Rework MPSoC handler

2024-04-17 17:58:26 +02:00
31 changed files with 267 additions and 549 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,33 +16,8 @@ will consitute of a breaking change warranting a new major release:

 # [unreleased]

-# [v8.0.0] 2024-05-13
-
- `eive-tmtc` v7.0.0
-
-## Fixed
-
- Fixed calculation for target rotation rate during pointing modes.
- Possible fix for MPSoC file read algorithm.
-
-## Changed
-
- Reworked MPSoC handler to be compatible to new MPSoC software image and use
-  new device handler base class. This should increase the reliability of the communication
-  significantly.
- MPSoC device modes IDLE, SNAPSHOT and REPLAY are now modelled using submodes.
- Commanding a submode the device is already in will not result in a completion failure
-  anymore.
-
-## Added
-
- Added `VERIFY_BOOT` command for MPSoC.
- New command for MPSoC to store camera image in chunks.
-
 # [v7.8.1] 2024-04-11

-## Fixed
-
 - Reverted fix for wrong order in quaternion multiplication for computation of the error quaternion.

 # [v7.8.0] 2024-04-10
@@ -53,7 +28,7 @@ will consitute of a breaking change warranting a new major release:
 - All pointing laws are now allowed to use the `MEKF` per default.
 - Changed limits in `PWR Controller`.
 - PUS time service: Now dumps the time before and after relative timeshift or setting absolute time
- The `GPS Controller` does not set itself to `OFF` anymore, if it has not detected a valid fix for
+- The `GPS Controller` does not set itself to `OFF` anymore, if it has not detected a valid fix for 
  some time. Instead it attempts to reset both GNSS devices once.
 - The maximum time to reach a fix is shortened from 30min to 15min.
 - The time the reset pin of the GNSS devices is pulled is prolonged from 5ms to 10s.
@@ -62,7 +37,7 @@ will consitute of a breaking change warranting a new major release:
  of the controller is changed. As arguments it now displays the new fix and the numer of fix changes
  missed.
 - The number of satellites seen and used is reset to 0, in case they are set to invalid.
- Altitude, latitude and longitude messages are not checked anymore, in case the mode message was
+- Altitude, latitude and longitude messages are not checked anymore, in case the mode message was 
  already invalid.

 ## Added
@@ -276,7 +251,7 @@ will consitute of a breaking change warranting a new major release:
 - `ACS Controller` now has the function `performAttitudeControl` which is called prior to passing
  on to the relevant mode functions. It handles all telemetry relevant functions, which were
  always called, regardless of the mode.
-
+ 
 ## Added

 - Higher ACS modes can now be entered without a running `MEKF`. Higher modes will collect their
--- a/bsp_hosted/fsfwconfig/events/translateEvents.cpp
+++ b/bsp_hosted/fsfwconfig/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 325 translations.
+ * @brief    Auto-generated event translation file. Contains 324 translations.
 * @details
- * Generated on: 2024-05-06 13:47:38
+ * Generated on: 2024-04-17 11:22:10
 */
 #include "translateEvents.h"

@@ -142,7 +142,6 @@ const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUEN
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
 const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
-const char *CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING = "CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -607,8 +606,6 @@ const char *translateEvents(Event event) {
      return SUPV_NOT_ON_STRING;
    case (11608):
      return SUPV_REPLY_TIMEOUT_STRING;
-    case (11609):
-      return CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING;
    case (11701):
      return SELF_TEST_I2C_FAILURE_STRING;
    case (11702):
--- a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
+++ b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
@@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 176 translations.
- * Generated on: 2024-05-06 13:47:38
+ * Generated on: 2024-04-17 11:22:10
 */
 #include "translateObjects.h"

--- a/bsp_q7s/objectFactory.cpp
+++ b/bsp_q7s/objectFactory.cpp
@@ -65,7 +65,6 @@
 #include "linux/payload/PlocMpsocSpecialComHelper.h"
 #include "linux/payload/SerialConfig.h"
 #include "mission/config/configfile.h"
-#include "mission/power/defs.h"
 #include "mission/system/acs/AcsBoardFdir.h"
 #include "mission/system/acs/AcsSubsystem.h"
 #include "mission/system/acs/RwAssembly.h"
@@ -73,7 +72,7 @@
 #include "mission/system/acs/acsModeTree.h"
 #include "mission/system/com/SyrlinksFdir.h"
 #include "mission/system/com/comModeTree.h"
-#include "mission/system/payload/payloadModeTree.h"
+#include "mission/system/payloadModeTree.h"
 #include "mission/system/power/GomspacePowerFdir.h"
 #include "mission/system/tcs/RtdFdir.h"
 #include "mission/system/tcs/TcsBoardAssembly.h"
@@ -636,9 +635,9 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
  auto specialComHelper =
      new PlocMpsocSpecialComHelper(objects::PLOC_MPSOC_HELPER, *mpsocCommunication);
  DhbConfig dhbConf(objects::PLOC_MPSOC_HANDLER);
-  auto* mpsocHandler = new FreshMpsocHandler(
-      dhbConf, *mpsocCommunication, *specialComHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
-      objects::PLOC_SUPERVISOR_HANDLER, pwrSwitcher, power::PDU2_CH8_PAYLOAD_CAMERA);
+  auto* mpsocHandler = new FreshMpsocHandler(dhbConf, *mpsocCommunication, *specialComHelper,
+                                             Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
+                                             objects::PLOC_SUPERVISOR_HANDLER);
  mpsocHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
--- a/dummies/helperFactory.cpp
+++ b/dummies/helperFactory.cpp
@@ -40,7 +40,7 @@
 #include "mission/genericFactory.h"
 #include "mission/system/acs/acsModeTree.h"
 #include "mission/system/com/comModeTree.h"
-#include "mission/system/payload/payloadModeTree.h"
+#include "mission/system/payloadModeTree.h"
 #include "mission/system/tcs/tcsModeTree.h"
 #include "mission/tcs/defs.h"

--- a/2
+++ b/2
--- a/generators/bsp_hosted_events.csv
+++ b/generators/bsp_hosted_events.csv
@@ -135,8 +135,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/payload/plocMpsocHelpers.h
 11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/payload/plocMpsocHelpers.h
 11607;0x2d57;SUPV_NOT_ON;LOW;SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition.;linux/payload/plocMpsocHelpers.h
-11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;SUPV reply timeout.;linux/payload/plocMpsocHelpers.h
-11609;0x2d59;CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE;LOW;Camera must be commanded on first.;linux/payload/plocMpsocHelpers.h
+11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/plocMpsocHelpers.h
 11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
--- a/generators/bsp_q7s_events.csv
+++ b/generators/bsp_q7s_events.csv
@@ -135,8 +135,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/payload/plocMpsocHelpers.h
 11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/payload/plocMpsocHelpers.h
 11607;0x2d57;SUPV_NOT_ON;LOW;SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition.;linux/payload/plocMpsocHelpers.h
-11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;SUPV reply timeout.;linux/payload/plocMpsocHelpers.h
-11609;0x2d59;CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE;LOW;Camera must be commanded on first.;linux/payload/plocMpsocHelpers.h
+11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/plocMpsocHelpers.h
 11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
--- a/generators/events/translateEvents.cpp
+++ b/generators/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 325 translations.
+ * @brief    Auto-generated event translation file. Contains 324 translations.
 * @details
- * Generated on: 2024-05-06 13:47:38
+ * Generated on: 2024-04-17 11:22:10
 */
 #include "translateEvents.h"

@@ -142,7 +142,6 @@ const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUEN
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
 const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
-const char *CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING = "CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -607,8 +606,6 @@ const char *translateEvents(Event event) {
      return SUPV_NOT_ON_STRING;
    case (11608):
      return SUPV_REPLY_TIMEOUT_STRING;
-    case (11609):
-      return CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING;
    case (11701):
      return SELF_TEST_I2C_FAILURE_STRING;
    case (11702):
--- a/generators/objects/translateObjects.cpp
+++ b/generators/objects/translateObjects.cpp
@@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 180 translations.
- * Generated on: 2024-05-06 13:47:38
+ * Generated on: 2024-04-17 11:22:10
 */
 #include "translateObjects.h"

--- a/linux/ObjectFactory.cpp
+++ b/linux/ObjectFactory.cpp
@@ -26,7 +26,7 @@
 #include "devConf.h"
 #include "devices/gpioIds.h"
 #include "mission/system/acs/acsModeTree.h"
-#include "mission/system/payload/payloadModeTree.h"
+#include "mission/system/payloadModeTree.h"
 #include "mission/system/power/epsModeTree.h"

 void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
--- a/linux/fsfwconfig/events/translateEvents.cpp
+++ b/linux/fsfwconfig/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 325 translations.
+ * @brief    Auto-generated event translation file. Contains 324 translations.
 * @details
- * Generated on: 2024-05-06 13:47:38
+ * Generated on: 2024-04-17 11:22:10
 */
 #include "translateEvents.h"

@@ -142,7 +142,6 @@ const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUEN
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
 const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
-const char *CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING = "CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -607,8 +606,6 @@ const char *translateEvents(Event event) {
      return SUPV_NOT_ON_STRING;
    case (11608):
      return SUPV_REPLY_TIMEOUT_STRING;
-    case (11609):
-      return CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING;
    case (11701):
      return SELF_TEST_I2C_FAILURE_STRING;
    case (11702):
--- a/linux/fsfwconfig/objects/translateObjects.cpp
+++ b/linux/fsfwconfig/objects/translateObjects.cpp
@@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 180 translations.
- * Generated on: 2024-05-06 13:47:38
+ * Generated on: 2024-04-17 11:22:10
 */
 #include "translateObjects.h"

--- a/linux/payload/FreshMpsocHandler.cpp
+++ b/linux/payload/FreshMpsocHandler.cpp
@@ -8,29 +8,22 @@
 #include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/QueueFactory.h"
-#include "fsfw/ipc/messageQueueDefinitions.h"
-#include "fsfw/power/PowerSwitchIF.h"
-#include "fsfw/power/definitions.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "linux/payload/MpsocCommunication.h"
 #include "linux/payload/plocMpsocHelpers.h"
 #include "linux/payload/plocSupvDefs.h"
-#include "mission/power/gsDefs.h"

 FreshMpsocHandler::FreshMpsocHandler(DhbConfig cfg, MpsocCommunication& comInterface,
                                     PlocMpsocSpecialComHelper& specialComHelper,
-                                     Gpio uartIsolatorSwitch, object_id_t supervisorHandler,
-                                     PowerSwitchIF& powerSwitcher, power::Switch_t camSwitchId)
+                                     Gpio uartIsolatorSwitch, object_id_t supervisorHandler)
    : FreshDeviceHandlerBase(cfg),
      comInterface(comInterface),
      specialComHelper(specialComHelper),
      commandActionHelper(this),
      uartIsolatorSwitch(uartIsolatorSwitch),
      hkReport(this),
-      supervisorHandler(supervisorHandler),
-      powerSwitcher(powerSwitcher),
-      camSwitchId(camSwitchId) {
+      supervisorHandler(supervisorHandler) {
  commandActionHelperQueue = QueueFactory::instance()->createMessageQueue(10);
  eventQueue = QueueFactory::instance()->createMessageQueue(10);
  spParams.maxSize = sizeof(commandBuffer);
@@ -45,7 +38,7 @@ void FreshMpsocHandler::performDeviceOperation(uint8_t opCode) {

  if (opCode == OpCode::DEFAULT_OPERATION) {
    performDefaultDeviceOperation();
-  } else if (opCode == OpCode::PARSE_TM and not specialComHelperExecuting) {
+  } else if (opCode == OpCode::PARSE_TM) {
    // Just need to call this once, this should take care of processing the whole received
    // Linux UART RX buffer.
    comInterface.readSerialInterface();
@@ -84,13 +77,8 @@ void FreshMpsocHandler::performDefaultDeviceOperation() {
    }
  }

-  // We checked the action queue beforehand, so action commands should always be performed
-  // before normal commands.
-  if (mode == MODE_NORMAL and not activeCmdInfo.pending and not specialComHelperExecuting) {
-    ReturnValue_t result = commandTcGetHkReport();
-    if (result == returnvalue::OK) {
-      commandInitHandling(mpsoc::TC_GET_HK_REPORT, MessageQueueIF::NO_QUEUE);
-    }
+  if (mode == MODE_NORMAL and not activeCmdInfo.pending) {
+    // TODO: Take care of regular periodic commanding here.
  }

  if (activeCmdInfo.pending and activeCmdInfo.cmdCountdown.hasTimedOut()) {
@@ -165,6 +153,7 @@ ReturnValue_t FreshMpsocHandler::initialize() {
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }

+  specialComHelper.setSequenceCount(&commandSequenceCount);
  result = commandActionHelper.initialize();
  if (result != returnvalue::OK) {
    return ObjectManagerIF::CHILD_INIT_FAILED;
@@ -236,11 +225,6 @@ ReturnValue_t FreshMpsocHandler::checkModeCommand(Mode_t mode, Submode_t submode
      return HasModesIF::INVALID_SUBMODE;
    }
  }
-  if (submode == mpsoc::Submode::SNAPSHOT and
-      powerSwitcher.getSwitchState(camSwitchId) != PowerSwitchIF::SWITCH_ON) {
-    triggerEvent(mpsoc::CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE);
-    return HasModesIF::TRANS_NOT_ALLOWED;
-  }
  *msToReachTheMode = MPSOC_MODE_CMD_TIMEOUT_MS;
  return returnvalue::OK;
 }
@@ -281,11 +265,11 @@ ReturnValue_t FreshMpsocHandler::executeAction(ActionId_t actionId, MessageQueue
        return result;
      }
      result = specialComHelper.startFlashWrite(flashWritePusCmd.getObcFile(),
-                                                flashWritePusCmd.getMpsocFile());
+                                                flashWritePusCmd.getMPSoCFile());
      if (result != returnvalue::OK) {
        return result;
      }
-      commonSpecialComInit();
+      specialComHelperExecuting = true;
      return EXECUTION_FINISHED;
    }
    case mpsoc::TC_FLASH_READ_FULL_FILE: {
@@ -295,15 +279,12 @@ ReturnValue_t FreshMpsocHandler::executeAction(ActionId_t actionId, MessageQueue
        return result;
      }
      result = specialComHelper.startFlashRead(flashReadPusCmd.getObcFile(),
-                                               flashReadPusCmd.getMpsocFile(),
+                                               flashReadPusCmd.getMPSoCFile(),
                                               flashReadPusCmd.getReadSize());
      if (result != returnvalue::OK) {
        return result;
      }
-      sif::info << "PLOC MPSoC: Reading " << flashReadPusCmd.getMpsocFile() << " with size "
-                << flashReadPusCmd.getReadSize() << " to " << flashReadPusCmd.getObcFile()
-                << std::endl;
-      commonSpecialComInit();
+      specialComHelperExecuting = true;
      return EXECUTION_FINISHED;
    }
    case (mpsoc::OBSW_RESET_SEQ_COUNT_LEGACY): {
@@ -313,15 +294,12 @@ ReturnValue_t FreshMpsocHandler::executeAction(ActionId_t actionId, MessageQueue
    default:
      break;
  }
+  // For longer commands, do not set these.
+  // TODO: Do all the stuff the form buildDeviceFromDevice blah did.
  executeRegularCmd(actionId, commandedBy, data, size);
  return returnvalue::OK;
 }

-void FreshMpsocHandler::commonSpecialComInit() {
-  specialComHelperExecuting = true;
-  specialComHelper.setCommandSequenceCount(commandSequenceCount.get());
-}
-
 /**
 * @overload
 * @param submode
@@ -337,10 +315,6 @@ void FreshMpsocHandler::startTransition(Mode_t newMode, Submode_t submode) {
  } else if ((newMode == MODE_ON or newMode == MODE_NORMAL) &&
             ((mode == MODE_OFF) or (mode == MODE_UNDEFINED))) {
    transitionState = TransitionState::TO_ON;
-  } else if (mode == MODE_ON && newMode == MODE_NORMAL) {
-    hkReport.setReportingEnabled(true);
-  } else if (mode == MODE_NORMAL && newMode == MODE_ON) {
-    hkReport.setReportingEnabled(false);
  } else if (newMode == MODE_OFF) {
    transitionState = TransitionState::TO_OFF;
  }
@@ -376,9 +350,7 @@ void FreshMpsocHandler::handleTransitionToOn() {
  if (startupState == StartupState::DONE) {
    setMode(targetMode, targetSubmode);
    transitionState = TransitionState::NONE;
-    if (targetMode == MODE_NORMAL) {
-      hkReport.setReportingEnabled(true);
-    }
+    hkReport.setReportingEnabled(true);
    powerState = PowerState::IDLE;
    startupState = StartupState::IDLE;
  }
@@ -387,7 +359,7 @@ void FreshMpsocHandler::handleTransitionToOn() {
 void FreshMpsocHandler::handleTransitionToOff() {
  if (handleHwShutdown()) {
    hkReport.setReportingEnabled(false);
-    setMode(MODE_OFF, 0);
+    setMode(MODE_OFF);
    transitionState = TransitionState::NONE;
    activeCmdInfo.reset();
    powerState = PowerState::IDLE;
@@ -504,23 +476,6 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
      result = commandTcMemRead(commandData, commandDataLen);
      break;
    }
-    case (mpsoc::TC_FLASHFOPEN): {
-      mpsoc::TcFlashFopen cmd(spParams, commandSequenceCount);
-      // C string constructor.
-      std::string filename = std::string(reinterpret_cast<const char*>(commandData));
-      if (filename.size() > mpsoc::MAX_FILENAME_SIZE) {
-        return mpsoc::NAME_TOO_LONG;
-      }
-      uint8_t mode = commandData[filename.size() + 2];
-      cmd.setPayload(filename, mode);
-      result = finishAndSendTc(actionId, cmd);
-      break;
-    }
-    case (mpsoc::TC_FLASHFCLOSE): {
-      mpsoc::TcFlashFclose cmd(spParams, commandSequenceCount);
-      result = finishAndSendTc(actionId, cmd);
-      break;
-    }
    case (mpsoc::TC_FLASHDELETE): {
      result = commandTcFlashDelete(commandData, commandDataLen);
      break;
@@ -545,28 +500,6 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
      result = commandTcReplayWriteSequence(commandData, commandDataLen);
      break;
    }
-    case (mpsoc::TC_ENABLE_TC_EXECTION): {
-      mpsoc::TcEnableTcExec cmd(spParams, commandSequenceCount);
-      result = cmd.setPayload(commandData, commandDataLen);
-      if (result != returnvalue::OK) {
-        return result;
-      }
-      result = finishAndSendTc(actionId, cmd);
-      break;
-    }
-    case (mpsoc::TC_FLASH_MKFS): {
-      if (commandDataLen != 1) {
-        return HasActionsIF::INVALID_PARAMETERS;
-      }
-      if (commandData[0] != mpsoc::FlashId::FLASH_0 && commandData[1] != mpsoc::FlashId::FLASH_1) {
-        return HasActionsIF::INVALID_PARAMETERS;
-      }
-      mpsoc::TcFlashMkfs cmd(spParams, commandSequenceCount,
-                             static_cast<mpsoc::FlashId>(commandData[0]));
-      sif::info << "PLOC MPSoC: Formatting Flash " << (int)commandData[0] << std::endl;
-      result = finishAndSendTc(actionId, cmd, mpsoc::CMD_TIMEOUT_MKFS);
-      break;
-    }
    case (mpsoc::TC_GET_HK_REPORT): {
      result = commandTcGetHkReport();
      break;
@@ -584,16 +517,9 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
      break;
    }
    case (mpsoc::TC_SIMPLEX_STREAM_FILE): {
-      if (submode != mpsoc::Submode::SNAPSHOT) {
-        return HasModesIF::INVALID_SUBMODE;
-      }
      result = commandTcSimplexStreamFile(commandData, commandDataLen);
      break;
    }
-    case (mpsoc::TC_SPLIT_FILE): {
-      result = commandTcSplitFile(commandData, commandDataLen);
-      break;
-    }
    case (mpsoc::TC_DOWNLINK_DATA_MODULATE): {
      result = commandTcDownlinkDataModulate(commandData, commandDataLen);
      break;
@@ -606,20 +532,16 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
  }

  if (result == returnvalue::OK) {
-    commandInitHandling(actionId, commandedBy);
+    activeCmdInfo.start(actionId, commandedBy);
+    /**
+     * Flushing the receive buffer to make sure there are no data left from a faulty reply.
+     */
+    comInterface.getComHelper().flushUartRxBuffer();
  }

  return result;
 }

-void FreshMpsocHandler::commandInitHandling(ActionId_t actionId, MessageQueueId_t commandedBy) {
-  activeCmdInfo.start(actionId, commandedBy);
-  /**
-   * Flushing the receive buffer to make sure there are no data left from a faulty reply.
-   */
-  comInterface.getComHelper().flushUartRxBuffer();
-}
-
 ReturnValue_t FreshMpsocHandler::commandTcMemWrite(const uint8_t* commandData,
                                                   size_t commandDataLen) {
  ReturnValue_t result = returnvalue::OK;
@@ -647,7 +569,7 @@ ReturnValue_t FreshMpsocHandler::commandTcMemRead(const uint8_t* commandData,

 ReturnValue_t FreshMpsocHandler::commandTcFlashDelete(const uint8_t* commandData,
                                                      size_t commandDataLen) {
-  if (commandDataLen > mpsoc::FILENAME_FIELD_SIZE) {
+  if (commandDataLen > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
    return mpsoc::NAME_TOO_LONG;
  }
  ReturnValue_t result = returnvalue::OK;
@@ -744,15 +666,6 @@ ReturnValue_t FreshMpsocHandler::commandTcCamTakePic(const uint8_t* commandData,
  if (result != returnvalue::OK) {
    return result;
  }
-  sif::info << "PLOC MPSoC Take Picture Command" << std::endl;
-  sif::info << "filename: " << tcCamTakePic.fileName << std::endl;
-  sif::info << "encoder [Y, Cb, Cr]: [" << (int)tcCamTakePic.encoderSettingY << ", "
-            << (int)tcCamTakePic.encoderSettingsCb << ", " << (int)tcCamTakePic.encoderSettingsCr
-            << "]" << std::endl;
-  sif::info << "quantization [Y, Cb, Cr]: [" << tcCamTakePic.quantizationY << ", "
-            << tcCamTakePic.quantizationCb << ", " << tcCamTakePic.quantizationCr << "]"
-            << std::endl;
-  sif::info << "bypass compressor: " << (int)tcCamTakePic.bypassCompressor << std::endl;
  finishAndSendTc(mpsoc::TC_CAM_TAKE_PIC, tcCamTakePic);
  return returnvalue::OK;
 }
@@ -768,14 +681,14 @@ ReturnValue_t FreshMpsocHandler::commandTcSimplexStreamFile(const uint8_t* comma
  return returnvalue::OK;
 }

-ReturnValue_t FreshMpsocHandler::commandTcSplitFile(const uint8_t* commandData,
-                                                    size_t commandDataLen) {
-  mpsoc::TcSplitFile tcSplitFile(spParams, commandSequenceCount);
-  ReturnValue_t result = tcSplitFile.setPayload(commandData, commandDataLen);
+ReturnValue_t FreshMpsocHandler::commandTcSimplexStoreFile(const uint8_t* commandData,
+                                                           size_t commandDataLen) {
+  mpsoc::TcSimplexStoreFile tcSimplexStoreFile(spParams, commandSequenceCount);
+  ReturnValue_t result = tcSimplexStoreFile.setPayload(commandData, commandDataLen);
  if (result != returnvalue::OK) {
    return result;
  }
-  finishAndSendTc(mpsoc::TC_SPLIT_FILE, tcSplitFile);
+  finishAndSendTc(mpsoc::TC_SIMPLEX_STORE_FILE, tcSimplexStoreFile);
  return returnvalue::OK;
 }

@@ -807,21 +720,19 @@ ReturnValue_t FreshMpsocHandler::commandTcModeSnapshot() {
  return returnvalue::OK;
 }

-ReturnValue_t FreshMpsocHandler::finishAndSendTc(DeviceCommandId_t cmdId, mpsoc::TcBase& tcBase,
-                                                 uint32_t cmdCountdownMs) {
-  // Emit warning but still send command.
-  if (specialComHelperExecuting) {
-    sif::warning << "PLOC MPSoC: Sending command even though special COM helper is executing"
-                 << std::endl;
-  }
+ReturnValue_t FreshMpsocHandler::finishAndSendTc(DeviceCommandId_t cmdId, mpsoc::TcBase& tcBase) {
  ReturnValue_t result = tcBase.finishPacket();
  if (result != returnvalue::OK) {
    return result;
  }
+  // TODO: We should find a way so this works with the old implementation.
  commandSequenceCount++;

-  mpsoc::printTxPacket(tcBase);
-  activeCmdInfo.cmdCountdown.setTimeout(cmdCountdownMs);
+  if (MPSOC_TX_WIRETAPPING) {
+    sif::debug << "SEND MPSOC packet. APID 0x" << std::hex << std::setw(3) << tcBase.getApid()
+               << " Size " << std::dec << tcBase.getFullPacketLen() << " SSC "
+               << tcBase.getSeqCount() << std::endl;
+  }
  activeCmdInfo.cmdCountdown.resetTimer();
  activeCmdInfo.pending = true;
  activeCmdInfo.pendingCmd = cmdId;
@@ -830,10 +741,11 @@ ReturnValue_t FreshMpsocHandler::finishAndSendTc(DeviceCommandId_t cmdId, mpsoc:
 }

 void FreshMpsocHandler::handleEvent(EventMessage* eventMessage) {
+  // TODO: Shouldn't we check for specific events?
  object_id_t objectId = eventMessage->getReporter();
  switch (objectId) {
-    case objects::PLOC_MPSOC_HELPER: {
-      commonSpecialComStop();
+    case objects::PLOC_MPSOC_HANDLER: {
+      specialComHelperExecuting = false;
      break;
    }
    default:
@@ -841,10 +753,6 @@ void FreshMpsocHandler::handleEvent(EventMessage* eventMessage) {
      break;
  }
 }
-void FreshMpsocHandler::commonSpecialComStop() {
-  specialComHelperExecuting = false;
-  commandSequenceCount.set(specialComHelper.getCommandSequenceCount());
-}

 void FreshMpsocHandler::cmdDoneHandler(bool success, ReturnValue_t result) {
  if (transitionState == TransitionState::SUBMODE) {
@@ -865,11 +773,17 @@ void FreshMpsocHandler::cmdDoneHandler(bool success, ReturnValue_t result) {
 ReturnValue_t FreshMpsocHandler::handleDeviceReply() {
  ReturnValue_t result = returnvalue::OK;

-  const auto& replyReader = comInterface.getSpReader();
+  // SpacePacketReader spacePacket;
+  // spacePacket.setReadOnlyData(start, remainingSize);
+  auto& replyReader = comInterface.getSpReader();
  if (replyReader.isNull()) {
    return returnvalue::FAILED;
  }
-  mpsoc::printRxPacket(replyReader);
+  if (MPSOC_RX_WIRETAPPING) {
+    sif::debug << "RECV MPSOC packet. APID 0x" << std::hex << std::setw(3) << replyReader.getApid()
+               << std::dec << " Size " << replyReader.getFullPacketLen() << " SSC "
+               << replyReader.getSequenceCount() << std::endl;
+  }
  uint16_t apid = replyReader.getApid();

  switch (apid) {
@@ -916,14 +830,15 @@ ReturnValue_t FreshMpsocHandler::handleDeviceReply() {
    default: {
      sif::debug << "FreshMpsocHandler:: Reply has invalid APID 0x" << std::hex << std::setfill('0')
                 << std::setw(2) << apid << std::dec << std::endl;
+      //*foundLen = remainingSize;
      return mpsoc::INVALID_APID;
    }
  }

+  // TODO: We should implement some way so this can also be used with the former implementation.
  uint16_t sequenceCount = replyReader.getSequenceCount();
  if (sequenceCount != lastReplySequenceCount + 1) {
-    // We could trigger event for possible missing reply packet to inform operator, but I don't
-    // think this is properly implemented and used on the MPSoC side anymore.
+    // TODO: Trigger event for possible missing reply packet to inform operator.
  }
  lastReplySequenceCount = sequenceCount;

@@ -978,6 +893,7 @@ ReturnValue_t FreshMpsocHandler::handleAckReport() {

  switch (replyReader.getApid()) {
    case mpsoc::apid::ACK_FAILURE: {
+      // DeviceCommandId_t commandId = getPendingCommand();
      uint16_t status = mpsoc::getStatusFromRawData(replyReader.getFullData());
      sif::warning << "MPSoC ACK Failure: " << mpsoc::getStatusString(status) << std::endl;
      triggerEvent(mpsoc::ACK_FAILURE, activeCmdInfo.pendingCmd, status);
@@ -1261,9 +1177,7 @@ bool FreshMpsocHandler::handleHwShutdown() {
      supvTransitionCd.resetTimer();
      powerState = PowerState::PENDING_SHUTDOWN;
    } else {
-      if ((this->mode != MODE_OFF) and (this->mode != MODE_UNDEFINED)) {
-        triggerEvent(mpsoc::SUPV_NOT_ON, 0);
-      }
+      triggerEvent(mpsoc::SUPV_NOT_ON, 0);
      powerState = PowerState::DONE;
    }
  }
--- a/linux/payload/FreshMpsocHandler.h
+++ b/linux/payload/FreshMpsocHandler.h
@@ -1,4 +1,3 @@
-#include "fsfw/action/ActionMessage.h"
 #include "fsfw/action/CommandsActionsIF.h"
 #include "fsfw/devicehandlers/DeviceHandlerIF.h"
 #include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
@@ -6,14 +5,15 @@
 #include "fsfw/ipc/messageQueueDefinitions.h"
 #include "fsfw/modes/ModeMessage.h"
 #include "fsfw/objectmanager/SystemObjectIF.h"
-#include "fsfw/power/PowerSwitchIF.h"
-#include "fsfw/power/definitions.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw_hal/linux/gpio/Gpio.h"
 #include "linux/payload/MpsocCommunication.h"
 #include "linux/payload/PlocMpsocSpecialComHelper.h"
 #include "linux/payload/plocMpsocHelpers.h"

+static constexpr bool MPSOC_TX_WIRETAPPING = true;
+static constexpr bool MPSOC_RX_WIRETAPPING = true;
+
 class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsIF {
 public:
  enum OpCode { DEFAULT_OPERATION = 0, PARSE_TM = 1 };
@@ -21,8 +21,7 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI

  FreshMpsocHandler(DhbConfig cfg, MpsocCommunication& comInterface,
                    PlocMpsocSpecialComHelper& specialComHelper, Gpio uartIsolatorSwitch,
-                    object_id_t supervisorHandler, PowerSwitchIF& powerSwitcher,
-                    power::Switch_t camSwitchId);
+                    object_id_t supervisorHandler);

  /**
   * Periodic helper executed function, implemented by child class.
@@ -98,7 +97,7 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI
  bool specialComHelperExecuting = false;

  struct ActionCommandInfo {
-    Countdown cmdCountdown = Countdown(mpsoc::DEFAULT_CMD_TIMEOUT_MS);
+    Countdown cmdCountdown = Countdown(5000);
    bool pending = false;
    MessageQueueId_t commandedBy = MessageQueueIF::NO_QUEUE;
    DeviceCommandId_t pendingCmd = DeviceHandlerIF::NO_COMMAND_ID;
@@ -132,8 +131,6 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI
  TmMemReadReport tmMemReadReport;
  uint32_t lastReplySequenceCount = 0;
  uint8_t skipSupvCommandingToOn = false;
-  PowerSwitchIF& powerSwitcher;
-  power::Switch_t camSwitchId;

  // HK manager abstract functions.
  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
@@ -187,12 +184,11 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI
  ReturnValue_t commandTcModeIdle();
  ReturnValue_t commandTcCamTakePic(const uint8_t* commandData, size_t commandDataLen);
  ReturnValue_t commandTcSimplexStreamFile(const uint8_t* commandData, size_t commandDataLen);
-  ReturnValue_t commandTcSplitFile(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t commandTcSimplexStoreFile(const uint8_t* commandData, size_t commandDataLen);
  ReturnValue_t commandTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen);
  ReturnValue_t commandTcModeSnapshot();

-  ReturnValue_t finishAndSendTc(DeviceCommandId_t cmdId, mpsoc::TcBase& tcBase,
-                                uint32_t cmdCountdown = mpsoc::DEFAULT_CMD_TIMEOUT_MS);
+  ReturnValue_t finishAndSendTc(DeviceCommandId_t cmdId, mpsoc::TcBase& tcBase);
  void handleEvent(EventMessage* eventMessage);
  void cmdDoneHandler(bool success, ReturnValue_t result);
  ReturnValue_t handleDeviceReply();
@@ -206,7 +202,4 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI

  void stopSpecialComHelper();
  void commandSubmodeTransition();
-  void commonSpecialComInit();
-  void commonSpecialComStop();
-  void commandInitHandling(ActionId_t actionId, MessageQueueId_t commandedBy);
 };
--- a/linux/payload/MpsocCommunication.cpp
+++ b/linux/payload/MpsocCommunication.cpp
@@ -13,9 +13,6 @@ MpsocCommunication::MpsocCommunication(object_id_t objectId, SerialConfig cfg)
 ReturnValue_t MpsocCommunication::initialize() { return helper.initialize(); }

 ReturnValue_t MpsocCommunication::send(const uint8_t* data, size_t dataLen) {
-  if (MPSOC_LOW_LEVEL_TX_WIRETAPPING) {
-    sif::debug << "SEND MPSOC packet with size " << dataLen << std::endl;
-  }
  return helper.send(data, dataLen);
 }

@@ -30,7 +27,7 @@ ReturnValue_t MpsocCommunication::parseAndRetrieveNextPacket() {
    return returnvalue::OK;
  }
  readRingBuf.readData(readBuf, availableReadData);
-  spReader.setReadOnlyData(readBuf, sizeof(readBuf));
+  spReader.setReadOnlyData(readBuf, availableReadData);
  auto res = spReader.checkSize();
  if (res != returnvalue::OK) {
    return res;
--- a/linux/payload/MpsocCommunication.h
+++ b/linux/payload/MpsocCommunication.h
@@ -9,8 +9,7 @@
 #include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
 #include "linux/payload/SerialCommunicationHelper.h"

-static constexpr bool MPSOC_LOW_LEVEL_TX_WIRETAPPING = false;
-static constexpr bool MPSOC_LOW_LEVEL_RX_WIRETAPPING = false;
+static constexpr bool MPSOC_LOW_LEVEL_RX_WIRETAPPING = true;

 class MpsocCommunication : public SystemObject {
 public:
--- a/linux/payload/PlocMpsocSpecialComHelper.cpp
+++ b/linux/payload/PlocMpsocSpecialComHelper.cpp
@@ -6,16 +6,14 @@
 #include <filesystem>
 #include <fstream>

-#include "fsfw/serviceinterface/ServiceInterfacePrinter.h"
-#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
-#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
 #include "linux/payload/MpsocCommunication.h"
-#include "linux/payload/plocMpsocHelpers.h"

 #ifdef XIPHOS_Q7S
 #include "bsp_q7s/fs/FilesystemHelper.h"
 #endif

+#include "mission/utility/Timestamp.h"
+
 using namespace ploc;

 PlocMpsocSpecialComHelper::PlocMpsocSpecialComHelper(object_id_t objectId,
@@ -53,9 +51,9 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
      case InternalState::FLASH_WRITE: {
        result = performFlashWrite();
        if (result == returnvalue::OK) {
-          triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, txSequenceCount.get());
+          triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, sequenceCount->get());
        } else {
-          triggerEvent(MPSOC_FLASH_WRITE_FAILED, txSequenceCount.get());
+          triggerEvent(MPSOC_FLASH_WRITE_FAILED, sequenceCount->get());
        }
        internalState = InternalState::IDLE;
        break;
@@ -63,10 +61,9 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
      case InternalState::FLASH_READ: {
        result = performFlashRead();
        if (result == returnvalue::OK) {
-          triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, txSequenceCount.get());
+          triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, sequenceCount->get());
        } else {
-          sif::printWarning("PLOC MPSoC Helper: Flash read failed with code %04x\n", result);
-          triggerEvent(MPSOC_FLASH_READ_FAILED, txSequenceCount.get(), result);
+          triggerEvent(MPSOC_FLASH_READ_FAILED, sequenceCount->get());
        }
        internalState = InternalState::IDLE;
        break;
@@ -78,12 +75,8 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
  }
 }

-void PlocMpsocSpecialComHelper::setCommandSequenceCount(uint16_t sequenceCount_) {
-  txSequenceCount.set(sequenceCount_);
-}
-
-uint16_t PlocMpsocSpecialComHelper::getCommandSequenceCount() const {
-  return txSequenceCount.get();
+void PlocMpsocSpecialComHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
+  sequenceCount = sequenceCount_;
 }

 ReturnValue_t PlocMpsocSpecialComHelper::startFlashWrite(std::string obcFile,
@@ -155,7 +148,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
    file.read(reinterpret_cast<char*>(fileBuf.data()), dataLength);
    bytesRead += dataLength;
    remainingSize -= dataLength;
-    mpsoc::TcFlashWrite tc(spParams, txSequenceCount);
+    mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
    result = tc.setPayload(fileBuf.data(), dataLength);
    if (result != returnvalue::OK) {
      return result;
@@ -164,7 +157,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
    if (result != returnvalue::OK) {
      return result;
    }
-    txSequenceCount.increment();
+    (*sequenceCount)++;
    result = handlePacketTransmissionNoReply(tc);
    if (result != returnvalue::OK) {
      return result;
@@ -179,12 +172,8 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {

 ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
  std::error_code e;
-  if (std::filesystem::exists(flashReadAndWrite.obcFile)) {
-    // Truncate the file first.
-    std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::binary | std::ios::trunc);
-  }
-  std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::binary | std::ios::app);
-  if (ofile.bad() or not ofile.is_open()) {
+  std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::trunc | std::ios::binary);
+  if (ofile.bad()) {
    return returnvalue::FAILED;
  }
  ReturnValue_t result = flashfopen(mpsoc::FileAccessModes::READ);
@@ -207,7 +196,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
      std::filesystem::remove(flashReadAndWrite.obcFile, e);
      return FILE_READ_ERROR;
    }
-    mpsoc::TcFlashRead flashReadRequest(spParams, txSequenceCount);
+    mpsoc::TcFlashRead flashReadRequest(spParams, *sequenceCount);
    result = flashReadRequest.setPayload(nextReadSize);
    if (result != returnvalue::OK) {
      std::filesystem::remove(flashReadAndWrite.obcFile, e);
@@ -218,7 +207,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
      std::filesystem::remove(flashReadAndWrite.obcFile, e);
      return result;
    }
-    txSequenceCount.increment();
+    (*sequenceCount)++;
    result = handlePacketTransmissionFlashRead(flashReadRequest, ofile, nextReadSize);
    if (result != returnvalue::OK) {
      std::filesystem::remove(flashReadAndWrite.obcFile, e);
@@ -235,7 +224,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {

 ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
  spParams.buf = commandBuffer;
-  mpsoc::TcFlashFopen flashFopen(spParams, txSequenceCount);
+  mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
  ReturnValue_t result = flashFopen.setPayload(flashReadAndWrite.mpsocFile, mode);
  if (result != returnvalue::OK) {
    return result;
@@ -244,7 +233,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
  if (result != returnvalue::OK) {
    return result;
  }
-  txSequenceCount.increment();
+  (*sequenceCount)++;
  result = handlePacketTransmissionNoReply(flashFopen);
  if (result != returnvalue::OK) {
    return result;
@@ -254,12 +243,12 @@ ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {

 ReturnValue_t PlocMpsocSpecialComHelper::flashfclose() {
  spParams.buf = commandBuffer;
-  mpsoc::TcFlashFclose flashFclose(spParams, txSequenceCount);
+  mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
  ReturnValue_t result = flashFclose.finishPacket();
  if (result != returnvalue::OK) {
    return result;
  }
-  txSequenceCount.increment();
+  (*sequenceCount)++;
  result = handlePacketTransmissionNoReply(flashFclose);
  if (result != returnvalue::OK) {
    return result;
@@ -282,7 +271,6 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc
  if (result != returnvalue::OK) {
    return result;
  }
-  auto& spReader = comInterface.getSpReader();

  // We have the nominal case where the flash read report appears first, or the case where we
  // get an EXE failure immediately.
@@ -293,7 +281,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc
    }
    return handleExe();
  } else if (spReader.getApid() == mpsoc::apid::EXE_FAILURE) {
-    handleExeFailure(spReader);
+    handleExeFailure();
  } else {
    triggerEvent(MPSOC_EXE_INVALID_APID, spReader.getApid(), static_cast<uint32_t>(internalState));
    sif::warning << "PLOC MPSoC: Expected execution report "
@@ -317,7 +305,6 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionNoReply(ploc::S

 ReturnValue_t PlocMpsocSpecialComHelper::sendCommand(ploc::SpTcBase& tc) {
  ReturnValue_t result = comInterface.send(tc.getFullPacket(), tc.getFullPacketLen());
-  mpsoc::printTxPacket(tc);
  if (result != returnvalue::OK) {
    sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
    triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
@@ -336,8 +323,6 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleAck() {
  if (result != returnvalue::OK) {
    return result;
  }
-  const auto& spReader = comInterface.getSpReader();
-
  uint16_t apid = spReader.getApid();
  if (apid != mpsoc::apid::ACK_SUCCESS) {
    handleAckApidFailure(spReader);
@@ -346,7 +331,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleAck() {
  return returnvalue::OK;
 }

-void PlocMpsocSpecialComHelper::handleAckApidFailure(const SpacePacketReader& reader) {
+void PlocMpsocSpecialComHelper::handleAckApidFailure(const ploc::SpTmReader& reader) {
  uint16_t apid = reader.getApid();
  if (apid == mpsoc::apid::ACK_FAILURE) {
    uint16_t status = mpsoc::getStatusFromRawData(reader.getFullData());
@@ -370,10 +355,9 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleExe() {
  if (result != returnvalue::OK) {
    return result;
  }
-  const auto& spReader = comInterface.getSpReader();
  uint16_t apid = spReader.getApid();
  if (apid == mpsoc::apid::EXE_FAILURE) {
-    handleExeFailure(spReader);
+    handleExeFailure();
    return returnvalue::FAILED;
  } else if (apid != mpsoc::apid::EXE_SUCCESS) {
    triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
@@ -383,7 +367,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleExe() {
  return returnvalue::OK;
 }

-void PlocMpsocSpecialComHelper::handleExeFailure(const SpacePacketReader& spReader) {
+void PlocMpsocSpecialComHelper::handleExeFailure() {
  uint16_t status = mpsoc::getStatusFromRawData(spReader.getFullData());
  sif::warning << "PLOC MPSoC EXE Failure: " << mpsoc::getStatusString(status) << std::endl;
  triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
@@ -392,32 +376,46 @@ void PlocMpsocSpecialComHelper::handleExeFailure(const SpacePacketReader& spRead
 ReturnValue_t PlocMpsocSpecialComHelper::handleTmReception() {
  ReturnValue_t result = returnvalue::OK;
  tmCountdown.resetTimer();
+  size_t readBytes = 0;
+  size_t currentBytes = 0;
  uint32_t usleepDelay = 5;
+  size_t fullPacketLen = 0;
  while (true) {
    if (tmCountdown.hasTimedOut()) {
      triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
      return returnvalue::FAILED;
    }
-    result = tryReceiveNextReply();
-    if (result == MpsocCommunication::PACKET_RECEIVED) {
-      // Need to convert this, we are faking a synchronous API here.
-      result = returnvalue::OK;
-      break;
-    }
+    result = receive(tmBuf.data() + readBytes, 6, &currentBytes);
    if (result != returnvalue::OK) {
-      if (result == MpsocCommunication::FAULTY_PACKET_SIZE) {
-        sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed: faulty packet size\n");
-      } else if (result == MpsocCommunication::CRC_CHECK_FAILED) {
-        sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed: CRC check failed\n");
-      }
-      sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed with code %d\n", result);
      return result;
    }
+    spReader.setReadOnlyData(tmBuf.data(), tmBuf.size());
+    fullPacketLen = spReader.getFullPacketLen();
+    readBytes += currentBytes;
+    if (readBytes == 6) {
+      break;
+    }
    usleep(usleepDelay);
    if (usleepDelay < 200000) {
      usleepDelay *= 4;
    }
  }
+  while (true) {
+    if (tmCountdown.hasTimedOut()) {
+      triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
+      return returnvalue::FAILED;
+    }
+    result = receive(tmBuf.data() + readBytes, fullPacketLen - readBytes, &currentBytes);
+    readBytes += currentBytes;
+    if (fullPacketLen == readBytes) {
+      break;
+    }
+    usleep(usleepDelay);
+    if (usleepDelay < 200000) {
+      usleepDelay *= 4;
+    }
+  }
+  // arrayprinter::print(tmBuf.data(), readBytes);
  return result;
 }

@@ -427,7 +425,6 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleFlashReadReply(std::ofstream& ofi
  if (result != returnvalue::OK) {
    return result;
  }
-  auto& spReader = comInterface.getSpReader();
  uint16_t apid = spReader.getApid();
  if (apid != mpsoc::apid::TM_FLASH_READ_REPORT) {
    triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_APID_ERROR);
@@ -493,19 +490,25 @@ ReturnValue_t PlocMpsocSpecialComHelper::startFlashReadOrWriteBase(std::string o
 }

 ReturnValue_t PlocMpsocSpecialComHelper::checkReceivedTm() {
-  const auto& spReader = comInterface.getSpReader();
  ReturnValue_t result = spReader.checkSize();
  if (result != returnvalue::OK) {
    sif::error << "PLOC MPSoC: Size check on received TM failed" << std::endl;
    triggerEvent(MPSOC_TM_SIZE_ERROR);
    return result;
  }
-  rxSequenceCount = spReader.getSequenceCount();
-  mpsoc::printRxPacket(spReader);
+  // No CRC check, this is already done by the communication interface..
+  uint16_t recvSeqCnt = spReader.getSequenceCount();
+  if (recvSeqCnt != *sequenceCount) {
+    triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
+    *sequenceCount = recvSeqCnt;
+  }
+  // This sequence count ping pong does not make any sense but it is how the MPSoC expects it.
+  (*sequenceCount)++;
  return returnvalue::OK;
 }

-ReturnValue_t PlocMpsocSpecialComHelper::tryReceiveNextReply() {
+ReturnValue_t PlocMpsocSpecialComHelper::receive(uint8_t* data, size_t requestBytes,
+                                                 size_t* readBytes) {
  ReturnValue_t result = returnvalue::OK;
  result = comInterface.readSerialInterface();
  if (result != returnvalue::OK) {
@@ -513,5 +516,11 @@ ReturnValue_t PlocMpsocSpecialComHelper::tryReceiveNextReply() {
                 static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
    return returnvalue::FAILED;
  }
-  return comInterface.parseAndRetrieveNextPacket();
+  result = comInterface.parseAndRetrieveNextPacket();
+  if (result == MpsocCommunication::PACKET_RECEIVED) {
+    auto& spReader = comInterface.getSpReader();
+    // Maybe unnecessary copy, but the easiest way to get this done for now..
+    std::memcpy(data, spReader.getFullData(), spReader.getFullPacketLen());
+  }
+  return result;
 }
--- a/linux/payload/PlocMpsocSpecialComHelper.h
+++ b/linux/payload/PlocMpsocSpecialComHelper.h
@@ -10,7 +10,6 @@
 #include "fsfw/osal/linux/BinarySemaphore.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
-#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
 #include "fsfw/tmtcservices/SourceSequenceCounter.h"
 #include "linux/payload/MpsocCommunication.h"
 #ifdef XIPHOS_Q7S
@@ -114,8 +113,7 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
  /**
   * @brief   Sets the sequence count object responsible for the sequence count handling
   */
-  void setCommandSequenceCount(uint16_t sequenceCount_);
-  uint16_t getCommandSequenceCount() const;
+  void setSequenceCount(SourceSequenceCounter* sequenceCount_);

 private:
  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HELPER;
@@ -171,9 +169,8 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
  // CookieIF* comCookie = nullptr;
  MpsocCommunication& comInterface;
  // Sequence count, must be set by Ploc MPSoC Handler
-  // ploc::SpTmReader spReader;
-  uint16_t rxSequenceCount = 0;
-  SourceSequenceCounter txSequenceCount = 0;
+  SourceSequenceCounter* sequenceCount = nullptr;
+  ploc::SpTmReader spReader;

  void resetHelper();
  ReturnValue_t performFlashWrite();
@@ -185,13 +182,13 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
                                                  size_t expectedReadLen);
  ReturnValue_t handleFlashReadReply(std::ofstream& ofile, size_t expectedReadLen);
  ReturnValue_t sendCommand(ploc::SpTcBase& tc);
-  ReturnValue_t tryReceiveNextReply();
+  ReturnValue_t receive(uint8_t* data, size_t requestBytes, size_t* readBytes);
  ReturnValue_t handleAck();
  ReturnValue_t handleExe();
  ReturnValue_t startFlashReadOrWriteBase(std::string obcFile, std::string mpsocFile);
  ReturnValue_t fileCheck(std::string obcFile);
-  void handleAckApidFailure(const SpacePacketReader& reader);
-  void handleExeFailure(const SpacePacketReader& reader);
+  void handleAckApidFailure(const ploc::SpTmReader& reader);
+  void handleExeFailure();
  ReturnValue_t handleTmReception();
  ReturnValue_t checkReceivedTm();
 };
--- a/linux/payload/PlocSupvUartMan.cpp
+++ b/linux/payload/PlocSupvUartMan.cpp
@@ -437,8 +437,6 @@ ReturnValue_t PlocSupvUartManager::writeUpdatePackets() {
        // Useful to allow restarting the update
        triggerEvent(SUPV_UPDATE_PROGRESS, buildProgParams1(progPercent, update.sequenceCount),
                     update.bytesWritten);
-        sif::info << "PLOC SUPV update progress " << (int)progPercent << " % at "
-                  << update.bytesWritten << " bytes" << std::endl;
      }
    }
    supv::WriteMemory packet(spParams);
--- a/linux/payload/plocMpsocHelpers.cpp
+++ b/linux/payload/plocMpsocHelpers.cpp
@@ -1,8 +1,5 @@
 #include "plocMpsocHelpers.h"

-#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
-#include "mission/payload/plocSpBase.h"
-
 uint16_t mpsoc::getStatusFromRawData(const uint8_t* data) {
  return (*(data + STATUS_OFFSET) << 8) | *(data + STATUS_OFFSET + 1);
 }
@@ -16,10 +13,6 @@ std::string mpsoc::getStatusString(uint16_t status) {
      return "Incorrect length";
      break;
    }
-    case (mpsoc::statusCode::FLASH_DRIVE_ERROR): {
-      return "flash drive error";
-      break;
-    }
    case (mpsoc::statusCode::INCORRECT_CRC): {
      return "Incorrect crc";
      break;
@@ -100,19 +93,3 @@ std::string mpsoc::getStatusString(uint16_t status) {
  }
  return "";
 }
-
-void mpsoc::printRxPacket(const SpacePacketReader& spReader) {
-  if (mpsoc::MPSOC_RX_WIRETAPPING) {
-    sif::debug << "RECV MPSOC packet. APID 0x" << std::hex << std::setw(3) << spReader.getApid()
-               << std::dec << " Size " << spReader.getFullPacketLen() << " SSC "
-               << spReader.getSequenceCount() << std::endl;
-  }
-}
-
-void mpsoc::printTxPacket(const ploc::SpTcBase& tcBase) {
-  if (mpsoc::MPSOC_TX_WIRETAPPING) {
-    sif::debug << "SEND MPSOC packet. APID 0x" << std::hex << std::setw(3) << tcBase.getApid()
-               << " Size " << std::dec << tcBase.getFullPacketLen() << " SSC "
-               << tcBase.getSeqCount() << std::endl;
-  }
-}
--- a/linux/payload/plocMpsocHelpers.h
+++ b/linux/payload/plocMpsocHelpers.h
@@ -5,66 +5,15 @@
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <mission/payload/plocSpBase.h>

+#include "eive/definitions.h"
 #include "eive/eventSubsystemIds.h"
 #include "eive/resultClassIds.h"
-#include "fsfw/action/HasActionsIF.h"
-#include "fsfw/events/Event.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serialize/SerializeIF.h"

 namespace mpsoc {

-static constexpr bool MPSOC_TX_WIRETAPPING = false;
-static constexpr bool MPSOC_RX_WIRETAPPING = false;
-
-static constexpr size_t CRC_SIZE = 2;
-
-/**
- * @brief   Abstract base class for TC space packet of MPSoC.
- */
-class TcBase : public ploc::SpTcBase {
- public:
-  virtual ~TcBase() = default;
-
-  // Initial length field of space packet. Will always be updated when packet is created.
-  static const uint16_t INIT_LENGTH = CRC_SIZE;
-
-  /**
-   * @brief    Constructor
-   *
-   * @param sequenceCount Sequence count of space packet which will be incremented with each
-   *        sent and received packets.
-   */
-  TcBase(ploc::SpTcParams params, uint16_t apid, uint16_t sequenceCount)
-      : ploc::SpTcBase(params, apid, 0, sequenceCount) {
-    payloadStart = spParams.buf + ccsds::HEADER_LEN;
-    spParams.setFullPayloadLen(INIT_LENGTH);
-  }
-
-  /**
-   * @brief   Function to finsh and write the space packet. It is expected that the user has
-   * set the payload fields in the child class*
-   * @return  returnvalue::OK if packet creation was successful, otherwise error return value
-   */
-  ReturnValue_t finishPacket() {
-    updateSpFields();
-    ReturnValue_t res = checkSizeAndSerializeHeader();
-    if (res != returnvalue::OK) {
-      return res;
-    }
-    return calcAndSetCrc();
-  }
-};
-
-void printRxPacket(const SpacePacketReader& spReader);
-void printTxPacket(const ploc::SpTcBase& tcBase);
-
-static constexpr uint32_t DEFAULT_CMD_TIMEOUT_MS = 5000;
-static constexpr uint32_t CMD_TIMEOUT_MKFS = 15000;
-
-enum FlashId : uint8_t { FLASH_0 = 0, FLASH_1 = 1 };
-
 static const uint8_t INTERFACE_ID = CLASS_ID::MPSOC_RETURN_VALUES_IF;

 //! [EXPORT] : [COMMENT] Space Packet received from PLOC has invalid CRC
@@ -113,11 +62,7 @@ static const Event MPSOC_SHUTDOWN_FAILED = MAKE_EVENT(6, severity::HIGH);
 //! [EXPORT] : [COMMENT] SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for
 //! ON transition.
 static constexpr Event SUPV_NOT_ON = event::makeEvent(SUBSYSTEM_ID, 7, severity::LOW);
-//! [EXPORT] : [COMMENT] SUPV reply timeout.
 static constexpr Event SUPV_REPLY_TIMEOUT = event::makeEvent(SUBSYSTEM_ID, 8, severity::LOW);
-//! [EXPORT] : [COMMENT] Camera must be commanded on first.
-static constexpr Event CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE =
-    event::makeEvent(SUBSYSTEM_ID, 9, severity::LOW);

 enum ParamId : uint8_t { SKIP_SUPV_ON_COMMANDING = 0x01 };

@@ -210,16 +155,16 @@ static const DeviceCommandId_t TC_FLASH_GET_DIRECTORY_CONTENT = 28;
 static const DeviceCommandId_t TM_FLASH_DIRECTORY_CONTENT = 29;
 static constexpr DeviceCommandId_t TC_FLASH_READ_FULL_FILE = 30;
 // Store file on MPSoC.
-static const DeviceCommandId_t TC_SPLIT_FILE = 31;
+static const DeviceCommandId_t TC_SIMPLEX_STORE_FILE = 31;
 static const DeviceCommandId_t TC_VERIFY_BOOT = 32;
-static const DeviceCommandId_t TC_ENABLE_TC_EXECTION = 33;
-static const DeviceCommandId_t TC_FLASH_MKFS = 34;

 // Will reset the sequence count of the OBSW. Not required anymore after MPSoC update.
 static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT_LEGACY = 50;

 static const uint16_t SIZE_ACK_REPORT = 14;
 static const uint16_t SIZE_EXE_REPORT = 14;
+// static const uint16_t SIZE_TM_MEM_READ_REPORT = 18;
+// static const uint16_t SIZE_TM_CAM_CMD_RPT = 18;
 static constexpr size_t SIZE_TM_HK_REPORT = 369;

 enum Submode : uint8_t { IDLE_OR_NONE = 0, REPLAY = 1, SNAPSHOT = 2 };
@@ -258,8 +203,6 @@ static const uint16_t TC_MODE_SNAPSHOT = 0x120;
 static const uint16_t TC_DOWNLINK_DATA_MODULATE = 0x121;
 static constexpr uint16_t TC_HK_GET_REPORT = 0x123;
 static const uint16_t TC_DOWNLINK_PWR_OFF = 0x124;
-static constexpr uint16_t TC_ENABLE_TC_EXECUTION = 0x129;
-static constexpr uint16_t TC_FLASH_MKFS = 0x12A;
 static const uint16_t TC_CAM_CMD_SEND = 0x12C;
 static constexpr uint16_t TC_FLASH_COPY_FILE = 0x12E;
 static const uint16_t TC_SIMPLEX_SEND_FILE = 0x130;
@@ -284,15 +227,15 @@ static const uint8_t SPACE_PACKET_HEADER_SIZE = 6;

 static const uint8_t STATUS_OFFSET = 10;

+static constexpr size_t CRC_SIZE = 2;
+
 /**
 * The size of payload data which will be forwarded to the requesting object. e.g. PUS Service
 * 8.
 */
 static const uint8_t SIZE_MEM_READ_RPT_FIX = 6;

-static const size_t FILENAME_FIELD_SIZE = 256;
-// Subtract size of NULL terminator.
-static const size_t MAX_FILENAME_SIZE = FILENAME_FIELD_SIZE - 1;
+static const size_t MAX_FILENAME_SIZE = 256;

 /**
 * PLOC space packet length for fixed size packets. This is the size of the whole packet data
@@ -329,7 +272,6 @@ static const uint16_t TC_SIMPLEX_SEND_FILE_DELAY = 80;

 namespace statusCode {
 static const uint16_t DEFAULT_ERROR_CODE = 0x1;
-static constexpr uint16_t FLASH_DRIVE_ERROR = 0xb;
 static const uint16_t UNKNOWN_APID = 0x5DD;
 static const uint16_t INCORRECT_LENGTH = 0x5DE;
 static const uint16_t INCORRECT_CRC = 0x5DF;
@@ -356,10 +298,47 @@ static const uint16_t RESERVED_3 = 0x5F3;
 static const uint16_t RESERVED_4 = 0x5F4;
 }  // namespace statusCode

+/**
+ * @brief   Abstract base class for TC space packet of MPSoC.
+ */
+class TcBase : public ploc::SpTcBase {
+ public:
+  virtual ~TcBase() = default;
+
+  // Initial length field of space packet. Will always be updated when packet is created.
+  static const uint16_t INIT_LENGTH = CRC_SIZE;
+
+  /**
+   * @brief    Constructor
+   *
+   * @param sequenceCount Sequence count of space packet which will be incremented with each
+   *        sent and received packets.
+   */
+  TcBase(ploc::SpTcParams params, uint16_t apid, uint16_t sequenceCount)
+      : ploc::SpTcBase(params, apid, 0, sequenceCount) {
+    payloadStart = spParams.buf + ccsds::HEADER_LEN;
+    spParams.setFullPayloadLen(INIT_LENGTH);
+  }
+
+  /**
+   * @brief   Function to finsh and write the space packet. It is expected that the user has
+   * set the payload fields in the child class*
+   * @return  returnvalue::OK if packet creation was successful, otherwise error return value
+   */
+  ReturnValue_t finishPacket() {
+    updateSpFields();
+    ReturnValue_t res = checkSizeAndSerializeHeader();
+    if (res != returnvalue::OK) {
+      return res;
+    }
+    return calcAndSetCrc();
+  }
+};
+
 /**
 * @brief   This class helps to build the memory read command for the PLOC.
 */
-class TcMemRead : public mpsoc::TcBase {
+class TcMemRead : public TcBase {
 public:
  /**
   * @brief   Constructor
@@ -409,7 +388,7 @@ class TcMemRead : public mpsoc::TcBase {
 * @brief   This class helps to generate the space packet to write data to a memory address within
 *          the PLOC.
 */
-class TcMemWrite : public mpsoc::TcBase {
+class TcMemWrite : public TcBase {
 public:
  /**
   * @brief   Constructor
@@ -459,21 +438,24 @@ class TcMemWrite : public mpsoc::TcBase {
 /**
 * @brief   Class to help creation of flash fopen command.
 */
-class TcFlashFopen : public mpsoc::TcBase {
+class FlashFopen : public TcBase {
 public:
-  TcFlashFopen(ploc::SpTcParams params, uint16_t sequenceCount)
+  FlashFopen(ploc::SpTcParams params, uint16_t sequenceCount)
      : TcBase(params, apid::TC_FLASHFOPEN, sequenceCount) {}

  ReturnValue_t setPayload(std::string filename, uint8_t mode) {
    accessMode = mode;
+    size_t nameSize = filename.size();
+    spParams.setFullPayloadLen(256 + sizeof(uint8_t) + CRC_SIZE);
    ReturnValue_t result = checkPayloadLen();
    if (result != returnvalue::OK) {
      return result;
    }
-    std::memset(payloadStart, 0, FILENAME_FIELD_SIZE);
-    std::memcpy(payloadStart, filename.c_str(), filename.size());
-    payloadStart[FILENAME_FIELD_SIZE] = accessMode;
-    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + 1 + CRC_SIZE);
+    std::memcpy(payloadStart, filename.c_str(), nameSize);
+    // payloadStart[nameSize] = NULL_TERMINATOR;
+    std::memset(payloadStart + nameSize, 0, 256 - nameSize);
+    // payloadStart[255] = NULL_TERMINATOR;
+    payloadStart[256] = accessMode;
    return returnvalue::OK;
  }

@@ -484,46 +466,14 @@ class TcFlashFopen : public mpsoc::TcBase {
 /**
 * @brief   Class to help creation of flash fclose command.
 */
-class TcFlashFclose : public TcBase {
+class FlashFclose : public TcBase {
 public:
-  TcFlashFclose(ploc::SpTcParams params, uint16_t sequenceCount)
+  FlashFclose(ploc::SpTcParams params, uint16_t sequenceCount)
      : TcBase(params, apid::TC_FLASHFCLOSE, sequenceCount) {
    spParams.setFullPayloadLen(CRC_SIZE);
  }
 };

-class TcEnableTcExec : public TcBase {
- public:
-  TcEnableTcExec(ploc::SpTcParams params, uint16_t sequenceCount)
-      : TcBase(params, apid::TC_ENABLE_TC_EXECUTION, sequenceCount) {
-    spParams.setFullPayloadLen(CRC_SIZE);
-  }
-
-  ReturnValue_t setPayload(const uint8_t* cmdData, size_t cmdDataLen) {
-    if (cmdDataLen != 2) {
-      return HasActionsIF::INVALID_PARAMETERS;
-    }
-    std::memcpy(payloadStart, cmdData, 2);
-    spParams.setFullPayloadLen(2 + CRC_SIZE);
-    return returnvalue::OK;
-  }
-};
-
-class TcFlashMkfs : public TcBase {
- public:
-  TcFlashMkfs(ploc::SpTcParams params, uint16_t sequenceCount, FlashId flashId)
-      : TcBase(params, apid::TC_FLASH_MKFS, sequenceCount) {
-    const char* flashIdStr = "0:\\";
-    if (flashId == FlashId::FLASH_1) {
-      flashIdStr = "1:\\";
-    }
-    std::memcpy(payloadStart, flashIdStr, 3);
-    // Null terminator
-    payloadStart[3] = 0;
-    spParams.setFullPayloadLen(4 + CRC_SIZE);
-  }
-};
-
 /**
 * @brief   Class to build flash write space packet.
 */
@@ -583,6 +533,15 @@ class TcFlashRead : public TcBase {
    if (result != returnvalue::OK) {
      return result;
    }
+    updateSpFields();
+    result = checkSizeAndSerializeHeader();
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = calcAndSetCrc();
+    if (result != returnvalue::OK) {
+      return result;
+    }
    readSize = readLen;
    return result;
  }
@@ -600,14 +559,20 @@ class TcFlashDelete : public TcBase {

  ReturnValue_t setPayload(std::string filename) {
    size_t nameSize = filename.size();
-    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
+    spParams.setFullPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE);
    auto res = checkPayloadLen();
    if (res != returnvalue::OK) {
      return res;
    }
    std::memcpy(payloadStart, filename.c_str(), nameSize);
    *(payloadStart + nameSize) = NULL_TERMINATOR;
-    return returnvalue::OK;
+
+    updateSpFields();
+    res = checkSizeAndSerializeHeader();
+    if (res != returnvalue::OK) {
+      return res;
+    }
+    return calcAndSetCrc();
  }
 };

@@ -759,9 +724,8 @@ class TcGetDirContent : public TcBase {
    if (result != returnvalue::OK) {
      return result;
    }
-    std::memset(payloadStart, 0, 256);
    std::memcpy(payloadStart, commandData, commandDataLen);
-    payloadStart[255] = 0;
+    payloadStart[255] = '\0';
    return result;
  }
 };
@@ -802,7 +766,7 @@ class TcReplayWriteSeq : public TcBase {
  static const size_t USE_DECODING_LENGTH = 1;

  ReturnValue_t lengthCheck(size_t commandDataLen) {
-    if (commandDataLen > USE_DECODING_LENGTH + FILENAME_FIELD_SIZE or
+    if (commandDataLen > USE_DECODING_LENGTH + MAX_FILENAME_SIZE or
        checkPayloadLen() != returnvalue::OK) {
      sif::warning << "TcReplayWriteSeq: Command has invalid length " << commandDataLen
                   << std::endl;
@@ -821,18 +785,18 @@ class FlashBasePusCmd {
  virtual ~FlashBasePusCmd() = default;

  virtual ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) {
-    if (commandDataLen > FILENAME_FIELD_SIZE) {
+    if (commandDataLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE + MAX_FILENAME_SIZE)) {
      return INVALID_LENGTH;
    }
    size_t fileLen = strnlen(reinterpret_cast<const char*>(commandData), commandDataLen);
-    if (fileLen > MAX_FILENAME_SIZE) {
+    if (fileLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE)) {
      return FILENAME_TOO_LONG;
    }
    obcFile = std::string(reinterpret_cast<const char*>(commandData), fileLen);
    fileLen =
        strnlen(reinterpret_cast<const char*>(commandData + obcFile.size() + SIZE_NULL_TERMINATOR),
                commandDataLen - obcFile.size() - 1);
-    if (fileLen > FILENAME_FIELD_SIZE) {
+    if (fileLen > MAX_FILENAME_SIZE) {
      return MPSOC_FILENAME_TOO_LONG;
    }
    mpsocFile = std::string(
@@ -843,11 +807,11 @@ class FlashBasePusCmd {

  const std::string& getObcFile() const { return obcFile; }

-  const std::string& getMpsocFile() const { return mpsocFile; }
+  const std::string& getMPSoCFile() const { return mpsocFile; }

 protected:
  size_t getParsedSize() const {
-    return getObcFile().size() + getMpsocFile().size() + 2 * SIZE_NULL_TERMINATOR;
+    return getObcFile().size() + getMPSoCFile().size() + 2 * SIZE_NULL_TERMINATOR;
  }
  static const size_t SIZE_NULL_TERMINATOR = 1;

@@ -914,115 +878,24 @@ class TcCamTakePic : public TcBase {
      : TcBase(params, apid::TC_CAM_TAKE_PIC, sequenceCount) {}

  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
-    const uint8_t** dataPtr = &commandData;
-    if (commandDataLen > FULL_PAYLOAD_SIZE) {
+    if (commandDataLen > MAX_DATA_LENGTH) {
      return INVALID_LENGTH;
    }
-    size_t deserLen = commandDataLen;
-    size_t serLen = 0;
-    fileName = reinterpret_cast<const char*>(commandData);
-    if (fileName.size() > MAX_FILENAME_SIZE) {
+    std::string fileName(reinterpret_cast<const char*>(commandData));
+    if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
      return FILENAME_TOO_LONG;
    }
-    deserLen -= fileName.length() + 1;
-    *dataPtr += fileName.length() + 1;
-    uint8_t** payloadPtr = &payloadStart;
-    memcpy(payloadStart, fileName.data(), fileName.size());
-    *payloadPtr += FILENAME_FIELD_SIZE;
-    serLen += FILENAME_FIELD_SIZE;
-    ReturnValue_t result = SerializeAdapter::deSerialize(&encoderSettingY, dataPtr, &deserLen,
-                                                         SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
+    if (commandDataLen - (fileName.size() + sizeof(NULL_TERMINATOR)) != PARAMETER_SIZE) {
+      return INVALID_LENGTH;
    }
-    result = SerializeAdapter::serialize(&encoderSettingY, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
-                                         SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-
-    result = SerializeAdapter::deSerialize(&quantizationY, dataPtr, &deserLen,
-                                           SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = SerializeAdapter::serialize(&quantizationY, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
-                                         SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-
-    result = SerializeAdapter::deSerialize(&encoderSettingsCb, dataPtr, &deserLen,
-                                           SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = SerializeAdapter::serialize(&encoderSettingsCb, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
-                                         SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-
-    result = SerializeAdapter::deSerialize(&quantizationCb, dataPtr, &deserLen,
-                                           SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = SerializeAdapter::serialize(&quantizationCb, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
-                                         SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-
-    result = SerializeAdapter::deSerialize(&encoderSettingsCr, dataPtr, &deserLen,
-                                           SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = SerializeAdapter::serialize(&encoderSettingsCr, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
-                                         SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-
-    result = SerializeAdapter::deSerialize(&quantizationCr, dataPtr, &deserLen,
-                                           SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = SerializeAdapter::serialize(&quantizationCr, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
-                                         SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-
-    result = SerializeAdapter::deSerialize(&bypassCompressor, dataPtr, &deserLen,
-                                           SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = SerializeAdapter::serialize(&bypassCompressor, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
-                                         SerializeIF::Endianness::NETWORK);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-
-    spParams.setFullPayloadLen(FULL_PAYLOAD_SIZE + CRC_SIZE);
+    spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
+    std::memcpy(payloadStart, commandData, commandDataLen);
    return returnvalue::OK;
  }

-  std::string fileName;
-  uint8_t encoderSettingY = 7;
-  uint64_t quantizationY = 0;
-  uint8_t encoderSettingsCb = 7;
-  uint64_t quantizationCb = 0;
-  uint8_t encoderSettingsCr = 7;
-  uint64_t quantizationCr = 0;
-  uint8_t bypassCompressor = 0;
-
 private:
+  static const size_t MAX_DATA_LENGTH = 286;
  static const size_t PARAMETER_SIZE = 28;
-  static constexpr size_t FULL_PAYLOAD_SIZE = FILENAME_FIELD_SIZE + PARAMETER_SIZE;
 };

 /**
@@ -1034,31 +907,30 @@ class TcSimplexStreamFile : public TcBase {
      : TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}

  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
-    if (commandDataLen > MAX_FILENAME_SIZE) {
+    if (commandDataLen > MAX_DATA_LENGTH) {
      return INVALID_LENGTH;
    }
    std::string fileName(reinterpret_cast<const char*>(commandData));
-    if (fileName.size() > MAX_FILENAME_SIZE) {
+    if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
      return FILENAME_TOO_LONG;
    }

-    std::memset(payloadStart, 0, FILENAME_FIELD_SIZE);
    std::memcpy(payloadStart, fileName.data(), fileName.length());
    payloadStart[fileName.length()] = 0;
-    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
-    ;
+    spParams.setFullPayloadLen(fileName.length() + 1);
    return returnvalue::OK;
  }

 private:
+  static constexpr size_t MAX_DATA_LENGTH = 256;
 };

 /**
 * @brief   Class to build simplex send file command
 */
-class TcSplitFile : public TcBase {
+class TcSimplexStoreFile : public TcBase {
 public:
-  TcSplitFile(ploc::SpTcParams params, uint16_t sequenceCount)
+  TcSimplexStoreFile(ploc::SpTcParams params, uint16_t sequenceCount)
      : TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}

  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
@@ -1080,24 +952,29 @@ class TcSplitFile : public TcBase {
      return INVALID_PARAMETER;
    }
    std::string fileName(reinterpret_cast<const char*>(*dataPtr));
-    if (fileName.size() > MAX_FILENAME_SIZE) {
+    if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
      return FILENAME_TOO_LONG;
    }
-    char divStr[16]{};
-    sprintf(divStr, "DIV%03u", chunkParameter);
-    std::memcpy(payloadStart, divStr, DIV_STR_LEN);
-    payloadStart[DIV_STR_LEN] = 0;
-    std::memset(payloadStart + DIV_STR_LEN + 1, 0, FILENAME_FIELD_SIZE - DIV_STR_LEN - 1);
-    std::memcpy(payloadStart + DIV_STR_LEN + 1, fileName.data(), fileName.length());
-    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
+    size_t currentCopyIdx = 0;
+    size_t payloadLen = fileName.length() + sizeof(NULL_TERMINATOR) + CRC_SIZE;
+    if (chunkParameter > 1) {
+      char divStr[16]{};
+      sprintf(divStr, "DIV%03u", chunkParameter);
+      std::memcpy(payloadStart, divStr, DIV_STR_LEN);
+      payloadLen += DIV_STR_LEN;
+      currentCopyIdx += DIV_STR_LEN;
+    }
+
+    std::memcpy(payloadStart + currentCopyIdx, *dataPtr, fileName.length());
+    spParams.setFullPayloadLen(payloadLen);
    return returnvalue::OK;
  }

 private:
  uint32_t chunkParameter = 0;
+  static constexpr size_t MAX_DATA_LENGTH = 256;
  static constexpr size_t MIN_DATA_LENGTH = 4;
  static constexpr size_t DIV_STR_LEN = 6;
-  static constexpr size_t MAX_DATA_LENGTH = 4 + MAX_FILENAME_SIZE;
 };

 /**
--- a/mission/controller/acs/Guidance.cpp
+++ b/mission/controller/acs/Guidance.cpp
@@ -232,7 +232,6 @@ void Guidance::targetRotationRate(const double timeDelta, double quatIX[4], doub
  }
  if (timeDelta != 0.0) {
    QuaternionOperations::rotationFromQuaternions(quatIX, quatIXprev, timeDelta, refSatRate);
-    VectorOperations<double>::mulScalar(refSatRate, -1, refSatRate, 3);
  } else {
    std::memcpy(refSatRate, ZERO_VEC3, 3 * sizeof(double));
  }
@@ -316,9 +315,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do

  // Calculate error satellite rotational rate
  // Convert target rotational rate into body RF
-  double targetSatRotRateB[3] = {0, 0, 0};
-  QuaternionOperations::multiplyVector(currentQuat, targetSatRotRate, targetSatRotRateB);
-  VectorOperations<double>::copy(targetSatRotRateB, targetSatRotRate, 3);
+  double errorQuatInv[4] = {0, 0, 0, 0}, targetSatRotRateB[3] = {0, 0, 0};
+  QuaternionOperations::inverse(errorQuat, errorQuatInv);
+  QuaternionOperations::multiplyVector(errorQuatInv, targetSatRotRate, targetSatRotRateB);
  // Combine the target and reference satellite rotational rates
  double combinedRefSatRotRate[3] = {0, 0, 0};
  VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
--- a/mission/system/CMakeLists.txt
+++ b/mission/system/CMakeLists.txt
@@ -3,9 +3,8 @@ add_subdirectory(acs)
 add_subdirectory(tcs)
 add_subdirectory(com)
 add_subdirectory(power)
-add_subdirectory(payload)

 target_sources(
  ${LIB_EIVE_MISSION}
  PRIVATE systemTree.cpp DualLanePowerStateMachine.cpp EiveSystem.cpp
-          treeUtil.cpp SharedPowerAssemblyBase.cpp)
+          treeUtil.cpp SharedPowerAssemblyBase.cpp payloadModeTree.cpp)
--- a/mission/system/payload/CMakeLists.txt
+++ b/mission/system/payload/CMakeLists.txt
@@ -1 +0,0 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp)
--- a/mission/system/payload/payloadModeTree.cpp
+++ b/mission/system/payload/payloadModeTree.cpp
--- a/mission/system/payload/payloadModeTree.h
+++ b/mission/system/payload/payloadModeTree.h
--- a/mission/system/systemTree.cpp
+++ b/mission/system/systemTree.cpp
@@ -10,7 +10,7 @@
 #include "mission/com/defs.h"
 #include "mission/sysDefs.h"
 #include "mission/system/acs/acsModeTree.h"
-#include "mission/system/payload/payloadModeTree.h"
+#include "mission/system/payloadModeTree.h"
 #include "mission/system/power/epsModeTree.h"
 #include "mission/system/tcs/tcsModeTree.h"
 #include "treeUtil.h"
--- a/q7s-env.sh
+++ b/q7s-env.sh
@@ -9,7 +9,7 @@ export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-li

 export PATH=${CROSS_COMPILE_BIN_PATH}:$PATH
 export CROSS_COMPILE="arm-linux-gnueabihf"
-unset EIVE_Q7S_EM
+# export EIVE_Q7S_EM=1

 if [[ -d "eive-obsw" ]]; then
 	echo "Detected EIVE OBSW root directory at $(pwd)/eive-obsw. Setting to EIVE_OBSW_ROOT"
--- a/scripts/q7s-cp.py
+++ b/scripts/q7s-cp.py
@@ -4,9 +4,6 @@ import os
 import sys


-DEFAULT_PORT = 1539
-
-
 def main():
    args = handle_args()
    cmd = build_cmd(args)
@@ -23,7 +20,7 @@ def prompt_ssh_key_removal():
    do_remove_key = input(
        "Do you want to remove problematic keys on localhost ([Y]/n)?: "
    )
-    if do_remove_key.lower() not in ["y", "yes", "1", ""]:
+    if not do_remove_key.lower() in ["y", "yes", "1", ""]:
        sys.exit(1)
    port = 0
    while True:
@@ -57,7 +54,7 @@ def handle_args():
        "If files are copied back to host, will be current directory by default",
        default="",
    )
-    parser.add_argument("-P", "--port", help="Target port", default=DEFAULT_PORT)
+    parser.add_argument("-P", "--port", help="Target port", default=1535)
    parser.add_argument(
        "-i",
        "--invert",
--- a/2
+++ b/2
				`@@ -1 +0,0 @@`
				`target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp)`