Merge pull request 'create a v5.0.0 snapshot' (#714) from prep_v5.0.0-release into main

Reviewed-on: #714

CHANGELOG.md

@@ -16,7 +16,116 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
-# [v4.0.0] to be released
+# [v6.0.0] to be released
+
+- Important bugfixes for PTME. See `q7s-package` CHANGELOG.
+
+# [v5.1.0] to be released
+
+# [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

@@ -9,7 +9,7 @@
 # ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
-set(OBSW_VERSION_MAJOR 3)
+set(OBSW_VERSION_MAJOR 5)
 set(OBSW_VERSION_MINOR 0)
 set(OBSW_VERSION_REVISION 0)
 

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 296 translations.
  * @details
- * Generated on: 2023-05-17 17:15:34
+ * Generated on: 2023-06-21 19:01:02
  */
 #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";
@@ -847,6 +848,8 @@ 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):

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: 2023-06-21 19:01:02
  */
 #include "translateObjects.h"
 

bsp_q7s/boardconfig/busConf.h

@@ -23,6 +23,7 @@ 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 +58,7 @@ 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";
@@ -82,6 +84,7 @@ 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";
@@ -90,6 +93,7 @@ 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/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"
@@ -169,6 +171,8 @@ ReturnValue_t CoreController::initialize() {
   sdStateMachine();
 
   triggerEvent(core::REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
+  announceCurrentImageInfo();
+  announceVersionInfo();
   EventManagerIF *eventManager =
       ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
   if (eventManager == nullptr or eventQueue == nullptr) {
@@ -185,6 +189,16 @@ ReturnValue_t CoreController::initialize() {
   if (result != returnvalue::OK) {
     sif::warning << "Subscribing for GPS GPS_FIX_CHANGE event failed" << std::endl;
   }
+
+  if (common::OBSW_VERSION_MAJOR >= 6 or common::OBSW_VERSION_MAJOR == 4) {
+    UioMapper sysRomMapper(q7s::UIO_SYS_ROM);
+    result = sysRomMapper.getMappedAdress(&mappedSysRomAddr, UioMapper::Permissions::READ_ONLY);
+    if (result != returnvalue::OK) {
+      // TODO: This might be a reason to switch to another image..
+      sif::error << "Getting mapped SYS ROM UIO address failed" << std::endl;
+      return ObjectManager::CHILD_INIT_FAILED;
+    }
+  }
   return returnvalue::OK;
 }
 
@@ -210,19 +224,7 @@ 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 +232,7 @@ 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 +248,9 @@ 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 +323,38 @@ 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 +449,11 @@ 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 +1211,7 @@ 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;
 }
 
@@ -1251,10 +1228,15 @@ ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy co
   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 +1525,8 @@ void CoreController::performMountedSdCardOperations() {
       if (not timeFileInitDone) {
         initClockFromTimeFile();
       }
-      performRebootFileHandling(false);
+      performRebootWatchdogHandling(false);
+      performRebootCountersHandling(false);
     }
     backupTimeFileHandler();
   };
@@ -1615,118 +1598,127 @@ 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 +1806,7 @@ 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 +1988,174 @@ 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 +2442,12 @@ 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 +2505,80 @@ 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);
+
+  if (common::OBSW_VERSION_MAJOR >= 6 or common::OBSW_VERSION_MAJOR == 4) {
+    if (mappedSysRomAddr != nullptr) {
+      uint32_t p1Firmware = *(reinterpret_cast<uint32_t *>(mappedSysRomAddr));
+      uint32_t p2Firmware = *(reinterpret_cast<uint32_t *>(mappedSysRomAddr) + 1);
+      triggerEvent(FIRMWARE_INFO, p1Firmware, p2Firmware);
+    }
+  }
+}
+
+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

@@ -6,6 +6,7 @@
 #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>
@@ -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/ObjectFactory.cpp

@@ -2,6 +2,7 @@
 
 #include <fsfw/devicehandlers/HealthDevice.h>
 #include <fsfw/subsystem/Subsystem.h>
+#include <fsfw/tasks/TaskFactory.h>
 #include <linux/acs/AcsBoardPolling.h>
 #include <linux/acs/GpsHyperionLinuxController.h>
 #include <linux/acs/ImtqPollingTask.h>
@@ -505,7 +506,7 @@ 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);
@@ -764,6 +765,7 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
   VirtualChannelIF* vc3 =
       new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_BUSY, 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);
@@ -1025,3 +1027,21 @@ 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);
+  }
+}

bsp_q7s/core/ObjectFactory.h

@@ -78,6 +78,7 @@ ReturnValue_t createCcsdsComponents(CcsdsComponentArgs& args);
 void createMiscComponents();
 
 void createTestComponents(LinuxLibgpioIF* gpioComIF);
+void createPlI2cResetGpio(LinuxLibgpioIF* gpioComIF);
 
 void testAcsBrdAss(AcsBoardAssembly* assAss);
 

bsp_q7s/em/emObjectFactory.cpp

@@ -47,6 +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);
 
   // Hardware is usually not connected to EM, so we need to create dummies which replace lower
   // level components.
@@ -83,21 +84,6 @@ 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);
-
 #if OBSW_ADD_ACS_BOARD == 1
   // Still initialize chip select to avoid SPI bus issues.
   createRadSensorChipSelect(gpioComIF);

bsp_q7s/fmObjectFactory.cpp

@@ -45,6 +45,7 @@ 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);

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,
 
@@ -93,7 +95,6 @@ enum gpioId_t {
   EN_RW_CS,
 
   SPI_MUX,
-
   VC0_PAPB_EMPTY,
   VC0_PAPB_BUSY,
   VC1_PAPB_EMPTY,

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/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});
 

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

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

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 295 translations.
+ * @brief    Auto-generated event translation file. Contains 296 translations.
  * @details
- * Generated on: 2023-05-17 17:15:34
+ * Generated on: 2023-06-21 19:01:02
  */
 #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";
@@ -847,6 +848,8 @@ 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):

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: 2023-06-21 19:01:02
  */
 #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 296 translations.
  * @details
- * Generated on: 2023-05-17 17:15:34
+ * Generated on: 2023-06-21 19:01:02
  */
 #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";
@@ -847,6 +848,8 @@ 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):

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: 2023-06-21 19:01:02
  */
 #include "translateObjects.h"
 

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>
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 					<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/controller/ThermalController.cpp

@@ -1002,7 +1002,7 @@ void ThermalController::copyDevices() {
 
 void ThermalController::ctrlAcsBoard() {
   heater::Switch switchNr = heater::HEATER_2_ACS_BRD;
-  heater::Switch redSwitchNr = heater::HEATER_0_OBC_BRD;
+  heater::Switch redSwitchNr = heater::HEATER_3_OBC_BRD;
 
   // A side
   thermalComponent = ACS_BOARD;
@@ -1067,7 +1067,7 @@ void ThermalController::ctrlMgt() {
   sensors[2].first = sensorTemperatures.plpcduHeatspreader.isValid();
   sensors[2].second = sensorTemperatures.plpcduHeatspreader.value;
   numSensors = 3;
-  HeaterContext htrCtx(heater::HEATER_2_ACS_BRD, heater::HEATER_3_PCDU_PDU, mgtLimits);
+  HeaterContext htrCtx(heater::HEATER_2_ACS_BRD, heater::HEATER_1_PCDU_PDU, mgtLimits);
   ctrlComponentTemperature(htrCtx);
   if (componentAboveUpperLimit and not mgtTooHotFlag) {
     triggerEvent(tcsCtrl::MGT_OVERHEATING, tempFloatToU32());
@@ -1206,7 +1206,7 @@ void ThermalController::ctrlIfBoard() {
   sensors[2].first = deviceTemperatures.mgm2SideB.isValid();
   sensors[2].second = deviceTemperatures.mgm2SideB.value;
   numSensors = 3;
-  HeaterContext htrCtx(heater::HEATER_2_ACS_BRD, heater::HEATER_3_PCDU_PDU, ifBoardLimits);
+  HeaterContext htrCtx(heater::HEATER_2_ACS_BRD, heater::HEATER_1_PCDU_PDU, ifBoardLimits);
   ctrlComponentTemperature(htrCtx);
   // TODO: special event overheating + could go back to safe mode
 }
@@ -1220,7 +1220,7 @@ void ThermalController::ctrlTcsBoard() {
   sensors[2].first = sensorTemperatures.tmp1075Tcs1.isValid();
   sensors[2].second = sensorTemperatures.tmp1075Tcs1.value;
   numSensors = 3;
-  HeaterContext htrCtx(heater::HEATER_0_OBC_BRD, heater::HEATER_2_ACS_BRD, tcsBoardLimits);
+  HeaterContext htrCtx(heater::HEATER_3_OBC_BRD, heater::HEATER_2_ACS_BRD, tcsBoardLimits);
   ctrlComponentTemperature(htrCtx);
   // TODO: special event overheating + could go back to safe mode
 }
@@ -1234,7 +1234,7 @@ void ThermalController::ctrlObc() {
   sensors[2].first = sensorTemperatures.tmp1075Tcs0.isValid();
   sensors[2].second = sensorTemperatures.tmp1075Tcs0.value;
   numSensors = 3;
-  HeaterContext htrCtx(heater::HEATER_0_OBC_BRD, heater::HEATER_2_ACS_BRD, obcLimits);
+  HeaterContext htrCtx(heater::HEATER_3_OBC_BRD, heater::HEATER_2_ACS_BRD, obcLimits);
   ctrlComponentTemperature(htrCtx);
   if (componentAboveUpperLimit and not obcTooHotFlag) {
     triggerEvent(tcsCtrl::OBC_OVERHEATING, tempFloatToU32());
@@ -1253,7 +1253,7 @@ void ThermalController::ctrlObcIfBoard() {
   sensors[2].first = sensorTemperatures.tmp1075Tcs1.isValid();
   sensors[2].second = sensorTemperatures.tmp1075Tcs1.value;
   numSensors = 3;
-  HeaterContext htrCtx(heater::HEATER_0_OBC_BRD, heater::HEATER_2_ACS_BRD, obcIfBoardLimits);
+  HeaterContext htrCtx(heater::HEATER_3_OBC_BRD, heater::HEATER_2_ACS_BRD, obcIfBoardLimits);
   ctrlComponentTemperature(htrCtx);
   if (componentAboveUpperLimit and not obcTooHotFlag) {
     triggerEvent(tcsCtrl::OBC_OVERHEATING, tempFloatToU32());
@@ -1288,7 +1288,7 @@ void ThermalController::ctrlPcduP60Board() {
   sensors[1].first = deviceTemperatures.temp2P60dock.isValid();
   sensors[1].second = deviceTemperatures.temp2P60dock.value;
   numSensors = 2;
-  HeaterContext htrCtx(heater::HEATER_3_PCDU_PDU, heater::HEATER_2_ACS_BRD, pcduP60BoardLimits);
+  HeaterContext htrCtx(heater::HEATER_1_PCDU_PDU, heater::HEATER_2_ACS_BRD, pcduP60BoardLimits);
   ctrlComponentTemperature(htrCtx);
   if (componentAboveUpperLimit and not pcduSystemTooHotFlag) {
     triggerEvent(tcsCtrl::PCDU_SYSTEM_OVERHEATING, tempFloatToU32());
@@ -1300,7 +1300,7 @@ void ThermalController::ctrlPcduP60Board() {
 
 void ThermalController::ctrlPcduAcu() {
   thermalComponent = PCDUACU;
-  heater::Switch switchNr = heater::HEATER_3_PCDU_PDU;
+  heater::Switch switchNr = heater::HEATER_1_PCDU_PDU;
   heater::Switch redSwitchNr = heater::HEATER_2_ACS_BRD;
 
   if (chooseHeater(switchNr, redSwitchNr)) {
@@ -1340,7 +1340,7 @@ void ThermalController::ctrlPcduPdu() {
   sensors[2].first = sensorTemperatures.tmp1075Tcs0.isValid();
   sensors[2].second = sensorTemperatures.tmp1075Tcs0.value;
   numSensors = 3;
-  HeaterContext htrCtx(heater::HEATER_3_PCDU_PDU, heater::HEATER_2_ACS_BRD, pcduPduLimits);
+  HeaterContext htrCtx(heater::HEATER_1_PCDU_PDU, heater::HEATER_2_ACS_BRD, pcduPduLimits);
   ctrlComponentTemperature(htrCtx);
   if (componentAboveUpperLimit and not pcduSystemTooHotFlag) {
     triggerEvent(tcsCtrl::PCDU_SYSTEM_OVERHEATING, tempFloatToU32());
@@ -1361,7 +1361,7 @@ void ThermalController::ctrlPlPcduBoard() {
   sensors[3].first = sensorTemperatures.plpcduHeatspreader.isValid();
   sensors[3].second = sensorTemperatures.plpcduHeatspreader.value;
   numSensors = 4;
-  HeaterContext htrCtx(heater::HEATER_3_PCDU_PDU, heater::HEATER_2_ACS_BRD, plPcduBoardLimits);
+  HeaterContext htrCtx(heater::HEATER_1_PCDU_PDU, heater::HEATER_2_ACS_BRD, plPcduBoardLimits);
   ctrlComponentTemperature(htrCtx);
   tooHotHandler(objects::PLPCDU_HANDLER, eBandTooHotFlag);
 }
@@ -1375,7 +1375,7 @@ void ThermalController::ctrlPlocMissionBoard() {
   sensors[2].first = sensorTemperatures.dacHeatspreader.isValid();
   sensors[2].second = sensorTemperatures.dacHeatspreader.value;
   numSensors = 3;
-  HeaterContext htrCtx(heater::HEATER_1_PLOC_PROC_BRD, heater::HEATER_0_OBC_BRD,
+  HeaterContext htrCtx(heater::HEATER_0_PLOC_PROC_BRD, heater::HEATER_3_OBC_BRD,
                        plocMissionBoardLimits);
   ctrlComponentTemperature(htrCtx);
   tooHotHandler(objects::PLOC_SUPERVISOR_HANDLER, plocTooHotFlag);
@@ -1390,7 +1390,7 @@ void ThermalController::ctrlPlocProcessingBoard() {
   sensors[2].first = sensorTemperatures.dacHeatspreader.isValid();
   sensors[2].second = sensorTemperatures.dacHeatspreader.value;
   numSensors = 3;
-  HeaterContext htrCtx(heater::HEATER_1_PLOC_PROC_BRD, heater::HEATER_0_OBC_BRD,
+  HeaterContext htrCtx(heater::HEATER_0_PLOC_PROC_BRD, heater::HEATER_3_OBC_BRD,
                        plocProcessingBoardLimits);
   ctrlComponentTemperature(htrCtx);
   tooHotHandler(objects::PLOC_SUPERVISOR_HANDLER, plocTooHotFlag);
@@ -1405,7 +1405,7 @@ void ThermalController::ctrlDac() {
   sensors[2].first = sensorTemperatures.plocHeatspreader.isValid();
   sensors[2].second = sensorTemperatures.plocHeatspreader.value;
   numSensors = 3;
-  HeaterContext htrCtx(heater::HEATER_1_PLOC_PROC_BRD, heater::HEATER_0_OBC_BRD, dacLimits);
+  HeaterContext htrCtx(heater::HEATER_0_PLOC_PROC_BRD, heater::HEATER_3_OBC_BRD, dacLimits);
   ctrlComponentTemperature(htrCtx);
   tooHotHandler(objects::PLPCDU_HANDLER, eBandTooHotFlag);
 }

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/genericFactory.cpp

@@ -238,7 +238,7 @@ 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);

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

@@ -41,9 +41,13 @@ 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 +55,7 @@ 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 +118,10 @@ 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 +251,22 @@ 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/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

@@ -86,8 +86,11 @@ 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()

mission/tcs/defs.h

@@ -5,10 +5,10 @@
 
 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,

mission/tmtc/PersistentTmStore.cpp

@@ -268,6 +268,10 @@ ReturnValue_t PersistentTmStore::getNextDumpPacket(PusTmReader& reader, bool& fi
     // 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);
+    if (dumpParams.dirEntry.path() == activeFile) {
+      activeFile == std::nullopt;
+      assignAndOrCreateMostRecentFile();
+    }
     fileHasSwapped = true;
     return loadNextDumpFile();
   }

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) {

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/rebootLogic/src/CoreController.cpp

@@ -19,116 +19,117 @@ CoreController::CoreController() {
   setCurrentBootCopy(xsc::CHIP_0, xsc::COPY_0);
 }
 
-void CoreController::performRebootFileHandling(bool recreateFile) {
+void CoreController::performRebootWatchdogHandling(bool recreateFile) {
   using namespace std;
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
+  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_WATCHDOG_FILE;
   if (not std::filesystem::exists(path) or recreateFile) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "CoreController::performRebootFileHandling: Recreating reboot file" << std::endl;
 #endif
-    rebootFile.enabled = true;
-    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 = true;
+    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);
     }
   }
 
   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 p2 = rebootFile.img00Cnt << 24 | rebootFile.img01Cnt << 16 | rebootFile.img10Cnt << 8 |
-                  rebootFile.img11Cnt;
+    uint32_t p1 = rebootWatchdogFile.lastChip << 16 | rebootWatchdogFile.lastCopy;
+    uint32_t p2 = rebootWatchdogFile.img00Cnt << 24 | rebootWatchdogFile.img01Cnt << 16 |
+                  rebootWatchdogFile.img10Cnt << 8 | rebootWatchdogFile.img11Cnt;
     triggerEvent(REBOOT_MECHANISM_TRIGGERED, p1, p2);
     // Clear the boot flag
-    rebootFile.bootFlag = false;
+    rebootWatchdogFile.bootFlag = false;
   }
 
-  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);
+    determineAndExecuteReboot(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);
+      rebootWatchdogFile.mechanismNextChip = tgtChip;
+      rebootWatchdogFile.mechanismNextCopy = tgtCopy;
+      rewriteRebootWatchdogFile(rebootWatchdogFile);
       xsc_boot_copy(static_cast<xsc_libnor_chip_t>(tgtChip),
                     static_cast<xsc_libnor_copy_t>(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,
+void CoreController::determineAndExecuteReboot(RebootWatchdogFile &rf, bool &needsReboot,
                                                xsc::Chip &tgtChip, xsc::Copy &tgtCopy) {
   tgtChip = xsc::CHIP_0;
   tgtCopy = xsc::COPY_0;
@@ -217,7 +218,7 @@ 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) {
@@ -400,34 +401,34 @@ bool CoreController::parseRebootFile(std::string path, RebootFile &rf) {
 }
 
 void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
+  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_WATCHDOG_FILE;
   // Disable the reboot file mechanism
-  parseRebootFile(path, rebootFile);
+  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 = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
+void CoreController::rewriteRebootWatchdogFile(RebootWatchdogFile file) {
+  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_WATCHDOG_FILE;
   std::ofstream rebootFile(path);
   if (rebootFile.is_open()) {
     // Initiate reboot file first. Reboot handling will be on on initialization
@@ -450,15 +451,15 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       if (size < 1) {
         return HasActionsIF::INVALID_PARAMETERS;
       }
-      std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
+      std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_WATCHDOG_FILE;
       // Disable the reboot file mechanism
-      parseRebootFile(path, rebootFile);
+      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;
       }
@@ -490,11 +491,11 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       if (size < 1) {
         return HasActionsIF::INVALID_PARAMETERS;
       }
-      std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
+      std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + 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;
     }
     default: {
@@ -504,23 +505,23 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
 }
 
 void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy) {
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
+  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_WATCHDOG_FILE;
   // Disable the reboot file mechanism
-  parseRebootFile(path, rebootFile);
+  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);
 }
 
 void CoreController::setCurrentBootCopy(xsc::Chip chip, xsc::Copy copy) {

unittest/rebootLogic/src/CoreController.h

@@ -14,7 +14,7 @@ enum Copy : int { COPY_0, COPY_1, NO_COPY, SELF_COPY, ALL_COPY };
 
 }  // namespace xsc
 
-struct RebootFile {
+struct RebootWatchdogFile {
   static constexpr uint8_t DEFAULT_MAX_BOOT_CNT = 10;
 
   bool enabled = true;
@@ -39,7 +39,7 @@ class SdCardManager;
 
 class CoreController {
  public:
-  static constexpr char REBOOT_FILE[] = "/conf/reboot.txt";
+  static constexpr char REBOOT_WATCHDOG_FILE[] = "/conf/reboot.txt";
   //! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
   //! P1: First 16 bits: Last Chip, Last 16 bits: Last Copy,
   //! P2: Each byte is the respective reboot count for the slots
@@ -57,13 +57,13 @@ class CoreController {
   static void setCurrentBootCopy(xsc::Chip chip, xsc::Copy copy);
   ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                               const uint8_t* data, size_t size);
-  void performRebootFileHandling(bool recreateFile);
-  void determineAndExecuteReboot(RebootFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
+  void performRebootWatchdogHandling(bool recreateFile);
+  void determineAndExecuteReboot(RebootWatchdogFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
                                  xsc::Copy& tgtCopy);
   void setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy);
   void resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy);
-  bool parseRebootFile(std::string path, RebootFile& file);
-  void rewriteRebootFile(RebootFile file);
+  bool parseRebootWatchdogFile(std::string path, RebootWatchdogFile& file);
+  void rewriteRebootWatchdogFile(RebootWatchdogFile file);
 
  private:
   struct SdFsmParams {
@@ -74,6 +74,6 @@ class CoreController {
   } sdInfo;
 
   SdCardManager* sdcMan = nullptr;
-  RebootFile rebootFile = {};
+  RebootWatchdogFile rebootWatchdogFile = {};
   bool doPerformRebootFileHandling = true;
 };