Merge pull request 'prep v6.3.0' (#769) from prep_v6.3.0 into main

Reviewed-on: #769
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>

.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

@@ -16,6 +16,82 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [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

CMakeLists.txt

@@ -10,7 +10,7 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 6)
-set(OBSW_VERSION_MINOR 1)
+set(OBSW_VERSION_MINOR 3)
 set(OBSW_VERSION_REVISION 0)
 
 # 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}
@@ -144,7 +144,7 @@ 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
@@ -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

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 299 translations.
+ * @brief    Auto-generated event translation file. Contains 302 translations.
  * @details
- * Generated on: 2023-07-07 12:06:06
+ * Generated on: 2023-08-02 09:40:31
  */
 #include "translateEvents.h"
 
@@ -139,6 +139,7 @@ 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";
@@ -260,6 +261,7 @@ 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 +280,7 @@ 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";
@@ -575,6 +578,8 @@ 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):
@@ -817,6 +822,8 @@ 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):
@@ -853,6 +860,8 @@ 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):

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 171 translations.
- * Generated on: 2023-07-07 12:06:06
+ * Generated on: 2023-08-02 09:40:31
  */
 #include "translateObjects.h"
 

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/CoreController.cpp

@@ -156,20 +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();
-
   EventManagerIF *eventManager =
       ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
   if (eventManager == nullptr or eventQueue == nullptr) {
@@ -189,7 +181,16 @@ ReturnValue_t CoreController::initialize() {
   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 result;
 }
 
@@ -553,21 +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) {
@@ -643,7 +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.
@@ -671,7 +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;
@@ -713,12 +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);
         }
@@ -729,12 +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);
         }
@@ -749,7 +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 {
@@ -763,7 +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);
         }
@@ -800,6 +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;
@@ -838,7 +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);
@@ -872,7 +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;
@@ -896,8 +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;
@@ -1227,18 +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;
 }
 
@@ -1272,144 +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) {
@@ -1454,7 +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;
@@ -1466,28 +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++;
@@ -2570,6 +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

@@ -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/em/emObjectFactory.cpp

@@ -85,12 +85,18 @@ void ObjectFactory::produce(void* args) {
 #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
@@ -104,6 +110,8 @@ void ObjectFactory::produce(void* args) {
 
   new CoreController(objects::CORE_CONTROLLER, enableHkSets);
 
+  auto* stackHandler = new Stack5VHandler(*pwrSwitcher);
+
   // Initialize chip select to avoid SPI bus issues.
   createRadSensorChipSelect(gpioComIF);
 
@@ -121,6 +129,8 @@ void ObjectFactory::produce(void* args) {
   if (core::FW_VERSION_MAJOR >= 4) {
     battAndImtqI2cDev = q7s::I2C_PS_EIVE;
   }
+  static_cast<void>(battAndImtqI2cDev);
+
 #if OBSW_ADD_MGT == 1
   createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
 #endif
@@ -141,6 +151,9 @@ void ObjectFactory::produce(void* args) {
   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

bsp_q7s/fmObjectFactory.cpp

@@ -81,7 +81,9 @@ void ObjectFactory::produce(void* args) {
   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 */

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

@@ -249,7 +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,
@@ -902,8 +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

dummies/CMakeLists.txt

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

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/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"
@@ -242,11 +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);
@@ -255,4 +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

@@ -29,8 +29,11 @@ struct DummyCfg {
   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

@@ -133,6 +133,7 @@ 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
@@ -254,6 +255,7 @@ 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 +274,7 @@ 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

generators/bsp_q7s_events.csv

@@ -133,6 +133,7 @@ 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
@@ -254,6 +255,7 @@ 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 +274,7 @@ 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

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 299 translations.
+ * @brief    Auto-generated event translation file. Contains 302 translations.
  * @details
- * Generated on: 2023-07-07 12:06:06
+ * Generated on: 2023-08-02 09:40:31
  */
 #include "translateEvents.h"
 
@@ -139,6 +139,7 @@ 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";
@@ -260,6 +261,7 @@ 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 +280,7 @@ 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";
@@ -575,6 +578,8 @@ 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):
@@ -817,6 +822,8 @@ 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):
@@ -853,6 +860,8 @@ 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):

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-07-07 12:06:06
+ * Generated on: 2023-08-02 09:40:31
  */
 #include "translateObjects.h"
 

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/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 299 translations.
+ * @brief    Auto-generated event translation file. Contains 302 translations.
  * @details
- * Generated on: 2023-07-07 12:06:06
+ * Generated on: 2023-08-02 09:40:31
  */
 #include "translateEvents.h"
 
@@ -139,6 +139,7 @@ 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";
@@ -260,6 +261,7 @@ 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 +280,7 @@ 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";
@@ -575,6 +578,8 @@ 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):
@@ -817,6 +822,8 @@ 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):
@@ -853,6 +860,8 @@ 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):

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-07-07 12:06:06
+ * Generated on: 2023-08-02 09:40:31
  */
 #include "translateObjects.h"
 

mission/acs/defs.h

@@ -26,10 +26,18 @@ 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,
 };

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/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 +21,8 @@ AcsController::AcsController(object_id_t objectId, bool enableHkSets)
       gpsDataProcessed(this),
       mekfData(this),
       ctrlValData(this),
-      actuatorCmdData(this) {}
+      actuatorCmdData(this),
+      fusedRotRateData(this) {}
 
 ReturnValue_t AcsController::initialize() {
   ReturnValue_t result = parameterHelper.initialize();
@@ -146,6 +148,8 @@ void AcsController::performSafe() {
 
   sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
+  fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
+                                                        &gyrDataProcessed, &fusedRotRateData);
   ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
                                             &susDataProcessed, &mekfData, &acsParameters);
   if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
@@ -172,25 +176,42 @@ void AcsController::performSafe() {
   acs::SafeModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
       mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
       gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
+      fusedRotRateData.rotRateOrthogonal.isValid(), 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.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 +235,20 @@ 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) {
@@ -244,6 +273,8 @@ void AcsController::performDetumble() {
 
   sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
+  fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
+                                                        &gyrDataProcessed, &fusedRotRateData);
   ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
                                             &susDataProcessed, &mekfData, &acsParameters);
   if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
@@ -289,17 +320,26 @@ 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 +347,7 @@ void AcsController::performDetumble() {
     startTransition(mode, acs::SafeSubmode::DEFAULT);
   }
 
-  disableCtrlValData();
+  updateCtrlValData(safeCtrlStrat);
   updateActuatorCmdData(cmdDipoleMtqs);
   commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
                    acsParameters.magnetorquerParameter.torqueDuration);
@@ -578,6 +618,23 @@ 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 +665,6 @@ 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
@@ -707,6 +753,11 @@ 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});
   return returnvalue::OK;
 }
 
@@ -732,6 +783,8 @@ 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

@@ -13,6 +13,7 @@
 #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 +50,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
 
   AcsParameters acsParameters;
   SensorProcessing sensorProcessing;
+  FusedRotationEstimation fusedRotationEstimation;
   Navigation navigation;
   ActuatorCmd actuatorCmd;
   Guidance guidance;
@@ -115,10 +117,10 @@ 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;
@@ -226,6 +228,12 @@ 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);
+
   // Initial delay to make sure all pool variables have been initialized their owners
   Countdown initialCountdown = Countdown(INIT_DELAY);
 };

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;
       }
@@ -105,6 +108,9 @@ 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;
         default:
@@ -224,6 +230,12 @@ 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 +351,41 @@ 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;
       }

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 +78,8 @@ 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 = 0.85;
   } mgmHandlingParameters;
 
   struct SusHandlingParameters {
@@ -767,6 +769,8 @@ 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 = .85;
   } susHandlingParameters;
 
   struct GyrHandlingParameters {
@@ -825,15 +829,22 @@ 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 = 1.1e-2;
+    double k_alignSusMgm = 2.0e-5;
+    double k_parallelSusMgm = 4.4e-4;
 
     double sunTargetDirLeop[3] = {0, sqrt(.5), sqrt(.5)};
     double sunTargetDir[3] = {0, 0, 1};
 
     uint8_t useMekf = false;
+    uint8_t useGyr = true;
     uint8_t dampingDuringEclipse = true;
+
+    float sineLimitSunRotRate = 0.24;
   } safeModeControllerParameters;
 
   struct PointingLawParameters {

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/SensorProcessing.cpp

@@ -132,6 +132,10 @@ 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};
@@ -351,6 +355,11 @@ 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};
@@ -363,6 +372,11 @@ void SensorProcessing::processSus(
       susVecTotDerivativeValid = true;
     }
   }
+  if (VectorOperations<double>::norm(susVecTotDerivative, 3) != 0 and
+      susDataProcessed->susVecTotDerivative.isValid()) {
+    lowPassFilter(susVecTotDerivative, susDataProcessed->susVecTotDerivative.value,
+                  susParameters->susRateFilterWeight);
+  }
   timeOfSavedSusDirEst = timeOfSusMeasurement;
   {
     PoolReadGuard pg(susDataProcessed);

mission/controller/acs/control/SafeCtrl.cpp

@@ -9,20 +9,36 @@ SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameter
 
 SafeCtrl::~SafeCtrl() {}
 
-acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
-                                                 const bool satRotRateValid, const bool sunDirValid,
-                                                 const uint8_t mekfEnabled,
-                                                 const uint8_t dampingEnabled) {
+acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(
+    const bool magFieldValid, const bool mekfValid, const bool satRotRateValid,
+    const bool sunDirValid, const bool fusedRateSplitValid, const bool fusedRateTotalValid,
+    const uint8_t mekfEnabled, const uint8_t gyrEnabled, const uint8_t dampingEnabled) {
   if (not magFieldValid) {
     return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
   } else if (mekfEnabled and mekfValid) {
-    return acs::SafeModeStrategy::SAFECTRL_ACTIVE_MEKF;
-  } else if (satRotRateValid and sunDirValid) {
-    return acs::SafeModeStrategy::SAFECTRL_WITHOUT_MEKF;
-  } else if (dampingEnabled and satRotRateValid and not sunDirValid) {
-    return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING;
-  } else if (not dampingEnabled and satRotRateValid and not sunDirValid) {
-    return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING;
+    return acs::SafeModeStrategy::SAFECTRL_MEKF;
+  } else if (sunDirValid) {
+    if (gyrEnabled and satRotRateValid) {
+      return acs::SafeModeStrategy::SAFECTRL_GYR;
+    } else if (not gyrEnabled and fusedRateSplitValid) {
+      return acs::SafeModeStrategy::SAFECTRL_SUSMGM;
+    } else {
+      return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
+    }
+  } else if (not sunDirValid) {
+    if (dampingEnabled) {
+      if (gyrEnabled and satRotRateValid) {
+        return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR;
+      } else if (not gyrEnabled and satRotRateValid and fusedRateTotalValid) {
+        return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM;
+      } else {
+        return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
+      }
+    } else if (not dampingEnabled and satRotRateValid) {
+      return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING;
+    } else {
+      return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
+    }
   } else {
     return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
   }
@@ -43,8 +59,7 @@ void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB,
   errorAngle = acos(dotSun);
 
   splitRotationalRate(satRotRateB, sunDirB);
-  calculateRotationalRateTorque(sunDirB, sunDirRefB, errorAngle,
-                                acsParameters->safeModeControllerParameters.k_parallelMekf,
+  calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelMekf,
                                 acsParameters->safeModeControllerParameters.k_orthoMekf);
   calculateAngleErrorTorque(sunDirB, sunDirRefB,
                             acsParameters->safeModeControllerParameters.k_alignMekf);
@@ -57,9 +72,8 @@ void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB,
   calculateMagneticMoment(magMomB);
 }
 
-void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
-                           const double *sunDirB, const double *sunDirRefB, double *magMomB,
-                           double &errorAngle) {
+void SafeCtrl::safeGyr(const double *magFieldB, const double *satRotRateB, const double *sunDirB,
+                       const double *sunDirRefB, double *magMomB, double &errorAngle) {
   // convert magFieldB from uT to T
   VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
 
@@ -68,11 +82,10 @@ void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
   errorAngle = acos(dotSun);
 
   splitRotationalRate(satRotRateB, sunDirB);
-  calculateRotationalRateTorque(sunDirB, sunDirRefB, errorAngle,
-                                acsParameters->safeModeControllerParameters.k_parallelNonMekf,
-                                acsParameters->safeModeControllerParameters.k_orthoNonMekf);
+  calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelGyr,
+                                acsParameters->safeModeControllerParameters.k_orthoGyr);
   calculateAngleErrorTorque(sunDirB, sunDirRefB,
-                            acsParameters->safeModeControllerParameters.k_alignNonMekf);
+                            acsParameters->safeModeControllerParameters.k_alignGyr);
 
   // sum of all torques
   for (uint8_t i = 0; i < 3; i++) {
@@ -82,8 +95,33 @@ void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
   calculateMagneticMoment(magMomB);
 }
 
-void SafeCtrl::safeRateDamping(const double *magFieldB, const double *satRotRateB,
-                               const double *sunDirRefB, double *magMomB, double &errorAngle) {
+void SafeCtrl::safeSusMgm(const double *magFieldB, const double *rotRateParallelB,
+                          const double *rotRateOrthogonalB, const double *sunDirB,
+                          const double *sunDirRefB, double *magMomB, double &errorAngle) {
+  // convert magFieldB from uT to T
+  VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
+
+  // calculate error angle between sunDirRef and sunDir
+  double dotSun = VectorOperations<double>::dot(sunDirRefB, sunDirB);
+  errorAngle = acos(dotSun);
+
+  std::memcpy(satRotRateParallelB, rotRateParallelB, sizeof(satRotRateParallelB));
+  std::memcpy(satRotRateOrthogonalB, rotRateOrthogonalB, sizeof(satRotRateOrthogonalB));
+  calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelSusMgm,
+                                acsParameters->safeModeControllerParameters.k_orthoSusMgm);
+  calculateAngleErrorTorque(sunDirB, sunDirRefB,
+                            acsParameters->safeModeControllerParameters.k_alignSusMgm);
+
+  // sum of all torques
+  for (uint8_t i = 0; i < 3; i++) {
+    cmdTorque[i] = cmdAlign[i] + cmdOrtho[i] + cmdParallel[i];
+  }
+
+  calculateMagneticMoment(magMomB);
+}
+
+void SafeCtrl::safeRateDampingGyr(const double *magFieldB, const double *satRotRateB,
+                                  const double *sunDirRefB, double *magMomB, double &errorAngle) {
   // convert magFieldB from uT to T
   VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
 
@@ -91,9 +129,28 @@ void SafeCtrl::safeRateDamping(const double *magFieldB, const double *satRotRate
   errorAngle = NAN;
 
   splitRotationalRate(satRotRateB, sunDirRefB);
-  calculateRotationalRateTorque(sunDirRefB, sunDirRefB, errorAngle,
-                                acsParameters->safeModeControllerParameters.k_parallelNonMekf,
-                                acsParameters->safeModeControllerParameters.k_orthoNonMekf);
+  calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelGyr,
+                                acsParameters->safeModeControllerParameters.k_orthoGyr);
+
+  // sum of all torques
+  VectorOperations<double>::add(cmdParallel, cmdOrtho, cmdTorque, 3);
+
+  // calculate magnetic moment to command
+  calculateMagneticMoment(magMomB);
+}
+
+void SafeCtrl::safeRateDampingSusMgm(const double *magFieldB, const double *satRotRateB,
+                                     const double *sunDirRefB, double *magMomB,
+                                     double &errorAngle) {
+  // convert magFieldB from uT to T
+  VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
+
+  // no error angle available for eclipse
+  errorAngle = NAN;
+
+  splitRotationalRate(satRotRateB, sunDirRefB);
+  calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelSusMgm,
+                                acsParameters->safeModeControllerParameters.k_orthoSusMgm);
 
   // sum of all torques
   VectorOperations<double>::add(cmdParallel, cmdOrtho, cmdTorque, 3);
@@ -110,9 +167,7 @@ void SafeCtrl::splitRotationalRate(const double *satRotRateB, const double *sunD
   VectorOperations<double>::subtract(satRotRateB, satRotRateParallelB, satRotRateOrthogonalB, 3);
 }
 
-void SafeCtrl::calculateRotationalRateTorque(const double *sunDirB, const double *sunDirRefB,
-                                             double &errorAngle, const double gainParallel,
-                                             const double gainOrtho) {
+void SafeCtrl::calculateRotationalRateTorque(const double gainParallel, const double gainOrtho) {
   // calculate torque for parallel rotational rate
   VectorOperations<double>::mulScalar(satRotRateParallelB, -gainParallel, cmdParallel, 3);
 

mission/controller/acs/control/SafeCtrl.h

@@ -14,23 +14,34 @@ class SafeCtrl {
 
   acs::SafeModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
                                          const bool satRotRateValid, const bool sunDirValid,
-                                         const uint8_t mekfEnabled, const uint8_t dampingEnabled);
+                                         const bool fusedRateSplitValid,
+                                         const bool fusedRateTotalValid, const uint8_t mekfEnabled,
+                                         const uint8_t gyrEnabled, const uint8_t dampingEnabled);
 
   void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI,
                 const double *quatBI, const double *sunDirRefB, double *magMomB,
                 double &errorAngle);
 
-  void safeNonMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirB,
-                   const double *sunDirRefB, double *magMomB, double &errorAngle);
+  void safeGyr(const double *magFieldB, const double *satRotRateB, const double *sunDirB,
+               const double *sunDirRefB, double *magMomB, double &errorAngle);
 
-  void safeRateDamping(const double *magFieldB, const double *satRotRateB, const double *sunDirRefB,
-                       double *magMomB, double &errorAngle);
+  void safeSusMgm(const double *magFieldB, const double *rotRateParallelB,
+                  const double *rotRateOrthogonalB, const double *sunDirB, const double *sunDirRefB,
+                  double *magMomB, double &errorAngle);
+
+  void safeRateDampingGyr(const double *magFieldB, const double *satRotRateB,
+                          const double *sunDirRefB, double *magMomB, double &errorAngle);
+
+  void safeRateDampingSusMgm(const double *magFieldB, const double *satRotRateB,
+                             const double *sunDirRefB, double *magMomB, double &errorAngle);
 
   void splitRotationalRate(const double *satRotRateB, const double *sunDirB);
 
-  void calculateRotationalRateTorque(const double *sunDirB, const double *sunDirRefB,
-                                     double &errorAngle, const double gainParallel,
-                                     const double gainOrtho);
+  void calculateRotationalRates(const double *magFieldB, const double *magRateB,
+                                const double *sunDirB, const double *sunRateB,
+                                double *fusedRotRate);
+
+  void calculateRotationalRateTorque(const double gainParallel, const double gainOrtho);
 
   void calculateAngleErrorTorque(const double *sunDirB, const double *sunDirRefB,
                                  const double gainAlign);

mission/controller/controllerdefinitions/AcsCtrlDefinitions.h

@@ -18,7 +18,8 @@ enum SetIds : uint32_t {
   GPS_PROCESSED_DATA,
   MEKF_DATA,
   CTRL_VAL_DATA,
-  ACTUATOR_CMD_DATA
+  ACTUATOR_CMD_DATA,
+  FUSED_ROTATION_RATE_DATA,
 };
 
 enum PoolIds : lp_id_t {
@@ -103,6 +104,10 @@ enum PoolIds : lp_id_t {
   RW_TARGET_TORQUE,
   RW_TARGET_SPEED,
   MTQ_TARGET_DIPOLE,
+  // Fused Rotation Rate
+  ROT_RATE_ORTHOGONAL,
+  ROT_RATE_PARALLEL,
+  ROT_RATE_TOTAL,
 };
 
 static constexpr uint8_t MGM_SET_RAW_ENTRIES = 6;
@@ -115,6 +120,7 @@ static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 5;
 static constexpr uint8_t MEKF_SET_ENTRIES = 3;
 static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 5;
 static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
+static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 3;
 
 /**
  * @brief   Raw MGM sensor data. Includes the IMTQ sensor data and actuator status.
@@ -273,6 +279,19 @@ class ActuatorCmdData : public StaticLocalDataSet<ACT_CMD_SET_ENTRIES> {
  private:
 };
 
+class FusedRotRateData : public StaticLocalDataSet<FUSED_ROT_RATE_SET_ENTRIES> {
+ public:
+  FusedRotRateData(HasLocalDataPoolIF* hkOwner)
+      : StaticLocalDataSet(hkOwner, FUSED_ROTATION_RATE_DATA) {}
+
+  lp_vec_t<double, 3> rotRateOrthogonal =
+      lp_vec_t<double, 3>(sid.objectId, ROT_RATE_ORTHOGONAL, this);
+  lp_vec_t<double, 3> rotRateParallel = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_PARALLEL, this);
+  lp_vec_t<double, 3> rotRateTotal = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOTAL, this);
+
+ private:
+};
+
 }  // namespace acsctrl
 
 #endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_ */

mission/payload/PayloadPcduHandler.cpp

@@ -1,7 +1,9 @@
-#include <fsfw/src/fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/tasks/TaskFactory.h>
 #include <mission/payload/PayloadPcduHandler.h>
 
 #include "OBSWConfig.h"
+#include "fsfw/thermal/tcsDefinitions.h"
 
 #ifdef XIPHOS_Q7S
 #include <fsfw_hal/linux/UnixFileGuard.h>
@@ -64,6 +66,16 @@ void PayloadPcduHandler::doShutDown() {
     return;
   }
   state = States::PL_PCDU_OFF;
+  quickTransitionAlreadyCalled = false;
+  {
+    PoolReadGuard pg(&adcSet);
+    adcSet.setReportingEnabled(false);
+    adcSet.tempC = thermal::INVALID_TEMPERATURE;
+
+    std::memset(adcSet.channels.value, 0, sizeof(adcSet.channels.value));
+    std::memset(adcSet.processed.value, 0, sizeof(adcSet.processed.value));
+    adcSet.setValidity(false, true);
+  }
   // No need to set mode _MODE_POWER_DOWN, power switching was already handled
   setMode(MODE_OFF);
 }
@@ -73,14 +85,7 @@ void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
     stateMachineToNormal(modeFrom, subModeFrom);
     return;
   } else if (getMode() == _MODE_TO_ON and modeFrom == MODE_NORMAL) {
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_HPA);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_MPA);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_X8);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_DRO);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
+    pullAllGpiosLow(200);
     state = States::STACK_5V_CORRECT;
   }
   DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
@@ -89,6 +94,11 @@ void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
 ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom) {
   using namespace plpcdu;
   bool doFinish = true;
+  if (toNormalOneShot) {
+    PoolReadGuard pg(&adcSet);
+    adcSet.setReportingEnabled(true);
+    toNormalOneShot = false;
+  }
   if (((getSubmode() >> SOLID_STATE_RELAYS_ADC_ON) & 0b1) == 1) {
     if (state == States::PL_PCDU_OFF) {
       sif::error << "PayloadPcduHandler::stateMachineToNormal: Unexpected state PL_PCDU_OFF"
@@ -114,23 +124,23 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
         state = States::ON_TRANS_ADC_CLOSE_ZERO;
         adcCountdown.setTimeout(50);
         adcCountdown.resetTimer();
-        adcState = AdcStates::BOOT_DELAY;
+        adcState = AdcState::BOOT_DELAY;
         doFinish = false;
         // If the values are not close to zero, we should not allow transition
         monMode = MonitoringMode::CLOSE_TO_ZERO;
       }
     }
     if (state == States::ON_TRANS_ADC_CLOSE_ZERO) {
-      if (adcState == AdcStates::BOOT_DELAY) {
+      if (adcState == AdcState::BOOT_DELAY) {
         doFinish = false;
         if (adcCountdown.hasTimedOut()) {
-          adcState = AdcStates::SEND_SETUP;
+          adcState = AdcState::SEND_SETUP;
           adcCmdExecuted = false;
         }
       }
-      if (adcState == AdcStates::SEND_SETUP) {
+      if (adcState == AdcState::SEND_SETUP) {
         if (adcCmdExecuted) {
-          adcState = AdcStates::NORMAL;
+          adcState = AdcState::NORMAL;
           doFinish = true;
           adcCountdown.setTimeout(100);
           adcCountdown.resetTimer();
@@ -167,6 +177,7 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
   switchHandler(MPA_ON, gpioIds::PLPCDU_ENB_MPA, "MPA");
   switchHandler(HPA_ON, gpioIds::PLPCDU_ENB_HPA, "HPA");
   if (doFinish) {
+    toNormalOneShot = true;
     setMode(MODE_NORMAL);
   }
   return returnvalue::OK;
@@ -174,11 +185,11 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
 
 ReturnValue_t PayloadPcduHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
   switch (adcState) {
-    case (AdcStates::SEND_SETUP): {
+    case (AdcState::SEND_SETUP): {
       *id = plpcdu::SETUP_CMD;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
-    case (AdcStates::NORMAL): {
+    case (AdcState::NORMAL): {
       *id = plpcdu::READ_WITH_TEMP_EXT;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
@@ -190,7 +201,7 @@ ReturnValue_t PayloadPcduHandler::buildNormalDeviceCommand(DeviceCommandId_t* id
 }
 
 ReturnValue_t PayloadPcduHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
-  if (adcState == AdcStates::SEND_SETUP) {
+  if (adcState == AdcState::SEND_SETUP) {
     *id = plpcdu::SETUP_CMD;
     return buildCommandFromCommand(*id, nullptr, 0);
   }
@@ -211,9 +222,9 @@ void PayloadPcduHandler::updateSwitchGpio(gpioId_t id, gpio::Levels level) {
 }
 
 void PayloadPcduHandler::fillCommandAndReplyMap() {
-  insertInCommandAndReplyMap(plpcdu::READ_CMD, 2, &adcSet);
-  insertInCommandAndReplyMap(plpcdu::READ_TEMP_EXT, 1, &adcSet);
-  insertInCommandAndReplyMap(plpcdu::READ_WITH_TEMP_EXT, 1, &adcSet);
+  insertInCommandAndReplyMap(plpcdu::READ_CMD, 2);
+  insertInCommandAndReplyMap(plpcdu::READ_TEMP_EXT, 1);
+  insertInCommandAndReplyMap(plpcdu::READ_WITH_TEMP_EXT, 1);
   insertInCommandAndReplyMap(plpcdu::SETUP_CMD, 1);
 }
 
@@ -277,27 +288,31 @@ ReturnValue_t PayloadPcduHandler::interpretDeviceReply(DeviceCommandId_t id,
       break;
     }
     case (READ_CMD): {
-      PoolReadGuard pg(&adcSet);
-      if (pg.getReadResult() != returnvalue::OK) {
-        return pg.getReadResult();
+      {
+        PoolReadGuard pg(&adcSet);
+        if (pg.getReadResult() != returnvalue::OK) {
+          return pg.getReadResult();
+        }
+        handleExtConvRead(packet);
+        checkAdcValues();
+        adcSet.setValidity(true, true);
       }
-      handleExtConvRead(packet);
-      checkAdcValues();
-      adcSet.setValidity(true, true);
       handlePrintout();
       break;
     }
     case (READ_WITH_TEMP_EXT): {
-      PoolReadGuard pg(&adcSet);
-      if (pg.getReadResult() != returnvalue::OK) {
-        return pg.getReadResult();
+      {
+        PoolReadGuard pg(&adcSet);
+        if (pg.getReadResult() != returnvalue::OK) {
+          return pg.getReadResult();
+        }
+        handleExtConvRead(packet);
+        uint8_t tempStartIdx = ADC_REPLY_SIZE + TEMP_REPLY_SIZE - 2;
+        adcSet.tempC.value =
+            max1227::getTemperature(packet[tempStartIdx] << 8 | packet[tempStartIdx + 1]);
+        checkAdcValues();
+        adcSet.setValidity(true, true);
       }
-      handleExtConvRead(packet);
-      uint8_t tempStartIdx = ADC_REPLY_SIZE + TEMP_REPLY_SIZE - 2;
-      adcSet.tempC.value =
-          max1227::getTemperature(packet[tempStartIdx] << 8 | packet[tempStartIdx + 1]);
-      checkAdcValues();
-      adcSet.setValidity(true, true);
       handlePrintout();
       break;
     }
@@ -367,16 +382,9 @@ void PayloadPcduHandler::enablePeriodicPrintout(bool enable, uint8_t divider) {
 
 void PayloadPcduHandler::quickTransitionBackToOff(bool startTransitionToOff, bool notifyFdir) {
   States currentState = state;
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_HPA);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_MPA);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_X8);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_DRO);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
+  pullAllGpiosLow(200);
   state = States::STACK_5V_SWITCHING;
-  adcState = AdcStates::OFF;
+  adcState = AdcState::OFF;
   if (startTransitionToOff) {
     startTransition(MODE_OFF, 0);
   }
@@ -405,10 +413,13 @@ void PayloadPcduHandler::checkAdcValues() {
   adcSet.processed[U_DRO_DIV_6] = static_cast<float>(adcSet.channels[11]) * SCALE_VOLTAGE;
   float lowerBound = 0.0;
   float upperBound = 0.0;
-  bool adcTransition = false;
-  adcTransition = state == States::ON_TRANS_DRO and adcCountdown.isBusy();
-  // Now check against voltage and current limits, depending on state
-  if (state >= States::ON_TRANS_DRO and not adcTransition) {
+  bool adcTransition = adcState == AdcState::NORMAL and adcCountdown.isBusy();
+  if (NO_ADC_CHECKS or adcTransition) {
+    return;
+  }
+  // Now check against voltage and current limits.
+  uint8_t submode = getSubmode();
+  if (((submode >> NormalSubmodeBits::DRO_ON) & 0b1) == 0b1) {
     if (ssrToDroInjectionRequested) {
       handleFailureInjection("SSR to DRO", NEG_V_OUT_OF_BOUNDS);
       ssrToDroInjectionRequested = false;
@@ -435,8 +446,7 @@ void PayloadPcduHandler::checkAdcValues() {
       return;
     }
   }
-  adcTransition = state == States::ON_TRANS_X8 and adcCountdown.isBusy();
-  if (state >= States::ON_TRANS_X8 and not adcTransition) {
+  if (((submode >> NormalSubmodeBits::X8_ON) & 0b1) == 0b1) {
     if (droToX8InjectionRequested) {
       handleFailureInjection("X8 to TX", U_X8_OUT_OF_BOUNDS);
       droToX8InjectionRequested = false;
@@ -453,8 +463,7 @@ void PayloadPcduHandler::checkAdcValues() {
       return;
     }
   }
-  adcTransition = state == States::ON_TRANS_TX and adcCountdown.isBusy();
-  if (state >= States::ON_TRANS_TX and not adcTransition) {
+  if (((submode >> NormalSubmodeBits::TX_ON) & 0b1) == 0b1) {
     if (txToMpaInjectionRequested) {
       handleFailureInjection("TX to MPA", U_TX_OUT_OF_BOUNDS);
       txToMpaInjectionRequested = false;
@@ -471,8 +480,7 @@ void PayloadPcduHandler::checkAdcValues() {
       return;
     }
   }
-  adcTransition = state == States::ON_TRANS_MPA and adcCountdown.isBusy();
-  if (state >= States::ON_TRANS_MPA and not adcTransition) {
+  if (((submode >> NormalSubmodeBits::MPA_ON) & 0b1) == 0b1) {
     if (mpaToHpaInjectionRequested) {
       handleFailureInjection("MPA to HPA", U_HPA_OUT_OF_BOUNDS);
       mpaToHpaInjectionRequested = false;
@@ -489,8 +497,7 @@ void PayloadPcduHandler::checkAdcValues() {
       return;
     }
   }
-  adcTransition = state == States::ON_TRANS_HPA and adcCountdown.isBusy();
-  if (state >= States::ON_TRANS_HPA and not adcTransition) {
+  if (((submode >> NormalSubmodeBits::HPA_ON) & 0b1) == 0b1) {
     if (allOnInjectRequested) {
       handleFailureInjection("All On", U_HPA_OUT_OF_BOUNDS);
       allOnInjectRequested = false;
@@ -677,6 +684,18 @@ void PayloadPcduHandler::handleFailureInjection(std::string output, Event event)
   droToX8InjectionRequested = false;
 }
 
+void PayloadPcduHandler::pullAllGpiosLow(uint32_t delayBeforeSwitchingOffDro) {
+  sif::info << "Pulling all PL PCDU GPIOs to low" << std::endl;
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_HPA);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_MPA);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_X8);
+  TaskFactory::delayTask(delayBeforeSwitchingOffDro);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_DRO);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
+}
+
 ReturnValue_t PayloadPcduHandler::handleDoubleParamUpdate(std::string key,
                                                           ParameterWrapper* parameterWrapper,
                                                           const ParameterWrapper* newValues) {
@@ -692,6 +711,8 @@ ReturnValue_t PayloadPcduHandler::handleDoubleParamUpdate(std::string key,
   return params.writeJsonFile();
 }
 
+LocalPoolDataSetBase* PayloadPcduHandler::getDataSetHandle(sid_t sid) { return &adcSet; }
+
 #ifdef XIPHOS_Q7S
 ReturnValue_t PayloadPcduHandler::extConvAsTwoCallback(SpiComIF* comIf, SpiCookie* cookie,
                                                        const uint8_t* sendData, size_t sendLen,

mission/payload/PayloadPcduHandler.h

@@ -76,6 +76,8 @@ class PayloadPcduHandler : public DeviceHandlerBase {
 #endif
 
  private:
+  static constexpr bool NO_ADC_CHECKS = false;
+
   enum class States : uint8_t {
     PL_PCDU_OFF,
     STACK_5V_SWITCHING,
@@ -84,20 +86,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
     // Solid State Relay, enable battery voltages VBAT0 and VBAT1. This will also switch on
     // the ADC
     ON_TRANS_SSR,
-    ON_TRANS_ADC_CLOSE_ZERO,
-    // Enable Dielectric Resonant Oscillator and start monitoring voltages as
-    // soon as DRO voltage reaches 6V
-    ON_TRANS_DRO,
-    // Switch on X8 compoennt and monitor voltages for 5 seconds
-    ON_TRANS_X8,
-    // Switch on TX component and monitor voltages for 5 seconds
-    ON_TRANS_TX,
-    // Switch on MPA component and monitor voltages for 5 seconds
-    ON_TRANS_MPA,
-    // Switch on HPA component and monitor voltages for 5 seconds
-    ON_TRANS_HPA,
-    // All components of the experiment are on
-    PL_PCDU_ON,
+    ON_TRANS_ADC_CLOSE_ZERO
   } state = States::PL_PCDU_OFF;
 
   duallane::Submodes pwrSubmode = duallane::Submodes::A_SIDE;
@@ -106,7 +95,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
 
   enum class MonitoringMode { NONE, CLOSE_TO_ZERO, NEGATIVE } monMode = MonitoringMode::NONE;
 
-  enum class AdcStates { OFF, BOOT_DELAY, SEND_SETUP, NORMAL } adcState = AdcStates::OFF;
+  enum class AdcState { OFF, BOOT_DELAY, SEND_SETUP, NORMAL } adcState = AdcState::OFF;
 
   bool goToNormalMode = false;
   plpcdu::PlPcduAdcSet adcSet;
@@ -128,6 +117,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   bool mpaToHpaInjectionRequested = false;
   bool allOnInjectRequested = false;
   bool clearSetOnOffFlag = true;
+  bool toNormalOneShot = true;
 
   PeriodicOperationDivider opDivider = PeriodicOperationDivider(5);
   uint8_t tempReadDivisor = 1;
@@ -168,6 +158,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
 
   void handleExtConvRead(const uint8_t* bufStart);
   void handlePrintout();
+  void pullAllGpiosLow(uint32_t delayBeforeSwitchingOffDro);
   void checkAdcValues();
   void handleOutOfBoundsPrintout();
   void checkJsonFileInit();
@@ -178,6 +169,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   ReturnValue_t serializeFloat(uint32_t& param, float val);
   ReturnValue_t handleDoubleParamUpdate(std::string key, ParameterWrapper* parameterWrapper,
                                         const ParameterWrapper* newValues);
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
 };
 
 #endif /* LINUX_DEVICES_PLPCDUHANDLER_H_ */

mission/payload/RadiationSensorHandler.cpp

@@ -1,6 +1,7 @@
 #include <OBSWConfig.h>
 #include <devices/gpioIds.h>
 #include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/tasks/TaskFactory.h>
 #include <mission/payload/RadiationSensorHandler.h>
 #include <mission/power/gsDefs.h>
 #include <mission/tcs/max1227.h>
@@ -15,6 +16,8 @@ RadiationSensorHandler::RadiationSensorHandler(object_id_t objectId, object_id_t
   if (comCookie == nullptr) {
     sif::error << "RadiationSensorHandler: Invalid com cookie" << std::endl;
   }
+  // Time out immediately so we get an immediate measurement at device startup.
+  measurementCd.timeOut();
 }
 
 RadiationSensorHandler::~RadiationSensorHandler() {}
@@ -51,14 +54,17 @@ void RadiationSensorHandler::doShutDown() {
 }
 
 ReturnValue_t RadiationSensorHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  if (measurementCd.isBusy()) {
+    return NOTHING_TO_SEND;
+  }
   switch (communicationStep) {
     case CommunicationStep::START_CONVERSION: {
-      *id = RAD_SENSOR::START_CONVERSION;
+      *id = radSens::START_CONVERSION;
       communicationStep = CommunicationStep::READ_CONVERSIONS;
       break;
     }
     case CommunicationStep::READ_CONVERSIONS: {
-      *id = RAD_SENSOR::READ_CONVERSIONS;
+      *id = radSens::READ_CONVERSIONS;
       communicationStep = CommunicationStep::START_CONVERSION;
       break;
     }
@@ -73,7 +79,7 @@ ReturnValue_t RadiationSensorHandler::buildNormalDeviceCommand(DeviceCommandId_t
 
 ReturnValue_t RadiationSensorHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
   if (internalState == InternalState::SETUP) {
-    *id = RAD_SENSOR::WRITE_SETUP;
+    *id = radSens::WRITE_SETUP;
   } else {
     return NOTHING_TO_SEND;
   }
@@ -84,15 +90,19 @@ ReturnValue_t RadiationSensorHandler::buildCommandFromCommand(DeviceCommandId_t
                                                               const uint8_t *commandData,
                                                               size_t commandDataLen) {
   switch (deviceCommand) {
-    case (RAD_SENSOR::WRITE_SETUP): {
-      cmdBuffer[0] = RAD_SENSOR::SETUP_DEFINITION;
+    case (radSens::WRITE_SETUP): {
+      cmdBuffer[0] = radSens::SETUP_DEFINITION;
       rawPacket = cmdBuffer;
       rawPacketLen = 1;
       internalState = InternalState::CONFIGURED;
       return returnvalue::OK;
     }
-    case (RAD_SENSOR::START_CONVERSION): {
+    case (radSens::START_CONVERSION): {
       ReturnValue_t result = gpioIF->pullHigh(gpioIds::ENABLE_RADFET);
+      // Test a small delay between pulling the RADFET high and reading the sensor. As long as this
+      // delay remains small enough, this should not cause scheduling issues. Do not make this
+      // delay large, this device might be scheduled inside the ACS PST!
+      TaskFactory::delayTask(5);
       if (result != returnvalue::OK) {
 #if OBSW_VERBOSE_LEVEL >= 1
         sif::warning
@@ -102,25 +112,25 @@ ReturnValue_t RadiationSensorHandler::buildCommandFromCommand(DeviceCommandId_t
 #endif
       }
       /* First the fifo will be reset here */
-      cmdBuffer[0] = RAD_SENSOR::RESET_DEFINITION;
-      cmdBuffer[1] = RAD_SENSOR::CONVERSION_DEFINITION;
+      cmdBuffer[0] = radSens::RESET_DEFINITION;
+      cmdBuffer[1] = radSens::CONVERSION_DEFINITION;
       rawPacket = cmdBuffer;
       rawPacketLen = 2;
       return returnvalue::OK;
     }
-    case (RAD_SENSOR::READ_CONVERSIONS): {
-      cmdBuffer[0] = RAD_SENSOR::DUMMY_BYTE;
-      std::memset(cmdBuffer, RAD_SENSOR::DUMMY_BYTE, RAD_SENSOR::READ_SIZE);
+    case (radSens::READ_CONVERSIONS): {
+      cmdBuffer[0] = radSens::DUMMY_BYTE;
+      std::memset(cmdBuffer, radSens::DUMMY_BYTE, radSens::READ_SIZE);
       rawPacket = cmdBuffer;
-      rawPacketLen = RAD_SENSOR::READ_SIZE;
+      rawPacketLen = radSens::READ_SIZE;
       return returnvalue::OK;
     }
-    case RAD_SENSOR::ENABLE_DEBUG_OUTPUT: {
+    case radSens::ENABLE_DEBUG_OUTPUT: {
       printPeriodicData = true;
       rawPacketLen = 0;
       return returnvalue::OK;
     }
-    case RAD_SENSOR::DISABLE_DEBUG_OUTPUT: {
+    case radSens::DISABLE_DEBUG_OUTPUT: {
       rawPacketLen = 0;
       printPeriodicData = false;
       return returnvalue::OK;
@@ -132,12 +142,11 @@ ReturnValue_t RadiationSensorHandler::buildCommandFromCommand(DeviceCommandId_t
 }
 
 void RadiationSensorHandler::fillCommandAndReplyMap() {
-  this->insertInCommandMap(RAD_SENSOR::WRITE_SETUP);
-  this->insertInCommandMap(RAD_SENSOR::START_CONVERSION);
-  this->insertInCommandMap(RAD_SENSOR::ENABLE_DEBUG_OUTPUT);
-  this->insertInCommandMap(RAD_SENSOR::DISABLE_DEBUG_OUTPUT);
-  this->insertInCommandAndReplyMap(RAD_SENSOR::READ_CONVERSIONS, 1, &dataset,
-                                   RAD_SENSOR::READ_SIZE);
+  this->insertInCommandMap(radSens::WRITE_SETUP);
+  this->insertInCommandMap(radSens::START_CONVERSION);
+  this->insertInCommandMap(radSens::ENABLE_DEBUG_OUTPUT);
+  this->insertInCommandMap(radSens::DISABLE_DEBUG_OUTPUT);
+  this->insertInCommandAndReplyMap(radSens::READ_CONVERSIONS, 1, &dataset, radSens::READ_SIZE);
 }
 
 ReturnValue_t RadiationSensorHandler::scanForReply(const uint8_t *start, size_t remainingSize,
@@ -145,11 +154,11 @@ ReturnValue_t RadiationSensorHandler::scanForReply(const uint8_t *start, size_t
   *foundId = this->getPendingCommand();
 
   switch (*foundId) {
-    case RAD_SENSOR::START_CONVERSION:
-    case RAD_SENSOR::WRITE_SETUP:
+    case radSens::START_CONVERSION:
+    case radSens::WRITE_SETUP:
       *foundLen = remainingSize;
       return IGNORE_REPLY_DATA;
-    case RAD_SENSOR::READ_CONVERSIONS: {
+    case radSens::READ_CONVERSIONS: {
       ReturnValue_t result = gpioIF->pullLow(gpioIds::ENABLE_RADFET);
       if (result != returnvalue::OK) {
 #if OBSW_VERBOSE_LEVEL >= 1
@@ -160,8 +169,8 @@ ReturnValue_t RadiationSensorHandler::scanForReply(const uint8_t *start, size_t
       }
       break;
     }
-    case RAD_SENSOR::ENABLE_DEBUG_OUTPUT:
-    case RAD_SENSOR::DISABLE_DEBUG_OUTPUT:
+    case radSens::ENABLE_DEBUG_OUTPUT:
+    case radSens::DISABLE_DEBUG_OUTPUT:
       sif::info << "RadiationSensorHandler::scanForReply: " << remainingSize << std::endl;
       break;
     default:
@@ -176,24 +185,27 @@ ReturnValue_t RadiationSensorHandler::scanForReply(const uint8_t *start, size_t
 ReturnValue_t RadiationSensorHandler::interpretDeviceReply(DeviceCommandId_t id,
                                                            const uint8_t *packet) {
   switch (id) {
-    case RAD_SENSOR::READ_CONVERSIONS: {
+    case radSens::READ_CONVERSIONS: {
       uint8_t offset = 0;
-      PoolReadGuard readSet(&dataset);
-      uint16_t tempRaw = ((packet[offset] & 0x0f) << 8) | packet[offset + 1];
-      dataset.temperatureCelcius = max1227::getTemperature(tempRaw);
-      offset += 2;
-      dataset.ain0 = (*(packet + offset) << 8) | *(packet + offset + 1);
-      offset += 2;
-      dataset.ain1 = (*(packet + offset) << 8) | *(packet + offset + 1);
-      offset += 6;
-      dataset.ain4 = (*(packet + offset) << 8) | *(packet + offset + 1);
-      offset += 2;
-      dataset.ain5 = (*(packet + offset) << 8) | *(packet + offset + 1);
-      offset += 2;
-      dataset.ain6 = (*(packet + offset) << 8) | *(packet + offset + 1);
-      offset += 2;
-      dataset.ain7 = (*(packet + offset) << 8) | *(packet + offset + 1);
-      dataset.setValidity(true, true);
+      measurementCd.resetTimer();
+      {
+        PoolReadGuard readSet(&dataset);
+        uint16_t tempRaw = ((packet[offset] & 0x0f) << 8) | packet[offset + 1];
+        dataset.temperatureCelcius = max1227::getTemperature(tempRaw);
+        offset += 2;
+        dataset.ain0 = (*(packet + offset) << 8) | *(packet + offset + 1);
+        offset += 2;
+        dataset.ain1 = (*(packet + offset) << 8) | *(packet + offset + 1);
+        offset += 6;
+        dataset.ain4 = (*(packet + offset) << 8) | *(packet + offset + 1);
+        offset += 2;
+        dataset.ain5 = (*(packet + offset) << 8) | *(packet + offset + 1);
+        offset += 2;
+        dataset.ain6 = (*(packet + offset) << 8) | *(packet + offset + 1);
+        offset += 2;
+        dataset.ain7 = (*(packet + offset) << 8) | *(packet + offset + 1);
+        dataset.setValidity(true, true);
+      }
       if (printPeriodicData) {
         sif::info << "Radiation sensor temperature: " << dataset.temperatureCelcius << " °C"
                   << std::dec << std::endl;
@@ -204,6 +216,12 @@ ReturnValue_t RadiationSensorHandler::interpretDeviceReply(DeviceCommandId_t id,
         sif::info << "Radiation sensor ADC value channel 6: " << dataset.ain6 << std::endl;
         sif::info << "Radiation sensor ADC value channel 7: " << dataset.ain7 << std::endl;
       }
+      ReturnValue_t result =
+          getHkManagerHandle()->generateHousekeepingPacket(dataset.getSid(), &dataset, true);
+      if (result != returnvalue::OK) {
+        // TODO: Maybe add event?
+        sif::error << "Generating HK set for radiation sensor failed" << std::endl;
+      }
       break;
     }
     default: {
@@ -220,15 +238,18 @@ uint32_t RadiationSensorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t mo
 
 ReturnValue_t RadiationSensorHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                               LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(RAD_SENSOR::TEMPERATURE_C, new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(RAD_SENSOR::AIN0, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(RAD_SENSOR::AIN1, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(RAD_SENSOR::AIN4, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(RAD_SENSOR::AIN5, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(RAD_SENSOR::AIN6, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(RAD_SENSOR::AIN7, new PoolEntry<uint16_t>({0}));
+  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}));
+  // It should normally not be necessary to enable this set, as a sample TM will be generated
+  // after a measurement. If this is still enabled, sample with double the measurement frequency
+  // to ensure we get all measurements.
   poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(dataset.getSid(), false, 20.0));
+      subdp::RegularHkPeriodicParams(dataset.getSid(), false, DEFAULT_MEASUREMENT_CD_MS / 2));
   return returnvalue::OK;
 }
 

mission/payload/RadiationSensorHandler.h

@@ -38,13 +38,16 @@ class RadiationSensorHandler : public DeviceHandlerBase {
                                         LocalDataPoolManager &poolManager) override;
 
  private:
+  static constexpr uint32_t DEFAULT_MEASUREMENT_CD_MS = 30 * 60 * 1000;
+
   enum class CommunicationStep { START_CONVERSION, READ_CONVERSIONS };
 
   enum class InternalState { OFF, POWER_SWITCHING, SETUP, CONFIGURED };
 
   bool printPeriodicData = false;
-  RAD_SENSOR::RadSensorDataset dataset;
-  static const uint8_t MAX_CMD_LEN = RAD_SENSOR::READ_SIZE;
+  radSens::RadSensorDataset dataset;
+  Countdown measurementCd = Countdown(DEFAULT_MEASUREMENT_CD_MS);
+  static const uint8_t MAX_CMD_LEN = radSens::READ_SIZE;
   GpioIF *gpioIF = nullptr;
   Stack5VHandler &stackHandler;
 

mission/payload/ScexDeviceHandler.cpp

@@ -19,11 +19,16 @@ using namespace returnvalue;
 
 ScexDeviceHandler::ScexDeviceHandler(object_id_t objectId, ScexUartReader& reader, CookieIF* cookie,
                                      SdCardMountedIF& sdcMan)
-    : DeviceHandlerBase(objectId, reader.getObjectId(), cookie), sdcMan(sdcMan), reader(reader) {}
+    : DeviceHandlerBase(objectId, reader.getObjectId(), cookie), sdcMan(sdcMan), reader(reader) {
+  fsUnusableEventCd.timeOut();
+}
 
 ScexDeviceHandler::~ScexDeviceHandler() {}
 
-void ScexDeviceHandler::doStartUp() { setMode(MODE_ON); }
+void ScexDeviceHandler::doStartUp() {
+  filesystemChecks();
+  setMode(MODE_ON);
+}
 
 void ScexDeviceHandler::doShutDown() {
   reader.reset();
@@ -47,7 +52,7 @@ ReturnValue_t ScexDeviceHandler::buildCommandFromCommand(DeviceCommandId_t devic
     return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
   }
   bool tempCheck = false;
-  if (commandDataLen == 1) {
+  if (commandDataLen >= 1) {
     tempCheck = commandData[0];
   }
   if (commandActive) {
@@ -215,8 +220,12 @@ ReturnValue_t ScexDeviceHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       }
       fileNameSet = true;
     } else {
-      ofstream out(fileName,
-                   ofstream::binary | ofstream::app);  // append
+      if (!sdcMan.isSdCardUsable(std::nullopt)) {
+        fsUnsableEvent();
+        return returnvalue::FAILED;
+      }
+      // Append to existing file.
+      ofstream out(fileName, ofstream::binary | ofstream::app);
       if (out.bad()) {
         sif::error << "ScexDeviceHandler::handleValidReply: Could not open file " << fileName
                    << std::endl;
@@ -280,18 +289,8 @@ ReturnValue_t ScexDeviceHandler::interpretDeviceReply(DeviceCommandId_t id, cons
 }
 
 void ScexDeviceHandler::performOperationHook() {
-  auto mntPrefix = sdcMan.getCurrentMountPrefix();
-  if (mntPrefix != nullptr) {
-    std::filesystem::path fullFilePath = mntPrefix;
-    std::error_code e;
-    fullFilePath /= "scex";
-    bool fileExists = std::filesystem::exists(fullFilePath, e);
-    if (not fileExists) {
-      bool created = std::filesystem::create_directory(fullFilePath, e);
-      if (not created) {
-        sif::error << "Could not create SCEX directory: " << e << std::endl;
-      }
-    }
+  if (getMode() != MODE_OFF) {
+    filesystemChecks();
   }
   uint32_t remainingMillis = finishCountdown.getRemainingMillis();
   if (commandActive and finishCountdown.hasTimedOut()) {
@@ -319,6 +318,33 @@ ReturnValue_t ScexDeviceHandler::initializeLocalDataPool(localpool::DataPool& lo
   return OK;
 }
 
+void ScexDeviceHandler::filesystemChecks() {
+  auto mntPrefix = sdcMan.getCurrentMountPrefix();
+  if (mntPrefix == nullptr or !sdcMan.isSdCardUsable(std::nullopt)) {
+    sif::warning << "SCEX: Filesystem currently unavailable" << std::endl;
+    fsUnsableEvent();
+  } else {
+    std::filesystem::path fullFilePath = mntPrefix;
+    std::error_code e;
+    fullFilePath /= "scex";
+    bool fileExists = std::filesystem::exists(fullFilePath, e);
+    if (not fileExists) {
+      bool created = std::filesystem::create_directory(fullFilePath, e);
+      if (not created) {
+        sif::error << "Could not create SCEX directory: " << e << std::endl;
+      }
+    }
+  }
+}
+
+void ScexDeviceHandler::fsUnsableEvent() {
+  if (fsUnusableEventCd.isBusy()) {
+    return;
+  }
+  triggerEvent(scex::FS_UNUSABLE);
+  fsUnusableEventCd.resetTimer();
+}
+
 ReturnValue_t ScexDeviceHandler::generateNewScexFile(const char* cmdName) {
   char timeString[64]{};
   auto activeSd = sdcMan.getActiveSdCard();
@@ -328,7 +354,8 @@ ReturnValue_t ScexDeviceHandler::generateNewScexFile(const char* cmdName) {
 
   std::ostringstream oss;
   auto prefix = sdcMan.getCurrentMountPrefix();
-  if (prefix == nullptr) {
+  if (prefix == nullptr or !sdcMan.isSdCardUsable(std::nullopt)) {
+    fsUnsableEvent();
     return returnvalue::FAILED;
   }
   timeval tv;

mission/payload/ScexDeviceHandler.h

@@ -42,6 +42,7 @@ class ScexDeviceHandler : public DeviceHandlerBase {
   scex::Cmds currCmd = scex::Cmds::PING;
   SdCardMountedIF &sdcMan;
   Countdown finishCountdown = Countdown(LONG_CD);
+  Countdown fsUnusableEventCd = Countdown(10000);
 
   // DeviceHandlerBase private function implementation
   void doStartUp() override;
@@ -49,12 +50,15 @@ class ScexDeviceHandler : public DeviceHandlerBase {
   ScexHelper helper;
   ScexUartReader &reader;
 
+  void fsUnsableEvent();
+
   void performOperationHook() 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;
   void fillCommandAndReplyMap() override;
+  void filesystemChecks();
   ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize, DeviceCommandId_t *foundId,
                              size_t *foundLen) override;
   ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;

mission/payload/radSensorDefinitions.h

@@ -1,7 +1,7 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_RADSENSOR_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_RADSENSOR_H_
 
-namespace RAD_SENSOR {
+namespace radSens {
 
 static const DeviceCommandId_t NONE = 0x0;  // Set when no command is pending
 
@@ -78,6 +78,6 @@ class RadSensorDataset : public StaticLocalDataSet<DATASET_ENTRIES> {
   lp_var_t<uint16_t> ain6 = lp_var_t<uint16_t>(sid.objectId, AIN6, this);
   lp_var_t<uint16_t> ain7 = lp_var_t<uint16_t>(sid.objectId, AIN7, this);
 };
-}  // namespace RAD_SENSOR
+}  // namespace radSens
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RADSENSOR_H_ */

mission/payload/scexHelpers.h

@@ -20,6 +20,7 @@ static constexpr Event EXPERIMENT_TIMEDOUT = event::makeEvent(SUBSYSTEM_ID, 1, s
 //! FRAM, One Cell or All cells command finished. P1: Command ID
 static constexpr Event MULTI_PACKET_COMMAND_DONE =
     event::makeEvent(SUBSYSTEM_ID, 2, severity::INFO);
+static constexpr Event FS_UNUSABLE = event::makeEvent(SUBSYSTEM_ID, 3, severity::LOW);
 
 enum Cmds : DeviceCommandId_t {
   PING = 0b00111,

mission/pollingSeqTables.cpp

@@ -591,7 +591,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
   thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
                         DeviceHandlerIF::GET_READ);
 
-#if OBSW_ADD_RAD_SENSORS == 1
   /* Radiation sensor */
   thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
                         DeviceHandlerIF::PERFORM_OPERATION);
@@ -603,6 +602,5 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                         DeviceHandlerIF::SEND_READ);
   thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
                         DeviceHandlerIF::GET_READ);
-#endif
   return returnvalue::OK;
 }

mission/sysDefs.h

@@ -125,6 +125,10 @@ static constexpr Event PDEC_REBOOT = event::makeEvent(SUBSYSTEM_ID, 12, severity
 //! P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash
 //! P2: First four letters of Git SHA is the last byte of P1 is set.
 static constexpr Event FIRMWARE_INFO = event::makeEvent(SUBSYSTEM_ID, 13, severity::INFO);
+//! [EXPORT] : [COMMENT] 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
+static constexpr Event ACTIVE_SD_INFO = event::makeEvent(SUBSYSTEM_ID, 14, severity::INFO);
 
 class ListDirectoryCmdBase {
  public:  // TODO: Packet definition for clean deserialization

mission/system/EiveSystem.cpp

@@ -195,10 +195,21 @@ void EiveSystem::i2cRecoveryLogic() {
         // Try recovery.
         executeAction(EXECUTE_I2C_REBOOT, MessageQueueIF::NO_QUEUE, nullptr, 0);
       } else {
+        if (waitingForI2cReboot) {
+          return;
+        }
         triggerEvent(core::I2C_REBOOT);
+        // Some delay to ensure that the event is stored in the persistent TM store as well.
+        TaskFactory::delayTask(500);
         // We already tried an I2C recovery but the bus is still broken.
-        // Send full reboot request to core controller.
-        sendFullRebootCommand();
+        // Send reboot request to core controller.
+        result = sendSelfRebootCommand();
+        if (result != returnvalue::OK) {
+          sif::error << "Sending a reboot command has failed" << std::endl;
+          // If the previous operation failed, it should be re-attempted the next task cycle.
+          return;
+        }
+        waitingForI2cReboot = true;
         return;
       }
     }
@@ -285,25 +296,38 @@ ReturnValue_t EiveSystem::sendFullRebootCommand() {
 }
 
 void EiveSystem::pdecRecoveryLogic() {
-  if (ptmeResetWasAttempted and ptmeResetWasAttemptedCd.hasTimedOut()) {
-    ptmeResetWasAttempted = false;
+  if (pdecResetWasAttempted and pdecResetWasAttemptedCd.hasTimedOut()) {
+    pdecResetWasAttempted = false;
   }
   if (frameDirtyCheckCd.hasTimedOut()) {
     if (frameDirtyErrorCounter >= FRAME_DIRTY_COM_REBOOT_LIMIT) {
       // If a PTME reset was already attempted and there is still an issue receiving TC frames,
       // reboot the system.
-      if (ptmeResetWasAttempted) {
+      if (pdecResetWasAttempted) {
+        if (waitingForPdecReboot) {
+          return;
+        }
         triggerEvent(core::PDEC_REBOOT);
+        // Some delay to ensure that the event is stored in the persistent TM store as well.
+        TaskFactory::delayTask(500);
         // Send reboot command.
-        sendFullRebootCommand();
+        ReturnValue_t result = sendSelfRebootCommand();
+        if (result != returnvalue::OK) {
+          sif::error << "Sending a reboot command has failed" << std::endl;
+          // If the previous operation failed, it should be re-attempted the next task cycle.
+          pdecResetWasAttemptedCd.resetTimer();
+          return;
+        }
+        waitingForPdecReboot = true;
+        return;
       } else {
         // Try one full PDEC reset.
         CommandMessage msg;
         store_address_t dummy{};
         ActionMessage::setCommand(&msg, pdec::RESET_PDEC_WITH_REINIITALIZATION, dummy);
         commandQueue->sendMessage(pdecHandlerQueueId, &msg);
-        ptmeResetWasAttemptedCd.resetTimer();
-        ptmeResetWasAttempted = true;
+        pdecResetWasAttemptedCd.resetTimer();
+        pdecResetWasAttempted = true;
       }
     }
     frameDirtyErrorCounter = 0;
@@ -329,3 +353,17 @@ ReturnValue_t EiveSystem::handleCommandMessage(CommandMessage* message) {
   }
   return Subsystem::handleCommandMessage(message);
 }
+
+ReturnValue_t EiveSystem::sendSelfRebootCommand() {
+  CommandMessage msg;
+  uint8_t data[1];
+  // This option is used to target the same image.
+  data[0] = true;
+  store_address_t storeId;
+  ReturnValue_t result = IPCStore->addData(&storeId, data, sizeof(data));
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  ActionMessage::setCommand(&msg, core::XSC_REBOOT_OBC, storeId);
+  return commandQueue->sendMessage(coreCtrlQueueId, &msg);
+}

mission/system/EiveSystem.h

@@ -39,8 +39,10 @@ class EiveSystem : public Subsystem, public HasActionsIF {
   Countdown frameDirtyCheckCd = Countdown(10000);
   // If the PDEC reset was already attempted in the last 2 minutes, there is a high chance that
   // only a full reboot will fix the issue.
-  Countdown ptmeResetWasAttemptedCd = Countdown(120000);
-  bool ptmeResetWasAttempted = false;
+  Countdown pdecResetWasAttemptedCd = Countdown(120000);
+  bool pdecResetWasAttempted = false;
+  bool waitingForI2cReboot = false;
+  bool waitingForPdecReboot = false;
 
   ActionHelper actionHelper;
   PowerSwitchIF* powerSwitcher = nullptr;
@@ -63,6 +65,7 @@ class EiveSystem : public Subsystem, public HasActionsIF {
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
 
   ReturnValue_t sendFullRebootCommand();
+  ReturnValue_t sendSelfRebootCommand();
 
   void pdecRecoveryLogic();