATER_4_CAMERA,
   HEATER_5_STR,
   HEATER_6_DRO,
   HEATER_7_S_BAND,
-  NUMBER_OF_SWITCHES
+  NUMBER_OF_SWITCHES = 8,
+  HEATER_NONE = 0xff
 };
-}
+
+enum SwitchState : uint8_t { ON = 1, OFF = 0 };
+
+}  // namespace heater
 
 namespace tcs {
 

mission/tmtc/CfdpTmFunnel.cpp

@@ -15,8 +15,16 @@ const char* CfdpTmFunnel::getName() const { return "CFDP TM Funnel"; }
 
 ReturnValue_t CfdpTmFunnel::performOperation(uint8_t) {
   TmTcMessage currentMessage;
+  ReturnValue_t status;
   unsigned int count = 0;
-  ReturnValue_t status = tmQueue->receiveMessage(&currentMessage);
+  if (saveSequenceCount) {
+    status = saveSequenceCountToFile();
+    if (status != returnvalue::OK) {
+      sif::error << "CfdpTmFunnel: Storing sequence count to file has failed" << std::endl;
+    }
+    saveSequenceCount = false;
+  }
+  status = tmQueue->receiveMessage(&currentMessage);
   while (status == returnvalue::OK) {
     status = handlePacket(currentMessage);
     if (status != returnvalue::OK) {

mission/tmtc/CfdpTmFunnel.h

@@ -3,6 +3,7 @@
 
 #include <mission/tmtc/TmFunnelBase.h>
 
+#include <atomic>
 #include <vector>
 
 #include "fsfw/objectmanager/SystemObject.h"
@@ -23,7 +24,6 @@ class CfdpTmFunnel : public TmFunnelBase {
 
   MessageQueueId_t fileStoreDest;
   StorageManagerIF& ramToFileStore;
-  uint16_t sourceSequenceCount = 0;
   uint16_t cfdpInCcsdsApid;
 };
 #endif  // FSFW_EXAMPLE_COMMON_CFDPTMFUNNEL_H

mission/tmtc/PersistentTmStore.cpp

@@ -17,6 +17,8 @@
 
 using namespace returnvalue;
 
+static constexpr bool DEBUG_DUMPS = false;
+
 PersistentTmStore::PersistentTmStore(PersistentTmStoreArgs args)
     : SystemObject(args.objectId),
       tmStore(args.tmStore),
@@ -32,6 +34,91 @@ ReturnValue_t PersistentTmStore::cancelDump() {
   return returnvalue::OK;
 }
 
+ReturnValue_t PersistentTmStore::buildDumpSet(uint32_t fromUnixSeconds, uint32_t upToUnixSeconds) {
+  using namespace std::filesystem;
+  std::error_code e;
+  dumpParams.orderedDumpFilestamps.clear();
+  for (auto const& fileOrDir : directory_iterator(basePath)) {
+    if (not fileOrDir.is_regular_file(e)) {
+      continue;
+    }
+    dumpParams.fileSize = std::filesystem::file_size(fileOrDir.path(), e);
+    if (e) {
+      sif::error << "PersistentTmStore: Could not retrieve file size: " << e.message() << std::endl;
+      continue;
+    }
+
+    // File empty or can't even read CCSDS header.
+    if (dumpParams.fileSize <= 6) {
+      continue;
+    }
+    if (dumpParams.fileSize > fileBuf.size()) {
+      sif::error << "PersistentTmStore: File too large, is deleted" << std::endl;
+      triggerEvent(persTmStore::FILE_TOO_LARGE, dumpParams.fileSize, fileBuf.size());
+      std::filesystem::remove(fileOrDir.path(), e);
+      continue;
+    }
+    const path& file = fileOrDir.path();
+    struct tm fileTime {};
+    if (pathToTime(file, fileTime) != returnvalue::OK) {
+      sif::error << "Time extraction for file " << file << "failed" << std::endl;
+      continue;
+    }
+    auto fileEpoch = static_cast<uint32_t>(timegm(&fileTime));
+    if ((fileEpoch > dumpParams.fromUnixTime) and
+        (fileEpoch + rolloverDiffSeconds <= dumpParams.untilUnixTime)) {
+      std::ifstream ifile(file, std::ios::binary);
+      if (ifile.bad()) {
+        sif::error << "PersistentTmStore: File is bad" << std::endl;
+        // TODO: Consider deleting file here?
+        continue;
+      }
+
+      if (DEBUG_DUMPS) {
+        sif::debug << "Inserting file " << fileOrDir.path() << std::endl;
+      }
+      DumpIndex dumpIndex;
+      dumpIndex.epoch = fileEpoch;
+      // Multiple files for the same time are supported via a special suffix. We simply count the
+      // number of copies and later try to dump the same number of files with the additional
+      // suffixes
+      auto iter = dumpParams.orderedDumpFilestamps.find(dumpIndex);
+      if (iter != dumpParams.orderedDumpFilestamps.end()) {
+        dumpIndex.epoch = iter->epoch;
+        dumpIndex.additionalFiles = iter->additionalFiles + 1;
+        dumpParams.orderedDumpFilestamps.erase(dumpIndex);
+      } else {
+        dumpIndex.additionalFiles = 0;
+      }
+      dumpParams.orderedDumpFilestamps.emplace(dumpIndex);
+    }
+  }
+  return returnvalue::OK;
+}
+
+std::optional<uint8_t> PersistentTmStore::extractSuffix(const std::string& pathStr) {
+  std::string numberStr;
+  // Find the position of the dot at the end of the file path
+  size_t dotPos = pathStr.find_last_of('.');
+  if ((dotPos < pathStr.length()) and not std::isdigit(pathStr[dotPos + 1])) {
+    return std::nullopt;
+  }
+  // Extract the substring after the dot
+  numberStr = pathStr.substr(dotPos + 1);
+  std::optional<uint8_t> number;
+  try {
+    number = std::stoi(numberStr);
+    if (number.value() > std::numeric_limits<uint8_t>::max()) {
+      return std::nullopt;
+    }
+
+  } catch (std::invalid_argument& exception) {
+    sif::error << "PersistentTmStore::extractSuffix: Exception " << exception.what()
+               << ", invald input string: " << numberStr << std::endl;
+  }
+  return number;
+}
+
 ReturnValue_t PersistentTmStore::assignAndOrCreateMostRecentFile() {
   if (not activeFile.has_value()) {
     return createMostRecentFile(std::nullopt);
@@ -41,6 +128,7 @@ ReturnValue_t PersistentTmStore::assignAndOrCreateMostRecentFile() {
 
 ReturnValue_t PersistentTmStore::handleCommandQueue(StorageManagerIF& ipcStore,
                                                     Command_t& execCmd) {
+  execCmd = CommandMessageIF::CMD_NONE;
   CommandMessage cmdMessage;
   ReturnValue_t result = tcQueue->receiveMessage(&cmdMessage);
   if (result != returnvalue::OK) {
@@ -75,9 +163,9 @@ ReturnValue_t PersistentTmStore::handleCommandQueue(StorageManagerIF& ipcStore,
       result = startDumpFromUpTo(dumpFromUnixSeconds, dumpUntilUnixSeconds);
       if (result == BUSY_DUMPING) {
         triggerEvent(persTmStore::BUSY_DUMPING_EVENT);
-      } else {
-        execCmd = cmd;
+        return result;
       }
+      execCmd = cmd;
     }
   }
   return result;
@@ -159,6 +247,12 @@ bool PersistentTmStore::updateBaseDir() {
   if (not exists(basePath, e)) {
     create_directories(basePath);
   }
+  // Each file will have the base name as a prefix again
+  path preparedFullFilePath = basePath / baseName;
+  basePathSize = preparedFullFilePath.string().length();
+  std::memcpy(filePathBuf.data(), preparedFullFilePath.c_str(), basePathSize);
+  filePathBuf[basePathSize] = '_';
+  basePathSize += 1;
   baseDirUninitialized = false;
   return true;
 }
@@ -189,12 +283,20 @@ ReturnValue_t PersistentTmStore::startDumpFromUpTo(uint32_t fromUnixSeconds,
   if (state == State::DUMPING) {
     return returnvalue::FAILED;
   }
-  dumpParams.dirIter = directory_iterator(basePath);
-  if (dumpParams.dirIter == directory_iterator()) {
+  auto dirIter = directory_iterator(basePath);
+  // Directory empty case.
+  if (dirIter == directory_iterator()) {
     return returnvalue::FAILED;
   }
   dumpParams.fromUnixTime = fromUnixSeconds;
   dumpParams.untilUnixTime = upToUnixSeconds;
+  buildDumpSet(fromUnixSeconds, upToUnixSeconds);
+  // No files in time window found.
+  if (dumpParams.orderedDumpFilestamps.empty()) {
+    return DUMP_DONE;
+  }
+  dumpParams.dumpIter = dumpParams.orderedDumpFilestamps.begin();
+  dumpParams.currentSameFileIdx = std::nullopt;
   state = State::DUMPING;
   return loadNextDumpFile();
 }
@@ -203,49 +305,54 @@ ReturnValue_t PersistentTmStore::loadNextDumpFile() {
   using namespace std::filesystem;
   dumpParams.currentSize = 0;
   std::error_code e;
-  for (; dumpParams.dirIter != directory_iterator(); dumpParams.dirIter++) {
-    dumpParams.dirEntry = *dumpParams.dirIter;
-    if (dumpParams.dirEntry.is_directory(e)) {
-      continue;
-    }
-    dumpParams.fileSize = std::filesystem::file_size(dumpParams.dirEntry.path(), e);
-    if (e) {
-      sif::error << "PersistentTmStore: Could not retrieve file size: " << e.message() << std::endl;
-      continue;
-    }
-    // sif::debug << "Path: " << dumpParams.dirEntry.path() << std::endl;
-
-    // File empty or can't even read CCSDS header.
-    if (dumpParams.fileSize <= 6) {
-      continue;
-    }
-    if (dumpParams.fileSize > fileBuf.size()) {
-      sif::error << "PersistentTmStore: File too large, is deleted" << std::endl;
-      triggerEvent(persTmStore::FILE_TOO_LARGE, dumpParams.fileSize, fileBuf.size());
-      std::filesystem::remove(dumpParams.dirEntry.path(), e);
-      continue;
-    }
-    const path& file = dumpParams.dirEntry.path();
-    struct tm fileTime {};
-    if (pathToTime(file, fileTime) != returnvalue::OK) {
-      sif::error << "Time extraction for file " << file << "failed" << std::endl;
-      continue;
-    }
-    auto fileEpoch = static_cast<uint32_t>(timegm(&fileTime));
-    if ((fileEpoch > dumpParams.fromUnixTime) and
-        (fileEpoch + rolloverDiffSeconds <= dumpParams.untilUnixTime)) {
-      dumpParams.currentFileUnixStamp = fileEpoch;
-      std::ifstream ifile(file, std::ios::binary);
-      if (ifile.bad()) {
-        sif::error << "PersistentTmStore: File is bad" << std::endl;
-        continue;
+  // Handle iteration, which does not necessarily have to increment the set iterator
+  // if there are multiple files for a given timestamp.
+  auto handleIteration = [&](DumpIndex& dumpIndex) {
+    if (dumpIndex.additionalFiles > 0) {
+      if (not dumpParams.currentSameFileIdx.has_value()) {
+        // Initialize the file index and stay on same file
+        dumpParams.currentSameFileIdx = 0;
+        return;
+      } else if (dumpParams.currentSameFileIdx.value() < dumpIndex.additionalFiles - 1) {
+        dumpParams.currentSameFileIdx = dumpParams.currentSameFileIdx.value() + 1;
+        return;
       }
-      ifile.read(reinterpret_cast<char*>(fileBuf.data()),
-                 static_cast<std::streamsize>(dumpParams.fileSize));
-      // Increment iterator for next cycle.
-      dumpParams.dirIter++;
-      return returnvalue::OK;
     }
+    // File will change, reset this field for correct state-keeping.
+    dumpParams.currentSameFileIdx = std::nullopt;
+    // Increment iterator for next cycle.
+    dumpParams.dumpIter++;
+  };
+  while (dumpParams.dumpIter != dumpParams.orderedDumpFilestamps.end()) {
+    DumpIndex dumpIndex = *dumpParams.dumpIter;
+    timeval tv{};
+    tv.tv_sec = dumpIndex.epoch;
+    size_t fullPathLength = 0;
+    createFileName(tv, dumpParams.currentSameFileIdx, fullPathLength);
+    dumpParams.currentFile =
+        path(std::string(reinterpret_cast<const char*>(filePathBuf.data()), fullPathLength));
+    if (DEBUG_DUMPS) {
+      sif::debug << baseName << " dump: Loading " << dumpParams.currentFile << std::endl;
+    }
+    dumpParams.fileSize = std::filesystem::file_size(dumpParams.currentFile, e);
+    if (e) {
+      // TODO: Event?
+      sif::error << "PersistentTmStore: Could not load next dump file: " << e.message()
+                 << std::endl;
+      handleIteration(dumpIndex);
+      continue;
+    }
+    std::ifstream ifile(dumpParams.currentFile, std::ios::binary);
+    if (ifile.bad()) {
+      sif::error << "PersistentTmStore: File is bad. Loading next file" << std::endl;
+      handleIteration(dumpIndex);
+      continue;
+    }
+    ifile.read(reinterpret_cast<char*>(fileBuf.data()),
+               static_cast<std::streamsize>(dumpParams.fileSize));
+    // Next file is loaded, exit the loop.
+    handleIteration(dumpIndex);
+    return returnvalue::OK;
   }
   // Directory iterator was consumed and we are done.
   state = State::IDLE;
@@ -253,7 +360,10 @@ ReturnValue_t PersistentTmStore::loadNextDumpFile() {
 }
 
 ReturnValue_t PersistentTmStore::getNextDumpPacket(PusTmReader& reader, bool& fileHasSwapped) {
-  if (state == State::IDLE or dumpParams.pendingPacketDump) {
+  if (state == State::IDLE) {
+    return DUMP_DONE;
+  }
+  if (dumpParams.pendingPacketDump) {
     return returnvalue::FAILED;
   }
   fileHasSwapped = false;
@@ -267,7 +377,11 @@ ReturnValue_t PersistentTmStore::getNextDumpPacket(PusTmReader& reader, bool& fi
     // Delete the file and load next. Could use better algorithm to partially
     // restore the file dump, but for now do not trust the file.
     std::error_code e;
-    std::filesystem::remove(dumpParams.dirEntry.path().c_str(), e);
+    std::filesystem::remove(dumpParams.currentFile.c_str(), e);
+    if (dumpParams.currentFile == activeFile) {
+      activeFile == std::nullopt;
+      assignAndOrCreateMostRecentFile();
+    }
     fileHasSwapped = true;
     return loadNextDumpFile();
   }
@@ -298,37 +412,9 @@ ReturnValue_t PersistentTmStore::pathToTime(const std::filesystem::path& path, s
 
 ReturnValue_t PersistentTmStore::createMostRecentFile(std::optional<uint8_t> suffix) {
   using namespace std::filesystem;
-  unsigned currentIdx = 0;
-  path pathStart = basePath / baseName;
-  memcpy(fileBuf.data() + currentIdx, pathStart.c_str(), pathStart.string().length());
-  currentIdx += pathStart.string().length();
-  fileBuf[currentIdx] = '_';
-  currentIdx += 1;
-  time_t epoch = currentTv.tv_sec;
-  struct tm* time = gmtime(&epoch);
-  size_t writtenBytes = strftime(reinterpret_cast<char*>(fileBuf.data() + currentIdx),
-                                 fileBuf.size(), config::FILE_DATE_FORMAT, time);
-  if (writtenBytes == 0) {
-    sif::error << "PersistentTmStore::createMostRecentFile: Could not create file timestamp"
-               << std::endl;
-    return returnvalue::FAILED;
-  }
-  currentIdx += writtenBytes;
-  char* res = strcpy(reinterpret_cast<char*>(fileBuf.data() + currentIdx), ".bin");
-  if (res == nullptr) {
-    return returnvalue::FAILED;
-  }
-  currentIdx += 4;
-  if (suffix.has_value()) {
-    std::string fullSuffix = "." + std::to_string(suffix.value());
-    res = strcpy(reinterpret_cast<char*>(fileBuf.data() + currentIdx), fullSuffix.c_str());
-    if (res == nullptr) {
-      return returnvalue::FAILED;
-    }
-    currentIdx += fullSuffix.size();
-  }
-
-  path newPath(std::string(reinterpret_cast<const char*>(fileBuf.data()), currentIdx));
+  size_t currentIdx;
+  createFileName(currentTv, suffix, currentIdx);
+  path newPath(std::string(reinterpret_cast<const char*>(filePathBuf.data()), currentIdx));
   std::ofstream of(newPath, std::ios::binary);
   activeFile = newPath;
   activeFileTv = currentTv;
@@ -350,3 +436,33 @@ void PersistentTmStore::getStartAndEndTimeCurrentOrLastDump(uint32_t& startTime,
   startTime = dumpParams.fromUnixTime;
   endTime = dumpParams.untilUnixTime;
 }
+
+ReturnValue_t PersistentTmStore::createFileName(timeval& tv, std::optional<uint8_t> suffix,
+                                                size_t& fullPathLength) {
+  unsigned currentIdx = basePathSize;
+  time_t epoch = tv.tv_sec;
+  struct tm* time = gmtime(&epoch);
+  size_t writtenBytes = strftime(reinterpret_cast<char*>(filePathBuf.data() + currentIdx),
+                                 filePathBuf.size(), config::FILE_DATE_FORMAT, time);
+  if (writtenBytes == 0) {
+    sif::error << "PersistentTmStore::createMostRecentFile: Could not create file timestamp"
+               << std::endl;
+    return returnvalue::FAILED;
+  }
+  currentIdx += writtenBytes;
+  char* res = strcpy(reinterpret_cast<char*>(filePathBuf.data() + currentIdx), ".bin");
+  if (res == nullptr) {
+    return returnvalue::FAILED;
+  }
+  currentIdx += 4;
+  if (suffix.has_value()) {
+    std::string fullSuffix = "." + std::to_string(suffix.value());
+    res = strcpy(reinterpret_cast<char*>(filePathBuf.data() + currentIdx), fullSuffix.c_str());
+    if (res == nullptr) {
+      return returnvalue::FAILED;
+    }
+    currentIdx += fullSuffix.size();
+  }
+  fullPathLength = currentIdx;
+  return returnvalue::OK;
+}

mission/tmtc/PersistentTmStore.h

@@ -10,6 +10,7 @@
 #include <mission/memory/SdCardMountedIF.h>
 
 #include <filesystem>
+#include <set>
 
 #include "eive/eventSubsystemIds.h"
 #include "eive/resultClassIds.h"
@@ -37,6 +38,14 @@ struct PersistentTmStoreArgs {
   SdCardMountedIF& sdcMan;
 };
 
+struct DumpIndex {
+  uint32_t epoch = 0;
+  // Number of additional files with a suffix like .0, .1 etc.
+  uint8_t additionalFiles = 0;
+  // Define a custom comparison function based on the epoch variable
+  bool operator<(const DumpIndex& other) const { return epoch < other.epoch; }
+};
+
 class PersistentTmStore : public TmStoreFrontendSimpleIF, public SystemObject {
  public:
   enum class State { IDLE, DUMPING };
@@ -96,7 +105,10 @@ class PersistentTmStore : public TmStoreFrontendSimpleIF, public SystemObject {
   std::string baseName;
   uint8_t currentSameSecNumber = 0;
   std::filesystem::path basePath;
+  // std::filesystem::path pathStart = basePath / baseName;
   uint32_t rolloverDiffSeconds = 0;
+  std::array<uint8_t, 524> filePathBuf{};
+  size_t basePathSize;
   std::array<uint8_t, MAX_FILESIZE> fileBuf{};
   timeval currentTv;
   timeval activeFileTv{};
@@ -106,8 +118,10 @@ class PersistentTmStore : public TmStoreFrontendSimpleIF, public SystemObject {
     uint32_t fromUnixTime = 0;
     uint32_t untilUnixTime = 0;
     uint32_t currentFileUnixStamp = 0;
-    std::filesystem::directory_iterator dirIter;
-    std::filesystem::directory_entry dirEntry;
+    std::filesystem::path currentFile;
+    std::set<DumpIndex> orderedDumpFilestamps{};
+    std::set<DumpIndex>::iterator dumpIter;
+    std::optional<uint8_t> currentSameFileIdx = 0;
     size_t fileSize = 0;
     size_t currentSize = 0;
   };
@@ -122,10 +136,13 @@ class PersistentTmStore : public TmStoreFrontendSimpleIF, public SystemObject {
   [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
 
   void calcDiffSeconds(RolloverInterval intervalUnit, uint32_t intervalCount);
+  ReturnValue_t buildDumpSet(uint32_t fromUnixSeconds, uint32_t upToUnixSeconds);
   ReturnValue_t createMostRecentFile(std::optional<uint8_t> suffix);
   static ReturnValue_t pathToTime(const std::filesystem::path& path, struct tm& time);
   void fileToPackets(const std::filesystem::path& path, uint32_t unixStamp);
   ReturnValue_t loadNextDumpFile();
+  ReturnValue_t createFileName(timeval& tv, std::optional<uint8_t> suffix, size_t& fullPathLength);
+  std::optional<uint8_t> extractSuffix(const std::string& pathStr);
   bool updateBaseDir();
   ReturnValue_t assignAndOrCreateMostRecentFile();
 };

mission/tmtc/PusLiveDemux.cpp

@@ -11,23 +11,20 @@ ReturnValue_t PusLiveDemux::demultiplexPackets(StorageManagerIF& tmStore,
   ReturnValue_t result = returnvalue::OK;
   for (unsigned int idx = 0; idx < destinations.size(); idx++) {
     const auto& dest = destinations[idx];
-    if (destinations.size() > 1) {
-      if (idx < destinations.size() - 1) {
-        // Create copy of data to ensure each TM recipient has its own copy. That way, we don't need
-        // to bother with send order and where the data is deleted.
-        store_address_t storeId;
-        result = tmStore.addData(&storeId, tmData, tmSize);
-        if (result == returnvalue::OK) {
-          message.setStorageId(storeId);
-        } else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::error << "PusLiveDemux::handlePacket: Store too full to create data copy"
-                     << std::endl;
-#endif
-        }
+    if ((destinations.size() > 1) and (idx < (destinations.size() - 1))) {
+      // Create copy of data to ensure each TM recipient has its own copy. That way, we don't need
+      // to bother with send order and where the data is deleted.
+      store_address_t storeId;
+      result = tmStore.addData(&storeId, tmData, tmSize);
+      if (result == returnvalue::OK) {
+        message.setStorageId(storeId);
       } else {
-        message.setStorageId(origStoreId);
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "PusLiveDemux::handlePacket: Store too full to create data copy" << std::endl;
+#endif
       }
+    } else {
+      message.setStorageId(origStoreId);
     }
     result = ownerQueue.sendMessage(dest.queueId, &message);
     if (result != returnvalue::OK) {

mission/tmtc/PusTmFunnel.cpp

@@ -1,5 +1,7 @@
 #include "PusTmFunnel.h"
 
+#include <limits>
+
 #include "eive/definitions.h"
 #include "eive/objects.h"
 #include "fsfw/ipc/CommandMessage.h"
@@ -11,8 +13,8 @@
 #include "tmtc/pusIds.h"
 
 PusTmFunnel::PusTmFunnel(TmFunnelBase::FunnelCfg cfg, StorageManagerIF &ramToFileStore,
-                         TimeReaderIF &timeReader, SdCardMountedIF &sdcMan)
-    : TmFunnelBase(cfg), ramToFileStore(ramToFileStore), timeReader(timeReader), sdcMan(sdcMan) {}
+                         TimeReaderIF &timeReader)
+    : TmFunnelBase(cfg), ramToFileStore(ramToFileStore), timeReader(timeReader) {}
 
 PusTmFunnel::~PusTmFunnel() = default;
 
@@ -21,6 +23,13 @@ ReturnValue_t PusTmFunnel::performOperation(uint8_t) {
   ReturnValue_t result;
   TmTcMessage currentMessage;
   unsigned int count = 0;
+  if (saveSequenceCount) {
+    result = saveSequenceCountToFile();
+    if (result != returnvalue::OK) {
+      sif::error << "PusTmFunnel: Storing sequence count to file has failed" << std::endl;
+    }
+    saveSequenceCount = false;
+  }
   result = tmQueue->receiveMessage(&currentMessage);
   while (result == returnvalue::OK) {
     result = handleTmPacket(currentMessage);
@@ -59,7 +68,33 @@ ReturnValue_t PusTmFunnel::handleTmPacket(TmTcMessage &message) {
     return result;
   }
   packet.setSequenceCount(sourceSequenceCount++);
+  // NOTE: This only works because the limit value bit width is below 16 bits!
   sourceSequenceCount = sourceSequenceCount % ccsds::LIMIT_SEQUENCE_COUNT;
+
+  // Message type counter handling.
+  uint8_t service = packet.getService();
+  bool insertionFailed = false;
+  auto mapIter = msgCounterMap.find(service);
+  if (mapIter == msgCounterMap.end()) {
+    auto iterPair = msgCounterMap.emplace(service, 0);
+    if (iterPair.second) {
+      mapIter = iterPair.first;
+    } else {
+      // Should really never never happen but you never know..
+      insertionFailed = true;
+    }
+  }
+  if (not insertionFailed) {
+    packet.setMessageCount(mapIter->second);
+    // Sane overflow handling.
+    if (mapIter->second == std::numeric_limits<uint16_t>::max()) {
+      mapIter->second = 0;
+    } else {
+      mapIter->second++;
+    }
+  }
+
+  // Re-calculate CRC after changing the fields. This operation HAS to come last!
   packet.updateErrorControl();
 
   // Send to persistent TM store if the packet matches some filter.

mission/tmtc/PusTmFunnel.h

@@ -9,6 +9,8 @@
 #include <mission/tmtc/PusTmRouteByFilterHelper.h>
 #include <mission/tmtc/TmFunnelBase.h>
 
+#include <atomic>
+#include <map>
 #include <vector>
 
 #include "PersistentTmStore.h"
@@ -25,7 +27,7 @@
 class PusTmFunnel : public TmFunnelBase {
  public:
   PusTmFunnel(TmFunnelBase::FunnelCfg cfg, StorageManagerIF &ramToFileStore,
-              TimeReaderIF &timeReader, SdCardMountedIF &sdcMan);
+              TimeReaderIF &timeReader);
   [[nodiscard]] const char *getName() const override;
   ~PusTmFunnel() override;
 
@@ -36,11 +38,10 @@ class PusTmFunnel : public TmFunnelBase {
   // Update TV stamp every 5 minutes
   static constexpr dur_millis_t TV_UPDATE_INTERVAL_SECS = 60 * 5;
 
-  uint16_t sourceSequenceCount = 0;
+  std::map<uint8_t, uint16_t> msgCounterMap;
   StorageManagerIF &ramToFileStore;
   TimeReaderIF &timeReader;
   bool storesInitialized = false;
-  SdCardMountedIF &sdcMan;
   PusTmRouteByFilterHelper persistentTmMap;
 
   ReturnValue_t handleTmPacket(TmTcMessage &message);

mission/tmtc/TmFunnelBase.cpp

@@ -2,6 +2,10 @@
 
 #include <fsfw/tmtcservices/TmTcMessage.h>
 
+#include <atomic>
+#include <filesystem>
+#include <fstream>
+
 #include "fsfw/ipc/QueueFactory.h"
 
 TmFunnelBase::TmFunnelBase(FunnelCfg cfg)
@@ -10,7 +14,10 @@ TmFunnelBase::TmFunnelBase(FunnelCfg cfg)
       tmStore(cfg.tmStore),
       ipcStore(cfg.ipcStore),
       tmQueue(QueueFactory::instance()->createMessageQueue(cfg.tmMsgDepth)),
-      liveDemux(*tmQueue) {}
+      liveDemux(*tmQueue),
+      sdcMan(cfg.sdcMan),
+      sequenceCounterFilename(cfg.sequenceCounterFilename),
+      saveSequenceCount(cfg.saveSequenceCount) {}
 
 ReturnValue_t TmFunnelBase::demultiplexLivePackets(store_address_t origStoreId,
                                                    const uint8_t *tmData, size_t tmSize) {
@@ -27,3 +34,38 @@ void TmFunnelBase::addLiveDestination(const char *name,
                                       const AcceptsTelemetryIF &downlinkDestination, uint8_t vcid) {
   liveDemux.addDestination(name, downlinkDestination, vcid);
 }
+
+ReturnValue_t TmFunnelBase::initialize() {
+  using namespace std::filesystem;
+  // The filesystem should always be available at the start.. Let's assume it always is, otherwise
+  // we just live with a regular 0 initialization. It simplifies a lot.
+  std::error_code e;
+  path filePath =
+      path(path(sdcMan.getCurrentMountPrefix()) / path("conf") / path(sequenceCounterFilename));
+  if (exists(filePath, e)) {
+    std::ifstream ifile(filePath);
+    if (ifile.bad()) {
+      sif::error << "TmFunnelBase::initialize: Faulty file open for sequence counter initialization"
+                 << std::endl;
+      return returnvalue::OK;
+    }
+    if (not(ifile >> sourceSequenceCount)) {
+      // Initialize to 0 in any case if reading a number failed.
+      sourceSequenceCount = 0;
+    }
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t TmFunnelBase::saveSequenceCountToFile() {
+  using namespace std::filesystem;
+  std::error_code e;
+  path filePath =
+      path(path(sdcMan.getCurrentMountPrefix()) / path("conf") / path(sequenceCounterFilename));
+  std::ofstream ofile(filePath);
+  if (ofile.bad()) {
+    return returnvalue::FAILED;
+  }
+  ofile << sourceSequenceCount << "\n";
+  return returnvalue::OK;
+}

mission/tmtc/TmFunnelBase.h

@@ -6,25 +6,34 @@
 #include <fsfw/tmstorage/TmStoreFrontendSimpleIF.h>
 #include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
 #include <fsfw/tmtcservices/TmTcMessage.h>
+#include <mission/memory/SdCardMountedIF.h>
 #include <mission/tmtc/PusLiveDemux.h>
 
+#include <atomic>
 #include <vector>
 
 class TmFunnelBase : public AcceptsTelemetryIF, public SystemObject {
  public:
   struct FunnelCfg {
     FunnelCfg(object_id_t objId, const char* name, StorageManagerIF& tmStore,
-              StorageManagerIF& ipcStore, uint32_t tmMsgDepth)
+              StorageManagerIF& ipcStore, uint32_t tmMsgDepth, SdCardMountedIF& sdcMan,
+              const char* sequenceCounterFilename, std::atomic_bool& saveSequenceCount)
         : objectId(objId),
           name(name),
           tmStore(tmStore),
           ipcStore(ipcStore),
-          tmMsgDepth(tmMsgDepth) {}
+          tmMsgDepth(tmMsgDepth),
+          sdcMan(sdcMan),
+          sequenceCounterFilename(sequenceCounterFilename),
+          saveSequenceCount(saveSequenceCount) {}
     object_id_t objectId;
     const char* name;
     StorageManagerIF& tmStore;
     StorageManagerIF& ipcStore;
     uint32_t tmMsgDepth;
+    SdCardMountedIF& sdcMan;
+    const char* sequenceCounterFilename;
+    std::atomic_bool& saveSequenceCount;
   };
   explicit TmFunnelBase(FunnelCfg cfg);
   [[nodiscard]] MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const override;
@@ -32,6 +41,9 @@ class TmFunnelBase : public AcceptsTelemetryIF, public SystemObject {
                           uint8_t vcid = 0);
   ReturnValue_t demultiplexLivePackets(store_address_t origStoreId, const uint8_t* tmData,
                                        size_t tmSize);
+  ReturnValue_t initialize() override;
+
+  ReturnValue_t saveSequenceCountToFile();
 
   ~TmFunnelBase() override;
 
@@ -41,6 +53,10 @@ class TmFunnelBase : public AcceptsTelemetryIF, public SystemObject {
   StorageManagerIF& ipcStore;
   MessageQueueIF* tmQueue = nullptr;
   PusLiveDemux liveDemux;
+  SdCardMountedIF& sdcMan;
+  const char* sequenceCounterFilename;
+  std::atomic_bool& saveSequenceCount;
+  uint16_t sourceSequenceCount = 0;
 };
 
 #endif /* MISSION_TMTC_TMFUNNELBASE_H_ */

release-checklist.md

@@ -7,7 +7,9 @@ OBSW Release Checklist
 2. Re-run the generators with `generators/gen.py all`
 3. Re-run the auto-formatters with the `scripts/auto-formatter.sh` script
 4. Verify that the Q7S, Q7S EM and Host build are working
-5. Wait for CI/CD results
+5. Update `CHANGELOG.md`: Add new `unreleased` section, convert old unreleased section to
+   header containing version number and release date.
+6. Wait for CI/CD results
 
 # Post-Release
 

unittest/CMakeLists.txt

@@ -4,7 +4,7 @@ add_subdirectory(mocks)
 target_sources(${UNITTEST_NAME} PRIVATE
     main.cpp
     testEnvironment.cpp
-    testStampInFilename.cpp
+    testGenericFilesystem.cpp
     hdlcEncodingRw.cpp
     printChar.cpp
 )

unittest/controller/testThermalController.cpp

@@ -30,7 +30,8 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
 
   // testEnvironment::initialize();
 
-  ThermalController controller(THERMAL_CONTROLLER_ID, *heaterHandler, tcsBrdShortlyUnavailable);
+  ThermalController controller(THERMAL_CONTROLLER_ID, *heaterHandler, tcsBrdShortlyUnavailable,
+                               true);
   ReturnValue_t result = controller.initialize();
   REQUIRE(result == returnvalue::OK);