Merge pull request 'prep v6.5.0' (#792) from prep_v6.5.0 into main

Reviewed-on: #792

.idea/cmake.xml

@@ -2,7 +2,7 @@
 <project version="4">
   <component name="CMakeSharedSettings">
     <configurations>
-      <configuration PROFILE_NAME="Debug Q7S" ENABLED="true" CONFIG_NAME="Debug" TOOLCHAIN_NAME="Q7S" GENERATION_OPTIONS="-DTGT_BSP=&quot;arm/q7s&quot;" NO_GENERATOR="true">
+      <configuration PROFILE_NAME="Debug Q7S" ENABLED="true" CONFIG_NAME="Debug" TOOLCHAIN_NAME="Default" GENERATION_OPTIONS="-DTGT_BSP=&quot;arm/q7s&quot;" NO_GENERATOR="true">
         <ADDITIONAL_GENERATION_ENVIRONMENT>
           <envs>
             <env name="ZYNQ_7020_ROOTFS" value="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi" />
@@ -10,6 +10,7 @@
           </envs>
         </ADDITIONAL_GENERATION_ENVIRONMENT>
       </configuration>
+      <configuration PROFILE_NAME="Debug" ENABLED="true" CONFIG_NAME="Debug" NO_GENERATOR="true" />
     </configurations>
   </component>
 </project>

CHANGELOG.md

@@ -16,11 +16,239 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
-# [v6.0.0] to be released
+# [v6.5.0] 2023-09-12
 
+## Changed
+
+- Relaxed SUS FDIR. The devices have shown to be glitchy in orbit, but still seem to deliver
+  sensible raw values most of the time. Some further testing is necessary, but some changes in the
+  code should cause the SUS devices to remain healthy for now.
+- The primary and the secondary temperature sensors for the PLOC mission boards are exchanged.
+- ACS parameters for the SUSMGM (FLP) safe mode have been adjusted. This safe mode is now the
+  default one.
+- MGM3100 Startup Configuration: Ignore bit 1 of the CMM reply, which is sometimes set to
+  1 in the reply for some reason.
+
+# [v6.4.1] 2023-08-21
+
+## Fixed
+
+- `PDEC_CONFIG_CORRUPTED` event now actually contains the readback instead of the expected
+  config
+- Magnetic field vector was not calculated if only MGM4 was available, but still written to
+  the dataset. This would result in a NaN vector. Allowance for usage of MGM4 is now checked
+  before entering calculation.
+
+# [v6.4.0] 2023-08-16
+
+- `eive-tmtc`: v5.4.3
+
+## Fixed
+
+- The handling function of the GPS data is only called once per GPS read. This should remove
+  the fake fix-has-changed events.
+- Fix for PLOC SUPV HK set parsing.
+- The timestamp for the `POSSIBLE_FILE_CORRUPTION` event will be generated properly now.
+
+## Changed
+
+- PDEC FDIR rework: A full PDEC reboot will now only be performed after a regular PDEC reset has
+  failed 10 times. The mechanism will reset after no PDEC reset has happended for 2 minutes.
+  The PDEC reset will be performed when counting 4 dirty frame events 10 seconds after the count
+  was incremented initially.
+- GPS Fix has changed event is no longer triggered for the EM
+- MGM and SUS rates now will only be calculated, if 2 valid consecutive datapoints are available.
+  The stored value of the last timestep will now be reset, if no actual value is available.
+
+## Added
+
+- The PLOC SUPV HK set is requested and downlinked periodically if the SUPV is on now.
+- SGP4 Propagator is now used for propagating the position of EIVE. It will only work once
+  a TLE has been uploaded with the newly added action command for the ACS Controller. In
+  return the actual GPS data will be ignored once SPG4 is running. However, by setting the
+  according parameter, the ACS Controller can be directed to ignore the SGP4 solution.
+- Skyview dataset for more GPS TM has been added
+- `PDEC_CONFIG_CORRUPTED` event which is triggered when the PDEC configuration does not match the
+  expected configuration. P1 will contain the readback of the first word and P2 will contain the
+  readback of the second word.
+- The MGM and SUS vectors being too close together does not prevent the usage of the safe
+  mode controller anymore.
+- Parameter to disable usage of MGM4, which is part of the MTQ and therefore cannot be
+  disabled without disabling the MTQ itself.
+
+# [v6.3.0] 2023-08-03
+
+## Fixed
+
+- Small SCEX fix: The temperatur check option was not passed
+  on for commands with a user data size larger than 1.
+- SCEX: Properly check whether filesystem is usable for filesystem checks.
+- ACS Controller strategy is now actually written to the dataset for detumbling.
+- During detumble the fused rotation rate is now calculated.
+- Detumbling is now exited when its exit value is undercut and not its entry value.
+- Rotation rate of last cycle is now stored in all cases for the fused rotational rate
+  calculation.
+- Fused rotation rate estimation during eclipse can be disabled. This will also prevent
+  detumbling during eclipse, as no relevant rotational rate is available for now.
+- `EiveSystem`: Add a small delay between triggering an event for FDIR reboots and sending the
+  command to the core controller.
+- PL PDU: Fixed bounds checking logic. Bound checks will only be performed for modules which are
+  enabled.
+
+## Changed
+
+- SCEX: Only perform filesystem checks when not in OFF mode.
+- The `EiveSystem` now only sends reboot commands targetting the same image.
+- Added 200 ms delay between switching HPA/MPA/TX/X8 and DRO GPIO pin OFF.
+- PL PCDU ADC set is now automatically enabled for `NORMAL` mode transitions. It is automatically
+  disabled for `OFF` mode transitions.
+
+## Added
+
+- PL PCDU for EM build.
+- SCEX: Add warning event if filesystem is unusable.
+
+# [v6.2.0] 2023-07-26
+
+- `eive-tmtc`: v5.3.1
+
+## Changed
+
+- STR missed reply handling is now moved to DHB rather than the COM interface. The COM IF will
+  still trigger an event if a reply is taking too long, and FDIR should still work via reply
+  timeouts.
+- Re-ordered some functions of the core controller in the initialize function.
+- Rad sensor is now only polled every 30 minutes instead of every device cycle to reduce wear of
+  the RADFET electronics.
+- The SD cards will still be switched OFF on a reboot, but this is done in a non-blocking manner
+  now with a timeout of 10 seconds where the reboot will be performed in any case.
+- ACS Controller now includes the safe mode from FLP, which will calculate its rotational rate
+  from SUS and MGM measurements. To accommodate these changes, low-pass filters for SUS
+  measurements and rates as well as MGM measurements and rates are included. Usage of the new
+  controller as well as settings of the low-pass filters can be handled via parameter commands.
+- Simplify and fix the chip and copy protection functions in the core controller. This mechanism
+  now is always performed for the target chip and target copy in the reboot handlers.
+- Improvement in FSFW: HK generation is now countdown based.
+
+## Added
+
+- 5 ms delay after pulling RADFET enable pin high before starting
+  the ADC conversion.
+- Set STR time in configuration sequence to firmware mode.
+- The STR `AutoThreshold` parameters are now set from the configuration JSON file at STR
+  startup.
+- The STR handler can now handle the COM error reply and triggers an low severity event accordingly.
+- Add SCEX handler for EM.
+- Radiation sensor handler dummy for the EM.
+- Added event for SD card information in core controller initialize function. This event will also
+  be triggered after the SD state machine has run, so the event will generally be triggered twice
+  at system boot, and once after commanding SD card switches.
+
+## Fixed
+
+- General bugs in the SD card state machine. This might fix some other known bugs for certain
+  combinations of switching ON and OFF SD cards and also makes the whole state machine a lot more
+  robust against hanging up.
+- SUS dummy handler went to `MODE_NORMAL` for ON commands.
+- PL PCDU dummy went to `MODE_NORMAL` for ON commands.
+
+# [v6.1.0] 2023-07-13
+
+- `eive-tmtc`: v5.2.0
+
+## Changed
+
+- TCS: Remove OBC IF board thermal module, which is exactly identical to OBC module and therefore
+  obsolete.
+- Swapped PL and PS I2C, BPX battery and MGT are connected to PS I2C now for firmware versions
+  equal or above v4. However, this software version is compatible to both v3 and v4 of the firmware.
+- The firmware version variables are global statics inititalized early during the program
+  runtime now. This makes it possible to check the firmware version earlier.
+- The TCS controller will now always command heaters OFF when being blind for thermal
+  components (no sensors available), irrespective of current switch state.
+- Make OBSW compatible to prospective FW version v5.0.0, where the Q7 I2C devices were
+  moved to a PL I2C block and the TMP sensor devices were moved to the PS I2C0.
+- Made `Xadc` code a little bit more robust against errors.
+
+## Fixed
+
+- TMP1075: Set dataset invalid on shutdown explicitely
+- Small fixes for TMP1075 FDIR: Use strange and missed reply counters.
+- TCS controller: Last heater (S-band heater) was skipped for transition completion
+  checks.
+- TCS controller: A helper member to track the elapsed heater control cycles was not reset
+  properly, which could lead to switch transitions being completed immediately. This can
+  lead to weird bugs like heaters being commanded ON twice and can potentially lead to
+  other bugs.
+- TMP1075: Devices did not go to OFF mode when being set faulty.
+- Update PL PCDU 1 in TCS mode tree on the EM.
+- TMP1075: Possibly ignored health commands.
+- Bugfix in FSFW where certain packet types could only be sent with source data fields with a
+  maximum size of 255 bytes.
+- TCS CTRL: Limit number of heater handler messages sent in case there are not sensors available
+  anymore.
+- Fix to allow adding real STR device for EM.
+
+# Added
+
+- Two events for heaters being commanded ON and OFF by the TCS controller
+- Upper limit for burn time of TCS heaters. Currently set to 1 hour for each heater.
+  This mechanism will only track the burn time for heaters which were commanded by the
+  TCS controller.
+- TCS controller is now observable by introducing a new HK dataset which exposes some internal
+  fields related to TCS control.
+
+# [v6.0.0] 2023-07-02
+
+- `q7s-package` version v3.2.0
 - Important bugfixes for PTME. See `q7s-package` CHANGELOG.
 
-# [v5.1.0] to be released
+## Changed
+
+- Added back PTME busy bit polling. This is necessary due to changes to the AXI APB interface
+  to the PTME core.
+
+## Fixed
+
+- For the live channel (VC0), telemetry was still only dumped if the transmitter is active.
+  Please note that this fix will lead to crashes for FW versions below v3.2.
+  However, it might not be an issue for the oldest firmware on the satellite (v2.5.1).
+
+# [v5.2.0] 2023-07-02
+
+## Fixed
+
+- The firmware information event was not triggered even when possible because of an ordering
+  bug in the initializer function.
+- Empty dumps (no TM in time range) will now correctly be completed immediately
+
+## Changed
+
+- PTME was always reset on submode changes. The reset will now only be performed if the actual data
+  rate changes.
+- Add back ACS board code for the EM. Now that the radiation sensor was removed, the image switching
+  issue has disappeared and adding back the ACS board is worth it for the GPS timekeeping.
+
+# [v5.1.0] 2023-06-28
+
+- `eive-tmtc` version v5.1.0
+
+## Changed
+
+- Persistent TM store dumps are now performed in chronological order.
+- Increase Syrlinks RX HK rate to 5.0 seconds during a pass.
+- Various robustness improvements for the heater handler. The heater handler will now only
+  process the command queue if it is not busy with switch commanding which reduces the amount
+  of possible bugs.
+- The heater handler is only able to process messages stricly sequentially now but is scheduled
+  twice in a 0.5 second slot so something like a consecutive heater ON or OFF command can still
+  be handled relatively quickly.
+
+## Added
+
+- Sequence counters for PUS and CFDP packets are now stored persistently across graceful reboots.
+- The PUS packet message type counter will now be incremented properly for each PUS service.
+- Internal error reporter set is now enabled by default and generated every 120 seconds.
 
 # [v5.0.0] 2023-06-26
 

CMakeLists.txt

@@ -9,9 +9,9 @@
 # ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
-set(OBSW_VERSION_MAJOR 5)
-set(OBSW_VERSION_MINOR 0)
-set(OBSW_VERSION_REVISION 0)
+set(OBSW_VERSION_MAJOR 6)
+set(OBSW_VERSION_MINOR 5)
+set(OBSW_VERSION_REVISION 1)
 
 # set(CMAKE_VERBOSE TRUE)
 
@@ -93,7 +93,7 @@ set(OBSW_ADD_BPX_BATTERY_HANDLER
     1
     CACHE STRING "Add BPX battery module")
 set(OBSW_ADD_STAR_TRACKER
-    ${INIT_VAL}
+    1
     CACHE STRING "Add Startracker module")
 set(OBSW_ADD_SUN_SENSORS
     ${INIT_VAL}
@@ -105,7 +105,7 @@ set(OBSW_ADD_THERMAL_TEMP_INSERTER
     ${OBSW_Q7S_EM}
     CACHE STRING "Add thermal sensor temperature inserter")
 set(OBSW_ADD_ACS_BOARD
-    ${INIT_VAL}
+    1
     CACHE STRING "Add ACS board module")
 set(OBSW_ADD_GPS_CTRL
     ${INIT_VAL}
@@ -144,13 +144,13 @@ set(OBSW_ADD_RAD_SENSORS
     ${INIT_VAL}
     CACHE STRING "Add Rad Sensor module")
 set(OBSW_ADD_PL_PCDU
-    ${INIT_VAL}
+    1
     CACHE STRING "Add Payload PCDU modukle")
 set(OBSW_ADD_SYRLINKS
     1
     CACHE STRING "Add Syrlinks module")
 set(OBSW_ADD_TMP_DEVICES
-    ${INIT_VAL}
+    1
     CACHE STRING "Add TMP devices")
 set(OBSW_ADD_GOMSPACE_PCDU
     1
@@ -162,7 +162,7 @@ set(OBSW_ADD_RW
     ${INIT_VAL}
     CACHE STRING "Add RW modules")
 set(OBSW_ADD_SCEX_DEVICE
-    ${INIT_VAL}
+    1
     CACHE STRING "Add Solar Cell Experiment module")
 set(OBSW_SYRLINKS_SIMULATED
     0
@@ -240,6 +240,9 @@ set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
 set(EIVE_ADD_LINUX_FILES OFF)
 set(FSFW_ADD_TMSTORAGE ON)
 
+set(FSFW_ADD_COORDINATES ON)
+set(FSFW_ADD_SGP4_PROPAGATOR ON)
+
 # Analyse different OS and architecture/target options, determine BSP_PATH,
 # display information about compiler etc.
 pre_source_hw_os_config()

README.md

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

bsp_hosted/ObjectFactory.cpp

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

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 296 translations.
+ * @brief    Auto-generated event translation file. Contains 306 translations.
  * @details
- * Generated on: 2023-06-21 19:01:02
+ * Generated on: 2023-09-12 10:05:17
  */
 #include "translateEvents.h"
 
@@ -100,6 +100,7 @@ const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
 const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET";
 const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
 const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
+const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -139,6 +140,7 @@ const char *ERROR_STATE_STRING = "ERROR_STATE";
 const char *RESET_OCCURED_STRING = "RESET_OCCURED";
 const char *BOOTING_FIRMWARE_FAILED_EVENT_STRING = "BOOTING_FIRMWARE_FAILED_EVENT";
 const char *BOOTING_BOOTLOADER_FAILED_EVENT_STRING = "BOOTING_BOOTLOADER_FAILED_EVENT";
+const char *COM_ERROR_REPLY_RECEIVED_STRING = "COM_ERROR_REPLY_RECEIVED";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
 const char *SUPV_UNKNOWN_TM_STRING = "SUPV_UNKNOWN_TM";
 const char *SUPV_UNINIMPLEMENTED_TM_STRING = "SUPV_UNINIMPLEMENTED_TM";
@@ -166,6 +168,7 @@ const char *PDEC_TRYING_RESET_NO_INIT_STRING = "PDEC_TRYING_RESET_NO_INIT";
 const char *PDEC_RESET_FAILED_STRING = "PDEC_RESET_FAILED";
 const char *OPEN_IRQ_FILE_FAILED_STRING = "OPEN_IRQ_FILE_FAILED";
 const char *PDEC_INIT_FAILED_STRING = "PDEC_INIT_FAILED";
+const char *PDEC_CONFIG_CORRUPTED_STRING = "PDEC_CONFIG_CORRUPTED";
 const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
 const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
 const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
@@ -260,6 +263,7 @@ const char *TX_OFF_STRING = "TX_OFF";
 const char *MISSING_PACKET_STRING = "MISSING_PACKET";
 const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
 const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
+const char *FS_UNUSABLE_STRING = "FS_UNUSABLE";
 const char *SET_CONFIGFILEVALUE_FAILED_STRING = "SET_CONFIGFILEVALUE_FAILED";
 const char *GET_CONFIGFILEVALUE_FAILED_STRING = "GET_CONFIGFILEVALUE_FAILED";
 const char *INSERT_CONFIGFILEVALUE_FAILED_STRING = "INSERT_CONFIGFILEVALUE_FAILED";
@@ -278,6 +282,7 @@ 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 *ACTIVE_SD_INFO_STRING = "ACTIVE_SD_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";
@@ -286,6 +291,9 @@ const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
 const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
 const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
 const char *MGT_OVERHEATING_STRING = "MGT_OVERHEATING";
+const char *TCS_SWITCHING_HEATER_ON_STRING = "TCS_SWITCHING_HEATER_ON";
+const char *TCS_SWITCHING_HEATER_OFF_STRING = "TCS_SWITCHING_HEATER_OFF";
+const char *TCS_HEATER_MAX_BURN_TIME_REACHED_STRING = "TCS_HEATER_MAX_BURN_TIME_REACHED";
 const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
 const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
 const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@@ -301,6 +309,8 @@ const char *DUMP_NOK_CANCELLED_STRING = "DUMP_NOK_CANCELLED";
 const char *DUMP_MISC_CANCELLED_STRING = "DUMP_MISC_CANCELLED";
 const char *DUMP_HK_CANCELLED_STRING = "DUMP_HK_CANCELLED";
 const char *DUMP_CFDP_CANCELLED_STRING = "DUMP_CFDP_CANCELLED";
+const char *TEMPERATURE_ALL_ONES_START_STRING = "TEMPERATURE_ALL_ONES_START";
+const char *TEMPERATURE_ALL_ONES_RECOVERY_STRING = "TEMPERATURE_ALL_ONES_RECOVERY";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -494,6 +504,8 @@ const char *translateEvents(Event event) {
       return MEKF_INVALID_MODE_VIOLATION_STRING;
     case (11207):
       return SAFE_MODE_CONTROLLER_FAILURE_STRING;
+    case (11208):
+      return TLE_TOO_OLD_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -572,6 +584,8 @@ const char *translateEvents(Event event) {
       return BOOTING_FIRMWARE_FAILED_EVENT_STRING;
     case (11902):
       return BOOTING_BOOTLOADER_FAILED_EVENT_STRING;
+    case (11903):
+      return COM_ERROR_REPLY_RECEIVED_STRING;
     case (12001):
       return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
     case (12002):
@@ -626,6 +640,8 @@ const char *translateEvents(Event event) {
       return OPEN_IRQ_FILE_FAILED_STRING;
     case (12414):
       return PDEC_INIT_FAILED_STRING;
+    case (12415):
+      return PDEC_CONFIG_CORRUPTED_STRING;
     case (12500):
       return IMAGE_UPLOAD_FAILED_STRING;
     case (12501):
@@ -814,6 +830,8 @@ const char *translateEvents(Event event) {
       return EXPERIMENT_TIMEDOUT_STRING;
     case (13802):
       return MULTI_PACKET_COMMAND_DONE_STRING;
+    case (13803):
+      return FS_UNUSABLE_STRING;
     case (13901):
       return SET_CONFIGFILEVALUE_FAILED_STRING;
     case (13902):
@@ -850,6 +868,8 @@ const char *translateEvents(Event event) {
       return PDEC_REBOOT_STRING;
     case (14013):
       return FIRMWARE_INFO_STRING;
+    case (14014):
+      return ACTIVE_SD_INFO_STRING;
     case (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):
@@ -866,6 +886,12 @@ const char *translateEvents(Event event) {
       return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
     case (14108):
       return MGT_OVERHEATING_STRING;
+    case (14109):
+      return TCS_SWITCHING_HEATER_ON_STRING;
+    case (14110):
+      return TCS_SWITCHING_HEATER_OFF_STRING;
+    case (14111):
+      return TCS_HEATER_MAX_BURN_TIME_REACHED_STRING;
     case (14201):
       return TX_TIMER_EXPIRED_STRING;
     case (14202):
@@ -896,6 +922,10 @@ const char *translateEvents(Event event) {
       return DUMP_HK_CANCELLED_STRING;
     case (14314):
       return DUMP_CFDP_CANCELLED_STRING;
+    case (14500):
+      return TEMPERATURE_ALL_ONES_START_STRING;
+    case (14501):
+      return TEMPERATURE_ALL_ONES_RECOVERY_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 171 translations.
- * Generated on: 2023-06-21 19:01:02
+ * Generated on: 2023-09-12 10:05:17
  */
 #include "translateObjects.h"
 

bsp_q7s/CMakeLists.txt

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

bsp_q7s/boardconfig/busConf.h

@@ -12,6 +12,9 @@ static constexpr char SPI_RW_DEV[] = "/dev/spi_rw";
 static constexpr char I2C_PL_EIVE[] = "/dev/i2c_pl";
 //! I2C bus using the I2C peripheral of the ARM processing system (PS)
 static constexpr char I2C_PS_EIVE[] = "/dev/i2c_ps";
+//! I2C bus using the first I2C peripheral of the ARM processing system (PS).
+//! Named like this because it is used by default for the Q7 devices.
+static constexpr char I2C_Q7_EIVE[] = "/dev/i2c_q7";
 
 static constexpr char UART_GNSS_DEV[] = "/dev/gps0";
 static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul_plmpsoc";
@@ -85,13 +88,9 @@ static constexpr char EN_RW_4[] = "enable_rw_4";
 static constexpr char RAD_SENSOR_CHIP_SELECT[] = "rad_sensor_chip_select";
 static constexpr char ENABLE_RADFET[] = "enable_radfet";
 
-static constexpr char PAPB_BUSY_SIGNAL_VC0[] = "papb_busy_signal_vc0";
 static constexpr char PAPB_EMPTY_SIGNAL_VC0[] = "papb_empty_signal_vc0";
-static constexpr char PAPB_BUSY_SIGNAL_VC1[] = "papb_busy_signal_vc1";
 static constexpr char PAPB_EMPTY_SIGNAL_VC1[] = "papb_empty_signal_vc1";
-static constexpr char PAPB_BUSY_SIGNAL_VC2[] = "papb_busy_signal_vc2";
 static constexpr char PAPB_EMPTY_SIGNAL_VC2[] = "papb_empty_signal_vc2";
-static constexpr char PAPB_BUSY_SIGNAL_VC3[] = "papb_busy_signal_vc3";
 static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3";
 
 static constexpr char PTME_RESETN[] = "ptme_resetn";

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -218,15 +218,30 @@ void Q7STestTask::testProtHandler() {
   bool opPerformed = false;
   ReturnValue_t result = returnvalue::OK;
   // If any chips are unlocked, lock them here
-  result = coreController->setBootCopyProtection(xsc::Chip::ALL_CHIP, xsc::Copy::ALL_COPY, true,
-                                                 opPerformed, true);
+  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::CHIP_0, xsc::Copy::COPY_0,
+                                                              true);
+  if (result != returnvalue::OK) {
+    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
+  }
+  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::CHIP_0, xsc::Copy::COPY_1,
+                                                              true);
+  if (result != returnvalue::OK) {
+    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
+  }
+  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::CHIP_1, xsc::Copy::COPY_0,
+                                                              true);
+  if (result != returnvalue::OK) {
+    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
+  }
+  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::CHIP_1, xsc::Copy::COPY_1,
+                                                              true);
   if (result != returnvalue::OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
 
   // unlock own copy
-  result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, false,
-                                                 opPerformed, true);
+  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::SELF_CHIP,
+                                                              xsc::Copy::SELF_COPY, false);
   if (result != returnvalue::OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
@@ -239,8 +254,8 @@ void Q7STestTask::testProtHandler() {
   }
 
   // lock own copy
-  result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
-                                                 opPerformed, true);
+  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::SELF_CHIP,
+                                                              xsc::Copy::SELF_COPY, true);
   if (result != returnvalue::OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
@@ -253,8 +268,8 @@ void Q7STestTask::testProtHandler() {
   }
 
   // unlock specific copy
-  result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, false,
-                                                 opPerformed, true);
+  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::CHIP_1, xsc::Copy::COPY_1,
+                                                              false);
   if (result != returnvalue::OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
@@ -267,8 +282,8 @@ void Q7STestTask::testProtHandler() {
   }
 
   // lock specific copy
-  result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, true,
-                                                 opPerformed, true);
+  result = coreController->setBootCopyProtectionAndUpdateFile(xsc::Chip::CHIP_1, xsc::Copy::COPY_1,
+                                                              true);
   if (result != returnvalue::OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }

bsp_q7s/core/CMakeLists.txt

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

bsp_q7s/core/CoreController.cpp

@@ -156,23 +156,12 @@ ReturnValue_t CoreController::initialize() {
   if (result != returnvalue::OK) {
     sif::warning << "CoreController::initialize: Base init failed" << std::endl;
   }
-  result = scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, 0);
-  if (result != returnvalue::OK) {
-    sif::warning << "CoreController::initialize: Setting up alloc failure "
-                    "count failed"
-                 << std::endl;
-  }
 
   result = paramHelper.initialize();
   if (result != returnvalue::OK) {
     return result;
   }
 
-  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) {
@@ -189,17 +178,20 @@ 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;
-    }
+  triggerEvent(core::REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
+  announceCurrentImageInfo();
+  announceVersionInfo();
+  SdCardManager::SdStatePair sdStates;
+  sdcMan->getSdCardsStatus(sdStates);
+  announceSdInfo(sdStates);
+  sdStateMachine();
+  result = scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, 0);
+  if (result != returnvalue::OK) {
+    sif::warning << "CoreController::initialize: Setting up alloc failure "
+                    "count failed"
+                 << std::endl;
   }
-  return returnvalue::OK;
+  return result;
 }
 
 ReturnValue_t CoreController::initializeAfterTaskCreation() {
@@ -562,21 +554,24 @@ ReturnValue_t CoreController::sdStateMachine() {
   }
 
   // This lambda checks the non-blocking operation of the SD card manager and assigns the new
-  // state on success. It returns true for an operation success and false otherwise
+  // state on success. It returns 0 for an operation success, -1 for failed operations, and 1
+  // for pending operations
   auto nonBlockingSdcOpChecking = [&](SdStates newStateOnSuccess, uint16_t maxCycleCount,
                                       std::string opPrintout) {
     SdCardManager::OpStatus status = sdcMan->checkCurrentOp(operation);
-    if (status == SdCardManager::OpStatus::SUCCESS) {
+    if (status == SdCardManager::OpStatus::SUCCESS or sdInfo.cycleCount > maxCycleCount) {
       sdFsmState = newStateOnSuccess;
       sdInfo.commandPending = false;
+      if (sdInfo.cycleCount > maxCycleCount) {
+        sif::warning << "CoreController::sdStateMachine: " << opPrintout << " takes too long"
+                     << std::endl;
+        sdInfo.cycleCount = 0;
+        return -1;
+      }
       sdInfo.cycleCount = 0;
-      return true;
-    } else if (sdInfo.cycleCount > 4) {
-      sif::warning << "CoreController::sdStateMachine: " << opPrintout << " takes too long"
-                   << std::endl;
-      return false;
-    }
-    return false;
+      return 0;
+    };
+    return 1;
   };
 
   if (sdFsmState == SdStates::UPDATE_SD_INFO_START) {
@@ -652,7 +647,7 @@ ReturnValue_t CoreController::sdStateMachine() {
         sdFsmState = tgtState;
       }
     } else {
-      if (nonBlockingSdcOpChecking(SdStates::MOUNT_SELF, 10, "Setting SDC state")) {
+      if (nonBlockingSdcOpChecking(SdStates::MOUNT_SELF, 10, "Setting SDC state") <= 0) {
         sdInfo.activeState = sd::SdState::ON;
         currentStateSetter(sdInfo.active, sd::SdState::ON);
         // Skip the two cycles now.
@@ -680,7 +675,7 @@ ReturnValue_t CoreController::sdStateMachine() {
       result = sdCardSetup(sdInfo.active, sd::SdState::MOUNTED, sdInfo.activeChar);
       sdInfo.commandPending = true;
     } else {
-      if (nonBlockingSdcOpChecking(SdStates::DETERMINE_OTHER, 5, "Mounting SD card")) {
+      if (nonBlockingSdcOpChecking(SdStates::DETERMINE_OTHER, 5, "Mounting SD card") <= 0) {
         sdcMan->setActiveSdCard(sdInfo.active);
         currMntPrefix = sdcMan->getCurrentMountPrefix();
         sdInfo.activeState = sd::SdState::MOUNTED;
@@ -722,12 +717,7 @@ ReturnValue_t CoreController::sdStateMachine() {
         sdInfo.commandPending = true;
       } else {
         if (nonBlockingSdcOpChecking(SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE, 10,
-                                     "Switching off other SD card")) {
-          sdInfo.otherState = sd::SdState::OFF;
-          currentStateSetter(sdInfo.other, sd::SdState::OFF);
-        } else {
-          // Continue.. avoid being stuck here..
-          sdFsmState = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
+                                     "Switching off other SD card") <= 0) {
           sdInfo.otherState = sd::SdState::OFF;
           currentStateSetter(sdInfo.other, sd::SdState::OFF);
         }
@@ -738,12 +728,7 @@ ReturnValue_t CoreController::sdStateMachine() {
         sdInfo.commandPending = true;
       } else {
         if (nonBlockingSdcOpChecking(SdStates::MOUNT_UNMOUNT_OTHER, 10,
-                                     "Switching on other SD card")) {
-          sdInfo.otherState = sd::SdState::ON;
-          currentStateSetter(sdInfo.other, sd::SdState::ON);
-        } else {
-          // Contnue.. avoid being stuck here.
-          sdFsmState = SdStates::MOUNT_UNMOUNT_OTHER;
+                                     "Switching on other SD card") <= 0) {
           sdInfo.otherState = sd::SdState::ON;
           currentStateSetter(sdInfo.other, sd::SdState::ON);
         }
@@ -758,7 +743,8 @@ ReturnValue_t CoreController::sdStateMachine() {
         result = sdCardSetup(sdInfo.other, sd::SdState::ON, sdInfo.otherChar);
         sdInfo.commandPending = true;
       } else {
-        if (nonBlockingSdcOpChecking(SdStates::SET_STATE_OTHER, 10, "Unmounting other SD card")) {
+        if (nonBlockingSdcOpChecking(SdStates::SET_STATE_OTHER, 10, "Unmounting other SD card") <=
+            0) {
           sdInfo.otherState = sd::SdState::ON;
           currentStateSetter(sdInfo.other, sd::SdState::ON);
         } else {
@@ -772,7 +758,8 @@ ReturnValue_t CoreController::sdStateMachine() {
         result = sdCardSetup(sdInfo.other, sd::SdState::MOUNTED, sdInfo.otherChar);
         sdInfo.commandPending = true;
       } else {
-        if (nonBlockingSdcOpChecking(SdStates::UPDATE_SD_INFO_END, 4, "Mounting other SD card")) {
+        if (nonBlockingSdcOpChecking(SdStates::UPDATE_SD_INFO_END, 4, "Mounting other SD card") <=
+            0) {
           sdInfo.otherState = sd::SdState::MOUNTED;
           currentStateSetter(sdInfo.other, sd::SdState::MOUNTED);
         }
@@ -809,6 +796,7 @@ ReturnValue_t CoreController::sdStateMachine() {
     }
     sif::info << "SD card update into " << modeStr
               << " mode finished. Active SD: " << sdInfo.activeChar << std::endl;
+    announceSdInfo(sdInfo.currentState);
     if (not sdInfo.initFinished) {
       updateInternalSdInfo();
       sdInfo.initFinished = true;
@@ -847,7 +835,7 @@ ReturnValue_t CoreController::sdCardSetup(sd::SdCard sdCard, sd::SdState targetS
   if (state == sd::SdState::MOUNTED) {
     if (targetState == sd::SdState::OFF) {
       sif::info << "Switching off SD card " << sdChar << std::endl;
-      return sdcMan->switchOffSdCard(sdCard, true, &sdInfo.currentState);
+      return sdcMan->switchOffSdCard(sdCard, sdInfo.currentState, true);
     } else if (targetState == sd::SdState::ON) {
       sif::info << "Unmounting SD card " << sdChar << std::endl;
       return sdcMan->unmountSdCard(sdCard);
@@ -881,7 +869,7 @@ ReturnValue_t CoreController::sdCardSetup(sd::SdCard sdCard, sd::SdState targetS
       return sdcMan->mountSdCard(sdCard);
     } else if (targetState == sd::SdState::OFF) {
       sif::info << "Switching off SD card " << sdChar << std::endl;
-      return sdcMan->switchOffSdCard(sdCard, false, &sdInfo.currentState);
+      return sdcMan->switchOffSdCard(sdCard, sdInfo.currentState, false);
     }
   } else {
     sif::warning << "CoreController::sdCardSetup: Invalid state for this call" << std::endl;
@@ -905,8 +893,7 @@ ReturnValue_t CoreController::sdColdRedundantBlockingInit() {
     sif::info << "Switching off secondary SD card " << sdInfo.otherChar << std::endl;
     // Switch off other SD card in cold redundant mode if setting up preferred one worked
     // without issues
-    ReturnValue_t result2 =
-        sdcMan->switchOffSdCard(sdInfo.other, sdInfo.otherState, &sdInfo.currentState);
+    ReturnValue_t result2 = sdcMan->switchOffSdCard(sdInfo.other, sdInfo.currentState, true);
     if (result2 != returnvalue::OK and result2 != SdCardManager::ALREADY_OFF) {
       sif::warning << "Switching off secondary SD card " << sdInfo.otherChar
                    << " in cold redundant mode failed" << std::endl;
@@ -1224,6 +1211,10 @@ ReturnValue_t CoreController::actionReboot(const uint8_t *data, size_t size) {
 
 ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy,
                                                     bool &protOpPerformed) {
+  // Store both sequence counters persistently.
+  core::SAVE_CFDP_SEQUENCE_COUNT = true;
+  core::SAVE_PUS_SEQUENCE_COUNT = true;
+
   sdcMan->setBlocking(true);
   sdcMan->markUnusable();
   // Wait two seconds to ensure no one uses the SD cards
@@ -1232,18 +1223,25 @@ ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy co
   // 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.
-  // 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) {
+  // Unmount and switch off SD cards. This could possibly fix issues with the SD card and is
+  // the more graceful way to reboot the system. This function takes around 400 ms.
+  ReturnValue_t result = handleSwitchingSdCardsOffNonBlocking();
+  if (result != returnvalue::OK) {
+    sif::error
+        << "CoreController::gracefulShutdownTasks: Issues unmounting or switching SD cards off"
+        << std::endl;
+  }
+
+  // Ensure that the target chip is writeprotected in any case.
+  bool wasProtected = handleBootCopyProt(chip, copy, true);
+  if (wasProtected) {
     // TODO: Would be nice to notify operator. But we can't use the filesystem anymore
     // and a reboot is imminent. Use scratch buffer?
     sif::info << "Running slot was writeprotected before reboot" << std::endl;
   }
+  sif::info << "Graceful shutdown handling done" << std::endl;
+  // Ensure that all diagnostic prinouts arrive.
+  TaskFactory::delayTask(50);
   return result;
 }
 
@@ -1277,144 +1275,50 @@ ReturnValue_t CoreController::generateChipStateFile() {
   return returnvalue::OK;
 }
 
-ReturnValue_t CoreController::setBootCopyProtection(xsc::Chip targetChip, xsc::Copy targetCopy,
-                                                    bool protect, bool &protOperationPerformed,
-                                                    bool updateProtFile) {
-  bool allChips = false;
-  bool allCopies = false;
-  bool selfChip = false;
-  bool selfCopy = false;
-  protOperationPerformed = false;
-
-  switch (targetChip) {
-    case (xsc::Chip::ALL_CHIP): {
-      allChips = true;
-      break;
-    }
-    case (xsc::Chip::NO_CHIP): {
-      return returnvalue::OK;
-    }
-    case (xsc::Chip::SELF_CHIP): {
-      selfChip = true;
-      targetChip = CURRENT_CHIP;
-      break;
-    }
-    default: {
-      break;
-    }
-  }
-  switch (targetCopy) {
-    case (xsc::Copy::ALL_COPY): {
-      allCopies = true;
-      break;
-    }
-    case (xsc::Copy::NO_COPY): {
-      return returnvalue::OK;
-    }
-    case (xsc::Copy::SELF_COPY): {
-      selfCopy = true;
-      targetCopy = CURRENT_COPY;
-      break;
-    }
-    default: {
-      break;
-    }
+ReturnValue_t CoreController::setBootCopyProtectionAndUpdateFile(xsc::Chip targetChip,
+                                                                 xsc::Copy targetCopy,
+                                                                 bool protect) {
+  if (targetChip == xsc::Chip::ALL_CHIP or targetCopy == xsc::Copy::ALL_COPY) {
+    return returnvalue::FAILED;
   }
 
-  for (uint8_t arrIdx = 0; arrIdx < protArray.size(); arrIdx++) {
-    int result = handleBootCopyProtAtIndex(targetChip, targetCopy, protect, protOperationPerformed,
-                                           selfChip, selfCopy, allChips, allCopies, arrIdx);
-    if (result != 0) {
-      break;
-    }
-  }
-  if (protOperationPerformed and updateProtFile) {
+  bool protOperationPerformed = handleBootCopyProt(targetChip, targetCopy, protect);
+  if (protOperationPerformed) {
     updateProtInfo();
   }
   return returnvalue::OK;
 }
 
-int CoreController::handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy targetCopy,
-                                              bool protect, bool &protOperationPerformed,
-                                              bool selfChip, bool selfCopy, bool allChips,
-                                              bool allCopies, uint8_t arrIdx) {
-  bool currentProt = protArray[arrIdx];
+bool CoreController::handleBootCopyProt(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect) {
   std::ostringstream oss;
-  bool performOp = false;
-  if (protect == currentProt) {
-    return 0;
-  }
-  if (protOperationPerformed) {
-    if ((selfChip and selfCopy) or (not allCopies and not allChips)) {
-      // No need to continue, only one operation was requested
-      return 1;
-    }
-  }
-  xsc::Chip currentChip;
-  xsc::Copy currentCopy;
   oss << "writeprotect ";
-  if (arrIdx == 0 or arrIdx == 1) {
-    oss << "0 ";
-    currentChip = xsc::Chip::CHIP_0;
-  } else {
-    oss << "1 ";
-    currentChip = xsc::Chip::CHIP_1;
+  if (targetChip == xsc::Chip::SELF_CHIP) {
+    targetChip = CURRENT_CHIP;
   }
-  if (arrIdx == 0 or arrIdx == 2) {
+  if (targetCopy == xsc::Copy::SELF_COPY) {
+    targetCopy = CURRENT_COPY;
+  }
+  if (targetChip == xsc::Chip::CHIP_0) {
     oss << "0 ";
-    currentCopy = xsc::Copy::COPY_0;
-  } else {
+  } else if (targetChip == xsc::Chip::CHIP_1) {
+    oss << "1 ";
+  }
+  if (targetCopy == xsc::Copy::COPY_0) {
+    oss << "0 ";
+  } else if (targetCopy == xsc::Copy::COPY_1) {
     oss << "1 ";
-    currentCopy = xsc::Copy::COPY_1;
   }
   if (protect) {
     oss << "1";
   } else {
     oss << "0";
   }
-
-  int result = 0;
-  if (allChips and allCopies) {
-    performOp = true;
-  } else if (allChips) {
-    if ((selfCopy and CURRENT_COPY == targetCopy) or (currentCopy == targetCopy)) {
-      performOp = true;
-    }
-  } else if (allCopies) {
-    if ((selfChip and CURRENT_COPY == targetCopy) or (currentChip == targetChip)) {
-      performOp = true;
-    }
-  } else if (selfChip and (currentChip == targetChip)) {
-    if (selfCopy) {
-      if (currentCopy == targetCopy) {
-        performOp = true;
-      }
-    } else {
-      performOp = true;
-    }
-
-  } else if (selfCopy and (currentCopy == targetCopy)) {
-    if (selfChip) {
-      if (currentChip == targetChip) {
-        performOp = true;
-      }
-    } else {
-      performOp = true;
-    }
-  } else if ((targetChip == currentChip) and (targetCopy == currentCopy)) {
-    performOp = true;
+  sif::info << "Executing command: " << oss.str() << std::endl;
+  int result = std::system(oss.str().c_str());
+  if (result == 0) {
+    return true;
   }
-  if (result != 0) {
-    utility::handleSystemError(result, "CoreController::checkAndSetBootCopyProtection");
-  }
-  if (performOp) {
-    // TODO: Lock operation take a long time. Use command executor? That would require a
-    // new state machine..
-    protOperationPerformed = true;
-    sif::info << "Executing command: " << oss.str() << std::endl;
-    result = std::system(oss.str().c_str());
-  }
-  return 0;
+  return false;
 }
 
 ReturnValue_t CoreController::updateProtInfo(bool regenerateChipStateFile) {
@@ -1459,7 +1363,6 @@ ReturnValue_t CoreController::handleProtInfoUpdateLine(std::string nextLine) {
   using namespace std;
   string word;
   uint8_t wordIdx = 0;
-  uint8_t arrayIdx = 0;
   istringstream iss(nextLine);
   xsc::Chip currentChip = xsc::Chip::CHIP_0;
   xsc::Copy currentCopy = xsc::Copy::COPY_0;
@@ -1471,28 +1374,11 @@ ReturnValue_t CoreController::handleProtInfoUpdateLine(std::string nextLine) {
       currentCopy = static_cast<xsc::Copy>(stoi(word));
     }
 
-    if (wordIdx == 3) {
-      if (currentChip == xsc::Chip::CHIP_0) {
-        if (currentCopy == xsc::Copy::COPY_0) {
-          arrayIdx = 0;
-        } else if (currentCopy == xsc::Copy::COPY_1) {
-          arrayIdx = 1;
-        }
-      }
-
-      else if (currentChip == xsc::Chip::CHIP_1) {
-        if (currentCopy == xsc::Copy::COPY_0) {
-          arrayIdx = 2;
-        } else if (currentCopy == xsc::Copy::COPY_1) {
-          arrayIdx = 3;
-        }
-      }
-    }
     if (wordIdx == 5) {
       if (word == "unlocked.") {
-        protArray[arrayIdx] = false;
+        protArray[currentChip][currentCopy] = false;
       } else {
-        protArray[arrayIdx] = true;
+        protArray[currentChip][currentCopy] = true;
       }
     }
     wordIdx++;
@@ -2520,14 +2406,10 @@ void CoreController::announceVersionInfo() {
   }
 
   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);
-    }
-  }
+  p1 = (core::FW_VERSION_MAJOR << 24) | (core::FW_VERSION_MINOR << 16) |
+       (core::FW_VERSION_REVISION << 8) | (core::FW_VERSION_HAS_SHA);
+  std::memcpy(&p2, core::FW_VERSION_GIT_SHA, 4);
+  triggerEvent(FIRMWARE_INFO, p1, p2);
 }
 
 void CoreController::announceCurrentImageInfo() {
@@ -2579,6 +2461,68 @@ ReturnValue_t CoreController::performGracefulShutdown(xsc::Chip tgtChip, xsc::Co
   return returnvalue::OK;
 }
 
+void CoreController::announceSdInfo(SdCardManager::SdStatePair sdStates) {
+  auto activeSdCard = sdcMan->getActiveSdCard();
+  uint32_t p1 = sd::SdCard::NONE;
+  if (activeSdCard.has_value()) {
+    p1 = static_cast<uint32_t>(activeSdCard.value());
+  }
+  uint32_t p2 =
+      (static_cast<uint32_t>(sdStates.first) << 16) | static_cast<uint32_t>(sdStates.second);
+  triggerEvent(core::ACTIVE_SD_INFO, p1, p2);
+}
+
+ReturnValue_t CoreController::handleSwitchingSdCardsOffNonBlocking() {
+  sdcMan->setBlocking(false);
+  SdCardManager::Operations op;
+  std::pair<sd::SdState, sd::SdState> sdStatus;
+  ReturnValue_t result = sdcMan->getSdCardsStatus(sdStatus);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  Countdown maxWaitTimeCd(10000);
+  // Stopwatch watch;
+  auto waitingForFinish = [&]() {
+    auto currentState = sdcMan->checkCurrentOp(op);
+    if (currentState == SdCardManager::OpStatus::IDLE) {
+      return returnvalue::OK;
+    }
+    while (currentState == SdCardManager::OpStatus::ONGOING) {
+      if (maxWaitTimeCd.hasTimedOut()) {
+        return returnvalue::FAILED;
+      }
+      TaskFactory::delayTask(50);
+      currentState = sdcMan->checkCurrentOp(op);
+    }
+    return returnvalue::OK;
+  };
+  if (sdStatus.first != sd::SdState::OFF) {
+    sdcMan->unmountSdCard(sd::SdCard::SLOT_0);
+    result = waitingForFinish();
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    sdcMan->switchOffSdCard(sd::SdCard::SLOT_0, sdStatus, false);
+    result = waitingForFinish();
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  if (sdStatus.second != sd::SdState::OFF) {
+    sdcMan->unmountSdCard(sd::SdCard::SLOT_1);
+    result = waitingForFinish();
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    sdcMan->switchOffSdCard(sd::SdCard::SLOT_1, sdStatus, false);
+    result = waitingForFinish();
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  return result;
+}
+
 bool CoreController::isNumber(const std::string &s) {
   return !s.empty() && std::find_if(s.begin(), s.end(),
                                     [](unsigned char c) { return !std::isdigit(c); }) == s.end();

bsp_q7s/core/CoreController.h

@@ -1,6 +1,7 @@
 #ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
 #define BSP_Q7S_CORE_CORECONTROLLER_H_
 
+#include <bsp_q7s/core/defs.h>
 #include <fsfw/container/DynamicFIFO.h>
 #include <fsfw/container/SimpleRingBuffer.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
@@ -14,7 +15,6 @@
 #include <atomic>
 #include <cstddef>
 
-#include "CoreDefinitions.h"
 #include "OBSWConfig.h"
 #include "bsp_q7s/fs/SdCardManager.h"
 #include "events/subsystemIdRanges.h"
@@ -199,8 +199,8 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
    * @param updateProtFile Specify whether the protection info file is updated
    * @return
    */
-  ReturnValue_t setBootCopyProtection(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
-                                      bool& protOperationPerformed, bool updateProtFile = true);
+  ReturnValue_t setBootCopyProtectionAndUpdateFile(xsc::Chip targetChip, xsc::Copy targetCopy,
+                                                   bool protect);
 
   bool sdInitFinished() const;
 
@@ -304,12 +304,10 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
   Countdown sdCardCheckCd = Countdown(INIT_SD_CARD_CHECK_TIMEOUT);
 
   /**
-   * Index 0: Chip 0 Copy 0
-   * Index 1: Chip 0 Copy 1
-   * Index 2: Chip 1 Copy 0
-   * Index 3: Chip 1 Copy 1
+   * First index: Chip.
+   * Second index: Copy.
    */
-  std::array<bool, 4> protArray;
+  bool protArray[2][2]{};
   PeriodicOperationDivider opDivider5;
   PeriodicOperationDivider opDivider10;
 
@@ -374,9 +372,8 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
   ReturnValue_t gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy, bool& protOpPerformed);
 
   ReturnValue_t handleProtInfoUpdateLine(std::string nextLine);
-  int handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
-                                bool& protOperationPerformed, bool selfChip, bool selfCopy,
-                                bool allChips, bool allCopies, uint8_t arrIdx);
+  ReturnValue_t handleSwitchingSdCardsOffNonBlocking();
+  bool handleBootCopyProt(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect);
   void rebootWatchdogAlgorithm(RebootWatchdogFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
                                xsc::Copy& tgtCopy);
   void resetRebootWatchdogCounters(xsc::Chip tgtChip, xsc::Copy tgtCopy);
@@ -388,6 +385,7 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
   void announceBootCounts();
   void announceVersionInfo();
   void announceCurrentImageInfo();
+  void announceSdInfo(SdCardManager::SdStatePair sdStates);
   void readHkData();
   void dirListingDumpHandler();
   bool isNumber(const std::string& s);

bsp_q7s/core/defs.h

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

bsp_q7s/em/emObjectFactory.cpp

@@ -1,4 +1,5 @@
 #include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
+#include <bsp_q7s/objectFactory.h>
 #include <dummies/ComCookieDummy.h>
 #include <dummies/PcduHandlerDummy.h>
 #include <fsfw/health/HealthTableIF.h>
@@ -10,8 +11,8 @@
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
-#include "bsp_q7s/core/ObjectFactory.h"
 #include "busConf.h"
+#include "common/config/devices/addresses.h"
 #include "devConf.h"
 #include "dummies/helperFactory.h"
 #include "eive/objects.h"
@@ -35,16 +36,17 @@ void ObjectFactory::produce(void* args) {
 #endif
 
   PersistentTmStores stores;
+  readFirmwareVersion();
   ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
-                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores,
-                                       200);
+                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
+                                       enableHkSets);
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   SerialComIF* uartComIF = nullptr;
   SpiComIF* spiMainComIF = nullptr;
   I2cComIF* i2cComIF = nullptr;
   createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
-  /* Adding gpios for chip select decoding to the gpioComIf */
+  // Adding GPIOs for chip select decoding and initializing them.
   q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
   gpioCallbacks::disableAllDecoder(gpioComIF);
   createPlI2cResetGpio(gpioComIF);
@@ -60,17 +62,41 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
   dummyCfg.addPlocDummies = false;
 #endif
+#if OBSW_ADD_TMP_DEVICES == 1
+  std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd = {{
+      {objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
+      {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
+      {objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
+  }};
+  createTmpComponents(tmpDevsToAdd);
+  dummy::Tmp1075Cfg tmpCfg{};
+  tmpCfg.addTcsBrd0 = true;
+  tmpCfg.addTcsBrd1 = true;
+  tmpCfg.addPlPcdu0 = false;
+  tmpCfg.addPlPcdu1 = false;
+  tmpCfg.addIfBrd = false;
+  dummyCfg.tmp1075Cfg = tmpCfg;
+#endif
 #if OBSW_ADD_GOMSPACE_PCDU == 1
   dummyCfg.addPowerDummies = false;
   // The ACU broke.
   dummyCfg.addOnlyAcuDummy = true;
 #endif
+#if OBSW_ADD_STAR_TRACKER == 1
+  dummyCfg.addStrDummy = false;
+#endif
+#if OBSW_ADD_SCEX_DEVICE == 0
+  dummyCfg.addScexDummy = true;
+#endif
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
   dummyCfg.addBpxBattDummy = false;
 #endif
 #if OBSW_ADD_ACS_BOARD == 1
   dummyCfg.addAcsBoardDummies = false;
 #endif
+#if OBSW_ADD_PL_PCDU == 0
+  dummyCfg.addPlPcduDummy = true;
+#endif
 
   PowerSwitchIF* pwrSwitcher = nullptr;
 #if OBSW_ADD_GOMSPACE_PCDU == 0
@@ -84,9 +110,13 @@ void ObjectFactory::produce(void* args) {
 
   new CoreController(objects::CORE_CONTROLLER, enableHkSets);
 
-#if OBSW_ADD_ACS_BOARD == 1
-  // Still initialize chip select to avoid SPI bus issues.
+  auto* stackHandler = new Stack5VHandler(*pwrSwitcher);
+  static_cast<void>(stackHandler);
+
+  // Initialize chip select to avoid SPI bus issues.
   createRadSensorChipSelect(gpioComIF);
+
+#if OBSW_ADD_ACS_BOARD == 1
   createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true,
                            adis1650x::Type::ADIS16507);
 #else
@@ -96,8 +126,14 @@ void ObjectFactory::produce(void* args) {
   gpioChecker(gpioComIF->addGpios(acsBoardGpios), "ACS Board");
 #endif
 
+  const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
+  if (core::FW_VERSION_MAJOR >= 4) {
+    battAndImtqI2cDev = q7s::I2C_PS_EIVE;
+  }
+  static_cast<void>(battAndImtqI2cDev);
+
 #if OBSW_ADD_MGT == 1
-  createImtqComponents(pwrSwitcher, enableHkSets);
+  createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
 #endif
 
 #if OBSW_ADD_SYRLINKS == 1
@@ -109,13 +145,16 @@ void ObjectFactory::produce(void* args) {
 #endif
 
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
-  createBpxBatteryComponent(enableHkSets);
+  createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
 #endif
 
 #if OBSW_ADD_STAR_TRACKER == 1
   createStrComponents(pwrSwitcher);
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
+#if OBSW_ADD_PL_PCDU == 1
+  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
+#endif
   createPayloadComponents(gpioComIF, *pwrSwitcher);
 
 #if OBSW_ADD_CCSDS_IP_CORES == 1
@@ -141,6 +180,6 @@ void ObjectFactory::produce(void* args) {
   createAcsController(true, enableHkSets);
   HeaterHandler* heaterHandler;
   createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
-  createThermalController(*heaterHandler);
-  satsystem::init();
+  createThermalController(*heaterHandler, true);
+  satsystem::init(true);
 }

bsp_q7s/fmObjectFactory.cpp

@@ -1,4 +1,5 @@
 #include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
+#include <bsp_q7s/objectFactory.h>
 #include <devices/gpioIds.h>
 #include <fsfw/storagemanager/LocalPool.h>
 #include <fsfw/storagemanager/PoolManager.h>
@@ -7,9 +8,9 @@
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
-#include "bsp_q7s/core/ObjectFactory.h"
 #include "busConf.h"
 #include "devConf.h"
+#include "devices/addresses.h"
 #include "eive/objects.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "linux/ObjectFactory.h"
@@ -32,9 +33,10 @@ void ObjectFactory::produce(void* args) {
 #endif
 
   PersistentTmStores stores;
+  readFirmwareVersion();
   ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
-                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores,
-                                       200);
+                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
+                                       true);
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   SerialComIF* uartComIF = nullptr;
@@ -67,23 +69,38 @@ void ObjectFactory::produce(void* args) {
   HeaterHandler* heaterHandler;
   createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
 #if OBSW_ADD_TMP_DEVICES == 1
-  createTmpComponents();
+  std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd = {{
+      {objects::TMP1075_HANDLER_TCS_0, addresses::TMP1075_TCS_0},
+      {objects::TMP1075_HANDLER_TCS_1, addresses::TMP1075_TCS_1},
+      {objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
+      // damaged
+      // {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
+      {objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
+  }};
+
+  createTmpComponents(tmpDevsToAdd);
 #endif
   createSolarArrayDeploymentComponents(*pwrSwitcher, *gpioComIF);
+#if OBSW_ADD_PL_PCDU == 1
   createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
+#endif
 #if OBSW_ADD_SYRLINKS == 1
   createSyrlinksComponents(pwrSwitcher);
 #endif /* OBSW_ADD_SYRLINKS == 1 */
   createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
   createPayloadComponents(gpioComIF, *pwrSwitcher);
 
+  const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
+  if (core::FW_VERSION_MAJOR >= 4) {
+    battAndImtqI2cDev = q7s::I2C_PS_EIVE;
+  }
 #if OBSW_ADD_MGT == 1
-  createImtqComponents(pwrSwitcher, enableHkSets);
+  createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
 #endif
   createReactionWheelComponents(gpioComIF, pwrSwitcher);
 
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
-  createBpxBatteryComponent(enableHkSets);
+  createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
 #endif
 
 #if OBSW_ADD_STAR_TRACKER == 1
@@ -113,7 +130,7 @@ void ObjectFactory::produce(void* args) {
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 
   createMiscComponents();
-  createThermalController(*heaterHandler);
+  createThermalController(*heaterHandler, false);
   createAcsController(true, enableHkSets);
-  satsystem::init();
+  satsystem::init(false);
 }

bsp_q7s/fs/SdCardManager.cpp

@@ -125,13 +125,8 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
   return mountSdCard(sdCard);
 }
 
-ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard,
-                                             SdStatePair* statusPair) {
-  std::pair<sd::SdState, sd::SdState> active;
-  ReturnValue_t result = getSdCardsStatus(active);
-  if (result != returnvalue::OK) {
-    return result;
-  }
+ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, SdStatePair& sdStates,
+                                             bool doUnmountSdCard) {
   if (doUnmountSdCard) {
     if (not blocking) {
       sif::warning << "SdCardManager::switchOffSdCard: Two-step command but manager is"
@@ -147,17 +142,17 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd
     return returnvalue::FAILED;
   }
   if (sdCard == sd::SdCard::SLOT_0) {
-    if (active.first == sd::SdState::OFF) {
+    if (sdStates.first == sd::SdState::OFF) {
       return ALREADY_OFF;
     }
   } else if (sdCard == sd::SdCard::SLOT_1) {
-    if (active.second == sd::SdState::OFF) {
+    if (sdStates.second == sd::SdState::OFF) {
       return ALREADY_OFF;
     }
   }
 
   if (doUnmountSdCard) {
-    result = unmountSdCard(sdCard);
+    ReturnValue_t result = unmountSdCard(sdCard);
     if (result != returnvalue::OK) {
       return result;
     }
@@ -189,7 +184,7 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
   command << "q7hw sd set " << sdstring << " " << statestring;
   cmdExecutor.load(command.str(), blocking, printCmdOutput);
   ReturnValue_t result = cmdExecutor.execute();
-  if (blocking and result != returnvalue::OK) {
+  if (result != returnvalue::OK) {
     utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::setSdCardState");
   }
   return result;
@@ -204,6 +199,7 @@ ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& sdStates) {
 ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
   using namespace std;
   if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
+    sif::warning << "SdCardManager::mountSdCard: Command still pending" << std::endl;
     return CommandExecutor::COMMAND_PENDING;
   }
   if (sdCard == sd::SdCard::BOTH) {

bsp_q7s/fs/SdCardManager.h

@@ -114,8 +114,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * @return - returnvalue::OK on success, ALREADY_ON if it is already on,
    *           SYSTEM_CALL_ERROR on system error
    */
-  ReturnValue_t switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard = true,
-                                SdStatePair* statusPair = nullptr);
+  ReturnValue_t switchOffSdCard(sd::SdCard sdCard, SdStatePair& sdStates, bool doUnmountSdCard);
 
   /**
    * Get the state of the SD cards. If the state file does not exist, this function will

bsp_q7s/objectFactory.cpp

@@ -1,8 +1,9 @@
-#include "ObjectFactory.h"
+#include "objectFactory.h"
 
 #include <fsfw/devicehandlers/HealthDevice.h>
 #include <fsfw/subsystem/Subsystem.h>
 #include <fsfw/tasks/TaskFactory.h>
+#include <fsfw_hal/linux/uio/UioMapper.h>
 #include <linux/acs/AcsBoardPolling.h>
 #include <linux/acs/GpsHyperionLinuxController.h>
 #include <linux/acs/ImtqPollingTask.h>
@@ -32,6 +33,9 @@
 #include <mission/system/objects/CamSwitcher.h>
 #include <mission/system/tcs/TmpDevFdir.h>
 
+#include <cstdint>
+#include <cstring>
+
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
 #include "bsp_q7s/callbacks/gnssCallback.h"
@@ -100,6 +104,7 @@
 
 #include <sstream>
 
+#include "bsp_q7s/core/defs.h"
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
 #include "fsfw/tmtcpacket/pus/tm.h"
 #include "fsfw/tmtcservices/CommandingServiceBase.h"
@@ -130,6 +135,11 @@ ResetArgs RESET_ARGS_GNSS;
 std::atomic_bool LINK_STATE = CcsdsIpCoreHandler::LINK_DOWN;
 std::atomic_bool PTME_LOCKED = false;
 std::atomic_uint16_t I2C_FATAL_ERRORS = 0;
+uint8_t core::FW_VERSION_MAJOR = 0;
+uint8_t core::FW_VERSION_MINOR = 0;
+uint8_t core::FW_VERSION_REVISION = 0;
+bool core::FW_VERSION_HAS_SHA = false;
+char core::FW_VERSION_GIT_SHA[4] = {};
 
 void Factory::setStaticFrameworkObjectIds() {
   PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
@@ -151,28 +161,23 @@ void Factory::setStaticFrameworkObjectIds() {
 
 void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
 
-void ObjectFactory::createTmpComponents() {
-  std::vector<std::pair<object_id_t, address_t>> tmpDevIds = {{
-      {objects::TMP1075_HANDLER_TCS_0, addresses::TMP1075_TCS_0},
-      {objects::TMP1075_HANDLER_TCS_1, addresses::TMP1075_TCS_1},
-      {objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
-      // damaged
-      // {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
-      {objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
-  }};
+void ObjectFactory::createTmpComponents(
+    std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd) {
+  const char* tmpI2cDev = q7s::I2C_PS_EIVE;
+  if (core::FW_VERSION_MAJOR == 4) {
+    tmpI2cDev = q7s::I2C_PL_EIVE;
+  } else if (core::FW_VERSION_MAJOR >= 5) {
+    tmpI2cDev = q7s::I2C_Q7_EIVE;
+  }
   std::vector<I2cCookie*> tmpDevCookies;
 
-  for (size_t idx = 0; idx < tmpDevIds.size(); idx++) {
+  for (size_t idx = 0; idx < tmpDevsToAdd.size(); idx++) {
     tmpDevCookies.push_back(
-        new I2cCookie(tmpDevIds[idx].second, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_PS_EIVE));
+        new I2cCookie(tmpDevsToAdd[idx].second, TMP1075::MAX_REPLY_LENGTH, tmpI2cDev));
     auto* tmpDevHandler =
-        new Tmp1075Handler(tmpDevIds[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
-    tmpDevHandler->setCustomFdir(new TmpDevFdir(tmpDevIds[idx].first));
+        new Tmp1075Handler(tmpDevsToAdd[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
+    tmpDevHandler->setCustomFdir(new TmpDevFdir(tmpDevsToAdd[idx].first));
     tmpDevHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
-    // TODO: Remove this after TCS subsystem was added
-    // These devices are connected to the 3V3 stack and should be powered permanently. Therefore,
-    // we set them to normal mode immediately here.
-    tmpDevHandler->setModeNormal();
   }
 }
 
@@ -244,7 +249,7 @@ ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF,
   createRadSensorChipSelect(gpioComIF);
 
   SpiCookie* spiCookieRadSensor =
-      new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, RAD_SENSOR::READ_SIZE,
+      new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, radSens::READ_SIZE,
                     spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
   spiCookieRadSensor->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RAD_SENSOR_CS_TIMEOUT);
   auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,
@@ -731,20 +736,12 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
   // GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
   GpioCookie* gpioCookiePtmeIp = new GpioCookie;
   GpiodRegularByLineName* gpio = nullptr;
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, "PAPB VC0");
-  gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, "PAPB VC0");
   gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, "PAPB VC1");
-  gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC1, "PAPB VC1");
   gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, "PAPB VC2");
-  gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, "PAPB VC2");
   gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, "PAPB VC3");
-  gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, "PAPB VC3");
   gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PTME_RESETN, "PTME RESETN",
@@ -753,19 +750,14 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
   gpioChecker(args.gpioComIF.addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
 
   // Creating virtual channel interfaces
-  VirtualChannelIF* vc0 =
-      new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY,
-                          q7s::UIO_PTME, q7s::uiomapids::PTME_VC0);
-  VirtualChannelIF* vc1 =
-      new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY,
-                          q7s::UIO_PTME, q7s::uiomapids::PTME_VC1);
-  VirtualChannelIF* vc2 =
-      new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY,
-                          q7s::UIO_PTME, q7s::uiomapids::PTME_VC2);
-  VirtualChannelIF* vc3 =
-      new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY,
-                          q7s::UIO_PTME, q7s::uiomapids::PTME_VC3);
-
+  VirtualChannelIF* vc0 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_EMPTY,
+                                              q7s::UIO_PTME, q7s::uiomapids::PTME_VC0);
+  VirtualChannelIF* vc1 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_EMPTY,
+                                              q7s::UIO_PTME, q7s::uiomapids::PTME_VC1);
+  VirtualChannelIF* vc2 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_EMPTY,
+                                              q7s::UIO_PTME, q7s::uiomapids::PTME_VC2);
+  VirtualChannelIF* vc3 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_EMPTY,
+                                              q7s::UIO_PTME, q7s::uiomapids::PTME_VC3);
   // Creating ptme object and adding virtual channel interfaces
   Ptme* ptme = new Ptme(objects::PTME);
   ptme->addVcInterface(ccsds::VC0, vc0);
@@ -910,8 +902,6 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
       new PayloadPcduHandler(objects::PLPCDU_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
                              gpioComIF, SdCardManager::instance(), stackHandler, false);
   spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
-//  plPcduHandler->enablePeriodicPrintout(true, 5);
-//  static_cast<void>(plPcduHandler);
 #if OBSW_TEST_PL_PCDU == 1
   plPcduHandler->setStartUpImmediately();
 #endif
@@ -945,16 +935,7 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
   starTrackerCookie->setNoFixedSizeReply();
   StrComHandler* strComIF = new StrComHandler(objects::STR_COM_IF);
 
-  const char* paramJsonFile = nullptr;
-#ifdef EGSE
-  paramJsonFile = "/home/pi/arcsec/json/flight-config.json";
-#else
-#if OBSW_STAR_TRACKER_GROUND_CONFIG == 1
-  paramJsonFile = "/mnt/sd0/startracker/ground-config.json";
-#else
-  paramJsonFile = "/mnt/sd0/startracker/flight-config.json";
-#endif
-#endif
+  const char* paramJsonFile = "/mnt/sd0/startracker/flight-config.json";
   if (paramJsonFile == nullptr) {
     sif::error << "No valid Star Tracker parameter JSON file" << std::endl;
   }
@@ -967,12 +948,13 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
   starTracker->setCustomFdir(strFdir);
 }
 
-void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets) {
+void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets,
+                                         const char* i2cDev) {
   auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
   imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 
   new ImtqPollingTask(objects::IMTQ_POLLING, I2C_FATAL_ERRORS);
-  I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
+  I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, i2cDev);
   auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::IMTQ_POLLING, imtqI2cCookie,
                                      power::Switches::PDU1_CH3_MGT_5V, enableHkSets);
   imtqHandler->enableThermalModule(ThermalStateCfg());
@@ -988,8 +970,8 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enable
 #endif
 }
 
-void ObjectFactory::createBpxBatteryComponent(bool enableHkSets) {
-  I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_PL_EIVE);
+void ObjectFactory::createBpxBatteryComponent(bool enableHkSets, const char* i2cDev) {
+  I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, i2cDev);
   BpxBatteryHandler* bpxHandler = new BpxBatteryHandler(
       objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie, enableHkSets);
   bpxHandler->setStartUpImmediately();
@@ -1045,3 +1027,32 @@ void ObjectFactory::createPlI2cResetGpio(LinuxLibgpioIF* gpioIF) {
     gpioIF->pullHigh(gpioIds::PL_I2C_ARESETN);
   }
 }
+
+ReturnValue_t ObjectFactory::readFirmwareVersion() {
+  uint32_t* mappedSysRomAddr = nullptr;
+  // The SYS ROM FPGA block is only available in those versions.
+  if (not(common::OBSW_VERSION_MAJOR >= 6) or (common::OBSW_VERSION_MAJOR == 4)) {
+    return returnvalue::OK;
+  }
+  // This has to come before the version announce because it might be required for retrieving
+  // the firmware version.
+  UioMapper sysRomMapper(q7s::UIO_SYS_ROM);
+  ReturnValue_t result =
+      sysRomMapper.getMappedAdress(&mappedSysRomAddr, UioMapper::Permissions::READ_ONLY);
+  if (result != returnvalue::OK) {
+    sif::error << "Getting mapped SYS ROM UIO address failed" << std::endl;
+    return returnvalue::FAILED;
+  }
+  if (mappedSysRomAddr != nullptr) {
+    uint32_t firstEntry = *(reinterpret_cast<uint32_t*>(mappedSysRomAddr));
+    uint32_t secondEntry = *(reinterpret_cast<uint32_t*>(mappedSysRomAddr) + 1);
+    core::FW_VERSION_MAJOR = (firstEntry >> 24) & 0xff;
+    core::FW_VERSION_MINOR = (firstEntry >> 16) & 0xff;
+    core::FW_VERSION_REVISION = (firstEntry >> 8) & 0xff;
+    bool hasGitSha = (firstEntry & 0x0b1);
+    if (hasGitSha) {
+      std::memcpy(core::FW_VERSION_GIT_SHA, &secondEntry, 4);
+    }
+  }
+  return returnvalue::OK;
+}

bsp_q7s/objectFactory.h

@@ -58,7 +58,7 @@ void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher
                           bool enableHkSets);
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
                             PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
-void createTmpComponents();
+void createTmpComponents(std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd);
 void createRadSensorChipSelect(LinuxLibgpioIF* gpioIF);
 ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
 void createAcsBoardGpios(GpioCookie& cookie);
@@ -67,14 +67,15 @@ void createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF, Ser
                               adis1650x::Type adisType);
 void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
                             HeaterHandler*& heaterHandler);
-void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets);
-void createBpxBatteryComponent(bool enableHkSets);
+void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets, const char* i2cDev);
+void createBpxBatteryComponent(bool enableHkSets, const char* i2cDev);
 void createStrComponents(PowerSwitchIF* pwrSwitcher);
 void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gpioIF);
 void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
 void createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitcher);
 void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
 ReturnValue_t createCcsdsComponents(CcsdsComponentArgs& args);
+ReturnValue_t readFirmwareVersion();
 void createMiscComponents();
 
 void createTestComponents(LinuxLibgpioIF* gpioComIF);

bsp_q7s/obsw.cpp

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

bsp_q7s/scheduling.cpp

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

bsp_q7s/xadc/Xadc.cpp

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

common/config/devices/gpioIds.h

@@ -96,13 +96,9 @@ enum gpioId_t {
 
   SPI_MUX,
   VC0_PAPB_EMPTY,
-  VC0_PAPB_BUSY,
   VC1_PAPB_EMPTY,
-  VC1_PAPB_BUSY,
   VC2_PAPB_EMPTY,
-  VC2_PAPB_BUSY,
   VC3_PAPB_EMPTY,
-  VC3_PAPB_BUSY,
   PTME_RESETN,
 
   PDEC_RESET,

common/config/eive/definitions.h

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

common/config/eive/eventSubsystemIds.h

@@ -40,6 +40,7 @@ enum : uint8_t {
   COM_SUBSYSTEM = 142,
   PERSISTENT_TM_STORE = 143,
   SYRLINKS_COM = 144,
+  SUS_HANDLER = 145,
   COMMON_SUBSYSTEM_ID_END
 
 };

dummies/CMakeLists.txt

@@ -19,6 +19,7 @@ target_sources(
          GpsCtrlDummy.cpp
          GyroAdisDummy.cpp
          GyroL3GD20Dummy.cpp
+         RadSensorDummy.cpp
          MgmLIS3MDLDummy.cpp
          PlPcduDummy.cpp
          ExecutableComIfDummy.cpp

dummies/CoreControllerDummy.cpp

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

dummies/Max31865Dummy.cpp

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

dummies/PlPcduDummy.cpp

@@ -7,7 +7,7 @@ PlPcduDummy::PlPcduDummy(object_id_t objectId, object_id_t comif, CookieIF *comC
 
 PlPcduDummy::~PlPcduDummy() {}
 
-void PlPcduDummy::doStartUp() { setMode(MODE_NORMAL); }
+void PlPcduDummy::doStartUp() { setMode(MODE_ON); }
 
 void PlPcduDummy::doShutDown() { setMode(MODE_OFF); }
 

dummies/RadSensorDummy.cpp

@@ -0,0 +1,55 @@
+#include "RadSensorDummy.h"
+
+RadSensorDummy::RadSensorDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie), sensorSet(this) {}
+
+RadSensorDummy::~RadSensorDummy() {}
+
+void RadSensorDummy::doStartUp() { setMode(MODE_ON); }
+
+void RadSensorDummy::doShutDown() { setMode(MODE_OFF); }
+
+ReturnValue_t RadSensorDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t RadSensorDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t RadSensorDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                      const uint8_t *commandData,
+                                                      size_t commandDataLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t RadSensorDummy::scanForReply(const uint8_t *start, size_t len,
+                                           DeviceCommandId_t *foundId, size_t *foundLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t RadSensorDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  return returnvalue::OK;
+}
+
+void RadSensorDummy::fillCommandAndReplyMap() {}
+
+uint32_t RadSensorDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+
+ReturnValue_t RadSensorDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                      LocalDataPoolManager &poolManager) {
+  localDataPoolMap.emplace(radSens::TEMPERATURE_C, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(radSens::AIN0, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN1, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN4, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN5, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN6, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(radSens::AIN7, new PoolEntry<uint16_t>({0}));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(sensorSet.getSid(), false, 20.0));
+  return returnvalue::OK;
+
+  return returnvalue::OK;
+}
+
+LocalPoolDataSetBase *RadSensorDummy::getDataSetHandle(sid_t sid) { return &sensorSet; }

dummies/RadSensorDummy.h

@@ -0,0 +1,35 @@
+#pragma once
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+#include "mission/payload/radSensorDefinitions.h"
+
+class RadSensorDummy : public DeviceHandlerBase {
+ public:
+  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
+  static const DeviceCommandId_t PERIODIC_REPLY = 2;
+
+  static const uint8_t SIMPLE_COMMAND_DATA = 1;
+  static const uint8_t PERIODIC_REPLY_DATA = 2;
+
+  RadSensorDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  virtual ~RadSensorDummy();
+
+ protected:
+  radSens::RadSensorDataset sensorSet;
+
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
+};

dummies/SusDummy.cpp

@@ -5,7 +5,7 @@ SusDummy::SusDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
 
 SusDummy::~SusDummy() {}
 
-void SusDummy::doStartUp() { setMode(MODE_NORMAL); }
+void SusDummy::doStartUp() { setMode(MODE_ON); }
 
 void SusDummy::doShutDown() { setMode(MODE_OFF); }
 

dummies/TemperatureSensorInserter.cpp

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

dummies/TemperatureSensorInserter.h

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

dummies/Tmp1075Dummy.cpp

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

dummies/Tmp1075Dummy.h

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

dummies/helperFactory.cpp

@@ -18,6 +18,7 @@
 #include <dummies/PlPcduDummy.h>
 #include <dummies/PlocMpsocDummy.h>
 #include <dummies/PlocSupervisorDummy.h>
+#include <dummies/RadSensorDummy.h>
 #include <dummies/RwDummy.h>
 #include <dummies/SaDeploymentDummy.h>
 #include <dummies/ScexDummy.h>
@@ -34,6 +35,7 @@
 
 #include "TemperatureSensorInserter.h"
 #include "dummies/Max31865Dummy.h"
+#include "dummies/SusDummy.h"
 #include "dummies/Tmp1075Dummy.h"
 #include "mission/genericFactory.h"
 #include "mission/system/acs/acsModeTree.h"
@@ -63,11 +65,14 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
   rws[3] = new RwDummy(objects::RW4, objects::DUMMY_COM_IF, comCookieDummy);
   ObjectFactory::createRwAssy(pwrSwitcher, power::Switches::PDU2_CH2_RW_5V, rws, rwIds);
   new SaDeplDummy(objects::SOLAR_ARRAY_DEPL_HANDLER);
-  auto* strAssy = new StrAssembly(objects::STR_ASSY);
-  strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
-  auto* strDummy =
-      new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
-  strDummy->connectModeTreeParent(*strAssy);
+
+  if (cfg.addStrDummy) {
+    auto* strAssy = new StrAssembly(objects::STR_ASSY);
+    strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
+    auto* strDummy =
+        new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
+    strDummy->connectModeTreeParent(*strAssy);
+  }
   if (cfg.addSyrlinksDummies) {
     auto* syrlinksDummy =
         new SyrlinksDummy(objects::SYRLINKS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
@@ -191,25 +196,36 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
         objects::RTD_15_IC18_IMTQ,
         new Max31865Dummy(objects::RTD_15_IC18_IMTQ, objects::DUMMY_COM_IF, comCookieDummy));
 
-    std::map<object_id_t, Tmp1075Dummy*> tmpSensorDummies;
-    tmpSensorDummies.emplace(
-        objects::TMP1075_HANDLER_TCS_0,
-        new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_0, objects::DUMMY_COM_IF, comCookieDummy));
-    tmpSensorDummies.emplace(
-        objects::TMP1075_HANDLER_TCS_1,
-        new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_1, objects::DUMMY_COM_IF, comCookieDummy));
-    tmpSensorDummies.emplace(
-        objects::TMP1075_HANDLER_PLPCDU_0,
-        new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0, objects::DUMMY_COM_IF, comCookieDummy));
-    // damaged.
-    //        tmpSensorDummies.emplace(
-    //            objects::TMP1075_HANDLER_PLPCDU_1,
-    //            new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1, objects::DUMMY_COM_IF,
-    //            comCookieDummy));
-    tmpSensorDummies.emplace(
-        objects::TMP1075_HANDLER_IF_BOARD,
-        new Tmp1075Dummy(objects::TMP1075_HANDLER_IF_BOARD, objects::DUMMY_COM_IF, comCookieDummy));
-
+    std::optional<TemperatureSensorInserter::Tmp1075DummyMap> tmpSensorDummies;
+    if (cfg.addTmpDummies) {
+      TemperatureSensorInserter::Tmp1075DummyMap tmpDummyMap;
+      if (cfg.tmp1075Cfg.addTcsBrd0) {
+        tmpDummyMap.emplace(objects::TMP1075_HANDLER_TCS_0,
+                            new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_0, objects::DUMMY_COM_IF,
+                                             comCookieDummy));
+      }
+      if (cfg.tmp1075Cfg.addTcsBrd1) {
+        tmpDummyMap.emplace(objects::TMP1075_HANDLER_TCS_1,
+                            new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_1, objects::DUMMY_COM_IF,
+                                             comCookieDummy));
+      }
+      if (cfg.tmp1075Cfg.addPlPcdu0) {
+        tmpDummyMap.emplace(objects::TMP1075_HANDLER_PLPCDU_0,
+                            new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0,
+                                             objects::DUMMY_COM_IF, comCookieDummy));
+      }
+      if (cfg.tmp1075Cfg.addPlPcdu1) {
+        tmpDummyMap.emplace(objects::TMP1075_HANDLER_PLPCDU_1,
+                            new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1,
+                                             objects::DUMMY_COM_IF, comCookieDummy));
+      }
+      if (cfg.tmp1075Cfg.addIfBrd) {
+        tmpDummyMap.emplace(objects::TMP1075_HANDLER_IF_BOARD,
+                            new Tmp1075Dummy(objects::TMP1075_HANDLER_IF_BOARD,
+                                             objects::DUMMY_COM_IF, comCookieDummy));
+      }
+      tmpSensorDummies = std::move(tmpDummyMap);
+    }
     new TemperatureSensorInserter(objects::THERMAL_TEMP_INSERTER, rtdSensorDummies,
                                   tmpSensorDummies);
     TcsBoardAssembly* tcsBoardAssy =
@@ -217,8 +233,10 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
     for (auto& rtd : rtdSensorDummies) {
       rtd.second->connectModeTreeParent(*tcsBoardAssy);
     }
-    for (auto& tmp : tmpSensorDummies) {
-      tmp.second->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
+    if (tmpSensorDummies.has_value()) {
+      for (auto& tmp : tmpSensorDummies.value()) {
+        tmp.second->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
+      }
     }
   }
   if (cfg.addCamSwitcherDummy) {
@@ -226,11 +244,15 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
                                         power::Switches::PDU2_CH8_PAYLOAD_CAMERA);
     camSwitcher->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
   }
-  auto* scexDummy = new ScexDummy(objects::SCEX, objects::DUMMY_COM_IF, comCookieDummy);
-  scexDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
-  auto* plPcduDummy =
-      new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-  plPcduDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
+  if (cfg.addScexDummy) {
+    auto* scexDummy = new ScexDummy(objects::SCEX, objects::DUMMY_COM_IF, comCookieDummy);
+    scexDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
+  }
+  if (cfg.addPlPcduDummy) {
+    auto* plPcduDummy =
+        new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    plPcduDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
+  }
   if (cfg.addPlocDummies) {
     auto* plocMpsocDummy =
         new PlocMpsocDummy(objects::PLOC_MPSOC_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
@@ -239,4 +261,9 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
         objects::PLOC_SUPERVISOR_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, pwrSwitcher);
     plocSupervisorDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
   }
+  if (cfg.addRadSensorDummy) {
+    auto* radSensorDummy =
+        new RadSensorDummy(objects::RAD_SENSOR, objects::DUMMY_COM_IF, comCookieDummy);
+    radSensorDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
+  }
 }

dummies/helperFactory.h

@@ -6,6 +6,14 @@ class GpioIF;
 
 namespace dummy {
 
+struct Tmp1075Cfg {
+  bool addTcsBrd0 = true;
+  bool addTcsBrd1 = true;
+  bool addPlPcdu0 = true;
+  bool addPlPcdu1 = true;
+  bool addIfBrd = true;
+};
+
 // Default values targeted towards EM.
 struct DummyCfg {
   bool addCoreCtrlCfg = true;
@@ -19,7 +27,13 @@ struct DummyCfg {
   bool addTempSensorDummies = true;
   bool addRtdComIFDummy = true;
   bool addPlocDummies = true;
+  bool addStrDummy = true;
+  bool addTmpDummies = true;
+  bool addRadSensorDummy = true;
+  bool addPlPcduDummy = false;
+  Tmp1075Cfg tmp1075Cfg;
   bool addCamSwitcherDummy = false;
+  bool addScexDummy = false;
 };
 
 void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch, GpioIF* gpioIF, bool enableHkSets);

generators/bsp_hosted_events.csv

@@ -94,6 +94,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11205;0x2bc5;MEKF_AUTOMATIC_RESET;INFO;MEKF performed an automatic reset after detection of nonfinite values.;mission/acs/defs.h
 11206;0x2bc6;MEKF_INVALID_MODE_VIOLATION;HIGH;MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.;mission/acs/defs.h
 11207;0x2bc7;SAFE_MODE_CONTROLLER_FAILURE;HIGH;The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate;mission/acs/defs.h
+11208;0x2bc8;TLE_TOO_OLD;INFO;The TLE for the SGP4 Propagator has become too old.;mission/acs/defs.h
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/power/defs.h
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h
@@ -133,6 +134,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11802;0x2e1a;RESET_OCCURED;LOW;No description;mission/acs/rwHelpers.h
 11901;0x2e7d;BOOTING_FIRMWARE_FAILED_EVENT;LOW;Failed to boot firmware;mission/acs/str/StarTrackerHandler.h
 11902;0x2e7e;BOOTING_BOOTLOADER_FAILED_EVENT;LOW;Failed to boot star tracker into bootloader mode;mission/acs/str/StarTrackerHandler.h
+11903;0x2e7f;COM_ERROR_REPLY_RECEIVED;LOW;Received COM error. P1:  Communication Error ID (datasheet p32);mission/acs/str/StarTrackerHandler.h
 12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/payload/PlocSupervisorHandler.h
 12002;0x2ee2;SUPV_UNKNOWN_TM;LOW;Unhandled event. P1: APID, P2: Service ID;linux/payload/PlocSupervisorHandler.h
 12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;No description;linux/payload/PlocSupervisorHandler.h
@@ -160,6 +162,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12412;0x307c;PDEC_RESET_FAILED;HIGH;Failed to pull PDEC reset to low;linux/ipcore/pdec.h
 12413;0x307d;OPEN_IRQ_FILE_FAILED;HIGH;Failed to open the IRQ uio file;linux/ipcore/pdec.h
 12414;0x307e;PDEC_INIT_FAILED;HIGH;PDEC initialization failed. This might also be due to the persistent confiuration never becoming available, for example due to SD card issues.;linux/ipcore/pdec.h
+12415;0x307f;PDEC_CONFIG_CORRUPTED;HIGH;The PDEC configuration area has been corrupted P1: The first configuration word P2: The second configuration word;linux/ipcore/pdec.h
 12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/acs/StrComHandler.h
 12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/acs/StrComHandler.h
 12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/acs/StrComHandler.h
@@ -254,6 +257,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13800;0x35e8;MISSING_PACKET;LOW;No description;mission/payload/scexHelpers.h
 13801;0x35e9;EXPERIMENT_TIMEDOUT;LOW;No description;mission/payload/scexHelpers.h
 13802;0x35ea;MULTI_PACKET_COMMAND_DONE;INFO;No description;mission/payload/scexHelpers.h
+13803;0x35eb;FS_UNUSABLE;LOW;No description;mission/payload/scexHelpers.h
 13901;0x364d;SET_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13902;0x364e;GET_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13903;0x364f;INSERT_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
@@ -272,6 +276,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 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
+14014;0x36be;ACTIVE_SD_INFO;INFO;Active SD card info. SD States: 0: OFF, 1: ON, 2: MOUNTED. P1: Active SD Card Index, 0 if none is active P2: First two bytes: SD state of SD card 0, last two bytes SD state of SD card 1;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
@@ -280,6 +285,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14106;0x371a;PCDU_SYSTEM_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
 14107;0x371b;HEATER_NOT_OFF_FOR_OFF_MODE;MEDIUM;No description;mission/controller/tcsDefs.h
 14108;0x371c;MGT_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
+14109;0x371d;TCS_SWITCHING_HEATER_ON;INFO;P1: Module index. P2: Heater index;mission/controller/tcsDefs.h
+14110;0x371e;TCS_SWITCHING_HEATER_OFF;INFO;P1: Module index. P2: Heater index;mission/controller/tcsDefs.h
+14111;0x371f;TCS_HEATER_MAX_BURN_TIME_REACHED;MEDIUM;P1: Heater index. P2: Maximum burn time for heater.;mission/controller/tcsDefs.h
 14201;0x3779;TX_TIMER_EXPIRED;INFO;The transmit timer to protect the Syrlinks expired P1: The current timer value;mission/system/com/ComSubsystem.h
 14202;0x377a;BIT_LOCK_TX_ON;INFO;Transmitter will be turned on due to detection of bitlock;mission/system/com/ComSubsystem.h
 14300;0x37dc;POSSIBLE_FILE_CORRUPTION;LOW;P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp.;mission/persistentTmStoreDefs.h
@@ -295,3 +303,5 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14312;0x37e8;DUMP_MISC_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
 14313;0x37e9;DUMP_HK_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
 14314;0x37ea;DUMP_CFDP_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
+14500;0x38a4;TEMPERATURE_ALL_ONES_START;MEDIUM;Detected invalid values, starting invalid message counting;mission/acs/SusHandler.h
+14501;0x38a5;TEMPERATURE_ALL_ONES_RECOVERY;INFO;Detected valid values again, resetting invalid message counter. P1: Invalid message counter.;mission/acs/SusHandler.h

generators/bsp_hosted_subsystems.csv

@@ -60,3 +60,4 @@
 142;COM_SUBSYSTEM
 143;PERSISTENT_TM_STORE
 144;SYRLINKS_COM
+145;SUS_HANDLER

generators/bsp_q7s_events.csv

@@ -94,6 +94,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11205;0x2bc5;MEKF_AUTOMATIC_RESET;INFO;MEKF performed an automatic reset after detection of nonfinite values.;mission/acs/defs.h
 11206;0x2bc6;MEKF_INVALID_MODE_VIOLATION;HIGH;MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.;mission/acs/defs.h
 11207;0x2bc7;SAFE_MODE_CONTROLLER_FAILURE;HIGH;The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate;mission/acs/defs.h
+11208;0x2bc8;TLE_TOO_OLD;INFO;The TLE for the SGP4 Propagator has become too old.;mission/acs/defs.h
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/power/defs.h
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h
@@ -133,6 +134,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11802;0x2e1a;RESET_OCCURED;LOW;No description;mission/acs/rwHelpers.h
 11901;0x2e7d;BOOTING_FIRMWARE_FAILED_EVENT;LOW;Failed to boot firmware;mission/acs/str/StarTrackerHandler.h
 11902;0x2e7e;BOOTING_BOOTLOADER_FAILED_EVENT;LOW;Failed to boot star tracker into bootloader mode;mission/acs/str/StarTrackerHandler.h
+11903;0x2e7f;COM_ERROR_REPLY_RECEIVED;LOW;Received COM error. P1:  Communication Error ID (datasheet p32);mission/acs/str/StarTrackerHandler.h
 12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/payload/PlocSupervisorHandler.h
 12002;0x2ee2;SUPV_UNKNOWN_TM;LOW;Unhandled event. P1: APID, P2: Service ID;linux/payload/PlocSupervisorHandler.h
 12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;No description;linux/payload/PlocSupervisorHandler.h
@@ -160,6 +162,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12412;0x307c;PDEC_RESET_FAILED;HIGH;Failed to pull PDEC reset to low;linux/ipcore/pdec.h
 12413;0x307d;OPEN_IRQ_FILE_FAILED;HIGH;Failed to open the IRQ uio file;linux/ipcore/pdec.h
 12414;0x307e;PDEC_INIT_FAILED;HIGH;PDEC initialization failed. This might also be due to the persistent confiuration never becoming available, for example due to SD card issues.;linux/ipcore/pdec.h
+12415;0x307f;PDEC_CONFIG_CORRUPTED;HIGH;The PDEC configuration area has been corrupted P1: The first configuration word P2: The second configuration word;linux/ipcore/pdec.h
 12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/acs/StrComHandler.h
 12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/acs/StrComHandler.h
 12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/acs/StrComHandler.h
@@ -254,6 +257,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13800;0x35e8;MISSING_PACKET;LOW;No description;mission/payload/scexHelpers.h
 13801;0x35e9;EXPERIMENT_TIMEDOUT;LOW;No description;mission/payload/scexHelpers.h
 13802;0x35ea;MULTI_PACKET_COMMAND_DONE;INFO;No description;mission/payload/scexHelpers.h
+13803;0x35eb;FS_UNUSABLE;LOW;No description;mission/payload/scexHelpers.h
 13901;0x364d;SET_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13902;0x364e;GET_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13903;0x364f;INSERT_CONFIGFILEVALUE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
@@ -272,6 +276,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 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
+14014;0x36be;ACTIVE_SD_INFO;INFO;Active SD card info. SD States: 0: OFF, 1: ON, 2: MOUNTED. P1: Active SD Card Index, 0 if none is active P2: First two bytes: SD state of SD card 0, last two bytes SD state of SD card 1;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
@@ -280,6 +285,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14106;0x371a;PCDU_SYSTEM_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
 14107;0x371b;HEATER_NOT_OFF_FOR_OFF_MODE;MEDIUM;No description;mission/controller/tcsDefs.h
 14108;0x371c;MGT_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
+14109;0x371d;TCS_SWITCHING_HEATER_ON;INFO;P1: Module index. P2: Heater index;mission/controller/tcsDefs.h
+14110;0x371e;TCS_SWITCHING_HEATER_OFF;INFO;P1: Module index. P2: Heater index;mission/controller/tcsDefs.h
+14111;0x371f;TCS_HEATER_MAX_BURN_TIME_REACHED;MEDIUM;P1: Heater index. P2: Maximum burn time for heater.;mission/controller/tcsDefs.h
 14201;0x3779;TX_TIMER_EXPIRED;INFO;The transmit timer to protect the Syrlinks expired P1: The current timer value;mission/system/com/ComSubsystem.h
 14202;0x377a;BIT_LOCK_TX_ON;INFO;Transmitter will be turned on due to detection of bitlock;mission/system/com/ComSubsystem.h
 14300;0x37dc;POSSIBLE_FILE_CORRUPTION;LOW;P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp.;mission/persistentTmStoreDefs.h
@@ -295,3 +303,5 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14312;0x37e8;DUMP_MISC_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
 14313;0x37e9;DUMP_HK_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
 14314;0x37ea;DUMP_CFDP_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
+14500;0x38a4;TEMPERATURE_ALL_ONES_START;MEDIUM;Detected invalid values, starting invalid message counting;mission/acs/SusHandler.h
+14501;0x38a5;TEMPERATURE_ALL_ONES_RECOVERY;INFO;Detected valid values again, resetting invalid message counter. P1: Invalid message counter.;mission/acs/SusHandler.h

generators/bsp_q7s_subsystems.csv

@@ -60,3 +60,4 @@
 142;COM_SUBSYSTEM
 143;PERSISTENT_TM_STORE
 144;SYRLINKS_COM
+145;SUS_HANDLER

generators/events/event_parser.py

@@ -54,9 +54,13 @@ class BspConfig:
 
         # Store this file in the root of the generators folder
         self.csv_filename = Path(f"{ROOT_DIR}/{self.bsp_dir_name}_events.csv")
-        self.subsystems_csv_filename = Path(f"{ROOT_DIR}/{self.bsp_dir_name}_subsystems.csv")
+        self.subsystems_csv_filename = Path(
+            f"{ROOT_DIR}/{self.bsp_dir_name}_subsystems.csv"
+        )
         self.csv_copy_dest = Path(f"{OBSW_ROOT_DIR}/tmtc/eive_tmtc/config/events.csv")
-        self.subsystem_csv_copy_dest = Path(f"{OBSW_ROOT_DIR}/tmtc/eive_tmtc/config/subsystems.csv")
+        self.subsystem_csv_copy_dest = Path(
+            f"{OBSW_ROOT_DIR}/tmtc/eive_tmtc/config/subsystems.csv"
+        )
 
         if (
             self.bsp_select == BspType.BSP_Q7S

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 296 translations.
+ * @brief    Auto-generated event translation file. Contains 306 translations.
  * @details
- * Generated on: 2023-06-21 19:01:02
+ * Generated on: 2023-09-12 10:05:17
  */
 #include "translateEvents.h"
 
@@ -100,6 +100,7 @@ const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
 const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET";
 const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
 const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
+const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -139,6 +140,7 @@ const char *ERROR_STATE_STRING = "ERROR_STATE";
 const char *RESET_OCCURED_STRING = "RESET_OCCURED";
 const char *BOOTING_FIRMWARE_FAILED_EVENT_STRING = "BOOTING_FIRMWARE_FAILED_EVENT";
 const char *BOOTING_BOOTLOADER_FAILED_EVENT_STRING = "BOOTING_BOOTLOADER_FAILED_EVENT";
+const char *COM_ERROR_REPLY_RECEIVED_STRING = "COM_ERROR_REPLY_RECEIVED";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
 const char *SUPV_UNKNOWN_TM_STRING = "SUPV_UNKNOWN_TM";
 const char *SUPV_UNINIMPLEMENTED_TM_STRING = "SUPV_UNINIMPLEMENTED_TM";
@@ -166,6 +168,7 @@ const char *PDEC_TRYING_RESET_NO_INIT_STRING = "PDEC_TRYING_RESET_NO_INIT";
 const char *PDEC_RESET_FAILED_STRING = "PDEC_RESET_FAILED";
 const char *OPEN_IRQ_FILE_FAILED_STRING = "OPEN_IRQ_FILE_FAILED";
 const char *PDEC_INIT_FAILED_STRING = "PDEC_INIT_FAILED";
+const char *PDEC_CONFIG_CORRUPTED_STRING = "PDEC_CONFIG_CORRUPTED";
 const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
 const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
 const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
@@ -260,6 +263,7 @@ const char *TX_OFF_STRING = "TX_OFF";
 const char *MISSING_PACKET_STRING = "MISSING_PACKET";
 const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
 const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
+const char *FS_UNUSABLE_STRING = "FS_UNUSABLE";
 const char *SET_CONFIGFILEVALUE_FAILED_STRING = "SET_CONFIGFILEVALUE_FAILED";
 const char *GET_CONFIGFILEVALUE_FAILED_STRING = "GET_CONFIGFILEVALUE_FAILED";
 const char *INSERT_CONFIGFILEVALUE_FAILED_STRING = "INSERT_CONFIGFILEVALUE_FAILED";
@@ -278,6 +282,7 @@ 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 *ACTIVE_SD_INFO_STRING = "ACTIVE_SD_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";
@@ -286,6 +291,9 @@ const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
 const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
 const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
 const char *MGT_OVERHEATING_STRING = "MGT_OVERHEATING";
+const char *TCS_SWITCHING_HEATER_ON_STRING = "TCS_SWITCHING_HEATER_ON";
+const char *TCS_SWITCHING_HEATER_OFF_STRING = "TCS_SWITCHING_HEATER_OFF";
+const char *TCS_HEATER_MAX_BURN_TIME_REACHED_STRING = "TCS_HEATER_MAX_BURN_TIME_REACHED";
 const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
 const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
 const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@@ -301,6 +309,8 @@ const char *DUMP_NOK_CANCELLED_STRING = "DUMP_NOK_CANCELLED";
 const char *DUMP_MISC_CANCELLED_STRING = "DUMP_MISC_CANCELLED";
 const char *DUMP_HK_CANCELLED_STRING = "DUMP_HK_CANCELLED";
 const char *DUMP_CFDP_CANCELLED_STRING = "DUMP_CFDP_CANCELLED";
+const char *TEMPERATURE_ALL_ONES_START_STRING = "TEMPERATURE_ALL_ONES_START";
+const char *TEMPERATURE_ALL_ONES_RECOVERY_STRING = "TEMPERATURE_ALL_ONES_RECOVERY";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -494,6 +504,8 @@ const char *translateEvents(Event event) {
       return MEKF_INVALID_MODE_VIOLATION_STRING;
     case (11207):
       return SAFE_MODE_CONTROLLER_FAILURE_STRING;
+    case (11208):
+      return TLE_TOO_OLD_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -572,6 +584,8 @@ const char *translateEvents(Event event) {
       return BOOTING_FIRMWARE_FAILED_EVENT_STRING;
     case (11902):
       return BOOTING_BOOTLOADER_FAILED_EVENT_STRING;
+    case (11903):
+      return COM_ERROR_REPLY_RECEIVED_STRING;
     case (12001):
       return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
     case (12002):
@@ -626,6 +640,8 @@ const char *translateEvents(Event event) {
       return OPEN_IRQ_FILE_FAILED_STRING;
     case (12414):
       return PDEC_INIT_FAILED_STRING;
+    case (12415):
+      return PDEC_CONFIG_CORRUPTED_STRING;
     case (12500):
       return IMAGE_UPLOAD_FAILED_STRING;
     case (12501):
@@ -814,6 +830,8 @@ const char *translateEvents(Event event) {
       return EXPERIMENT_TIMEDOUT_STRING;
     case (13802):
       return MULTI_PACKET_COMMAND_DONE_STRING;
+    case (13803):
+      return FS_UNUSABLE_STRING;
     case (13901):
       return SET_CONFIGFILEVALUE_FAILED_STRING;
     case (13902):
@@ -850,6 +868,8 @@ const char *translateEvents(Event event) {
       return PDEC_REBOOT_STRING;
     case (14013):
       return FIRMWARE_INFO_STRING;
+    case (14014):
+      return ACTIVE_SD_INFO_STRING;
     case (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):
@@ -866,6 +886,12 @@ const char *translateEvents(Event event) {
       return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
     case (14108):
       return MGT_OVERHEATING_STRING;
+    case (14109):
+      return TCS_SWITCHING_HEATER_ON_STRING;
+    case (14110):
+      return TCS_SWITCHING_HEATER_OFF_STRING;
+    case (14111):
+      return TCS_HEATER_MAX_BURN_TIME_REACHED_STRING;
     case (14201):
       return TX_TIMER_EXPIRED_STRING;
     case (14202):
@@ -896,6 +922,10 @@ const char *translateEvents(Event event) {
       return DUMP_HK_CANCELLED_STRING;
     case (14314):
       return DUMP_CFDP_CANCELLED_STRING;
+    case (14500):
+      return TEMPERATURE_ALL_ONES_START_STRING;
+    case (14501):
+      return TEMPERATURE_ALL_ONES_RECOVERY_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-06-21 19:01:02
+ * Generated on: 2023-09-12 10:05:17
  */
 #include "translateObjects.h"
 

linux/acs/AcsBoardPolling.cpp

@@ -767,6 +767,9 @@ void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
         mgm.replyResult = result;
         return;
       }
+      // For some reason, bit 1 is sometimes set on the reply, even if it is not set for the
+      // command.. Ignore it for now by clearing it.
+      rawReply[1] &= ~(1 << 1);
       if (rawReply[1] != mgmRm3100::CMM_VALUE) {
         sif::error << "AcsBoardPolling: MGM RM3100 read back CMM invalid" << std::endl;
         mgm.replyResult = result;

linux/acs/GpsHyperionLinuxController.cpp

@@ -21,6 +21,7 @@ GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, obj
                                                        bool enableHkSets, bool debugHyperionGps)
     : ExtendedControllerBase(objectId),
       gpsSet(this),
+      skyviewSet(this),
       enableHkSets(enableHkSets),
       debugHyperionGps(debugHyperionGps) {}
 
@@ -29,7 +30,17 @@ GpsHyperionLinuxController::~GpsHyperionLinuxController() {
   gps_close(&gps);
 }
 
-LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }
+LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) {
+  switch (sid.ownerSetId) {
+    case GpsHyperion::CORE_DATASET:
+      return &gpsSet;
+    case GpsHyperion::SKYVIEW_DATASET:
+      return &skyviewSet;
+    default:
+      return nullptr;
+  }
+  return nullptr;
+}
 
 ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
                                                            uint32_t *msToReachTheMode) {
@@ -90,6 +101,13 @@ ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(
   localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
   localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
   poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), enableHkSets, 30.0});
+  localDataPoolMap.emplace(GpsHyperion::SKYVIEW_UNIX_SECONDS, new PoolEntry<double>());
+  localDataPoolMap.emplace(GpsHyperion::PRN_ID, new PoolEntry<int16_t>());
+  localDataPoolMap.emplace(GpsHyperion::AZIMUTH, new PoolEntry<int16_t>());
+  localDataPoolMap.emplace(GpsHyperion::ELEVATION, new PoolEntry<int16_t>());
+  localDataPoolMap.emplace(GpsHyperion::SIGNAL2NOISE, new PoolEntry<double>());
+  localDataPoolMap.emplace(GpsHyperion::USED, new PoolEntry<uint8_t>());
+  poolManager.subscribeForRegularPeriodicPacket({skyviewSet.getSid(), false, 120.0});
   return returnvalue::OK;
 }
 
@@ -166,30 +184,32 @@ bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
   if (mode == MODE_OFF) {
     return false;
   }
+  unsigned int readIdx = 0;
   if (readMode == ReadModes::SOCKET) {
     // Poll the GPS.
-    if (gps_waiting(&gps, 0)) {
-      if (-1 == gps_read(&gps)) {
+    while (gps_waiting(&gps, 0)) {
+      int retval = gps_read(&gps);
+      if (retval < 0) {
         readError();
         return false;
       }
-      oneShotSwitches.gpsReadFailedSwitch = true;
-      ReturnValue_t result = handleGpsReadData();
-      if (result == returnvalue::OK) {
-        return true;
-      } else {
-        return false;
+      readIdx++;
+      if (readIdx >= 40) {
+        sif::warning << "GpsHyperionLinuxController: Received " << readIdx
+                     << " GPSD message consecutively" << std::endl;
+        break;
       }
-      noModeSetCntr = 0;
-    } else {
-      return false;
+    }
+    if (readIdx > 0) {
+      oneShotSwitches.gpsReadFailedSwitch = true;
+      handleGpsReadData();
     }
   } else if (readMode == ReadModes::SHM) {
     sif::error << "GpsHyperionLinuxController::readGpsDataFromGpsdPermanentLoop: "
                   "SHM read not implemented"
                << std::endl;
   }
-  return true;
+  return false;
 }
 
 ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
@@ -208,7 +228,15 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
       return returnvalue::FAILED;
     }
   }
+  ReturnValue_t result = handleCoreTelemetry(modeIsSet);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = handleSkyviewTelemetry();
+  return result;
+}
 
+ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
   PoolReadGuard pg(&gpsSet);
   if (pg.getReadResult() != returnvalue::OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
@@ -236,7 +264,9 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
     }
   }
   if (gpsSet.fixMode.value != newFix) {
+#if OBSW_Q7S_EM != 1
     triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFix);
+#endif
   }
   gpsSet.fixMode = newFix;
   gpsSet.fixMode.setValid(modeIsSet);
@@ -369,6 +399,22 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   return returnvalue::OK;
 }
 
+ReturnValue_t GpsHyperionLinuxController::handleSkyviewTelemetry() {
+  PoolReadGuard pg(&skyviewSet);
+  if (pg.getReadResult() != returnvalue::OK) {
+    return returnvalue::FAILED;
+  }
+  skyviewSet.unixSeconds.value = gps.skyview_time;
+  for (int sat = 0; sat < GpsHyperion::MAX_SATELLITES; sat++) {
+    skyviewSet.prn_id.value[sat] = gps.skyview[sat].PRN;
+    skyviewSet.azimuth.value[sat] = gps.skyview[sat].azimuth;
+    skyviewSet.elevation.value[sat] = gps.skyview[sat].elevation;
+    skyviewSet.signal2noise.value[sat] = gps.skyview[sat].ss;
+    skyviewSet.used.value[sat] = gps.skyview[sat].used;
+  }
+  return returnvalue::OK;
+}
+
 void GpsHyperionLinuxController::overwriteTimeIfNotSane(timeval time, bool validFix) {
   if (not timeInit and validFix) {
     if (not utility::timeSanityCheck()) {

linux/acs/GpsHyperionLinuxController.h

@@ -54,9 +54,12 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
                                         LocalDataPoolManager& poolManager) override;
 
   ReturnValue_t handleGpsReadData();
+  ReturnValue_t handleCoreTelemetry(bool modeIsSet);
+  ReturnValue_t handleSkyviewTelemetry();
 
  private:
   GpsPrimaryDataset gpsSet;
+  SkyviewDataset skyviewSet;
   gps_data_t gps = {};
   bool enableHkSets = false;
   const char* currentClientBuf = nullptr;
@@ -81,7 +84,6 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
   } oneShotSwitches;
 
   bool debugHyperionGps = false;
-  int32_t noModeSetCntr = 0;
 
   // Returns true if the function should be called again or false if other
   // controller handling can be done.

linux/acs/StrComHandler.cpp

@@ -2,6 +2,7 @@
 
 #include <fcntl.h>
 #include <fsfw/filesystem/HasFileSystemIF.h>
+#include <fsfw/globalfunctions/arrayprinter.h>
 #include <fsfw/tasks/TaskFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
 #include <mission/acs/str/strHelpers.h>
@@ -23,6 +24,8 @@ extern "C" {
 
 using namespace returnvalue;
 
+static constexpr bool PACKET_WIRETAPPING = false;
+
 StrComHandler::StrComHandler(object_id_t objectId) : SystemObject(objectId) {
   lock = MutexFactory::instance()->createMutex();
   semaphore.acquire();
@@ -52,7 +55,7 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
       case InternalState::POLL_ONE_REPLY: {
         // Stopwatch watch;
         replyTimeout.setTimeout(200);
-        replyResult = readOneReply(static_cast<uint32_t>(state));
+        readOneReply(static_cast<uint32_t>(state));
         {
           MutexGuard mg(lock);
           replyWasReceived = true;
@@ -680,6 +683,10 @@ ReturnValue_t StrComHandler::sendMessage(CookieIF* cookie, const uint8_t* sendDa
   const uint8_t* txFrame;
   size_t frameLen;
   datalinkLayer.encodeFrame(sendData, sendLen, &txFrame, frameLen);
+  if (PACKET_WIRETAPPING) {
+    sif::debug << "Sending STR frame" << std::endl;
+    arrayprinter::print(txFrame, frameLen);
+  }
   ssize_t bytesWritten = write(serialPort, txFrame, frameLen);
   if (bytesWritten != static_cast<ssize_t>(frameLen)) {
     sif::warning << "StrComHandler: Sending packet failed" << std::endl;
@@ -709,13 +716,11 @@ ReturnValue_t StrComHandler::requestReceiveMessage(CookieIF* cookie, size_t requ
 }
 
 ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
-  // Consider it a configuration error if the task is not done with a command -> reply cycle
-  // in time.
   bool replyWasReceived = false;
   {
     MutexGuard mg(lock);
     if (state != InternalState::SLEEPING) {
-      return BUSY;
+      return returnvalue::OK;
     }
     replyWasReceived = this->replyWasReceived;
   }
@@ -728,7 +733,7 @@ ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buf
     *size = replyLen;
   }
   replyLen = 0;
-  return replyResult;
+  return returnvalue::OK;
 }
 
 ReturnValue_t StrComHandler::unlockAndEraseRegions(uint32_t from, uint32_t to) {
@@ -782,8 +787,10 @@ ReturnValue_t StrComHandler::handleSerialReception() {
                << std::endl;
     return FAILED;
   } else if (bytesRead > 0) {
-    // sif::info << "Received " << bytesRead << " bytes from the STR" << std::endl;
-    // arrayprinter::print(recBuf.data(), bytesRead);
+    if (PACKET_WIRETAPPING) {
+      sif::info << "Received " << bytesRead << " bytes from the STR" << std::endl;
+      arrayprinter::print(recBuf.data(), bytesRead);
+    }
     datalinkLayer.feedData(recBuf.data(), bytesRead);
   }
   return OK;
@@ -797,6 +804,10 @@ ReturnValue_t StrComHandler::readOneReply(uint32_t failParameter) {
     handleSerialReception();
     result = datalinkLayer.checkRingBufForFrame(&replyPtr, replyLen);
     if (result == returnvalue::OK) {
+      if (PACKET_WIRETAPPING) {
+        sif::debug << "Received STR reply frame" << std::endl;
+        arrayprinter::print(replyPtr, replyLen);
+      }
       return returnvalue::OK;
     } else if (result != ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
       triggerEvent(STR_HELPER_DEC_ERROR, result, failParameter);

linux/acs/SusPolling.cpp

@@ -170,18 +170,12 @@ ReturnValue_t SusPolling::handleSusPolling() {
       }
       MutexGuard mg(ipcLock);
       susDevs[idx].ownReply.tempRaw = ((rawReply[0] & 0x0f) << 8) | rawReply[1];
-      // Reply is all ones. Sensor is probably off or faulty when
-      // it should not be.
-      if (susDevs[idx].ownReply.tempRaw == 0x0fff) {
-        susDevs[idx].replyResult = returnvalue::FAILED;
-      } else {
-        susDevs[idx].replyResult = returnvalue::OK;
-        for (unsigned chIdx = 0; chIdx < 6; chIdx++) {
-          susDevs[idx].ownReply.channelsRaw[chIdx] =
-              (rawReply[chIdx * 2 + 2] << 8) | rawReply[chIdx * 2 + 3];
-        }
-        susDevs[idx].ownReply.dataWasSet = true;
+      susDevs[idx].replyResult = returnvalue::OK;
+      for (unsigned chIdx = 0; chIdx < 6; chIdx++) {
+        susDevs[idx].ownReply.channelsRaw[chIdx] =
+            (rawReply[chIdx * 2 + 2] << 8) | rawReply[chIdx * 2 + 3];
       }
+      susDevs[idx].ownReply.dataWasSet = true;
     }
   }
   return OK;

linux/boardtest/UartTestClass.h

@@ -11,7 +11,7 @@
 
 #include <array>
 
-//#include "lwgps/lwgps.h"
+// #include "lwgps/lwgps.h"
 #include "test/TestTask.h"
 
 class ScexUartReader;

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 296 translations.
+ * @brief    Auto-generated event translation file. Contains 306 translations.
  * @details
- * Generated on: 2023-06-21 19:01:02
+ * Generated on: 2023-09-12 10:05:17
  */
 #include "translateEvents.h"
 
@@ -100,6 +100,7 @@ const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
 const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET";
 const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
 const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
+const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -139,6 +140,7 @@ const char *ERROR_STATE_STRING = "ERROR_STATE";
 const char *RESET_OCCURED_STRING = "RESET_OCCURED";
 const char *BOOTING_FIRMWARE_FAILED_EVENT_STRING = "BOOTING_FIRMWARE_FAILED_EVENT";
 const char *BOOTING_BOOTLOADER_FAILED_EVENT_STRING = "BOOTING_BOOTLOADER_FAILED_EVENT";
+const char *COM_ERROR_REPLY_RECEIVED_STRING = "COM_ERROR_REPLY_RECEIVED";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
 const char *SUPV_UNKNOWN_TM_STRING = "SUPV_UNKNOWN_TM";
 const char *SUPV_UNINIMPLEMENTED_TM_STRING = "SUPV_UNINIMPLEMENTED_TM";
@@ -166,6 +168,7 @@ const char *PDEC_TRYING_RESET_NO_INIT_STRING = "PDEC_TRYING_RESET_NO_INIT";
 const char *PDEC_RESET_FAILED_STRING = "PDEC_RESET_FAILED";
 const char *OPEN_IRQ_FILE_FAILED_STRING = "OPEN_IRQ_FILE_FAILED";
 const char *PDEC_INIT_FAILED_STRING = "PDEC_INIT_FAILED";
+const char *PDEC_CONFIG_CORRUPTED_STRING = "PDEC_CONFIG_CORRUPTED";
 const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
 const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
 const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
@@ -260,6 +263,7 @@ const char *TX_OFF_STRING = "TX_OFF";
 const char *MISSING_PACKET_STRING = "MISSING_PACKET";
 const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
 const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
+const char *FS_UNUSABLE_STRING = "FS_UNUSABLE";
 const char *SET_CONFIGFILEVALUE_FAILED_STRING = "SET_CONFIGFILEVALUE_FAILED";
 const char *GET_CONFIGFILEVALUE_FAILED_STRING = "GET_CONFIGFILEVALUE_FAILED";
 const char *INSERT_CONFIGFILEVALUE_FAILED_STRING = "INSERT_CONFIGFILEVALUE_FAILED";
@@ -278,6 +282,7 @@ 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 *ACTIVE_SD_INFO_STRING = "ACTIVE_SD_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";
@@ -286,6 +291,9 @@ const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
 const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
 const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
 const char *MGT_OVERHEATING_STRING = "MGT_OVERHEATING";
+const char *TCS_SWITCHING_HEATER_ON_STRING = "TCS_SWITCHING_HEATER_ON";
+const char *TCS_SWITCHING_HEATER_OFF_STRING = "TCS_SWITCHING_HEATER_OFF";
+const char *TCS_HEATER_MAX_BURN_TIME_REACHED_STRING = "TCS_HEATER_MAX_BURN_TIME_REACHED";
 const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
 const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
 const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
@@ -301,6 +309,8 @@ const char *DUMP_NOK_CANCELLED_STRING = "DUMP_NOK_CANCELLED";
 const char *DUMP_MISC_CANCELLED_STRING = "DUMP_MISC_CANCELLED";
 const char *DUMP_HK_CANCELLED_STRING = "DUMP_HK_CANCELLED";
 const char *DUMP_CFDP_CANCELLED_STRING = "DUMP_CFDP_CANCELLED";
+const char *TEMPERATURE_ALL_ONES_START_STRING = "TEMPERATURE_ALL_ONES_START";
+const char *TEMPERATURE_ALL_ONES_RECOVERY_STRING = "TEMPERATURE_ALL_ONES_RECOVERY";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -494,6 +504,8 @@ const char *translateEvents(Event event) {
       return MEKF_INVALID_MODE_VIOLATION_STRING;
     case (11207):
       return SAFE_MODE_CONTROLLER_FAILURE_STRING;
+    case (11208):
+      return TLE_TOO_OLD_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -572,6 +584,8 @@ const char *translateEvents(Event event) {
       return BOOTING_FIRMWARE_FAILED_EVENT_STRING;
     case (11902):
       return BOOTING_BOOTLOADER_FAILED_EVENT_STRING;
+    case (11903):
+      return COM_ERROR_REPLY_RECEIVED_STRING;
     case (12001):
       return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
     case (12002):
@@ -626,6 +640,8 @@ const char *translateEvents(Event event) {
       return OPEN_IRQ_FILE_FAILED_STRING;
     case (12414):
       return PDEC_INIT_FAILED_STRING;
+    case (12415):
+      return PDEC_CONFIG_CORRUPTED_STRING;
     case (12500):
       return IMAGE_UPLOAD_FAILED_STRING;
     case (12501):
@@ -814,6 +830,8 @@ const char *translateEvents(Event event) {
       return EXPERIMENT_TIMEDOUT_STRING;
     case (13802):
       return MULTI_PACKET_COMMAND_DONE_STRING;
+    case (13803):
+      return FS_UNUSABLE_STRING;
     case (13901):
       return SET_CONFIGFILEVALUE_FAILED_STRING;
     case (13902):
@@ -850,6 +868,8 @@ const char *translateEvents(Event event) {
       return PDEC_REBOOT_STRING;
     case (14013):
       return FIRMWARE_INFO_STRING;
+    case (14014):
+      return ACTIVE_SD_INFO_STRING;
     case (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):
@@ -866,6 +886,12 @@ const char *translateEvents(Event event) {
       return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
     case (14108):
       return MGT_OVERHEATING_STRING;
+    case (14109):
+      return TCS_SWITCHING_HEATER_ON_STRING;
+    case (14110):
+      return TCS_SWITCHING_HEATER_OFF_STRING;
+    case (14111):
+      return TCS_HEATER_MAX_BURN_TIME_REACHED_STRING;
     case (14201):
       return TX_TIMER_EXPIRED_STRING;
     case (14202):
@@ -896,6 +922,10 @@ const char *translateEvents(Event event) {
       return DUMP_HK_CANCELLED_STRING;
     case (14314):
       return DUMP_CFDP_CANCELLED_STRING;
+    case (14500):
+      return TEMPERATURE_ALL_ONES_START_STRING;
+    case (14501):
+      return TEMPERATURE_ALL_ONES_RECOVERY_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-06-21 19:01:02
+ * Generated on: 2023-09-12 10:05:17
  */
 #include "translateObjects.h"
 

linux/ipcore/AxiPtmeConfig.cpp

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

linux/ipcore/AxiPtmeConfig.h

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

linux/ipcore/PapbVcInterface.cpp

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

linux/ipcore/PapbVcInterface.h

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

linux/ipcore/PdecConfig.cpp

@@ -22,11 +22,11 @@ ReturnValue_t PdecConfig::write() {
   if (result != returnvalue::OK) {
     return result;
   }
-  result = writeFrameHeaderFirstOctet();
+  result = writeFrameHeaderFirstWord();
   if (result != returnvalue::OK) {
     return result;
   }
-  result = writeFrameHeaderSecondOctet();
+  result = writeFrameHeaderSecondWord();
   if (result != returnvalue::OK) {
     return result;
   }
@@ -77,7 +77,7 @@ ReturnValue_t PdecConfig::setPositiveWindow(uint8_t pw) {
     return result;
   }
   // Rewrite second config word which contains the positive window parameter
-  writeFrameHeaderSecondOctet();
+  writeFrameHeaderSecondWord();
   return returnvalue::OK;
 }
 
@@ -92,7 +92,7 @@ ReturnValue_t PdecConfig::setNegativeWindow(uint8_t nw) {
     return result;
   }
   // Rewrite second config word which contains the negative window parameter
-  writeFrameHeaderSecondOctet();
+  writeFrameHeaderSecondWord();
   return returnvalue::OK;
 }
 
@@ -114,43 +114,23 @@ ReturnValue_t PdecConfig::getNegativeWindow(uint8_t& negativeWindow) {
   return returnvalue::OK;
 }
 
-ReturnValue_t PdecConfig::writeFrameHeaderFirstOctet() {
+ReturnValue_t PdecConfig::writeFrameHeaderFirstWord() {
   uint32_t word = 0;
-  word |= (VERSION_ID << 30);
-
-  // Setting the bypass flag and the control command flag should not have any
-  // implication on the operation of the PDEC IP Core
-  word |= (BYPASS_FLAG << 29);
-  word |= (CONTROL_COMMAND_FLAG << 28);
-
-  word |= (RESERVED_FIELD_A << 26);
-  word |= (SPACECRAFT_ID << 16);
-  word |= (VIRTUAL_CHANNEL << 10);
-  word |= (DUMMY_BITS << 8);
-  uint8_t positiveWindow = 0;
-  ReturnValue_t result =
-      localParameterHandler.getValue(pdecconfigdefs::paramkeys::POSITIVE_WINDOW, positiveWindow);
+  ReturnValue_t result = createFirstWord(&word);
   if (result != returnvalue::OK) {
     return result;
   }
-  word |= static_cast<uint32_t>(positiveWindow);
-  *(memoryBaseAddress + FRAME_HEADER_OFFSET) = word;
+  *(memoryBaseAddress + FRAME_HEADER_OFFSET + OFFSET_FIRST_CONFIG_WORD) = word;
   return returnvalue::OK;
 }
 
-ReturnValue_t PdecConfig::writeFrameHeaderSecondOctet() {
-  uint8_t negativeWindow = 0;
-  ReturnValue_t result =
-      localParameterHandler.getValue(pdecconfigdefs::paramkeys::NEGATIVE_WINDOW, negativeWindow);
+ReturnValue_t PdecConfig::writeFrameHeaderSecondWord() {
+  uint32_t word = 0;
+  ReturnValue_t result = createSecondWord(&word);
   if (result != returnvalue::OK) {
     return result;
   }
-  uint32_t word = 0;
-  word = 0;
-  word |= (static_cast<uint32_t>(negativeWindow) << 24);
-  word |= (HIGH_AU_MAP_ID << 16);
-  word |= (ENABLE_DERANDOMIZER << 8);
-  *(memoryBaseAddress + FRAME_HEADER_OFFSET + 1) = word;
+  *(memoryBaseAddress + FRAME_HEADER_OFFSET + OFFSET_SECOND_CONFIG_WORD) = word;
   return returnvalue::OK;
 }
 
@@ -189,3 +169,49 @@ uint8_t PdecConfig::getOddParity(uint8_t number) {
   parityBit = ~(countBits & 0x1) & 0x1;
   return parityBit;
 }
+
+ReturnValue_t PdecConfig::createFirstWord(uint32_t* word) {
+  *word = 0;
+  *word |= (VERSION_ID << 30);
+
+  // Setting the bypass flag and the control command flag should not have any
+  // implication on the operation of the PDEC IP Core
+  *word |= (BYPASS_FLAG << 29);
+  *word |= (CONTROL_COMMAND_FLAG << 28);
+
+  *word |= (RESERVED_FIELD_A << 26);
+  *word |= (SPACECRAFT_ID << 16);
+  *word |= (VIRTUAL_CHANNEL << 10);
+  *word |= (DUMMY_BITS << 8);
+  uint8_t positiveWindow = 0;
+  ReturnValue_t result =
+      localParameterHandler.getValue(pdecconfigdefs::paramkeys::POSITIVE_WINDOW, positiveWindow);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  *word |= static_cast<uint32_t>(positiveWindow);
+  return returnvalue::OK;
+}
+
+ReturnValue_t PdecConfig::createSecondWord(uint32_t* word) {
+  uint8_t negativeWindow = 0;
+  ReturnValue_t result =
+      localParameterHandler.getValue(pdecconfigdefs::paramkeys::NEGATIVE_WINDOW, negativeWindow);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  *word = 0;
+  *word = 0;
+  *word |= (static_cast<uint32_t>(negativeWindow) << 24);
+  *word |= (HIGH_AU_MAP_ID << 16);
+  *word |= (ENABLE_DERANDOMIZER << 8);
+  return returnvalue::OK;
+}
+
+uint32_t PdecConfig::readbackFirstWord() {
+  return *(memoryBaseAddress + FRAME_HEADER_OFFSET + OFFSET_FIRST_CONFIG_WORD);
+}
+
+uint32_t PdecConfig::readbackSecondWord() {
+  return *(memoryBaseAddress + FRAME_HEADER_OFFSET + OFFSET_SECOND_CONFIG_WORD);
+}

linux/ipcore/PdecConfig.h

@@ -48,6 +48,39 @@ class PdecConfig {
   ReturnValue_t getPositiveWindow(uint8_t& positiveWindow);
   ReturnValue_t getNegativeWindow(uint8_t& negativeWindow);
 
+  /**
+   * @brief	Creates the first word of the PDEC configuration
+   *
+   * @param word	The created word will be written to this pointer
+   *
+   * @return OK if successful, otherwise error return value
+   *
+   */
+  ReturnValue_t createFirstWord(uint32_t* word);
+
+  /**
+   * @brief	Creates the second word of the PDEC configuration
+   *
+   * @param word	The created word will be written to this pointer
+   *
+   * @return OK if successful, otherwise error return value
+   */
+  ReturnValue_t createSecondWord(uint32_t* word);
+
+  /**
+   * @brief	Reads first config word from the config memory
+   *
+   * @return The config word
+   */
+  uint32_t readbackFirstWord();
+
+  /**
+   * @brief	Reads the second config word from the config memory
+   *
+   * @return The config word
+   */
+  uint32_t readbackSecondWord();
+
  private:
   // TC transfer frame configuration parameters
   static const uint8_t VERSION_ID = 0;
@@ -66,6 +99,8 @@ class PdecConfig {
 
   // 0x200 / 4 = 0x80
   static const uint32_t FRAME_HEADER_OFFSET = 0x80;
+  static const uint32_t OFFSET_FIRST_CONFIG_WORD = 0;
+  static const uint32_t OFFSET_SECOND_CONFIG_WORD = 1;
 
   static const uint32_t MAP_ADDR_LUT_OFFSET = 0xA0;
   static const uint32_t MAP_CLK_FREQ_OFFSET = 0x90;
@@ -102,8 +137,8 @@ class PdecConfig {
    */
   ReturnValue_t createPersistentConfig();
 
-  ReturnValue_t writeFrameHeaderFirstOctet();
-  ReturnValue_t writeFrameHeaderSecondOctet();
+  ReturnValue_t writeFrameHeaderFirstWord();
+  ReturnValue_t writeFrameHeaderSecondWord();
   void writeMapConfig();
 
   /**

linux/ipcore/PdecHandler.cpp

@@ -478,6 +478,7 @@ bool PdecHandler::checkFrameAna(uint32_t pdecFar) {
     }
     case (FrameAna_t::FRAME_DIRTY): {
       triggerEvent(INVALID_TC_FRAME, FRAME_DIRTY_RETVAL);
+      checkConfig();
       sif::warning << "PdecHandler::checkFrameAna: Frame dirty" << std::endl;
       break;
     }
@@ -577,6 +578,30 @@ void PdecHandler::handleIReason(uint32_t pdecFar, ReturnValue_t parameter1) {
   }
 }
 
+void PdecHandler::checkConfig() {
+  uint32_t firstWord = 0;
+  ReturnValue_t result = pdecConfig.createFirstWord(&firstWord);
+  if (result != returnvalue::OK) {
+    // This should normally never happen during runtime. So here is just
+    // output a warning
+    sif::warning << "PdecHandler::checkConfig: Failed to create first word" << std::endl;
+    return;
+  }
+  uint32_t secondWord = 0;
+  result = pdecConfig.createSecondWord(&secondWord);
+  if (result != returnvalue::OK) {
+    // This should normally never happen during runtime. So here is just
+    // output a warning
+    sif::warning << "PdecHandler::checkConfig: Failed to create second word" << std::endl;
+    return;
+  }
+  uint32_t readbackFirstWord = pdecConfig.readbackFirstWord();
+  uint32_t readbackSecondWord = pdecConfig.readbackSecondWord();
+  if (firstWord != readbackFirstWord or secondWord != readbackSecondWord) {
+    triggerEvent(PDEC_CONFIG_CORRUPTED, readbackFirstWord, readbackSecondWord);
+  }
+}
+
 void PdecHandler::handleNewTc() {
   ReturnValue_t result = returnvalue::OK;
 

linux/ipcore/PdecHandler.h

@@ -282,6 +282,11 @@ class PdecHandler : public SystemObject,
    */
   void handleIReason(uint32_t pdecFar, ReturnValue_t parameter1);
 
+  /**
+   * @brief	Checks if PDEC configuration is still correct
+   */
+  void checkConfig();
+
   /**
    * @brief   Handles the reception of new TCs. Reads the pointer to the storage location of the
    *          new TC segment, extracts the PUS packet and forwards the data to the object

linux/ipcore/PtmeConfig.cpp

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

linux/ipcore/PtmeConfig.h

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

linux/ipcore/pdec.h

@@ -71,6 +71,10 @@ static constexpr Event OPEN_IRQ_FILE_FAILED = event::makeEvent(SUBSYSTEM_ID, 13,
 //! [EXPORT] : [COMMENT] PDEC initialization failed. This might also be due to the persistent
 //! confiuration never becoming available, for example due to SD card issues.
 static constexpr Event PDEC_INIT_FAILED = event::makeEvent(SUBSYSTEM_ID, 14, severity::HIGH);
+//! [EXPORT] : [COMMENT] The PDEC configuration area has been corrupted
+//! P1: The first configuration word
+//! P2: The second configuration word
+static constexpr Event PDEC_CONFIG_CORRUPTED = event::makeEvent(SUBSYSTEM_ID, 15, severity::HIGH);
 
 // Action IDs
 static constexpr ActionId_t PRINT_CLCW = 0;

linux/payload/PlocSupervisorHandler.cpp

@@ -155,12 +155,15 @@ void PlocSupervisorHandler::doStartUp() {
     startupState = StartupState::ON;
   }
   if (startupState == StartupState::ON) {
+    hkset.setReportingEnabled(true);
     setMode(_MODE_TO_ON);
   }
 }
 
 void PlocSupervisorHandler::doShutDown() {
   setMode(_MODE_POWER_DOWN);
+  hkset.setReportingEnabled(false);
+  hkset.setValidity(false, true);
   shutdownCmdSent = false;
   packetInBuffer = false;
   nextReplyId = supv::NONE;
@@ -170,6 +173,10 @@ void PlocSupervisorHandler::doShutDown() {
 }
 
 ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+  if (not commandIsExecuting(GET_HK_REPORT)) {
+    *id = GET_HK_REPORT;
+    return buildCommandFromCommand(*id, nullptr, 0);
+  }
   return NOTHING_TO_SEND;
 }
 
@@ -430,7 +437,7 @@ void PlocSupervisorHandler::fillCommandAndReplyMap() {
   insertInReplyMap(MEMORY_CHECK, 5, nullptr, 0, false);
 
   // TM replies
-  insertInReplyMap(HK_REPORT, 3, &hkset, SIZE_HK_REPORT);
+  insertInReplyMap(HK_REPORT, 3, &hkset);
   insertInReplyMap(BOOT_STATUS_REPORT, 3, &bootStatusReport, SIZE_BOOT_STATUS_REPORT);
   insertInReplyMap(LATCHUP_REPORT, 3, &latchupStatusReport, SIZE_LATCHUP_STATUS_REPORT);
   insertInReplyMap(LOGGING_REPORT, 3, &loggingReport, SIZE_LOGGING_REPORT);
@@ -790,6 +797,8 @@ ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool
   localDataPoolMap.emplace(supv::ADC_ENG_14, new PoolEntry<uint16_t>({0}));
   localDataPoolMap.emplace(supv::ADC_ENG_15, new PoolEntry<uint16_t>({0}));
 
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(hkset.getSid(), false, 10.0));
   return returnvalue::OK;
 }
 
@@ -918,7 +927,7 @@ ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data)
 ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
   ReturnValue_t result = returnvalue::OK;
 
-  result = verifyPacket(data, supv::SIZE_HK_REPORT);
+  result = verifyPacket(data, tmReader.getFullPacketLen());
 
   if (result == result::CRC_FAILURE) {
     sif::error << "PlocSupervisorHandler::handleHkReport: Hk report has invalid crc" << std::endl;
@@ -2096,9 +2105,9 @@ uint32_t PlocSupervisorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t mod
 //   if (result != returnvalue::OK) {
 //     return result;
 //   }
-//#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
+// #if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
 //   loggingReport.printSet();
-//#endif
+// #endif
 //   nextReplyId = supv::EXE_REPORT;
 //   return result;
 // }

linux/payload/PlocSupvUartMan.cpp

@@ -274,12 +274,12 @@ ReturnValue_t PlocSupvUartManager::initiateUpdateContinuation() {
 }
 
 // ReturnValue_t PlocSupvHelper::startEventBufferRequest(std::string path) {
-//#ifdef XIPHOS_Q7S
+// #ifdef XIPHOS_Q7S
 //   ReturnValue_t result = FilesystemHelper::checkPath(path);
 //   if (result != returnvalue::OK) {
 //     return result;
 //   }
-//#endif
+// #endif
 //   if (not std::filesystem::exists(path)) {
 //     return PATH_NOT_EXISTS;
 //   }
@@ -836,11 +836,11 @@ uint32_t PlocSupvUartManager::getFileSize(std::string filename) {
 ReturnValue_t PlocSupvUartManager::handleEventBufferReception(ploc::SpTmReader& reader) {
   ReturnValue_t result = returnvalue::OK;
   // TODO: Fix
-  //#ifdef XIPHOS_Q7S
+  // #ifdef XIPHOS_Q7S
   //  if (not sdcMan->getActiveSdCard()) {
   //    return HasFileSystemIF::FILESYSTEM_INACTIVE;
   //  }
-  //#endif
+  // #endif
   //  std::string filename = Filenaming::generateAbsoluteFilename(
   //      eventBufferReq.path, eventBufferReq.filename, timestamping);
   //  std::ofstream file(filename, std::ios_base::app | std::ios_base::out);

linux/payload/plocSupvDefs.h

@@ -139,7 +139,6 @@ enum ReplyId : DeviceCommandId_t {
 // Size of complete space packet (6 byte header + size of data + 2 byte CRC)
 static const uint16_t SIZE_ACK_REPORT = 14;
 static const uint16_t SIZE_EXE_REPORT = 14;
-static const uint16_t SIZE_HK_REPORT = 52;
 static const uint16_t SIZE_BOOT_STATUS_REPORT = 24;
 static const uint16_t SIZE_LATCHUP_STATUS_REPORT = 31;
 static const uint16_t SIZE_LOGGING_REPORT = 73;

mission/acs/SusHandler.cpp

@@ -20,6 +20,9 @@ void SusHandler::doStartUp() {
   }
   if (internalState == InternalState::STARTUP) {
     if (commandExecuted) {
+      if (waitingForRecovery) {
+        waitingForRecovery = false;
+      }
       setMode(MODE_ON);
       internalState = InternalState::NONE;
       commandExecuted = false;
@@ -83,15 +86,36 @@ ReturnValue_t SusHandler::scanForReply(const uint8_t *start, size_t len, DeviceC
 }
 ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
   const auto *reply = reinterpret_cast<const acs::SusReply *>(packet);
-  if (reply->dataWasSet) {
-    if (internalState == InternalState::STARTUP) {
-      commandExecuted = true;
-    }
-    PoolReadGuard pg(&dataset);
-    dataset.setValidity(true, true);
-    dataset.tempC = max1227::getTemperature(reply->tempRaw);
-    std::memcpy(dataset.channels.value, reply->channelsRaw, sizeof(reply->channelsRaw));
+  if (!reply->dataWasSet) {
+    return returnvalue::OK;
   }
+  if (internalState == InternalState::STARTUP) {
+    commandExecuted = true;
+  }
+  PoolReadGuard pg(&dataset);
+  // Simple FDIR variant to make the handler more robust to invalid messages which
+  // appear sometimes for the SUS device: Allow invalid message up to a certain threshold
+  // before triggering FDIR reactions.
+  if (reply->tempRaw == 0xfff and not waitingForRecovery) {
+    if (invalidMsgCounter == 0) {
+      triggerEvent(TEMPERATURE_ALL_ONES_START);
+    } else if (invalidMsgCounter == susMax1227::MAX_INVALID_MSG_COUNT) {
+      triggerEvent(DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT);
+      waitingForRecovery = true;
+    }
+    invalidMsgCounter++;
+    dataset.setValidity(false, true);
+    dataset.tempC = thermal::INVALID_TEMPERATURE;
+    std::memset(dataset.channels.value, 0, sizeof(dataset.channels.value));
+    return returnvalue::OK;
+  }
+  if (invalidMsgCounter > 0) {
+    triggerEvent(TEMPERATURE_ALL_ONES_RECOVERY, invalidMsgCounter);
+    invalidMsgCounter = 0;
+  }
+  dataset.setValidity(true, true);
+  dataset.tempC = max1227::getTemperature(reply->tempRaw);
+  std::memcpy(dataset.channels.value, reply->channelsRaw, sizeof(reply->channelsRaw));
   return returnvalue::OK;
 }
 

mission/acs/SusHandler.h

@@ -15,7 +15,15 @@ class SusHandler : public DeviceHandlerBase {
   static constexpr DeviceCommandId_t REPLY = 0x77;
 
   static const uint8_t INTERFACE_ID = CLASS_ID::SUS_HANDLER;
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SUS_BOARD_ASS;
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SUS_HANDLER;
+
+  //! [EXPORT] : [COMMENT] Detected invalid values, starting invalid message counting
+  static constexpr Event TEMPERATURE_ALL_ONES_START =
+      event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT] Detected valid values again, resetting invalid message counter.
+  //! P1: Invalid message counter.
+  static constexpr Event TEMPERATURE_ALL_ONES_RECOVERY =
+      event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
 
   SusHandler(uint32_t objectId, uint8_t susIdx, object_id_t deviceCommunication,
              CookieIF *comCookie);
@@ -46,6 +54,8 @@ class SusHandler : public DeviceHandlerBase {
   susMax1227::SusDataset dataset;
   acs::SusRequest request{};
   uint8_t susIdx;
+  bool waitingForRecovery = true;
+  uint32_t invalidMsgCounter = 0;
 
   uint32_t transitionDelay = 1000;
   bool goToNormalMode = false;

mission/acs/archive/GPSDefinitions.h

@@ -20,32 +20,47 @@ static constexpr Event CANT_GET_FIX = event::makeEvent(SUBSYSTEM_ID, 1, severity
 static constexpr DeviceCommandId_t GPS_REPLY = 0;
 static constexpr DeviceCommandId_t TRIGGER_RESET_PIN_GNSS = 5;
 
-static constexpr uint32_t DATASET_ID = 0;
+enum SetIds : uint32_t {
+  CORE_DATASET,
+  SKYVIEW_DATASET,
+};
 
 enum GpsPoolIds : lp_id_t {
-  LATITUDE = 0,
-  LONGITUDE = 1,
-  ALTITUDE = 2,
-  SPEED = 3,
-  FIX_MODE = 4,
-  SATS_IN_USE = 5,
-  SATS_IN_VIEW = 6,
-  UNIX_SECONDS = 7,
-  YEAR = 8,
-  MONTH = 9,
-  DAY = 10,
-  HOURS = 11,
-  MINUTES = 12,
-  SECONDS = 13
+  LATITUDE,
+  LONGITUDE,
+  ALTITUDE,
+  SPEED,
+  FIX_MODE,
+  SATS_IN_USE,
+  SATS_IN_VIEW,
+  UNIX_SECONDS,
+  YEAR,
+  MONTH,
+  DAY,
+  HOURS,
+  MINUTES,
+  SECONDS,
+  SKYVIEW_UNIX_SECONDS,
+  PRN_ID,
+  AZIMUTH,
+  ELEVATION,
+  SIGNAL2NOISE,
+  USED,
 };
 
+static constexpr uint8_t CORE_DATASET_ENTRIES = 14;
+static constexpr uint8_t SKYVIEW_ENTRIES = 6;
+
+static constexpr uint8_t MAX_SATELLITES = 30;
+
 enum GpsFixModes : uint8_t { INVALID = 0, NO_FIX = 1, FIX_2D = 2, FIX_3D = 3 };
 
 }  // namespace GpsHyperion
 
-class GpsPrimaryDataset : public StaticLocalDataSet<18> {
+class GpsPrimaryDataset : public StaticLocalDataSet<GpsHyperion::CORE_DATASET_ENTRIES> {
  public:
-  GpsPrimaryDataset(object_id_t gpsId) : StaticLocalDataSet(sid_t(gpsId, GpsHyperion::DATASET_ID)) {
+  GpsPrimaryDataset(object_id_t gpsId)
+      : StaticLocalDataSet(sid_t(gpsId, GpsHyperion::CORE_DATASET)) {
     setAllVariablesReadOnly();
   }
 
@@ -69,7 +84,34 @@ class GpsPrimaryDataset : public StaticLocalDataSet<18> {
   friend class GpsHyperionLinuxController;
   friend class GpsCtrlDummy;
   GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner)
-      : StaticLocalDataSet(hkOwner, GpsHyperion::DATASET_ID) {}
+      : StaticLocalDataSet(hkOwner, GpsHyperion::CORE_DATASET) {}
+};
+
+class SkyviewDataset : public StaticLocalDataSet<GpsHyperion::SKYVIEW_ENTRIES> {
+ public:
+  SkyviewDataset(object_id_t gpsId)
+      : StaticLocalDataSet(sid_t(gpsId, GpsHyperion::SKYVIEW_DATASET)) {
+    setAllVariablesReadOnly();
+  }
+
+  lp_var_t<double> unixSeconds =
+      lp_var_t<double>(sid.objectId, GpsHyperion::SKYVIEW_UNIX_SECONDS, this);
+  lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES> prn_id =
+      lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::PRN_ID, this);
+  lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES> azimuth =
+      lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::AZIMUTH, this);
+  lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES> elevation =
+      lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::ELEVATION, this);
+  lp_vec_t<double, GpsHyperion::MAX_SATELLITES> signal2noise =
+      lp_vec_t<double, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::SIGNAL2NOISE, this);
+  lp_vec_t<uint8_t, GpsHyperion::MAX_SATELLITES> used =
+      lp_vec_t<uint8_t, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::USED, this);
+
+ private:
+  friend class GpsHyperionLinuxController;
+  friend class GpsCtrlDummy;
+  SkyviewDataset(HasLocalDataPoolIF* hkOwner)
+      : StaticLocalDataSet(hkOwner, GpsHyperion::SKYVIEW_DATASET) {}
 };
 
 #endif /* MISSION_ACS_ARCHIVE_GPSDEFINITIONS_H_ */

mission/acs/defs.h

@@ -26,14 +26,29 @@ enum SafeModeStrategy : uint8_t {
   SAFECTRL_OFF = 0,
   SAFECTRL_NO_MAG_FIELD_FOR_CONTROL = 1,
   SAFECTRL_NO_SENSORS_FOR_CONTROL = 2,
-  SAFECTRL_ACTIVE_MEKF = 10,
-  SAFECTRL_WITHOUT_MEKF = 11,
-  SAFECTRL_ECLIPSE_DAMPING = 12,
-  SAFECTRL_ECLIPSE_IDELING = 13,
+  // OBSW version <= v6.1.0
+  LEGACY_SAFECTRL_ACTIVE_MEKF = 10,
+  LEGACY_SAFECTRL_WITHOUT_MEKF = 11,
+  LEGACY_SAFECTRL_ECLIPSE_DAMPING = 12,
+  LEGACY_SAFECTRL_ECLIPSE_IDELING = 13,
+  // Added in v6.2.0
+  SAFECTRL_MEKF = 14,
+  SAFECTRL_GYR = 15,
+  SAFECTRL_SUSMGM = 16,
+  SAFECTRL_ECLIPSE_DAMPING_GYR = 17,
+  SAFECTRL_ECLIPSE_DAMPING_SUSMGM = 18,
+  SAFECTRL_ECLIPSE_IDELING = 19,
   SAFECTRL_DETUMBLE_FULL = 20,
   SAFECTRL_DETUMBLE_DETERIORATED = 21,
 };
 
+enum GpsSource : uint8_t {
+  NONE,
+  GPS,
+  GPS_EXTRAPOLATED,
+  SPG4,
+};
+
 static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
 //! [EXPORT] : [COMMENT] The limits for the rotation in safe mode were violated.
 static constexpr Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
@@ -56,6 +71,8 @@ static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(6, severity::HIG
 //! failed.
 //! P1: Missing information about magnetic field, P2: Missing information about rotational rate
 static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(7, severity::HIGH);
+//! [EXPORT] : [COMMENT] The TLE for the SGP4 Propagator has become too old.
+static constexpr Event TLE_TOO_OLD = MAKE_EVENT(8, severity::INFO);
 
 extern const char* getModeStr(AcsMode mode);
 

mission/acs/str/StarTrackerHandler.cpp

@@ -1,3 +1,4 @@
+#include <fsfw/globalfunctions/arrayprinter.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
 #include <mission/acs/str/StarTrackerHandler.h>
@@ -88,7 +89,6 @@ void StarTrackerHandler::doStartUp() {
     default:
       return;
   }
-  solutionSet.setReportingEnabled(true);
   startupState = StartupState::DONE;
   internalState = InternalState::IDLE;
   setMode(_MODE_TO_ON);
@@ -325,7 +325,7 @@ ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id
 ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
   switch (internalState) {
     case InternalState::BOOT_FIRMWARE: {
-      if (bootState == FwBootState::WAIT_FOR_EXECUTION or bootState == FwBootState::VERIFY_BOOT) {
+      if (bootState == FwBootState::VERIFY_BOOT or isAwaitingReply()) {
         return NOTHING_TO_SEND;
       }
       if (bootState == FwBootState::NONE) {
@@ -349,74 +349,69 @@ ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t
           *id = startracker::REQ_VERSION;
           return buildCommandFromCommand(*id, nullptr, 0);
         }
+        case (FwBootState::SET_TIME): {
+          *id = startracker::SET_TIME_FROM_SYS_TIME;
+          return buildCommandFromCommand(*id, nullptr, 0);
+        }
         case (FwBootState::LOGLEVEL): {
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::LOGLEVEL;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         }
         case (FwBootState::LIMITS): {
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::LIMITS;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         }
         case (FwBootState::TRACKING): {
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::TRACKING;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         }
         case FwBootState::MOUNTING:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::MOUNTING;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::IMAGE_PROCESSOR:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::IMAGE_PROCESSOR;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::CAMERA:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::CAMERA;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::CENTROIDING:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::CENTROIDING;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::LISA:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::LISA;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::MATCHING:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::MATCHING;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::VALIDATION:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::VALIDATION;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::ALGO:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::ALGO;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::LOG_SUBSCRIPTION:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::LOGSUBSCRIPTION;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::DEBUG_CAMERA:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::DEBUG_CAMERA;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
+        case FwBootState::AUTO_THRESHOLD:
+          *id = startracker::AUTO_THRESHOLD;
+          return buildCommandFromCommand(
+              *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         default: {
           sif::error << "STR: Unexpected boot state" << (int)bootState << std::endl;
           return NOTHING_TO_SEND;
@@ -459,6 +454,20 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
       preparePingRequest();
       return returnvalue::OK;
     }
+    case (startracker::SET_TIME_FROM_SYS_TIME): {
+      SetTimeActionRequest setTimeRequest{};
+      timeval tv;
+      Clock::getClock(&tv);
+      setTimeRequest.unixTime =
+          (static_cast<uint64_t>(tv.tv_sec) * 1000 * 1000) + (static_cast<uint64_t>(tv.tv_usec));
+      arc_pack_settime_action_req(&setTimeRequest, commandBuffer, &rawPacketLen);
+      size_t serLen = 0;
+      // Time in milliseconds. Manual serialization because arcsec API ignores endianness.
+      SerializeAdapter::serialize(&setTimeRequest.unixTime, commandBuffer + 2, &serLen,
+                                  sizeof(commandBuffer) - 2, SerializeIF::Endianness::LITTLE);
+      rawPacket = commandBuffer;
+      return returnvalue::OK;
+    }
     case (startracker::REQ_TIME): {
       prepareTimeRequest();
       return returnvalue::OK;
@@ -551,6 +560,11 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
       result = prepareParamCommand(commandData, commandDataLen, jcfgs.logLevel, reinitNextSetParam);
       return result;
     }
+    case (startracker::AUTO_THRESHOLD): {
+      result =
+          prepareParamCommand(commandData, commandDataLen, jcfgs.autoThreshold, reinitNextSetParam);
+      return result;
+    }
     case (startracker::LOGSUBSCRIPTION): {
       result = prepareParamCommand(commandData, commandDataLen, jcfgs.logSubscription,
                                    reinitNextSetParam);
@@ -655,19 +669,23 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::LOGLEVEL, 3, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
+  this->insertInCommandAndReplyMap(startracker::SET_TIME_FROM_SYS_TIME, 2, nullptr,
+                                   startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::LOGSUBSCRIPTION, 3, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::DEBUG_CAMERA, 3, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::LIMITS, 3, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
+  this->insertInCommandAndReplyMap(startracker::AUTO_THRESHOLD, 2, nullptr,
+                                   startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::MOUNTING, 3, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::IMAGE_PROCESSOR, 3, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::CAMERA, 3, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
-  this->insertInCommandAndReplyMap(startracker::CENTROIDING, 3, nullptr,
+  this->insertInCommandAndReplyMap(startracker::CENTROIDING, 2, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::LISA, 3, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
@@ -814,6 +832,7 @@ void StarTrackerHandler::bootFirmware(Mode_t toMode) {
         setMode(toMode, startracker::SUBMODE_FIRMWARE);
       }
       sif::info << "STR: Firmware boot success" << std::endl;
+      solutionSet.setReportingEnabled(true);
       internalState = InternalState::IDLE;
       startupState = StartupState::IDLE;
       break;
@@ -837,6 +856,7 @@ void StarTrackerHandler::setUpJsonCfgs(JsonConfigs& cfgs, const char* paramJsonF
   cfgs.mounting.init(paramJsonFile);
   cfgs.limits.init(paramJsonFile);
   cfgs.subscription.init(paramJsonFile);
+  cfgs.autoThreshold.init(paramJsonFile);
   JCFG_DONE = true;
 }
 
@@ -860,13 +880,20 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t rema
     *foundLen = remainingSize;
     return returnvalue::OK;
   }
-  if (remainingSize < 3) {
-    sif::error << "StarTrackerHandler: Reply packet with length less than 3 is invalid"
+  if (remainingSize < 2) {
+    sif::error << "StarTrackerHandler: Reply packet with length " << remainingSize
+               << "  less than "
+                  "2 is invalid"
                << std::endl;
     return returnvalue::FAILED;
   }
 
   switch (startracker::getReplyFrameType(start)) {
+    case TMTC_COMM_ERROR: {
+      *foundLen = remainingSize;
+      triggerEvent(COM_ERROR_REPLY_RECEIVED, start[1]);
+      break;
+    }
     case TMTC_ACTIONREPLY: {
       *foundLen = remainingSize;
       return scanForActionReply(startracker::getId(start), foundId);
@@ -901,6 +928,10 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
   ReturnValue_t result = returnvalue::OK;
 
   switch (id) {
+    case (startracker::SET_TIME_FROM_SYS_TIME): {
+      result = handleActionReply(packet);
+      break;
+    }
     case (startracker::REQ_TIME): {
       result = handleTm(packet, timeSet, startracker::TimeSet::SIZE, "REQ_TIME");
       break;
@@ -960,7 +991,8 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
     case (startracker::TRACKING):
     case (startracker::VALIDATION):
     case (startracker::IMAGE_PROCESSOR):
-    case (startracker::ALGO): {
+    case (startracker::ALGO):
+    case (startracker::AUTO_THRESHOLD): {
       result = handleSetParamReply(packet);
       break;
     }
@@ -1367,6 +1399,10 @@ ReturnValue_t StarTrackerHandler::scanForActionReply(uint8_t replyId, DeviceComm
       *foundId = startracker::UPLOAD_IMAGE;
       break;
     }
+    case (ARC_ACTION_REQ_SETTIME_ID): {
+      *foundId = startracker::SET_TIME_FROM_SYS_TIME;
+      break;
+    }
     case (startracker::ID::CHECKSUM): {
       *foundId = startracker::CHECKSUM;
       break;
@@ -1434,6 +1470,10 @@ ReturnValue_t StarTrackerHandler::scanForSetParameterReply(uint8_t replyId,
       *foundId = startracker::DEBUG_CAMERA;
       break;
     }
+    case (startracker::ID::AUTO_THRESHOLD): {
+      *foundId = startracker::AUTO_THRESHOLD;
+      break;
+    }
     case (startracker::ID::LOG_SUBSCRIPTION): {
       *foundId = startracker::LOGSUBSCRIPTION;
       break;
@@ -1861,7 +1901,7 @@ ReturnValue_t StarTrackerHandler::handleSetParamReply(const uint8_t* rawFrame) {
   uint8_t status = startracker::getStatusField(rawFrame);
   if (status != startracker::STATUS_OK) {
     sif::warning << "StarTrackerHandler::handleSetParamReply: Failed to execute parameter set "
-                    " command with parameter ID"
+                    "command with parameter ID "
                  << static_cast<unsigned int>(*(rawFrame + PARAMETER_ID_OFFSET)) << std::endl;
     if (internalState != InternalState::IDLE) {
       internalState = InternalState::IDLE;
@@ -1869,21 +1909,25 @@ ReturnValue_t StarTrackerHandler::handleSetParamReply(const uint8_t* rawFrame) {
     return SET_PARAM_FAILED;
   }
   if (internalState != InternalState::IDLE) {
-    handleStartup(*(rawFrame + PARAMETER_ID_OFFSET));
+    handleStartup(*rawFrame, *(rawFrame + PARAMETER_ID_OFFSET));
   }
   return returnvalue::OK;
 }
 
 ReturnValue_t StarTrackerHandler::handleActionReply(const uint8_t* rawFrame) {
   uint8_t status = startracker::getStatusField(rawFrame);
+  ReturnValue_t result = returnvalue::OK;
   if (status != startracker::STATUS_OK) {
     sif::warning << "StarTrackerHandler::handleActionReply: Failed to execute action "
                  << "command with action ID "
                  << static_cast<unsigned int>(*(rawFrame + ACTION_ID_OFFSET)) << " and status "
                  << static_cast<unsigned int>(status) << std::endl;
-    return ACTION_FAILED;
+    result = ACTION_FAILED;
   }
-  return returnvalue::OK;
+  if (internalState != InternalState::IDLE) {
+    handleStartup(*rawFrame, *(rawFrame + PARAMETER_ID_OFFSET));
+  }
+  return result;
 }
 
 ReturnValue_t StarTrackerHandler::handleChecksumReply(const uint8_t* rawFrame) {
@@ -1979,7 +2023,7 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
         startupState = StartupState::BOOT_BOOTLOADER;
       }
       if (bootState == FwBootState::VERIFY_BOOT) {
-        bootState = FwBootState::LOGLEVEL;
+        bootState = FwBootState::SET_TIME;
       } else if (internalState == InternalState::BOOTLOADER_CHECK) {
         triggerEvent(BOOTING_BOOTLOADER_FAILED_EVENT);
         internalState = InternalState::FAILED_BOOTLOADER_BOOT;
@@ -2056,7 +2100,18 @@ ReturnValue_t StarTrackerHandler::handleActionReplySet(const uint8_t* rawFrame,
   return result;
 }
 
-void StarTrackerHandler::handleStartup(uint8_t parameterId) {
+void StarTrackerHandler::handleStartup(uint8_t tmType, uint8_t parameterId) {
+  switch (tmType) {
+    case (TMTC_ACTIONREPLY): {
+      case (ARC_ACTION_REQ_SETTIME_ID): {
+        bootState = FwBootState::LOGLEVEL;
+        return;
+      }
+      default: {
+        break;
+      }
+    }
+  }
   switch (parameterId) {
     case (startracker::ID::LOG_LEVEL): {
       bootState = FwBootState::LIMITS;
@@ -2066,7 +2121,7 @@ void StarTrackerHandler::handleStartup(uint8_t parameterId) {
       bootState = FwBootState::TRACKING;
       break;
     }
-    case (startracker::ID::TRACKING): {
+    case (ARC_PARAM_TRACKING_ID): {
       bootState = FwBootState::MOUNTING;
       break;
     }
@@ -2107,6 +2162,10 @@ void StarTrackerHandler::handleStartup(uint8_t parameterId) {
       break;
     }
     case (startracker::ID::DEBUG_CAMERA): {
+      bootState = FwBootState::AUTO_THRESHOLD;
+      break;
+    }
+    case (startracker::ID::AUTO_THRESHOLD): {
       bootState = FwBootState::NONE;
       internalState = InternalState::DONE;
       break;

mission/acs/str/StarTrackerHandler.h

@@ -6,6 +6,7 @@
 #include <mission/acs/str/ArcsecJsonParamBase.h>
 #include <mission/acs/str/strHelpers.h>
 #include <mission/acs/str/strJsonCommands.h>
+#include <thirdparty/sagittactl/wire/common/genericstructs.h>
 
 #include <thread>
 
@@ -16,7 +17,7 @@
 #include "fsfw/timemanager/Countdown.h"
 
 extern "C" {
-#include <wire/common/SLIP.h>
+#include <wire/common/genericstructs.h>
 }
 
 /**
@@ -143,6 +144,8 @@ class StarTrackerHandler : public DeviceHandlerBase {
   static const Event BOOTING_FIRMWARE_FAILED_EVENT = MAKE_EVENT(1, severity::LOW);
   //! [EXPORT] : [COMMENT] Failed to boot star tracker into bootloader mode
   static const Event BOOTING_BOOTLOADER_FAILED_EVENT = MAKE_EVENT(2, severity::LOW);
+  //! [EXPORT] : [COMMENT] Received COM error. P1:  Communication Error ID (datasheet p32)
+  static constexpr Event COM_ERROR_REPLY_RECEIVED = MAKE_EVENT(3, severity::LOW);
 
   static const uint8_t STATUS_OFFSET = 2;
   static const uint8_t PARAMS_OFFSET = 2;
@@ -226,6 +229,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
     Mounting mounting;
     Limits limits;
     Subscription subscription;
+    AutoThreshold autoThreshold;
   };
   JsonConfigs jcfgs;
   Countdown jcfgCountdown = Countdown(250);
@@ -264,6 +268,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
     BOOT_DELAY,
     REQ_VERSION,
     VERIFY_BOOT,
+    SET_TIME,
     LOGLEVEL,
     LIMITS,
     TRACKING,
@@ -278,7 +283,9 @@ class StarTrackerHandler : public DeviceHandlerBase {
     ALGO,
     LOG_SUBSCRIPTION,
     DEBUG_CAMERA,
+    AUTO_THRESHOLD,
     WAIT_FOR_EXECUTION,
+    RETRY_CFG_CMD
   };
   FwBootState bootState = FwBootState::NONE;
 
@@ -468,7 +475,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
   /**
    * @brief   Handles the startup state machine
    */
-  void handleStartup(uint8_t parameterId);
+  void handleStartup(uint8_t tmType, uint8_t parameterId);
 
   /**
    * @brief   Handles telemtry replies and fills the appropriate dataset

mission/acs/str/arcsecJsonKeys.h

@@ -176,6 +176,13 @@ static const char DEBUG_CAMERA[] = "DebugCamera";
 static const char TIMING[] = "timing";
 static const char TEST[] = "test";
 
+static constexpr char AUTO_THRESHOLD[] = "AutoThreshold";
+static constexpr char AT_MODE[] = "mode";
+static constexpr char AT_DESIRED_BLOB_COUNTS[] = "desiredBlobsCount";
+static constexpr char AT_MIN_THRESHOLD[] = "minThreshold";
+static constexpr char AT_MAX_THRESHOLD[] = "maxThreshold";
+static constexpr char AT_THRESHOLD_KP[] = "thresholdKp";
+
 }  // namespace arcseckeys
 
 #endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_ARCSECJSONKEYS_H_ */

mission/acs/str/strHelpers.h

@@ -326,6 +326,8 @@ static const DeviceCommandId_t DEBUG_CAMERA = 83;
 static const DeviceCommandId_t FIRMWARE_UPDATE = 84;
 static const DeviceCommandId_t DISABLE_TIMESTAMP_GENERATION = 85;
 static const DeviceCommandId_t ENABLE_TIMESTAMP_GENERATION = 86;
+static constexpr DeviceCommandId_t SET_TIME_FROM_SYS_TIME = 87;
+static constexpr DeviceCommandId_t AUTO_THRESHOLD = 88;
 static const DeviceCommandId_t NONE = 0xFFFFFFFF;
 
 static const uint32_t VERSION_SET_ID = REQ_VERSION;
@@ -396,7 +398,6 @@ static const uint8_t ALGO = 16;
 static const uint8_t REBOOT = 7;
 static const uint8_t UPLOAD_IMAGE = 10;
 static const uint8_t POWER = 11;
-static const uint8_t SET_TIME = 14;
 static const uint8_t SUBSCRIPTION = 18;
 static const uint8_t SOLUTION = 24;
 static const uint8_t TEMPERATURE = 27;
@@ -410,6 +411,7 @@ static const uint8_t TAKE_IMAGE = 15;
 static const uint8_t LOG_LEVEL = 3;
 static const uint8_t LOG_SUBSCRIPTION = 19;
 static const uint8_t DEBUG_CAMERA = 20;
+static const uint8_t AUTO_THRESHOLD = 23;
 }  // namespace ID
 
 namespace Program {
@@ -441,6 +443,21 @@ static const uint32_t secret[16]{
     REGION_12_SECRET, REGION_13_SECRET, REGION_14_SECRET, REGION_15_SECRET};
 }  // namespace region_secrets
 
+namespace comError {
+enum Id {
+  BAD_CRC = 1,
+  UNKNOWN_TM_ID = 2,
+  UNKNOWN_PARAM_ID = 3,
+  UNKNOWN_ACTION_REQ = 4,
+  INVALID_TM_SIZE = 5,
+  INVALID_PARAM_SIZE = 6,
+  INVALID_ACTION_REQ_SIZE = 7,
+  FRAME_TOO_SHORT = 8,
+  INVALID_FRAME_TYPE = 9,
+  UNKNOWN_ERROR = 10
+};
+}
+
 enum class FlashSections : uint8_t {
   BOOTLOADER_SECTION = 0,
   MAIN_FIRMWARE_SECTION = 1,
@@ -650,7 +667,7 @@ class SolutionSet : public StaticLocalDataSet<SOLUTION_SET_ENTRIES> {
   // Ticks timestamp
   lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_SOLUTION_SET, this);
   /// Unix time stamp
-  lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_SOLUTION_SET, this);
+  lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_SOLUTION_SET, this);
   // Calibrated quaternion (takes into account the mounting quaternion), typically same as
   // track q values
   lp_var_t<float> caliQw = lp_var_t<float>(sid.objectId, PoolIds::CALI_QW, this);
@@ -695,7 +712,7 @@ class SolutionSet : public StaticLocalDataSet<SOLUTION_SET_ENTRIES> {
   void printSet() {
     PoolReadGuard rg(this);
     sif::info << "SolutionSet::printSet: Ticks: " << this->ticks << std::endl;
-    sif::info << "SolutionSet::printSet: Time: " << this->time << std::endl;
+    sif::info << "SolutionSet::printSet: Time: " << this->timeUs << std::endl;
     sif::info << "SolutionSet::printSet: Calibrated quaternion Qw: " << this->caliQw << std::endl;
     sif::info << "SolutionSet::printSet: Calibrated quaternion Qx: " << this->caliQx << std::endl;
     sif::info << "SolutionSet::printSet: Calibrated quaternion Qy: " << this->caliQy << std::endl;

mission/acs/str/strJsonCommands.cpp

@@ -916,3 +916,45 @@ ReturnValue_t DebugCamera::createCommand(uint8_t* buffer) {
   adduint32(param, buffer + offset);
   return returnvalue::OK;
 }
+
+AutoThreshold::AutoThreshold() : ArcsecJsonParamBase(arcseckeys::AUTO_THRESHOLD) {}
+
+size_t AutoThreshold::getSize() { return COMMAND_SIZE; }
+
+ReturnValue_t AutoThreshold::createCommand(uint8_t* buffer) {
+  ReturnValue_t result = returnvalue::OK;
+  uint8_t offset = 0;
+  std::string param;
+  addSetParamHeader(buffer, startracker::ID::AUTO_THRESHOLD);
+  offset = 2;
+  result = getParam(arcseckeys::AT_MODE, param);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += 1;
+  result = getParam(arcseckeys::AT_DESIRED_BLOB_COUNTS, param);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += 1;
+  result = getParam(arcseckeys::AT_MIN_THRESHOLD, param);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  adduint16(param, buffer + offset);
+  offset += 2;
+  result = getParam(arcseckeys::AT_MAX_THRESHOLD, param);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  adduint16(param, buffer + offset);
+  offset += 2;
+  result = getParam(arcseckeys::AT_THRESHOLD_KP, param);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  addfloat(param, buffer + offset);
+  return returnvalue::OK;
+}

mission/acs/str/strJsonCommands.h

@@ -222,6 +222,22 @@ class LogSubscription : public ArcsecJsonParamBase {
   ReturnValue_t createCommand(uint8_t* buffer) override;
 };
 
+/**
+ * @brief   Generates command to set log subscription parameters.
+ *
+ */
+class AutoThreshold : public ArcsecJsonParamBase {
+ public:
+  AutoThreshold();
+
+  size_t getSize();
+
+ private:
+  static const size_t COMMAND_SIZE = 12;
+
+  ReturnValue_t createCommand(uint8_t* buffer) override;
+};
+
 /**
  * @brief   Generates command to set debug camera parameters
  *

mission/acs/susMax1227Helpers.h

@@ -8,6 +8,14 @@
 
 namespace susMax1227 {
 
+// This is 16 seconds for a polling frequency of 0.4 seconds.
+static constexpr uint32_t MAX_INVALID_MSG_COUNT = 40;
+// Using a decrement time of 32 seconds should cause faulty device incrementation to best faster
+// the decrementation, so that FDIR reactions will eventuall be triggered.
+// NOTE: Not used currently, we perform the strange reply check logic in the handler and trigger
+// a reboot directly using the appropriate event.
+static constexpr uint32_t FAULTY_COM_DECREMENT_TIME_MS = 32000;
+
 static const DeviceCommandId_t NONE = 0x0;  // Set when no command is pending
 
 static const DeviceCommandId_t WRITE_SETUP = 1;

mission/com/CcsdsIpCoreHandler.cpp

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

mission/com/LiveTmTask.cpp

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

mission/com/PersistentLogTmStoreTask.cpp

@@ -42,13 +42,7 @@ ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) {
     if (not someonesBusy) {
       TaskFactory::delayTask(100);
     } else if (vcBusyDuringDump) {
-      // TODO: Might not be necessary
-      sif::debug << "VC busy, delaying" << std::endl;
       TaskFactory::delayTask(10);
-    } else {
-      // TODO: Would be best to remove this, but not delaying here can lead to evil issues.
-      // Polling the PAPB of the PTME core too often leads to scheuduling issues.
-      TaskFactory::delayTask(2);
     }
   }
 }

mission/com/PersistentSingleTmStoreTask.cpp

@@ -24,13 +24,7 @@ ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
     if (not busy) {
       TaskFactory::delayTask(100);
     } else if (dumpContext.vcBusyDuringDump) {
-      sif::debug << "VC busy, delaying" << std::endl;
-      // TODO: Might not be necessary
       TaskFactory::delayTask(10);
-    } else {
-      // TODO: Would be best to remove this, but not delaying here can lead to evil issues.
-      // Polling the PAPB of the PTME core too often leads to scheuduling issues.
-      TaskFactory::delayTask(2);
     }
   }
 }

mission/com/SyrlinksHandler.cpp

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

mission/com/TmStoreTaskBase.cpp

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

mission/com/TmStoreTaskBase.h

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

mission/controller/AcsController.cpp

@@ -7,6 +7,7 @@
 AcsController::AcsController(object_id_t objectId, bool enableHkSets)
     : ExtendedControllerBase(objectId),
       enableHkSets(enableHkSets),
+      fusedRotationEstimation(&acsParameters),
       guidance(&acsParameters),
       safeCtrl(&acsParameters),
       ptgCtrl(&acsParameters),
@@ -20,7 +21,9 @@ AcsController::AcsController(object_id_t objectId, bool enableHkSets)
       gpsDataProcessed(this),
       mekfData(this),
       ctrlValData(this),
-      actuatorCmdData(this) {}
+      actuatorCmdData(this),
+      fusedRotRateData(this),
+      tleData(this) {}
 
 ReturnValue_t AcsController::initialize() {
   ReturnValue_t result = parameterHelper.initialize();
@@ -60,6 +63,26 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
       mekfLost = false;
       return HasActionsIF::EXECUTION_FINISHED;
     }
+    case UPDATE_TLE: {
+      if (size != 69 * 2) {
+        return INVALID_PARAMETERS;
+      }
+      ReturnValue_t result = navigation.updateTle(data, data + 69);
+      if (result != returnvalue::OK) {
+        PoolReadGuard pg(&tleData);
+        navigation.updateTle(tleData.line1.value, tleData.line2.value);
+        return result;
+      }
+      {
+        PoolReadGuard pg(&tleData);
+        if (pg.getReadResult() == returnvalue::OK) {
+          std::memcpy(tleData.line1.value, data, 69);
+          std::memcpy(tleData.line2.value, data + 69, 69);
+          tleData.setValidity(true, true);
+        }
+      }
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
     default: {
       return HasActionsIF::INVALID_ACTION_ID;
     }
@@ -144,10 +167,19 @@ void AcsController::performSafe() {
   timeval now;
   Clock::getClock_timeval(&now);
 
+  ReturnValue_t result = navigation.useSpg4(now, &gpsDataProcessed);
+  if (result == Sgp4Propagator::TLE_TOO_OLD and not tleTooOldFlag) {
+    triggerEvent(acs::TLE_TOO_OLD);
+    tleTooOldFlag = true;
+  } else if (result != Sgp4Propagator::TLE_TOO_OLD) {
+    tleTooOldFlag = false;
+  }
   sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
-  ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
-                                            &susDataProcessed, &mekfData, &acsParameters);
+  fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
+                                                        &gyrDataProcessed, &fusedRotRateData);
+  result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
+                              &susDataProcessed, &mekfData, &acsParameters);
   if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
       result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
     if (not mekfInvalidFlag) {
@@ -172,25 +204,42 @@ void AcsController::performSafe() {
   acs::SafeModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
       mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
       gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
-      acsParameters.safeModeControllerParameters.useMekf,
+      fusedRotRateData.rotRateTotal.isValid(), acsParameters.safeModeControllerParameters.useMekf,
+      acsParameters.safeModeControllerParameters.useGyr,
       acsParameters.safeModeControllerParameters.dampingDuringEclipse);
   switch (safeCtrlStrat) {
-    case (acs::SafeModeStrategy::SAFECTRL_ACTIVE_MEKF):
+    case (acs::SafeModeStrategy::SAFECTRL_MEKF):
       safeCtrl.safeMekf(mgmDataProcessed.mgmVecTot.value, mekfData.satRotRateMekf.value,
                         susDataProcessed.sunIjkModel.value, mekfData.quatMekf.value, sunTargetDir,
                         magMomMtq, errAng);
       safeCtrlFailureFlag = false;
       safeCtrlFailureCounter = 0;
       break;
-    case (acs::SafeModeStrategy::SAFECTRL_WITHOUT_MEKF):
-      safeCtrl.safeNonMekf(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
-                           susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
+    case (acs::SafeModeStrategy::SAFECTRL_GYR):
+      safeCtrl.safeGyr(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
+                       susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
       safeCtrlFailureFlag = false;
       safeCtrlFailureCounter = 0;
       break;
-    case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING):
-      safeCtrl.safeRateDamping(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
-                               sunTargetDir, magMomMtq, errAng);
+    case (acs::SafeModeStrategy::SAFECTRL_SUSMGM):
+      safeCtrl.safeSusMgm(mgmDataProcessed.mgmVecTot.value, fusedRotRateData.rotRateTotal.value,
+                          fusedRotRateData.rotRateParallel.value,
+                          fusedRotRateData.rotRateOrthogonal.value,
+                          susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
+      safeCtrlFailureFlag = false;
+      safeCtrlFailureCounter = 0;
+      break;
+    case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR):
+      safeCtrl.safeRateDampingGyr(mgmDataProcessed.mgmVecTot.value,
+                                  gyrDataProcessed.gyrVecTot.value, sunTargetDir, magMomMtq,
+                                  errAng);
+      safeCtrlFailureFlag = false;
+      safeCtrlFailureCounter = 0;
+      break;
+    case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM):
+      safeCtrl.safeRateDampingSusMgm(mgmDataProcessed.mgmVecTot.value,
+                                     fusedRotRateData.rotRateTotal.value, sunTargetDir, magMomMtq,
+                                     errAng);
       safeCtrlFailureFlag = false;
       safeCtrlFailureCounter = 0;
       break;
@@ -214,12 +263,20 @@ void AcsController::performSafe() {
                            acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
 
   // detumble check and switch
-  if (mekfData.satRotRateMekf.isValid() && acsParameters.safeModeControllerParameters.useMekf &&
-      VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) >
-          acsParameters.detumbleParameter.omegaDetumbleStart) {
-    detumbleCounter++;
-  } else if (gyrDataProcessed.gyrVecTot.isValid() &&
-             VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) >
+  if (acsParameters.safeModeControllerParameters.useMekf) {
+    if (mekfData.satRotRateMekf.isValid() and
+        VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) >
+            acsParameters.detumbleParameter.omegaDetumbleStart) {
+      detumbleCounter++;
+    }
+  } else if (acsParameters.safeModeControllerParameters.useGyr) {
+    if (gyrDataProcessed.gyrVecTot.isValid() and
+        VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) >
+            acsParameters.detumbleParameter.omegaDetumbleStart) {
+      detumbleCounter++;
+    }
+  } else if (fusedRotRateData.rotRateTotal.isValid() and
+             VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
                  acsParameters.detumbleParameter.omegaDetumbleStart) {
     detumbleCounter++;
   } else if (detumbleCounter > 0) {
@@ -242,10 +299,19 @@ void AcsController::performDetumble() {
   timeval now;
   Clock::getClock_timeval(&now);
 
+  ReturnValue_t result = navigation.useSpg4(now, &gpsDataProcessed);
+  if (result == Sgp4Propagator::TLE_TOO_OLD and not tleTooOldFlag) {
+    triggerEvent(acs::TLE_TOO_OLD);
+    tleTooOldFlag = true;
+  } else {
+    tleTooOldFlag = false;
+  }
   sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
-  ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
-                                            &susDataProcessed, &mekfData, &acsParameters);
+  fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
+                                                        &gyrDataProcessed, &fusedRotRateData);
+  result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
+                              &susDataProcessed, &mekfData, &acsParameters);
   if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
       result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
     if (not mekfInvalidFlag) {
@@ -289,17 +355,26 @@ void AcsController::performDetumble() {
   actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
                            acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
 
-  if (mekfData.satRotRateMekf.isValid() &&
-      VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
-          acsParameters.detumbleParameter.omegaDetumbleEnd) {
-    detumbleCounter++;
-  } else if (gyrDataProcessed.gyrVecTot.isValid() &&
-             VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
+  if (acsParameters.safeModeControllerParameters.useMekf) {
+    if (mekfData.satRotRateMekf.isValid() and
+        VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
+            acsParameters.detumbleParameter.omegaDetumbleEnd) {
+      detumbleCounter++;
+    }
+  } else if (acsParameters.safeModeControllerParameters.useGyr) {
+    if (gyrDataProcessed.gyrVecTot.isValid() and
+        VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
+            acsParameters.detumbleParameter.omegaDetumbleEnd) {
+      detumbleCounter++;
+    }
+  } else if (fusedRotRateData.rotRateTotal.isValid() and
+             VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
                  acsParameters.detumbleParameter.omegaDetumbleEnd) {
     detumbleCounter++;
   } else if (detumbleCounter > 0) {
     detumbleCounter -= 1;
   }
+
   if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
     detumbleCounter = 0;
     // Triggers safe mode transition in subsystem
@@ -307,7 +382,7 @@ void AcsController::performDetumble() {
     startTransition(mode, acs::SafeSubmode::DEFAULT);
   }
 
-  disableCtrlValData();
+  updateCtrlValData(safeCtrlStrat);
   updateActuatorCmdData(cmdDipoleMtqs);
   commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
                    acsParameters.magnetorquerParameter.torqueDuration);
@@ -317,10 +392,17 @@ void AcsController::performPointingCtrl() {
   timeval now;
   Clock::getClock_timeval(&now);
 
+  ReturnValue_t result = navigation.useSpg4(now, &gpsDataProcessed);
+  if (result == Sgp4Propagator::TLE_TOO_OLD and not tleTooOldFlag) {
+    triggerEvent(acs::TLE_TOO_OLD);
+    tleTooOldFlag = true;
+  } else {
+    tleTooOldFlag = false;
+  }
   sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
-  ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
-                                            &susDataProcessed, &mekfData, &acsParameters);
+  result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
+                              &susDataProcessed, &mekfData, &acsParameters);
   if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
       result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
     mekfInvalidCounter++;
@@ -578,6 +660,23 @@ void AcsController::updateActuatorCmdData(const double *rwTargetTorque,
   }
 }
 
+void AcsController::updateCtrlValData(uint8_t safeModeStrat) {
+  PoolReadGuard pg(&ctrlValData);
+  if (pg.getReadResult() == returnvalue::OK) {
+    std::memcpy(ctrlValData.tgtQuat.value, ZERO_VEC4, 4 * sizeof(double));
+    ctrlValData.tgtQuat.setValid(false);
+    std::memcpy(ctrlValData.errQuat.value, ZERO_VEC4, 4 * sizeof(double));
+    ctrlValData.errQuat.setValid(false);
+    ctrlValData.errAng.value = 0;
+    ctrlValData.errAng.setValid(false);
+    std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC3, 3 * sizeof(double));
+    ctrlValData.tgtRotRate.setValid(false);
+    ctrlValData.safeStrat.value = safeModeStrat;
+    ctrlValData.safeStrat.setValid(true);
+    ctrlValData.setValidity(true, false);
+  }
+}
+
 void AcsController::updateCtrlValData(double errAng, uint8_t safeModeStrat) {
   PoolReadGuard pg(&ctrlValData);
   if (pg.getReadResult() == returnvalue::OK) {
@@ -608,17 +707,6 @@ void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQu
   }
 }
 
-void AcsController::disableCtrlValData() {
-  PoolReadGuard pg(&ctrlValData);
-  if (pg.getReadResult() == returnvalue::OK) {
-    std::memcpy(ctrlValData.tgtQuat.value, ZERO_VEC4, 4 * sizeof(double));
-    std::memcpy(ctrlValData.errQuat.value, ZERO_VEC4, 4 * sizeof(double));
-    ctrlValData.errAng.value = 0;
-    std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC3, 3 * sizeof(double));
-    ctrlValData.setValidity(false, true);
-  }
-}
-
 ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                      LocalDataPoolManager &poolManager) {
   // MGM Raw
@@ -689,6 +777,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   localDataPoolMap.emplace(acsctrl::PoolIds::ALTITUDE, &altitude);
   localDataPoolMap.emplace(acsctrl::PoolIds::GPS_POSITION, &gpsPosition);
   localDataPoolMap.emplace(acsctrl::PoolIds::GPS_VELOCITY, &gpsVelocity);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SOURCE, &gpsSource);
   poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 30.0});
   // MEKF
   localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
@@ -707,6 +796,14 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_SPEED, &rwTargetSpeed);
   localDataPoolMap.emplace(acsctrl::PoolIds::MTQ_TARGET_DIPOLE, &mtqTargetDipole);
   poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 10.0});
+  // Fused Rot Rate
+  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL, &rotRateOrthogonal);
+  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL, &rotRateParallel);
+  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL, &rotRateTotal);
+  poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 10.0});
+  // TLE Data
+  localDataPoolMap.emplace(acsctrl::PoolIds::TLE_LINE_1, &line1);
+  localDataPoolMap.emplace(acsctrl::PoolIds::TLE_LINE_2, &line2);
   return returnvalue::OK;
 }
 
@@ -732,6 +829,8 @@ LocalPoolDataSetBase *AcsController::getDataSetHandle(sid_t sid) {
       return &ctrlValData;
     case acsctrl::ACTUATOR_CMD_DATA:
       return &actuatorCmdData;
+    case acsctrl::FUSED_ROTATION_RATE_DATA:
+      return &fusedRotRateData;
     default:
       return nullptr;
   }

mission/controller/AcsController.h

@@ -3,6 +3,7 @@
 
 #include <eive/objects.h>
 #include <fsfw/controller/ExtendedControllerBase.h>
+#include <fsfw/coordinates/Sgp4Propagator.h>
 #include <fsfw/globalfunctions/math/VectorOperations.h>
 #include <fsfw/health/HealthTable.h>
 #include <fsfw/parameters/ParameterHelper.h>
@@ -13,6 +14,7 @@
 #include <mission/acs/rwHelpers.h>
 #include <mission/acs/susMax1227Helpers.h>
 #include <mission/controller/acs/ActuatorCmd.h>
+#include <mission/controller/acs/FusedRotationEstimation.h>
 #include <mission/controller/acs/Guidance.h>
 #include <mission/controller/acs/MultiplicativeKalmanFilter.h>
 #include <mission/controller/acs/Navigation.h>
@@ -49,6 +51,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
 
   AcsParameters acsParameters;
   SensorProcessing sensorProcessing;
+  FusedRotationEstimation fusedRotationEstimation;
   Navigation navigation;
   ActuatorCmd actuatorCmd;
   Guidance guidance;
@@ -59,6 +62,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
 
   ParameterHelper parameterHelper;
 
+  bool tleTooOldFlag = false;
   uint8_t detumbleCounter = 0;
   uint8_t multipleRwUnavailableCounter = 0;
   bool mekfInvalidFlag = false;
@@ -82,6 +86,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   static const DeviceCommandId_t SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0x0;
   static const DeviceCommandId_t RESET_MEKF = 0x1;
   static const DeviceCommandId_t RESTORE_MEKF_NONFINITE_RECOVERY = 0x2;
+  static const DeviceCommandId_t UPDATE_TLE = 0x3;
 
   static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL;
   //! [EXPORT] : [COMMENT] File deletion failed and at least one file is still existent.
@@ -115,10 +120,10 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void updateActuatorCmdData(const int16_t* mtqTargetDipole);
   void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed,
                              const int16_t* mtqTargetDipole);
+  void updateCtrlValData(uint8_t safeModeStrat);
   void updateCtrlValData(double errAng, uint8_t safeModeStrat);
   void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng,
                          const double* tgtRotRate);
-  void disableCtrlValData();
 
   /* ACS Sensor Values */
   ACS::SensorValues sensorValues;
@@ -205,6 +210,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   PoolEntry<double> altitude = PoolEntry<double>();
   PoolEntry<double> gpsPosition = PoolEntry<double>(3);
   PoolEntry<double> gpsVelocity = PoolEntry<double>(3);
+  PoolEntry<uint8_t> gpsSource = PoolEntry<uint8_t>();
 
   // MEKF
   acsctrl::MekfData mekfData;
@@ -226,6 +232,17 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   PoolEntry<int32_t> rwTargetSpeed = PoolEntry<int32_t>(4);
   PoolEntry<int16_t> mtqTargetDipole = PoolEntry<int16_t>(3);
 
+  // Fused Rot Rate
+  acsctrl::FusedRotRateData fusedRotRateData;
+  PoolEntry<double> rotRateOrthogonal = PoolEntry<double>(3);
+  PoolEntry<double> rotRateParallel = PoolEntry<double>(3);
+  PoolEntry<double> rotRateTotal = PoolEntry<double>(3);
+
+  // TLE Dataset
+  acsctrl::TleData tleData;
+  PoolEntry<uint8_t> line1 = PoolEntry<uint8_t>(69);
+  PoolEntry<uint8_t> line2 = PoolEntry<uint8_t>(69);
+
   // Initial delay to make sure all pool variables have been initialized their owners
   Countdown initialCountdown = Countdown(INIT_DELAY);
 };

mission/controller/ThermalController.h

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

mission/controller/acs/AcsParameters.cpp

@@ -26,6 +26,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x1:
           parameterWrapper->set(onBoardParams.mekfViolationTimer);
           break;
+        case 0x2:
+          parameterWrapper->set(onBoardParams.fusedRateSafeDuringEclipse);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
@@ -105,8 +108,14 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->setVector(mgmHandlingParameters.mgm4variance);
           break;
         case 0x12:
+          parameterWrapper->set(mgmHandlingParameters.mgmVectorFilterWeight);
+          break;
+        case 0x13:
           parameterWrapper->set(mgmHandlingParameters.mgmDerivativeFilterWeight);
           break;
+        case 0x14:
+          parameterWrapper->set(mgmHandlingParameters.useMgm4);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
@@ -224,6 +233,12 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x24:
           parameterWrapper->set(susHandlingParameters.susBrightnessThreshold);
           break;
+        case 0x25:
+          parameterWrapper->set(susHandlingParameters.susVectorFilterWeight);
+          break;
+        case 0x26:
+          parameterWrapper->set(susHandlingParameters.susRateFilterWeight);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
@@ -339,26 +354,41 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(safeModeControllerParameters.k_parallelMekf);
           break;
         case 0x3:
-          parameterWrapper->set(safeModeControllerParameters.k_orthoNonMekf);
+          parameterWrapper->set(safeModeControllerParameters.k_orthoGyr);
           break;
         case 0x4:
-          parameterWrapper->set(safeModeControllerParameters.k_alignNonMekf);
+          parameterWrapper->set(safeModeControllerParameters.k_alignGyr);
           break;
         case 0x5:
-          parameterWrapper->set(safeModeControllerParameters.k_parallelNonMekf);
+          parameterWrapper->set(safeModeControllerParameters.k_parallelGyr);
           break;
         case 0x6:
-          parameterWrapper->setVector(safeModeControllerParameters.sunTargetDirLeop);
+          parameterWrapper->set(safeModeControllerParameters.k_orthoSusMgm);
           break;
         case 0x7:
-          parameterWrapper->setVector(safeModeControllerParameters.sunTargetDir);
+          parameterWrapper->set(safeModeControllerParameters.k_alignSusMgm);
           break;
         case 0x8:
-          parameterWrapper->set(safeModeControllerParameters.useMekf);
+          parameterWrapper->set(safeModeControllerParameters.k_parallelSusMgm);
           break;
         case 0x9:
+          parameterWrapper->setVector(safeModeControllerParameters.sunTargetDirLeop);
+          break;
+        case 0xA:
+          parameterWrapper->setVector(safeModeControllerParameters.sunTargetDir);
+          break;
+        case 0xB:
+          parameterWrapper->set(safeModeControllerParameters.useMekf);
+          break;
+        case 0xC:
+          parameterWrapper->set(safeModeControllerParameters.useGyr);
+          break;
+        case 0xD:
           parameterWrapper->set(safeModeControllerParameters.dampingDuringEclipse);
           break;
+        case 0xE:
+          parameterWrapper->set(safeModeControllerParameters.sineLimitSunRotRate);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
@@ -638,6 +668,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x3:
           parameterWrapper->set(gpsParameters.fdirAltitude);
           break;
+        case 0x4:
+          parameterWrapper->set(gpsParameters.useSpg4);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }

mission/controller/acs/AcsParameters.h

@@ -19,6 +19,7 @@ class AcsParameters : public HasParametersIF {
   struct OnBoardParams {
     double sampleTime = 0.4;  // [s]
     uint16_t mekfViolationTimer = 750;
+    uint8_t fusedRateSafeDuringEclipse = true;
   } onBoardParams;
 
   struct InertiaEIVE {
@@ -77,7 +78,9 @@ class AcsParameters : public HasParametersIF {
     float mgm02variance[3] = {pow(3.2e-7, 2), pow(3.2e-7, 2), pow(4.1e-7, 2)};
     float mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)};
     float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
-    float mgmDerivativeFilterWeight = 0.5;
+    float mgmVectorFilterWeight = 0.85;
+    float mgmDerivativeFilterWeight = 0.99;
+    uint8_t useMgm4 = false;
   } mgmHandlingParameters;
 
   struct SusHandlingParameters {
@@ -767,6 +770,8 @@ class AcsParameters : public HasParametersIF {
          0.167666815691513, 0.163137400730063, -0.000609874123906977, -0.00205336098697513,
          -0.000889232196185857, -0.00168429567131815}};
     float susBrightnessThreshold = 0.7;
+    float susVectorFilterWeight = .85;
+    float susRateFilterWeight = .99;
   } susHandlingParameters;
 
   struct GyrHandlingParameters {
@@ -825,15 +830,22 @@ class AcsParameters : public HasParametersIF {
     double k_alignMekf = 4.0e-5;
     double k_parallelMekf = 3.75e-4;
 
-    double k_orthoNonMekf = 4.4e-3;
-    double k_alignNonMekf = 4.0e-5;
-    double k_parallelNonMekf = 3.75e-4;
+    double k_orthoGyr = 4.4e-3;
+    double k_alignGyr = 4.0e-5;
+    double k_parallelGyr = 3.75e-4;
+
+    double k_orthoSusMgm = 4.4e-3;
+    double k_alignSusMgm = 4.0e-5;
+    double k_parallelSusMgm = 3.75e-4;
 
     double sunTargetDirLeop[3] = {0, sqrt(.5), sqrt(.5)};
     double sunTargetDir[3] = {0, 0, 1};
 
     uint8_t useMekf = false;
+    uint8_t useGyr = false;
     uint8_t dampingDuringEclipse = true;
+
+    float sineLimitSunRotRate = 0.24;
   } safeModeControllerParameters;
 
   struct PointingLawParameters {
@@ -905,6 +917,7 @@ class AcsParameters : public HasParametersIF {
     double minimumFdirAltitude = 475 * 1e3;  // [m]
     double maximumFdirAltitude = 575 * 1e3;  // [m]
     double fdirAltitude = 525 * 1e3;         // [m]
+    uint8_t useSpg4 = true;
   } gpsParameters;
 
   struct SunModelParameters {

mission/controller/acs/CMakeLists.txt

@@ -2,6 +2,7 @@ target_sources(
   ${LIB_EIVE_MISSION}
   PRIVATE AcsParameters.cpp
           ActuatorCmd.cpp
+          FusedRotationEstimation.cpp
           Guidance.cpp
           Igrf13Model.cpp
           MultiplicativeKalmanFilter.cpp

mission/controller/acs/FusedRotationEstimation.cpp

@@ -0,0 +1,116 @@
+#include "FusedRotationEstimation.h"
+
+FusedRotationEstimation::FusedRotationEstimation(AcsParameters *acsParameters_) {
+  acsParameters = acsParameters_;
+}
+
+void FusedRotationEstimation::estimateFusedRotationRateSafe(
+    acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed,
+    acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::FusedRotRateData *fusedRotRateData) {
+  if ((not mgmDataProcessed->mgmVecTot.isValid() and not susDataProcessed->susVecTot.isValid() and
+       not fusedRotRateData->rotRateTotal.isValid()) or
+      (not susDataProcessed->susVecTotDerivative.isValid() and
+       not mgmDataProcessed->mgmVecTotDerivative.isValid())) {
+    {
+      PoolReadGuard pg(fusedRotRateData);
+      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double));
+      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC, 3 * sizeof(double));
+      std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC, 3 * sizeof(double));
+      fusedRotRateData->setValidity(false, true);
+    }
+    // store for calculation of angular acceleration
+    if (gyrDataProcessed->gyrVecTot.isValid()) {
+      std::memcpy(rotRateOldB, gyrDataProcessed->gyrVecTot.value, 3 * sizeof(double));
+    }
+    return;
+  }
+  if (not susDataProcessed->susVecTot.isValid()) {
+    estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateData);
+    // store for calculation of angular acceleration
+    if (gyrDataProcessed->gyrVecTot.isValid()) {
+      std::memcpy(rotRateOldB, gyrDataProcessed->gyrVecTot.value, 3 * sizeof(double));
+    }
+    return;
+  }
+
+  // calculate rotation around the sun
+  double magSunCross[3] = {0, 0, 0};
+
+  VectorOperations<double>::cross(mgmDataProcessed->mgmVecTot.value,
+                                  susDataProcessed->susVecTot.value, magSunCross);
+  double magSunCrossNorm = VectorOperations<double>::norm(magSunCross, 3);
+  double magNorm = VectorOperations<double>::norm(mgmDataProcessed->mgmVecTot.value, 3);
+  double fusedRotRateParallel[3] = {0, 0, 0};
+  if (magSunCrossNorm >
+      (acsParameters->safeModeControllerParameters.sineLimitSunRotRate * magNorm)) {
+    double omegaParallel =
+        VectorOperations<double>::dot(mgmDataProcessed->mgmVecTotDerivative.value, magSunCross) *
+        pow(magSunCrossNorm, -2);
+    VectorOperations<double>::mulScalar(susDataProcessed->susVecTot.value, omegaParallel,
+                                        fusedRotRateParallel, 3);
+  } else {
+    estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateData);
+    // store for calculation of angular acceleration
+    if (gyrDataProcessed->gyrVecTot.isValid()) {
+      std::memcpy(rotRateOldB, gyrDataProcessed->gyrVecTot.value, 3 * sizeof(double));
+    }
+    return;
+  }
+
+  // calculate rotation orthogonal to the sun
+  double fusedRotRateOrthogonal[3] = {0, 0, 0};
+  VectorOperations<double>::cross(susDataProcessed->susVecTotDerivative.value,
+                                  susDataProcessed->susVecTot.value, fusedRotRateOrthogonal);
+  VectorOperations<double>::mulScalar(
+      fusedRotRateOrthogonal,
+      pow(VectorOperations<double>::norm(susDataProcessed->susVecTot.value, 3), -2),
+      fusedRotRateOrthogonal, 3);
+
+  // calculate total rotation rate
+  double fusedRotRateTotal[3] = {0, 0, 0};
+  VectorOperations<double>::add(fusedRotRateParallel, fusedRotRateOrthogonal, fusedRotRateTotal);
+
+  {
+    PoolReadGuard pg(fusedRotRateData);
+    std::memcpy(fusedRotRateData->rotRateOrthogonal.value, fusedRotRateOrthogonal,
+                3 * sizeof(double));
+    std::memcpy(fusedRotRateData->rotRateParallel.value, fusedRotRateParallel, 3 * sizeof(double));
+    std::memcpy(fusedRotRateData->rotRateTotal.value, fusedRotRateTotal, 3 * sizeof(double));
+    fusedRotRateData->setValidity(true, true);
+  }
+
+  // store for calculation of angular acceleration
+  if (gyrDataProcessed->gyrVecTot.isValid()) {
+    std::memcpy(rotRateOldB, gyrDataProcessed->gyrVecTot.value, 3 * sizeof(double));
+  }
+}
+
+void FusedRotationEstimation::estimateFusedRotationRateEclipse(
+    acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::FusedRotRateData *fusedRotRateData) {
+  if (not acsParameters->onBoardParams.fusedRateSafeDuringEclipse or
+      not gyrDataProcessed->gyrVecTot.isValid() or
+      VectorOperations<double>::norm(fusedRotRateData->rotRateTotal.value, 3) == 0) {
+    {
+      PoolReadGuard pg(fusedRotRateData);
+      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double));
+      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC, 3 * sizeof(double));
+      std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC, 3 * sizeof(double));
+      fusedRotRateData->setValidity(false, true);
+    }
+    return;
+  }
+  double angAccelB[3] = {0, 0, 0};
+  VectorOperations<double>::subtract(gyrDataProcessed->gyrVecTot.value, rotRateOldB, angAccelB, 3);
+  double fusedRotRateTotal[3] = {0, 0, 0};
+  VectorOperations<double>::add(fusedRotRateData->rotRateTotal.value, angAccelB, fusedRotRateTotal,
+                                3);
+  {
+    PoolReadGuard pg(fusedRotRateData);
+    std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double));
+    fusedRotRateData->rotRateOrthogonal.setValid(false);
+    std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC, 3 * sizeof(double));
+    fusedRotRateData->rotRateParallel.setValid(false);
+    std::memcpy(fusedRotRateData->rotRateTotal.value, fusedRotRateTotal, 3 * sizeof(double));
+    fusedRotRateData->rotRateTotal.setValid(true);
+  }
+}

mission/controller/acs/FusedRotationEstimation.h

@@ -0,0 +1,29 @@
+#ifndef MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_
+#define MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_
+
+#include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/globalfunctions/math/VectorOperations.h>
+#include <mission/controller/acs/AcsParameters.h>
+#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
+
+class FusedRotationEstimation {
+ public:
+  FusedRotationEstimation(AcsParameters *acsParameters_);
+
+  void estimateFusedRotationRateSafe(acsctrl::SusDataProcessed *susDataProcessed,
+                                     acsctrl::MgmDataProcessed *mgmDataProcessed,
+                                     acsctrl::GyrDataProcessed *gyrDataProcessed,
+                                     acsctrl::FusedRotRateData *fusedRotRateData);
+
+ protected:
+ private:
+  static constexpr double ZERO_VEC[3] = {0, 0, 0};
+
+  AcsParameters *acsParameters;
+  double rotRateOldB[3] = {0, 0, 0};
+
+  void estimateFusedRotationRateEclipse(acsctrl::GyrDataProcessed *gyrDataProcessed,
+                                        acsctrl::FusedRotRateData *fusedRotRateData);
+};
+
+#endif /* MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_ */

mission/controller/acs/Navigation.cpp

@@ -44,3 +44,40 @@ ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
 void Navigation::resetMekf(acsctrl::MekfData *mekfData) {
   mekfStatus = multiplicativeKalmanFilter.reset(mekfData);
 }
+
+ReturnValue_t Navigation::useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDataProcessed) {
+  double position[3] = {0, 0, 0};
+  double velocity[3] = {0, 0, 0};
+  ReturnValue_t result = sgp4Propagator.propagate(position, velocity, now, 0);
+
+  if (result == returnvalue::OK) {
+    {
+      PoolReadGuard pg(gpsDataProcessed);
+      if (pg.getReadResult() == returnvalue::OK) {
+        gpsDataProcessed->source = acs::GpsSource::SPG4;
+        gpsDataProcessed->source.setValid(true);
+        std::memcpy(gpsDataProcessed->gpsPosition.value, position, 3 * sizeof(double));
+        gpsDataProcessed->gpsPosition.setValid(true);
+        std::memcpy(gpsDataProcessed->gpsVelocity.value, velocity, 3 * sizeof(double));
+        gpsDataProcessed->gpsVelocity.setValid(true);
+      }
+    }
+  } else {
+    {
+      PoolReadGuard pg(gpsDataProcessed);
+      if (pg.getReadResult() == returnvalue::OK) {
+        gpsDataProcessed->source = acs::GpsSource::NONE;
+        gpsDataProcessed->source.setValid(true);
+        std::memcpy(gpsDataProcessed->gpsPosition.value, position, 3 * sizeof(double));
+        gpsDataProcessed->gpsPosition.setValid(false);
+        std::memcpy(gpsDataProcessed->gpsVelocity.value, velocity, 3 * sizeof(double));
+        gpsDataProcessed->gpsVelocity.setValid(false);
+      }
+    }
+  }
+  return result;
+}
+
+ReturnValue_t Navigation::updateTle(const uint8_t *line1, const uint8_t *line2) {
+  return sgp4Propagator.initialize(line1, line2);
+}

mission/controller/acs/Navigation.h

@@ -1,11 +1,13 @@
 #ifndef NAVIGATION_H_
 #define NAVIGATION_H_
 
-#include "../controllerdefinitions/AcsCtrlDefinitions.h"
-#include "AcsParameters.h"
-#include "MultiplicativeKalmanFilter.h"
-#include "SensorProcessing.h"
-#include "SensorValues.h"
+#include <fsfw/coordinates/Sgp4Propagator.h>
+#include <mission/acs/defs.h>
+#include <mission/controller/acs/AcsParameters.h>
+#include <mission/controller/acs/MultiplicativeKalmanFilter.h>
+#include <mission/controller/acs/SensorProcessing.h>
+#include <mission/controller/acs/SensorValues.h>
+#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
 
 class Navigation {
  public:
@@ -19,10 +21,14 @@ class Navigation {
                         AcsParameters *acsParameters);
   void resetMekf(acsctrl::MekfData *mekfData);
 
+  ReturnValue_t useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDataProcessed);
+  ReturnValue_t updateTle(const uint8_t *line1, const uint8_t *line2);
+
  protected:
  private:
   MultiplicativeKalmanFilter multiplicativeKalmanFilter;
   ReturnValue_t mekfStatus = MultiplicativeKalmanFilter::MEKF_UNINITIALIZED;
+  Sgp4Propagator sgp4Propagator;
 };
 
 #endif /* ACS_NAVIGATION_H_ */

mission/controller/acs/SensorProcessing.cpp

@@ -1,19 +1,5 @@
 #include "SensorProcessing.h"
 
-#include <fsfw/datapool/PoolReadGuard.h>
-#include <fsfw/globalfunctions/constants.h>
-#include <fsfw/globalfunctions/math/MatrixOperations.h>
-#include <fsfw/globalfunctions/math/QuaternionOperations.h>
-#include <fsfw/globalfunctions/math/VectorOperations.h>
-#include <fsfw/globalfunctions/timevalOperations.h>
-#include <math.h>
-
-#include "../controllerdefinitions/AcsCtrlDefinitions.h"
-#include "Igrf13Model.h"
-#include "util/MathOperations.h"
-
-using namespace Math;
-
 SensorProcessing::SensorProcessing() {}
 
 SensorProcessing::~SensorProcessing() {}
@@ -24,21 +10,23 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
                                   bool mgm4valid, timeval timeOfMgmMeasurement,
                                   const AcsParameters::MgmHandlingParameters *mgmParameters,
                                   acsctrl::GpsDataProcessed *gpsDataProcessed,
-                                  const double gpsAltitude, bool gpsValid,
                                   acsctrl::MgmDataProcessed *mgmDataProcessed) {
   // ---------------- IGRF- 13 Implementation here
   // ------------------------------------------------
   double magIgrfModel[3] = {0.0, 0.0, 0.0};
-  if (gpsValid) {
+  bool gpsValid = false;
+  if (gpsDataProcessed->source.value != acs::GpsSource::NONE) {
     Igrf13Model igrf13;
     igrf13.schmidtNormalization();
     igrf13.updateCoeffGH(timeOfMgmMeasurement);
     // maybe put a condition here, to only update after a full day, this
     // class function has around 700 steps to perform
     igrf13.magFieldComp(gpsDataProcessed->gdLongitude.value, gpsDataProcessed->gcLatitude.value,
-                        gpsAltitude, timeOfMgmMeasurement, magIgrfModel);
+                        gpsDataProcessed->altitude.value, timeOfMgmMeasurement, magIgrfModel);
+    gpsValid = true;
   }
-  if (!mgm0valid && !mgm1valid && !mgm2valid && !mgm3valid && !mgm4valid) {
+  if (not mgm0valid and not mgm1valid and not mgm2valid and not mgm3valid and
+      (not mgm4valid or not mgmParameters->useMgm4)) {
     {
       PoolReadGuard pg(mgmDataProcessed);
       if (pg.getReadResult() == returnvalue::OK) {
@@ -54,6 +42,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
         mgmDataProcessed->magIgrfModel.setValid(gpsValid);
       }
     }
+    std::memcpy(savedMgmVecTot, ZERO_VEC_D, sizeof(savedMgmVecTot));
     return;
   }
   float mgm0ValueNoBias[3] = {0, 0, 0}, mgm1ValueNoBias[3] = {0, 0, 0},
@@ -113,7 +102,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
       sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
     }
   }
-  if (mgm4valid) {
+  if (mgm4valid and mgmParameters->useMgm4) {
     float mgm4ValueUT[3];
     VectorOperations<float>::mulScalar(mgm4Value, 1e-3, mgm4ValueUT, 3);  // nT to uT
     MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueUT,
@@ -132,19 +121,23 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
   for (uint8_t i = 0; i < 3; i++) {
     mgmVecTot[i] = sensorFusionNumerator[i] / sensorFusionDenominator[i];
   }
+  if (VectorOperations<double>::norm(mgmVecTot, 3) != 0 and mgmDataProcessed->mgmVecTot.isValid()) {
+    lowPassFilter(mgmVecTot, mgmDataProcessed->mgmVecTot.value,
+                  mgmParameters->mgmVectorFilterWeight);
+  }
 
   //-----------------------Mgm Rate Computation ---------------------------------------------------
   double mgmVecTotDerivative[3] = {0.0, 0.0, 0.0};
   bool mgmVecTotDerivativeValid = false;
   double timeDiff = timevalOperations::toDouble(timeOfMgmMeasurement - timeOfSavedMagFieldEst);
-  if (timeOfSavedMagFieldEst.tv_sec != 0 and timeDiff > 0) {
-    for (uint8_t i = 0; i < 3; i++) {
-      mgmVecTotDerivative[i] = (mgmVecTot[i] - savedMgmVecTot[i]) / timeDiff;
-      savedMgmVecTot[i] = mgmVecTot[i];
-      mgmVecTotDerivativeValid = true;
-    }
+  if (timeOfSavedMagFieldEst.tv_sec != 0 and timeDiff > 0 and
+      VectorOperations<double>::norm(savedMgmVecTot, 3) != 0) {
+    VectorOperations<double>::subtract(mgmVecTot, savedMgmVecTot, mgmVecTotDerivative, 3);
+    VectorOperations<double>::mulScalar(mgmVecTotDerivative, 1. / timeDiff, mgmVecTotDerivative, 3);
+    mgmVecTotDerivativeValid = true;
   }
   timeOfSavedMagFieldEst = timeOfMgmMeasurement;
+  std::memcpy(savedMgmVecTot, mgmVecTot, sizeof(savedMgmVecTot));
 
   if (VectorOperations<double>::norm(mgmVecTotDerivative, 3) != 0 and
       mgmDataProcessed->mgmVecTotDerivative.isValid()) {
@@ -195,8 +188,8 @@ void SensorProcessing::processSus(
   double JC2000 = JD2000 / 36525.;
 
   double meanLongitude =
-      sunModelParameters->omega_0 + (sunModelParameters->domega * JC2000) * PI / 180.;
-  double meanAnomaly = (sunModelParameters->m_0 + sunModelParameters->dm * JC2000) * PI / 180.;
+      sunModelParameters->omega_0 + (sunModelParameters->domega * JC2000) * M_PI / 180.;
+  double meanAnomaly = (sunModelParameters->m_0 + sunModelParameters->dm * JC2000) * M_PI / 180.;
 
   double eclipticLongitude = meanLongitude + sunModelParameters->p1 * sin(meanAnomaly) +
                              sunModelParameters->p2 * sin(2 * meanAnomaly);
@@ -273,6 +266,7 @@ void SensorProcessing::processSus(
         susDataProcessed->sunIjkModel.setValid(true);
       }
     }
+    std::memcpy(savedSusVecTot, ZERO_VEC_D, sizeof(savedSusVecTot));
     return;
   }
 
@@ -351,17 +345,27 @@ void SensorProcessing::processSus(
   double susVecTot[3] = {0.0, 0.0, 0.0};
   VectorOperations<double>::normalize(susMeanValue, susVecTot, 3);
 
+  if (VectorOperations<double>::norm(susVecTot, 3) != 0 and susDataProcessed->susVecTot.isValid()) {
+    lowPassFilter(susVecTot, susDataProcessed->susVecTot.value,
+                  susParameters->susVectorFilterWeight);
+  }
+
   /* -------- Sun Derivatiative --------------------- */
 
   double susVecTotDerivative[3] = {0.0, 0.0, 0.0};
   bool susVecTotDerivativeValid = false;
   double timeDiff = timevalOperations::toDouble(timeOfSusMeasurement - timeOfSavedSusDirEst);
-  if (timeOfSavedSusDirEst.tv_sec != 0 and timeDiff > 0) {
-    for (uint8_t i = 0; i < 3; i++) {
-      susVecTotDerivative[i] = (susVecTot[i] - savedSusVecTot[i]) / timeDiff;
-      savedSusVecTot[i] = susVecTot[i];
-      susVecTotDerivativeValid = true;
-    }
+  if (timeOfSavedSusDirEst.tv_sec != 0 and timeDiff > 0 and
+      VectorOperations<double>::norm(savedSusVecTot, 3) != 0) {
+    VectorOperations<double>::subtract(susVecTot, savedSusVecTot, susVecTotDerivative, 3);
+    VectorOperations<double>::mulScalar(susVecTotDerivative, 1. / timeDiff, susVecTotDerivative, 3);
+    susVecTotDerivativeValid = true;
+  }
+  std::memcpy(savedSusVecTot, susVecTot, sizeof(savedSusVecTot));
+  if (VectorOperations<double>::norm(susVecTotDerivative, 3) != 0 and
+      susDataProcessed->susVecTotDerivative.isValid()) {
+    lowPassFilter(susVecTotDerivative, susDataProcessed->susVecTotDerivative.value,
+                  susParameters->susRateFilterWeight);
   }
   timeOfSavedSusDirEst = timeOfSusMeasurement;
   {
@@ -521,14 +525,31 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
                                   const bool validGps,
                                   const AcsParameters::GpsParameters *gpsParameters,
                                   acsctrl::GpsDataProcessed *gpsDataProcessed) {
-  double gdLongitude = 0, gcLatitude = 0, altitude = 0, posSatE[3] = {0, 0, 0},
+  // init variables
+  double gdLongitude = 0, gdLatitude = 0, gcLatitude = 0, altitude = 0, posSatE[3] = {0, 0, 0},
          gpsVelocityE[3] = {0, 0, 0};
-  if (validGps) {
-    // Transforming from Degree to Radians and calculation geocentric lattitude from geodetic
-    gdLongitude = gpsLongitude * PI / 180.;
-    double latitudeRad = gpsLatitude * PI / 180.;
-    double eccentricityWgs84 = 0.0818195;
-    double factor = 1 - pow(eccentricityWgs84, 2);
+  uint8_t gpsSource = acs::GpsSource::NONE;
+  // We do not trust the GPS and therefore it shall die here if SPG4 is running
+  if (gpsDataProcessed->source.value == acs::GpsSource::SPG4 and gpsParameters->useSpg4) {
+    MathOperations<double>::latLongAltFromCartesian(gpsDataProcessed->gpsPosition.value, gdLatitude,
+                                                    gdLongitude, altitude);
+    double factor = 1 - pow(ECCENTRICITY_WGS84, 2);
+    gcLatitude = atan(factor * tan(gdLatitude));
+    {
+      PoolReadGuard pg(gpsDataProcessed);
+      if (pg.getReadResult() == returnvalue::OK) {
+        gpsDataProcessed->gdLongitude.value = gdLongitude;
+        gpsDataProcessed->gcLatitude.value = gcLatitude;
+        gpsDataProcessed->altitude.value = altitude;
+        gpsDataProcessed->setValidity(true, true);
+      }
+    }
+    return;
+  } else if (validGps) {
+    // Transforming from Degree to Radians and calculation geocentric latitude from geodetic
+    gdLongitude = gpsLongitude * M_PI / 180.;
+    double latitudeRad = gpsLatitude * M_PI / 180.;
+    double factor = 1 - pow(ECCENTRICITY_WGS84, 2);
     gcLatitude = atan(factor * tan(latitudeRad));
 
     // Altitude FDIR
@@ -555,6 +576,8 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
 
     timeOfSavedPosSatE = gpsUnixSeconds;
     validSavedPosSatE = true;
+
+    gpsSource = acs::GpsSource::GPS;
   }
   {
     PoolReadGuard pg(gpsDataProcessed);
@@ -565,6 +588,8 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
       std::memcpy(gpsDataProcessed->gpsPosition.value, posSatE, 3 * sizeof(double));
       std::memcpy(gpsDataProcessed->gpsVelocity.value, gpsVelocityE, 3 * sizeof(double));
       gpsDataProcessed->setValidity(validGps, true);
+      gpsDataProcessed->source.value = gpsSource;
+      gpsDataProcessed->source.setValid(true);
     }
   }
 }
@@ -592,11 +617,7 @@ void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues,
              sensorValues->mgm3Rm3100Set.fieldStrengths.value,
              sensorValues->mgm3Rm3100Set.fieldStrengths.isValid(),
              sensorValues->imtqMgmSet.mtmRawNt.value, sensorValues->imtqMgmSet.mtmRawNt.isValid(),
-             now, &acsParameters->mgmHandlingParameters, gpsDataProcessed,
-             sensorValues->gpsSet.altitude.value,
-             (sensorValues->gpsSet.latitude.isValid() && sensorValues->gpsSet.longitude.isValid() &&
-              sensorValues->gpsSet.altitude.isValid()),
-             mgmDataProcessed);
+             now, &acsParameters->mgmHandlingParameters, gpsDataProcessed, mgmDataProcessed);
 
   processSus(sensorValues->susSets[0].channels.value, sensorValues->susSets[0].channels.isValid(),
              sensorValues->susSets[1].channels.value, sensorValues->susSets[1].channels.isValid(),