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>

CHANGELOG.md

@@ -16,6 +16,38 @@ 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
@@ -36,6 +68,7 @@ will consitute of a breaking change warranting a new major release:
   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
 

CMakeLists.txt

@@ -10,7 +10,7 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 6)
-set(OBSW_VERSION_MINOR 2)
+set(OBSW_VERSION_MINOR 3)
 set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)
@@ -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

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 301 translations.
+ * @brief    Auto-generated event translation file. Contains 302 translations.
  * @details
- * Generated on: 2023-07-26 12:51:20
+ * Generated on: 2023-08-02 09:40:31
  */
 #include "translateEvents.h"
 
@@ -261,6 +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";
@@ -821,6 +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):

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 171 translations.
- * Generated on: 2023-07-26 12:51:20
+ * Generated on: 2023-08-02 09:40:31
  */
 #include "translateObjects.h"
 

bsp_q7s/em/emObjectFactory.cpp

@@ -94,6 +94,9 @@ void ObjectFactory::produce(void* args) {
 #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
@@ -107,6 +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);
 
@@ -146,6 +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/objectFactory.cpp

@@ -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/helperFactory.cpp

@@ -248,9 +248,11 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
     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);

dummies/helperFactory.h

@@ -30,6 +30,7 @@ struct DummyCfg {
   bool addStrDummy = true;
   bool addTmpDummies = true;
   bool addRadSensorDummy = true;
+  bool addPlPcduDummy = false;
   Tmp1075Cfg tmp1075Cfg;
   bool addCamSwitcherDummy = false;
   bool addScexDummy = false;

generators/bsp_hosted_events.csv

@@ -255,6 +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

generators/bsp_q7s_events.csv

@@ -255,6 +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

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 301 translations.
+ * @brief    Auto-generated event translation file. Contains 302 translations.
  * @details
- * Generated on: 2023-07-26 12:51:20
+ * Generated on: 2023-08-02 09:40:31
  */
 #include "translateEvents.h"
 
@@ -261,6 +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";
@@ -821,6 +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):

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-07-26 12:51:20
+ * Generated on: 2023-08-02 09:40:31
  */
 #include "translateObjects.h"
 

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 301 translations.
+ * @brief    Auto-generated event translation file. Contains 302 translations.
  * @details
- * Generated on: 2023-07-26 12:51:20
+ * Generated on: 2023-08-02 09:40:31
  */
 #include "translateEvents.h"
 
@@ -261,6 +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";
@@ -821,6 +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):

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-07-26 12:51:20
+ * Generated on: 2023-08-02 09:40:31
  */
 #include "translateObjects.h"
 

mission/controller/AcsController.cpp

@@ -273,6 +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 &&
@@ -321,18 +323,18 @@ void AcsController::performDetumble() {
   if (acsParameters.safeModeControllerParameters.useMekf) {
     if (mekfData.satRotRateMekf.isValid() and
         VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
-            acsParameters.detumbleParameter.omegaDetumbleStart) {
+            acsParameters.detumbleParameter.omegaDetumbleEnd) {
       detumbleCounter++;
     }
   } else if (acsParameters.safeModeControllerParameters.useGyr) {
     if (gyrDataProcessed.gyrVecTot.isValid() and
         VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
-            acsParameters.detumbleParameter.omegaDetumbleStart) {
+            acsParameters.detumbleParameter.omegaDetumbleEnd) {
       detumbleCounter++;
     }
   } else if (fusedRotRateData.rotRateTotal.isValid() and
              VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
-                 acsParameters.detumbleParameter.omegaDetumbleStart) {
+                 acsParameters.detumbleParameter.omegaDetumbleEnd) {
     detumbleCounter++;
   } else if (detumbleCounter > 0) {
     detumbleCounter -= 1;
@@ -345,7 +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);
@@ -616,6 +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) {
@@ -646,17 +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

mission/controller/AcsController.h

@@ -117,10 +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;

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;
       }

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 {

mission/controller/acs/FusedRotationEstimation.cpp

@@ -18,10 +18,18 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe(
       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;
   }
 
@@ -42,6 +50,10 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe(
                                         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;
   }
 
@@ -58,11 +70,6 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe(
   double fusedRotRateTotal[3] = {0, 0, 0};
   VectorOperations<double>::add(fusedRotRateParallel, fusedRotRateOrthogonal, fusedRotRateTotal);
 
-  // store for calculation of angular acceleration
-  if (gyrDataProcessed->gyrVecTot.isValid()) {
-    std::memcpy(rotRateOldB, gyrDataProcessed->gyrVecTot.value, 3 * sizeof(double));
-  }
-
   {
     PoolReadGuard pg(fusedRotRateData);
     std::memcpy(fusedRotRateData->rotRateOrthogonal.value, fusedRotRateOrthogonal,
@@ -71,11 +78,17 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe(
     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 gyrDataProcessed->gyrVecTot.isValid() or
+  if (not acsParameters->onBoardParams.fusedRateSafeDuringEclipse or
+      not gyrDataProcessed->gyrVecTot.isValid() or
       VectorOperations<double>::norm(fusedRotRateData->rotRateTotal.value, 3) == 0) {
     {
       PoolReadGuard pg(fusedRotRateData);

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);
+    pullAllGpiosLow(200);
-    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);
     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_CMD, 2);
-  insertInCommandAndReplyMap(plpcdu::READ_TEMP_EXT, 1, &adcSet);
+  insertInCommandAndReplyMap(plpcdu::READ_TEMP_EXT, 1);
-  insertInCommandAndReplyMap(plpcdu::READ_WITH_TEMP_EXT, 1, &adcSet);
+  insertInCommandAndReplyMap(plpcdu::READ_WITH_TEMP_EXT, 1);
   insertInCommandAndReplyMap(plpcdu::SETUP_CMD, 1);
 }
 
@@ -277,6 +288,7 @@ ReturnValue_t PayloadPcduHandler::interpretDeviceReply(DeviceCommandId_t id,
       break;
     }
     case (READ_CMD): {
+      {
         PoolReadGuard pg(&adcSet);
         if (pg.getReadResult() != returnvalue::OK) {
           return pg.getReadResult();
@@ -284,10 +296,12 @@ ReturnValue_t PayloadPcduHandler::interpretDeviceReply(DeviceCommandId_t id,
         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();
@@ -298,6 +312,7 @@ ReturnValue_t PayloadPcduHandler::interpretDeviceReply(DeviceCommandId_t id,
             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);
+  pullAllGpiosLow(200);
-  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);
   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;
+  bool adcTransition = adcState == AdcState::NORMAL and adcCountdown.isBusy();
-  adcTransition = state == States::ON_TRANS_DRO and adcCountdown.isBusy();
+  if (NO_ADC_CHECKS or adcTransition) {
-  // Now check against voltage and current limits, depending on state
+    return;
-  if (state >= States::ON_TRANS_DRO and not adcTransition) {
+  }
+  // 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 (((submode >> NormalSubmodeBits::X8_ON) & 0b1) == 0b1) {
-  if (state >= States::ON_TRANS_X8 and not adcTransition) {
     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 (((submode >> NormalSubmodeBits::TX_ON) & 0b1) == 0b1) {
-  if (state >= States::ON_TRANS_TX and not adcTransition) {
     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 (((submode >> NormalSubmodeBits::MPA_ON) & 0b1) == 0b1) {
-  if (state >= States::ON_TRANS_MPA and not adcTransition) {
     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 (((submode >> NormalSubmodeBits::HPA_ON) & 0b1) == 0b1) {
-  if (state >= States::ON_TRANS_HPA and not adcTransition) {
     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,
+    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,
   } 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/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,
+      if (!sdcMan.isSdCardUsable(std::nullopt)) {
-                   ofstream::binary | ofstream::app);  // append
+        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 (getMode() != MODE_OFF) {
-  if (mntPrefix != nullptr) {
+    filesystemChecks();
-    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;
-      }
-    }
   }
   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/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/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.
+        // Send reboot request to core controller.
-        sendFullRebootCommand();
+        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()) {
+  if (pdecResetWasAttempted and pdecResetWasAttemptedCd.hasTimedOut()) {
-    ptmeResetWasAttempted = false;
+    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();
+        pdecResetWasAttemptedCd.resetTimer();
-        ptmeResetWasAttempted = true;
+        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);
+  Countdown pdecResetWasAttemptedCd = Countdown(120000);
-  bool ptmeResetWasAttempted = false;
+  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();